From 2c6dc8c8e794bd35239f2b0646a458ef0070a40c Mon Sep 17 00:00:00 2001
From: Martin Pecka <peckama2@fel.cvut.cz>
Date: Sun, 20 Jun 2021 21:52:32 +0200
Subject: [PATCH 01/14] Absolem: fix bad merge.

---
 .../urdf/basler_cameras.xacro                 | 123 ++++++++++++++++++
 .../urdf/nifti_robot.xacro                    | 113 +++++++++++++---
 .../urdf/utils.xacro                          |  16 +++
 3 files changed, 235 insertions(+), 17 deletions(-)
 create mode 100644 submitted_models/ctu_cras_norlab_absolem_sensor_config_1/urdf/basler_cameras.xacro

diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/urdf/basler_cameras.xacro b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/urdf/basler_cameras.xacro
new file mode 100644
index 00000000..0dad1d67
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/urdf/basler_cameras.xacro
@@ -0,0 +1,123 @@
+<?xml version="1.0"?>
+<root xmlns:xacro="http://www.ros.org/wiki/xacro">
+    <!-- Mass properties from datasheet -->
+    <xacro:property name="basler_ace_mass" value="0.09" scope="global" />
+    <xacro:property name="basler_ace2_pro_mass" value="0.105" scope="global" />
+    <xacro:property name="fisheye_lens_mass" value="0.05" scope="global" />
+    <xacro:property name="omnicam_lens_mass" value="0.127" scope="global" />
+    <xacro:property name="c_mount_flange_distance" value="0.017526" scope="global" />
+    <xacro:property name="c_mount_radius" value="${0.025/2}" scope="global" />
+
+    <xacro:macro name="basler_ace_base" params="name hfov_deg frame_rate resolution_x resolution_y fisheye:=0 camera_length origin_to_camera_front_dist camera_mass camera_mesh lens_length lens_back_focal_distance lens_entrance_pupil_position lens_mass lens_mesh near_clip:=-1 simulate:=1 visualize:=0">
+        <xacro:property name="camera_width" value="0.029"/>
+        <xacro:property name="camera_height" value="0.029"/>
+
+        <xacro:property name="sensor_chip_pos" value="${origin_to_camera_front_dist - c_mount_flange_distance}" />
+        <xacro:property name="lens_back_pos" value="${sensor_chip_pos + lens_back_focal_distance}" />
+
+        <link name="$(arg prefix)${name}">
+            <visual>
+                <origin xyz="0 0 ${camera_height/2}" rpy="0 0 0" />
+                <geometry>
+                    <!-- The origin of the mesh is center above tripod screw -->
+                    <mesh filename="${camera_mesh}"/>
+                </geometry>
+            </visual>
+            <visual>
+                <!-- The origin of the mesh is at the back of the lens -->
+                <origin xyz="${lens_back_pos} 0 ${camera_height/2}" rpy="0 0 0" />
+                <geometry>
+                    <mesh filename="${lens_mesh}"/>
+                </geometry>
+            </visual>
+            <collision name="${name}_collision">
+                <origin rpy="0 0 0" xyz="${origin_to_camera_front_dist - camera_length/2} 0 ${camera_height/2}"/>
+                <geometry>
+                    <box size="${camera_length} ${camera_width} ${camera_height}" />
+                </geometry>
+            </collision>
+            <collision name="${name}_lens_collision">
+                <origin rpy="0 ${pi/2} 0" xyz="${lens_back_pos + lens_length/2} 0 ${camera_height/2}"/>
+                <geometry>
+                    <cylinder length="${lens_length}" radius="${c_mount_radius}" />
+                </geometry>
+            </collision>
+            <xacro:box_inertial mass="${camera_mass + lens_mass}"
+                                width="${camera_width}" height="${camera_height}" depth="${camera_length + lens_length - (c_mount_flange_distance - lens_back_focal_distance)}"
+                                xyz="${origin_to_camera_front_dist + (lens_length - (c_mount_flange_distance - lens_back_focal_distance))/2 - camera_length/2} 0 ${camera_height/2}" />
+        </link>
+        <xacro:if value="${simulate}">
+            <gazebo reference="$(arg prefix)${name}">
+                <!-- Workaround for https://github.com/ignitionrobotics/ign-sensors/issues/24 -->
+                <xacro:if value="${fisheye == 0 or '$(arg rendering_target)' == 'ign'}">
+                    <xacro:property name="cam_type" value="camera"/>
+                </xacro:if>
+                <xacro:unless value="${fisheye == 0 or '$(arg rendering_target)' == 'ign'}">
+                    <xacro:property name="cam_type" value="wideanglecamera"/>
+                </xacro:unless>
+                <sensor name="${name}" type="${cam_type}">
+                    <!-- I think the simulated sensor should be placed in the middle of the entrance pupil. -->
+                    <xacro:property name="virtual_lens_origin" value="${lens_back_pos + lens_length - lens_entrance_pupil_position}" />
+                    <pose>${virtual_lens_origin} 0 ${camera_height/2} 0 0 0</pose>
+                    <update_rate>${frame_rate}</update_rate>
+                    <visualize>${visualize}</visualize>
+                    <camera>
+                        <horizontal_fov>${radians(hfov_deg)}</horizontal_fov>
+                        <image>
+                            <width>${resolution_x}</width>
+                            <height>${resolution_y}</height>
+                            <format>R8G8B8</format>
+                        </image>
+                        <clip>
+                            <xacro:property name="clip" value="${lens_entrance_pupil_position * 1.1 if near_clip == -1 else near_clip}" />
+                            <near>${clip}</near>
+                            <far>300</far>
+                        </clip>
+                        <noise>
+                            <type>gaussian</type>
+                            <mean>0.0</mean>
+                            <stddev>0.007</stddev>
+                        </noise>
+                        <xacro:if value="${fisheye and '$(arg rendering_target)' == 'gz'}">
+                            <lens>
+                                <type>stereographic</type>
+                                <scale_to_hfov>true</scale_to_hfov>
+                                <cutoff_angle>${pi}</cutoff_angle>
+                                <env_texture_size>1024</env_texture_size>
+                            </lens>
+                        </xacro:if>
+                        <xacro:unless value="${fisheye and '$(arg rendering_target)' == 'gz'}">
+                            <lens>
+                                <intrinsics>
+                                    <xacro:property name="f" value="${resolution_x / (2 * tan(radians(hfov_deg)/2))}" />
+                                    <fx>${f}</fx>
+                                    <fy>${f}</fy>
+                                    <cx>${(resolution_x - 1) / 2}</cx>
+                                    <cy>${(resolution_y - 1) / 2}</cy>
+                                    <s>0</s>
+                                </intrinsics>
+                            </lens>
+                        </xacro:unless>
+                    </camera>
+                </sensor>
+            </gazebo>
+        </xacro:if>
+    </xacro:macro>
+
+    <xacro:macro name="basler_ace2_pro_link" params="name hfov_deg fisheye:=0 lens_length lens_back_focal_distance lens_entrance_pupil_position lens_mass lens_mesh near_clip:=-1 simulate:=1 visualize:=0">
+        <xacro:basler_ace_base name="${name}" hfov_deg="${hfov_deg}" frame_rate="9" resolution_x="1920" resolution_y="1200"
+                               fisheye="${fisheye}" simulate="${simulate}" visualize="${visualize}"
+                               camera_length="0.0555" origin_to_camera_front_dist="0.0524" camera_mass="${basler_ace2_pro_mass}"
+                               camera_mesh="package://ctu_cras_norlab_absolem_sensor_config_1/meshes/basler_ace2_pro.dae"
+                               lens_length="${lens_length}" lens_back_focal_distance="${lens_back_focal_distance}"
+                               lens_entrance_pupil_position="${lens_entrance_pupil_position}" lens_mass="${lens_mass}" lens_mesh="${lens_mesh}"
+                               near_clip="${near_clip}"
+        />
+    </xacro:macro>
+
+    <xacro:macro name="basler_ace_omnicam" params="name simulate:=1 visualize:=0">
+        <xacro:basler_ace2_pro_link name="${name}" hfov_deg="86.5" simulate="${simulate}" visualize="${visualize}"
+                                    lens_back_focal_distance="0.00809" lens_entrance_pupil_position="0.01066" lens_length="0.03974" lens_mass="${omnicam_lens_mass}"
+                                    lens_mesh="package://ctu_cras_norlab_absolem_sensor_config_1/meshes/evetar_lens.dae" />
+    </xacro:macro>
+</root>
\ No newline at end of file
diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/urdf/nifti_robot.xacro b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/urdf/nifti_robot.xacro
index 30fccaec..5bd60a65 100644
--- a/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/urdf/nifti_robot.xacro
+++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/urdf/nifti_robot.xacro
@@ -440,6 +440,9 @@
 	<xacro:if value="$(arg has_boson_thermocam)">
 		<xacro:include filename="$(find ctu_cras_norlab_absolem_sensor_config_1)/urdf/boson_thermocam.xacro" />
 	</xacro:if>
+	<xacro:if value="$(arg has_omnicam_vras)">
+		<xacro:include filename="$(find ctu_cras_norlab_absolem_sensor_config_1)/urdf/basler_cameras.xacro" />
+	</xacro:if>
 
 	<!-- NIFTI ROBOT LINKS AND JOINTS SPECIFICATION -->
 
@@ -718,6 +721,14 @@
 												filename="package://ctu_cras_norlab_absolem_sensor_config_1/meshes/${top_box_mesh_name}"/>
 							</geometry>
 					</visual>
+					<xacro:if value="${'$(arg revision)' == '2021' and $(arg has_omnicam_vras)}">
+						<visual>
+							<origin rpy="0 ${3*pi/2} 0" xyz="-0.075 0.0 0.12" />
+							<geometry>
+								<mesh filename="package://ctu_cras_norlab_absolem_sensor_config_1/meshes/reflector.dae" />
+							</geometry>
+						</visual>
+					</xacro:if>
 					<xacro:if value="${$(arg simplified_collision)==0}">
 							<collision>
 									<origin xyz="0 0 0" rpy="0 0 0" />
@@ -792,7 +803,37 @@
 				<!-- Origin of top box is 0.0635 m from the front side. And top_box_j_x is distance from robot's back to top box' front. -->
 				<xacro:fixed_joint name="top_box_j" parent="$(arg prefix)rear_right_box" child="$(arg prefix)top_box" xyz="${top_box_j_x-0.0635} ${$(arg rover_robotWidthBody)/2} 0.0" rpy="0 0 0"/>
 				<xacro:if value="$(arg has_omnicam_vras)">
-					<!-- -->
+					<link name="$(arg prefix)top_box_step">
+						<xacro:property name="top_box_step_width" value="0.12" />
+						<xacro:property name="top_box_step_height" value="0.1" />
+						<visual>
+							<origin rpy="0 0 0" xyz="0 0 ${top_box_step_height/2}"/>
+							<geometry>
+								<box size="0.1270 ${top_box_step_width} ${top_box_step_height}" />
+							</geometry>
+							<material name="body_color">
+								<color rgba="0 ${94/255.0} ${184/255.0} 1.0"/>
+							</material>
+						</visual>
+						<visual>
+							<origin rpy="0 $(arg ouster_rpy_p) 0" xyz="${$(arg ouster_pos_x) - 0.01} 0 ${$(arg ouster_pos_z) - 0.075}"/>
+							<geometry>
+								<cylinder radius="0.025" length="0.05" />
+							</geometry>
+							<material name="body_color">
+								<color rgba="0 ${94/255.0} ${184/255.0} 1.0"/>
+							</material>
+						</visual>
+						<collision>
+							<origin rpy="0 0 0" xyz="0 0 ${top_box_step_height/2}"/>
+							<geometry>
+								<box size="0.1270 ${top_box_step_width} ${top_box_step_height}" />
+							</geometry>
+						</collision>
+						<xacro:box_inertial mass="1.0" width="${top_box_step_width}" height="${top_box_step_height}" depth="0.1270" xyz="0 0 ${top_box_step_height/2}" />
+					</link>
+					<xacro:fixed_joint name="top_box_step_j" parent="$(arg prefix)top_box" child="$(arg prefix)top_box_step" xyz="0 0 0.06252" />
+					<xacro:solid_color_link_material link="$(arg prefix)top_box_step" r="0" g="${94/255.0}" b="${184/255.0}" />
 				</xacro:if>
 			</xacro:if>
 			<xacro:unless value="${'$(arg revision)' == '2021'}">
@@ -852,7 +893,12 @@
 			</inertial>
 	</link>
 	<xacro:if value="${'$(arg revision)' == '2021'}">
-		<xacro:fixed_joint name="antenna_j" parent="$(arg prefix)base_link" child="$(arg prefix)antenna" xyz="${-$(arg rover_robotLengthBody)/2 + 0.12} 0.0789 0.1551" rpy="0 0 0" />
+		<xacro:if value="$(arg has_omnicam)">
+			<xacro:fixed_joint name="antenna_j" parent="$(arg prefix)base_link" child="$(arg prefix)antenna" xyz="${-$(arg rover_robotLengthBody)/2 + 0.12} 0.0789 0.1551" rpy="0 0 0" />
+		</xacro:if>
+		<xacro:if value="$(arg has_omnicam_vras)">
+			<xacro:fixed_joint name="antenna_j" parent="$(arg prefix)base_link" child="$(arg prefix)antenna" xyz="${-$(arg rover_robotLengthBody)/2 + 0.12} 0.1 0.1551" rpy="0 0 0" />
+		</xacro:if>
 	</xacro:if>
 	<xacro:unless value="${'$(arg revision)' == '2021'}">
 		<xacro:fixed_joint name="antenna_j" parent="$(arg prefix)base_link" child="$(arg prefix)antenna" xyz="-0.3720 0.0789 0.1551" rpy="0 0 0" />
@@ -1294,22 +1340,49 @@
 
 	</xacro:if>
 
+	<!-- Omnicamera -->
+	<xacro:if value="$(arg has_omnicam_vras)">
+		<xacro:basler_ace_omnicam name="camera_0" simulate="$(arg simulate_omnicam_vras)" visualize="$(arg visualize_sensors)" />
+		<xacro:fixed_joint name="camera_0_j" parent="$(arg prefix)rear_right_box" child="$(arg prefix)camera_0"
+						   xyz="${$(arg rover_robotLengthBody) - 0.11} ${$(arg rover_robotWidthBody)/2} 0.01" lump="0" />
+		<link name="$(arg prefix)front_camera_holder"><visual><geometry><box size="0.04 0.025 0.01" /></geometry></visual></link>
+		<xacro:fixed_joint name="front_camera_holder_j" parent="$(arg prefix)camera_0" child="$(arg prefix)front_camera_holder" xyz="0.02 0 -0.005" />
+
+		<xacro:basler_ace_omnicam name="camera_1" simulate="$(arg simulate_omnicam_vras)" visualize="$(arg visualize_sensors)" />
+		<xacro:fixed_joint name="camera_1_j" parent="$(arg prefix)rear_right_box" child="$(arg prefix)camera_1"
+						   xyz="${$(arg rover_robotLengthBody)/2-0.02} 0.083 0" rpy="0 0 ${-pi/2}" lump="0" />
+
+		<xacro:basler_ace_omnicam name="camera_2" simulate="$(arg simulate_omnicam_vras)" visualize="$(arg visualize_sensors)" />
+		<xacro:fixed_joint name="camera_2_j" parent="$(arg prefix)rear_right_box" child="$(arg prefix)camera_2"
+						   xyz="0.05 ${$(arg rover_robotWidthBody)/2} 0" rpy="0 0 ${-pi}" lump="0" />
+
+		<xacro:basler_ace_omnicam name="camera_3" simulate="$(arg simulate_omnicam_vras)" visualize="$(arg visualize_sensors)" />
+		<xacro:fixed_joint name="camera_3_j" parent="$(arg prefix)rear_right_box" child="$(arg prefix)camera_3"
+						   xyz="${$(arg rover_robotLengthBody)/2-0.02} ${$(arg rover_robotWidthBody) - 0.083} 0" rpy="0 0 ${-3*pi/2}" lump="0" />
+
+		<xacro:basler_ace_omnicam name="camera_4" simulate="$(arg simulate_omnicam_vras)" visualize="$(arg visualize_sensors)" />
+		<xacro:fixed_joint name="camera_4_j" parent="$(arg prefix)top_box" child="$(arg prefix)camera_4"
+						   xyz="-0.048 -0.0145 ${0.06252 + top_box_step_height - 0.08}" rpy="${pi} ${-pi/2} ${pi/2}" lump="0" />
+	</xacro:if>
+
 	<!-- 3D lidar -->
 	<xacro:if value="$(arg has_ouster_lidar)">
 		<xacro:ouster_os0_128 name="laser" simulate="$(arg simulate_ouster_lidar)" visualize="$(arg visualize_sensors)" />
 		<xacro:calibrated_fixed_joint name="laser_j" parent="top_box" child="laser" prefix="ouster" lump="0"/>
-		<link name="$(arg prefix)ouster_holder">
-			<visual>
-				<origin xyz="0 0 0" />
-				<geometry>
-					<mesh filename="package://ctu_cras_norlab_absolem_sensor_config_1/meshes/ouster_holder_ladybug.dae" />
-				</geometry>
-			</visual>
-			<xacro:cylinder_inertial mass="0.2" radius="0.07" length="0.02"
-								xyz="0 0 -0.01" />
-		</link>
-		<xacro:fixed_joint name="ouster_holder_j" parent="$(arg prefix)omnicam_top" child="$(arg prefix)ouster_holder"
-			xyz="0 0 0.005" rpy="0 0 ${radians(36)}" />
+		<xacro:if value="$(arg has_omnicam)">
+			<link name="$(arg prefix)ouster_holder">
+				<visual>
+					<origin xyz="0 0 0" />
+					<geometry>
+						<mesh filename="package://ctu_cras_norlab_absolem_sensor_config_1/meshes/ouster_holder_ladybug.dae" />
+					</geometry>
+				</visual>
+				<xacro:cylinder_inertial mass="0.2" radius="0.07" length="0.02"
+										 xyz="0 0 -0.01" />
+			</link>
+			<xacro:fixed_joint name="ouster_holder_j" parent="$(arg prefix)omnicam_top" child="$(arg prefix)ouster_holder"
+							   xyz="0 0 0.005" rpy="0 0 ${radians(36)}" />
+		</xacro:if>
 	</xacro:if>
 
 	<!-- Thermal camera -->
@@ -1643,9 +1716,15 @@
 
 	<!-- Mote deployer -->
     <xacro:if value="$(arg has_mote_deployer)">
-        <!-- The link is included automatically in the payload xacro -->
-        <xacro:fixed_joint name="mote_deployer_j" parent="$(arg prefix)rear_right_box" child="$(arg prefix)mote_deployer"
-            xyz="0.09 0.16 -0.01" rpy="0 0 ${pi}" />
+		<!-- The link is included automatically in the payload xacro -->
+		<xacro:if value="$(arg has_omnicam)">
+			<xacro:fixed_joint name="mote_deployer_j" parent="$(arg prefix)rear_right_box" child="$(arg prefix)mote_deployer"
+							   xyz="0.09 0.16 -0.01" rpy="0 0 ${pi}" />
+		</xacro:if>
+		<xacro:if value="$(arg has_omnicam_vras)">
+			<xacro:fixed_joint name="mote_deployer_j" parent="$(arg prefix)rear_right_box" child="$(arg prefix)mote_deployer"
+							   xyz="0.09 0.18 -0.01" rpy="0 0 ${pi}" />
+		</xacro:if>
     </xacro:if>
 
     <xacro:macro name="stiff_joint_tags">
diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/urdf/utils.xacro b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/urdf/utils.xacro
index ccab9e53..4bcec06e 100644
--- a/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/urdf/utils.xacro
+++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/urdf/utils.xacro
@@ -66,4 +66,20 @@
             </gazebo>
         </xacro:if>
     </xacro:macro>
+
+    <xacro:macro name="solid_color_link_material" params="link r g b">
+        <xacro:unless value="${'$(arg rendering_target)' == 'urdf'}">
+            <gazebo reference="${link}">
+                <visual>
+                    <material>
+                        <ambient>0 0 0 0</ambient>
+                        <!-- Ignition Gazebo seems to use much brighter colors... -->
+                        <diffuse>${max(0, r - 60/255.0)} ${max(0, g - 60/255.0)} ${max(0, b - 60/255.0)} 1</diffuse>
+                        <specular>0 0 0 0</specular>
+                        <emissive>0 0 0 0</emissive>
+                    </material>
+                </visual>
+            </gazebo>
+        </xacro:unless>
+    </xacro:macro>
 </root>
\ No newline at end of file

From b6803aa89363aee7c86ba62b769717b8e8aa1822 Mon Sep 17 00:00:00 2001
From: Martin Pecka <peckama2@fel.cvut.cz>
Date: Sun, 20 Jun 2021 23:00:12 +0200
Subject: [PATCH 02/14] Implement more plausible model of tracks.

---
 .../config/common.yaml                        |    3 +
 .../launch/common.rb                          |  145 +-
 .../model.sdf                                 | 2538 ++--------
 .../urdf/nifti_robot.xacro                    |  233 +-
 .../model.sdf                                 | 3124 +++----------
 .../model.sdf                                 | 3124 +++----------
 .../model.sdf                                 | 3274 ++++---------
 .../model.sdf                                 | 3954 +++++-----------
 .../model.sdf                                 | 3954 +++++-----------
 .../model.sdf                                 | 4076 +++++------------
 .../config/sim.yaml                           |    2 +-
 .../launch/common.rb                          |   87 +-
 .../model.sdf                                 | 3999 +++++-----------
 .../urdf/marv.xacro                           |   17 +-
 .../model.sdf                                 | 4017 +++++-----------
 .../model.sdf                                 | 3947 +++++-----------
 .../model.sdf                                 | 4059 +++++-----------
 17 files changed, 10888 insertions(+), 29665 deletions(-)

diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/config/common.yaml b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/config/common.yaml
index 18777307..bec5074d 100644
--- a/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/config/common.yaml
+++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/config/common.yaml
@@ -1,5 +1,8 @@
 revision: 2014  # 2014 for TRADR robot, 2021 for upgraded robot
 
+wheels_instead_of_tracks: False
+track_mu: 10
+
 big_collision_box_on_top: False
 big_collision_box_height: 0.5
 big_collision_box_width: 0.5
diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/launch/common.rb b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/launch/common.rb
index c4544cbf..373794b2 100644
--- a/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/launch/common.rb
+++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/launch/common.rb
@@ -1,4 +1,16 @@
 def _spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw, _additionalSDF, _max_velocity=0.4, _max_acceleration=3)
+  # read robot configuration from the config/ dir to access robot geometry information
+  require 'yaml'
+  confdir = File.join(__dir__, '..', 'config')
+  config_yamls = [ File.join(confdir, 'common.yaml'), File.join(confdir, 'sdf.yaml') ]
+  config = Hash.new
+  for config_yaml in config_yamls
+    conf = YAML.load_file(config_yaml)
+    config.merge!(conf)
+  end
+
+  useWheels = config["wheels_instead_of_tracks"]
+
   numTrackWheels = 8
   numFlipperWheels = 5
 
@@ -22,53 +34,106 @@ def _spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw, _add
     diffdriveJoints[i] = ""
   end
   wheelSlip = ""
+  trackControllers = ""
+  trackLinks = ""
 
   for track in tracks
-    for wheel in 1..numTrackWheels
-      diffdriveJoints[0] += "<#{track}_joint>#{track}_track_wheel#{wheel}_j</#{track}_joint>\n"
-      wheelSlip += <<-HEREDOC
-        <wheel link_name="#{track}_track_wheel#{wheel}">
-          <slip_compliance_lateral>#{slipCompliance}</slip_compliance_lateral>
-          <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-          <wheel_normal_force>#{wheelNormalForce}</wheel_normal_force>
-          <wheel_radius>#{wheelRadiuses[0]}</wheel_radius>
-        </wheel>
-      HEREDOC
+    if useWheels
+        for wheel in 1..numTrackWheels
+          diffdriveJoints[0] += "<#{track}_joint>#{track}_track_wheel#{wheel}_j</#{track}_joint>\n"
+          wheelSlip += <<-HEREDOC
+            <wheel link_name="#{track}_track_wheel#{wheel}">
+              <slip_compliance_lateral>#{slipCompliance}</slip_compliance_lateral>
+              <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
+              <wheel_normal_force>#{wheelNormalForce}</wheel_normal_force>
+              <wheel_radius>#{wheelRadiuses[0]}</wheel_radius>
+            </wheel>
+          HEREDOC
+        end
+    else
+        trackControllers += <<-HEREDOC
+          <plugin name='ignition::gazebo::systems::TrackController' filename='libignition-gazebo-track-controller-system.so'>
+              <link>#{track}_track</link>
+              <min_velocity>-#{_max_velocity}</min_velocity>
+              <max_velocity>#{_max_velocity}</max_velocity>
+              <min_acceleration>-#{_max_acceleration}</min_acceleration>
+              <max_acceleration>#{_max_acceleration}</max_acceleration>
+          </plugin>
+        HEREDOC
+        trackLinks += "<#{track}_track><link>#{track}_track</link></#{track}_track>"
     end
     for flipper in flippersOfTrack[track]
-      for wheel in 1..numFlipperWheels
-        diffdriveJoints[wheel-1] += "<#{track}_joint>#{flipper}_flipper_wheel#{wheel}_j</#{track}_joint>\n"
-        wheelSlip += <<-HEREDOC
-          <wheel link_name="#{flipper}_flipper_wheel#{wheel}">
-            <slip_compliance_lateral>#{slipCompliance}</slip_compliance_lateral>
-            <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-            <wheel_normal_force>#{wheelNormalForce}</wheel_normal_force>
-            <wheel_radius>#{wheelRadiuses[wheel-1]}</wheel_radius>
-          </wheel>
+      if useWheels
+          for wheel in 1..numFlipperWheels
+            diffdriveJoints[wheel-1] += "<#{track}_joint>#{flipper}_flipper_wheel#{wheel}_j</#{track}_joint>\n"
+            wheelSlip += <<-HEREDOC
+              <wheel link_name="#{flipper}_flipper_wheel#{wheel}">
+                <slip_compliance_lateral>#{slipCompliance}</slip_compliance_lateral>
+                <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
+                <wheel_normal_force>#{wheelNormalForce}</wheel_normal_force>
+                <wheel_radius>#{wheelRadiuses[wheel-1]}</wheel_radius>
+              </wheel>
+            HEREDOC
+          end
+      else
+        trackControllers += <<-HEREDOC
+          <plugin name='ignition::gazebo::systems::TrackController' filename='libignition-gazebo-track-controller-system.so'>
+              <link>#{flipper}_flipper</link>
+              <min_velocity>-#{_max_velocity}</min_velocity>
+              <max_velocity>#{_max_velocity}</max_velocity>
+              <min_acceleration>-#{_max_acceleration}</min_acceleration>
+              <max_acceleration>#{_max_acceleration}</max_acceleration>
+          </plugin>
         HEREDOC
+        trackLinks += "<#{track}_track><link>#{flipper}_flipper</link></#{track}_track>"
       end
     end
   end
 
   diffDrive = ""
-  for wheel in 0...numFlipperWheels
-    # we only want odometry from the first diffdrive
-    no_odom = ""
-    if wheel > 0
-      no_odom = "<odom_topic>unused_odom</odom_topic>\n"
-    end
-    diffDrive += <<-HEREDOC
-      <plugin filename="ignition-gazebo-diff-drive-system" name="ignition::gazebo::systems::DiffDrive">
-        #{diffdriveJoints[wheel]}
-        <wheel_separation>#{wheelSeparation}</wheel_separation>
-        <wheel_radius>#{wheelRadiuses[wheel]}</wheel_radius>
-        <topic>/model/#{_name}/cmd_vel_relay</topic>
-        <min_velocity>-#{_max_velocity}</min_velocity>
-        <max_velocity>#{_max_velocity}</max_velocity>
-        <min_acceleration>-#{_max_acceleration}</min_acceleration>
-        <max_acceleration>#{_max_acceleration}</max_acceleration>
-        #{no_odom}
-      </plugin>
+  trackedVehicle = ""
+  wheelSlipPlugin = ""
+  if useWheels
+      for wheel in 0...numFlipperWheels
+        # we only want odometry from the first diffdrive
+        no_odom = ""
+        if wheel > 0
+          no_odom = "<odom_topic>unused_odom</odom_topic>\n"
+        end
+        diffDrive += <<-HEREDOC
+          <plugin filename="ignition-gazebo-diff-drive-system" name="ignition::gazebo::systems::DiffDrive">
+            #{diffdriveJoints[wheel]}
+            <wheel_separation>#{wheelSeparation}</wheel_separation>
+            <wheel_radius>#{wheelRadiuses[wheel]}</wheel_radius>
+            <topic>/model/#{_name}/cmd_vel_relay</topic>
+            <min_velocity>-#{_max_velocity}</min_velocity>
+            <max_velocity>#{_max_velocity}</max_velocity>
+            <min_acceleration>-#{_max_acceleration}</min_acceleration>
+            <max_acceleration>#{_max_acceleration}</max_acceleration>
+            #{no_odom}
+          </plugin>
+        HEREDOC
+      end
+      wheelSlipPlugin = <<-HEREDOC
+        <plugin filename="ignition-gazebo-wheel-slip-system" name="ignition::gazebo::systems::WheelSlip">
+          #{wheelSlip}
+        </plugin>
+      HEREDOC
+  else
+    trackedVehicle += <<-HEREDOC
+        <plugin name="ignition::gazebo::systems::TrackedVehicle" filename="ignition-gazebo-tracked-vehicle-system">
+              #{trackLinks}
+              <tracks_separation>#{wheelSeparation}</tracks_separation>
+              <tracks_height>0.18094</tracks_height>
+              <steering_efficiency>0.5</steering_efficiency>
+              <topic>/model/#{_name}/cmd_vel_relay</topic>
+              <linear_velocity>
+                  <min_velocity>-#{_max_velocity}</min_velocity>
+                  <max_velocity>#{_max_velocity}</max_velocity>
+                  <min_acceleration>-#{_max_acceleration}</min_acceleration>
+                  <max_acceleration>#{_max_acceleration}</max_acceleration>
+              </linear_velocity>
+          </plugin>
     HEREDOC
   end
 
@@ -85,6 +150,8 @@ def _spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw, _add
       <uri>#{_modelURI}</uri>
       <!-- Diff drive -->
       #{diffDrive}
+      #{trackedVehicle}
+      #{trackControllers}
       <!-- Publish robot state information -->
       <plugin filename="libignition-gazebo-pose-publisher-system.so"
         name="ignition::gazebo::systems::PosePublisher">
@@ -119,9 +186,7 @@ def _spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw, _add
         <type>gas</type>
       </plugin>
       <!-- Wheel slip -->
-      <plugin filename="ignition-gazebo-wheel-slip-system" name="ignition::gazebo::systems::WheelSlip">
-        #{wheelSlip}
-      </plugin>
+      #{wheelSlipPlugin}
       #{_additionalSDF}
     </include>
     </sdf>
diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/model.sdf b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/model.sdf
index 8df5f808..0e4403b0 100644
--- a/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/model.sdf
+++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/model.sdf
@@ -849,26 +849,64 @@
     <link name="left_track">
       <pose>0 0.1985 0 0 -0 0</pose>
       <inertial>
-        <mass>1e-05</mass>
+        <pose>0 0 0.0141 0 -0 0</pose>
+        <mass>6.06</mass>
         <inertia>
-          <ixx>0.001</ixx>
-          <ixy>1e-06</ixy>
-          <ixz>1e-06</ixz>
-          <iyy>0.001</iyy>
-          <iyz>1e-06</iyz>
-          <izz>0.001</izz>
+          <ixx>0.002731</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.032554</iyy>
+          <iyz>1.5e-05</iyz>
+          <izz>0.031391</izz>
         </inertia>
       </inertial>
       <collision name="left_track_collision">
+        <pose>0 0 0.01855 1.5707963267948966 -0 1.5707963267948966</pose>
         <geometry>
           <box>
-            <size>0.01 0.01 0.01</size>
+            <size>0.097 0.178 0.5</size>
           </box>
         </geometry>
         <surface>
           <friction>
             <ode>
-              <mu>0.7</mu>
+              <mu>10</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="left_track_collision_1">
+        <pose>0.25 -0.015 0.01855 1.5707963267948966 -0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.112</length>
+            <radius>0.089</radius>
+          </cylinder>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>10</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="left_track_collision_2">
+        <pose>-0.25 0 0.01855 1.5707963267948966 -0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.097</length>
+            <radius>0.089</radius>
+          </cylinder>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>10</mu>
               <mu2>150</mu2>
               <fdir1>0 0 1</fdir1>
             </ode>
@@ -920,26 +958,98 @@
     <link name="front_left_flipper">
       <pose>0.25 0.272 0.0195 0 0.193732 0</pose>
       <inertial>
-        <mass>1e-05</mass>
+        <pose>0.08 0 0 0 -0 0</pose>
+        <mass>0.75</mass>
         <inertia>
-          <ixx>0.001</ixx>
-          <ixy>1e-06</ixy>
-          <ixz>1e-06</ixz>
-          <iyy>0.001</iyy>
-          <iyz>1e-06</iyz>
-          <izz>0.001</izz>
+          <ixx>0.0017491</ixx>
+          <ixy>2.8512e-07</ixy>
+          <ixz>0.0018277</ixz>
+          <iyy>0.012277</iyy>
+          <iyz>-3.6288e-07</iyz>
+          <izz>0.010941</izz>
         </inertia>
       </inertial>
-      <collision name="front_left_flipper_collision">
+      <collision name="front_left_flipper_collision_large_wheel_collision">
+        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.04981</length>
+            <radius>0.089</radius>
+          </cylinder>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>10</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="front_left_flipper_collision_small_wheel_collision_1">
+        <pose>0.33 0 0 1.5707963267948966 -0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.04981</length>
+            <radius>0.029</radius>
+          </cylinder>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>10</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="front_left_flipper_collision_top_bar_collision_2">
+        <pose>0.165 0 0.0325 0 0.184162 0</pose>
+        <geometry>
+          <box>
+            <size>0.33 0.04981 0.055</size>
+          </box>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>10</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="front_left_flipper_collision_bottom_bar_collision_3">
+        <pose>0.165 0 -0.0325 0 -0.184162 0</pose>
+        <geometry>
+          <box>
+            <size>0.33 0.04981 0.055</size>
+          </box>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>10</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="front_left_flipper_collision_middle_bar_collision_4">
+        <pose>0.166 0 0.004 0 -0.02 0</pose>
         <geometry>
           <box>
-            <size>0.01 0.01 0.01</size>
+            <size>0.2 0.04981 0.07</size>
           </box>
         </geometry>
         <surface>
           <friction>
             <ode>
-              <mu>0.7</mu>
+              <mu>10</mu>
               <mu2>150</mu2>
               <fdir1>0 0 1</fdir1>
             </ode>
@@ -983,11 +1093,11 @@
         </ode>
       </physics>
     </joint>
-    <link name="front_left_flipper_wheel1">
-      <pose>0.25 0.272 0.0195 0 0.193732 0</pose>
+    <link name="rear_left_flipper">
+      <pose>-0.25 0.272 0.0195 3.1415926535897931 0.193732 3.1415926535897931</pose>
       <inertial>
         <pose>0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
+        <mass>0.75</mass>
         <inertia>
           <ixx>0.0017491</ixx>
           <ixy>2.8512e-07</ixy>
@@ -997,7 +1107,7 @@
           <izz>0.010941</izz>
         </inertia>
       </inertial>
-      <collision name="front_left_flipper_wheel1_collision_collision">
+      <collision name="rear_left_flipper_collision_large_wheel_collision">
         <pose>0 0 0 1.5707963267948966 -0 0</pose>
         <geometry>
           <cylinder>
@@ -1006,146 +1116,103 @@
           </cylinder>
         </geometry>
         <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
           <friction>
             <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
+              <mu>10</mu>
+              <mu2>150</mu2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
-    </link>
-    <joint name="front_left_flipper_wheel1_j" type="revolute">
-      <child>front_left_flipper_wheel1</child>
-      <parent>front_left_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="front_left_flipper_wheel2">
-      <pose>0.330957 0.272 0.003617 0 0.193732 0</pose>
-      <inertial>
-        <pose>0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
-        <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
-        </inertia>
-      </inertial>
-      <collision name="front_left_flipper_wheel2_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="rear_left_flipper_collision_small_wheel_collision_1">
+        <pose>0.33 0 0 1.5707963267948966 -0 0</pose>
         <geometry>
           <cylinder>
             <length>0.04981</length>
-            <radius>0.074</radius>
+            <radius>0.029</radius>
           </cylinder>
         </geometry>
         <surface>
-          <contact>
+          <friction>
             <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
+              <mu>10</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
             </ode>
-          </contact>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="rear_left_flipper_collision_top_bar_collision_2">
+        <pose>0.165 0 0.0325 0 0.184162 0</pose>
+        <geometry>
+          <box>
+            <size>0.33 0.04981 0.055</size>
+          </box>
+        </geometry>
+        <surface>
           <friction>
             <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
+              <mu>10</mu>
+              <mu2>150</mu2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
-    </link>
-    <joint name="front_left_flipper_wheel2_j" type="revolute">
-      <child>front_left_flipper_wheel2</child>
-      <parent>front_left_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="front_left_flipper_wheel3">
-      <pose>0.411913 0.272 -0.012266 0 0.193732 0</pose>
-      <inertial>
-        <pose>0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
-        <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
-        </inertia>
-      </inertial>
-      <collision name="front_left_flipper_wheel3_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="rear_left_flipper_collision_bottom_bar_collision_3">
+        <pose>0.165 0 -0.0325 0 -0.184162 0</pose>
         <geometry>
-          <cylinder>
-            <length>0.04981</length>
-            <radius>0.059</radius>
-          </cylinder>
+          <box>
+            <size>0.33 0.04981 0.055</size>
+          </box>
         </geometry>
         <surface>
-          <contact>
+          <friction>
             <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
+              <mu>10</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
             </ode>
-          </contact>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="rear_left_flipper_collision_middle_bar_collision_4">
+        <pose>0.166 0 0.004 0 -0.02 0</pose>
+        <geometry>
+          <box>
+            <size>0.2 0.04981 0.07</size>
+          </box>
+        </geometry>
+        <surface>
           <friction>
             <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
+              <mu>10</mu>
+              <mu2>150</mu2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
+      <visual name="rear_left_flipper_visual">
+        <pose>0 0 0 -2.95743 -0 1.5707963267948966</pose>
+        <geometry>
+          <mesh>
+            <uri>meshes/flipper.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
     </link>
-    <joint name="front_left_flipper_wheel3_j" type="revolute">
-      <child>front_left_flipper_wheel3</child>
-      <parent>front_left_flipper</parent>
+    <joint name="rear_left_flipper_j" type="revolute">
+      <child>rear_left_flipper</child>
+      <parent>left_track</parent>
       <axis>
         <xyz>0 1 0</xyz>
         <limit>
           <lower>-1e+16</lower>
           <upper>1e+16</upper>
+          <effort>20</effort>
+          <velocity>0.785398</velocity>
         </limit>
         <dynamics>
           <spring_reference>0</spring_reference>
@@ -1153,251 +1220,68 @@
         </dynamics>
         <use_parent_model_frame>0</use_parent_model_frame>
       </axis>
+      <physics>
+        <ode>
+          <implicit_spring_damper>1</implicit_spring_damper>
+          <cfm_damping>1</cfm_damping>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+        </ode>
+      </physics>
     </joint>
-    <link name="front_left_flipper_wheel4">
-      <pose>0.49287 0.272 -0.028149 0 0.193732 0</pose>
+    <link name="right_track">
+      <pose>0 -0.1985 0 0 -0 0</pose>
       <inertial>
-        <pose>0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
+        <pose>0 0 0.0141 0 -0 0</pose>
+        <mass>6.06</mass>
         <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
+          <ixx>0.002731</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.032554</iyy>
+          <iyz>1.5e-05</iyz>
+          <izz>0.031391</izz>
         </inertia>
       </inertial>
-      <collision name="front_left_flipper_wheel4_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="right_track_collision">
+        <pose>0 0 0.01855 1.5707963267948966 -0 1.5707963267948966</pose>
         <geometry>
-          <cylinder>
-            <length>0.04981</length>
-            <radius>0.044</radius>
-          </cylinder>
+          <box>
+            <size>0.097 0.178 0.5</size>
+          </box>
         </geometry>
         <surface>
-          <contact>
+          <friction>
             <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
+              <mu>10</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
             </ode>
-          </contact>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="right_track_collision_1">
+        <pose>0.25 0.015 0.01855 1.5707963267948966 -0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.112</length>
+            <radius>0.089</radius>
+          </cylinder>
+        </geometry>
+        <surface>
           <friction>
             <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
+              <mu>10</mu>
+              <mu2>150</mu2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
-    </link>
-    <joint name="front_left_flipper_wheel4_j" type="revolute">
-      <child>front_left_flipper_wheel4</child>
-      <parent>front_left_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="front_left_flipper_wheel5">
-      <pose>0.573827 0.272 -0.044032 0 0.193732 0</pose>
-      <inertial>
-        <pose>0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
-        <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
-        </inertia>
-      </inertial>
-      <collision name="front_left_flipper_wheel5_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.04981</length>
-            <radius>0.029</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-    </link>
-    <joint name="front_left_flipper_wheel5_j" type="revolute">
-      <child>front_left_flipper_wheel5</child>
-      <parent>front_left_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="left_track_wheel1">
-      <pose>0.25 0.1985 0.01855 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0.0141 0 -0 0</pose>
-        <mass>0.7575</mass>
-        <inertia>
-          <ixx>0.002731</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.032554</iyy>
-          <iyz>1.5e-05</iyz>
-          <izz>0.031391</izz>
-        </inertia>
-      </inertial>
-      <collision name="left_track_wheel1_collision">
-        <pose>0 -0.015 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.112</length>
-            <radius>0.089</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-    </link>
-    <joint name="left_track_wheel1_j" type="revolute">
-      <child>left_track_wheel1</child>
-      <parent>left_track</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="left_track_wheel2">
-      <pose>0.178571 0.1985 0.01855 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0.0141 0 -0 0</pose>
-        <mass>0.7575</mass>
-        <inertia>
-          <ixx>0.002731</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.032554</iyy>
-          <iyz>1.5e-05</iyz>
-          <izz>0.031391</izz>
-        </inertia>
-      </inertial>
-      <collision name="left_track_wheel2_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.097</length>
-            <radius>0.089</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-    </link>
-    <joint name="left_track_wheel2_j" type="revolute">
-      <child>left_track_wheel2</child>
-      <parent>left_track</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="left_track_wheel3">
-      <pose>0.107143 0.1985 0.01855 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0.0141 0 -0 0</pose>
-        <mass>0.7575</mass>
-        <inertia>
-          <ixx>0.002731</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.032554</iyy>
-          <iyz>1.5e-05</iyz>
-          <izz>0.031391</izz>
-        </inertia>
-      </inertial>
-      <collision name="left_track_wheel3_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="right_track_collision_2">
+        <pose>-0.25 0 0.01855 1.5707963267948966 -0 0</pose>
         <geometry>
           <cylinder>
             <length>0.097</length>
@@ -1405,89 +1289,34 @@
           </cylinder>
         </geometry>
         <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
           <friction>
             <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
+              <mu>10</mu>
+              <mu2>150</mu2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
-    </link>
-    <joint name="left_track_wheel3_j" type="revolute">
-      <child>left_track_wheel3</child>
-      <parent>left_track</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="left_track_wheel4">
-      <pose>0.035714 0.1985 0.01855 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0.0141 0 -0 0</pose>
-        <mass>0.7575</mass>
-        <inertia>
-          <ixx>0.002731</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.032554</iyy>
-          <iyz>1.5e-05</iyz>
-          <izz>0.031391</izz>
-        </inertia>
-      </inertial>
-      <collision name="left_track_wheel4_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <visual name="right_track_visual">
+        <pose>0 0 -0.0705 1.5707963267948966 0 -1.5707963267948966</pose>
         <geometry>
-          <cylinder>
-            <length>0.097</length>
-            <radius>0.089</radius>
-          </cylinder>
+          <mesh>
+            <uri>meshes/bogie.dae</uri>
+          </mesh>
         </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
+      </visual>
     </link>
-    <joint name="left_track_wheel4_j" type="revolute">
-      <child>left_track_wheel4</child>
-      <parent>left_track</parent>
+    <joint name="right_track_j" type="revolute">
+      <child>right_track</child>
+      <parent>base_link</parent>
       <axis>
         <xyz>0 1 0</xyz>
         <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
+          <lower>0</lower>
+          <upper>0</upper>
+          <effort>0</effort>
+          <velocity>4</velocity>
         </limit>
         <dynamics>
           <spring_reference>0</spring_reference>
@@ -1495,1636 +1324,142 @@
         </dynamics>
         <use_parent_model_frame>0</use_parent_model_frame>
       </axis>
+      <physics>
+        <ode>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+        </ode>
+      </physics>
+      <physics>
+        <ode>
+          <implicit_spring_damper>1</implicit_spring_damper>
+          <cfm>0</cfm>
+          <erp>0.95</erp>
+        </ode>
+      </physics>
     </joint>
-    <link name="left_track_wheel5">
-      <pose>-0.035714 0.1985 0.01855 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0.0141 0 -0 0</pose>
-        <mass>0.7575</mass>
-        <inertia>
-          <ixx>0.002731</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.032554</iyy>
-          <iyz>1.5e-05</iyz>
-          <izz>0.031391</izz>
-        </inertia>
-      </inertial>
-      <collision name="left_track_wheel5_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.097</length>
-            <radius>0.089</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-    </link>
-    <joint name="left_track_wheel5_j" type="revolute">
-      <child>left_track_wheel5</child>
-      <parent>left_track</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="left_track_wheel6">
-      <pose>-0.107143 0.1985 0.01855 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0.0141 0 -0 0</pose>
-        <mass>0.7575</mass>
-        <inertia>
-          <ixx>0.002731</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.032554</iyy>
-          <iyz>1.5e-05</iyz>
-          <izz>0.031391</izz>
-        </inertia>
-      </inertial>
-      <collision name="left_track_wheel6_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.097</length>
-            <radius>0.089</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-    </link>
-    <joint name="left_track_wheel6_j" type="revolute">
-      <child>left_track_wheel6</child>
-      <parent>left_track</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="left_track_wheel7">
-      <pose>-0.178571 0.1985 0.01855 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0.0141 0 -0 0</pose>
-        <mass>0.7575</mass>
-        <inertia>
-          <ixx>0.002731</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.032554</iyy>
-          <iyz>1.5e-05</iyz>
-          <izz>0.031391</izz>
-        </inertia>
-      </inertial>
-      <collision name="left_track_wheel7_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.097</length>
-            <radius>0.089</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-    </link>
-    <joint name="left_track_wheel7_j" type="revolute">
-      <child>left_track_wheel7</child>
-      <parent>left_track</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="left_track_wheel8">
-      <pose>-0.25 0.1985 0.01855 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0.0141 0 -0 0</pose>
-        <mass>0.7575</mass>
-        <inertia>
-          <ixx>0.002731</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.032554</iyy>
-          <iyz>1.5e-05</iyz>
-          <izz>0.031391</izz>
-        </inertia>
-      </inertial>
-      <collision name="left_track_wheel8_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.097</length>
-            <radius>0.089</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-    </link>
-    <joint name="left_track_wheel8_j" type="revolute">
-      <child>left_track_wheel8</child>
-      <parent>left_track</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="rear_left_flipper">
-      <pose>-0.25 0.272 0.0195 3.1415926535897931 0.193732 3.1415926535897931</pose>
-      <inertial>
-        <mass>1e-05</mass>
-        <inertia>
-          <ixx>0.001</ixx>
-          <ixy>1e-06</ixy>
-          <ixz>1e-06</ixz>
-          <iyy>0.001</iyy>
-          <iyz>1e-06</iyz>
-          <izz>0.001</izz>
-        </inertia>
-      </inertial>
-      <collision name="rear_left_flipper_collision">
-        <geometry>
-          <box>
-            <size>0.01 0.01 0.01</size>
-          </box>
-        </geometry>
-        <surface>
-          <friction>
-            <ode>
-              <mu>0.7</mu>
-              <mu2>150</mu2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-      <visual name="rear_left_flipper_visual">
-        <pose>0 0 0 -2.95743 -0 1.5707963267948966</pose>
-        <geometry>
-          <mesh>
-            <uri>meshes/flipper.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-    </link>
-    <joint name="rear_left_flipper_j" type="revolute">
-      <child>rear_left_flipper</child>
-      <parent>left_track</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>20</effort>
-          <velocity>0.785398</velocity>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-      <physics>
-        <ode>
-          <implicit_spring_damper>1</implicit_spring_damper>
-          <cfm_damping>1</cfm_damping>
-          <limit>
-            <cfm>0</cfm>
-            <erp>0.2</erp>
-          </limit>
-        </ode>
-      </physics>
-    </joint>
-    <link name="rear_left_flipper_wheel1">
-      <pose>-0.25 0.272 0.0195 3.1415926535897931 0.193732 3.1415926535897931</pose>
-      <inertial>
-        <pose>0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
-        <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
-        </inertia>
-      </inertial>
-      <collision name="rear_left_flipper_wheel1_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.04981</length>
-            <radius>0.089</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-    </link>
-    <joint name="rear_left_flipper_wheel1_j" type="revolute">
-      <child>rear_left_flipper_wheel1</child>
-      <parent>rear_left_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="rear_left_flipper_wheel2">
-      <pose>-0.330957 0.272 0.003617 3.1415926535897931 0.193732 3.1415926535897931</pose>
-      <inertial>
-        <pose>0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
-        <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
-        </inertia>
-      </inertial>
-      <collision name="rear_left_flipper_wheel2_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.04981</length>
-            <radius>0.074</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-    </link>
-    <joint name="rear_left_flipper_wheel2_j" type="revolute">
-      <child>rear_left_flipper_wheel2</child>
-      <parent>rear_left_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="rear_left_flipper_wheel3">
-      <pose>-0.411913 0.272 -0.012266 3.1415926535897931 0.193732 3.1415926535897931</pose>
-      <inertial>
-        <pose>0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
-        <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
-        </inertia>
-      </inertial>
-      <collision name="rear_left_flipper_wheel3_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.04981</length>
-            <radius>0.059</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-    </link>
-    <joint name="rear_left_flipper_wheel3_j" type="revolute">
-      <child>rear_left_flipper_wheel3</child>
-      <parent>rear_left_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="rear_left_flipper_wheel4">
-      <pose>-0.49287 0.272 -0.028149 3.1415926535897931 0.193732 3.1415926535897931</pose>
-      <inertial>
-        <pose>0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
-        <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
-        </inertia>
-      </inertial>
-      <collision name="rear_left_flipper_wheel4_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.04981</length>
-            <radius>0.044</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-    </link>
-    <joint name="rear_left_flipper_wheel4_j" type="revolute">
-      <child>rear_left_flipper_wheel4</child>
-      <parent>rear_left_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="rear_left_flipper_wheel5">
-      <pose>-0.573827 0.272 -0.044032 3.1415926535897931 0.193732 3.1415926535897931</pose>
-      <inertial>
-        <pose>0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
-        <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
-        </inertia>
-      </inertial>
-      <collision name="rear_left_flipper_wheel5_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.04981</length>
-            <radius>0.029</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-    </link>
-    <joint name="rear_left_flipper_wheel5_j" type="revolute">
-      <child>rear_left_flipper_wheel5</child>
-      <parent>rear_left_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="right_track">
-      <pose>0 -0.1985 0 0 -0 0</pose>
-      <inertial>
-        <mass>1e-05</mass>
-        <inertia>
-          <ixx>0.001</ixx>
-          <ixy>1e-06</ixy>
-          <ixz>1e-06</ixz>
-          <iyy>0.001</iyy>
-          <iyz>1e-06</iyz>
-          <izz>0.001</izz>
-        </inertia>
-      </inertial>
-      <collision name="right_track_collision">
-        <geometry>
-          <box>
-            <size>0.01 0.01 0.01</size>
-          </box>
-        </geometry>
-        <surface>
-          <friction>
-            <ode>
-              <mu>0.7</mu>
-              <mu2>150</mu2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-      <visual name="right_track_visual">
-        <pose>0 0 -0.0705 1.5707963267948966 0 -1.5707963267948966</pose>
-        <geometry>
-          <mesh>
-            <uri>meshes/bogie.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-    </link>
-    <joint name="right_track_j" type="revolute">
-      <child>right_track</child>
-      <parent>base_link</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>0</lower>
-          <upper>0</upper>
-          <effort>0</effort>
-          <velocity>4</velocity>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-      <physics>
-        <ode>
-          <limit>
-            <cfm>0</cfm>
-            <erp>0.2</erp>
-          </limit>
-        </ode>
-      </physics>
-      <physics>
-        <ode>
-          <implicit_spring_damper>1</implicit_spring_damper>
-          <cfm>0</cfm>
-          <erp>0.95</erp>
-        </ode>
-      </physics>
-    </joint>
-    <link name="front_right_flipper">
-      <pose>0.25 -0.272 0.0195 3.1415926535897931 -0.193732 3.1415926535897931</pose>
-      <inertial>
-        <mass>1e-05</mass>
-        <inertia>
-          <ixx>0.001</ixx>
-          <ixy>1e-06</ixy>
-          <ixz>1e-06</ixz>
-          <iyy>0.001</iyy>
-          <iyz>1e-06</iyz>
-          <izz>0.001</izz>
-        </inertia>
-      </inertial>
-      <collision name="front_right_flipper_collision">
-        <geometry>
-          <box>
-            <size>0.01 0.01 0.01</size>
-          </box>
-        </geometry>
-        <surface>
-          <friction>
-            <ode>
-              <mu>0.7</mu>
-              <mu2>150</mu2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-      <visual name="front_right_flipper_visual">
-        <pose>0 0 0 -2.95743 -0 -1.5707963267948966</pose>
-        <geometry>
-          <mesh>
-            <uri>meshes/flipper.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-    </link>
-    <joint name="front_right_flipper_j" type="revolute">
-      <child>front_right_flipper</child>
-      <parent>right_track</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>20</effort>
-          <velocity>0.785398</velocity>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-      <physics>
-        <ode>
-          <implicit_spring_damper>1</implicit_spring_damper>
-          <cfm_damping>1</cfm_damping>
-          <limit>
-            <cfm>0</cfm>
-            <erp>0.2</erp>
-          </limit>
-        </ode>
-      </physics>
-    </joint>
-    <link name="front_right_flipper_wheel1">
-      <pose>0.25 -0.272 0.0195 3.1415926535897931 -0.193732 3.1415926535897931</pose>
-      <inertial>
-        <pose>-0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
-        <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
-        </inertia>
-      </inertial>
-      <collision name="front_right_flipper_wheel1_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.04981</length>
-            <radius>0.089</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-    </link>
-    <joint name="front_right_flipper_wheel1_j" type="revolute">
-      <child>front_right_flipper_wheel1</child>
-      <parent>front_right_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="front_right_flipper_wheel2">
-      <pose>0.330957 -0.272 0.003617 3.1415926535897931 -0.193732 3.1415926535897931</pose>
-      <inertial>
-        <pose>-0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
-        <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
-        </inertia>
-      </inertial>
-      <collision name="front_right_flipper_wheel2_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.04981</length>
-            <radius>0.074</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-    </link>
-    <joint name="front_right_flipper_wheel2_j" type="revolute">
-      <child>front_right_flipper_wheel2</child>
-      <parent>front_right_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="front_right_flipper_wheel3">
-      <pose>0.411913 -0.272 -0.012266 3.1415926535897931 -0.193732 3.1415926535897931</pose>
-      <inertial>
-        <pose>-0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
-        <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
-        </inertia>
-      </inertial>
-      <collision name="front_right_flipper_wheel3_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.04981</length>
-            <radius>0.059</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-    </link>
-    <joint name="front_right_flipper_wheel3_j" type="revolute">
-      <child>front_right_flipper_wheel3</child>
-      <parent>front_right_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="front_right_flipper_wheel4">
-      <pose>0.49287 -0.272 -0.028149 3.1415926535897931 -0.193732 3.1415926535897931</pose>
-      <inertial>
-        <pose>-0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
-        <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
-        </inertia>
-      </inertial>
-      <collision name="front_right_flipper_wheel4_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.04981</length>
-            <radius>0.044</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-    </link>
-    <joint name="front_right_flipper_wheel4_j" type="revolute">
-      <child>front_right_flipper_wheel4</child>
-      <parent>front_right_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="front_right_flipper_wheel5">
-      <pose>0.573827 -0.272 -0.044032 3.1415926535897931 -0.193732 3.1415926535897931</pose>
-      <inertial>
-        <pose>-0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
-        <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
-        </inertia>
-      </inertial>
-      <collision name="front_right_flipper_wheel5_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.04981</length>
-            <radius>0.029</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-    </link>
-    <joint name="front_right_flipper_wheel5_j" type="revolute">
-      <child>front_right_flipper_wheel5</child>
-      <parent>front_right_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="rear_right_flipper">
-      <pose>-0.25 -0.272 0.0195 0 -0.193732 0</pose>
-      <inertial>
-        <mass>1e-05</mass>
-        <inertia>
-          <ixx>0.001</ixx>
-          <ixy>1e-06</ixy>
-          <ixz>1e-06</ixz>
-          <iyy>0.001</iyy>
-          <iyz>1e-06</iyz>
-          <izz>0.001</izz>
-        </inertia>
-      </inertial>
-      <collision name="rear_right_flipper_collision">
-        <geometry>
-          <box>
-            <size>0.01 0.01 0.01</size>
-          </box>
-        </geometry>
-        <surface>
-          <friction>
-            <ode>
-              <mu>0.7</mu>
-              <mu2>150</mu2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-      <visual name="rear_right_flipper_visual">
-        <pose>0 0 0 -2.95743 -0 -1.5707963267948966</pose>
-        <geometry>
-          <mesh>
-            <uri>meshes/flipper.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-    </link>
-    <joint name="rear_right_flipper_j" type="revolute">
-      <child>rear_right_flipper</child>
-      <parent>right_track</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>20</effort>
-          <velocity>0.785398</velocity>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-      <physics>
-        <ode>
-          <implicit_spring_damper>1</implicit_spring_damper>
-          <cfm_damping>1</cfm_damping>
-          <limit>
-            <cfm>0</cfm>
-            <erp>0.2</erp>
-          </limit>
-        </ode>
-      </physics>
-    </joint>
-    <link name="rear_right_flipper_wheel1">
-      <pose>-0.25 -0.272 0.0195 0 -0.193732 0</pose>
-      <inertial>
-        <pose>-0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
-        <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
-        </inertia>
-      </inertial>
-      <collision name="rear_right_flipper_wheel1_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.04981</length>
-            <radius>0.089</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-    </link>
-    <joint name="rear_right_flipper_wheel1_j" type="revolute">
-      <child>rear_right_flipper_wheel1</child>
-      <parent>rear_right_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="rear_right_flipper_wheel2">
-      <pose>-0.330957 -0.272 0.003617 0 -0.193732 0</pose>
-      <inertial>
-        <pose>-0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
-        <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
-        </inertia>
-      </inertial>
-      <collision name="rear_right_flipper_wheel2_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.04981</length>
-            <radius>0.074</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-    </link>
-    <joint name="rear_right_flipper_wheel2_j" type="revolute">
-      <child>rear_right_flipper_wheel2</child>
-      <parent>rear_right_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="rear_right_flipper_wheel3">
-      <pose>-0.411913 -0.272 -0.012266 0 -0.193732 0</pose>
-      <inertial>
-        <pose>-0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
-        <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
-        </inertia>
-      </inertial>
-      <collision name="rear_right_flipper_wheel3_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.04981</length>
-            <radius>0.059</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-    </link>
-    <joint name="rear_right_flipper_wheel3_j" type="revolute">
-      <child>rear_right_flipper_wheel3</child>
-      <parent>rear_right_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="rear_right_flipper_wheel4">
-      <pose>-0.49287 -0.272 -0.028149 0 -0.193732 0</pose>
-      <inertial>
-        <pose>-0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
-        <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
-        </inertia>
-      </inertial>
-      <collision name="rear_right_flipper_wheel4_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.04981</length>
-            <radius>0.044</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-    </link>
-    <joint name="rear_right_flipper_wheel4_j" type="revolute">
-      <child>rear_right_flipper_wheel4</child>
-      <parent>rear_right_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="rear_right_flipper_wheel5">
-      <pose>-0.573827 -0.272 -0.044032 0 -0.193732 0</pose>
-      <inertial>
-        <pose>-0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
-        <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
-        </inertia>
-      </inertial>
-      <collision name="rear_right_flipper_wheel5_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.04981</length>
-            <radius>0.029</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-    </link>
-    <joint name="rear_right_flipper_wheel5_j" type="revolute">
-      <child>rear_right_flipper_wheel5</child>
-      <parent>rear_right_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="right_track_wheel1">
-      <pose>0.25 -0.1985 0.01855 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0.0141 0 -0 0</pose>
-        <mass>0.7575</mass>
-        <inertia>
-          <ixx>0.002731</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.032554</iyy>
-          <iyz>1.5e-05</iyz>
-          <izz>0.031391</izz>
-        </inertia>
-      </inertial>
-      <collision name="right_track_wheel1_collision">
-        <pose>0 0.015 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.112</length>
-            <radius>0.089</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-    </link>
-    <joint name="right_track_wheel1_j" type="revolute">
-      <child>right_track_wheel1</child>
-      <parent>right_track</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="right_track_wheel2">
-      <pose>0.178571 -0.1985 0.01855 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0.0141 0 -0 0</pose>
-        <mass>0.7575</mass>
-        <inertia>
-          <ixx>0.002731</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.032554</iyy>
-          <iyz>1.5e-05</iyz>
-          <izz>0.031391</izz>
-        </inertia>
-      </inertial>
-      <collision name="right_track_wheel2_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.097</length>
-            <radius>0.089</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-    </link>
-    <joint name="right_track_wheel2_j" type="revolute">
-      <child>right_track_wheel2</child>
-      <parent>right_track</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="right_track_wheel3">
-      <pose>0.107143 -0.1985 0.01855 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0.0141 0 -0 0</pose>
-        <mass>0.7575</mass>
-        <inertia>
-          <ixx>0.002731</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.032554</iyy>
-          <iyz>1.5e-05</iyz>
-          <izz>0.031391</izz>
+    <link name="front_right_flipper">
+      <pose>0.25 -0.272 0.0195 3.1415926535897931 -0.193732 3.1415926535897931</pose>
+      <inertial>
+        <pose>-0.08 0 0 0 -0 0</pose>
+        <mass>0.75</mass>
+        <inertia>
+          <ixx>0.0017491</ixx>
+          <ixy>2.8512e-07</ixy>
+          <ixz>0.0018277</ixz>
+          <iyy>0.012277</iyy>
+          <iyz>-3.6288e-07</iyz>
+          <izz>0.010941</izz>
         </inertia>
       </inertial>
-      <collision name="right_track_wheel3_collision">
+      <collision name="front_right_flipper_collision_large_wheel_collision">
         <pose>0 0 0 1.5707963267948966 -0 0</pose>
         <geometry>
           <cylinder>
-            <length>0.097</length>
+            <length>0.04981</length>
             <radius>0.089</radius>
           </cylinder>
         </geometry>
         <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
           <friction>
             <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
+              <mu>10</mu>
+              <mu2>150</mu2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
-    </link>
-    <joint name="right_track_wheel3_j" type="revolute">
-      <child>right_track_wheel3</child>
-      <parent>right_track</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="right_track_wheel4">
-      <pose>0.035714 -0.1985 0.01855 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0.0141 0 -0 0</pose>
-        <mass>0.7575</mass>
-        <inertia>
-          <ixx>0.002731</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.032554</iyy>
-          <iyz>1.5e-05</iyz>
-          <izz>0.031391</izz>
-        </inertia>
-      </inertial>
-      <collision name="right_track_wheel4_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="front_right_flipper_collision_small_wheel_collision_1">
+        <pose>-0.33 0 0 1.5707963267948966 -0 0</pose>
         <geometry>
           <cylinder>
-            <length>0.097</length>
-            <radius>0.089</radius>
+            <length>0.04981</length>
+            <radius>0.029</radius>
           </cylinder>
         </geometry>
         <surface>
-          <contact>
+          <friction>
             <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
+              <mu>10</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
             </ode>
-          </contact>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="front_right_flipper_collision_top_bar_collision_2">
+        <pose>-0.165 0 0.0325 0 0.184162 -3.1415926535897931</pose>
+        <geometry>
+          <box>
+            <size>0.33 0.04981 0.055</size>
+          </box>
+        </geometry>
+        <surface>
           <friction>
             <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
+              <mu>10</mu>
+              <mu2>150</mu2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
-    </link>
-    <joint name="right_track_wheel4_j" type="revolute">
-      <child>right_track_wheel4</child>
-      <parent>right_track</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="right_track_wheel5">
-      <pose>-0.035714 -0.1985 0.01855 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0.0141 0 -0 0</pose>
-        <mass>0.7575</mass>
-        <inertia>
-          <ixx>0.002731</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.032554</iyy>
-          <iyz>1.5e-05</iyz>
-          <izz>0.031391</izz>
-        </inertia>
-      </inertial>
-      <collision name="right_track_wheel5_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="front_right_flipper_collision_bottom_bar_collision_3">
+        <pose>-0.165 0 -0.0325 0 -0.184162 -3.1415926535897931</pose>
         <geometry>
-          <cylinder>
-            <length>0.097</length>
-            <radius>0.089</radius>
-          </cylinder>
+          <box>
+            <size>0.33 0.04981 0.055</size>
+          </box>
         </geometry>
         <surface>
-          <contact>
+          <friction>
             <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
+              <mu>10</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
             </ode>
-          </contact>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="front_right_flipper_collision_middle_bar_collision_4">
+        <pose>-0.166 0 0.004 0 -0.02 -3.1415926535897931</pose>
+        <geometry>
+          <box>
+            <size>0.2 0.04981 0.07</size>
+          </box>
+        </geometry>
+        <surface>
           <friction>
             <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
+              <mu>10</mu>
+              <mu2>150</mu2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
+      <visual name="front_right_flipper_visual">
+        <pose>0 0 0 -2.95743 -0 -1.5707963267948966</pose>
+        <geometry>
+          <mesh>
+            <uri>meshes/flipper.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
     </link>
-    <joint name="right_track_wheel5_j" type="revolute">
-      <child>right_track_wheel5</child>
+    <joint name="front_right_flipper_j" type="revolute">
+      <child>front_right_flipper</child>
       <parent>right_track</parent>
       <axis>
         <xyz>0 1 0</xyz>
         <limit>
           <lower>-1e+16</lower>
           <upper>1e+16</upper>
+          <effort>20</effort>
+          <velocity>0.785398</velocity>
         </limit>
         <dynamics>
           <spring_reference>0</spring_reference>
@@ -3132,170 +1467,137 @@
         </dynamics>
         <use_parent_model_frame>0</use_parent_model_frame>
       </axis>
+      <physics>
+        <ode>
+          <implicit_spring_damper>1</implicit_spring_damper>
+          <cfm_damping>1</cfm_damping>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+        </ode>
+      </physics>
     </joint>
-    <link name="right_track_wheel6">
-      <pose>-0.107143 -0.1985 0.01855 0 -0 0</pose>
+    <link name="rear_right_flipper">
+      <pose>-0.25 -0.272 0.0195 0 -0.193732 0</pose>
       <inertial>
-        <pose>0 0 0.0141 0 -0 0</pose>
-        <mass>0.7575</mass>
+        <pose>-0.08 0 0 0 -0 0</pose>
+        <mass>0.75</mass>
         <inertia>
-          <ixx>0.002731</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.032554</iyy>
-          <iyz>1.5e-05</iyz>
-          <izz>0.031391</izz>
+          <ixx>0.0017491</ixx>
+          <ixy>2.8512e-07</ixy>
+          <ixz>0.0018277</ixz>
+          <iyy>0.012277</iyy>
+          <iyz>-3.6288e-07</iyz>
+          <izz>0.010941</izz>
         </inertia>
       </inertial>
-      <collision name="right_track_wheel6_collision">
+      <collision name="rear_right_flipper_collision_large_wheel_collision">
         <pose>0 0 0 1.5707963267948966 -0 0</pose>
         <geometry>
           <cylinder>
-            <length>0.097</length>
+            <length>0.04981</length>
             <radius>0.089</radius>
           </cylinder>
         </geometry>
         <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
           <friction>
             <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
+              <mu>10</mu>
+              <mu2>150</mu2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
-    </link>
-    <joint name="right_track_wheel6_j" type="revolute">
-      <child>right_track_wheel6</child>
-      <parent>right_track</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="right_track_wheel7">
-      <pose>-0.178571 -0.1985 0.01855 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0.0141 0 -0 0</pose>
-        <mass>0.7575</mass>
-        <inertia>
-          <ixx>0.002731</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.032554</iyy>
-          <iyz>1.5e-05</iyz>
-          <izz>0.031391</izz>
-        </inertia>
-      </inertial>
-      <collision name="right_track_wheel7_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="rear_right_flipper_collision_small_wheel_collision_1">
+        <pose>-0.33 0 0 1.5707963267948966 -0 0</pose>
         <geometry>
           <cylinder>
-            <length>0.097</length>
-            <radius>0.089</radius>
+            <length>0.04981</length>
+            <radius>0.029</radius>
           </cylinder>
         </geometry>
         <surface>
-          <contact>
+          <friction>
             <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
+              <mu>10</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
             </ode>
-          </contact>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="rear_right_flipper_collision_top_bar_collision_2">
+        <pose>-0.165 0 0.0325 0 0.184162 -3.1415926535897931</pose>
+        <geometry>
+          <box>
+            <size>0.33 0.04981 0.055</size>
+          </box>
+        </geometry>
+        <surface>
           <friction>
             <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
+              <mu>10</mu>
+              <mu2>150</mu2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
-    </link>
-    <joint name="right_track_wheel7_j" type="revolute">
-      <child>right_track_wheel7</child>
-      <parent>right_track</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="right_track_wheel8">
-      <pose>-0.25 -0.1985 0.01855 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0.0141 0 -0 0</pose>
-        <mass>0.7575</mass>
-        <inertia>
-          <ixx>0.002731</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.032554</iyy>
-          <iyz>1.5e-05</iyz>
-          <izz>0.031391</izz>
-        </inertia>
-      </inertial>
-      <collision name="right_track_wheel8_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="rear_right_flipper_collision_bottom_bar_collision_3">
+        <pose>-0.165 0 -0.0325 0 -0.184162 -3.1415926535897931</pose>
         <geometry>
-          <cylinder>
-            <length>0.097</length>
-            <radius>0.089</radius>
-          </cylinder>
+          <box>
+            <size>0.33 0.04981 0.055</size>
+          </box>
         </geometry>
         <surface>
-          <contact>
+          <friction>
             <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
+              <mu>10</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
             </ode>
-          </contact>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="rear_right_flipper_collision_middle_bar_collision_4">
+        <pose>-0.166 0 0.004 0 -0.02 -3.1415926535897931</pose>
+        <geometry>
+          <box>
+            <size>0.2 0.04981 0.07</size>
+          </box>
+        </geometry>
+        <surface>
           <friction>
             <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
+              <mu>10</mu>
+              <mu2>150</mu2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
+      <visual name="rear_right_flipper_visual">
+        <pose>0 0 0 -2.95743 -0 -1.5707963267948966</pose>
+        <geometry>
+          <mesh>
+            <uri>meshes/flipper.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
     </link>
-    <joint name="right_track_wheel8_j" type="revolute">
-      <child>right_track_wheel8</child>
+    <joint name="rear_right_flipper_j" type="revolute">
+      <child>rear_right_flipper</child>
       <parent>right_track</parent>
       <axis>
         <xyz>0 1 0</xyz>
         <limit>
           <lower>-1e+16</lower>
           <upper>1e+16</upper>
+          <effort>20</effort>
+          <velocity>0.785398</velocity>
         </limit>
         <dynamics>
           <spring_reference>0</spring_reference>
@@ -3303,6 +1605,16 @@
         </dynamics>
         <use_parent_model_frame>0</use_parent_model_frame>
       </axis>
+      <physics>
+        <ode>
+          <implicit_spring_damper>1</implicit_spring_damper>
+          <cfm_damping>1</cfm_damping>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+        </ode>
+      </physics>
     </joint>
     <plugin name="cras::FlipperControlPlugin" filename="libflipper_control_plugin.so">
       <joint_name>front_left_flipper_j</joint_name>
diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/urdf/nifti_robot.xacro b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/urdf/nifti_robot.xacro
index 5bd60a65..7ecd0b95 100644
--- a/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/urdf/nifti_robot.xacro
+++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/urdf/nifti_robot.xacro
@@ -2,12 +2,12 @@
 <robot name="ctu_cras_norlab_absolem_sensor_config_1" xmlns:xacro="http://www.ros.org/wiki/xacro">
 	<xacro:arg name="name" default="" />
 	<xacro:if value="${len('$(arg name)') == 0}">
-		<xacro:arg name="prefix" default="" />	
+		<xacro:arg name="prefix" default="" />
 	</xacro:if>
 	<xacro:unless value="${len('$(arg name)') == 0}">
-		<xacro:arg name="prefix" default="$(arg name)/" />	
+		<xacro:arg name="prefix" default="$(arg name)/" />
 	</xacro:unless>
-	
+
 	<xacro:arg default="744.85132" name="camera_4_fy"/>
 	<xacro:arg default="747.96984" name="camera_4_fx"/>
 	<xacro:arg default="1616" name="camera_3_height"/>
@@ -317,8 +317,9 @@
 	<!-- ARGUMENTS FOR SAFE EXPLORATION -->
 	<xacro:arg name="base_link_cog_offset" default="0.0" />
 
-	
+
 	<xacro:arg name="rendering_target" default="urdf" /> <!-- Pass either "urdf" or "sdf" to tell the parser what is the desired target format. -->
+	<xacro:arg name="wheels_instead_of_tracks" default="true" />
 
     <!-- 17.0 for real max torque, 3.0; 40.0 for real 6.0 -->
     <xacro:arg name="max_flipper_torque" default="17.0" />
@@ -357,7 +358,7 @@
 
     <xacro:arg name="laser_update_rate" default="1000.0" />
 
-	
+
 	<!-- MEASURED CONSTANTS -->
 
 	<xacro:property name="body_scale" value="1.0" />
@@ -946,13 +947,45 @@
 									</material>
 							</visual>
 					</xacro:if>
-					<collision>
-							<origin rpy="0 0 0" xyz="0 0 0"/>
+					<xacro:if value="${$(arg wheels_instead_of_tracks)}">
+						<collision>
+								<origin rpy="0 0 0" xyz="0 0 0"/>
+								<geometry>
+										<box size="0.01 0.01 0.01"/>
+								</geometry>
+						</collision>
+						<xacro:default_inertial />
+					</xacro:if>
+					<xacro:unless value="${$(arg wheels_instead_of_tracks)}">
+						<collision>
+							<origin xyz="0 0 0.01855" rpy="${pi/2} 0 ${pi/2}" />
 							<geometry>
-									<box size="0.01 0.01 0.01"/>
+								<box size="$(arg rover_trackWidth) ${2*$(arg rover_trackWheelRadius)} $(arg rover_trackLength)"/>
 							</geometry>
-					</collision>
-					<xacro:default_inertial />
+						</collision>
+						<collision>
+							<origin rpy="${pi/2} 0 0" xyz="${$(arg rover_trackLength)/2} ${-reflect*$(arg track_inward_enlargement)} 0.01855"/>
+							<geometry>
+								<!-- enlarged because of laser filtering problems -->
+								<cylinder radius="$(arg rover_trackWheelRadius)" length="${$(arg rover_trackWidth)+$(arg track_inward_enlargement)}"/>
+							</geometry>
+						</collision>
+						<collision>
+							<origin rpy="${pi/2} 0 0" xyz="${-$(arg rover_trackLength)/2} 0 0.01855"/>
+							<geometry>
+								<cylinder radius="$(arg rover_trackWheelRadius)" length="$(arg rover_trackWidth)"/>
+							</geometry>
+						</collision>
+						<inertial>
+							<origin xyz="0 0 0.0141" rpy="0 0 0"/>
+							<mass value="${track_mass}"/>
+							<xacro:inertia_meshlab
+									ixx="0.002731" ixy="0" ixz="0"
+									iyy="0.032554" iyz="0.000015"
+									izz="0.031391"
+									scale="${track_scale}" mass="${track_mass}" />
+						</inertial>
+					</xacro:unless>
 			</link>
 			<joint name="${prefix}_track_j" type="revolute">
 					<parent link="$(arg prefix)base_link"/>
@@ -966,15 +999,17 @@
 							<xacro:track_joint_properties track_fixed="$(arg robot_fixed)" track_angle="$(arg right_track_angle)" />
 					</xacro:if>
 			</joint>
-		
-			<xacro:fake_wheel prefix="${prefix}" reflect="${reflect}" num_wheels="8" wheel_num="1" />
-			<xacro:fake_wheel prefix="${prefix}" reflect="${reflect}" num_wheels="8" wheel_num="2" />
-			<xacro:fake_wheel prefix="${prefix}" reflect="${reflect}" num_wheels="8" wheel_num="3" />
-			<xacro:fake_wheel prefix="${prefix}" reflect="${reflect}" num_wheels="8" wheel_num="4" />
-			<xacro:fake_wheel prefix="${prefix}" reflect="${reflect}" num_wheels="8" wheel_num="5" />
-			<xacro:fake_wheel prefix="${prefix}" reflect="${reflect}" num_wheels="8" wheel_num="6" />
-			<xacro:fake_wheel prefix="${prefix}" reflect="${reflect}" num_wheels="8" wheel_num="7" />
-			<xacro:fake_wheel prefix="${prefix}" reflect="${reflect}" num_wheels="8" wheel_num="8" />
+
+			<xacro:if value="${$(arg wheels_instead_of_tracks)}">
+				<xacro:fake_wheel prefix="${prefix}" reflect="${reflect}" num_wheels="8" wheel_num="1" />
+				<xacro:fake_wheel prefix="${prefix}" reflect="${reflect}" num_wheels="8" wheel_num="2" />
+				<xacro:fake_wheel prefix="${prefix}" reflect="${reflect}" num_wheels="8" wheel_num="3" />
+				<xacro:fake_wheel prefix="${prefix}" reflect="${reflect}" num_wheels="8" wheel_num="4" />
+				<xacro:fake_wheel prefix="${prefix}" reflect="${reflect}" num_wheels="8" wheel_num="5" />
+				<xacro:fake_wheel prefix="${prefix}" reflect="${reflect}" num_wheels="8" wheel_num="6" />
+				<xacro:fake_wheel prefix="${prefix}" reflect="${reflect}" num_wheels="8" wheel_num="7" />
+				<xacro:fake_wheel prefix="${prefix}" reflect="${reflect}" num_wheels="8" wheel_num="8" />
+			</xacro:if>
 	</xacro:macro>
 
 	<xacro:macro name="fake_wheel" params="prefix reflect num_wheels wheel_num">
@@ -983,10 +1018,10 @@
 						<xacro:if value="${wheel_num == 1}">
 							<origin rpy="${pi/2} 0 0" xyz="0 ${-reflect*$(arg track_inward_enlargement)} 0"/>
 							<geometry>
-									<cylinder radius="$(arg rover_trackWheelRadius)" length="${$(arg rover_trackWidth)+$(arg track_inward_enlargement)}"/>									
+									<cylinder radius="$(arg rover_trackWheelRadius)" length="${$(arg rover_trackWidth)+$(arg track_inward_enlargement)}"/>
 							</geometry>
 						</xacro:if>
-						
+
 						<xacro:unless value="${wheel_num == 1}">
 							<origin rpy="${pi/2} 0 0" xyz="0 0 0"/>
 							<geometry>
@@ -994,7 +1029,7 @@
 							</geometry>
 						</xacro:unless>
 					</collision>
-				
+
 					<inertial>
 							<origin xyz="0 0 0.0141" rpy="0 0 0"/>
 							<mass value="${track_mass/num_wheels}"/>
@@ -1012,7 +1047,7 @@
 					<origin xyz="${$(arg rover_trackLength)/2 - (wheel_num-1)*$(arg rover_trackLength)/(num_wheels-1)} 0 0.01855" rpy="0 0 0" />
 			</joint>
 	</xacro:macro>
-	
+
 	<xacro:macro name="track_joint_properties" params="track_fixed track_angle reflect:=^">
 			<origin xyz="0 ${reflect*$(arg rover_trackDistance)/2.0} 0" rpy="0 ${track_angle} 0" />
 
@@ -1045,13 +1080,57 @@
 												filename="package://ctu_cras_norlab_absolem_sensor_config_1/meshes/flipper.dae"/>
 							</geometry>
 					</visual>
-					<collision>
-							<origin rpy="0 0 0" xyz="0 0 0"/>
+
+					<xacro:if value="${$(arg wheels_instead_of_tracks)}">
+						<collision>
+								<origin rpy="0 0 0" xyz="0 0 0"/>
+								<geometry>
+										<box size="0.01 0.01 0.01"/>
+								</geometry>
+						</collision>
+						<xacro:default_inertial />
+					</xacro:if>
+					<xacro:unless value="${$(arg wheels_instead_of_tracks)}">
+						<collision name="${prefix1}_${prefix2}_flipper_collision_large_wheel">
+							<origin rpy="${pi/2} 0 0" xyz="0 ${-reflect_y*$(arg flipper_inward_enlargement)*do_inward_enlargement/2.0} 0"/>
 							<geometry>
-									<box size="0.01 0.01 0.01"/>
+								<cylinder length="${$(arg rover_flipperWidth)+$(arg flipper_inward_enlargement)*do_inward_enlargement}" radius="$(arg rover_trackWheelRadius)" />
 							</geometry>
-					</collision>
-					<xacro:default_inertial />
+						</collision>
+						<collision name="${prefix1}_${prefix2}_flipper_collision_small_wheel">
+							<origin rpy="${pi/2} 0 0" xyz="${reflect_y*$(arg rover_flipperLength)} ${-reflect_y*$(arg flipper_inward_enlargement)*do_inward_enlargement/2.0} 0.0"/>
+							<geometry>
+								<cylinder length="${$(arg rover_flipperWidth)+$(arg flipper_inward_enlargement)*do_inward_enlargement}" radius="${0.029 + 0.029*($(arg flipper_inflation_ratio)-1)*do_inward_enlargement}" />
+							</geometry>
+						</collision>
+						<collision name="${prefix1}_${prefix2}_flipper_collision_top_bar">
+							<origin rpy="0 0.184162095 ${(1-reflect_y)*pi/2}" xyz="${reflect_y*$(arg rover_flipperLength)/2.0} ${-reflect_y*$(arg flipper_inward_enlargement)*do_inward_enlargement/2.0} 0.0325"/>
+							<geometry>
+								<box size="$(arg rover_flipperLength) ${$(arg rover_flipperWidth)+$(arg flipper_inward_enlargement)*do_inward_enlargement} ${0.055 + 0.055*($(arg flipper_inflation_ratio)-1)*do_inward_enlargement}" />
+							</geometry>
+						</collision>
+						<collision name="${prefix1}_${prefix2}_flipper_collision_bottom_bar">
+							<origin rpy="0 -0.184162095 ${(1-reflect_y)*pi/2}" xyz="${reflect_y*$(arg rover_flipperLength)/2} ${-reflect_y*$(arg flipper_inward_enlargement)*do_inward_enlargement/2.0} -0.0325"/>
+							<geometry>
+								<box size="$(arg rover_flipperLength) ${$(arg rover_flipperWidth)+$(arg flipper_inward_enlargement)*do_inward_enlargement} ${0.055 + 0.055*($(arg flipper_inflation_ratio)-1)*do_inward_enlargement}" />
+							</geometry>
+						</collision>
+						<collision name="${prefix1}_${prefix2}_flipper_collision_middle_bar">
+							<origin rpy="0 -0.02 ${(1-reflect_y)*pi/2}" xyz="${reflect_y*($(arg rover_flipperLength)/2.0 + 0.001)} ${-reflect_y*$(arg flipper_inward_enlargement)*do_inward_enlargement/2.0} 0.004"/>
+							<geometry>
+								<box size="0.20 ${$(arg rover_flipperWidth)+$(arg flipper_inward_enlargement)*do_inward_enlargement} 0.07" />
+							</geometry>
+						</collision>
+						<inertial>
+							<origin xyz="${reflect_y*0.08} 0 0.0" rpy="0 0 0"/>
+							<mass value="${flipper_mass}"/>
+							<xacro:inertia_meshlab
+									ixx="1.7491e-003" ixy="2.8512e-007" ixz="1.8277e-003"
+									iyy="1.2277e-002" iyz="-3.6288e-007"
+									izz="1.0941e-002"
+									scale="${flipper_scale}" mass="${flipper_mass}" />
+						</inertial>
+					</xacro:unless>
 <!--					<sensor name="${prefix1}_${prefix2}_flipper_contact" type="contact">-->
 <!--							<contact>-->
 <!--									<collision>${prefix1}_${prefix2}_flipper_collision_wheel1</collision>-->
@@ -1074,12 +1153,14 @@
 			<xacro:if value="${reflect_x == -1 and reflect_y == -1}">
 					<xacro:flipper_joint flipper_fixed="$(arg robot_fixed)" flipper_angle="$(arg rear_right_flipper_angle)" />
 			</xacro:if>
-		
-			<xacro:flipper_fake_wheel prefix1="${prefix1}" prefix2="${prefix2}" reflect_y="${reflect_y}" do_inward_enlargement="${do_inward_enlargement}" num_wheels="5" wheel_num="1" />
-			<xacro:flipper_fake_wheel prefix1="${prefix1}" prefix2="${prefix2}" reflect_y="${reflect_y}" do_inward_enlargement="${do_inward_enlargement}" num_wheels="5" wheel_num="2" />
-			<xacro:flipper_fake_wheel prefix1="${prefix1}" prefix2="${prefix2}" reflect_y="${reflect_y}" do_inward_enlargement="${do_inward_enlargement}" num_wheels="5" wheel_num="3" />
-			<xacro:flipper_fake_wheel prefix1="${prefix1}" prefix2="${prefix2}" reflect_y="${reflect_y}" do_inward_enlargement="${do_inward_enlargement}" num_wheels="5" wheel_num="4" />
-			<xacro:flipper_fake_wheel prefix1="${prefix1}" prefix2="${prefix2}" reflect_y="${reflect_y}" do_inward_enlargement="${do_inward_enlargement}" num_wheels="5" wheel_num="5" />
+
+			<xacro:if value="${$(arg wheels_instead_of_tracks)}">
+				<xacro:flipper_fake_wheel prefix1="${prefix1}" prefix2="${prefix2}" reflect_y="${reflect_y}" do_inward_enlargement="${do_inward_enlargement}" num_wheels="5" wheel_num="1" />
+				<xacro:flipper_fake_wheel prefix1="${prefix1}" prefix2="${prefix2}" reflect_y="${reflect_y}" do_inward_enlargement="${do_inward_enlargement}" num_wheels="5" wheel_num="2" />
+				<xacro:flipper_fake_wheel prefix1="${prefix1}" prefix2="${prefix2}" reflect_y="${reflect_y}" do_inward_enlargement="${do_inward_enlargement}" num_wheels="5" wheel_num="3" />
+				<xacro:flipper_fake_wheel prefix1="${prefix1}" prefix2="${prefix2}" reflect_y="${reflect_y}" do_inward_enlargement="${do_inward_enlargement}" num_wheels="5" wheel_num="4" />
+				<xacro:flipper_fake_wheel prefix1="${prefix1}" prefix2="${prefix2}" reflect_y="${reflect_y}" do_inward_enlargement="${do_inward_enlargement}" num_wheels="5" wheel_num="5" />
+			</xacro:if>
 
 			<link name="$(arg prefix)${prefix1}_${prefix2}_flipper_end_point"/>
 			<joint name="${prefix1}_${prefix2}_flipper_end_point_j" type="fixed">
@@ -1088,7 +1169,7 @@
 					<origin xyz="${reflect_y * ($(arg rover_flipperLength) + 0.0176)} 0 0" rpy="0 $(arg rover_flipperOffset) 0"/>
 			</joint>
 	</xacro:macro>
-	
+
 	<xacro:macro name="flipper_fake_wheel" params="prefix1 prefix2 reflect_y do_inward_enlargement num_wheels wheel_num">
 			<link name="$(arg prefix)${prefix1}_${prefix2}_flipper_wheel${wheel_num}">
 					<collision name="${prefix1}_${prefix2}_flipper_wheel${wheel_num}_collision">
@@ -1279,7 +1360,7 @@
 
 			<xacro:empty_link name="$(arg prefix)omnicam_bottom" />
 			<xacro:fixed_joint name="omnicam_bottom_j" parent="$(arg prefix)omnicam_forward" child="$(arg prefix)omnicam_bottom" xyz="0 0 -0.066" rpy="0 0 0" />
-			
+
 			<xacro:empty_link name="$(arg prefix)camera_0" />
 			<xacro:calibrated_fixed_joint name="camera_0_j" parent="omnicam" child="camera_0" />
 			<xacro:empty_link name="$(arg prefix)camera_1" />
@@ -1418,7 +1499,7 @@
 						<rotation_angular_limit>1.618994</rotation_angular_limit>
 					</plugin>
         </xacro:if>
-			
+
 				<plugin filename="libignition-gazebo-joint-state-publisher-system.so" name="ignition::gazebo::systems::JointStatePublisher">
 					<!--joint_name>left_track_j</joint_name>
 					<joint_name>right_track_j</joint_name-->
@@ -1428,7 +1509,7 @@
 						<joint_name>rear_left_flipper_j</joint_name>
 						<joint_name>rear_right_flipper_j</joint_name>
 					</xacro:if>
-					<xacro:if value="$(arg has_sick_lidar)">	
+					<xacro:if value="$(arg has_sick_lidar)">
 						<joint_name>laser_j</joint_name>
 					</xacro:if>
 				</plugin>
@@ -1539,22 +1620,24 @@
 	<gazebo reference="$(arg prefix)left_track"><xacro:gazebo_track_tags /></gazebo>
 	<gazebo reference="$(arg prefix)right_track"><xacro:gazebo_track_tags /></gazebo>
 
-	<gazebo reference="$(arg prefix)left_track_wheel1"><xacro:gazebo_track_wheel_tags /></gazebo>
-	<gazebo reference="$(arg prefix)right_track_wheel1"><xacro:gazebo_track_wheel_tags /></gazebo>
-	<gazebo reference="$(arg prefix)left_track_wheel2"><xacro:gazebo_track_wheel_tags /></gazebo>
-	<gazebo reference="$(arg prefix)right_track_wheel2"><xacro:gazebo_track_wheel_tags /></gazebo>
-	<gazebo reference="$(arg prefix)left_track_wheel3"><xacro:gazebo_track_wheel_tags /></gazebo>
-	<gazebo reference="$(arg prefix)right_track_wheel3"><xacro:gazebo_track_wheel_tags /></gazebo>
-	<gazebo reference="$(arg prefix)left_track_wheel4"><xacro:gazebo_track_wheel_tags /></gazebo>
-	<gazebo reference="$(arg prefix)right_track_wheel4"><xacro:gazebo_track_wheel_tags /></gazebo>
-	<gazebo reference="$(arg prefix)left_track_wheel5"><xacro:gazebo_track_wheel_tags /></gazebo>
-	<gazebo reference="$(arg prefix)right_track_wheel5"><xacro:gazebo_track_wheel_tags /></gazebo>
-	<gazebo reference="$(arg prefix)left_track_wheel6"><xacro:gazebo_track_wheel_tags /></gazebo>
-	<gazebo reference="$(arg prefix)right_track_wheel6"><xacro:gazebo_track_wheel_tags /></gazebo>
-	<gazebo reference="$(arg prefix)left_track_wheel7"><xacro:gazebo_track_wheel_tags /></gazebo>
-	<gazebo reference="$(arg prefix)right_track_wheel7"><xacro:gazebo_track_wheel_tags /></gazebo>
-	<gazebo reference="$(arg prefix)left_track_wheel8"><xacro:gazebo_track_wheel_tags /></gazebo>
-	<gazebo reference="$(arg prefix)right_track_wheel8"><xacro:gazebo_track_wheel_tags /></gazebo>
+	<xacro:if value="${$(arg wheels_instead_of_tracks)}">
+		<gazebo reference="$(arg prefix)left_track_wheel1"><xacro:gazebo_track_wheel_tags /></gazebo>
+		<gazebo reference="$(arg prefix)right_track_wheel1"><xacro:gazebo_track_wheel_tags /></gazebo>
+		<gazebo reference="$(arg prefix)left_track_wheel2"><xacro:gazebo_track_wheel_tags /></gazebo>
+		<gazebo reference="$(arg prefix)right_track_wheel2"><xacro:gazebo_track_wheel_tags /></gazebo>
+		<gazebo reference="$(arg prefix)left_track_wheel3"><xacro:gazebo_track_wheel_tags /></gazebo>
+		<gazebo reference="$(arg prefix)right_track_wheel3"><xacro:gazebo_track_wheel_tags /></gazebo>
+		<gazebo reference="$(arg prefix)left_track_wheel4"><xacro:gazebo_track_wheel_tags /></gazebo>
+		<gazebo reference="$(arg prefix)right_track_wheel4"><xacro:gazebo_track_wheel_tags /></gazebo>
+		<gazebo reference="$(arg prefix)left_track_wheel5"><xacro:gazebo_track_wheel_tags /></gazebo>
+		<gazebo reference="$(arg prefix)right_track_wheel5"><xacro:gazebo_track_wheel_tags /></gazebo>
+		<gazebo reference="$(arg prefix)left_track_wheel6"><xacro:gazebo_track_wheel_tags /></gazebo>
+		<gazebo reference="$(arg prefix)right_track_wheel6"><xacro:gazebo_track_wheel_tags /></gazebo>
+		<gazebo reference="$(arg prefix)left_track_wheel7"><xacro:gazebo_track_wheel_tags /></gazebo>
+		<gazebo reference="$(arg prefix)right_track_wheel7"><xacro:gazebo_track_wheel_tags /></gazebo>
+		<gazebo reference="$(arg prefix)left_track_wheel8"><xacro:gazebo_track_wheel_tags /></gazebo>
+		<gazebo reference="$(arg prefix)right_track_wheel8"><xacro:gazebo_track_wheel_tags /></gazebo>
+	</xacro:if>
 
     <xacro:if value="$(arg has_flippers)">
 		<gazebo reference="$(arg prefix)front_left_flipper"><xacro:gazebo_flipper_tags /></gazebo>
@@ -1562,26 +1645,28 @@
 		<gazebo reference="$(arg prefix)rear_left_flipper"><xacro:gazebo_flipper_tags /></gazebo>
 		<gazebo reference="$(arg prefix)rear_right_flipper"><xacro:gazebo_flipper_tags /></gazebo>
 
-		<gazebo reference="$(arg prefix)front_left_flipper_wheel1"><xacro:gazebo_flipper_wheel_tags /></gazebo>
-		<gazebo reference="$(arg prefix)front_right_flipper_wheel1"><xacro:gazebo_flipper_wheel_tags /></gazebo>
-		<gazebo reference="$(arg prefix)rear_left_flipper_wheel1"><xacro:gazebo_flipper_wheel_tags /></gazebo>
-		<gazebo reference="$(arg prefix)rear_right_flipper_wheel1"><xacro:gazebo_flipper_wheel_tags /></gazebo>
-		<gazebo reference="$(arg prefix)front_left_flipper_wheel2"><xacro:gazebo_flipper_wheel_tags /></gazebo>
-		<gazebo reference="$(arg prefix)front_right_flipper_wheel2"><xacro:gazebo_flipper_wheel_tags /></gazebo>
-		<gazebo reference="$(arg prefix)rear_left_flipper_wheel2"><xacro:gazebo_flipper_wheel_tags /></gazebo>
-		<gazebo reference="$(arg prefix)rear_right_flipper_wheel2"><xacro:gazebo_flipper_wheel_tags /></gazebo>
-		<gazebo reference="$(arg prefix)front_left_flipper_wheel3"><xacro:gazebo_flipper_wheel_tags /></gazebo>
-		<gazebo reference="$(arg prefix)front_right_flipper_wheel3"><xacro:gazebo_flipper_wheel_tags /></gazebo>
-		<gazebo reference="$(arg prefix)rear_left_flipper_wheel3"><xacro:gazebo_flipper_wheel_tags /></gazebo>
-		<gazebo reference="$(arg prefix)rear_right_flipper_wheel3"><xacro:gazebo_flipper_wheel_tags /></gazebo>
-		<gazebo reference="$(arg prefix)front_left_flipper_wheel4"><xacro:gazebo_flipper_wheel_tags /></gazebo>
-		<gazebo reference="$(arg prefix)front_right_flipper_wheel4"><xacro:gazebo_flipper_wheel_tags /></gazebo>
-		<gazebo reference="$(arg prefix)rear_left_flipper_wheel4"><xacro:gazebo_flipper_wheel_tags /></gazebo>
-		<gazebo reference="$(arg prefix)rear_right_flipper_wheel4"><xacro:gazebo_flipper_wheel_tags /></gazebo>
-		<gazebo reference="$(arg prefix)front_left_flipper_wheel5"><xacro:gazebo_flipper_wheel_tags /></gazebo>
-		<gazebo reference="$(arg prefix)front_right_flipper_wheel5"><xacro:gazebo_flipper_wheel_tags /></gazebo>
-		<gazebo reference="$(arg prefix)rear_left_flipper_wheel5"><xacro:gazebo_flipper_wheel_tags /></gazebo>
-		<gazebo reference="$(arg prefix)rear_right_flipper_wheel5"><xacro:gazebo_flipper_wheel_tags /></gazebo>
+		<xacro:if value="${$(arg wheels_instead_of_tracks)}">
+			<gazebo reference="$(arg prefix)front_left_flipper_wheel1"><xacro:gazebo_flipper_wheel_tags /></gazebo>
+			<gazebo reference="$(arg prefix)front_right_flipper_wheel1"><xacro:gazebo_flipper_wheel_tags /></gazebo>
+			<gazebo reference="$(arg prefix)rear_left_flipper_wheel1"><xacro:gazebo_flipper_wheel_tags /></gazebo>
+			<gazebo reference="$(arg prefix)rear_right_flipper_wheel1"><xacro:gazebo_flipper_wheel_tags /></gazebo>
+			<gazebo reference="$(arg prefix)front_left_flipper_wheel2"><xacro:gazebo_flipper_wheel_tags /></gazebo>
+			<gazebo reference="$(arg prefix)front_right_flipper_wheel2"><xacro:gazebo_flipper_wheel_tags /></gazebo>
+			<gazebo reference="$(arg prefix)rear_left_flipper_wheel2"><xacro:gazebo_flipper_wheel_tags /></gazebo>
+			<gazebo reference="$(arg prefix)rear_right_flipper_wheel2"><xacro:gazebo_flipper_wheel_tags /></gazebo>
+			<gazebo reference="$(arg prefix)front_left_flipper_wheel3"><xacro:gazebo_flipper_wheel_tags /></gazebo>
+			<gazebo reference="$(arg prefix)front_right_flipper_wheel3"><xacro:gazebo_flipper_wheel_tags /></gazebo>
+			<gazebo reference="$(arg prefix)rear_left_flipper_wheel3"><xacro:gazebo_flipper_wheel_tags /></gazebo>
+			<gazebo reference="$(arg prefix)rear_right_flipper_wheel3"><xacro:gazebo_flipper_wheel_tags /></gazebo>
+			<gazebo reference="$(arg prefix)front_left_flipper_wheel4"><xacro:gazebo_flipper_wheel_tags /></gazebo>
+			<gazebo reference="$(arg prefix)front_right_flipper_wheel4"><xacro:gazebo_flipper_wheel_tags /></gazebo>
+			<gazebo reference="$(arg prefix)rear_left_flipper_wheel4"><xacro:gazebo_flipper_wheel_tags /></gazebo>
+			<gazebo reference="$(arg prefix)rear_right_flipper_wheel4"><xacro:gazebo_flipper_wheel_tags /></gazebo>
+			<gazebo reference="$(arg prefix)front_left_flipper_wheel5"><xacro:gazebo_flipper_wheel_tags /></gazebo>
+			<gazebo reference="$(arg prefix)front_right_flipper_wheel5"><xacro:gazebo_flipper_wheel_tags /></gazebo>
+			<gazebo reference="$(arg prefix)rear_left_flipper_wheel5"><xacro:gazebo_flipper_wheel_tags /></gazebo>
+			<gazebo reference="$(arg prefix)rear_right_flipper_wheel5"><xacro:gazebo_flipper_wheel_tags /></gazebo>
+		</xacro:if>
     </xacro:if>
 
     <xacro:if value="$(arg has_sick_lidar)">
diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_3/model.sdf b/submitted_models/ctu_cras_norlab_absolem_sensor_config_3/model.sdf
index baf05902..ee07f78a 100644
--- a/submitted_models/ctu_cras_norlab_absolem_sensor_config_3/model.sdf
+++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_3/model.sdf
@@ -663,26 +663,64 @@
     <link name="left_track">
       <pose>0 0.1985 0 0 -0 0</pose>
       <inertial>
-        <mass>1e-05</mass>
+        <pose>0 0 0.0141 0 -0 0</pose>
+        <mass>6.06</mass>
         <inertia>
-          <ixx>0.001</ixx>
-          <ixy>1e-06</ixy>
-          <ixz>1e-06</ixz>
-          <iyy>0.001</iyy>
-          <iyz>1e-06</iyz>
-          <izz>0.001</izz>
+          <ixx>0.002731</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.032554</iyy>
+          <iyz>1.5e-05</iyz>
+          <izz>0.031391</izz>
         </inertia>
       </inertial>
       <collision name="left_track_collision">
+        <pose>0 0 0.01855 1.5707963267948966 -0 1.5707963267948966</pose>
         <geometry>
           <box>
-            <size>0.01 0.01 0.01</size>
+            <size>0.097 0.178 0.5</size>
           </box>
         </geometry>
         <surface>
           <friction>
             <ode>
-              <mu>0.7</mu>
+              <mu>10</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="left_track_collision_1">
+        <pose>0.25 -0.015 0.01855 1.5707963267948966 -0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.112</length>
+            <radius>0.089</radius>
+          </cylinder>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>10</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="left_track_collision_2">
+        <pose>-0.25 0 0.01855 1.5707963267948966 -0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.097</length>
+            <radius>0.089</radius>
+          </cylinder>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>10</mu>
               <mu2>150</mu2>
               <fdir1>0 0 1</fdir1>
             </ode>
@@ -734,26 +772,98 @@
     <link name="front_left_flipper">
       <pose>0.25 0.272 0.0195 0 0.193732 0</pose>
       <inertial>
-        <mass>1e-05</mass>
+        <pose>0.08 0 0 0 -0 0</pose>
+        <mass>0.75</mass>
         <inertia>
-          <ixx>0.001</ixx>
-          <ixy>1e-06</ixy>
-          <ixz>1e-06</ixz>
-          <iyy>0.001</iyy>
-          <iyz>1e-06</iyz>
-          <izz>0.001</izz>
+          <ixx>0.0017491</ixx>
+          <ixy>2.8512e-07</ixy>
+          <ixz>0.0018277</ixz>
+          <iyy>0.012277</iyy>
+          <iyz>-3.6288e-07</iyz>
+          <izz>0.010941</izz>
         </inertia>
       </inertial>
-      <collision name="front_left_flipper_collision">
+      <collision name="front_left_flipper_collision_large_wheel_collision">
+        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.04981</length>
+            <radius>0.089</radius>
+          </cylinder>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>10</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="front_left_flipper_collision_small_wheel_collision_1">
+        <pose>0.33 0 0 1.5707963267948966 -0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.04981</length>
+            <radius>0.029</radius>
+          </cylinder>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>10</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="front_left_flipper_collision_top_bar_collision_2">
+        <pose>0.165 0 0.0325 0 0.184162 0</pose>
+        <geometry>
+          <box>
+            <size>0.33 0.04981 0.055</size>
+          </box>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>10</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="front_left_flipper_collision_bottom_bar_collision_3">
+        <pose>0.165 0 -0.0325 0 -0.184162 0</pose>
+        <geometry>
+          <box>
+            <size>0.33 0.04981 0.055</size>
+          </box>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>10</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="front_left_flipper_collision_middle_bar_collision_4">
+        <pose>0.166 0 0.004 0 -0.02 0</pose>
         <geometry>
           <box>
-            <size>0.01 0.01 0.01</size>
+            <size>0.2 0.04981 0.07</size>
           </box>
         </geometry>
         <surface>
           <friction>
             <ode>
-              <mu>0.7</mu>
+              <mu>10</mu>
               <mu2>150</mu2>
               <fdir1>0 0 1</fdir1>
             </ode>
@@ -797,11 +907,11 @@
         </ode>
       </physics>
     </joint>
-    <link name="front_left_flipper_wheel1">
-      <pose>0.25 0.272 0.0195 0 0.193732 0</pose>
+    <link name="rear_left_flipper">
+      <pose>-0.25 0.272 0.0195 3.1415926535897931 0.193732 3.1415926535897931</pose>
       <inertial>
         <pose>0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
+        <mass>0.75</mass>
         <inertia>
           <ixx>0.0017491</ixx>
           <ixy>2.8512e-07</ixy>
@@ -811,7 +921,7 @@
           <izz>0.010941</izz>
         </inertia>
       </inertial>
-      <collision name="front_left_flipper_wheel1_collision_collision">
+      <collision name="rear_left_flipper_collision_large_wheel_collision">
         <pose>0 0 0 1.5707963267948966 -0 0</pose>
         <geometry>
           <cylinder>
@@ -820,317 +930,103 @@
           </cylinder>
         </geometry>
         <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
           <friction>
             <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
+              <mu>10</mu>
+              <mu2>150</mu2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
-    </link>
-    <joint name="front_left_flipper_wheel1_j" type="revolute">
-      <child>front_left_flipper_wheel1</child>
-      <parent>front_left_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="front_left_flipper_wheel2">
-      <pose>0.330957 0.272 0.003617 0 0.193732 0</pose>
-      <inertial>
-        <pose>0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
-        <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
-        </inertia>
-      </inertial>
-      <collision name="front_left_flipper_wheel2_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="rear_left_flipper_collision_small_wheel_collision_1">
+        <pose>0.33 0 0 1.5707963267948966 -0 0</pose>
         <geometry>
           <cylinder>
             <length>0.04981</length>
-            <radius>0.074</radius>
+            <radius>0.029</radius>
           </cylinder>
         </geometry>
         <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
           <friction>
             <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
+              <mu>10</mu>
+              <mu2>150</mu2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
-    </link>
-    <joint name="front_left_flipper_wheel2_j" type="revolute">
-      <child>front_left_flipper_wheel2</child>
-      <parent>front_left_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="front_left_flipper_wheel3">
-      <pose>0.411913 0.272 -0.012266 0 0.193732 0</pose>
-      <inertial>
-        <pose>0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
-        <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
-        </inertia>
-      </inertial>
-      <collision name="front_left_flipper_wheel3_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="rear_left_flipper_collision_top_bar_collision_2">
+        <pose>0.165 0 0.0325 0 0.184162 0</pose>
         <geometry>
-          <cylinder>
-            <length>0.04981</length>
-            <radius>0.059</radius>
-          </cylinder>
+          <box>
+            <size>0.33 0.04981 0.055</size>
+          </box>
         </geometry>
         <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
           <friction>
             <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
+              <mu>10</mu>
+              <mu2>150</mu2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
-    </link>
-    <joint name="front_left_flipper_wheel3_j" type="revolute">
-      <child>front_left_flipper_wheel3</child>
-      <parent>front_left_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="front_left_flipper_wheel4">
-      <pose>0.49287 0.272 -0.028149 0 0.193732 0</pose>
-      <inertial>
-        <pose>0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
-        <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
-        </inertia>
-      </inertial>
-      <collision name="front_left_flipper_wheel4_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="rear_left_flipper_collision_bottom_bar_collision_3">
+        <pose>0.165 0 -0.0325 0 -0.184162 0</pose>
         <geometry>
-          <cylinder>
-            <length>0.04981</length>
-            <radius>0.044</radius>
-          </cylinder>
+          <box>
+            <size>0.33 0.04981 0.055</size>
+          </box>
         </geometry>
         <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
           <friction>
             <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
+              <mu>10</mu>
+              <mu2>150</mu2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
-    </link>
-    <joint name="front_left_flipper_wheel4_j" type="revolute">
-      <child>front_left_flipper_wheel4</child>
-      <parent>front_left_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="front_left_flipper_wheel5">
-      <pose>0.573827 0.272 -0.044032 0 0.193732 0</pose>
-      <inertial>
-        <pose>0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
-        <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
-        </inertia>
-      </inertial>
-      <collision name="front_left_flipper_wheel5_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="rear_left_flipper_collision_middle_bar_collision_4">
+        <pose>0.166 0 0.004 0 -0.02 0</pose>
         <geometry>
-          <cylinder>
-            <length>0.04981</length>
-            <radius>0.029</radius>
-          </cylinder>
+          <box>
+            <size>0.2 0.04981 0.07</size>
+          </box>
         </geometry>
         <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
           <friction>
             <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
+              <mu>10</mu>
+              <mu2>150</mu2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
+      <visual name="rear_left_flipper_visual">
+        <pose>0 0 0 -2.95743 -0 1.5707963267948966</pose>
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/flipper.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
     </link>
-    <joint name="front_left_flipper_wheel5_j" type="revolute">
-      <child>front_left_flipper_wheel5</child>
-      <parent>front_left_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="left_track_wheel1">
-      <pose>0.25 0.1985 0.01855 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0.0141 0 -0 0</pose>
-        <mass>0.7575</mass>
-        <inertia>
-          <ixx>0.002731</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.032554</iyy>
-          <iyz>1.5e-05</iyz>
-          <izz>0.031391</izz>
-        </inertia>
-      </inertial>
-      <collision name="left_track_wheel1_collision">
-        <pose>0 -0.015 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.112</length>
-            <radius>0.089</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-    </link>
-    <joint name="left_track_wheel1_j" type="revolute">
-      <child>left_track_wheel1</child>
-      <parent>left_track</parent>
+    <joint name="rear_left_flipper_j" type="revolute">
+      <child>rear_left_flipper</child>
+      <parent>left_track</parent>
       <axis>
         <xyz>0 1 0</xyz>
         <limit>
           <lower>-1e+16</lower>
           <upper>1e+16</upper>
+          <effort>20</effort>
+          <velocity>0.785398</velocity>
         </limit>
         <dynamics>
           <spring_reference>0</spring_reference>
@@ -1138,1669 +1034,182 @@
         </dynamics>
         <use_parent_model_frame>0</use_parent_model_frame>
       </axis>
+      <physics>
+        <ode>
+          <implicit_spring_damper>1</implicit_spring_damper>
+          <cfm_damping>1</cfm_damping>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+        </ode>
+      </physics>
     </joint>
-    <link name="left_track_wheel2">
-      <pose>0.178571 0.1985 0.01855 0 -0 0</pose>
+    <link name="cliff_sensor_0">
+      <pose>0.275 0.119535 0.2035 -1.5707963267948966 1.5707963267948966 0</pose>
       <inertial>
-        <pose>0 0 0.0141 0 -0 0</pose>
-        <mass>0.7575</mass>
+        <pose>0.0105 0 0.00925 0 -0 0</pose>
+        <mass>0.012</mass>
         <inertia>
-          <ixx>0.002731</ixx>
+          <ixx>1.56725e-06</ixx>
           <ixy>0</ixy>
           <ixz>0</ixz>
-          <iyy>0.032554</iyy>
-          <iyz>1.5e-05</iyz>
-          <izz>0.031391</izz>
+          <iyy>7.8325e-07</iyy>
+          <iyz>0</iyz>
+          <izz>1.666e-06</izz>
         </inertia>
       </inertial>
-      <collision name="left_track_wheel2_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="cliff_sensor_0_collision">
+        <pose>0.0105 0 0.00925 0 -0 0</pose>
         <geometry>
-          <cylinder>
-            <length>0.097</length>
-            <radius>0.089</radius>
-          </cylinder>
+          <box>
+            <size>0.021 0.035 0.0185</size>
+          </box>
         </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
       </collision>
-    </link>
-    <joint name="left_track_wheel2_j" type="revolute">
-      <child>left_track_wheel2</child>
-      <parent>left_track</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="left_track_wheel3">
-      <pose>0.107143 0.1985 0.01855 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0.0141 0 -0 0</pose>
-        <mass>0.7575</mass>
-        <inertia>
-          <ixx>0.002731</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.032554</iyy>
-          <iyz>1.5e-05</iyz>
-          <izz>0.031391</izz>
-        </inertia>
-      </inertial>
-      <collision name="left_track_wheel3_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <visual name="cliff_sensor_0_visual">
         <geometry>
-          <cylinder>
-            <length>0.097</length>
-            <radius>0.089</radius>
-          </cylinder>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/tfmini_plus_lidar.dae</uri>
+          </mesh>
         </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
+      </visual>
+      <sensor name="laser" type="gpu_lidar">
+        <pose>0.021 0 0.00925 0 -0 0</pose>
+        <update_rate>10</update_rate>
+        <visualize>0</visualize>
+        <always_on>1</always_on>
+        <lidar>
+          <scan>
+            <horizontal>
+              <samples>3</samples>
+              <resolution>1</resolution>
+              <min_angle>-0.0314159</min_angle>
+              <max_angle>0.0314159</max_angle>
+            </horizontal>
+            <vertical>
+              <samples>3</samples>
+              <resolution>1</resolution>
+              <min_angle>-0.0314159</min_angle>
+              <max_angle>0.0314159</max_angle>
+            </vertical>
+          </scan>
+          <range>
+            <min>0.1</min>
+            <max>12</max>
+            <resolution>0.01</resolution>
+          </range>
+          <noise>
+            <type>gaussian</type>
+            <mean>0</mean>
+            <stddev>0.015</stddev>
+          </noise>
+        </lidar>
+      </sensor>
     </link>
-    <joint name="left_track_wheel3_j" type="revolute">
-      <child>left_track_wheel3</child>
-      <parent>left_track</parent>
+    <joint name="cliff_sensor_0_j" type="fixed">
+      <child>cliff_sensor_0</child>
+      <parent>base_link</parent>
       <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
         <dynamics>
           <spring_reference>0</spring_reference>
           <spring_stiffness>0</spring_stiffness>
         </dynamics>
+        <xyz>0 0 1</xyz>
         <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="left_track_wheel4">
-      <pose>0.035714 0.1985 0.01855 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0.0141 0 -0 0</pose>
-        <mass>0.7575</mass>
-        <inertia>
-          <ixx>0.002731</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.032554</iyy>
-          <iyz>1.5e-05</iyz>
-          <izz>0.031391</izz>
-        </inertia>
-      </inertial>
-      <collision name="left_track_wheel4_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.097</length>
-            <radius>0.089</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-    </link>
-    <joint name="left_track_wheel4_j" type="revolute">
-      <child>left_track_wheel4</child>
-      <parent>left_track</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
         <limit>
           <lower>-1e+16</lower>
           <upper>1e+16</upper>
         </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
       </axis>
+      <physics>
+        <ode>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+        </ode>
+      </physics>
     </joint>
-    <link name="left_track_wheel5">
-      <pose>-0.035714 0.1985 0.01855 0 -0 0</pose>
+    <link name="cliff_sensor_1">
+      <pose>0.275 -0.120465 0.2035 1.5707963267948966 1.5707963267948966 0</pose>
       <inertial>
-        <pose>0 0 0.0141 0 -0 0</pose>
-        <mass>0.7575</mass>
+        <pose>0.0105 0 0.00925 0 -0 0</pose>
+        <mass>0.012</mass>
         <inertia>
-          <ixx>0.002731</ixx>
+          <ixx>1.56725e-06</ixx>
           <ixy>0</ixy>
           <ixz>0</ixz>
-          <iyy>0.032554</iyy>
-          <iyz>1.5e-05</iyz>
-          <izz>0.031391</izz>
-        </inertia>
-      </inertial>
-      <collision name="left_track_wheel5_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.097</length>
-            <radius>0.089</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-    </link>
-    <joint name="left_track_wheel5_j" type="revolute">
-      <child>left_track_wheel5</child>
-      <parent>left_track</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="left_track_wheel6">
-      <pose>-0.107143 0.1985 0.01855 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0.0141 0 -0 0</pose>
-        <mass>0.7575</mass>
-        <inertia>
-          <ixx>0.002731</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.032554</iyy>
-          <iyz>1.5e-05</iyz>
-          <izz>0.031391</izz>
-        </inertia>
-      </inertial>
-      <collision name="left_track_wheel6_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.097</length>
-            <radius>0.089</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-    </link>
-    <joint name="left_track_wheel6_j" type="revolute">
-      <child>left_track_wheel6</child>
-      <parent>left_track</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="left_track_wheel7">
-      <pose>-0.178571 0.1985 0.01855 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0.0141 0 -0 0</pose>
-        <mass>0.7575</mass>
-        <inertia>
-          <ixx>0.002731</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.032554</iyy>
-          <iyz>1.5e-05</iyz>
-          <izz>0.031391</izz>
-        </inertia>
-      </inertial>
-      <collision name="left_track_wheel7_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.097</length>
-            <radius>0.089</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-    </link>
-    <joint name="left_track_wheel7_j" type="revolute">
-      <child>left_track_wheel7</child>
-      <parent>left_track</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="left_track_wheel8">
-      <pose>-0.25 0.1985 0.01855 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0.0141 0 -0 0</pose>
-        <mass>0.7575</mass>
-        <inertia>
-          <ixx>0.002731</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.032554</iyy>
-          <iyz>1.5e-05</iyz>
-          <izz>0.031391</izz>
-        </inertia>
-      </inertial>
-      <collision name="left_track_wheel8_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.097</length>
-            <radius>0.089</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-    </link>
-    <joint name="left_track_wheel8_j" type="revolute">
-      <child>left_track_wheel8</child>
-      <parent>left_track</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="rear_left_flipper">
-      <pose>-0.25 0.272 0.0195 3.1415926535897931 0.193732 3.1415926535897931</pose>
-      <inertial>
-        <mass>1e-05</mass>
-        <inertia>
-          <ixx>0.001</ixx>
-          <ixy>1e-06</ixy>
-          <ixz>1e-06</ixz>
-          <iyy>0.001</iyy>
-          <iyz>1e-06</iyz>
-          <izz>0.001</izz>
-        </inertia>
-      </inertial>
-      <collision name="rear_left_flipper_collision">
-        <geometry>
-          <box>
-            <size>0.01 0.01 0.01</size>
-          </box>
-        </geometry>
-        <surface>
-          <friction>
-            <ode>
-              <mu>0.7</mu>
-              <mu2>150</mu2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-      <visual name="rear_left_flipper_visual">
-        <pose>0 0 0 -2.95743 -0 1.5707963267948966</pose>
-        <geometry>
-          <mesh>
-            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/flipper.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-    </link>
-    <joint name="rear_left_flipper_j" type="revolute">
-      <child>rear_left_flipper</child>
-      <parent>left_track</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>20</effort>
-          <velocity>0.785398</velocity>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-      <physics>
-        <ode>
-          <implicit_spring_damper>1</implicit_spring_damper>
-          <cfm_damping>1</cfm_damping>
-          <limit>
-            <cfm>0</cfm>
-            <erp>0.2</erp>
-          </limit>
-        </ode>
-      </physics>
-    </joint>
-    <link name="rear_left_flipper_wheel1">
-      <pose>-0.25 0.272 0.0195 3.1415926535897931 0.193732 3.1415926535897931</pose>
-      <inertial>
-        <pose>0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
-        <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
-        </inertia>
-      </inertial>
-      <collision name="rear_left_flipper_wheel1_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.04981</length>
-            <radius>0.089</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-    </link>
-    <joint name="rear_left_flipper_wheel1_j" type="revolute">
-      <child>rear_left_flipper_wheel1</child>
-      <parent>rear_left_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="rear_left_flipper_wheel2">
-      <pose>-0.330957 0.272 0.003617 3.1415926535897931 0.193732 3.1415926535897931</pose>
-      <inertial>
-        <pose>0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
-        <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
-        </inertia>
-      </inertial>
-      <collision name="rear_left_flipper_wheel2_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.04981</length>
-            <radius>0.074</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-    </link>
-    <joint name="rear_left_flipper_wheel2_j" type="revolute">
-      <child>rear_left_flipper_wheel2</child>
-      <parent>rear_left_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="rear_left_flipper_wheel3">
-      <pose>-0.411913 0.272 -0.012266 3.1415926535897931 0.193732 3.1415926535897931</pose>
-      <inertial>
-        <pose>0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
-        <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
-        </inertia>
-      </inertial>
-      <collision name="rear_left_flipper_wheel3_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.04981</length>
-            <radius>0.059</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-    </link>
-    <joint name="rear_left_flipper_wheel3_j" type="revolute">
-      <child>rear_left_flipper_wheel3</child>
-      <parent>rear_left_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="rear_left_flipper_wheel4">
-      <pose>-0.49287 0.272 -0.028149 3.1415926535897931 0.193732 3.1415926535897931</pose>
-      <inertial>
-        <pose>0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
-        <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
-        </inertia>
-      </inertial>
-      <collision name="rear_left_flipper_wheel4_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.04981</length>
-            <radius>0.044</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-    </link>
-    <joint name="rear_left_flipper_wheel4_j" type="revolute">
-      <child>rear_left_flipper_wheel4</child>
-      <parent>rear_left_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="rear_left_flipper_wheel5">
-      <pose>-0.573827 0.272 -0.044032 3.1415926535897931 0.193732 3.1415926535897931</pose>
-      <inertial>
-        <pose>0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
-        <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
-        </inertia>
-      </inertial>
-      <collision name="rear_left_flipper_wheel5_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.04981</length>
-            <radius>0.029</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-    </link>
-    <joint name="rear_left_flipper_wheel5_j" type="revolute">
-      <child>rear_left_flipper_wheel5</child>
-      <parent>rear_left_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="cliff_sensor_0">
-      <pose>0.275 0.119535 0.2035 -1.5707963267948966 1.5707963267948966 0</pose>
-      <inertial>
-        <pose>0.0105 0 0.00925 0 -0 0</pose>
-        <mass>0.012</mass>
-        <inertia>
-          <ixx>1.56725e-06</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>7.8325e-07</iyy>
-          <iyz>0</iyz>
-          <izz>1.666e-06</izz>
-        </inertia>
-      </inertial>
-      <collision name="cliff_sensor_0_collision">
-        <pose>0.0105 0 0.00925 0 -0 0</pose>
-        <geometry>
-          <box>
-            <size>0.021 0.035 0.0185</size>
-          </box>
-        </geometry>
-      </collision>
-      <visual name="cliff_sensor_0_visual">
-        <geometry>
-          <mesh>
-            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/tfmini_plus_lidar.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-      <sensor name="laser" type="gpu_lidar">
-        <pose>0.021 0 0.00925 0 -0 0</pose>
-        <update_rate>10</update_rate>
-        <visualize>0</visualize>
-        <always_on>1</always_on>
-        <lidar>
-          <scan>
-            <horizontal>
-              <samples>3</samples>
-              <resolution>1</resolution>
-              <min_angle>-0.0314159</min_angle>
-              <max_angle>0.0314159</max_angle>
-            </horizontal>
-            <vertical>
-              <samples>3</samples>
-              <resolution>1</resolution>
-              <min_angle>-0.0314159</min_angle>
-              <max_angle>0.0314159</max_angle>
-            </vertical>
-          </scan>
-          <range>
-            <min>0.1</min>
-            <max>12</max>
-            <resolution>0.01</resolution>
-          </range>
-          <noise>
-            <type>gaussian</type>
-            <mean>0</mean>
-            <stddev>0.015</stddev>
-          </noise>
-        </lidar>
-      </sensor>
-    </link>
-    <joint name="cliff_sensor_0_j" type="fixed">
-      <child>cliff_sensor_0</child>
-      <parent>base_link</parent>
-      <axis>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <xyz>0 0 1</xyz>
-        <use_parent_model_frame>0</use_parent_model_frame>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-      </axis>
-      <physics>
-        <ode>
-          <limit>
-            <cfm>0</cfm>
-            <erp>0.2</erp>
-          </limit>
-        </ode>
-      </physics>
-    </joint>
-    <link name="cliff_sensor_1">
-      <pose>0.275 -0.120465 0.2035 1.5707963267948966 1.5707963267948966 0</pose>
-      <inertial>
-        <pose>0.0105 0 0.00925 0 -0 0</pose>
-        <mass>0.012</mass>
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-          <ixx>1.56725e-06</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>7.8325e-07</iyy>
-          <iyz>0</iyz>
-          <izz>1.666e-06</izz>
-        </inertia>
-      </inertial>
-      <collision name="cliff_sensor_1_collision">
-        <pose>0.0105 0 0.00925 0 -0 0</pose>
-        <geometry>
-          <box>
-            <size>0.021 0.035 0.0185</size>
-          </box>
-        </geometry>
-      </collision>
-      <visual name="cliff_sensor_1_visual">
-        <geometry>
-          <mesh>
-            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/tfmini_plus_lidar.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-      <sensor name="laser" type="gpu_lidar">
-        <pose>0.021 0 0.00925 0 -0 0</pose>
-        <update_rate>10</update_rate>
-        <visualize>0</visualize>
-        <always_on>1</always_on>
-        <lidar>
-          <scan>
-            <horizontal>
-              <samples>3</samples>
-              <resolution>1</resolution>
-              <min_angle>-0.0314159</min_angle>
-              <max_angle>0.0314159</max_angle>
-            </horizontal>
-            <vertical>
-              <samples>3</samples>
-              <resolution>1</resolution>
-              <min_angle>-0.0314159</min_angle>
-              <max_angle>0.0314159</max_angle>
-            </vertical>
-          </scan>
-          <range>
-            <min>0.1</min>
-            <max>12</max>
-            <resolution>0.01</resolution>
-          </range>
-          <noise>
-            <type>gaussian</type>
-            <mean>0</mean>
-            <stddev>0.015</stddev>
-          </noise>
-        </lidar>
-      </sensor>
-    </link>
-    <joint name="cliff_sensor_1_j" type="fixed">
-      <child>cliff_sensor_1</child>
-      <parent>base_link</parent>
-      <axis>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <xyz>0 0 1</xyz>
-        <use_parent_model_frame>0</use_parent_model_frame>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-      </axis>
-      <physics>
-        <ode>
-          <limit>
-            <cfm>0</cfm>
-            <erp>0.2</erp>
-          </limit>
-        </ode>
-      </physics>
-    </joint>
-    <link name="cliff_sensor_2">
-      <pose>-0.275 0.119535 0.2035 -1.5707963267948966 1.5707963267948966 0</pose>
-      <inertial>
-        <pose>0.0105 0 0.00925 0 -0 0</pose>
-        <mass>0.012</mass>
-        <inertia>
-          <ixx>1.56725e-06</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>7.8325e-07</iyy>
-          <iyz>0</iyz>
-          <izz>1.666e-06</izz>
-        </inertia>
-      </inertial>
-      <collision name="cliff_sensor_2_collision">
-        <pose>0.0105 0 0.00925 0 -0 0</pose>
-        <geometry>
-          <box>
-            <size>0.021 0.035 0.0185</size>
-          </box>
-        </geometry>
-      </collision>
-      <visual name="cliff_sensor_2_visual">
-        <geometry>
-          <mesh>
-            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/tfmini_plus_lidar.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-      <sensor name="laser" type="gpu_lidar">
-        <pose>0.021 0 0.00925 0 -0 0</pose>
-        <update_rate>10</update_rate>
-        <visualize>0</visualize>
-        <always_on>1</always_on>
-        <lidar>
-          <scan>
-            <horizontal>
-              <samples>3</samples>
-              <resolution>1</resolution>
-              <min_angle>-0.0314159</min_angle>
-              <max_angle>0.0314159</max_angle>
-            </horizontal>
-            <vertical>
-              <samples>3</samples>
-              <resolution>1</resolution>
-              <min_angle>-0.0314159</min_angle>
-              <max_angle>0.0314159</max_angle>
-            </vertical>
-          </scan>
-          <range>
-            <min>0.1</min>
-            <max>12</max>
-            <resolution>0.01</resolution>
-          </range>
-          <noise>
-            <type>gaussian</type>
-            <mean>0</mean>
-            <stddev>0.015</stddev>
-          </noise>
-        </lidar>
-      </sensor>
-    </link>
-    <joint name="cliff_sensor_2_j" type="fixed">
-      <child>cliff_sensor_2</child>
-      <parent>base_link</parent>
-      <axis>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <xyz>0 0 1</xyz>
-        <use_parent_model_frame>0</use_parent_model_frame>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-      </axis>
-      <physics>
-        <ode>
-          <limit>
-            <cfm>0</cfm>
-            <erp>0.2</erp>
-          </limit>
-        </ode>
-      </physics>
-    </joint>
-    <link name="cliff_sensor_3">
-      <pose>-0.275 -0.120465 0.2035 1.5707963267948966 1.5707963267948966 0</pose>
-      <inertial>
-        <pose>0.0105 0 0.00925 0 -0 0</pose>
-        <mass>0.012</mass>
-        <inertia>
-          <ixx>1.56725e-06</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>7.8325e-07</iyy>
-          <iyz>0</iyz>
-          <izz>1.666e-06</izz>
-        </inertia>
-      </inertial>
-      <collision name="cliff_sensor_3_collision">
-        <pose>0.0105 0 0.00925 0 -0 0</pose>
-        <geometry>
-          <box>
-            <size>0.021 0.035 0.0185</size>
-          </box>
-        </geometry>
-      </collision>
-      <visual name="cliff_sensor_3_visual">
-        <geometry>
-          <mesh>
-            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/tfmini_plus_lidar.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-      <sensor name="laser" type="gpu_lidar">
-        <pose>0.021 0 0.00925 0 -0 0</pose>
-        <update_rate>10</update_rate>
-        <visualize>0</visualize>
-        <always_on>1</always_on>
-        <lidar>
-          <scan>
-            <horizontal>
-              <samples>3</samples>
-              <resolution>1</resolution>
-              <min_angle>-0.0314159</min_angle>
-              <max_angle>0.0314159</max_angle>
-            </horizontal>
-            <vertical>
-              <samples>3</samples>
-              <resolution>1</resolution>
-              <min_angle>-0.0314159</min_angle>
-              <max_angle>0.0314159</max_angle>
-            </vertical>
-          </scan>
-          <range>
-            <min>0.1</min>
-            <max>12</max>
-            <resolution>0.01</resolution>
-          </range>
-          <noise>
-            <type>gaussian</type>
-            <mean>0</mean>
-            <stddev>0.015</stddev>
-          </noise>
-        </lidar>
-      </sensor>
-    </link>
-    <joint name="cliff_sensor_3_j" type="fixed">
-      <child>cliff_sensor_3</child>
-      <parent>base_link</parent>
-      <axis>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <xyz>0 0 1</xyz>
-        <use_parent_model_frame>0</use_parent_model_frame>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-      </axis>
-      <physics>
-        <ode>
-          <limit>
-            <cfm>0</cfm>
-            <erp>0.2</erp>
-          </limit>
-        </ode>
-      </physics>
-    </joint>
-    <link name="laser">
-      <pose>0.1615 0 0.39 0 0.25 0</pose>
-      <inertial>
-        <pose>0 0 0.03675 0 -0 0</pose>
-        <mass>0.5</mass>
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-          <ixx>0.000461625</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.000461625</iyy>
-          <iyz>0</iyz>
-          <izz>0.000473063</izz>
-        </inertia>
-      </inertial>
-      <collision name="laser_collision">
-        <pose>0 0 0.03675 0 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.0735</length>
-            <radius>0.0435</radius>
-          </cylinder>
-        </geometry>
-      </collision>
-      <visual name="laser_visual">
-        <geometry>
-          <mesh>
-            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/ouster-os0.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-      <sensor name="laser" type="gpu_lidar">
-        <pose>0 0 0.035925 0 -0 0</pose>
-        <update_rate>10</update_rate>
-        <visualize>0</visualize>
-        <always_on>1</always_on>
-        <lidar>
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-            <horizontal>
-              <samples>2048</samples>
-              <resolution>1</resolution>
-              <min_angle>-3.1459</min_angle>
-              <max_angle>3.1459</max_angle>
-            </horizontal>
-            <vertical>
-              <samples>128</samples>
-              <resolution>1</resolution>
-              <min_angle>-0.785398</min_angle>
-              <max_angle>0.785398</max_angle>
-            </vertical>
-          </scan>
-          <range>
-            <min>0.1</min>
-            <max>50</max>
-            <resolution>0.01</resolution>
-          </range>
-          <noise>
-            <type>gaussian</type>
-            <mean>0</mean>
-            <stddev>0.01</stddev>
-          </noise>
-        </lidar>
-      </sensor>
-    </link>
-    <joint name="laser_j" type="fixed">
-      <child>laser</child>
-      <parent>base_link</parent>
-      <axis>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <xyz>0 0 1</xyz>
-        <use_parent_model_frame>0</use_parent_model_frame>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-      </axis>
-      <physics>
-        <ode>
-          <limit>
-            <cfm>0</cfm>
-            <erp>0.2</erp>
-          </limit>
-        </ode>
-      </physics>
-    </joint>
-    <link name="right_track">
-      <pose>0 -0.1985 0 0 -0 0</pose>
-      <inertial>
-        <mass>1e-05</mass>
-        <inertia>
-          <ixx>0.001</ixx>
-          <ixy>1e-06</ixy>
-          <ixz>1e-06</ixz>
-          <iyy>0.001</iyy>
-          <iyz>1e-06</iyz>
-          <izz>0.001</izz>
-        </inertia>
-      </inertial>
-      <collision name="right_track_collision">
-        <geometry>
-          <box>
-            <size>0.01 0.01 0.01</size>
-          </box>
-        </geometry>
-        <surface>
-          <friction>
-            <ode>
-              <mu>0.7</mu>
-              <mu2>150</mu2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-      <visual name="right_track_visual">
-        <pose>0 0 -0.0705 1.5707963267948966 0 -1.5707963267948966</pose>
-        <geometry>
-          <mesh>
-            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/bogie.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-    </link>
-    <joint name="right_track_j" type="revolute">
-      <child>right_track</child>
-      <parent>base_link</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>0</lower>
-          <upper>0</upper>
-          <effort>0</effort>
-          <velocity>4</velocity>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-      <physics>
-        <ode>
-          <limit>
-            <cfm>0</cfm>
-            <erp>0.2</erp>
-          </limit>
-        </ode>
-      </physics>
-      <physics>
-        <ode>
-          <implicit_spring_damper>1</implicit_spring_damper>
-          <cfm>0</cfm>
-          <erp>0.95</erp>
-        </ode>
-      </physics>
-    </joint>
-    <link name="front_right_flipper">
-      <pose>0.25 -0.272 0.0195 3.1415926535897931 -0.193732 3.1415926535897931</pose>
-      <inertial>
-        <mass>1e-05</mass>
-        <inertia>
-          <ixx>0.001</ixx>
-          <ixy>1e-06</ixy>
-          <ixz>1e-06</ixz>
-          <iyy>0.001</iyy>
-          <iyz>1e-06</iyz>
-          <izz>0.001</izz>
-        </inertia>
-      </inertial>
-      <collision name="front_right_flipper_collision">
-        <geometry>
-          <box>
-            <size>0.01 0.01 0.01</size>
-          </box>
-        </geometry>
-        <surface>
-          <friction>
-            <ode>
-              <mu>0.7</mu>
-              <mu2>150</mu2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-      <visual name="front_right_flipper_visual">
-        <pose>0 0 0 -2.95743 -0 -1.5707963267948966</pose>
-        <geometry>
-          <mesh>
-            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/flipper.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-    </link>
-    <joint name="front_right_flipper_j" type="revolute">
-      <child>front_right_flipper</child>
-      <parent>right_track</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>20</effort>
-          <velocity>0.785398</velocity>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-      <physics>
-        <ode>
-          <implicit_spring_damper>1</implicit_spring_damper>
-          <cfm_damping>1</cfm_damping>
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-            <cfm>0</cfm>
-            <erp>0.2</erp>
-          </limit>
-        </ode>
-      </physics>
-    </joint>
-    <link name="front_right_flipper_wheel1">
-      <pose>0.25 -0.272 0.0195 3.1415926535897931 -0.193732 3.1415926535897931</pose>
-      <inertial>
-        <pose>-0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
-        <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
-        </inertia>
-      </inertial>
-      <collision name="front_right_flipper_wheel1_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.04981</length>
-            <radius>0.089</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
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-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
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-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-    </link>
-    <joint name="front_right_flipper_wheel1_j" type="revolute">
-      <child>front_right_flipper_wheel1</child>
-      <parent>front_right_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="front_right_flipper_wheel2">
-      <pose>0.330957 -0.272 0.003617 3.1415926535897931 -0.193732 3.1415926535897931</pose>
-      <inertial>
-        <pose>-0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
-        <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
-        </inertia>
-      </inertial>
-      <collision name="front_right_flipper_wheel2_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.04981</length>
-            <radius>0.074</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-    </link>
-    <joint name="front_right_flipper_wheel2_j" type="revolute">
-      <child>front_right_flipper_wheel2</child>
-      <parent>front_right_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="front_right_flipper_wheel3">
-      <pose>0.411913 -0.272 -0.012266 3.1415926535897931 -0.193732 3.1415926535897931</pose>
-      <inertial>
-        <pose>-0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
-        <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
-        </inertia>
-      </inertial>
-      <collision name="front_right_flipper_wheel3_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.04981</length>
-            <radius>0.059</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-    </link>
-    <joint name="front_right_flipper_wheel3_j" type="revolute">
-      <child>front_right_flipper_wheel3</child>
-      <parent>front_right_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="front_right_flipper_wheel4">
-      <pose>0.49287 -0.272 -0.028149 3.1415926535897931 -0.193732 3.1415926535897931</pose>
-      <inertial>
-        <pose>-0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
-        <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
-        </inertia>
-      </inertial>
-      <collision name="front_right_flipper_wheel4_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.04981</length>
-            <radius>0.044</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-    </link>
-    <joint name="front_right_flipper_wheel4_j" type="revolute">
-      <child>front_right_flipper_wheel4</child>
-      <parent>front_right_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="front_right_flipper_wheel5">
-      <pose>0.573827 -0.272 -0.044032 3.1415926535897931 -0.193732 3.1415926535897931</pose>
-      <inertial>
-        <pose>-0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
-        <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
-        </inertia>
-      </inertial>
-      <collision name="front_right_flipper_wheel5_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.04981</length>
-            <radius>0.029</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-    </link>
-    <joint name="front_right_flipper_wheel5_j" type="revolute">
-      <child>front_right_flipper_wheel5</child>
-      <parent>front_right_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="rear_right_flipper">
-      <pose>-0.25 -0.272 0.0195 0 -0.193732 0</pose>
-      <inertial>
-        <mass>1e-05</mass>
-        <inertia>
-          <ixx>0.001</ixx>
-          <ixy>1e-06</ixy>
-          <ixz>1e-06</ixz>
-          <iyy>0.001</iyy>
-          <iyz>1e-06</iyz>
-          <izz>0.001</izz>
+          <iyy>7.8325e-07</iyy>
+          <iyz>0</iyz>
+          <izz>1.666e-06</izz>
         </inertia>
       </inertial>
-      <collision name="rear_right_flipper_collision">
+      <collision name="cliff_sensor_1_collision">
+        <pose>0.0105 0 0.00925 0 -0 0</pose>
         <geometry>
           <box>
-            <size>0.01 0.01 0.01</size>
+            <size>0.021 0.035 0.0185</size>
           </box>
         </geometry>
-        <surface>
-          <friction>
-            <ode>
-              <mu>0.7</mu>
-              <mu2>150</mu2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
       </collision>
-      <visual name="rear_right_flipper_visual">
-        <pose>0 0 0 -2.95743 -0 -1.5707963267948966</pose>
+      <visual name="cliff_sensor_1_visual">
         <geometry>
           <mesh>
-            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/flipper.dae</uri>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/tfmini_plus_lidar.dae</uri>
           </mesh>
         </geometry>
       </visual>
+      <sensor name="laser" type="gpu_lidar">
+        <pose>0.021 0 0.00925 0 -0 0</pose>
+        <update_rate>10</update_rate>
+        <visualize>0</visualize>
+        <always_on>1</always_on>
+        <lidar>
+          <scan>
+            <horizontal>
+              <samples>3</samples>
+              <resolution>1</resolution>
+              <min_angle>-0.0314159</min_angle>
+              <max_angle>0.0314159</max_angle>
+            </horizontal>
+            <vertical>
+              <samples>3</samples>
+              <resolution>1</resolution>
+              <min_angle>-0.0314159</min_angle>
+              <max_angle>0.0314159</max_angle>
+            </vertical>
+          </scan>
+          <range>
+            <min>0.1</min>
+            <max>12</max>
+            <resolution>0.01</resolution>
+          </range>
+          <noise>
+            <type>gaussian</type>
+            <mean>0</mean>
+            <stddev>0.015</stddev>
+          </noise>
+        </lidar>
+      </sensor>
     </link>
-    <joint name="rear_right_flipper_j" type="revolute">
-      <child>rear_right_flipper</child>
-      <parent>right_track</parent>
+    <joint name="cliff_sensor_1_j" type="fixed">
+      <child>cliff_sensor_1</child>
+      <parent>base_link</parent>
       <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>20</effort>
-          <velocity>0.785398</velocity>
-        </limit>
         <dynamics>
           <spring_reference>0</spring_reference>
           <spring_stiffness>0</spring_stiffness>
         </dynamics>
+        <xyz>0 0 1</xyz>
         <use_parent_model_frame>0</use_parent_model_frame>
+        <limit>
+          <lower>-1e+16</lower>
+          <upper>1e+16</upper>
+        </limit>
       </axis>
       <physics>
         <ode>
-          <implicit_spring_damper>1</implicit_spring_damper>
-          <cfm_damping>1</cfm_damping>
           <limit>
             <cfm>0</cfm>
             <erp>0.2</erp>
@@ -2808,296 +1217,270 @@
         </ode>
       </physics>
     </joint>
-    <link name="rear_right_flipper_wheel1">
-      <pose>-0.25 -0.272 0.0195 0 -0.193732 0</pose>
+    <link name="cliff_sensor_2">
+      <pose>-0.275 0.119535 0.2035 -1.5707963267948966 1.5707963267948966 0</pose>
       <inertial>
-        <pose>-0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
+        <pose>0.0105 0 0.00925 0 -0 0</pose>
+        <mass>0.012</mass>
         <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
+          <ixx>1.56725e-06</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>7.8325e-07</iyy>
+          <iyz>0</iyz>
+          <izz>1.666e-06</izz>
         </inertia>
       </inertial>
-      <collision name="rear_right_flipper_wheel1_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="cliff_sensor_2_collision">
+        <pose>0.0105 0 0.00925 0 -0 0</pose>
         <geometry>
-          <cylinder>
-            <length>0.04981</length>
-            <radius>0.089</radius>
-          </cylinder>
+          <box>
+            <size>0.021 0.035 0.0185</size>
+          </box>
         </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
       </collision>
+      <visual name="cliff_sensor_2_visual">
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/tfmini_plus_lidar.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <sensor name="laser" type="gpu_lidar">
+        <pose>0.021 0 0.00925 0 -0 0</pose>
+        <update_rate>10</update_rate>
+        <visualize>0</visualize>
+        <always_on>1</always_on>
+        <lidar>
+          <scan>
+            <horizontal>
+              <samples>3</samples>
+              <resolution>1</resolution>
+              <min_angle>-0.0314159</min_angle>
+              <max_angle>0.0314159</max_angle>
+            </horizontal>
+            <vertical>
+              <samples>3</samples>
+              <resolution>1</resolution>
+              <min_angle>-0.0314159</min_angle>
+              <max_angle>0.0314159</max_angle>
+            </vertical>
+          </scan>
+          <range>
+            <min>0.1</min>
+            <max>12</max>
+            <resolution>0.01</resolution>
+          </range>
+          <noise>
+            <type>gaussian</type>
+            <mean>0</mean>
+            <stddev>0.015</stddev>
+          </noise>
+        </lidar>
+      </sensor>
     </link>
-    <joint name="rear_right_flipper_wheel1_j" type="revolute">
-      <child>rear_right_flipper_wheel1</child>
-      <parent>rear_right_flipper</parent>
+    <joint name="cliff_sensor_2_j" type="fixed">
+      <child>cliff_sensor_2</child>
+      <parent>base_link</parent>
       <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
         <dynamics>
           <spring_reference>0</spring_reference>
           <spring_stiffness>0</spring_stiffness>
         </dynamics>
+        <xyz>0 0 1</xyz>
         <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="rear_right_flipper_wheel2">
-      <pose>-0.330957 -0.272 0.003617 0 -0.193732 0</pose>
-      <inertial>
-        <pose>-0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
-        <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
-        </inertia>
-      </inertial>
-      <collision name="rear_right_flipper_wheel2_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.04981</length>
-            <radius>0.074</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-    </link>
-    <joint name="rear_right_flipper_wheel2_j" type="revolute">
-      <child>rear_right_flipper_wheel2</child>
-      <parent>rear_right_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
         <limit>
           <lower>-1e+16</lower>
           <upper>1e+16</upper>
         </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
       </axis>
+      <physics>
+        <ode>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+        </ode>
+      </physics>
     </joint>
-    <link name="rear_right_flipper_wheel3">
-      <pose>-0.411913 -0.272 -0.012266 0 -0.193732 0</pose>
+    <link name="cliff_sensor_3">
+      <pose>-0.275 -0.120465 0.2035 1.5707963267948966 1.5707963267948966 0</pose>
       <inertial>
-        <pose>-0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
+        <pose>0.0105 0 0.00925 0 -0 0</pose>
+        <mass>0.012</mass>
         <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
+          <ixx>1.56725e-06</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>7.8325e-07</iyy>
+          <iyz>0</iyz>
+          <izz>1.666e-06</izz>
         </inertia>
       </inertial>
-      <collision name="rear_right_flipper_wheel3_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="cliff_sensor_3_collision">
+        <pose>0.0105 0 0.00925 0 -0 0</pose>
         <geometry>
-          <cylinder>
-            <length>0.04981</length>
-            <radius>0.059</radius>
-          </cylinder>
+          <box>
+            <size>0.021 0.035 0.0185</size>
+          </box>
         </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
       </collision>
+      <visual name="cliff_sensor_3_visual">
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/tfmini_plus_lidar.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <sensor name="laser" type="gpu_lidar">
+        <pose>0.021 0 0.00925 0 -0 0</pose>
+        <update_rate>10</update_rate>
+        <visualize>0</visualize>
+        <always_on>1</always_on>
+        <lidar>
+          <scan>
+            <horizontal>
+              <samples>3</samples>
+              <resolution>1</resolution>
+              <min_angle>-0.0314159</min_angle>
+              <max_angle>0.0314159</max_angle>
+            </horizontal>
+            <vertical>
+              <samples>3</samples>
+              <resolution>1</resolution>
+              <min_angle>-0.0314159</min_angle>
+              <max_angle>0.0314159</max_angle>
+            </vertical>
+          </scan>
+          <range>
+            <min>0.1</min>
+            <max>12</max>
+            <resolution>0.01</resolution>
+          </range>
+          <noise>
+            <type>gaussian</type>
+            <mean>0</mean>
+            <stddev>0.015</stddev>
+          </noise>
+        </lidar>
+      </sensor>
     </link>
-    <joint name="rear_right_flipper_wheel3_j" type="revolute">
-      <child>rear_right_flipper_wheel3</child>
-      <parent>rear_right_flipper</parent>
+    <joint name="cliff_sensor_3_j" type="fixed">
+      <child>cliff_sensor_3</child>
+      <parent>base_link</parent>
       <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
         <dynamics>
           <spring_reference>0</spring_reference>
           <spring_stiffness>0</spring_stiffness>
         </dynamics>
+        <xyz>0 0 1</xyz>
         <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="rear_right_flipper_wheel4">
-      <pose>-0.49287 -0.272 -0.028149 0 -0.193732 0</pose>
-      <inertial>
-        <pose>-0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
-        <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
-        </inertia>
-      </inertial>
-      <collision name="rear_right_flipper_wheel4_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.04981</length>
-            <radius>0.044</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-    </link>
-    <joint name="rear_right_flipper_wheel4_j" type="revolute">
-      <child>rear_right_flipper_wheel4</child>
-      <parent>rear_right_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
         <limit>
           <lower>-1e+16</lower>
           <upper>1e+16</upper>
         </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
       </axis>
+      <physics>
+        <ode>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+        </ode>
+      </physics>
     </joint>
-    <link name="rear_right_flipper_wheel5">
-      <pose>-0.573827 -0.272 -0.044032 0 -0.193732 0</pose>
+    <link name="laser">
+      <pose>0.1615 0 0.39 0 0.25 0</pose>
       <inertial>
-        <pose>-0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
+        <pose>0 0 0.03675 0 -0 0</pose>
+        <mass>0.5</mass>
         <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
+          <ixx>0.000461625</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.000461625</iyy>
+          <iyz>0</iyz>
+          <izz>0.000473063</izz>
         </inertia>
       </inertial>
-      <collision name="rear_right_flipper_wheel5_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="laser_collision">
+        <pose>0 0 0.03675 0 -0 0</pose>
         <geometry>
           <cylinder>
-            <length>0.04981</length>
-            <radius>0.029</radius>
+            <length>0.0735</length>
+            <radius>0.0435</radius>
           </cylinder>
         </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
       </collision>
+      <visual name="laser_visual">
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/ouster-os0.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <sensor name="laser" type="gpu_lidar">
+        <pose>0 0 0.035925 0 -0 0</pose>
+        <update_rate>10</update_rate>
+        <visualize>0</visualize>
+        <always_on>1</always_on>
+        <lidar>
+          <scan>
+            <horizontal>
+              <samples>2048</samples>
+              <resolution>1</resolution>
+              <min_angle>-3.1459</min_angle>
+              <max_angle>3.1459</max_angle>
+            </horizontal>
+            <vertical>
+              <samples>128</samples>
+              <resolution>1</resolution>
+              <min_angle>-0.785398</min_angle>
+              <max_angle>0.785398</max_angle>
+            </vertical>
+          </scan>
+          <range>
+            <min>0.1</min>
+            <max>50</max>
+            <resolution>0.01</resolution>
+          </range>
+          <noise>
+            <type>gaussian</type>
+            <mean>0</mean>
+            <stddev>0.01</stddev>
+          </noise>
+        </lidar>
+      </sensor>
     </link>
-    <joint name="rear_right_flipper_wheel5_j" type="revolute">
-      <child>rear_right_flipper_wheel5</child>
-      <parent>rear_right_flipper</parent>
+    <joint name="laser_j" type="fixed">
+      <child>laser</child>
+      <parent>base_link</parent>
       <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
         <dynamics>
           <spring_reference>0</spring_reference>
           <spring_stiffness>0</spring_stiffness>
         </dynamics>
+        <xyz>0 0 1</xyz>
         <use_parent_model_frame>0</use_parent_model_frame>
+        <limit>
+          <lower>-1e+16</lower>
+          <upper>1e+16</upper>
+        </limit>
       </axis>
+      <physics>
+        <ode>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+        </ode>
+      </physics>
     </joint>
-    <link name="right_track_wheel1">
-      <pose>0.25 -0.1985 0.01855 0 -0 0</pose>
+    <link name="right_track">
+      <pose>0 -0.1985 0 0 -0 0</pose>
       <inertial>
         <pose>0 0 0.0141 0 -0 0</pose>
-        <mass>0.7575</mass>
+        <mass>6.06</mass>
         <inertia>
           <ixx>0.002731</ixx>
           <ixy>0</ixy>
@@ -3107,8 +1490,25 @@
           <izz>0.031391</izz>
         </inertia>
       </inertial>
-      <collision name="right_track_wheel1_collision">
-        <pose>0 0.015 0 1.5707963267948966 -0 0</pose>
+      <collision name="right_track_collision">
+        <pose>0 0 0.01855 1.5707963267948966 -0 1.5707963267948966</pose>
+        <geometry>
+          <box>
+            <size>0.097 0.178 0.5</size>
+          </box>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>10</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="right_track_collision_1">
+        <pose>0.25 0.015 0.01855 1.5707963267948966 -0 0</pose>
         <geometry>
           <cylinder>
             <length>0.112</length>
@@ -3116,56 +1516,17 @@
           </cylinder>
         </geometry>
         <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
           <friction>
             <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
+              <mu>10</mu>
+              <mu2>150</mu2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
-    </link>
-    <joint name="right_track_wheel1_j" type="revolute">
-      <child>right_track_wheel1</child>
-      <parent>right_track</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="right_track_wheel2">
-      <pose>0.178571 -0.1985 0.01855 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0.0141 0 -0 0</pose>
-        <mass>0.7575</mass>
-        <inertia>
-          <ixx>0.002731</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.032554</iyy>
-          <iyz>1.5e-05</iyz>
-          <izz>0.031391</izz>
-        </inertia>
-      </inertial>
-      <collision name="right_track_wheel2_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="right_track_collision_2">
+        <pose>-0.25 0 0.01855 1.5707963267948966 -0 0</pose>
         <geometry>
           <cylinder>
             <length>0.097</length>
@@ -3173,32 +1534,34 @@
           </cylinder>
         </geometry>
         <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
           <friction>
             <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
+              <mu>10</mu>
+              <mu2>150</mu2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
+      <visual name="right_track_visual">
+        <pose>0 0 -0.0705 1.5707963267948966 0 -1.5707963267948966</pose>
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/bogie.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
     </link>
-    <joint name="right_track_wheel2_j" type="revolute">
-      <child>right_track_wheel2</child>
-      <parent>right_track</parent>
+    <joint name="right_track_j" type="revolute">
+      <child>right_track</child>
+      <parent>base_link</parent>
       <axis>
         <xyz>0 1 0</xyz>
         <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
+          <lower>0</lower>
+          <upper>0</upper>
+          <effort>0</effort>
+          <velocity>4</velocity>
         </limit>
         <dynamics>
           <spring_reference>0</spring_reference>
@@ -3206,170 +1569,142 @@
         </dynamics>
         <use_parent_model_frame>0</use_parent_model_frame>
       </axis>
+      <physics>
+        <ode>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+        </ode>
+      </physics>
+      <physics>
+        <ode>
+          <implicit_spring_damper>1</implicit_spring_damper>
+          <cfm>0</cfm>
+          <erp>0.95</erp>
+        </ode>
+      </physics>
     </joint>
-    <link name="right_track_wheel3">
-      <pose>0.107143 -0.1985 0.01855 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0.0141 0 -0 0</pose>
-        <mass>0.7575</mass>
-        <inertia>
-          <ixx>0.002731</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.032554</iyy>
-          <iyz>1.5e-05</iyz>
-          <izz>0.031391</izz>
+    <link name="front_right_flipper">
+      <pose>0.25 -0.272 0.0195 3.1415926535897931 -0.193732 3.1415926535897931</pose>
+      <inertial>
+        <pose>-0.08 0 0 0 -0 0</pose>
+        <mass>0.75</mass>
+        <inertia>
+          <ixx>0.0017491</ixx>
+          <ixy>2.8512e-07</ixy>
+          <ixz>0.0018277</ixz>
+          <iyy>0.012277</iyy>
+          <iyz>-3.6288e-07</iyz>
+          <izz>0.010941</izz>
         </inertia>
       </inertial>
-      <collision name="right_track_wheel3_collision">
+      <collision name="front_right_flipper_collision_large_wheel_collision">
         <pose>0 0 0 1.5707963267948966 -0 0</pose>
         <geometry>
           <cylinder>
-            <length>0.097</length>
+            <length>0.04981</length>
             <radius>0.089</radius>
           </cylinder>
         </geometry>
         <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
           <friction>
             <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
+              <mu>10</mu>
+              <mu2>150</mu2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
-    </link>
-    <joint name="right_track_wheel3_j" type="revolute">
-      <child>right_track_wheel3</child>
-      <parent>right_track</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="right_track_wheel4">
-      <pose>0.035714 -0.1985 0.01855 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0.0141 0 -0 0</pose>
-        <mass>0.7575</mass>
-        <inertia>
-          <ixx>0.002731</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.032554</iyy>
-          <iyz>1.5e-05</iyz>
-          <izz>0.031391</izz>
-        </inertia>
-      </inertial>
-      <collision name="right_track_wheel4_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="front_right_flipper_collision_small_wheel_collision_1">
+        <pose>-0.33 0 0 1.5707963267948966 -0 0</pose>
         <geometry>
           <cylinder>
-            <length>0.097</length>
-            <radius>0.089</radius>
+            <length>0.04981</length>
+            <radius>0.029</radius>
           </cylinder>
         </geometry>
         <surface>
-          <contact>
+          <friction>
             <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
+              <mu>10</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
             </ode>
-          </contact>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="front_right_flipper_collision_top_bar_collision_2">
+        <pose>-0.165 0 0.0325 0 0.184162 -3.1415926535897931</pose>
+        <geometry>
+          <box>
+            <size>0.33 0.04981 0.055</size>
+          </box>
+        </geometry>
+        <surface>
           <friction>
             <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
+              <mu>10</mu>
+              <mu2>150</mu2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
-    </link>
-    <joint name="right_track_wheel4_j" type="revolute">
-      <child>right_track_wheel4</child>
-      <parent>right_track</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="right_track_wheel5">
-      <pose>-0.035714 -0.1985 0.01855 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0.0141 0 -0 0</pose>
-        <mass>0.7575</mass>
-        <inertia>
-          <ixx>0.002731</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.032554</iyy>
-          <iyz>1.5e-05</iyz>
-          <izz>0.031391</izz>
-        </inertia>
-      </inertial>
-      <collision name="right_track_wheel5_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="front_right_flipper_collision_bottom_bar_collision_3">
+        <pose>-0.165 0 -0.0325 0 -0.184162 -3.1415926535897931</pose>
         <geometry>
-          <cylinder>
-            <length>0.097</length>
-            <radius>0.089</radius>
-          </cylinder>
+          <box>
+            <size>0.33 0.04981 0.055</size>
+          </box>
         </geometry>
         <surface>
-          <contact>
+          <friction>
             <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
+              <mu>10</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
             </ode>
-          </contact>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="front_right_flipper_collision_middle_bar_collision_4">
+        <pose>-0.166 0 0.004 0 -0.02 -3.1415926535897931</pose>
+        <geometry>
+          <box>
+            <size>0.2 0.04981 0.07</size>
+          </box>
+        </geometry>
+        <surface>
           <friction>
             <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
+              <mu>10</mu>
+              <mu2>150</mu2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
+      <visual name="front_right_flipper_visual">
+        <pose>0 0 0 -2.95743 -0 -1.5707963267948966</pose>
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/flipper.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
     </link>
-    <joint name="right_track_wheel5_j" type="revolute">
-      <child>right_track_wheel5</child>
+    <joint name="front_right_flipper_j" type="revolute">
+      <child>front_right_flipper</child>
       <parent>right_track</parent>
       <axis>
         <xyz>0 1 0</xyz>
         <limit>
           <lower>-1e+16</lower>
           <upper>1e+16</upper>
+          <effort>20</effort>
+          <velocity>0.785398</velocity>
         </limit>
         <dynamics>
           <spring_reference>0</spring_reference>
@@ -3377,170 +1712,137 @@
         </dynamics>
         <use_parent_model_frame>0</use_parent_model_frame>
       </axis>
+      <physics>
+        <ode>
+          <implicit_spring_damper>1</implicit_spring_damper>
+          <cfm_damping>1</cfm_damping>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+        </ode>
+      </physics>
     </joint>
-    <link name="right_track_wheel6">
-      <pose>-0.107143 -0.1985 0.01855 0 -0 0</pose>
+    <link name="rear_right_flipper">
+      <pose>-0.25 -0.272 0.0195 0 -0.193732 0</pose>
       <inertial>
-        <pose>0 0 0.0141 0 -0 0</pose>
-        <mass>0.7575</mass>
+        <pose>-0.08 0 0 0 -0 0</pose>
+        <mass>0.75</mass>
         <inertia>
-          <ixx>0.002731</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.032554</iyy>
-          <iyz>1.5e-05</iyz>
-          <izz>0.031391</izz>
+          <ixx>0.0017491</ixx>
+          <ixy>2.8512e-07</ixy>
+          <ixz>0.0018277</ixz>
+          <iyy>0.012277</iyy>
+          <iyz>-3.6288e-07</iyz>
+          <izz>0.010941</izz>
         </inertia>
       </inertial>
-      <collision name="right_track_wheel6_collision">
+      <collision name="rear_right_flipper_collision_large_wheel_collision">
         <pose>0 0 0 1.5707963267948966 -0 0</pose>
         <geometry>
           <cylinder>
-            <length>0.097</length>
+            <length>0.04981</length>
             <radius>0.089</radius>
           </cylinder>
         </geometry>
         <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
           <friction>
             <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
+              <mu>10</mu>
+              <mu2>150</mu2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
-    </link>
-    <joint name="right_track_wheel6_j" type="revolute">
-      <child>right_track_wheel6</child>
-      <parent>right_track</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="right_track_wheel7">
-      <pose>-0.178571 -0.1985 0.01855 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0.0141 0 -0 0</pose>
-        <mass>0.7575</mass>
-        <inertia>
-          <ixx>0.002731</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.032554</iyy>
-          <iyz>1.5e-05</iyz>
-          <izz>0.031391</izz>
-        </inertia>
-      </inertial>
-      <collision name="right_track_wheel7_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="rear_right_flipper_collision_small_wheel_collision_1">
+        <pose>-0.33 0 0 1.5707963267948966 -0 0</pose>
         <geometry>
           <cylinder>
-            <length>0.097</length>
-            <radius>0.089</radius>
+            <length>0.04981</length>
+            <radius>0.029</radius>
           </cylinder>
         </geometry>
         <surface>
-          <contact>
+          <friction>
             <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
+              <mu>10</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
             </ode>
-          </contact>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="rear_right_flipper_collision_top_bar_collision_2">
+        <pose>-0.165 0 0.0325 0 0.184162 -3.1415926535897931</pose>
+        <geometry>
+          <box>
+            <size>0.33 0.04981 0.055</size>
+          </box>
+        </geometry>
+        <surface>
           <friction>
             <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
+              <mu>10</mu>
+              <mu2>150</mu2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
-    </link>
-    <joint name="right_track_wheel7_j" type="revolute">
-      <child>right_track_wheel7</child>
-      <parent>right_track</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="right_track_wheel8">
-      <pose>-0.25 -0.1985 0.01855 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0.0141 0 -0 0</pose>
-        <mass>0.7575</mass>
-        <inertia>
-          <ixx>0.002731</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.032554</iyy>
-          <iyz>1.5e-05</iyz>
-          <izz>0.031391</izz>
-        </inertia>
-      </inertial>
-      <collision name="right_track_wheel8_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="rear_right_flipper_collision_bottom_bar_collision_3">
+        <pose>-0.165 0 -0.0325 0 -0.184162 -3.1415926535897931</pose>
         <geometry>
-          <cylinder>
-            <length>0.097</length>
-            <radius>0.089</radius>
-          </cylinder>
+          <box>
+            <size>0.33 0.04981 0.055</size>
+          </box>
         </geometry>
         <surface>
-          <contact>
+          <friction>
             <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
+              <mu>10</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
             </ode>
-          </contact>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="rear_right_flipper_collision_middle_bar_collision_4">
+        <pose>-0.166 0 0.004 0 -0.02 -3.1415926535897931</pose>
+        <geometry>
+          <box>
+            <size>0.2 0.04981 0.07</size>
+          </box>
+        </geometry>
+        <surface>
           <friction>
             <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
+              <mu>10</mu>
+              <mu2>150</mu2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
+      <visual name="rear_right_flipper_visual">
+        <pose>0 0 0 -2.95743 -0 -1.5707963267948966</pose>
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/flipper.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
     </link>
-    <joint name="right_track_wheel8_j" type="revolute">
-      <child>right_track_wheel8</child>
+    <joint name="rear_right_flipper_j" type="revolute">
+      <child>rear_right_flipper</child>
       <parent>right_track</parent>
       <axis>
         <xyz>0 1 0</xyz>
         <limit>
           <lower>-1e+16</lower>
           <upper>1e+16</upper>
+          <effort>20</effort>
+          <velocity>0.785398</velocity>
         </limit>
         <dynamics>
           <spring_reference>0</spring_reference>
@@ -3548,6 +1850,16 @@
         </dynamics>
         <use_parent_model_frame>0</use_parent_model_frame>
       </axis>
+      <physics>
+        <ode>
+          <implicit_spring_damper>1</implicit_spring_damper>
+          <cfm_damping>1</cfm_damping>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+        </ode>
+      </physics>
     </joint>
     <plugin name="cras::FlipperControlPlugin" filename="libflipper_control_plugin.so">
       <joint_name>front_left_flipper_j</joint_name>
diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_4/model.sdf b/submitted_models/ctu_cras_norlab_absolem_sensor_config_4/model.sdf
index 607c2aa4..0fa66680 100644
--- a/submitted_models/ctu_cras_norlab_absolem_sensor_config_4/model.sdf
+++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_4/model.sdf
@@ -679,26 +679,64 @@
     <link name="left_track">
       <pose>0 0.1985 0 0 -0 0</pose>
       <inertial>
-        <mass>1e-05</mass>
+        <pose>0 0 0.0141 0 -0 0</pose>
+        <mass>6.06</mass>
         <inertia>
-          <ixx>0.001</ixx>
-          <ixy>1e-06</ixy>
-          <ixz>1e-06</ixz>
-          <iyy>0.001</iyy>
-          <iyz>1e-06</iyz>
-          <izz>0.001</izz>
+          <ixx>0.002731</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.032554</iyy>
+          <iyz>1.5e-05</iyz>
+          <izz>0.031391</izz>
         </inertia>
       </inertial>
       <collision name="left_track_collision">
+        <pose>0 0 0.01855 1.5707963267948966 -0 1.5707963267948966</pose>
         <geometry>
           <box>
-            <size>0.01 0.01 0.01</size>
+            <size>0.097 0.178 0.5</size>
           </box>
         </geometry>
         <surface>
           <friction>
             <ode>
-              <mu>0.7</mu>
+              <mu>10</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="left_track_collision_1">
+        <pose>0.25 -0.015 0.01855 1.5707963267948966 -0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.112</length>
+            <radius>0.089</radius>
+          </cylinder>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>10</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="left_track_collision_2">
+        <pose>-0.25 0 0.01855 1.5707963267948966 -0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.097</length>
+            <radius>0.089</radius>
+          </cylinder>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>10</mu>
               <mu2>150</mu2>
               <fdir1>0 0 1</fdir1>
             </ode>
@@ -750,26 +788,98 @@
     <link name="front_left_flipper">
       <pose>0.25 0.272 0.0195 0 0.193732 0</pose>
       <inertial>
-        <mass>1e-05</mass>
+        <pose>0.08 0 0 0 -0 0</pose>
+        <mass>0.75</mass>
         <inertia>
-          <ixx>0.001</ixx>
-          <ixy>1e-06</ixy>
-          <ixz>1e-06</ixz>
-          <iyy>0.001</iyy>
-          <iyz>1e-06</iyz>
-          <izz>0.001</izz>
+          <ixx>0.0017491</ixx>
+          <ixy>2.8512e-07</ixy>
+          <ixz>0.0018277</ixz>
+          <iyy>0.012277</iyy>
+          <iyz>-3.6288e-07</iyz>
+          <izz>0.010941</izz>
         </inertia>
       </inertial>
-      <collision name="front_left_flipper_collision">
+      <collision name="front_left_flipper_collision_large_wheel_collision">
+        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.04981</length>
+            <radius>0.089</radius>
+          </cylinder>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>10</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="front_left_flipper_collision_small_wheel_collision_1">
+        <pose>0.33 0 0 1.5707963267948966 -0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.04981</length>
+            <radius>0.029</radius>
+          </cylinder>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>10</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="front_left_flipper_collision_top_bar_collision_2">
+        <pose>0.165 0 0.0325 0 0.184162 0</pose>
+        <geometry>
+          <box>
+            <size>0.33 0.04981 0.055</size>
+          </box>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>10</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="front_left_flipper_collision_bottom_bar_collision_3">
+        <pose>0.165 0 -0.0325 0 -0.184162 0</pose>
+        <geometry>
+          <box>
+            <size>0.33 0.04981 0.055</size>
+          </box>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>10</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="front_left_flipper_collision_middle_bar_collision_4">
+        <pose>0.166 0 0.004 0 -0.02 0</pose>
         <geometry>
           <box>
-            <size>0.01 0.01 0.01</size>
+            <size>0.2 0.04981 0.07</size>
           </box>
         </geometry>
         <surface>
           <friction>
             <ode>
-              <mu>0.7</mu>
+              <mu>10</mu>
               <mu2>150</mu2>
               <fdir1>0 0 1</fdir1>
             </ode>
@@ -813,11 +923,11 @@
         </ode>
       </physics>
     </joint>
-    <link name="front_left_flipper_wheel1">
-      <pose>0.25 0.272 0.0195 0 0.193732 0</pose>
+    <link name="rear_left_flipper">
+      <pose>-0.25 0.272 0.0195 3.1415926535897931 0.193732 3.1415926535897931</pose>
       <inertial>
         <pose>0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
+        <mass>0.75</mass>
         <inertia>
           <ixx>0.0017491</ixx>
           <ixy>2.8512e-07</ixy>
@@ -827,7 +937,7 @@
           <izz>0.010941</izz>
         </inertia>
       </inertial>
-      <collision name="front_left_flipper_wheel1_collision_collision">
+      <collision name="rear_left_flipper_collision_large_wheel_collision">
         <pose>0 0 0 1.5707963267948966 -0 0</pose>
         <geometry>
           <cylinder>
@@ -836,317 +946,103 @@
           </cylinder>
         </geometry>
         <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
           <friction>
             <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
+              <mu>10</mu>
+              <mu2>150</mu2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
-    </link>
-    <joint name="front_left_flipper_wheel1_j" type="revolute">
-      <child>front_left_flipper_wheel1</child>
-      <parent>front_left_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="front_left_flipper_wheel2">
-      <pose>0.330957 0.272 0.003617 0 0.193732 0</pose>
-      <inertial>
-        <pose>0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
-        <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
-        </inertia>
-      </inertial>
-      <collision name="front_left_flipper_wheel2_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="rear_left_flipper_collision_small_wheel_collision_1">
+        <pose>0.33 0 0 1.5707963267948966 -0 0</pose>
         <geometry>
           <cylinder>
             <length>0.04981</length>
-            <radius>0.074</radius>
+            <radius>0.029</radius>
           </cylinder>
         </geometry>
         <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
           <friction>
             <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
+              <mu>10</mu>
+              <mu2>150</mu2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
-    </link>
-    <joint name="front_left_flipper_wheel2_j" type="revolute">
-      <child>front_left_flipper_wheel2</child>
-      <parent>front_left_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="front_left_flipper_wheel3">
-      <pose>0.411913 0.272 -0.012266 0 0.193732 0</pose>
-      <inertial>
-        <pose>0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
-        <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
-        </inertia>
-      </inertial>
-      <collision name="front_left_flipper_wheel3_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="rear_left_flipper_collision_top_bar_collision_2">
+        <pose>0.165 0 0.0325 0 0.184162 0</pose>
         <geometry>
-          <cylinder>
-            <length>0.04981</length>
-            <radius>0.059</radius>
-          </cylinder>
+          <box>
+            <size>0.33 0.04981 0.055</size>
+          </box>
         </geometry>
         <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
           <friction>
             <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
+              <mu>10</mu>
+              <mu2>150</mu2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
-    </link>
-    <joint name="front_left_flipper_wheel3_j" type="revolute">
-      <child>front_left_flipper_wheel3</child>
-      <parent>front_left_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="front_left_flipper_wheel4">
-      <pose>0.49287 0.272 -0.028149 0 0.193732 0</pose>
-      <inertial>
-        <pose>0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
-        <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
-        </inertia>
-      </inertial>
-      <collision name="front_left_flipper_wheel4_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="rear_left_flipper_collision_bottom_bar_collision_3">
+        <pose>0.165 0 -0.0325 0 -0.184162 0</pose>
         <geometry>
-          <cylinder>
-            <length>0.04981</length>
-            <radius>0.044</radius>
-          </cylinder>
+          <box>
+            <size>0.33 0.04981 0.055</size>
+          </box>
         </geometry>
         <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
           <friction>
             <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
+              <mu>10</mu>
+              <mu2>150</mu2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
-    </link>
-    <joint name="front_left_flipper_wheel4_j" type="revolute">
-      <child>front_left_flipper_wheel4</child>
-      <parent>front_left_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="front_left_flipper_wheel5">
-      <pose>0.573827 0.272 -0.044032 0 0.193732 0</pose>
-      <inertial>
-        <pose>0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
-        <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
-        </inertia>
-      </inertial>
-      <collision name="front_left_flipper_wheel5_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="rear_left_flipper_collision_middle_bar_collision_4">
+        <pose>0.166 0 0.004 0 -0.02 0</pose>
         <geometry>
-          <cylinder>
-            <length>0.04981</length>
-            <radius>0.029</radius>
-          </cylinder>
+          <box>
+            <size>0.2 0.04981 0.07</size>
+          </box>
         </geometry>
         <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
           <friction>
             <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
+              <mu>10</mu>
+              <mu2>150</mu2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
+      <visual name="rear_left_flipper_visual">
+        <pose>0 0 0 -2.95743 -0 1.5707963267948966</pose>
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/flipper.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
     </link>
-    <joint name="front_left_flipper_wheel5_j" type="revolute">
-      <child>front_left_flipper_wheel5</child>
-      <parent>front_left_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="left_track_wheel1">
-      <pose>0.25 0.1985 0.01855 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0.0141 0 -0 0</pose>
-        <mass>0.7575</mass>
-        <inertia>
-          <ixx>0.002731</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.032554</iyy>
-          <iyz>1.5e-05</iyz>
-          <izz>0.031391</izz>
-        </inertia>
-      </inertial>
-      <collision name="left_track_wheel1_collision">
-        <pose>0 -0.015 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.112</length>
-            <radius>0.089</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-    </link>
-    <joint name="left_track_wheel1_j" type="revolute">
-      <child>left_track_wheel1</child>
-      <parent>left_track</parent>
+    <joint name="rear_left_flipper_j" type="revolute">
+      <child>rear_left_flipper</child>
+      <parent>left_track</parent>
       <axis>
         <xyz>0 1 0</xyz>
         <limit>
           <lower>-1e+16</lower>
           <upper>1e+16</upper>
+          <effort>20</effort>
+          <velocity>0.785398</velocity>
         </limit>
         <dynamics>
           <spring_reference>0</spring_reference>
@@ -1154,1669 +1050,182 @@
         </dynamics>
         <use_parent_model_frame>0</use_parent_model_frame>
       </axis>
+      <physics>
+        <ode>
+          <implicit_spring_damper>1</implicit_spring_damper>
+          <cfm_damping>1</cfm_damping>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+        </ode>
+      </physics>
     </joint>
-    <link name="left_track_wheel2">
-      <pose>0.178571 0.1985 0.01855 0 -0 0</pose>
+    <link name="cliff_sensor_0">
+      <pose>0.275 0.119535 0.2035 -1.5707963267948966 1.5707963267948966 0</pose>
       <inertial>
-        <pose>0 0 0.0141 0 -0 0</pose>
-        <mass>0.7575</mass>
+        <pose>0.0105 0 0.00925 0 -0 0</pose>
+        <mass>0.012</mass>
         <inertia>
-          <ixx>0.002731</ixx>
+          <ixx>1.56725e-06</ixx>
           <ixy>0</ixy>
           <ixz>0</ixz>
-          <iyy>0.032554</iyy>
-          <iyz>1.5e-05</iyz>
-          <izz>0.031391</izz>
+          <iyy>7.8325e-07</iyy>
+          <iyz>0</iyz>
+          <izz>1.666e-06</izz>
         </inertia>
       </inertial>
-      <collision name="left_track_wheel2_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="cliff_sensor_0_collision">
+        <pose>0.0105 0 0.00925 0 -0 0</pose>
         <geometry>
-          <cylinder>
-            <length>0.097</length>
-            <radius>0.089</radius>
-          </cylinder>
+          <box>
+            <size>0.021 0.035 0.0185</size>
+          </box>
         </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
       </collision>
-    </link>
-    <joint name="left_track_wheel2_j" type="revolute">
-      <child>left_track_wheel2</child>
-      <parent>left_track</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="left_track_wheel3">
-      <pose>0.107143 0.1985 0.01855 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0.0141 0 -0 0</pose>
-        <mass>0.7575</mass>
-        <inertia>
-          <ixx>0.002731</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.032554</iyy>
-          <iyz>1.5e-05</iyz>
-          <izz>0.031391</izz>
-        </inertia>
-      </inertial>
-      <collision name="left_track_wheel3_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <visual name="cliff_sensor_0_visual">
         <geometry>
-          <cylinder>
-            <length>0.097</length>
-            <radius>0.089</radius>
-          </cylinder>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/tfmini_plus_lidar.dae</uri>
+          </mesh>
         </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
+      </visual>
+      <sensor name="laser" type="gpu_lidar">
+        <pose>0.021 0 0.00925 0 -0 0</pose>
+        <update_rate>10</update_rate>
+        <visualize>0</visualize>
+        <always_on>1</always_on>
+        <lidar>
+          <scan>
+            <horizontal>
+              <samples>3</samples>
+              <resolution>1</resolution>
+              <min_angle>-0.0314159</min_angle>
+              <max_angle>0.0314159</max_angle>
+            </horizontal>
+            <vertical>
+              <samples>3</samples>
+              <resolution>1</resolution>
+              <min_angle>-0.0314159</min_angle>
+              <max_angle>0.0314159</max_angle>
+            </vertical>
+          </scan>
+          <range>
+            <min>0.1</min>
+            <max>12</max>
+            <resolution>0.01</resolution>
+          </range>
+          <noise>
+            <type>gaussian</type>
+            <mean>0</mean>
+            <stddev>0.015</stddev>
+          </noise>
+        </lidar>
+      </sensor>
     </link>
-    <joint name="left_track_wheel3_j" type="revolute">
-      <child>left_track_wheel3</child>
-      <parent>left_track</parent>
+    <joint name="cliff_sensor_0_j" type="fixed">
+      <child>cliff_sensor_0</child>
+      <parent>base_link</parent>
       <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
         <dynamics>
           <spring_reference>0</spring_reference>
           <spring_stiffness>0</spring_stiffness>
         </dynamics>
+        <xyz>0 0 1</xyz>
         <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="left_track_wheel4">
-      <pose>0.035714 0.1985 0.01855 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0.0141 0 -0 0</pose>
-        <mass>0.7575</mass>
-        <inertia>
-          <ixx>0.002731</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.032554</iyy>
-          <iyz>1.5e-05</iyz>
-          <izz>0.031391</izz>
-        </inertia>
-      </inertial>
-      <collision name="left_track_wheel4_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.097</length>
-            <radius>0.089</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-    </link>
-    <joint name="left_track_wheel4_j" type="revolute">
-      <child>left_track_wheel4</child>
-      <parent>left_track</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
         <limit>
           <lower>-1e+16</lower>
           <upper>1e+16</upper>
         </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
       </axis>
+      <physics>
+        <ode>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+        </ode>
+      </physics>
     </joint>
-    <link name="left_track_wheel5">
-      <pose>-0.035714 0.1985 0.01855 0 -0 0</pose>
+    <link name="cliff_sensor_1">
+      <pose>0.275 -0.120465 0.2035 1.5707963267948966 1.5707963267948966 0</pose>
       <inertial>
-        <pose>0 0 0.0141 0 -0 0</pose>
-        <mass>0.7575</mass>
+        <pose>0.0105 0 0.00925 0 -0 0</pose>
+        <mass>0.012</mass>
         <inertia>
-          <ixx>0.002731</ixx>
+          <ixx>1.56725e-06</ixx>
           <ixy>0</ixy>
           <ixz>0</ixz>
-          <iyy>0.032554</iyy>
-          <iyz>1.5e-05</iyz>
-          <izz>0.031391</izz>
-        </inertia>
-      </inertial>
-      <collision name="left_track_wheel5_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.097</length>
-            <radius>0.089</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-    </link>
-    <joint name="left_track_wheel5_j" type="revolute">
-      <child>left_track_wheel5</child>
-      <parent>left_track</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="left_track_wheel6">
-      <pose>-0.107143 0.1985 0.01855 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0.0141 0 -0 0</pose>
-        <mass>0.7575</mass>
-        <inertia>
-          <ixx>0.002731</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.032554</iyy>
-          <iyz>1.5e-05</iyz>
-          <izz>0.031391</izz>
-        </inertia>
-      </inertial>
-      <collision name="left_track_wheel6_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.097</length>
-            <radius>0.089</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-    </link>
-    <joint name="left_track_wheel6_j" type="revolute">
-      <child>left_track_wheel6</child>
-      <parent>left_track</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="left_track_wheel7">
-      <pose>-0.178571 0.1985 0.01855 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0.0141 0 -0 0</pose>
-        <mass>0.7575</mass>
-        <inertia>
-          <ixx>0.002731</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.032554</iyy>
-          <iyz>1.5e-05</iyz>
-          <izz>0.031391</izz>
-        </inertia>
-      </inertial>
-      <collision name="left_track_wheel7_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.097</length>
-            <radius>0.089</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-    </link>
-    <joint name="left_track_wheel7_j" type="revolute">
-      <child>left_track_wheel7</child>
-      <parent>left_track</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="left_track_wheel8">
-      <pose>-0.25 0.1985 0.01855 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0.0141 0 -0 0</pose>
-        <mass>0.7575</mass>
-        <inertia>
-          <ixx>0.002731</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.032554</iyy>
-          <iyz>1.5e-05</iyz>
-          <izz>0.031391</izz>
-        </inertia>
-      </inertial>
-      <collision name="left_track_wheel8_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.097</length>
-            <radius>0.089</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-    </link>
-    <joint name="left_track_wheel8_j" type="revolute">
-      <child>left_track_wheel8</child>
-      <parent>left_track</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="rear_left_flipper">
-      <pose>-0.25 0.272 0.0195 3.1415926535897931 0.193732 3.1415926535897931</pose>
-      <inertial>
-        <mass>1e-05</mass>
-        <inertia>
-          <ixx>0.001</ixx>
-          <ixy>1e-06</ixy>
-          <ixz>1e-06</ixz>
-          <iyy>0.001</iyy>
-          <iyz>1e-06</iyz>
-          <izz>0.001</izz>
-        </inertia>
-      </inertial>
-      <collision name="rear_left_flipper_collision">
-        <geometry>
-          <box>
-            <size>0.01 0.01 0.01</size>
-          </box>
-        </geometry>
-        <surface>
-          <friction>
-            <ode>
-              <mu>0.7</mu>
-              <mu2>150</mu2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-      <visual name="rear_left_flipper_visual">
-        <pose>0 0 0 -2.95743 -0 1.5707963267948966</pose>
-        <geometry>
-          <mesh>
-            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/flipper.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-    </link>
-    <joint name="rear_left_flipper_j" type="revolute">
-      <child>rear_left_flipper</child>
-      <parent>left_track</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>20</effort>
-          <velocity>0.785398</velocity>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-      <physics>
-        <ode>
-          <implicit_spring_damper>1</implicit_spring_damper>
-          <cfm_damping>1</cfm_damping>
-          <limit>
-            <cfm>0</cfm>
-            <erp>0.2</erp>
-          </limit>
-        </ode>
-      </physics>
-    </joint>
-    <link name="rear_left_flipper_wheel1">
-      <pose>-0.25 0.272 0.0195 3.1415926535897931 0.193732 3.1415926535897931</pose>
-      <inertial>
-        <pose>0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
-        <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
-        </inertia>
-      </inertial>
-      <collision name="rear_left_flipper_wheel1_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.04981</length>
-            <radius>0.089</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-    </link>
-    <joint name="rear_left_flipper_wheel1_j" type="revolute">
-      <child>rear_left_flipper_wheel1</child>
-      <parent>rear_left_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="rear_left_flipper_wheel2">
-      <pose>-0.330957 0.272 0.003617 3.1415926535897931 0.193732 3.1415926535897931</pose>
-      <inertial>
-        <pose>0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
-        <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
-        </inertia>
-      </inertial>
-      <collision name="rear_left_flipper_wheel2_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.04981</length>
-            <radius>0.074</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-    </link>
-    <joint name="rear_left_flipper_wheel2_j" type="revolute">
-      <child>rear_left_flipper_wheel2</child>
-      <parent>rear_left_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="rear_left_flipper_wheel3">
-      <pose>-0.411913 0.272 -0.012266 3.1415926535897931 0.193732 3.1415926535897931</pose>
-      <inertial>
-        <pose>0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
-        <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
-        </inertia>
-      </inertial>
-      <collision name="rear_left_flipper_wheel3_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.04981</length>
-            <radius>0.059</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-    </link>
-    <joint name="rear_left_flipper_wheel3_j" type="revolute">
-      <child>rear_left_flipper_wheel3</child>
-      <parent>rear_left_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="rear_left_flipper_wheel4">
-      <pose>-0.49287 0.272 -0.028149 3.1415926535897931 0.193732 3.1415926535897931</pose>
-      <inertial>
-        <pose>0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
-        <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
-        </inertia>
-      </inertial>
-      <collision name="rear_left_flipper_wheel4_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.04981</length>
-            <radius>0.044</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-    </link>
-    <joint name="rear_left_flipper_wheel4_j" type="revolute">
-      <child>rear_left_flipper_wheel4</child>
-      <parent>rear_left_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="rear_left_flipper_wheel5">
-      <pose>-0.573827 0.272 -0.044032 3.1415926535897931 0.193732 3.1415926535897931</pose>
-      <inertial>
-        <pose>0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
-        <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
-        </inertia>
-      </inertial>
-      <collision name="rear_left_flipper_wheel5_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.04981</length>
-            <radius>0.029</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-    </link>
-    <joint name="rear_left_flipper_wheel5_j" type="revolute">
-      <child>rear_left_flipper_wheel5</child>
-      <parent>rear_left_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="cliff_sensor_0">
-      <pose>0.275 0.119535 0.2035 -1.5707963267948966 1.5707963267948966 0</pose>
-      <inertial>
-        <pose>0.0105 0 0.00925 0 -0 0</pose>
-        <mass>0.012</mass>
-        <inertia>
-          <ixx>1.56725e-06</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>7.8325e-07</iyy>
-          <iyz>0</iyz>
-          <izz>1.666e-06</izz>
-        </inertia>
-      </inertial>
-      <collision name="cliff_sensor_0_collision">
-        <pose>0.0105 0 0.00925 0 -0 0</pose>
-        <geometry>
-          <box>
-            <size>0.021 0.035 0.0185</size>
-          </box>
-        </geometry>
-      </collision>
-      <visual name="cliff_sensor_0_visual">
-        <geometry>
-          <mesh>
-            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/tfmini_plus_lidar.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-      <sensor name="laser" type="gpu_lidar">
-        <pose>0.021 0 0.00925 0 -0 0</pose>
-        <update_rate>10</update_rate>
-        <visualize>0</visualize>
-        <always_on>1</always_on>
-        <lidar>
-          <scan>
-            <horizontal>
-              <samples>3</samples>
-              <resolution>1</resolution>
-              <min_angle>-0.0314159</min_angle>
-              <max_angle>0.0314159</max_angle>
-            </horizontal>
-            <vertical>
-              <samples>3</samples>
-              <resolution>1</resolution>
-              <min_angle>-0.0314159</min_angle>
-              <max_angle>0.0314159</max_angle>
-            </vertical>
-          </scan>
-          <range>
-            <min>0.1</min>
-            <max>12</max>
-            <resolution>0.01</resolution>
-          </range>
-          <noise>
-            <type>gaussian</type>
-            <mean>0</mean>
-            <stddev>0.015</stddev>
-          </noise>
-        </lidar>
-      </sensor>
-    </link>
-    <joint name="cliff_sensor_0_j" type="fixed">
-      <child>cliff_sensor_0</child>
-      <parent>base_link</parent>
-      <axis>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <xyz>0 0 1</xyz>
-        <use_parent_model_frame>0</use_parent_model_frame>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-      </axis>
-      <physics>
-        <ode>
-          <limit>
-            <cfm>0</cfm>
-            <erp>0.2</erp>
-          </limit>
-        </ode>
-      </physics>
-    </joint>
-    <link name="cliff_sensor_1">
-      <pose>0.275 -0.120465 0.2035 1.5707963267948966 1.5707963267948966 0</pose>
-      <inertial>
-        <pose>0.0105 0 0.00925 0 -0 0</pose>
-        <mass>0.012</mass>
-        <inertia>
-          <ixx>1.56725e-06</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>7.8325e-07</iyy>
-          <iyz>0</iyz>
-          <izz>1.666e-06</izz>
-        </inertia>
-      </inertial>
-      <collision name="cliff_sensor_1_collision">
-        <pose>0.0105 0 0.00925 0 -0 0</pose>
-        <geometry>
-          <box>
-            <size>0.021 0.035 0.0185</size>
-          </box>
-        </geometry>
-      </collision>
-      <visual name="cliff_sensor_1_visual">
-        <geometry>
-          <mesh>
-            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/tfmini_plus_lidar.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-      <sensor name="laser" type="gpu_lidar">
-        <pose>0.021 0 0.00925 0 -0 0</pose>
-        <update_rate>10</update_rate>
-        <visualize>0</visualize>
-        <always_on>1</always_on>
-        <lidar>
-          <scan>
-            <horizontal>
-              <samples>3</samples>
-              <resolution>1</resolution>
-              <min_angle>-0.0314159</min_angle>
-              <max_angle>0.0314159</max_angle>
-            </horizontal>
-            <vertical>
-              <samples>3</samples>
-              <resolution>1</resolution>
-              <min_angle>-0.0314159</min_angle>
-              <max_angle>0.0314159</max_angle>
-            </vertical>
-          </scan>
-          <range>
-            <min>0.1</min>
-            <max>12</max>
-            <resolution>0.01</resolution>
-          </range>
-          <noise>
-            <type>gaussian</type>
-            <mean>0</mean>
-            <stddev>0.015</stddev>
-          </noise>
-        </lidar>
-      </sensor>
-    </link>
-    <joint name="cliff_sensor_1_j" type="fixed">
-      <child>cliff_sensor_1</child>
-      <parent>base_link</parent>
-      <axis>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <xyz>0 0 1</xyz>
-        <use_parent_model_frame>0</use_parent_model_frame>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-      </axis>
-      <physics>
-        <ode>
-          <limit>
-            <cfm>0</cfm>
-            <erp>0.2</erp>
-          </limit>
-        </ode>
-      </physics>
-    </joint>
-    <link name="cliff_sensor_2">
-      <pose>-0.275 0.119535 0.2035 -1.5707963267948966 1.5707963267948966 0</pose>
-      <inertial>
-        <pose>0.0105 0 0.00925 0 -0 0</pose>
-        <mass>0.012</mass>
-        <inertia>
-          <ixx>1.56725e-06</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>7.8325e-07</iyy>
-          <iyz>0</iyz>
-          <izz>1.666e-06</izz>
-        </inertia>
-      </inertial>
-      <collision name="cliff_sensor_2_collision">
-        <pose>0.0105 0 0.00925 0 -0 0</pose>
-        <geometry>
-          <box>
-            <size>0.021 0.035 0.0185</size>
-          </box>
-        </geometry>
-      </collision>
-      <visual name="cliff_sensor_2_visual">
-        <geometry>
-          <mesh>
-            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/tfmini_plus_lidar.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-      <sensor name="laser" type="gpu_lidar">
-        <pose>0.021 0 0.00925 0 -0 0</pose>
-        <update_rate>10</update_rate>
-        <visualize>0</visualize>
-        <always_on>1</always_on>
-        <lidar>
-          <scan>
-            <horizontal>
-              <samples>3</samples>
-              <resolution>1</resolution>
-              <min_angle>-0.0314159</min_angle>
-              <max_angle>0.0314159</max_angle>
-            </horizontal>
-            <vertical>
-              <samples>3</samples>
-              <resolution>1</resolution>
-              <min_angle>-0.0314159</min_angle>
-              <max_angle>0.0314159</max_angle>
-            </vertical>
-          </scan>
-          <range>
-            <min>0.1</min>
-            <max>12</max>
-            <resolution>0.01</resolution>
-          </range>
-          <noise>
-            <type>gaussian</type>
-            <mean>0</mean>
-            <stddev>0.015</stddev>
-          </noise>
-        </lidar>
-      </sensor>
-    </link>
-    <joint name="cliff_sensor_2_j" type="fixed">
-      <child>cliff_sensor_2</child>
-      <parent>base_link</parent>
-      <axis>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <xyz>0 0 1</xyz>
-        <use_parent_model_frame>0</use_parent_model_frame>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-      </axis>
-      <physics>
-        <ode>
-          <limit>
-            <cfm>0</cfm>
-            <erp>0.2</erp>
-          </limit>
-        </ode>
-      </physics>
-    </joint>
-    <link name="cliff_sensor_3">
-      <pose>-0.275 -0.120465 0.2035 1.5707963267948966 1.5707963267948966 0</pose>
-      <inertial>
-        <pose>0.0105 0 0.00925 0 -0 0</pose>
-        <mass>0.012</mass>
-        <inertia>
-          <ixx>1.56725e-06</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>7.8325e-07</iyy>
-          <iyz>0</iyz>
-          <izz>1.666e-06</izz>
-        </inertia>
-      </inertial>
-      <collision name="cliff_sensor_3_collision">
-        <pose>0.0105 0 0.00925 0 -0 0</pose>
-        <geometry>
-          <box>
-            <size>0.021 0.035 0.0185</size>
-          </box>
-        </geometry>
-      </collision>
-      <visual name="cliff_sensor_3_visual">
-        <geometry>
-          <mesh>
-            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/tfmini_plus_lidar.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-      <sensor name="laser" type="gpu_lidar">
-        <pose>0.021 0 0.00925 0 -0 0</pose>
-        <update_rate>10</update_rate>
-        <visualize>0</visualize>
-        <always_on>1</always_on>
-        <lidar>
-          <scan>
-            <horizontal>
-              <samples>3</samples>
-              <resolution>1</resolution>
-              <min_angle>-0.0314159</min_angle>
-              <max_angle>0.0314159</max_angle>
-            </horizontal>
-            <vertical>
-              <samples>3</samples>
-              <resolution>1</resolution>
-              <min_angle>-0.0314159</min_angle>
-              <max_angle>0.0314159</max_angle>
-            </vertical>
-          </scan>
-          <range>
-            <min>0.1</min>
-            <max>12</max>
-            <resolution>0.01</resolution>
-          </range>
-          <noise>
-            <type>gaussian</type>
-            <mean>0</mean>
-            <stddev>0.015</stddev>
-          </noise>
-        </lidar>
-      </sensor>
-    </link>
-    <joint name="cliff_sensor_3_j" type="fixed">
-      <child>cliff_sensor_3</child>
-      <parent>base_link</parent>
-      <axis>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <xyz>0 0 1</xyz>
-        <use_parent_model_frame>0</use_parent_model_frame>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-      </axis>
-      <physics>
-        <ode>
-          <limit>
-            <cfm>0</cfm>
-            <erp>0.2</erp>
-          </limit>
-        </ode>
-      </physics>
-    </joint>
-    <link name="laser">
-      <pose>0.1615 0 0.39 0 0.25 0</pose>
-      <inertial>
-        <pose>0 0 0.03675 0 -0 0</pose>
-        <mass>0.5</mass>
-        <inertia>
-          <ixx>0.000461625</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.000461625</iyy>
-          <iyz>0</iyz>
-          <izz>0.000473063</izz>
-        </inertia>
-      </inertial>
-      <collision name="laser_collision">
-        <pose>0 0 0.03675 0 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.0735</length>
-            <radius>0.0435</radius>
-          </cylinder>
-        </geometry>
-      </collision>
-      <visual name="laser_visual">
-        <geometry>
-          <mesh>
-            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/ouster-os0.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-      <sensor name="laser" type="gpu_lidar">
-        <pose>0 0 0.035925 0 -0 0</pose>
-        <update_rate>10</update_rate>
-        <visualize>0</visualize>
-        <always_on>1</always_on>
-        <lidar>
-          <scan>
-            <horizontal>
-              <samples>2048</samples>
-              <resolution>1</resolution>
-              <min_angle>-3.1459</min_angle>
-              <max_angle>3.1459</max_angle>
-            </horizontal>
-            <vertical>
-              <samples>128</samples>
-              <resolution>1</resolution>
-              <min_angle>-0.785398</min_angle>
-              <max_angle>0.785398</max_angle>
-            </vertical>
-          </scan>
-          <range>
-            <min>0.1</min>
-            <max>50</max>
-            <resolution>0.01</resolution>
-          </range>
-          <noise>
-            <type>gaussian</type>
-            <mean>0</mean>
-            <stddev>0.01</stddev>
-          </noise>
-        </lidar>
-      </sensor>
-    </link>
-    <joint name="laser_j" type="fixed">
-      <child>laser</child>
-      <parent>base_link</parent>
-      <axis>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <xyz>0 0 1</xyz>
-        <use_parent_model_frame>0</use_parent_model_frame>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-      </axis>
-      <physics>
-        <ode>
-          <limit>
-            <cfm>0</cfm>
-            <erp>0.2</erp>
-          </limit>
-        </ode>
-      </physics>
-    </joint>
-    <link name="right_track">
-      <pose>0 -0.1985 0 0 -0 0</pose>
-      <inertial>
-        <mass>1e-05</mass>
-        <inertia>
-          <ixx>0.001</ixx>
-          <ixy>1e-06</ixy>
-          <ixz>1e-06</ixz>
-          <iyy>0.001</iyy>
-          <iyz>1e-06</iyz>
-          <izz>0.001</izz>
-        </inertia>
-      </inertial>
-      <collision name="right_track_collision">
-        <geometry>
-          <box>
-            <size>0.01 0.01 0.01</size>
-          </box>
-        </geometry>
-        <surface>
-          <friction>
-            <ode>
-              <mu>0.7</mu>
-              <mu2>150</mu2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-      <visual name="right_track_visual">
-        <pose>0 0 -0.0705 1.5707963267948966 0 -1.5707963267948966</pose>
-        <geometry>
-          <mesh>
-            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/bogie.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-    </link>
-    <joint name="right_track_j" type="revolute">
-      <child>right_track</child>
-      <parent>base_link</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>0</lower>
-          <upper>0</upper>
-          <effort>0</effort>
-          <velocity>4</velocity>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-      <physics>
-        <ode>
-          <limit>
-            <cfm>0</cfm>
-            <erp>0.2</erp>
-          </limit>
-        </ode>
-      </physics>
-      <physics>
-        <ode>
-          <implicit_spring_damper>1</implicit_spring_damper>
-          <cfm>0</cfm>
-          <erp>0.95</erp>
-        </ode>
-      </physics>
-    </joint>
-    <link name="front_right_flipper">
-      <pose>0.25 -0.272 0.0195 3.1415926535897931 -0.193732 3.1415926535897931</pose>
-      <inertial>
-        <mass>1e-05</mass>
-        <inertia>
-          <ixx>0.001</ixx>
-          <ixy>1e-06</ixy>
-          <ixz>1e-06</ixz>
-          <iyy>0.001</iyy>
-          <iyz>1e-06</iyz>
-          <izz>0.001</izz>
-        </inertia>
-      </inertial>
-      <collision name="front_right_flipper_collision">
-        <geometry>
-          <box>
-            <size>0.01 0.01 0.01</size>
-          </box>
-        </geometry>
-        <surface>
-          <friction>
-            <ode>
-              <mu>0.7</mu>
-              <mu2>150</mu2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-      <visual name="front_right_flipper_visual">
-        <pose>0 0 0 -2.95743 -0 -1.5707963267948966</pose>
-        <geometry>
-          <mesh>
-            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/flipper.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-    </link>
-    <joint name="front_right_flipper_j" type="revolute">
-      <child>front_right_flipper</child>
-      <parent>right_track</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>20</effort>
-          <velocity>0.785398</velocity>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-      <physics>
-        <ode>
-          <implicit_spring_damper>1</implicit_spring_damper>
-          <cfm_damping>1</cfm_damping>
-          <limit>
-            <cfm>0</cfm>
-            <erp>0.2</erp>
-          </limit>
-        </ode>
-      </physics>
-    </joint>
-    <link name="front_right_flipper_wheel1">
-      <pose>0.25 -0.272 0.0195 3.1415926535897931 -0.193732 3.1415926535897931</pose>
-      <inertial>
-        <pose>-0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
-        <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
-        </inertia>
-      </inertial>
-      <collision name="front_right_flipper_wheel1_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.04981</length>
-            <radius>0.089</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-    </link>
-    <joint name="front_right_flipper_wheel1_j" type="revolute">
-      <child>front_right_flipper_wheel1</child>
-      <parent>front_right_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="front_right_flipper_wheel2">
-      <pose>0.330957 -0.272 0.003617 3.1415926535897931 -0.193732 3.1415926535897931</pose>
-      <inertial>
-        <pose>-0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
-        <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
-        </inertia>
-      </inertial>
-      <collision name="front_right_flipper_wheel2_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.04981</length>
-            <radius>0.074</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-    </link>
-    <joint name="front_right_flipper_wheel2_j" type="revolute">
-      <child>front_right_flipper_wheel2</child>
-      <parent>front_right_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="front_right_flipper_wheel3">
-      <pose>0.411913 -0.272 -0.012266 3.1415926535897931 -0.193732 3.1415926535897931</pose>
-      <inertial>
-        <pose>-0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
-        <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
-        </inertia>
-      </inertial>
-      <collision name="front_right_flipper_wheel3_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.04981</length>
-            <radius>0.059</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-    </link>
-    <joint name="front_right_flipper_wheel3_j" type="revolute">
-      <child>front_right_flipper_wheel3</child>
-      <parent>front_right_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="front_right_flipper_wheel4">
-      <pose>0.49287 -0.272 -0.028149 3.1415926535897931 -0.193732 3.1415926535897931</pose>
-      <inertial>
-        <pose>-0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
-        <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
-        </inertia>
-      </inertial>
-      <collision name="front_right_flipper_wheel4_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.04981</length>
-            <radius>0.044</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-    </link>
-    <joint name="front_right_flipper_wheel4_j" type="revolute">
-      <child>front_right_flipper_wheel4</child>
-      <parent>front_right_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="front_right_flipper_wheel5">
-      <pose>0.573827 -0.272 -0.044032 3.1415926535897931 -0.193732 3.1415926535897931</pose>
-      <inertial>
-        <pose>-0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
-        <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
-        </inertia>
-      </inertial>
-      <collision name="front_right_flipper_wheel5_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.04981</length>
-            <radius>0.029</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-    </link>
-    <joint name="front_right_flipper_wheel5_j" type="revolute">
-      <child>front_right_flipper_wheel5</child>
-      <parent>front_right_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="rear_right_flipper">
-      <pose>-0.25 -0.272 0.0195 0 -0.193732 0</pose>
-      <inertial>
-        <mass>1e-05</mass>
-        <inertia>
-          <ixx>0.001</ixx>
-          <ixy>1e-06</ixy>
-          <ixz>1e-06</ixz>
-          <iyy>0.001</iyy>
-          <iyz>1e-06</iyz>
-          <izz>0.001</izz>
+          <iyy>7.8325e-07</iyy>
+          <iyz>0</iyz>
+          <izz>1.666e-06</izz>
         </inertia>
       </inertial>
-      <collision name="rear_right_flipper_collision">
+      <collision name="cliff_sensor_1_collision">
+        <pose>0.0105 0 0.00925 0 -0 0</pose>
         <geometry>
           <box>
-            <size>0.01 0.01 0.01</size>
+            <size>0.021 0.035 0.0185</size>
           </box>
         </geometry>
-        <surface>
-          <friction>
-            <ode>
-              <mu>0.7</mu>
-              <mu2>150</mu2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
       </collision>
-      <visual name="rear_right_flipper_visual">
-        <pose>0 0 0 -2.95743 -0 -1.5707963267948966</pose>
+      <visual name="cliff_sensor_1_visual">
         <geometry>
           <mesh>
-            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/flipper.dae</uri>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/tfmini_plus_lidar.dae</uri>
           </mesh>
         </geometry>
       </visual>
+      <sensor name="laser" type="gpu_lidar">
+        <pose>0.021 0 0.00925 0 -0 0</pose>
+        <update_rate>10</update_rate>
+        <visualize>0</visualize>
+        <always_on>1</always_on>
+        <lidar>
+          <scan>
+            <horizontal>
+              <samples>3</samples>
+              <resolution>1</resolution>
+              <min_angle>-0.0314159</min_angle>
+              <max_angle>0.0314159</max_angle>
+            </horizontal>
+            <vertical>
+              <samples>3</samples>
+              <resolution>1</resolution>
+              <min_angle>-0.0314159</min_angle>
+              <max_angle>0.0314159</max_angle>
+            </vertical>
+          </scan>
+          <range>
+            <min>0.1</min>
+            <max>12</max>
+            <resolution>0.01</resolution>
+          </range>
+          <noise>
+            <type>gaussian</type>
+            <mean>0</mean>
+            <stddev>0.015</stddev>
+          </noise>
+        </lidar>
+      </sensor>
     </link>
-    <joint name="rear_right_flipper_j" type="revolute">
-      <child>rear_right_flipper</child>
-      <parent>right_track</parent>
+    <joint name="cliff_sensor_1_j" type="fixed">
+      <child>cliff_sensor_1</child>
+      <parent>base_link</parent>
       <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>20</effort>
-          <velocity>0.785398</velocity>
-        </limit>
         <dynamics>
           <spring_reference>0</spring_reference>
           <spring_stiffness>0</spring_stiffness>
         </dynamics>
+        <xyz>0 0 1</xyz>
         <use_parent_model_frame>0</use_parent_model_frame>
+        <limit>
+          <lower>-1e+16</lower>
+          <upper>1e+16</upper>
+        </limit>
       </axis>
       <physics>
         <ode>
-          <implicit_spring_damper>1</implicit_spring_damper>
-          <cfm_damping>1</cfm_damping>
           <limit>
             <cfm>0</cfm>
             <erp>0.2</erp>
@@ -2824,296 +1233,270 @@
         </ode>
       </physics>
     </joint>
-    <link name="rear_right_flipper_wheel1">
-      <pose>-0.25 -0.272 0.0195 0 -0.193732 0</pose>
+    <link name="cliff_sensor_2">
+      <pose>-0.275 0.119535 0.2035 -1.5707963267948966 1.5707963267948966 0</pose>
       <inertial>
-        <pose>-0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
+        <pose>0.0105 0 0.00925 0 -0 0</pose>
+        <mass>0.012</mass>
         <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
+          <ixx>1.56725e-06</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>7.8325e-07</iyy>
+          <iyz>0</iyz>
+          <izz>1.666e-06</izz>
         </inertia>
       </inertial>
-      <collision name="rear_right_flipper_wheel1_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="cliff_sensor_2_collision">
+        <pose>0.0105 0 0.00925 0 -0 0</pose>
         <geometry>
-          <cylinder>
-            <length>0.04981</length>
-            <radius>0.089</radius>
-          </cylinder>
+          <box>
+            <size>0.021 0.035 0.0185</size>
+          </box>
         </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
       </collision>
+      <visual name="cliff_sensor_2_visual">
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/tfmini_plus_lidar.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <sensor name="laser" type="gpu_lidar">
+        <pose>0.021 0 0.00925 0 -0 0</pose>
+        <update_rate>10</update_rate>
+        <visualize>0</visualize>
+        <always_on>1</always_on>
+        <lidar>
+          <scan>
+            <horizontal>
+              <samples>3</samples>
+              <resolution>1</resolution>
+              <min_angle>-0.0314159</min_angle>
+              <max_angle>0.0314159</max_angle>
+            </horizontal>
+            <vertical>
+              <samples>3</samples>
+              <resolution>1</resolution>
+              <min_angle>-0.0314159</min_angle>
+              <max_angle>0.0314159</max_angle>
+            </vertical>
+          </scan>
+          <range>
+            <min>0.1</min>
+            <max>12</max>
+            <resolution>0.01</resolution>
+          </range>
+          <noise>
+            <type>gaussian</type>
+            <mean>0</mean>
+            <stddev>0.015</stddev>
+          </noise>
+        </lidar>
+      </sensor>
     </link>
-    <joint name="rear_right_flipper_wheel1_j" type="revolute">
-      <child>rear_right_flipper_wheel1</child>
-      <parent>rear_right_flipper</parent>
+    <joint name="cliff_sensor_2_j" type="fixed">
+      <child>cliff_sensor_2</child>
+      <parent>base_link</parent>
       <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
         <dynamics>
           <spring_reference>0</spring_reference>
           <spring_stiffness>0</spring_stiffness>
         </dynamics>
+        <xyz>0 0 1</xyz>
         <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="rear_right_flipper_wheel2">
-      <pose>-0.330957 -0.272 0.003617 0 -0.193732 0</pose>
-      <inertial>
-        <pose>-0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
-        <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
-        </inertia>
-      </inertial>
-      <collision name="rear_right_flipper_wheel2_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.04981</length>
-            <radius>0.074</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-    </link>
-    <joint name="rear_right_flipper_wheel2_j" type="revolute">
-      <child>rear_right_flipper_wheel2</child>
-      <parent>rear_right_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
         <limit>
           <lower>-1e+16</lower>
           <upper>1e+16</upper>
         </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
       </axis>
+      <physics>
+        <ode>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+        </ode>
+      </physics>
     </joint>
-    <link name="rear_right_flipper_wheel3">
-      <pose>-0.411913 -0.272 -0.012266 0 -0.193732 0</pose>
+    <link name="cliff_sensor_3">
+      <pose>-0.275 -0.120465 0.2035 1.5707963267948966 1.5707963267948966 0</pose>
       <inertial>
-        <pose>-0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
+        <pose>0.0105 0 0.00925 0 -0 0</pose>
+        <mass>0.012</mass>
         <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
+          <ixx>1.56725e-06</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>7.8325e-07</iyy>
+          <iyz>0</iyz>
+          <izz>1.666e-06</izz>
         </inertia>
       </inertial>
-      <collision name="rear_right_flipper_wheel3_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="cliff_sensor_3_collision">
+        <pose>0.0105 0 0.00925 0 -0 0</pose>
         <geometry>
-          <cylinder>
-            <length>0.04981</length>
-            <radius>0.059</radius>
-          </cylinder>
+          <box>
+            <size>0.021 0.035 0.0185</size>
+          </box>
         </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
       </collision>
+      <visual name="cliff_sensor_3_visual">
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/tfmini_plus_lidar.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <sensor name="laser" type="gpu_lidar">
+        <pose>0.021 0 0.00925 0 -0 0</pose>
+        <update_rate>10</update_rate>
+        <visualize>0</visualize>
+        <always_on>1</always_on>
+        <lidar>
+          <scan>
+            <horizontal>
+              <samples>3</samples>
+              <resolution>1</resolution>
+              <min_angle>-0.0314159</min_angle>
+              <max_angle>0.0314159</max_angle>
+            </horizontal>
+            <vertical>
+              <samples>3</samples>
+              <resolution>1</resolution>
+              <min_angle>-0.0314159</min_angle>
+              <max_angle>0.0314159</max_angle>
+            </vertical>
+          </scan>
+          <range>
+            <min>0.1</min>
+            <max>12</max>
+            <resolution>0.01</resolution>
+          </range>
+          <noise>
+            <type>gaussian</type>
+            <mean>0</mean>
+            <stddev>0.015</stddev>
+          </noise>
+        </lidar>
+      </sensor>
     </link>
-    <joint name="rear_right_flipper_wheel3_j" type="revolute">
-      <child>rear_right_flipper_wheel3</child>
-      <parent>rear_right_flipper</parent>
+    <joint name="cliff_sensor_3_j" type="fixed">
+      <child>cliff_sensor_3</child>
+      <parent>base_link</parent>
       <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
         <dynamics>
           <spring_reference>0</spring_reference>
           <spring_stiffness>0</spring_stiffness>
         </dynamics>
+        <xyz>0 0 1</xyz>
         <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="rear_right_flipper_wheel4">
-      <pose>-0.49287 -0.272 -0.028149 0 -0.193732 0</pose>
-      <inertial>
-        <pose>-0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
-        <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
-        </inertia>
-      </inertial>
-      <collision name="rear_right_flipper_wheel4_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.04981</length>
-            <radius>0.044</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-    </link>
-    <joint name="rear_right_flipper_wheel4_j" type="revolute">
-      <child>rear_right_flipper_wheel4</child>
-      <parent>rear_right_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
         <limit>
           <lower>-1e+16</lower>
           <upper>1e+16</upper>
         </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
       </axis>
+      <physics>
+        <ode>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+        </ode>
+      </physics>
     </joint>
-    <link name="rear_right_flipper_wheel5">
-      <pose>-0.573827 -0.272 -0.044032 0 -0.193732 0</pose>
+    <link name="laser">
+      <pose>0.1615 0 0.39 0 0.25 0</pose>
       <inertial>
-        <pose>-0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
+        <pose>0 0 0.03675 0 -0 0</pose>
+        <mass>0.5</mass>
         <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
+          <ixx>0.000461625</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.000461625</iyy>
+          <iyz>0</iyz>
+          <izz>0.000473063</izz>
         </inertia>
       </inertial>
-      <collision name="rear_right_flipper_wheel5_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="laser_collision">
+        <pose>0 0 0.03675 0 -0 0</pose>
         <geometry>
           <cylinder>
-            <length>0.04981</length>
-            <radius>0.029</radius>
+            <length>0.0735</length>
+            <radius>0.0435</radius>
           </cylinder>
         </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
       </collision>
+      <visual name="laser_visual">
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/ouster-os0.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <sensor name="laser" type="gpu_lidar">
+        <pose>0 0 0.035925 0 -0 0</pose>
+        <update_rate>10</update_rate>
+        <visualize>0</visualize>
+        <always_on>1</always_on>
+        <lidar>
+          <scan>
+            <horizontal>
+              <samples>2048</samples>
+              <resolution>1</resolution>
+              <min_angle>-3.1459</min_angle>
+              <max_angle>3.1459</max_angle>
+            </horizontal>
+            <vertical>
+              <samples>128</samples>
+              <resolution>1</resolution>
+              <min_angle>-0.785398</min_angle>
+              <max_angle>0.785398</max_angle>
+            </vertical>
+          </scan>
+          <range>
+            <min>0.1</min>
+            <max>50</max>
+            <resolution>0.01</resolution>
+          </range>
+          <noise>
+            <type>gaussian</type>
+            <mean>0</mean>
+            <stddev>0.01</stddev>
+          </noise>
+        </lidar>
+      </sensor>
     </link>
-    <joint name="rear_right_flipper_wheel5_j" type="revolute">
-      <child>rear_right_flipper_wheel5</child>
-      <parent>rear_right_flipper</parent>
+    <joint name="laser_j" type="fixed">
+      <child>laser</child>
+      <parent>base_link</parent>
       <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
         <dynamics>
           <spring_reference>0</spring_reference>
           <spring_stiffness>0</spring_stiffness>
         </dynamics>
+        <xyz>0 0 1</xyz>
         <use_parent_model_frame>0</use_parent_model_frame>
+        <limit>
+          <lower>-1e+16</lower>
+          <upper>1e+16</upper>
+        </limit>
       </axis>
+      <physics>
+        <ode>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+        </ode>
+      </physics>
     </joint>
-    <link name="right_track_wheel1">
-      <pose>0.25 -0.1985 0.01855 0 -0 0</pose>
+    <link name="right_track">
+      <pose>0 -0.1985 0 0 -0 0</pose>
       <inertial>
         <pose>0 0 0.0141 0 -0 0</pose>
-        <mass>0.7575</mass>
+        <mass>6.06</mass>
         <inertia>
           <ixx>0.002731</ixx>
           <ixy>0</ixy>
@@ -3123,8 +1506,25 @@
           <izz>0.031391</izz>
         </inertia>
       </inertial>
-      <collision name="right_track_wheel1_collision">
-        <pose>0 0.015 0 1.5707963267948966 -0 0</pose>
+      <collision name="right_track_collision">
+        <pose>0 0 0.01855 1.5707963267948966 -0 1.5707963267948966</pose>
+        <geometry>
+          <box>
+            <size>0.097 0.178 0.5</size>
+          </box>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>10</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="right_track_collision_1">
+        <pose>0.25 0.015 0.01855 1.5707963267948966 -0 0</pose>
         <geometry>
           <cylinder>
             <length>0.112</length>
@@ -3132,56 +1532,17 @@
           </cylinder>
         </geometry>
         <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
           <friction>
             <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
+              <mu>10</mu>
+              <mu2>150</mu2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
-    </link>
-    <joint name="right_track_wheel1_j" type="revolute">
-      <child>right_track_wheel1</child>
-      <parent>right_track</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="right_track_wheel2">
-      <pose>0.178571 -0.1985 0.01855 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0.0141 0 -0 0</pose>
-        <mass>0.7575</mass>
-        <inertia>
-          <ixx>0.002731</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.032554</iyy>
-          <iyz>1.5e-05</iyz>
-          <izz>0.031391</izz>
-        </inertia>
-      </inertial>
-      <collision name="right_track_wheel2_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="right_track_collision_2">
+        <pose>-0.25 0 0.01855 1.5707963267948966 -0 0</pose>
         <geometry>
           <cylinder>
             <length>0.097</length>
@@ -3189,32 +1550,34 @@
           </cylinder>
         </geometry>
         <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
           <friction>
             <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
+              <mu>10</mu>
+              <mu2>150</mu2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
+      <visual name="right_track_visual">
+        <pose>0 0 -0.0705 1.5707963267948966 0 -1.5707963267948966</pose>
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/bogie.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
     </link>
-    <joint name="right_track_wheel2_j" type="revolute">
-      <child>right_track_wheel2</child>
-      <parent>right_track</parent>
+    <joint name="right_track_j" type="revolute">
+      <child>right_track</child>
+      <parent>base_link</parent>
       <axis>
         <xyz>0 1 0</xyz>
         <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
+          <lower>0</lower>
+          <upper>0</upper>
+          <effort>0</effort>
+          <velocity>4</velocity>
         </limit>
         <dynamics>
           <spring_reference>0</spring_reference>
@@ -3222,170 +1585,142 @@
         </dynamics>
         <use_parent_model_frame>0</use_parent_model_frame>
       </axis>
+      <physics>
+        <ode>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+        </ode>
+      </physics>
+      <physics>
+        <ode>
+          <implicit_spring_damper>1</implicit_spring_damper>
+          <cfm>0</cfm>
+          <erp>0.95</erp>
+        </ode>
+      </physics>
     </joint>
-    <link name="right_track_wheel3">
-      <pose>0.107143 -0.1985 0.01855 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0.0141 0 -0 0</pose>
-        <mass>0.7575</mass>
-        <inertia>
-          <ixx>0.002731</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.032554</iyy>
-          <iyz>1.5e-05</iyz>
-          <izz>0.031391</izz>
+    <link name="front_right_flipper">
+      <pose>0.25 -0.272 0.0195 3.1415926535897931 -0.193732 3.1415926535897931</pose>
+      <inertial>
+        <pose>-0.08 0 0 0 -0 0</pose>
+        <mass>0.75</mass>
+        <inertia>
+          <ixx>0.0017491</ixx>
+          <ixy>2.8512e-07</ixy>
+          <ixz>0.0018277</ixz>
+          <iyy>0.012277</iyy>
+          <iyz>-3.6288e-07</iyz>
+          <izz>0.010941</izz>
         </inertia>
       </inertial>
-      <collision name="right_track_wheel3_collision">
+      <collision name="front_right_flipper_collision_large_wheel_collision">
         <pose>0 0 0 1.5707963267948966 -0 0</pose>
         <geometry>
           <cylinder>
-            <length>0.097</length>
+            <length>0.04981</length>
             <radius>0.089</radius>
           </cylinder>
         </geometry>
         <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
           <friction>
             <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
+              <mu>10</mu>
+              <mu2>150</mu2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
-    </link>
-    <joint name="right_track_wheel3_j" type="revolute">
-      <child>right_track_wheel3</child>
-      <parent>right_track</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="right_track_wheel4">
-      <pose>0.035714 -0.1985 0.01855 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0.0141 0 -0 0</pose>
-        <mass>0.7575</mass>
-        <inertia>
-          <ixx>0.002731</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.032554</iyy>
-          <iyz>1.5e-05</iyz>
-          <izz>0.031391</izz>
-        </inertia>
-      </inertial>
-      <collision name="right_track_wheel4_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="front_right_flipper_collision_small_wheel_collision_1">
+        <pose>-0.33 0 0 1.5707963267948966 -0 0</pose>
         <geometry>
           <cylinder>
-            <length>0.097</length>
-            <radius>0.089</radius>
+            <length>0.04981</length>
+            <radius>0.029</radius>
           </cylinder>
         </geometry>
         <surface>
-          <contact>
+          <friction>
             <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
+              <mu>10</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
             </ode>
-          </contact>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="front_right_flipper_collision_top_bar_collision_2">
+        <pose>-0.165 0 0.0325 0 0.184162 -3.1415926535897931</pose>
+        <geometry>
+          <box>
+            <size>0.33 0.04981 0.055</size>
+          </box>
+        </geometry>
+        <surface>
           <friction>
             <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
+              <mu>10</mu>
+              <mu2>150</mu2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
-    </link>
-    <joint name="right_track_wheel4_j" type="revolute">
-      <child>right_track_wheel4</child>
-      <parent>right_track</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="right_track_wheel5">
-      <pose>-0.035714 -0.1985 0.01855 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0.0141 0 -0 0</pose>
-        <mass>0.7575</mass>
-        <inertia>
-          <ixx>0.002731</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.032554</iyy>
-          <iyz>1.5e-05</iyz>
-          <izz>0.031391</izz>
-        </inertia>
-      </inertial>
-      <collision name="right_track_wheel5_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="front_right_flipper_collision_bottom_bar_collision_3">
+        <pose>-0.165 0 -0.0325 0 -0.184162 -3.1415926535897931</pose>
         <geometry>
-          <cylinder>
-            <length>0.097</length>
-            <radius>0.089</radius>
-          </cylinder>
+          <box>
+            <size>0.33 0.04981 0.055</size>
+          </box>
         </geometry>
         <surface>
-          <contact>
+          <friction>
             <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
+              <mu>10</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
             </ode>
-          </contact>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="front_right_flipper_collision_middle_bar_collision_4">
+        <pose>-0.166 0 0.004 0 -0.02 -3.1415926535897931</pose>
+        <geometry>
+          <box>
+            <size>0.2 0.04981 0.07</size>
+          </box>
+        </geometry>
+        <surface>
           <friction>
             <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
+              <mu>10</mu>
+              <mu2>150</mu2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
+      <visual name="front_right_flipper_visual">
+        <pose>0 0 0 -2.95743 -0 -1.5707963267948966</pose>
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/flipper.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
     </link>
-    <joint name="right_track_wheel5_j" type="revolute">
-      <child>right_track_wheel5</child>
+    <joint name="front_right_flipper_j" type="revolute">
+      <child>front_right_flipper</child>
       <parent>right_track</parent>
       <axis>
         <xyz>0 1 0</xyz>
         <limit>
           <lower>-1e+16</lower>
           <upper>1e+16</upper>
+          <effort>20</effort>
+          <velocity>0.785398</velocity>
         </limit>
         <dynamics>
           <spring_reference>0</spring_reference>
@@ -3393,170 +1728,137 @@
         </dynamics>
         <use_parent_model_frame>0</use_parent_model_frame>
       </axis>
+      <physics>
+        <ode>
+          <implicit_spring_damper>1</implicit_spring_damper>
+          <cfm_damping>1</cfm_damping>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+        </ode>
+      </physics>
     </joint>
-    <link name="right_track_wheel6">
-      <pose>-0.107143 -0.1985 0.01855 0 -0 0</pose>
+    <link name="rear_right_flipper">
+      <pose>-0.25 -0.272 0.0195 0 -0.193732 0</pose>
       <inertial>
-        <pose>0 0 0.0141 0 -0 0</pose>
-        <mass>0.7575</mass>
+        <pose>-0.08 0 0 0 -0 0</pose>
+        <mass>0.75</mass>
         <inertia>
-          <ixx>0.002731</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.032554</iyy>
-          <iyz>1.5e-05</iyz>
-          <izz>0.031391</izz>
+          <ixx>0.0017491</ixx>
+          <ixy>2.8512e-07</ixy>
+          <ixz>0.0018277</ixz>
+          <iyy>0.012277</iyy>
+          <iyz>-3.6288e-07</iyz>
+          <izz>0.010941</izz>
         </inertia>
       </inertial>
-      <collision name="right_track_wheel6_collision">
+      <collision name="rear_right_flipper_collision_large_wheel_collision">
         <pose>0 0 0 1.5707963267948966 -0 0</pose>
         <geometry>
           <cylinder>
-            <length>0.097</length>
+            <length>0.04981</length>
             <radius>0.089</radius>
           </cylinder>
         </geometry>
         <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
           <friction>
             <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
+              <mu>10</mu>
+              <mu2>150</mu2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
-    </link>
-    <joint name="right_track_wheel6_j" type="revolute">
-      <child>right_track_wheel6</child>
-      <parent>right_track</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="right_track_wheel7">
-      <pose>-0.178571 -0.1985 0.01855 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0.0141 0 -0 0</pose>
-        <mass>0.7575</mass>
-        <inertia>
-          <ixx>0.002731</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.032554</iyy>
-          <iyz>1.5e-05</iyz>
-          <izz>0.031391</izz>
-        </inertia>
-      </inertial>
-      <collision name="right_track_wheel7_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="rear_right_flipper_collision_small_wheel_collision_1">
+        <pose>-0.33 0 0 1.5707963267948966 -0 0</pose>
         <geometry>
           <cylinder>
-            <length>0.097</length>
-            <radius>0.089</radius>
+            <length>0.04981</length>
+            <radius>0.029</radius>
           </cylinder>
         </geometry>
         <surface>
-          <contact>
+          <friction>
             <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
+              <mu>10</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
             </ode>
-          </contact>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="rear_right_flipper_collision_top_bar_collision_2">
+        <pose>-0.165 0 0.0325 0 0.184162 -3.1415926535897931</pose>
+        <geometry>
+          <box>
+            <size>0.33 0.04981 0.055</size>
+          </box>
+        </geometry>
+        <surface>
           <friction>
             <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
+              <mu>10</mu>
+              <mu2>150</mu2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
-    </link>
-    <joint name="right_track_wheel7_j" type="revolute">
-      <child>right_track_wheel7</child>
-      <parent>right_track</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="right_track_wheel8">
-      <pose>-0.25 -0.1985 0.01855 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0.0141 0 -0 0</pose>
-        <mass>0.7575</mass>
-        <inertia>
-          <ixx>0.002731</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.032554</iyy>
-          <iyz>1.5e-05</iyz>
-          <izz>0.031391</izz>
-        </inertia>
-      </inertial>
-      <collision name="right_track_wheel8_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="rear_right_flipper_collision_bottom_bar_collision_3">
+        <pose>-0.165 0 -0.0325 0 -0.184162 -3.1415926535897931</pose>
         <geometry>
-          <cylinder>
-            <length>0.097</length>
-            <radius>0.089</radius>
-          </cylinder>
+          <box>
+            <size>0.33 0.04981 0.055</size>
+          </box>
         </geometry>
         <surface>
-          <contact>
+          <friction>
             <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
+              <mu>10</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
             </ode>
-          </contact>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="rear_right_flipper_collision_middle_bar_collision_4">
+        <pose>-0.166 0 0.004 0 -0.02 -3.1415926535897931</pose>
+        <geometry>
+          <box>
+            <size>0.2 0.04981 0.07</size>
+          </box>
+        </geometry>
+        <surface>
           <friction>
             <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
+              <mu>10</mu>
+              <mu2>150</mu2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
+      <visual name="rear_right_flipper_visual">
+        <pose>0 0 0 -2.95743 -0 -1.5707963267948966</pose>
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/flipper.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
     </link>
-    <joint name="right_track_wheel8_j" type="revolute">
-      <child>right_track_wheel8</child>
+    <joint name="rear_right_flipper_j" type="revolute">
+      <child>rear_right_flipper</child>
       <parent>right_track</parent>
       <axis>
         <xyz>0 1 0</xyz>
         <limit>
           <lower>-1e+16</lower>
           <upper>1e+16</upper>
+          <effort>20</effort>
+          <velocity>0.785398</velocity>
         </limit>
         <dynamics>
           <spring_reference>0</spring_reference>
@@ -3564,6 +1866,16 @@
         </dynamics>
         <use_parent_model_frame>0</use_parent_model_frame>
       </axis>
+      <physics>
+        <ode>
+          <implicit_spring_damper>1</implicit_spring_damper>
+          <cfm_damping>1</cfm_damping>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+        </ode>
+      </physics>
     </joint>
     <plugin name="cras::FlipperControlPlugin" filename="libflipper_control_plugin.so">
       <joint_name>front_left_flipper_j</joint_name>
diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_5/model.sdf b/submitted_models/ctu_cras_norlab_absolem_sensor_config_5/model.sdf
index 9ca0eaf3..05bebd1f 100644
--- a/submitted_models/ctu_cras_norlab_absolem_sensor_config_5/model.sdf
+++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_5/model.sdf
@@ -679,26 +679,64 @@
     <link name="left_track">
       <pose>0 0.1985 0 0 -0 0</pose>
       <inertial>
-        <mass>1e-05</mass>
+        <pose>0 0 0.0141 0 -0 0</pose>
+        <mass>6.06</mass>
         <inertia>
-          <ixx>0.001</ixx>
-          <ixy>1e-06</ixy>
-          <ixz>1e-06</ixz>
-          <iyy>0.001</iyy>
-          <iyz>1e-06</iyz>
-          <izz>0.001</izz>
+          <ixx>0.002731</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.032554</iyy>
+          <iyz>1.5e-05</iyz>
+          <izz>0.031391</izz>
         </inertia>
       </inertial>
       <collision name="left_track_collision">
+        <pose>0 0 0.01855 1.5707963267948966 -0 1.5707963267948966</pose>
         <geometry>
           <box>
-            <size>0.01 0.01 0.01</size>
+            <size>0.097 0.178 0.5</size>
           </box>
         </geometry>
         <surface>
           <friction>
             <ode>
-              <mu>0.7</mu>
+              <mu>10</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="left_track_collision_1">
+        <pose>0.25 -0.015 0.01855 1.5707963267948966 -0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.112</length>
+            <radius>0.089</radius>
+          </cylinder>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>10</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="left_track_collision_2">
+        <pose>-0.25 0 0.01855 1.5707963267948966 -0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.097</length>
+            <radius>0.089</radius>
+          </cylinder>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>10</mu>
               <mu2>150</mu2>
               <fdir1>0 0 1</fdir1>
             </ode>
@@ -750,26 +788,98 @@
     <link name="front_left_flipper">
       <pose>0.25 0.272 0.0195 0 0.193732 0</pose>
       <inertial>
-        <mass>1e-05</mass>
+        <pose>0.08 0 0 0 -0 0</pose>
+        <mass>0.75</mass>
         <inertia>
-          <ixx>0.001</ixx>
-          <ixy>1e-06</ixy>
-          <ixz>1e-06</ixz>
-          <iyy>0.001</iyy>
-          <iyz>1e-06</iyz>
-          <izz>0.001</izz>
+          <ixx>0.0017491</ixx>
+          <ixy>2.8512e-07</ixy>
+          <ixz>0.0018277</ixz>
+          <iyy>0.012277</iyy>
+          <iyz>-3.6288e-07</iyz>
+          <izz>0.010941</izz>
         </inertia>
       </inertial>
-      <collision name="front_left_flipper_collision">
+      <collision name="front_left_flipper_collision_large_wheel_collision">
+        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.04981</length>
+            <radius>0.089</radius>
+          </cylinder>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>10</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="front_left_flipper_collision_small_wheel_collision_1">
+        <pose>0.33 0 0 1.5707963267948966 -0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.04981</length>
+            <radius>0.029</radius>
+          </cylinder>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>10</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="front_left_flipper_collision_top_bar_collision_2">
+        <pose>0.165 0 0.0325 0 0.184162 0</pose>
+        <geometry>
+          <box>
+            <size>0.33 0.04981 0.055</size>
+          </box>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>10</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="front_left_flipper_collision_bottom_bar_collision_3">
+        <pose>0.165 0 -0.0325 0 -0.184162 0</pose>
+        <geometry>
+          <box>
+            <size>0.33 0.04981 0.055</size>
+          </box>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>10</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="front_left_flipper_collision_middle_bar_collision_4">
+        <pose>0.166 0 0.004 0 -0.02 0</pose>
         <geometry>
           <box>
-            <size>0.01 0.01 0.01</size>
+            <size>0.2 0.04981 0.07</size>
           </box>
         </geometry>
         <surface>
           <friction>
             <ode>
-              <mu>0.7</mu>
+              <mu>10</mu>
               <mu2>150</mu2>
               <fdir1>0 0 1</fdir1>
             </ode>
@@ -813,11 +923,11 @@
         </ode>
       </physics>
     </joint>
-    <link name="front_left_flipper_wheel1">
-      <pose>0.25 0.272 0.0195 0 0.193732 0</pose>
+    <link name="rear_left_flipper">
+      <pose>-0.25 0.272 0.0195 3.1415926535897931 0.193732 3.1415926535897931</pose>
       <inertial>
         <pose>0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
+        <mass>0.75</mass>
         <inertia>
           <ixx>0.0017491</ixx>
           <ixy>2.8512e-07</ixy>
@@ -827,7 +937,7 @@
           <izz>0.010941</izz>
         </inertia>
       </inertial>
-      <collision name="front_left_flipper_wheel1_collision_collision">
+      <collision name="rear_left_flipper_collision_large_wheel_collision">
         <pose>0 0 0 1.5707963267948966 -0 0</pose>
         <geometry>
           <cylinder>
@@ -836,260 +946,103 @@
           </cylinder>
         </geometry>
         <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
           <friction>
             <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
+              <mu>10</mu>
+              <mu2>150</mu2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
-    </link>
-    <joint name="front_left_flipper_wheel1_j" type="revolute">
-      <child>front_left_flipper_wheel1</child>
-      <parent>front_left_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="front_left_flipper_wheel2">
-      <pose>0.330957 0.272 0.003617 0 0.193732 0</pose>
-      <inertial>
-        <pose>0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
-        <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
-        </inertia>
-      </inertial>
-      <collision name="front_left_flipper_wheel2_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="rear_left_flipper_collision_small_wheel_collision_1">
+        <pose>0.33 0 0 1.5707963267948966 -0 0</pose>
         <geometry>
           <cylinder>
             <length>0.04981</length>
-            <radius>0.074</radius>
+            <radius>0.029</radius>
           </cylinder>
         </geometry>
         <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
           <friction>
             <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
+              <mu>10</mu>
+              <mu2>150</mu2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
-    </link>
-    <joint name="front_left_flipper_wheel2_j" type="revolute">
-      <child>front_left_flipper_wheel2</child>
-      <parent>front_left_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="front_left_flipper_wheel3">
-      <pose>0.411913 0.272 -0.012266 0 0.193732 0</pose>
-      <inertial>
-        <pose>0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
-        <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
-        </inertia>
-      </inertial>
-      <collision name="front_left_flipper_wheel3_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="rear_left_flipper_collision_top_bar_collision_2">
+        <pose>0.165 0 0.0325 0 0.184162 0</pose>
         <geometry>
-          <cylinder>
-            <length>0.04981</length>
-            <radius>0.059</radius>
-          </cylinder>
+          <box>
+            <size>0.33 0.04981 0.055</size>
+          </box>
         </geometry>
         <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
           <friction>
             <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
+              <mu>10</mu>
+              <mu2>150</mu2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
-    </link>
-    <joint name="front_left_flipper_wheel3_j" type="revolute">
-      <child>front_left_flipper_wheel3</child>
-      <parent>front_left_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="front_left_flipper_wheel4">
-      <pose>0.49287 0.272 -0.028149 0 0.193732 0</pose>
-      <inertial>
-        <pose>0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
-        <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
-        </inertia>
-      </inertial>
-      <collision name="front_left_flipper_wheel4_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="rear_left_flipper_collision_bottom_bar_collision_3">
+        <pose>0.165 0 -0.0325 0 -0.184162 0</pose>
         <geometry>
-          <cylinder>
-            <length>0.04981</length>
-            <radius>0.044</radius>
-          </cylinder>
+          <box>
+            <size>0.33 0.04981 0.055</size>
+          </box>
         </geometry>
         <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
           <friction>
             <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
+              <mu>10</mu>
+              <mu2>150</mu2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
-    </link>
-    <joint name="front_left_flipper_wheel4_j" type="revolute">
-      <child>front_left_flipper_wheel4</child>
-      <parent>front_left_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="front_left_flipper_wheel5">
-      <pose>0.573827 0.272 -0.044032 0 0.193732 0</pose>
-      <inertial>
-        <pose>0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
-        <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
-        </inertia>
-      </inertial>
-      <collision name="front_left_flipper_wheel5_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="rear_left_flipper_collision_middle_bar_collision_4">
+        <pose>0.166 0 0.004 0 -0.02 0</pose>
         <geometry>
-          <cylinder>
-            <length>0.04981</length>
-            <radius>0.029</radius>
-          </cylinder>
+          <box>
+            <size>0.2 0.04981 0.07</size>
+          </box>
         </geometry>
         <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
           <friction>
             <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
+              <mu>10</mu>
+              <mu2>150</mu2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
+      <visual name="rear_left_flipper_visual">
+        <pose>0 0 0 -2.95743 -0 1.5707963267948966</pose>
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/flipper.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
     </link>
-    <joint name="front_left_flipper_wheel5_j" type="revolute">
-      <child>front_left_flipper_wheel5</child>
-      <parent>front_left_flipper</parent>
+    <joint name="rear_left_flipper_j" type="revolute">
+      <child>rear_left_flipper</child>
+      <parent>left_track</parent>
       <axis>
         <xyz>0 1 0</xyz>
         <limit>
           <lower>-1e+16</lower>
           <upper>1e+16</upper>
+          <effort>20</effort>
+          <velocity>0.785398</velocity>
         </limit>
         <dynamics>
           <spring_reference>0</spring_reference>
@@ -1097,1815 +1050,268 @@
         </dynamics>
         <use_parent_model_frame>0</use_parent_model_frame>
       </axis>
-    </joint>
-    <link name="left_track_wheel1">
-      <pose>0.25 0.1985 0.01855 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0.0141 0 -0 0</pose>
-        <mass>0.7575</mass>
+      <physics>
+        <ode>
+          <implicit_spring_damper>1</implicit_spring_damper>
+          <cfm_damping>1</cfm_damping>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+        </ode>
+      </physics>
+    </joint>
+    <link name="cliff_sensor_0">
+      <pose>0.275 0.119535 0.2035 -1.5707963267948966 1.5707963267948966 0</pose>
+      <inertial>
+        <pose>0.0105 0 0.00925 0 -0 0</pose>
+        <mass>0.012</mass>
         <inertia>
-          <ixx>0.002731</ixx>
+          <ixx>1.56725e-06</ixx>
           <ixy>0</ixy>
           <ixz>0</ixz>
-          <iyy>0.032554</iyy>
-          <iyz>1.5e-05</iyz>
-          <izz>0.031391</izz>
+          <iyy>7.8325e-07</iyy>
+          <iyz>0</iyz>
+          <izz>1.666e-06</izz>
         </inertia>
       </inertial>
-      <collision name="left_track_wheel1_collision">
-        <pose>0 -0.015 0 1.5707963267948966 -0 0</pose>
+      <collision name="cliff_sensor_0_collision">
+        <pose>0.0105 0 0.00925 0 -0 0</pose>
         <geometry>
-          <cylinder>
-            <length>0.112</length>
-            <radius>0.089</radius>
-          </cylinder>
+          <box>
+            <size>0.021 0.035 0.0185</size>
+          </box>
         </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
       </collision>
+      <visual name="cliff_sensor_0_visual">
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/tfmini_plus_lidar.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <sensor name="laser" type="gpu_lidar">
+        <pose>0.021 0 0.00925 0 -0 0</pose>
+        <update_rate>10</update_rate>
+        <visualize>0</visualize>
+        <always_on>1</always_on>
+        <lidar>
+          <scan>
+            <horizontal>
+              <samples>3</samples>
+              <resolution>1</resolution>
+              <min_angle>-0.0314159</min_angle>
+              <max_angle>0.0314159</max_angle>
+            </horizontal>
+            <vertical>
+              <samples>3</samples>
+              <resolution>1</resolution>
+              <min_angle>-0.0314159</min_angle>
+              <max_angle>0.0314159</max_angle>
+            </vertical>
+          </scan>
+          <range>
+            <min>0.1</min>
+            <max>12</max>
+            <resolution>0.01</resolution>
+          </range>
+          <noise>
+            <type>gaussian</type>
+            <mean>0</mean>
+            <stddev>0.015</stddev>
+          </noise>
+        </lidar>
+      </sensor>
     </link>
-    <joint name="left_track_wheel1_j" type="revolute">
-      <child>left_track_wheel1</child>
-      <parent>left_track</parent>
+    <joint name="cliff_sensor_0_j" type="fixed">
+      <child>cliff_sensor_0</child>
+      <parent>base_link</parent>
       <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
         <dynamics>
           <spring_reference>0</spring_reference>
           <spring_stiffness>0</spring_stiffness>
         </dynamics>
+        <xyz>0 0 1</xyz>
         <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="left_track_wheel2">
-      <pose>0.178571 0.1985 0.01855 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0.0141 0 -0 0</pose>
-        <mass>0.7575</mass>
-        <inertia>
-          <ixx>0.002731</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.032554</iyy>
-          <iyz>1.5e-05</iyz>
-          <izz>0.031391</izz>
-        </inertia>
-      </inertial>
-      <collision name="left_track_wheel2_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.097</length>
-            <radius>0.089</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-    </link>
-    <joint name="left_track_wheel2_j" type="revolute">
-      <child>left_track_wheel2</child>
-      <parent>left_track</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
         <limit>
           <lower>-1e+16</lower>
           <upper>1e+16</upper>
         </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
       </axis>
+      <physics>
+        <ode>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+        </ode>
+      </physics>
     </joint>
-    <link name="left_track_wheel3">
-      <pose>0.107143 0.1985 0.01855 0 -0 0</pose>
+    <link name="cliff_sensor_1">
+      <pose>0.275 -0.120465 0.2035 1.5707963267948966 1.5707963267948966 0</pose>
       <inertial>
-        <pose>0 0 0.0141 0 -0 0</pose>
-        <mass>0.7575</mass>
+        <pose>0.0105 0 0.00925 0 -0 0</pose>
+        <mass>0.012</mass>
         <inertia>
-          <ixx>0.002731</ixx>
+          <ixx>1.56725e-06</ixx>
           <ixy>0</ixy>
           <ixz>0</ixz>
-          <iyy>0.032554</iyy>
-          <iyz>1.5e-05</iyz>
-          <izz>0.031391</izz>
+          <iyy>7.8325e-07</iyy>
+          <iyz>0</iyz>
+          <izz>1.666e-06</izz>
         </inertia>
       </inertial>
-      <collision name="left_track_wheel3_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="cliff_sensor_1_collision">
+        <pose>0.0105 0 0.00925 0 -0 0</pose>
         <geometry>
-          <cylinder>
-            <length>0.097</length>
-            <radius>0.089</radius>
-          </cylinder>
+          <box>
+            <size>0.021 0.035 0.0185</size>
+          </box>
         </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
       </collision>
+      <visual name="cliff_sensor_1_visual">
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/tfmini_plus_lidar.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <sensor name="laser" type="gpu_lidar">
+        <pose>0.021 0 0.00925 0 -0 0</pose>
+        <update_rate>10</update_rate>
+        <visualize>0</visualize>
+        <always_on>1</always_on>
+        <lidar>
+          <scan>
+            <horizontal>
+              <samples>3</samples>
+              <resolution>1</resolution>
+              <min_angle>-0.0314159</min_angle>
+              <max_angle>0.0314159</max_angle>
+            </horizontal>
+            <vertical>
+              <samples>3</samples>
+              <resolution>1</resolution>
+              <min_angle>-0.0314159</min_angle>
+              <max_angle>0.0314159</max_angle>
+            </vertical>
+          </scan>
+          <range>
+            <min>0.1</min>
+            <max>12</max>
+            <resolution>0.01</resolution>
+          </range>
+          <noise>
+            <type>gaussian</type>
+            <mean>0</mean>
+            <stddev>0.015</stddev>
+          </noise>
+        </lidar>
+      </sensor>
     </link>
-    <joint name="left_track_wheel3_j" type="revolute">
-      <child>left_track_wheel3</child>
-      <parent>left_track</parent>
+    <joint name="cliff_sensor_1_j" type="fixed">
+      <child>cliff_sensor_1</child>
+      <parent>base_link</parent>
       <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
         <dynamics>
           <spring_reference>0</spring_reference>
           <spring_stiffness>0</spring_stiffness>
         </dynamics>
+        <xyz>0 0 1</xyz>
         <use_parent_model_frame>0</use_parent_model_frame>
+        <limit>
+          <lower>-1e+16</lower>
+          <upper>1e+16</upper>
+        </limit>
       </axis>
+      <physics>
+        <ode>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+        </ode>
+      </physics>
     </joint>
-    <link name="left_track_wheel4">
-      <pose>0.035714 0.1985 0.01855 0 -0 0</pose>
+    <link name="cliff_sensor_2">
+      <pose>-0.275 0.119535 0.2035 -1.5707963267948966 1.5707963267948966 0</pose>
       <inertial>
-        <pose>0 0 0.0141 0 -0 0</pose>
-        <mass>0.7575</mass>
+        <pose>0.0105 0 0.00925 0 -0 0</pose>
+        <mass>0.012</mass>
         <inertia>
-          <ixx>0.002731</ixx>
+          <ixx>1.56725e-06</ixx>
           <ixy>0</ixy>
           <ixz>0</ixz>
-          <iyy>0.032554</iyy>
-          <iyz>1.5e-05</iyz>
-          <izz>0.031391</izz>
+          <iyy>7.8325e-07</iyy>
+          <iyz>0</iyz>
+          <izz>1.666e-06</izz>
         </inertia>
       </inertial>
-      <collision name="left_track_wheel4_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.097</length>
-            <radius>0.089</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-    </link>
-    <joint name="left_track_wheel4_j" type="revolute">
-      <child>left_track_wheel4</child>
-      <parent>left_track</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="left_track_wheel5">
-      <pose>-0.035714 0.1985 0.01855 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0.0141 0 -0 0</pose>
-        <mass>0.7575</mass>
-        <inertia>
-          <ixx>0.002731</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.032554</iyy>
-          <iyz>1.5e-05</iyz>
-          <izz>0.031391</izz>
-        </inertia>
-      </inertial>
-      <collision name="left_track_wheel5_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.097</length>
-            <radius>0.089</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-    </link>
-    <joint name="left_track_wheel5_j" type="revolute">
-      <child>left_track_wheel5</child>
-      <parent>left_track</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="left_track_wheel6">
-      <pose>-0.107143 0.1985 0.01855 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0.0141 0 -0 0</pose>
-        <mass>0.7575</mass>
-        <inertia>
-          <ixx>0.002731</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.032554</iyy>
-          <iyz>1.5e-05</iyz>
-          <izz>0.031391</izz>
-        </inertia>
-      </inertial>
-      <collision name="left_track_wheel6_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.097</length>
-            <radius>0.089</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-    </link>
-    <joint name="left_track_wheel6_j" type="revolute">
-      <child>left_track_wheel6</child>
-      <parent>left_track</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="left_track_wheel7">
-      <pose>-0.178571 0.1985 0.01855 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0.0141 0 -0 0</pose>
-        <mass>0.7575</mass>
-        <inertia>
-          <ixx>0.002731</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.032554</iyy>
-          <iyz>1.5e-05</iyz>
-          <izz>0.031391</izz>
-        </inertia>
-      </inertial>
-      <collision name="left_track_wheel7_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.097</length>
-            <radius>0.089</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-    </link>
-    <joint name="left_track_wheel7_j" type="revolute">
-      <child>left_track_wheel7</child>
-      <parent>left_track</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="left_track_wheel8">
-      <pose>-0.25 0.1985 0.01855 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0.0141 0 -0 0</pose>
-        <mass>0.7575</mass>
-        <inertia>
-          <ixx>0.002731</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.032554</iyy>
-          <iyz>1.5e-05</iyz>
-          <izz>0.031391</izz>
-        </inertia>
-      </inertial>
-      <collision name="left_track_wheel8_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.097</length>
-            <radius>0.089</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-    </link>
-    <joint name="left_track_wheel8_j" type="revolute">
-      <child>left_track_wheel8</child>
-      <parent>left_track</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="rear_left_flipper">
-      <pose>-0.25 0.272 0.0195 3.1415926535897931 0.193732 3.1415926535897931</pose>
-      <inertial>
-        <mass>1e-05</mass>
-        <inertia>
-          <ixx>0.001</ixx>
-          <ixy>1e-06</ixy>
-          <ixz>1e-06</ixz>
-          <iyy>0.001</iyy>
-          <iyz>1e-06</iyz>
-          <izz>0.001</izz>
-        </inertia>
-      </inertial>
-      <collision name="rear_left_flipper_collision">
-        <geometry>
-          <box>
-            <size>0.01 0.01 0.01</size>
-          </box>
-        </geometry>
-        <surface>
-          <friction>
-            <ode>
-              <mu>0.7</mu>
-              <mu2>150</mu2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-      <visual name="rear_left_flipper_visual">
-        <pose>0 0 0 -2.95743 -0 1.5707963267948966</pose>
-        <geometry>
-          <mesh>
-            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/flipper.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-    </link>
-    <joint name="rear_left_flipper_j" type="revolute">
-      <child>rear_left_flipper</child>
-      <parent>left_track</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>20</effort>
-          <velocity>0.785398</velocity>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-      <physics>
-        <ode>
-          <implicit_spring_damper>1</implicit_spring_damper>
-          <cfm_damping>1</cfm_damping>
-          <limit>
-            <cfm>0</cfm>
-            <erp>0.2</erp>
-          </limit>
-        </ode>
-      </physics>
-    </joint>
-    <link name="rear_left_flipper_wheel1">
-      <pose>-0.25 0.272 0.0195 3.1415926535897931 0.193732 3.1415926535897931</pose>
-      <inertial>
-        <pose>0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
-        <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
-        </inertia>
-      </inertial>
-      <collision name="rear_left_flipper_wheel1_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.04981</length>
-            <radius>0.089</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-    </link>
-    <joint name="rear_left_flipper_wheel1_j" type="revolute">
-      <child>rear_left_flipper_wheel1</child>
-      <parent>rear_left_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="rear_left_flipper_wheel2">
-      <pose>-0.330957 0.272 0.003617 3.1415926535897931 0.193732 3.1415926535897931</pose>
-      <inertial>
-        <pose>0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
-        <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
-        </inertia>
-      </inertial>
-      <collision name="rear_left_flipper_wheel2_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.04981</length>
-            <radius>0.074</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-    </link>
-    <joint name="rear_left_flipper_wheel2_j" type="revolute">
-      <child>rear_left_flipper_wheel2</child>
-      <parent>rear_left_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="rear_left_flipper_wheel3">
-      <pose>-0.411913 0.272 -0.012266 3.1415926535897931 0.193732 3.1415926535897931</pose>
-      <inertial>
-        <pose>0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
-        <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
-        </inertia>
-      </inertial>
-      <collision name="rear_left_flipper_wheel3_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.04981</length>
-            <radius>0.059</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-    </link>
-    <joint name="rear_left_flipper_wheel3_j" type="revolute">
-      <child>rear_left_flipper_wheel3</child>
-      <parent>rear_left_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="rear_left_flipper_wheel4">
-      <pose>-0.49287 0.272 -0.028149 3.1415926535897931 0.193732 3.1415926535897931</pose>
-      <inertial>
-        <pose>0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
-        <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
-        </inertia>
-      </inertial>
-      <collision name="rear_left_flipper_wheel4_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.04981</length>
-            <radius>0.044</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-    </link>
-    <joint name="rear_left_flipper_wheel4_j" type="revolute">
-      <child>rear_left_flipper_wheel4</child>
-      <parent>rear_left_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="rear_left_flipper_wheel5">
-      <pose>-0.573827 0.272 -0.044032 3.1415926535897931 0.193732 3.1415926535897931</pose>
-      <inertial>
-        <pose>0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
-        <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
-        </inertia>
-      </inertial>
-      <collision name="rear_left_flipper_wheel5_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.04981</length>
-            <radius>0.029</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-    </link>
-    <joint name="rear_left_flipper_wheel5_j" type="revolute">
-      <child>rear_left_flipper_wheel5</child>
-      <parent>rear_left_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="cliff_sensor_0">
-      <pose>0.275 0.119535 0.2035 -1.5707963267948966 1.5707963267948966 0</pose>
-      <inertial>
-        <pose>0.0105 0 0.00925 0 -0 0</pose>
-        <mass>0.012</mass>
-        <inertia>
-          <ixx>1.56725e-06</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>7.8325e-07</iyy>
-          <iyz>0</iyz>
-          <izz>1.666e-06</izz>
-        </inertia>
-      </inertial>
-      <collision name="cliff_sensor_0_collision">
-        <pose>0.0105 0 0.00925 0 -0 0</pose>
-        <geometry>
-          <box>
-            <size>0.021 0.035 0.0185</size>
-          </box>
-        </geometry>
-      </collision>
-      <visual name="cliff_sensor_0_visual">
-        <geometry>
-          <mesh>
-            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/tfmini_plus_lidar.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-      <sensor name="laser" type="gpu_lidar">
-        <pose>0.021 0 0.00925 0 -0 0</pose>
-        <update_rate>10</update_rate>
-        <visualize>0</visualize>
-        <always_on>1</always_on>
-        <lidar>
-          <scan>
-            <horizontal>
-              <samples>3</samples>
-              <resolution>1</resolution>
-              <min_angle>-0.0314159</min_angle>
-              <max_angle>0.0314159</max_angle>
-            </horizontal>
-            <vertical>
-              <samples>3</samples>
-              <resolution>1</resolution>
-              <min_angle>-0.0314159</min_angle>
-              <max_angle>0.0314159</max_angle>
-            </vertical>
-          </scan>
-          <range>
-            <min>0.1</min>
-            <max>12</max>
-            <resolution>0.01</resolution>
-          </range>
-          <noise>
-            <type>gaussian</type>
-            <mean>0</mean>
-            <stddev>0.015</stddev>
-          </noise>
-        </lidar>
-      </sensor>
-    </link>
-    <joint name="cliff_sensor_0_j" type="fixed">
-      <child>cliff_sensor_0</child>
-      <parent>base_link</parent>
-      <axis>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <xyz>0 0 1</xyz>
-        <use_parent_model_frame>0</use_parent_model_frame>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-      </axis>
-      <physics>
-        <ode>
-          <limit>
-            <cfm>0</cfm>
-            <erp>0.2</erp>
-          </limit>
-        </ode>
-      </physics>
-    </joint>
-    <link name="cliff_sensor_1">
-      <pose>0.275 -0.120465 0.2035 1.5707963267948966 1.5707963267948966 0</pose>
-      <inertial>
-        <pose>0.0105 0 0.00925 0 -0 0</pose>
-        <mass>0.012</mass>
-        <inertia>
-          <ixx>1.56725e-06</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>7.8325e-07</iyy>
-          <iyz>0</iyz>
-          <izz>1.666e-06</izz>
-        </inertia>
-      </inertial>
-      <collision name="cliff_sensor_1_collision">
-        <pose>0.0105 0 0.00925 0 -0 0</pose>
-        <geometry>
-          <box>
-            <size>0.021 0.035 0.0185</size>
-          </box>
-        </geometry>
-      </collision>
-      <visual name="cliff_sensor_1_visual">
-        <geometry>
-          <mesh>
-            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/tfmini_plus_lidar.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-      <sensor name="laser" type="gpu_lidar">
-        <pose>0.021 0 0.00925 0 -0 0</pose>
-        <update_rate>10</update_rate>
-        <visualize>0</visualize>
-        <always_on>1</always_on>
-        <lidar>
-          <scan>
-            <horizontal>
-              <samples>3</samples>
-              <resolution>1</resolution>
-              <min_angle>-0.0314159</min_angle>
-              <max_angle>0.0314159</max_angle>
-            </horizontal>
-            <vertical>
-              <samples>3</samples>
-              <resolution>1</resolution>
-              <min_angle>-0.0314159</min_angle>
-              <max_angle>0.0314159</max_angle>
-            </vertical>
-          </scan>
-          <range>
-            <min>0.1</min>
-            <max>12</max>
-            <resolution>0.01</resolution>
-          </range>
-          <noise>
-            <type>gaussian</type>
-            <mean>0</mean>
-            <stddev>0.015</stddev>
-          </noise>
-        </lidar>
-      </sensor>
-    </link>
-    <joint name="cliff_sensor_1_j" type="fixed">
-      <child>cliff_sensor_1</child>
-      <parent>base_link</parent>
-      <axis>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <xyz>0 0 1</xyz>
-        <use_parent_model_frame>0</use_parent_model_frame>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-      </axis>
-      <physics>
-        <ode>
-          <limit>
-            <cfm>0</cfm>
-            <erp>0.2</erp>
-          </limit>
-        </ode>
-      </physics>
-    </joint>
-    <link name="cliff_sensor_2">
-      <pose>-0.275 0.119535 0.2035 -1.5707963267948966 1.5707963267948966 0</pose>
-      <inertial>
-        <pose>0.0105 0 0.00925 0 -0 0</pose>
-        <mass>0.012</mass>
-        <inertia>
-          <ixx>1.56725e-06</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>7.8325e-07</iyy>
-          <iyz>0</iyz>
-          <izz>1.666e-06</izz>
-        </inertia>
-      </inertial>
-      <collision name="cliff_sensor_2_collision">
-        <pose>0.0105 0 0.00925 0 -0 0</pose>
-        <geometry>
-          <box>
-            <size>0.021 0.035 0.0185</size>
-          </box>
-        </geometry>
-      </collision>
-      <visual name="cliff_sensor_2_visual">
-        <geometry>
-          <mesh>
-            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/tfmini_plus_lidar.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-      <sensor name="laser" type="gpu_lidar">
-        <pose>0.021 0 0.00925 0 -0 0</pose>
-        <update_rate>10</update_rate>
-        <visualize>0</visualize>
-        <always_on>1</always_on>
-        <lidar>
-          <scan>
-            <horizontal>
-              <samples>3</samples>
-              <resolution>1</resolution>
-              <min_angle>-0.0314159</min_angle>
-              <max_angle>0.0314159</max_angle>
-            </horizontal>
-            <vertical>
-              <samples>3</samples>
-              <resolution>1</resolution>
-              <min_angle>-0.0314159</min_angle>
-              <max_angle>0.0314159</max_angle>
-            </vertical>
-          </scan>
-          <range>
-            <min>0.1</min>
-            <max>12</max>
-            <resolution>0.01</resolution>
-          </range>
-          <noise>
-            <type>gaussian</type>
-            <mean>0</mean>
-            <stddev>0.015</stddev>
-          </noise>
-        </lidar>
-      </sensor>
-    </link>
-    <joint name="cliff_sensor_2_j" type="fixed">
-      <child>cliff_sensor_2</child>
-      <parent>base_link</parent>
-      <axis>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <xyz>0 0 1</xyz>
-        <use_parent_model_frame>0</use_parent_model_frame>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-      </axis>
-      <physics>
-        <ode>
-          <limit>
-            <cfm>0</cfm>
-            <erp>0.2</erp>
-          </limit>
-        </ode>
-      </physics>
-    </joint>
-    <link name="cliff_sensor_3">
-      <pose>-0.275 -0.120465 0.2035 1.5707963267948966 1.5707963267948966 0</pose>
-      <inertial>
-        <pose>0.0105 0 0.00925 0 -0 0</pose>
-        <mass>0.012</mass>
-        <inertia>
-          <ixx>1.56725e-06</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>7.8325e-07</iyy>
-          <iyz>0</iyz>
-          <izz>1.666e-06</izz>
-        </inertia>
-      </inertial>
-      <collision name="cliff_sensor_3_collision">
-        <pose>0.0105 0 0.00925 0 -0 0</pose>
-        <geometry>
-          <box>
-            <size>0.021 0.035 0.0185</size>
-          </box>
-        </geometry>
-      </collision>
-      <visual name="cliff_sensor_3_visual">
-        <geometry>
-          <mesh>
-            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/tfmini_plus_lidar.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-      <sensor name="laser" type="gpu_lidar">
-        <pose>0.021 0 0.00925 0 -0 0</pose>
-        <update_rate>10</update_rate>
-        <visualize>0</visualize>
-        <always_on>1</always_on>
-        <lidar>
-          <scan>
-            <horizontal>
-              <samples>3</samples>
-              <resolution>1</resolution>
-              <min_angle>-0.0314159</min_angle>
-              <max_angle>0.0314159</max_angle>
-            </horizontal>
-            <vertical>
-              <samples>3</samples>
-              <resolution>1</resolution>
-              <min_angle>-0.0314159</min_angle>
-              <max_angle>0.0314159</max_angle>
-            </vertical>
-          </scan>
-          <range>
-            <min>0.1</min>
-            <max>12</max>
-            <resolution>0.01</resolution>
-          </range>
-          <noise>
-            <type>gaussian</type>
-            <mean>0</mean>
-            <stddev>0.015</stddev>
-          </noise>
-        </lidar>
-      </sensor>
-    </link>
-    <joint name="cliff_sensor_3_j" type="fixed">
-      <child>cliff_sensor_3</child>
-      <parent>base_link</parent>
-      <axis>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <xyz>0 0 1</xyz>
-        <use_parent_model_frame>0</use_parent_model_frame>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-      </axis>
-      <physics>
-        <ode>
-          <limit>
-            <cfm>0</cfm>
-            <erp>0.2</erp>
-          </limit>
-        </ode>
-      </physics>
-    </joint>
-    <link name="thermocam">
-      <pose>0.225 -0.000465 0.185 0 -0 0</pose>
-      <inertial>
-        <pose>0.0155 0 0 0 -0 0</pose>
-        <mass>0.024</mass>
-        <inertia>
-          <ixx>1.764e-06</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>4.58e-06</iyy>
-          <iyz>0</iyz>
-          <izz>4.58e-06</izz>
-        </inertia>
-      </inertial>
-      <collision name="thermocam_collision">
-        <pose>0.0155 0 0 0 -0 0</pose>
-        <geometry>
-          <box>
-            <size>0.043 0.021 0.021</size>
-          </box>
-        </geometry>
-      </collision>
-      <visual name="thermocam_visual">
-        <pose>0 0 0.0105 0 -0 0</pose>
-        <geometry>
-          <mesh>
-            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/flir_boson.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-      <sensor name="thermal_camera" type="thermal_camera">
-        <pose>0.03 0 0 0 -0 0</pose>
-        <always_on>1</always_on>
-        <update_rate>8.6</update_rate>
-        <visualize>0</visualize>
-        <camera name="thermal_camera">
-          <horizontal_fov>1.6057</horizontal_fov>
-          <lens>
-            <intrinsics>
-              <fx>154.51</fx>
-              <fy>154.51</fy>
-              <cx>160.5</cx>
-              <cy>128.5</cy>
-              <s>0</s>
-            </intrinsics>
-            <type>stereographic</type>
-            <scale_to_hfov>1</scale_to_hfov>
-          </lens>
-          <image>
-            <width>320</width>
-            <height>256</height>
-            <format>L8</format>
-          </image>
-          <clip>
-            <near>0.6</near>
-            <far>50</far>
-          </clip>
-        </camera>
-        <plugin name="ignition::gazebo::systems::ThermalSensor" filename="ignition-gazebo-thermal-sensor-system">
-          <min_temp>253.15</min_temp>
-          <max_temp>673.15</max_temp>
-          <resolution>1.6</resolution>
-        </plugin>
-      </sensor>
-    </link>
-    <joint name="thermocam_j" type="fixed">
-      <child>thermocam</child>
-      <parent>base_link</parent>
-      <axis>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <xyz>0 0 1</xyz>
-        <use_parent_model_frame>0</use_parent_model_frame>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-      </axis>
-      <physics>
-        <ode>
-          <limit>
-            <cfm>0</cfm>
-            <erp>0.2</erp>
-          </limit>
-        </ode>
-      </physics>
-    </joint>
-    <link name="laser">
-      <pose>0.1615 0 0.39 0 0.25 0</pose>
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-        <pose>0 0 0.03675 0 -0 0</pose>
-        <mass>0.5</mass>
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-          <ixx>0.000461625</ixx>
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-          <ixz>0</ixz>
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-          <izz>0.000473063</izz>
-        </inertia>
-      </inertial>
-      <collision name="laser_collision">
-        <pose>0 0 0.03675 0 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.0735</length>
-            <radius>0.0435</radius>
-          </cylinder>
-        </geometry>
-      </collision>
-      <visual name="laser_visual">
-        <geometry>
-          <mesh>
-            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/ouster-os0.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-      <sensor name="laser" type="gpu_lidar">
-        <pose>0 0 0.035925 0 -0 0</pose>
-        <update_rate>10</update_rate>
-        <visualize>0</visualize>
-        <always_on>1</always_on>
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-              <samples>2048</samples>
-              <resolution>1</resolution>
-              <min_angle>-3.1459</min_angle>
-              <max_angle>3.1459</max_angle>
-            </horizontal>
-            <vertical>
-              <samples>128</samples>
-              <resolution>1</resolution>
-              <min_angle>-0.785398</min_angle>
-              <max_angle>0.785398</max_angle>
-            </vertical>
-          </scan>
-          <range>
-            <min>0.1</min>
-            <max>50</max>
-            <resolution>0.01</resolution>
-          </range>
-          <noise>
-            <type>gaussian</type>
-            <mean>0</mean>
-            <stddev>0.01</stddev>
-          </noise>
-        </lidar>
-      </sensor>
-    </link>
-    <joint name="laser_j" type="fixed">
-      <child>laser</child>
-      <parent>base_link</parent>
-      <axis>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <xyz>0 0 1</xyz>
-        <use_parent_model_frame>0</use_parent_model_frame>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-      </axis>
-      <physics>
-        <ode>
-          <limit>
-            <cfm>0</cfm>
-            <erp>0.2</erp>
-          </limit>
-        </ode>
-      </physics>
-    </joint>
-    <link name="right_track">
-      <pose>0 -0.1985 0 0 -0 0</pose>
-      <inertial>
-        <mass>1e-05</mass>
-        <inertia>
-          <ixx>0.001</ixx>
-          <ixy>1e-06</ixy>
-          <ixz>1e-06</ixz>
-          <iyy>0.001</iyy>
-          <iyz>1e-06</iyz>
-          <izz>0.001</izz>
-        </inertia>
-      </inertial>
-      <collision name="right_track_collision">
-        <geometry>
-          <box>
-            <size>0.01 0.01 0.01</size>
-          </box>
-        </geometry>
-        <surface>
-          <friction>
-            <ode>
-              <mu>0.7</mu>
-              <mu2>150</mu2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-      <visual name="right_track_visual">
-        <pose>0 0 -0.0705 1.5707963267948966 0 -1.5707963267948966</pose>
-        <geometry>
-          <mesh>
-            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/bogie.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-    </link>
-    <joint name="right_track_j" type="revolute">
-      <child>right_track</child>
-      <parent>base_link</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>0</lower>
-          <upper>0</upper>
-          <effort>0</effort>
-          <velocity>4</velocity>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-      <physics>
-        <ode>
-          <limit>
-            <cfm>0</cfm>
-            <erp>0.2</erp>
-          </limit>
-        </ode>
-      </physics>
-      <physics>
-        <ode>
-          <implicit_spring_damper>1</implicit_spring_damper>
-          <cfm>0</cfm>
-          <erp>0.95</erp>
-        </ode>
-      </physics>
-    </joint>
-    <link name="front_right_flipper">
-      <pose>0.25 -0.272 0.0195 3.1415926535897931 -0.193732 3.1415926535897931</pose>
-      <inertial>
-        <mass>1e-05</mass>
-        <inertia>
-          <ixx>0.001</ixx>
-          <ixy>1e-06</ixy>
-          <ixz>1e-06</ixz>
-          <iyy>0.001</iyy>
-          <iyz>1e-06</iyz>
-          <izz>0.001</izz>
-        </inertia>
-      </inertial>
-      <collision name="front_right_flipper_collision">
-        <geometry>
-          <box>
-            <size>0.01 0.01 0.01</size>
-          </box>
-        </geometry>
-        <surface>
-          <friction>
-            <ode>
-              <mu>0.7</mu>
-              <mu2>150</mu2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-      <visual name="front_right_flipper_visual">
-        <pose>0 0 0 -2.95743 -0 -1.5707963267948966</pose>
-        <geometry>
-          <mesh>
-            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/flipper.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-    </link>
-    <joint name="front_right_flipper_j" type="revolute">
-      <child>front_right_flipper</child>
-      <parent>right_track</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>20</effort>
-          <velocity>0.785398</velocity>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-      <physics>
-        <ode>
-          <implicit_spring_damper>1</implicit_spring_damper>
-          <cfm_damping>1</cfm_damping>
-          <limit>
-            <cfm>0</cfm>
-            <erp>0.2</erp>
-          </limit>
-        </ode>
-      </physics>
-    </joint>
-    <link name="front_right_flipper_wheel1">
-      <pose>0.25 -0.272 0.0195 3.1415926535897931 -0.193732 3.1415926535897931</pose>
-      <inertial>
-        <pose>-0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
-        <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
-        </inertia>
-      </inertial>
-      <collision name="front_right_flipper_wheel1_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.04981</length>
-            <radius>0.089</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-    </link>
-    <joint name="front_right_flipper_wheel1_j" type="revolute">
-      <child>front_right_flipper_wheel1</child>
-      <parent>front_right_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="front_right_flipper_wheel2">
-      <pose>0.330957 -0.272 0.003617 3.1415926535897931 -0.193732 3.1415926535897931</pose>
-      <inertial>
-        <pose>-0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
-        <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
-        </inertia>
-      </inertial>
-      <collision name="front_right_flipper_wheel2_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.04981</length>
-            <radius>0.074</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-    </link>
-    <joint name="front_right_flipper_wheel2_j" type="revolute">
-      <child>front_right_flipper_wheel2</child>
-      <parent>front_right_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="front_right_flipper_wheel3">
-      <pose>0.411913 -0.272 -0.012266 3.1415926535897931 -0.193732 3.1415926535897931</pose>
-      <inertial>
-        <pose>-0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
-        <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
-        </inertia>
-      </inertial>
-      <collision name="front_right_flipper_wheel3_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.04981</length>
-            <radius>0.059</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-    </link>
-    <joint name="front_right_flipper_wheel3_j" type="revolute">
-      <child>front_right_flipper_wheel3</child>
-      <parent>front_right_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="front_right_flipper_wheel4">
-      <pose>0.49287 -0.272 -0.028149 3.1415926535897931 -0.193732 3.1415926535897931</pose>
-      <inertial>
-        <pose>-0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
-        <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
-        </inertia>
-      </inertial>
-      <collision name="front_right_flipper_wheel4_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.04981</length>
-            <radius>0.044</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-    </link>
-    <joint name="front_right_flipper_wheel4_j" type="revolute">
-      <child>front_right_flipper_wheel4</child>
-      <parent>front_right_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="front_right_flipper_wheel5">
-      <pose>0.573827 -0.272 -0.044032 3.1415926535897931 -0.193732 3.1415926535897931</pose>
-      <inertial>
-        <pose>-0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
-        <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
-        </inertia>
-      </inertial>
-      <collision name="front_right_flipper_wheel5_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.04981</length>
-            <radius>0.029</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-    </link>
-    <joint name="front_right_flipper_wheel5_j" type="revolute">
-      <child>front_right_flipper_wheel5</child>
-      <parent>front_right_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="rear_right_flipper">
-      <pose>-0.25 -0.272 0.0195 0 -0.193732 0</pose>
-      <inertial>
-        <mass>1e-05</mass>
-        <inertia>
-          <ixx>0.001</ixx>
-          <ixy>1e-06</ixy>
-          <ixz>1e-06</ixz>
-          <iyy>0.001</iyy>
-          <iyz>1e-06</iyz>
-          <izz>0.001</izz>
-        </inertia>
-      </inertial>
-      <collision name="rear_right_flipper_collision">
+      <collision name="cliff_sensor_2_collision">
+        <pose>0.0105 0 0.00925 0 -0 0</pose>
         <geometry>
           <box>
-            <size>0.01 0.01 0.01</size>
+            <size>0.021 0.035 0.0185</size>
           </box>
         </geometry>
-        <surface>
-          <friction>
-            <ode>
-              <mu>0.7</mu>
-              <mu2>150</mu2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
       </collision>
-      <visual name="rear_right_flipper_visual">
-        <pose>0 0 0 -2.95743 -0 -1.5707963267948966</pose>
+      <visual name="cliff_sensor_2_visual">
         <geometry>
           <mesh>
-            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/flipper.dae</uri>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/tfmini_plus_lidar.dae</uri>
           </mesh>
         </geometry>
       </visual>
+      <sensor name="laser" type="gpu_lidar">
+        <pose>0.021 0 0.00925 0 -0 0</pose>
+        <update_rate>10</update_rate>
+        <visualize>0</visualize>
+        <always_on>1</always_on>
+        <lidar>
+          <scan>
+            <horizontal>
+              <samples>3</samples>
+              <resolution>1</resolution>
+              <min_angle>-0.0314159</min_angle>
+              <max_angle>0.0314159</max_angle>
+            </horizontal>
+            <vertical>
+              <samples>3</samples>
+              <resolution>1</resolution>
+              <min_angle>-0.0314159</min_angle>
+              <max_angle>0.0314159</max_angle>
+            </vertical>
+          </scan>
+          <range>
+            <min>0.1</min>
+            <max>12</max>
+            <resolution>0.01</resolution>
+          </range>
+          <noise>
+            <type>gaussian</type>
+            <mean>0</mean>
+            <stddev>0.015</stddev>
+          </noise>
+        </lidar>
+      </sensor>
     </link>
-    <joint name="rear_right_flipper_j" type="revolute">
-      <child>rear_right_flipper</child>
-      <parent>right_track</parent>
+    <joint name="cliff_sensor_2_j" type="fixed">
+      <child>cliff_sensor_2</child>
+      <parent>base_link</parent>
       <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>20</effort>
-          <velocity>0.785398</velocity>
-        </limit>
         <dynamics>
           <spring_reference>0</spring_reference>
           <spring_stiffness>0</spring_stiffness>
         </dynamics>
+        <xyz>0 0 1</xyz>
         <use_parent_model_frame>0</use_parent_model_frame>
+        <limit>
+          <lower>-1e+16</lower>
+          <upper>1e+16</upper>
+        </limit>
       </axis>
       <physics>
         <ode>
-          <implicit_spring_damper>1</implicit_spring_damper>
-          <cfm_damping>1</cfm_damping>
           <limit>
             <cfm>0</cfm>
             <erp>0.2</erp>
@@ -2913,296 +1319,273 @@
         </ode>
       </physics>
     </joint>
-    <link name="rear_right_flipper_wheel1">
-      <pose>-0.25 -0.272 0.0195 0 -0.193732 0</pose>
+    <link name="cliff_sensor_3">
+      <pose>-0.275 -0.120465 0.2035 1.5707963267948966 1.5707963267948966 0</pose>
       <inertial>
-        <pose>-0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
+        <pose>0.0105 0 0.00925 0 -0 0</pose>
+        <mass>0.012</mass>
         <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
+          <ixx>1.56725e-06</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>7.8325e-07</iyy>
+          <iyz>0</iyz>
+          <izz>1.666e-06</izz>
         </inertia>
       </inertial>
-      <collision name="rear_right_flipper_wheel1_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="cliff_sensor_3_collision">
+        <pose>0.0105 0 0.00925 0 -0 0</pose>
         <geometry>
-          <cylinder>
-            <length>0.04981</length>
-            <radius>0.089</radius>
-          </cylinder>
+          <box>
+            <size>0.021 0.035 0.0185</size>
+          </box>
         </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
       </collision>
+      <visual name="cliff_sensor_3_visual">
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/tfmini_plus_lidar.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <sensor name="laser" type="gpu_lidar">
+        <pose>0.021 0 0.00925 0 -0 0</pose>
+        <update_rate>10</update_rate>
+        <visualize>0</visualize>
+        <always_on>1</always_on>
+        <lidar>
+          <scan>
+            <horizontal>
+              <samples>3</samples>
+              <resolution>1</resolution>
+              <min_angle>-0.0314159</min_angle>
+              <max_angle>0.0314159</max_angle>
+            </horizontal>
+            <vertical>
+              <samples>3</samples>
+              <resolution>1</resolution>
+              <min_angle>-0.0314159</min_angle>
+              <max_angle>0.0314159</max_angle>
+            </vertical>
+          </scan>
+          <range>
+            <min>0.1</min>
+            <max>12</max>
+            <resolution>0.01</resolution>
+          </range>
+          <noise>
+            <type>gaussian</type>
+            <mean>0</mean>
+            <stddev>0.015</stddev>
+          </noise>
+        </lidar>
+      </sensor>
     </link>
-    <joint name="rear_right_flipper_wheel1_j" type="revolute">
-      <child>rear_right_flipper_wheel1</child>
-      <parent>rear_right_flipper</parent>
+    <joint name="cliff_sensor_3_j" type="fixed">
+      <child>cliff_sensor_3</child>
+      <parent>base_link</parent>
       <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
         <dynamics>
           <spring_reference>0</spring_reference>
           <spring_stiffness>0</spring_stiffness>
         </dynamics>
+        <xyz>0 0 1</xyz>
         <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="rear_right_flipper_wheel2">
-      <pose>-0.330957 -0.272 0.003617 0 -0.193732 0</pose>
-      <inertial>
-        <pose>-0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
-        <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
-        </inertia>
-      </inertial>
-      <collision name="rear_right_flipper_wheel2_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.04981</length>
-            <radius>0.074</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-    </link>
-    <joint name="rear_right_flipper_wheel2_j" type="revolute">
-      <child>rear_right_flipper_wheel2</child>
-      <parent>rear_right_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
         <limit>
           <lower>-1e+16</lower>
           <upper>1e+16</upper>
         </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
       </axis>
+      <physics>
+        <ode>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+        </ode>
+      </physics>
     </joint>
-    <link name="rear_right_flipper_wheel3">
-      <pose>-0.411913 -0.272 -0.012266 0 -0.193732 0</pose>
+    <link name="thermocam">
+      <pose>0.225 -0.000465 0.185 0 -0 0</pose>
       <inertial>
-        <pose>-0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
+        <pose>0.0155 0 0 0 -0 0</pose>
+        <mass>0.024</mass>
         <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
+          <ixx>1.764e-06</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>4.58e-06</iyy>
+          <iyz>0</iyz>
+          <izz>4.58e-06</izz>
         </inertia>
       </inertial>
-      <collision name="rear_right_flipper_wheel3_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="thermocam_collision">
+        <pose>0.0155 0 0 0 -0 0</pose>
         <geometry>
-          <cylinder>
-            <length>0.04981</length>
-            <radius>0.059</radius>
-          </cylinder>
+          <box>
+            <size>0.043 0.021 0.021</size>
+          </box>
         </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
       </collision>
+      <visual name="thermocam_visual">
+        <pose>0 0 0.0105 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/flir_boson.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <sensor name="thermal_camera" type="thermal_camera">
+        <pose>0.03 0 0 0 -0 0</pose>
+        <always_on>1</always_on>
+        <update_rate>8.6</update_rate>
+        <visualize>0</visualize>
+        <camera name="thermal_camera">
+          <horizontal_fov>1.6057</horizontal_fov>
+          <lens>
+            <intrinsics>
+              <fx>154.51</fx>
+              <fy>154.51</fy>
+              <cx>160.5</cx>
+              <cy>128.5</cy>
+              <s>0</s>
+            </intrinsics>
+            <type>stereographic</type>
+            <scale_to_hfov>1</scale_to_hfov>
+          </lens>
+          <image>
+            <width>320</width>
+            <height>256</height>
+            <format>L8</format>
+          </image>
+          <clip>
+            <near>0.6</near>
+            <far>50</far>
+          </clip>
+        </camera>
+        <plugin name="ignition::gazebo::systems::ThermalSensor" filename="ignition-gazebo-thermal-sensor-system">
+          <min_temp>253.15</min_temp>
+          <max_temp>673.15</max_temp>
+          <resolution>1.6</resolution>
+        </plugin>
+      </sensor>
     </link>
-    <joint name="rear_right_flipper_wheel3_j" type="revolute">
-      <child>rear_right_flipper_wheel3</child>
-      <parent>rear_right_flipper</parent>
+    <joint name="thermocam_j" type="fixed">
+      <child>thermocam</child>
+      <parent>base_link</parent>
       <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
         <dynamics>
           <spring_reference>0</spring_reference>
           <spring_stiffness>0</spring_stiffness>
         </dynamics>
+        <xyz>0 0 1</xyz>
         <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="rear_right_flipper_wheel4">
-      <pose>-0.49287 -0.272 -0.028149 0 -0.193732 0</pose>
-      <inertial>
-        <pose>-0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
-        <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
-        </inertia>
-      </inertial>
-      <collision name="rear_right_flipper_wheel4_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.04981</length>
-            <radius>0.044</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-    </link>
-    <joint name="rear_right_flipper_wheel4_j" type="revolute">
-      <child>rear_right_flipper_wheel4</child>
-      <parent>rear_right_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
         <limit>
           <lower>-1e+16</lower>
           <upper>1e+16</upper>
         </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
       </axis>
+      <physics>
+        <ode>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+        </ode>
+      </physics>
     </joint>
-    <link name="rear_right_flipper_wheel5">
-      <pose>-0.573827 -0.272 -0.044032 0 -0.193732 0</pose>
+    <link name="laser">
+      <pose>0.1615 0 0.39 0 0.25 0</pose>
       <inertial>
-        <pose>-0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
+        <pose>0 0 0.03675 0 -0 0</pose>
+        <mass>0.5</mass>
         <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
+          <ixx>0.000461625</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.000461625</iyy>
+          <iyz>0</iyz>
+          <izz>0.000473063</izz>
         </inertia>
       </inertial>
-      <collision name="rear_right_flipper_wheel5_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="laser_collision">
+        <pose>0 0 0.03675 0 -0 0</pose>
         <geometry>
           <cylinder>
-            <length>0.04981</length>
-            <radius>0.029</radius>
+            <length>0.0735</length>
+            <radius>0.0435</radius>
           </cylinder>
         </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
       </collision>
+      <visual name="laser_visual">
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/ouster-os0.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <sensor name="laser" type="gpu_lidar">
+        <pose>0 0 0.035925 0 -0 0</pose>
+        <update_rate>10</update_rate>
+        <visualize>0</visualize>
+        <always_on>1</always_on>
+        <lidar>
+          <scan>
+            <horizontal>
+              <samples>2048</samples>
+              <resolution>1</resolution>
+              <min_angle>-3.1459</min_angle>
+              <max_angle>3.1459</max_angle>
+            </horizontal>
+            <vertical>
+              <samples>128</samples>
+              <resolution>1</resolution>
+              <min_angle>-0.785398</min_angle>
+              <max_angle>0.785398</max_angle>
+            </vertical>
+          </scan>
+          <range>
+            <min>0.1</min>
+            <max>50</max>
+            <resolution>0.01</resolution>
+          </range>
+          <noise>
+            <type>gaussian</type>
+            <mean>0</mean>
+            <stddev>0.01</stddev>
+          </noise>
+        </lidar>
+      </sensor>
     </link>
-    <joint name="rear_right_flipper_wheel5_j" type="revolute">
-      <child>rear_right_flipper_wheel5</child>
-      <parent>rear_right_flipper</parent>
+    <joint name="laser_j" type="fixed">
+      <child>laser</child>
+      <parent>base_link</parent>
       <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
         <dynamics>
           <spring_reference>0</spring_reference>
           <spring_stiffness>0</spring_stiffness>
         </dynamics>
+        <xyz>0 0 1</xyz>
         <use_parent_model_frame>0</use_parent_model_frame>
+        <limit>
+          <lower>-1e+16</lower>
+          <upper>1e+16</upper>
+        </limit>
       </axis>
+      <physics>
+        <ode>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+        </ode>
+      </physics>
     </joint>
-    <link name="right_track_wheel1">
-      <pose>0.25 -0.1985 0.01855 0 -0 0</pose>
+    <link name="right_track">
+      <pose>0 -0.1985 0 0 -0 0</pose>
       <inertial>
         <pose>0 0 0.0141 0 -0 0</pose>
-        <mass>0.7575</mass>
+        <mass>6.06</mass>
         <inertia>
           <ixx>0.002731</ixx>
           <ixy>0</ixy>
@@ -3212,8 +1595,25 @@
           <izz>0.031391</izz>
         </inertia>
       </inertial>
-      <collision name="right_track_wheel1_collision">
-        <pose>0 0.015 0 1.5707963267948966 -0 0</pose>
+      <collision name="right_track_collision">
+        <pose>0 0 0.01855 1.5707963267948966 -0 1.5707963267948966</pose>
+        <geometry>
+          <box>
+            <size>0.097 0.178 0.5</size>
+          </box>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>10</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="right_track_collision_1">
+        <pose>0.25 0.015 0.01855 1.5707963267948966 -0 0</pose>
         <geometry>
           <cylinder>
             <length>0.112</length>
@@ -3221,56 +1621,17 @@
           </cylinder>
         </geometry>
         <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
           <friction>
             <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
+              <mu>10</mu>
+              <mu2>150</mu2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
-    </link>
-    <joint name="right_track_wheel1_j" type="revolute">
-      <child>right_track_wheel1</child>
-      <parent>right_track</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="right_track_wheel2">
-      <pose>0.178571 -0.1985 0.01855 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0.0141 0 -0 0</pose>
-        <mass>0.7575</mass>
-        <inertia>
-          <ixx>0.002731</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.032554</iyy>
-          <iyz>1.5e-05</iyz>
-          <izz>0.031391</izz>
-        </inertia>
-      </inertial>
-      <collision name="right_track_wheel2_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="right_track_collision_2">
+        <pose>-0.25 0 0.01855 1.5707963267948966 -0 0</pose>
         <geometry>
           <cylinder>
             <length>0.097</length>
@@ -3278,32 +1639,34 @@
           </cylinder>
         </geometry>
         <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
           <friction>
             <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
+              <mu>10</mu>
+              <mu2>150</mu2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
+      <visual name="right_track_visual">
+        <pose>0 0 -0.0705 1.5707963267948966 0 -1.5707963267948966</pose>
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/bogie.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
     </link>
-    <joint name="right_track_wheel2_j" type="revolute">
-      <child>right_track_wheel2</child>
-      <parent>right_track</parent>
+    <joint name="right_track_j" type="revolute">
+      <child>right_track</child>
+      <parent>base_link</parent>
       <axis>
         <xyz>0 1 0</xyz>
         <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
+          <lower>0</lower>
+          <upper>0</upper>
+          <effort>0</effort>
+          <velocity>4</velocity>
         </limit>
         <dynamics>
           <spring_reference>0</spring_reference>
@@ -3311,170 +1674,142 @@
         </dynamics>
         <use_parent_model_frame>0</use_parent_model_frame>
       </axis>
+      <physics>
+        <ode>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+        </ode>
+      </physics>
+      <physics>
+        <ode>
+          <implicit_spring_damper>1</implicit_spring_damper>
+          <cfm>0</cfm>
+          <erp>0.95</erp>
+        </ode>
+      </physics>
     </joint>
-    <link name="right_track_wheel3">
-      <pose>0.107143 -0.1985 0.01855 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0.0141 0 -0 0</pose>
-        <mass>0.7575</mass>
-        <inertia>
-          <ixx>0.002731</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.032554</iyy>
-          <iyz>1.5e-05</iyz>
-          <izz>0.031391</izz>
+    <link name="front_right_flipper">
+      <pose>0.25 -0.272 0.0195 3.1415926535897931 -0.193732 3.1415926535897931</pose>
+      <inertial>
+        <pose>-0.08 0 0 0 -0 0</pose>
+        <mass>0.75</mass>
+        <inertia>
+          <ixx>0.0017491</ixx>
+          <ixy>2.8512e-07</ixy>
+          <ixz>0.0018277</ixz>
+          <iyy>0.012277</iyy>
+          <iyz>-3.6288e-07</iyz>
+          <izz>0.010941</izz>
         </inertia>
       </inertial>
-      <collision name="right_track_wheel3_collision">
+      <collision name="front_right_flipper_collision_large_wheel_collision">
         <pose>0 0 0 1.5707963267948966 -0 0</pose>
         <geometry>
           <cylinder>
-            <length>0.097</length>
+            <length>0.04981</length>
             <radius>0.089</radius>
           </cylinder>
         </geometry>
         <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
           <friction>
             <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
+              <mu>10</mu>
+              <mu2>150</mu2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
-    </link>
-    <joint name="right_track_wheel3_j" type="revolute">
-      <child>right_track_wheel3</child>
-      <parent>right_track</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="right_track_wheel4">
-      <pose>0.035714 -0.1985 0.01855 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0.0141 0 -0 0</pose>
-        <mass>0.7575</mass>
-        <inertia>
-          <ixx>0.002731</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.032554</iyy>
-          <iyz>1.5e-05</iyz>
-          <izz>0.031391</izz>
-        </inertia>
-      </inertial>
-      <collision name="right_track_wheel4_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="front_right_flipper_collision_small_wheel_collision_1">
+        <pose>-0.33 0 0 1.5707963267948966 -0 0</pose>
         <geometry>
           <cylinder>
-            <length>0.097</length>
-            <radius>0.089</radius>
+            <length>0.04981</length>
+            <radius>0.029</radius>
           </cylinder>
         </geometry>
         <surface>
-          <contact>
+          <friction>
             <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
+              <mu>10</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
             </ode>
-          </contact>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="front_right_flipper_collision_top_bar_collision_2">
+        <pose>-0.165 0 0.0325 0 0.184162 -3.1415926535897931</pose>
+        <geometry>
+          <box>
+            <size>0.33 0.04981 0.055</size>
+          </box>
+        </geometry>
+        <surface>
           <friction>
             <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
+              <mu>10</mu>
+              <mu2>150</mu2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
-    </link>
-    <joint name="right_track_wheel4_j" type="revolute">
-      <child>right_track_wheel4</child>
-      <parent>right_track</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="right_track_wheel5">
-      <pose>-0.035714 -0.1985 0.01855 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0.0141 0 -0 0</pose>
-        <mass>0.7575</mass>
-        <inertia>
-          <ixx>0.002731</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.032554</iyy>
-          <iyz>1.5e-05</iyz>
-          <izz>0.031391</izz>
-        </inertia>
-      </inertial>
-      <collision name="right_track_wheel5_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="front_right_flipper_collision_bottom_bar_collision_3">
+        <pose>-0.165 0 -0.0325 0 -0.184162 -3.1415926535897931</pose>
         <geometry>
-          <cylinder>
-            <length>0.097</length>
-            <radius>0.089</radius>
-          </cylinder>
+          <box>
+            <size>0.33 0.04981 0.055</size>
+          </box>
         </geometry>
         <surface>
-          <contact>
+          <friction>
             <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
+              <mu>10</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
             </ode>
-          </contact>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="front_right_flipper_collision_middle_bar_collision_4">
+        <pose>-0.166 0 0.004 0 -0.02 -3.1415926535897931</pose>
+        <geometry>
+          <box>
+            <size>0.2 0.04981 0.07</size>
+          </box>
+        </geometry>
+        <surface>
           <friction>
             <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
+              <mu>10</mu>
+              <mu2>150</mu2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
+      <visual name="front_right_flipper_visual">
+        <pose>0 0 0 -2.95743 -0 -1.5707963267948966</pose>
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/flipper.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
     </link>
-    <joint name="right_track_wheel5_j" type="revolute">
-      <child>right_track_wheel5</child>
+    <joint name="front_right_flipper_j" type="revolute">
+      <child>front_right_flipper</child>
       <parent>right_track</parent>
       <axis>
         <xyz>0 1 0</xyz>
         <limit>
           <lower>-1e+16</lower>
           <upper>1e+16</upper>
+          <effort>20</effort>
+          <velocity>0.785398</velocity>
         </limit>
         <dynamics>
           <spring_reference>0</spring_reference>
@@ -3482,170 +1817,137 @@
         </dynamics>
         <use_parent_model_frame>0</use_parent_model_frame>
       </axis>
+      <physics>
+        <ode>
+          <implicit_spring_damper>1</implicit_spring_damper>
+          <cfm_damping>1</cfm_damping>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+        </ode>
+      </physics>
     </joint>
-    <link name="right_track_wheel6">
-      <pose>-0.107143 -0.1985 0.01855 0 -0 0</pose>
+    <link name="rear_right_flipper">
+      <pose>-0.25 -0.272 0.0195 0 -0.193732 0</pose>
       <inertial>
-        <pose>0 0 0.0141 0 -0 0</pose>
-        <mass>0.7575</mass>
+        <pose>-0.08 0 0 0 -0 0</pose>
+        <mass>0.75</mass>
         <inertia>
-          <ixx>0.002731</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.032554</iyy>
-          <iyz>1.5e-05</iyz>
-          <izz>0.031391</izz>
+          <ixx>0.0017491</ixx>
+          <ixy>2.8512e-07</ixy>
+          <ixz>0.0018277</ixz>
+          <iyy>0.012277</iyy>
+          <iyz>-3.6288e-07</iyz>
+          <izz>0.010941</izz>
         </inertia>
       </inertial>
-      <collision name="right_track_wheel6_collision">
+      <collision name="rear_right_flipper_collision_large_wheel_collision">
         <pose>0 0 0 1.5707963267948966 -0 0</pose>
         <geometry>
           <cylinder>
-            <length>0.097</length>
+            <length>0.04981</length>
             <radius>0.089</radius>
           </cylinder>
         </geometry>
         <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
           <friction>
             <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
+              <mu>10</mu>
+              <mu2>150</mu2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
-    </link>
-    <joint name="right_track_wheel6_j" type="revolute">
-      <child>right_track_wheel6</child>
-      <parent>right_track</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="right_track_wheel7">
-      <pose>-0.178571 -0.1985 0.01855 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0.0141 0 -0 0</pose>
-        <mass>0.7575</mass>
-        <inertia>
-          <ixx>0.002731</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.032554</iyy>
-          <iyz>1.5e-05</iyz>
-          <izz>0.031391</izz>
-        </inertia>
-      </inertial>
-      <collision name="right_track_wheel7_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="rear_right_flipper_collision_small_wheel_collision_1">
+        <pose>-0.33 0 0 1.5707963267948966 -0 0</pose>
         <geometry>
           <cylinder>
-            <length>0.097</length>
-            <radius>0.089</radius>
+            <length>0.04981</length>
+            <radius>0.029</radius>
           </cylinder>
         </geometry>
         <surface>
-          <contact>
+          <friction>
             <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
+              <mu>10</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
             </ode>
-          </contact>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="rear_right_flipper_collision_top_bar_collision_2">
+        <pose>-0.165 0 0.0325 0 0.184162 -3.1415926535897931</pose>
+        <geometry>
+          <box>
+            <size>0.33 0.04981 0.055</size>
+          </box>
+        </geometry>
+        <surface>
           <friction>
             <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
+              <mu>10</mu>
+              <mu2>150</mu2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
-    </link>
-    <joint name="right_track_wheel7_j" type="revolute">
-      <child>right_track_wheel7</child>
-      <parent>right_track</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="right_track_wheel8">
-      <pose>-0.25 -0.1985 0.01855 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0.0141 0 -0 0</pose>
-        <mass>0.7575</mass>
-        <inertia>
-          <ixx>0.002731</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.032554</iyy>
-          <iyz>1.5e-05</iyz>
-          <izz>0.031391</izz>
-        </inertia>
-      </inertial>
-      <collision name="right_track_wheel8_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="rear_right_flipper_collision_bottom_bar_collision_3">
+        <pose>-0.165 0 -0.0325 0 -0.184162 -3.1415926535897931</pose>
         <geometry>
-          <cylinder>
-            <length>0.097</length>
-            <radius>0.089</radius>
-          </cylinder>
+          <box>
+            <size>0.33 0.04981 0.055</size>
+          </box>
         </geometry>
         <surface>
-          <contact>
+          <friction>
             <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
+              <mu>10</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
             </ode>
-          </contact>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="rear_right_flipper_collision_middle_bar_collision_4">
+        <pose>-0.166 0 0.004 0 -0.02 -3.1415926535897931</pose>
+        <geometry>
+          <box>
+            <size>0.2 0.04981 0.07</size>
+          </box>
+        </geometry>
+        <surface>
           <friction>
             <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
+              <mu>10</mu>
+              <mu2>150</mu2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
+      <visual name="rear_right_flipper_visual">
+        <pose>0 0 0 -2.95743 -0 -1.5707963267948966</pose>
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/flipper.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
     </link>
-    <joint name="right_track_wheel8_j" type="revolute">
-      <child>right_track_wheel8</child>
+    <joint name="rear_right_flipper_j" type="revolute">
+      <child>rear_right_flipper</child>
       <parent>right_track</parent>
       <axis>
         <xyz>0 1 0</xyz>
         <limit>
           <lower>-1e+16</lower>
           <upper>1e+16</upper>
+          <effort>20</effort>
+          <velocity>0.785398</velocity>
         </limit>
         <dynamics>
           <spring_reference>0</spring_reference>
@@ -3653,6 +1955,16 @@
         </dynamics>
         <use_parent_model_frame>0</use_parent_model_frame>
       </axis>
+      <physics>
+        <ode>
+          <implicit_spring_damper>1</implicit_spring_damper>
+          <cfm_damping>1</cfm_damping>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+        </ode>
+      </physics>
     </joint>
     <plugin name="cras::FlipperControlPlugin" filename="libflipper_control_plugin.so">
       <joint_name>front_left_flipper_j</joint_name>
diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_6/model.sdf b/submitted_models/ctu_cras_norlab_absolem_sensor_config_6/model.sdf
index 38727173..bcfffa85 100644
--- a/submitted_models/ctu_cras_norlab_absolem_sensor_config_6/model.sdf
+++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_6/model.sdf
@@ -441,26 +441,64 @@
     <link name="left_track">
       <pose>0 0.1985 0 0 -0 0</pose>
       <inertial>
-        <mass>1e-05</mass>
+        <pose>0 0 0.0141 0 -0 0</pose>
+        <mass>6.06</mass>
         <inertia>
-          <ixx>0.001</ixx>
-          <ixy>1e-06</ixy>
-          <ixz>1e-06</ixz>
-          <iyy>0.001</iyy>
-          <iyz>1e-06</iyz>
-          <izz>0.001</izz>
+          <ixx>0.002731</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.032554</iyy>
+          <iyz>1.5e-05</iyz>
+          <izz>0.031391</izz>
         </inertia>
       </inertial>
       <collision name="left_track_collision">
+        <pose>0 0 0.01855 1.5707963267948966 -0 1.5707963267948966</pose>
         <geometry>
           <box>
-            <size>0.01 0.01 0.01</size>
+            <size>0.097 0.178 0.5</size>
           </box>
         </geometry>
         <surface>
           <friction>
             <ode>
-              <mu>0.7</mu>
+              <mu>10</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="left_track_collision_1">
+        <pose>0.25 -0.015 0.01855 1.5707963267948966 -0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.112</length>
+            <radius>0.089</radius>
+          </cylinder>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>10</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="left_track_collision_2">
+        <pose>-0.25 0 0.01855 1.5707963267948966 -0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.097</length>
+            <radius>0.089</radius>
+          </cylinder>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>10</mu>
               <mu2>150</mu2>
               <fdir1>0 0 1</fdir1>
             </ode>
@@ -512,26 +550,98 @@
     <link name="front_left_flipper">
       <pose>0.25 0.272 0.0195 0 0.193732 0</pose>
       <inertial>
-        <mass>1e-05</mass>
+        <pose>0.08 0 0 0 -0 0</pose>
+        <mass>0.75</mass>
         <inertia>
-          <ixx>0.001</ixx>
-          <ixy>1e-06</ixy>
-          <ixz>1e-06</ixz>
-          <iyy>0.001</iyy>
-          <iyz>1e-06</iyz>
-          <izz>0.001</izz>
+          <ixx>0.0017491</ixx>
+          <ixy>2.8512e-07</ixy>
+          <ixz>0.0018277</ixz>
+          <iyy>0.012277</iyy>
+          <iyz>-3.6288e-07</iyz>
+          <izz>0.010941</izz>
         </inertia>
       </inertial>
-      <collision name="front_left_flipper_collision">
+      <collision name="front_left_flipper_collision_large_wheel_collision">
+        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.04981</length>
+            <radius>0.089</radius>
+          </cylinder>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>10</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="front_left_flipper_collision_small_wheel_collision_1">
+        <pose>0.33 0 0 1.5707963267948966 -0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.04981</length>
+            <radius>0.029</radius>
+          </cylinder>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>10</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="front_left_flipper_collision_top_bar_collision_2">
+        <pose>0.165 0 0.0325 0 0.184162 0</pose>
+        <geometry>
+          <box>
+            <size>0.33 0.04981 0.055</size>
+          </box>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>10</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="front_left_flipper_collision_bottom_bar_collision_3">
+        <pose>0.165 0 -0.0325 0 -0.184162 0</pose>
+        <geometry>
+          <box>
+            <size>0.33 0.04981 0.055</size>
+          </box>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>10</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="front_left_flipper_collision_middle_bar_collision_4">
+        <pose>0.166 0 0.004 0 -0.02 0</pose>
         <geometry>
           <box>
-            <size>0.01 0.01 0.01</size>
+            <size>0.2 0.04981 0.07</size>
           </box>
         </geometry>
         <surface>
           <friction>
             <ode>
-              <mu>0.7</mu>
+              <mu>10</mu>
               <mu2>150</mu2>
               <fdir1>0 0 1</fdir1>
             </ode>
@@ -575,11 +685,11 @@
         </ode>
       </physics>
     </joint>
-    <link name="front_left_flipper_wheel1">
-      <pose>0.25 0.272 0.0195 0 0.193732 0</pose>
+    <link name="rear_left_flipper">
+      <pose>-0.25 0.272 0.0195 3.1415926535897931 0.193732 3.1415926535897931</pose>
       <inertial>
         <pose>0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
+        <mass>0.75</mass>
         <inertia>
           <ixx>0.0017491</ixx>
           <ixy>2.8512e-07</ixy>
@@ -589,7 +699,7 @@
           <izz>0.010941</izz>
         </inertia>
       </inertial>
-      <collision name="front_left_flipper_wheel1_collision_collision">
+      <collision name="rear_left_flipper_collision_large_wheel_collision">
         <pose>0 0 0 1.5707963267948966 -0 0</pose>
         <geometry>
           <cylinder>
@@ -598,260 +708,103 @@
           </cylinder>
         </geometry>
         <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
           <friction>
             <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
+              <mu>10</mu>
+              <mu2>150</mu2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
-    </link>
-    <joint name="front_left_flipper_wheel1_j" type="revolute">
-      <child>front_left_flipper_wheel1</child>
-      <parent>front_left_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="front_left_flipper_wheel2">
-      <pose>0.330957 0.272 0.003617 0 0.193732 0</pose>
-      <inertial>
-        <pose>0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
-        <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
-        </inertia>
-      </inertial>
-      <collision name="front_left_flipper_wheel2_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="rear_left_flipper_collision_small_wheel_collision_1">
+        <pose>0.33 0 0 1.5707963267948966 -0 0</pose>
         <geometry>
           <cylinder>
             <length>0.04981</length>
-            <radius>0.074</radius>
+            <radius>0.029</radius>
           </cylinder>
         </geometry>
         <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
           <friction>
             <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
+              <mu>10</mu>
+              <mu2>150</mu2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
-    </link>
-    <joint name="front_left_flipper_wheel2_j" type="revolute">
-      <child>front_left_flipper_wheel2</child>
-      <parent>front_left_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="front_left_flipper_wheel3">
-      <pose>0.411913 0.272 -0.012266 0 0.193732 0</pose>
-      <inertial>
-        <pose>0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
-        <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
-        </inertia>
-      </inertial>
-      <collision name="front_left_flipper_wheel3_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="rear_left_flipper_collision_top_bar_collision_2">
+        <pose>0.165 0 0.0325 0 0.184162 0</pose>
         <geometry>
-          <cylinder>
-            <length>0.04981</length>
-            <radius>0.059</radius>
-          </cylinder>
+          <box>
+            <size>0.33 0.04981 0.055</size>
+          </box>
         </geometry>
         <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
           <friction>
             <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
+              <mu>10</mu>
+              <mu2>150</mu2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
-    </link>
-    <joint name="front_left_flipper_wheel3_j" type="revolute">
-      <child>front_left_flipper_wheel3</child>
-      <parent>front_left_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="front_left_flipper_wheel4">
-      <pose>0.49287 0.272 -0.028149 0 0.193732 0</pose>
-      <inertial>
-        <pose>0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
-        <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
-        </inertia>
-      </inertial>
-      <collision name="front_left_flipper_wheel4_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="rear_left_flipper_collision_bottom_bar_collision_3">
+        <pose>0.165 0 -0.0325 0 -0.184162 0</pose>
         <geometry>
-          <cylinder>
-            <length>0.04981</length>
-            <radius>0.044</radius>
-          </cylinder>
+          <box>
+            <size>0.33 0.04981 0.055</size>
+          </box>
         </geometry>
         <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
           <friction>
             <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
+              <mu>10</mu>
+              <mu2>150</mu2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
-    </link>
-    <joint name="front_left_flipper_wheel4_j" type="revolute">
-      <child>front_left_flipper_wheel4</child>
-      <parent>front_left_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="front_left_flipper_wheel5">
-      <pose>0.573827 0.272 -0.044032 0 0.193732 0</pose>
-      <inertial>
-        <pose>0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
-        <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
-        </inertia>
-      </inertial>
-      <collision name="front_left_flipper_wheel5_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="rear_left_flipper_collision_middle_bar_collision_4">
+        <pose>0.166 0 0.004 0 -0.02 0</pose>
         <geometry>
-          <cylinder>
-            <length>0.04981</length>
-            <radius>0.029</radius>
-          </cylinder>
+          <box>
+            <size>0.2 0.04981 0.07</size>
+          </box>
         </geometry>
         <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
           <friction>
             <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
+              <mu>10</mu>
+              <mu2>150</mu2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
+      <visual name="rear_left_flipper_visual">
+        <pose>0 0 0 -2.95743 -0 1.5707963267948966</pose>
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/flipper.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
     </link>
-    <joint name="front_left_flipper_wheel5_j" type="revolute">
-      <child>front_left_flipper_wheel5</child>
-      <parent>front_left_flipper</parent>
+    <joint name="rear_left_flipper_j" type="revolute">
+      <child>rear_left_flipper</child>
+      <parent>left_track</parent>
       <axis>
         <xyz>0 1 0</xyz>
         <limit>
           <lower>-1e+16</lower>
           <upper>1e+16</upper>
+          <effort>20</effort>
+          <velocity>0.785398</velocity>
         </limit>
         <dynamics>
           <spring_reference>0</spring_reference>
@@ -859,522 +812,610 @@
         </dynamics>
         <use_parent_model_frame>0</use_parent_model_frame>
       </axis>
-    </joint>
-    <link name="left_track_wheel1">
-      <pose>0.25 0.1985 0.01855 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0.0141 0 -0 0</pose>
-        <mass>0.7575</mass>
+      <physics>
+        <ode>
+          <implicit_spring_damper>1</implicit_spring_damper>
+          <cfm_damping>1</cfm_damping>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+        </ode>
+      </physics>
+    </joint>
+    <link name="camera_0">
+      <pose>0.185 0 0.195 0 -0 0</pose>
+      <inertial>
+        <pose>0.039802 0 0.0145 0 -0 0</pose>
+        <mass>0.232</mass>
         <inertia>
-          <ixx>0.002731</ixx>
+          <ixx>3.25187e-05</ixx>
           <ixy>0</ixy>
           <ixz>0</ixz>
-          <iyy>0.032554</iyy>
-          <iyz>1.5e-05</iyz>
-          <izz>0.031391</izz>
+          <iyy>0.000158598</iyy>
+          <iyz>0</iyz>
+          <izz>0.000158598</izz>
         </inertia>
       </inertial>
-      <collision name="left_track_wheel1_collision">
-        <pose>0 -0.015 0 1.5707963267948966 -0 0</pose>
+      <collision name="camera_0_collision_collision">
+        <pose>0.02465 0 0.0145 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.0555 0.029 0.029</size>
+          </box>
+        </geometry>
+      </collision>
+      <collision name="camera_0_lens_collision_collision_1">
+        <pose>0.062834 0 0.0145 0 1.5707963267948966 0</pose>
         <geometry>
           <cylinder>
-            <length>0.112</length>
-            <radius>0.089</radius>
+            <length>0.03974</length>
+            <radius>0.0125</radius>
           </cylinder>
         </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
       </collision>
+      <visual name="camera_0_visual">
+        <pose>0 0 0.0145 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/basler_ace2_pro.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <visual name="camera_0_visual_1">
+        <pose>0.042964 0 0.0145 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/evetar_lens.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <visual name="camera_0_fixed_joint_lump__front_camera_holder_visual_2">
+        <pose>0.02 0 -0.005 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.04 0.025 0.01</size>
+          </box>
+        </geometry>
+      </visual>
+      <sensor name="camera_0" type="camera">
+        <pose>0.072044 0 0.0145 0 -0 0</pose>
+        <update_rate>9</update_rate>
+        <visualize>0</visualize>
+        <camera>
+          <horizontal_fov>1.50971</horizontal_fov>
+          <image>
+            <width>1920</width>
+            <height>1200</height>
+            <format>R8G8B8</format>
+          </image>
+          <clip>
+            <near>0.011726</near>
+            <far>300</far>
+          </clip>
+          <noise>
+            <type>gaussian</type>
+            <mean>0</mean>
+            <stddev>0.007</stddev>
+          </noise>
+          <lens>
+            <intrinsics>
+              <fx>1020.51</fx>
+              <fy>1020.51</fy>
+              <cx>959.5</cx>
+              <cy>599.5</cy>
+              <s>0</s>
+            </intrinsics>
+            <type>stereographic</type>
+            <scale_to_hfov>1</scale_to_hfov>
+          </lens>
+        </camera>
+      </sensor>
     </link>
-    <joint name="left_track_wheel1_j" type="revolute">
-      <child>left_track_wheel1</child>
-      <parent>left_track</parent>
+    <joint name="camera_0_j" type="fixed">
+      <child>camera_0</child>
+      <parent>base_link</parent>
       <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
         <dynamics>
           <spring_reference>0</spring_reference>
           <spring_stiffness>0</spring_stiffness>
         </dynamics>
+        <xyz>0 0 1</xyz>
         <use_parent_model_frame>0</use_parent_model_frame>
+        <limit>
+          <lower>-1e+16</lower>
+          <upper>1e+16</upper>
+        </limit>
       </axis>
+      <physics>
+        <ode>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+        </ode>
+      </physics>
     </joint>
-    <link name="left_track_wheel2">
-      <pose>0.178571 0.1985 0.01855 0 -0 0</pose>
+    <link name="camera_1">
+      <pose>-0.02 -0.037465 0.185 0 0 -1.5707963267948966</pose>
       <inertial>
-        <pose>0 0 0.0141 0 -0 0</pose>
-        <mass>0.7575</mass>
+        <pose>0.039802 0 0.0145 0 -0 0</pose>
+        <mass>0.232</mass>
         <inertia>
-          <ixx>0.002731</ixx>
+          <ixx>3.25187e-05</ixx>
           <ixy>0</ixy>
           <ixz>0</ixz>
-          <iyy>0.032554</iyy>
-          <iyz>1.5e-05</iyz>
-          <izz>0.031391</izz>
+          <iyy>0.000158598</iyy>
+          <iyz>0</iyz>
+          <izz>0.000158598</izz>
         </inertia>
       </inertial>
-      <collision name="left_track_wheel2_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="camera_1_collision_collision">
+        <pose>0.02465 0 0.0145 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.0555 0.029 0.029</size>
+          </box>
+        </geometry>
+      </collision>
+      <collision name="camera_1_lens_collision_collision_1">
+        <pose>0.062834 0 0.0145 0 1.5707963267948966 0</pose>
         <geometry>
           <cylinder>
-            <length>0.097</length>
-            <radius>0.089</radius>
+            <length>0.03974</length>
+            <radius>0.0125</radius>
           </cylinder>
         </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
       </collision>
+      <visual name="camera_1_visual">
+        <pose>0 0 0.0145 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/basler_ace2_pro.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <visual name="camera_1_visual_1">
+        <pose>0.042964 0 0.0145 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/evetar_lens.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <sensor name="camera_1" type="camera">
+        <pose>0.072044 0 0.0145 0 -0 0</pose>
+        <update_rate>9</update_rate>
+        <visualize>0</visualize>
+        <camera>
+          <horizontal_fov>1.50971</horizontal_fov>
+          <image>
+            <width>1920</width>
+            <height>1200</height>
+            <format>R8G8B8</format>
+          </image>
+          <clip>
+            <near>0.011726</near>
+            <far>300</far>
+          </clip>
+          <noise>
+            <type>gaussian</type>
+            <mean>0</mean>
+            <stddev>0.007</stddev>
+          </noise>
+          <lens>
+            <intrinsics>
+              <fx>1020.51</fx>
+              <fy>1020.51</fy>
+              <cx>959.5</cx>
+              <cy>599.5</cy>
+              <s>0</s>
+            </intrinsics>
+            <type>stereographic</type>
+            <scale_to_hfov>1</scale_to_hfov>
+          </lens>
+        </camera>
+      </sensor>
     </link>
-    <joint name="left_track_wheel2_j" type="revolute">
-      <child>left_track_wheel2</child>
-      <parent>left_track</parent>
+    <joint name="camera_1_j" type="fixed">
+      <child>camera_1</child>
+      <parent>base_link</parent>
       <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
         <dynamics>
           <spring_reference>0</spring_reference>
           <spring_stiffness>0</spring_stiffness>
         </dynamics>
+        <xyz>0 0 1</xyz>
         <use_parent_model_frame>0</use_parent_model_frame>
+        <limit>
+          <lower>-1e+16</lower>
+          <upper>1e+16</upper>
+        </limit>
       </axis>
+      <physics>
+        <ode>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+        </ode>
+      </physics>
     </joint>
-    <link name="left_track_wheel3">
-      <pose>0.107143 0.1985 0.01855 0 -0 0</pose>
+    <link name="camera_2">
+      <pose>-0.245 0 0.185 0 -0 3.1415926535897931</pose>
       <inertial>
-        <pose>0 0 0.0141 0 -0 0</pose>
-        <mass>0.7575</mass>
+        <pose>0.039802 0 0.0145 0 -0 0</pose>
+        <mass>0.232</mass>
         <inertia>
-          <ixx>0.002731</ixx>
+          <ixx>3.25187e-05</ixx>
           <ixy>0</ixy>
           <ixz>0</ixz>
-          <iyy>0.032554</iyy>
-          <iyz>1.5e-05</iyz>
-          <izz>0.031391</izz>
+          <iyy>0.000158598</iyy>
+          <iyz>0</iyz>
+          <izz>0.000158598</izz>
         </inertia>
       </inertial>
-      <collision name="left_track_wheel3_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="camera_2_collision_collision">
+        <pose>0.02465 0 0.0145 0 -0 0</pose>
         <geometry>
-          <cylinder>
-            <length>0.097</length>
-            <radius>0.089</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
+          <box>
+            <size>0.0555 0.029 0.029</size>
+          </box>
+        </geometry>
       </collision>
-    </link>
-    <joint name="left_track_wheel3_j" type="revolute">
-      <child>left_track_wheel3</child>
-      <parent>left_track</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="left_track_wheel4">
-      <pose>0.035714 0.1985 0.01855 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0.0141 0 -0 0</pose>
-        <mass>0.7575</mass>
-        <inertia>
-          <ixx>0.002731</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.032554</iyy>
-          <iyz>1.5e-05</iyz>
-          <izz>0.031391</izz>
-        </inertia>
-      </inertial>
-      <collision name="left_track_wheel4_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="camera_2_lens_collision_collision_1">
+        <pose>0.062834 0 0.0145 0 1.5707963267948966 0</pose>
         <geometry>
           <cylinder>
-            <length>0.097</length>
-            <radius>0.089</radius>
+            <length>0.03974</length>
+            <radius>0.0125</radius>
           </cylinder>
         </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
       </collision>
+      <visual name="camera_2_visual">
+        <pose>0 0 0.0145 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/basler_ace2_pro.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <visual name="camera_2_visual_1">
+        <pose>0.042964 0 0.0145 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/evetar_lens.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <sensor name="camera_2" type="camera">
+        <pose>0.072044 0 0.0145 0 -0 0</pose>
+        <update_rate>9</update_rate>
+        <visualize>0</visualize>
+        <camera>
+          <horizontal_fov>1.50971</horizontal_fov>
+          <image>
+            <width>1920</width>
+            <height>1200</height>
+            <format>R8G8B8</format>
+          </image>
+          <clip>
+            <near>0.011726</near>
+            <far>300</far>
+          </clip>
+          <noise>
+            <type>gaussian</type>
+            <mean>0</mean>
+            <stddev>0.007</stddev>
+          </noise>
+          <lens>
+            <intrinsics>
+              <fx>1020.51</fx>
+              <fy>1020.51</fy>
+              <cx>959.5</cx>
+              <cy>599.5</cy>
+              <s>0</s>
+            </intrinsics>
+            <type>stereographic</type>
+            <scale_to_hfov>1</scale_to_hfov>
+          </lens>
+        </camera>
+      </sensor>
     </link>
-    <joint name="left_track_wheel4_j" type="revolute">
-      <child>left_track_wheel4</child>
-      <parent>left_track</parent>
+    <joint name="camera_2_j" type="fixed">
+      <child>camera_2</child>
+      <parent>base_link</parent>
       <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
         <dynamics>
           <spring_reference>0</spring_reference>
           <spring_stiffness>0</spring_stiffness>
         </dynamics>
+        <xyz>0 0 1</xyz>
         <use_parent_model_frame>0</use_parent_model_frame>
+        <limit>
+          <lower>-1e+16</lower>
+          <upper>1e+16</upper>
+        </limit>
       </axis>
+      <physics>
+        <ode>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+        </ode>
+      </physics>
     </joint>
-    <link name="left_track_wheel5">
-      <pose>-0.035714 0.1985 0.01855 0 -0 0</pose>
+    <link name="camera_3">
+      <pose>-0.02 0.037465 0.185 0 -0 1.5707963267948966</pose>
       <inertial>
-        <pose>0 0 0.0141 0 -0 0</pose>
-        <mass>0.7575</mass>
+        <pose>0.039802 0 0.0145 0 -0 0</pose>
+        <mass>0.232</mass>
         <inertia>
-          <ixx>0.002731</ixx>
+          <ixx>3.25187e-05</ixx>
           <ixy>0</ixy>
           <ixz>0</ixz>
-          <iyy>0.032554</iyy>
-          <iyz>1.5e-05</iyz>
-          <izz>0.031391</izz>
+          <iyy>0.000158598</iyy>
+          <iyz>0</iyz>
+          <izz>0.000158598</izz>
         </inertia>
       </inertial>
-      <collision name="left_track_wheel5_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="camera_3_collision_collision">
+        <pose>0.02465 0 0.0145 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.0555 0.029 0.029</size>
+          </box>
+        </geometry>
+      </collision>
+      <collision name="camera_3_lens_collision_collision_1">
+        <pose>0.062834 0 0.0145 0 1.5707963267948966 0</pose>
         <geometry>
           <cylinder>
-            <length>0.097</length>
-            <radius>0.089</radius>
+            <length>0.03974</length>
+            <radius>0.0125</radius>
           </cylinder>
         </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
       </collision>
+      <visual name="camera_3_visual">
+        <pose>0 0 0.0145 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/basler_ace2_pro.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <visual name="camera_3_visual_1">
+        <pose>0.042964 0 0.0145 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/evetar_lens.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <sensor name="camera_3" type="camera">
+        <pose>0.072044 0 0.0145 0 -0 0</pose>
+        <update_rate>9</update_rate>
+        <visualize>0</visualize>
+        <camera>
+          <horizontal_fov>1.50971</horizontal_fov>
+          <image>
+            <width>1920</width>
+            <height>1200</height>
+            <format>R8G8B8</format>
+          </image>
+          <clip>
+            <near>0.011726</near>
+            <far>300</far>
+          </clip>
+          <noise>
+            <type>gaussian</type>
+            <mean>0</mean>
+            <stddev>0.007</stddev>
+          </noise>
+          <lens>
+            <intrinsics>
+              <fx>1020.51</fx>
+              <fy>1020.51</fy>
+              <cx>959.5</cx>
+              <cy>599.5</cy>
+              <s>0</s>
+            </intrinsics>
+            <type>stereographic</type>
+            <scale_to_hfov>1</scale_to_hfov>
+          </lens>
+        </camera>
+      </sensor>
     </link>
-    <joint name="left_track_wheel5_j" type="revolute">
-      <child>left_track_wheel5</child>
-      <parent>left_track</parent>
+    <joint name="camera_3_j" type="fixed">
+      <child>camera_3</child>
+      <parent>base_link</parent>
       <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
         <dynamics>
           <spring_reference>0</spring_reference>
           <spring_stiffness>0</spring_stiffness>
         </dynamics>
+        <xyz>0 0 1</xyz>
         <use_parent_model_frame>0</use_parent_model_frame>
+        <limit>
+          <lower>-1e+16</lower>
+          <upper>1e+16</upper>
+        </limit>
       </axis>
+      <physics>
+        <ode>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+        </ode>
+      </physics>
     </joint>
-    <link name="left_track_wheel6">
-      <pose>-0.107143 0.1985 0.01855 0 -0 0</pose>
+    <link name="cliff_sensor_0">
+      <pose>0.275 0.119535 0.2035 -1.5707963267948966 1.5707963267948966 0</pose>
       <inertial>
-        <pose>0 0 0.0141 0 -0 0</pose>
-        <mass>0.7575</mass>
+        <pose>0.0105 0 0.00925 0 -0 0</pose>
+        <mass>0.012</mass>
         <inertia>
-          <ixx>0.002731</ixx>
+          <ixx>1.56725e-06</ixx>
           <ixy>0</ixy>
           <ixz>0</ixz>
-          <iyy>0.032554</iyy>
-          <iyz>1.5e-05</iyz>
-          <izz>0.031391</izz>
+          <iyy>7.8325e-07</iyy>
+          <iyz>0</iyz>
+          <izz>1.666e-06</izz>
         </inertia>
       </inertial>
-      <collision name="left_track_wheel6_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="cliff_sensor_0_collision">
+        <pose>0.0105 0 0.00925 0 -0 0</pose>
         <geometry>
-          <cylinder>
-            <length>0.097</length>
-            <radius>0.089</radius>
-          </cylinder>
+          <box>
+            <size>0.021 0.035 0.0185</size>
+          </box>
         </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
       </collision>
-    </link>
-    <joint name="left_track_wheel6_j" type="revolute">
-      <child>left_track_wheel6</child>
-      <parent>left_track</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="left_track_wheel7">
-      <pose>-0.178571 0.1985 0.01855 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0.0141 0 -0 0</pose>
-        <mass>0.7575</mass>
-        <inertia>
-          <ixx>0.002731</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.032554</iyy>
-          <iyz>1.5e-05</iyz>
-          <izz>0.031391</izz>
-        </inertia>
-      </inertial>
-      <collision name="left_track_wheel7_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <visual name="cliff_sensor_0_visual">
         <geometry>
-          <cylinder>
-            <length>0.097</length>
-            <radius>0.089</radius>
-          </cylinder>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/tfmini_plus_lidar.dae</uri>
+          </mesh>
         </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
+      </visual>
+      <sensor name="laser" type="gpu_lidar">
+        <pose>0.021 0 0.00925 0 -0 0</pose>
+        <update_rate>10</update_rate>
+        <visualize>0</visualize>
+        <always_on>1</always_on>
+        <lidar>
+          <scan>
+            <horizontal>
+              <samples>3</samples>
+              <resolution>1</resolution>
+              <min_angle>-0.0314159</min_angle>
+              <max_angle>0.0314159</max_angle>
+            </horizontal>
+            <vertical>
+              <samples>3</samples>
+              <resolution>1</resolution>
+              <min_angle>-0.0314159</min_angle>
+              <max_angle>0.0314159</max_angle>
+            </vertical>
+          </scan>
+          <range>
+            <min>0.1</min>
+            <max>12</max>
+            <resolution>0.01</resolution>
+          </range>
+          <noise>
+            <type>gaussian</type>
+            <mean>0</mean>
+            <stddev>0.015</stddev>
+          </noise>
+        </lidar>
+      </sensor>
     </link>
-    <joint name="left_track_wheel7_j" type="revolute">
-      <child>left_track_wheel7</child>
-      <parent>left_track</parent>
+    <joint name="cliff_sensor_0_j" type="fixed">
+      <child>cliff_sensor_0</child>
+      <parent>base_link</parent>
       <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
         <dynamics>
           <spring_reference>0</spring_reference>
           <spring_stiffness>0</spring_stiffness>
         </dynamics>
+        <xyz>0 0 1</xyz>
         <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="left_track_wheel8">
-      <pose>-0.25 0.1985 0.01855 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0.0141 0 -0 0</pose>
-        <mass>0.7575</mass>
-        <inertia>
-          <ixx>0.002731</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.032554</iyy>
-          <iyz>1.5e-05</iyz>
-          <izz>0.031391</izz>
-        </inertia>
-      </inertial>
-      <collision name="left_track_wheel8_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.097</length>
-            <radius>0.089</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-    </link>
-    <joint name="left_track_wheel8_j" type="revolute">
-      <child>left_track_wheel8</child>
-      <parent>left_track</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
         <limit>
           <lower>-1e+16</lower>
           <upper>1e+16</upper>
         </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
       </axis>
+      <physics>
+        <ode>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+        </ode>
+      </physics>
     </joint>
-    <link name="rear_left_flipper">
-      <pose>-0.25 0.272 0.0195 3.1415926535897931 0.193732 3.1415926535897931</pose>
+    <link name="cliff_sensor_1">
+      <pose>0.275 -0.120465 0.2035 1.5707963267948966 1.5707963267948966 0</pose>
       <inertial>
-        <mass>1e-05</mass>
+        <pose>0.0105 0 0.00925 0 -0 0</pose>
+        <mass>0.012</mass>
         <inertia>
-          <ixx>0.001</ixx>
-          <ixy>1e-06</ixy>
-          <ixz>1e-06</ixz>
-          <iyy>0.001</iyy>
-          <iyz>1e-06</iyz>
-          <izz>0.001</izz>
+          <ixx>1.56725e-06</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>7.8325e-07</iyy>
+          <iyz>0</iyz>
+          <izz>1.666e-06</izz>
         </inertia>
       </inertial>
-      <collision name="rear_left_flipper_collision">
+      <collision name="cliff_sensor_1_collision">
+        <pose>0.0105 0 0.00925 0 -0 0</pose>
         <geometry>
           <box>
-            <size>0.01 0.01 0.01</size>
+            <size>0.021 0.035 0.0185</size>
           </box>
         </geometry>
-        <surface>
-          <friction>
-            <ode>
-              <mu>0.7</mu>
-              <mu2>150</mu2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
       </collision>
-      <visual name="rear_left_flipper_visual">
-        <pose>0 0 0 -2.95743 -0 1.5707963267948966</pose>
+      <visual name="cliff_sensor_1_visual">
         <geometry>
           <mesh>
-            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/flipper.dae</uri>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/tfmini_plus_lidar.dae</uri>
           </mesh>
         </geometry>
       </visual>
+      <sensor name="laser" type="gpu_lidar">
+        <pose>0.021 0 0.00925 0 -0 0</pose>
+        <update_rate>10</update_rate>
+        <visualize>0</visualize>
+        <always_on>1</always_on>
+        <lidar>
+          <scan>
+            <horizontal>
+              <samples>3</samples>
+              <resolution>1</resolution>
+              <min_angle>-0.0314159</min_angle>
+              <max_angle>0.0314159</max_angle>
+            </horizontal>
+            <vertical>
+              <samples>3</samples>
+              <resolution>1</resolution>
+              <min_angle>-0.0314159</min_angle>
+              <max_angle>0.0314159</max_angle>
+            </vertical>
+          </scan>
+          <range>
+            <min>0.1</min>
+            <max>12</max>
+            <resolution>0.01</resolution>
+          </range>
+          <noise>
+            <type>gaussian</type>
+            <mean>0</mean>
+            <stddev>0.015</stddev>
+          </noise>
+        </lidar>
+      </sensor>
     </link>
-    <joint name="rear_left_flipper_j" type="revolute">
-      <child>rear_left_flipper</child>
-      <parent>left_track</parent>
+    <joint name="cliff_sensor_1_j" type="fixed">
+      <child>cliff_sensor_1</child>
+      <parent>base_link</parent>
       <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>20</effort>
-          <velocity>0.785398</velocity>
-        </limit>
         <dynamics>
           <spring_reference>0</spring_reference>
           <spring_stiffness>0</spring_stiffness>
         </dynamics>
+        <xyz>0 0 1</xyz>
         <use_parent_model_frame>0</use_parent_model_frame>
+        <limit>
+          <lower>-1e+16</lower>
+          <upper>1e+16</upper>
+        </limit>
       </axis>
       <physics>
         <ode>
-          <implicit_spring_damper>1</implicit_spring_damper>
-          <cfm_damping>1</cfm_damping>
           <limit>
             <cfm>0</cfm>
             <erp>0.2</erp>
@@ -1382,1736 +1423,171 @@
         </ode>
       </physics>
     </joint>
-    <link name="rear_left_flipper_wheel1">
-      <pose>-0.25 0.272 0.0195 3.1415926535897931 0.193732 3.1415926535897931</pose>
+    <link name="cliff_sensor_2">
+      <pose>-0.275 0.119535 0.2035 -1.5707963267948966 1.5707963267948966 0</pose>
       <inertial>
-        <pose>0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
+        <pose>0.0105 0 0.00925 0 -0 0</pose>
+        <mass>0.012</mass>
         <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
+          <ixx>1.56725e-06</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>7.8325e-07</iyy>
+          <iyz>0</iyz>
+          <izz>1.666e-06</izz>
         </inertia>
       </inertial>
-      <collision name="rear_left_flipper_wheel1_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="cliff_sensor_2_collision">
+        <pose>0.0105 0 0.00925 0 -0 0</pose>
         <geometry>
-          <cylinder>
-            <length>0.04981</length>
-            <radius>0.089</radius>
-          </cylinder>
+          <box>
+            <size>0.021 0.035 0.0185</size>
+          </box>
         </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-    </link>
-    <joint name="rear_left_flipper_wheel1_j" type="revolute">
-      <child>rear_left_flipper_wheel1</child>
-      <parent>rear_left_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="rear_left_flipper_wheel2">
-      <pose>-0.330957 0.272 0.003617 3.1415926535897931 0.193732 3.1415926535897931</pose>
-      <inertial>
-        <pose>0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
-        <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
-        </inertia>
-      </inertial>
-      <collision name="rear_left_flipper_wheel2_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.04981</length>
-            <radius>0.074</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-    </link>
-    <joint name="rear_left_flipper_wheel2_j" type="revolute">
-      <child>rear_left_flipper_wheel2</child>
-      <parent>rear_left_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="rear_left_flipper_wheel3">
-      <pose>-0.411913 0.272 -0.012266 3.1415926535897931 0.193732 3.1415926535897931</pose>
-      <inertial>
-        <pose>0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
-        <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
-        </inertia>
-      </inertial>
-      <collision name="rear_left_flipper_wheel3_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.04981</length>
-            <radius>0.059</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-    </link>
-    <joint name="rear_left_flipper_wheel3_j" type="revolute">
-      <child>rear_left_flipper_wheel3</child>
-      <parent>rear_left_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="rear_left_flipper_wheel4">
-      <pose>-0.49287 0.272 -0.028149 3.1415926535897931 0.193732 3.1415926535897931</pose>
-      <inertial>
-        <pose>0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
-        <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
-        </inertia>
-      </inertial>
-      <collision name="rear_left_flipper_wheel4_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.04981</length>
-            <radius>0.044</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
       </collision>
-    </link>
-    <joint name="rear_left_flipper_wheel4_j" type="revolute">
-      <child>rear_left_flipper_wheel4</child>
-      <parent>rear_left_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="rear_left_flipper_wheel5">
-      <pose>-0.573827 0.272 -0.044032 3.1415926535897931 0.193732 3.1415926535897931</pose>
-      <inertial>
-        <pose>0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
-        <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
-        </inertia>
-      </inertial>
-      <collision name="rear_left_flipper_wheel5_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.04981</length>
-            <radius>0.029</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-    </link>
-    <joint name="rear_left_flipper_wheel5_j" type="revolute">
-      <child>rear_left_flipper_wheel5</child>
-      <parent>rear_left_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="camera_0">
-      <pose>0.185 0 0.195 0 -0 0</pose>
-      <inertial>
-        <pose>0.039802 0 0.0145 0 -0 0</pose>
-        <mass>0.232</mass>
-        <inertia>
-          <ixx>3.25187e-05</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.000158598</iyy>
-          <iyz>0</iyz>
-          <izz>0.000158598</izz>
-        </inertia>
-      </inertial>
-      <collision name="camera_0_collision_collision">
-        <pose>0.02465 0 0.0145 0 -0 0</pose>
-        <geometry>
-          <box>
-            <size>0.0555 0.029 0.029</size>
-          </box>
-        </geometry>
-      </collision>
-      <collision name="camera_0_lens_collision_collision_1">
-        <pose>0.062834 0 0.0145 0 1.5707963267948966 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.03974</length>
-            <radius>0.0125</radius>
-          </cylinder>
-        </geometry>
-      </collision>
-      <visual name="camera_0_visual">
-        <pose>0 0 0.0145 0 -0 0</pose>
-        <geometry>
-          <mesh>
-            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/basler_ace2_pro.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-      <visual name="camera_0_visual_1">
-        <pose>0.042964 0 0.0145 0 -0 0</pose>
+      <visual name="cliff_sensor_2_visual">
         <geometry>
           <mesh>
-            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/evetar_lens.dae</uri>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/tfmini_plus_lidar.dae</uri>
           </mesh>
         </geometry>
       </visual>
-      <visual name="camera_0_fixed_joint_lump__front_camera_holder_visual_2">
-        <pose>0.02 0 -0.005 0 -0 0</pose>
-        <geometry>
-          <box>
-            <size>0.04 0.025 0.01</size>
-          </box>
-        </geometry>
-      </visual>
-      <sensor name="camera_0" type="camera">
-        <pose>0.072044 0 0.0145 0 -0 0</pose>
-        <update_rate>9</update_rate>
+      <sensor name="laser" type="gpu_lidar">
+        <pose>0.021 0 0.00925 0 -0 0</pose>
+        <update_rate>10</update_rate>
         <visualize>0</visualize>
-        <camera>
-          <horizontal_fov>1.50971</horizontal_fov>
-          <image>
-            <width>1920</width>
-            <height>1200</height>
-            <format>R8G8B8</format>
-          </image>
-          <clip>
-            <near>0.011726</near>
-            <far>300</far>
-          </clip>
-          <noise>
-            <type>gaussian</type>
-            <mean>0</mean>
-            <stddev>0.007</stddev>
-          </noise>
-          <lens>
-            <intrinsics>
-              <fx>1020.51</fx>
-              <fy>1020.51</fy>
-              <cx>959.5</cx>
-              <cy>599.5</cy>
-              <s>0</s>
-            </intrinsics>
-            <type>stereographic</type>
-            <scale_to_hfov>1</scale_to_hfov>
-          </lens>
-        </camera>
-      </sensor>
-    </link>
-    <joint name="camera_0_j" type="fixed">
-      <child>camera_0</child>
-      <parent>base_link</parent>
-      <axis>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <xyz>0 0 1</xyz>
-        <use_parent_model_frame>0</use_parent_model_frame>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-      </axis>
-      <physics>
-        <ode>
-          <limit>
-            <cfm>0</cfm>
-            <erp>0.2</erp>
-          </limit>
-        </ode>
-      </physics>
-    </joint>
-    <link name="camera_1">
-      <pose>-0.02 -0.037465 0.185 0 0 -1.5707963267948966</pose>
-      <inertial>
-        <pose>0.039802 0 0.0145 0 -0 0</pose>
-        <mass>0.232</mass>
-        <inertia>
-          <ixx>3.25187e-05</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.000158598</iyy>
-          <iyz>0</iyz>
-          <izz>0.000158598</izz>
-        </inertia>
-      </inertial>
-      <collision name="camera_1_collision_collision">
-        <pose>0.02465 0 0.0145 0 -0 0</pose>
-        <geometry>
-          <box>
-            <size>0.0555 0.029 0.029</size>
-          </box>
-        </geometry>
-      </collision>
-      <collision name="camera_1_lens_collision_collision_1">
-        <pose>0.062834 0 0.0145 0 1.5707963267948966 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.03974</length>
-            <radius>0.0125</radius>
-          </cylinder>
-        </geometry>
-      </collision>
-      <visual name="camera_1_visual">
-        <pose>0 0 0.0145 0 -0 0</pose>
-        <geometry>
-          <mesh>
-            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/basler_ace2_pro.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-      <visual name="camera_1_visual_1">
-        <pose>0.042964 0 0.0145 0 -0 0</pose>
-        <geometry>
-          <mesh>
-            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/evetar_lens.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-      <sensor name="camera_1" type="camera">
-        <pose>0.072044 0 0.0145 0 -0 0</pose>
-        <update_rate>9</update_rate>
-        <visualize>0</visualize>
-        <camera>
-          <horizontal_fov>1.50971</horizontal_fov>
-          <image>
-            <width>1920</width>
-            <height>1200</height>
-            <format>R8G8B8</format>
-          </image>
-          <clip>
-            <near>0.011726</near>
-            <far>300</far>
-          </clip>
-          <noise>
-            <type>gaussian</type>
-            <mean>0</mean>
-            <stddev>0.007</stddev>
-          </noise>
-          <lens>
-            <intrinsics>
-              <fx>1020.51</fx>
-              <fy>1020.51</fy>
-              <cx>959.5</cx>
-              <cy>599.5</cy>
-              <s>0</s>
-            </intrinsics>
-            <type>stereographic</type>
-            <scale_to_hfov>1</scale_to_hfov>
-          </lens>
-        </camera>
-      </sensor>
-    </link>
-    <joint name="camera_1_j" type="fixed">
-      <child>camera_1</child>
-      <parent>base_link</parent>
-      <axis>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <xyz>0 0 1</xyz>
-        <use_parent_model_frame>0</use_parent_model_frame>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-      </axis>
-      <physics>
-        <ode>
-          <limit>
-            <cfm>0</cfm>
-            <erp>0.2</erp>
-          </limit>
-        </ode>
-      </physics>
-    </joint>
-    <link name="camera_2">
-      <pose>-0.245 0 0.185 0 -0 3.1415926535897931</pose>
-      <inertial>
-        <pose>0.039802 0 0.0145 0 -0 0</pose>
-        <mass>0.232</mass>
-        <inertia>
-          <ixx>3.25187e-05</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.000158598</iyy>
-          <iyz>0</iyz>
-          <izz>0.000158598</izz>
-        </inertia>
-      </inertial>
-      <collision name="camera_2_collision_collision">
-        <pose>0.02465 0 0.0145 0 -0 0</pose>
-        <geometry>
-          <box>
-            <size>0.0555 0.029 0.029</size>
-          </box>
-        </geometry>
-      </collision>
-      <collision name="camera_2_lens_collision_collision_1">
-        <pose>0.062834 0 0.0145 0 1.5707963267948966 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.03974</length>
-            <radius>0.0125</radius>
-          </cylinder>
-        </geometry>
-      </collision>
-      <visual name="camera_2_visual">
-        <pose>0 0 0.0145 0 -0 0</pose>
-        <geometry>
-          <mesh>
-            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/basler_ace2_pro.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-      <visual name="camera_2_visual_1">
-        <pose>0.042964 0 0.0145 0 -0 0</pose>
-        <geometry>
-          <mesh>
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-        <geometry>
-          <mesh>
-            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/ouster-os0.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-      <sensor name="laser" type="gpu_lidar">
-        <pose>0 0 0.035925 0 -0 0</pose>
-        <update_rate>10</update_rate>
-        <visualize>0</visualize>
-        <always_on>1</always_on>
-        <lidar>
-          <scan>
-            <horizontal>
-              <samples>2048</samples>
-              <resolution>1</resolution>
-              <min_angle>-3.1459</min_angle>
-              <max_angle>3.1459</max_angle>
-            </horizontal>
-            <vertical>
-              <samples>128</samples>
-              <resolution>1</resolution>
-              <min_angle>-0.785398</min_angle>
-              <max_angle>0.785398</max_angle>
-            </vertical>
-          </scan>
-          <range>
-            <min>0.1</min>
-            <max>50</max>
-            <resolution>0.01</resolution>
-          </range>
-          <noise>
-            <type>gaussian</type>
-            <mean>0</mean>
-            <stddev>0.01</stddev>
-          </noise>
-        </lidar>
-      </sensor>
-    </link>
-    <joint name="laser_j" type="fixed">
-      <child>laser</child>
-      <parent>base_link</parent>
-      <axis>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <xyz>0 0 1</xyz>
-        <use_parent_model_frame>0</use_parent_model_frame>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-      </axis>
-      <physics>
-        <ode>
-          <limit>
-            <cfm>0</cfm>
-            <erp>0.2</erp>
-          </limit>
-        </ode>
-      </physics>
-    </joint>
-    <link name="right_track">
-      <pose>0 -0.1985 0 0 -0 0</pose>
-      <inertial>
-        <mass>1e-05</mass>
-        <inertia>
-          <ixx>0.001</ixx>
-          <ixy>1e-06</ixy>
-          <ixz>1e-06</ixz>
-          <iyy>0.001</iyy>
-          <iyz>1e-06</iyz>
-          <izz>0.001</izz>
-        </inertia>
-      </inertial>
-      <collision name="right_track_collision">
-        <geometry>
-          <box>
-            <size>0.01 0.01 0.01</size>
-          </box>
-        </geometry>
-        <surface>
-          <friction>
-            <ode>
-              <mu>0.7</mu>
-              <mu2>150</mu2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-      <visual name="right_track_visual">
-        <pose>0 0 -0.0705 1.5707963267948966 0 -1.5707963267948966</pose>
-        <geometry>
-          <mesh>
-            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/bogie.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-    </link>
-    <joint name="right_track_j" type="revolute">
-      <child>right_track</child>
-      <parent>base_link</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>0</lower>
-          <upper>0</upper>
-          <effort>0</effort>
-          <velocity>4</velocity>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-      <physics>
-        <ode>
-          <limit>
-            <cfm>0</cfm>
-            <erp>0.2</erp>
-          </limit>
-        </ode>
-      </physics>
-      <physics>
-        <ode>
-          <implicit_spring_damper>1</implicit_spring_damper>
-          <cfm>0</cfm>
-          <erp>0.95</erp>
-        </ode>
-      </physics>
-    </joint>
-    <link name="front_right_flipper">
-      <pose>0.25 -0.272 0.0195 3.1415926535897931 -0.193732 3.1415926535897931</pose>
-      <inertial>
-        <mass>1e-05</mass>
-        <inertia>
-          <ixx>0.001</ixx>
-          <ixy>1e-06</ixy>
-          <ixz>1e-06</ixz>
-          <iyy>0.001</iyy>
-          <iyz>1e-06</iyz>
-          <izz>0.001</izz>
-        </inertia>
-      </inertial>
-      <collision name="front_right_flipper_collision">
-        <geometry>
-          <box>
-            <size>0.01 0.01 0.01</size>
-          </box>
-        </geometry>
-        <surface>
-          <friction>
-            <ode>
-              <mu>0.7</mu>
-              <mu2>150</mu2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-      <visual name="front_right_flipper_visual">
-        <pose>0 0 0 -2.95743 -0 -1.5707963267948966</pose>
-        <geometry>
-          <mesh>
-            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/flipper.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-    </link>
-    <joint name="front_right_flipper_j" type="revolute">
-      <child>front_right_flipper</child>
-      <parent>right_track</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>20</effort>
-          <velocity>0.785398</velocity>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-      <physics>
-        <ode>
-          <implicit_spring_damper>1</implicit_spring_damper>
-          <cfm_damping>1</cfm_damping>
-          <limit>
-            <cfm>0</cfm>
-            <erp>0.2</erp>
-          </limit>
-        </ode>
-      </physics>
-    </joint>
-    <link name="front_right_flipper_wheel1">
-      <pose>0.25 -0.272 0.0195 3.1415926535897931 -0.193732 3.1415926535897931</pose>
-      <inertial>
-        <pose>-0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
-        <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
-        </inertia>
-      </inertial>
-      <collision name="front_right_flipper_wheel1_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.04981</length>
-            <radius>0.089</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-    </link>
-    <joint name="front_right_flipper_wheel1_j" type="revolute">
-      <child>front_right_flipper_wheel1</child>
-      <parent>front_right_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="front_right_flipper_wheel2">
-      <pose>0.330957 -0.272 0.003617 3.1415926535897931 -0.193732 3.1415926535897931</pose>
-      <inertial>
-        <pose>-0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
-        <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
-        </inertia>
-      </inertial>
-      <collision name="front_right_flipper_wheel2_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.04981</length>
-            <radius>0.074</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-    </link>
-    <joint name="front_right_flipper_wheel2_j" type="revolute">
-      <child>front_right_flipper_wheel2</child>
-      <parent>front_right_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="front_right_flipper_wheel3">
-      <pose>0.411913 -0.272 -0.012266 3.1415926535897931 -0.193732 3.1415926535897931</pose>
-      <inertial>
-        <pose>-0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
-        <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
-        </inertia>
-      </inertial>
-      <collision name="front_right_flipper_wheel3_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.04981</length>
-            <radius>0.059</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-    </link>
-    <joint name="front_right_flipper_wheel3_j" type="revolute">
-      <child>front_right_flipper_wheel3</child>
-      <parent>front_right_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="front_right_flipper_wheel4">
-      <pose>0.49287 -0.272 -0.028149 3.1415926535897931 -0.193732 3.1415926535897931</pose>
-      <inertial>
-        <pose>-0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
-        <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
-        </inertia>
-      </inertial>
-      <collision name="front_right_flipper_wheel4_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.04981</length>
-            <radius>0.044</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-    </link>
-    <joint name="front_right_flipper_wheel4_j" type="revolute">
-      <child>front_right_flipper_wheel4</child>
-      <parent>front_right_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="front_right_flipper_wheel5">
-      <pose>0.573827 -0.272 -0.044032 3.1415926535897931 -0.193732 3.1415926535897931</pose>
-      <inertial>
-        <pose>-0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
-        <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
-        </inertia>
-      </inertial>
-      <collision name="front_right_flipper_wheel5_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.04981</length>
-            <radius>0.029</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
+        <always_on>1</always_on>
+        <lidar>
+          <scan>
+            <horizontal>
+              <samples>3</samples>
+              <resolution>1</resolution>
+              <min_angle>-0.0314159</min_angle>
+              <max_angle>0.0314159</max_angle>
+            </horizontal>
+            <vertical>
+              <samples>3</samples>
+              <resolution>1</resolution>
+              <min_angle>-0.0314159</min_angle>
+              <max_angle>0.0314159</max_angle>
+            </vertical>
+          </scan>
+          <range>
+            <min>0.1</min>
+            <max>12</max>
+            <resolution>0.01</resolution>
+          </range>
+          <noise>
+            <type>gaussian</type>
+            <mean>0</mean>
+            <stddev>0.015</stddev>
+          </noise>
+        </lidar>
+      </sensor>
     </link>
-    <joint name="front_right_flipper_wheel5_j" type="revolute">
-      <child>front_right_flipper_wheel5</child>
-      <parent>front_right_flipper</parent>
+    <joint name="cliff_sensor_2_j" type="fixed">
+      <child>cliff_sensor_2</child>
+      <parent>base_link</parent>
       <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
         <dynamics>
           <spring_reference>0</spring_reference>
           <spring_stiffness>0</spring_stiffness>
         </dynamics>
+        <xyz>0 0 1</xyz>
         <use_parent_model_frame>0</use_parent_model_frame>
+        <limit>
+          <lower>-1e+16</lower>
+          <upper>1e+16</upper>
+        </limit>
       </axis>
+      <physics>
+        <ode>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+        </ode>
+      </physics>
     </joint>
-    <link name="rear_right_flipper">
-      <pose>-0.25 -0.272 0.0195 0 -0.193732 0</pose>
+    <link name="cliff_sensor_3">
+      <pose>-0.275 -0.120465 0.2035 1.5707963267948966 1.5707963267948966 0</pose>
       <inertial>
-        <mass>1e-05</mass>
+        <pose>0.0105 0 0.00925 0 -0 0</pose>
+        <mass>0.012</mass>
         <inertia>
-          <ixx>0.001</ixx>
-          <ixy>1e-06</ixy>
-          <ixz>1e-06</ixz>
-          <iyy>0.001</iyy>
-          <iyz>1e-06</iyz>
-          <izz>0.001</izz>
+          <ixx>1.56725e-06</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>7.8325e-07</iyy>
+          <iyz>0</iyz>
+          <izz>1.666e-06</izz>
         </inertia>
       </inertial>
-      <collision name="rear_right_flipper_collision">
+      <collision name="cliff_sensor_3_collision">
+        <pose>0.0105 0 0.00925 0 -0 0</pose>
         <geometry>
           <box>
-            <size>0.01 0.01 0.01</size>
+            <size>0.021 0.035 0.0185</size>
           </box>
         </geometry>
-        <surface>
-          <friction>
-            <ode>
-              <mu>0.7</mu>
-              <mu2>150</mu2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
       </collision>
-      <visual name="rear_right_flipper_visual">
-        <pose>0 0 0 -2.95743 -0 -1.5707963267948966</pose>
+      <visual name="cliff_sensor_3_visual">
         <geometry>
           <mesh>
-            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/flipper.dae</uri>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/tfmini_plus_lidar.dae</uri>
           </mesh>
         </geometry>
       </visual>
+      <sensor name="laser" type="gpu_lidar">
+        <pose>0.021 0 0.00925 0 -0 0</pose>
+        <update_rate>10</update_rate>
+        <visualize>0</visualize>
+        <always_on>1</always_on>
+        <lidar>
+          <scan>
+            <horizontal>
+              <samples>3</samples>
+              <resolution>1</resolution>
+              <min_angle>-0.0314159</min_angle>
+              <max_angle>0.0314159</max_angle>
+            </horizontal>
+            <vertical>
+              <samples>3</samples>
+              <resolution>1</resolution>
+              <min_angle>-0.0314159</min_angle>
+              <max_angle>0.0314159</max_angle>
+            </vertical>
+          </scan>
+          <range>
+            <min>0.1</min>
+            <max>12</max>
+            <resolution>0.01</resolution>
+          </range>
+          <noise>
+            <type>gaussian</type>
+            <mean>0</mean>
+            <stddev>0.015</stddev>
+          </noise>
+        </lidar>
+      </sensor>
     </link>
-    <joint name="rear_right_flipper_j" type="revolute">
-      <child>rear_right_flipper</child>
-      <parent>right_track</parent>
+    <joint name="cliff_sensor_3_j" type="fixed">
+      <child>cliff_sensor_3</child>
+      <parent>base_link</parent>
       <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>20</effort>
-          <velocity>0.785398</velocity>
-        </limit>
         <dynamics>
           <spring_reference>0</spring_reference>
           <spring_stiffness>0</spring_stiffness>
         </dynamics>
+        <xyz>0 0 1</xyz>
         <use_parent_model_frame>0</use_parent_model_frame>
+        <limit>
+          <lower>-1e+16</lower>
+          <upper>1e+16</upper>
+        </limit>
       </axis>
       <physics>
         <ode>
-          <implicit_spring_damper>1</implicit_spring_damper>
-          <cfm_damping>1</cfm_damping>
           <limit>
             <cfm>0</cfm>
             <erp>0.2</erp>
@@ -3119,296 +1595,203 @@
         </ode>
       </physics>
     </joint>
-    <link name="rear_right_flipper_wheel1">
-      <pose>-0.25 -0.272 0.0195 0 -0.193732 0</pose>
+    <link name="camera_4">
+      <pose>0.0435 -0.0145 0.26752 -1.5707963267948966 -1.5707963267948966 0</pose>
       <inertial>
-        <pose>-0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
+        <pose>0.039802 0 0.0145 0 -0 0</pose>
+        <mass>0.232</mass>
         <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
+          <ixx>3.25187e-05</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.000158598</iyy>
+          <iyz>0</iyz>
+          <izz>0.000158598</izz>
         </inertia>
       </inertial>
-      <collision name="rear_right_flipper_wheel1_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="camera_4_collision_collision">
+        <pose>0.02465 0 0.0145 0 -0 0</pose>
         <geometry>
-          <cylinder>
-            <length>0.04981</length>
-            <radius>0.089</radius>
-          </cylinder>
+          <box>
+            <size>0.0555 0.029 0.029</size>
+          </box>
         </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
       </collision>
-    </link>
-    <joint name="rear_right_flipper_wheel1_j" type="revolute">
-      <child>rear_right_flipper_wheel1</child>
-      <parent>rear_right_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="rear_right_flipper_wheel2">
-      <pose>-0.330957 -0.272 0.003617 0 -0.193732 0</pose>
-      <inertial>
-        <pose>-0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
-        <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
-        </inertia>
-      </inertial>
-      <collision name="rear_right_flipper_wheel2_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="camera_4_lens_collision_collision_1">
+        <pose>0.062834 0 0.0145 0 1.5707963267948966 0</pose>
         <geometry>
           <cylinder>
-            <length>0.04981</length>
-            <radius>0.074</radius>
+            <length>0.03974</length>
+            <radius>0.0125</radius>
           </cylinder>
         </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
       </collision>
-    </link>
-    <joint name="rear_right_flipper_wheel2_j" type="revolute">
-      <child>rear_right_flipper_wheel2</child>
-      <parent>rear_right_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="rear_right_flipper_wheel3">
-      <pose>-0.411913 -0.272 -0.012266 0 -0.193732 0</pose>
-      <inertial>
-        <pose>-0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
-        <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
-        </inertia>
-      </inertial>
-      <collision name="rear_right_flipper_wheel3_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <visual name="camera_4_visual">
+        <pose>0 0 0.0145 0 -0 0</pose>
         <geometry>
-          <cylinder>
-            <length>0.04981</length>
-            <radius>0.059</radius>
-          </cylinder>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/basler_ace2_pro.dae</uri>
+          </mesh>
         </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
+      </visual>
+      <visual name="camera_4_visual_1">
+        <pose>0.042964 0 0.0145 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/evetar_lens.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <sensor name="camera_4" type="camera">
+        <pose>0.072044 0 0.0145 0 -0 0</pose>
+        <update_rate>9</update_rate>
+        <visualize>0</visualize>
+        <camera>
+          <horizontal_fov>1.50971</horizontal_fov>
+          <image>
+            <width>1920</width>
+            <height>1200</height>
+            <format>R8G8B8</format>
+          </image>
+          <clip>
+            <near>0.011726</near>
+            <far>300</far>
+          </clip>
+          <noise>
+            <type>gaussian</type>
+            <mean>0</mean>
+            <stddev>0.007</stddev>
+          </noise>
+          <lens>
+            <intrinsics>
+              <fx>1020.51</fx>
+              <fy>1020.51</fy>
+              <cx>959.5</cx>
+              <cy>599.5</cy>
+              <s>0</s>
+            </intrinsics>
+            <type>stereographic</type>
+            <scale_to_hfov>1</scale_to_hfov>
+          </lens>
+        </camera>
+      </sensor>
     </link>
-    <joint name="rear_right_flipper_wheel3_j" type="revolute">
-      <child>rear_right_flipper_wheel3</child>
-      <parent>rear_right_flipper</parent>
+    <joint name="camera_4_j" type="fixed">
+      <child>camera_4</child>
+      <parent>base_link</parent>
       <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
         <dynamics>
           <spring_reference>0</spring_reference>
           <spring_stiffness>0</spring_stiffness>
         </dynamics>
+        <xyz>0 0 1</xyz>
         <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="rear_right_flipper_wheel4">
-      <pose>-0.49287 -0.272 -0.028149 0 -0.193732 0</pose>
-      <inertial>
-        <pose>-0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
-        <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
-        </inertia>
-      </inertial>
-      <collision name="rear_right_flipper_wheel4_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.04981</length>
-            <radius>0.044</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-    </link>
-    <joint name="rear_right_flipper_wheel4_j" type="revolute">
-      <child>rear_right_flipper_wheel4</child>
-      <parent>rear_right_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
         <limit>
           <lower>-1e+16</lower>
           <upper>1e+16</upper>
         </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
       </axis>
+      <physics>
+        <ode>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+        </ode>
+      </physics>
     </joint>
-    <link name="rear_right_flipper_wheel5">
-      <pose>-0.573827 -0.272 -0.044032 0 -0.193732 0</pose>
+    <link name="laser">
+      <pose>0.1415 0 0.365 0 0.18 0</pose>
       <inertial>
-        <pose>-0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
+        <pose>0 0 0.03675 0 -0 0</pose>
+        <mass>0.5</mass>
         <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
+          <ixx>0.000461625</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.000461625</iyy>
+          <iyz>0</iyz>
+          <izz>0.000473063</izz>
         </inertia>
       </inertial>
-      <collision name="rear_right_flipper_wheel5_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="laser_collision">
+        <pose>0 0 0.03675 0 -0 0</pose>
         <geometry>
           <cylinder>
-            <length>0.04981</length>
-            <radius>0.029</radius>
+            <length>0.0735</length>
+            <radius>0.0435</radius>
           </cylinder>
         </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
       </collision>
+      <visual name="laser_visual">
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/ouster-os0.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <sensor name="laser" type="gpu_lidar">
+        <pose>0 0 0.035925 0 -0 0</pose>
+        <update_rate>10</update_rate>
+        <visualize>0</visualize>
+        <always_on>1</always_on>
+        <lidar>
+          <scan>
+            <horizontal>
+              <samples>2048</samples>
+              <resolution>1</resolution>
+              <min_angle>-3.1459</min_angle>
+              <max_angle>3.1459</max_angle>
+            </horizontal>
+            <vertical>
+              <samples>128</samples>
+              <resolution>1</resolution>
+              <min_angle>-0.785398</min_angle>
+              <max_angle>0.785398</max_angle>
+            </vertical>
+          </scan>
+          <range>
+            <min>0.1</min>
+            <max>50</max>
+            <resolution>0.01</resolution>
+          </range>
+          <noise>
+            <type>gaussian</type>
+            <mean>0</mean>
+            <stddev>0.01</stddev>
+          </noise>
+        </lidar>
+      </sensor>
     </link>
-    <joint name="rear_right_flipper_wheel5_j" type="revolute">
-      <child>rear_right_flipper_wheel5</child>
-      <parent>rear_right_flipper</parent>
+    <joint name="laser_j" type="fixed">
+      <child>laser</child>
+      <parent>base_link</parent>
       <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
         <dynamics>
           <spring_reference>0</spring_reference>
           <spring_stiffness>0</spring_stiffness>
         </dynamics>
+        <xyz>0 0 1</xyz>
         <use_parent_model_frame>0</use_parent_model_frame>
+        <limit>
+          <lower>-1e+16</lower>
+          <upper>1e+16</upper>
+        </limit>
       </axis>
+      <physics>
+        <ode>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+        </ode>
+      </physics>
     </joint>
-    <link name="right_track_wheel1">
-      <pose>0.25 -0.1985 0.01855 0 -0 0</pose>
+    <link name="right_track">
+      <pose>0 -0.1985 0 0 -0 0</pose>
       <inertial>
         <pose>0 0 0.0141 0 -0 0</pose>
-        <mass>0.7575</mass>
+        <mass>6.06</mass>
         <inertia>
           <ixx>0.002731</ixx>
           <ixy>0</ixy>
@@ -3418,8 +1801,25 @@
           <izz>0.031391</izz>
         </inertia>
       </inertial>
-      <collision name="right_track_wheel1_collision">
-        <pose>0 0.015 0 1.5707963267948966 -0 0</pose>
+      <collision name="right_track_collision">
+        <pose>0 0 0.01855 1.5707963267948966 -0 1.5707963267948966</pose>
+        <geometry>
+          <box>
+            <size>0.097 0.178 0.5</size>
+          </box>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>10</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="right_track_collision_1">
+        <pose>0.25 0.015 0.01855 1.5707963267948966 -0 0</pose>
         <geometry>
           <cylinder>
             <length>0.112</length>
@@ -3427,56 +1827,17 @@
           </cylinder>
         </geometry>
         <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
           <friction>
             <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
+              <mu>10</mu>
+              <mu2>150</mu2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
-    </link>
-    <joint name="right_track_wheel1_j" type="revolute">
-      <child>right_track_wheel1</child>
-      <parent>right_track</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="right_track_wheel2">
-      <pose>0.178571 -0.1985 0.01855 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0.0141 0 -0 0</pose>
-        <mass>0.7575</mass>
-        <inertia>
-          <ixx>0.002731</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.032554</iyy>
-          <iyz>1.5e-05</iyz>
-          <izz>0.031391</izz>
-        </inertia>
-      </inertial>
-      <collision name="right_track_wheel2_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="right_track_collision_2">
+        <pose>-0.25 0 0.01855 1.5707963267948966 -0 0</pose>
         <geometry>
           <cylinder>
             <length>0.097</length>
@@ -3484,32 +1845,34 @@
           </cylinder>
         </geometry>
         <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
           <friction>
             <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
+              <mu>10</mu>
+              <mu2>150</mu2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
+      <visual name="right_track_visual">
+        <pose>0 0 -0.0705 1.5707963267948966 0 -1.5707963267948966</pose>
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/bogie.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
     </link>
-    <joint name="right_track_wheel2_j" type="revolute">
-      <child>right_track_wheel2</child>
-      <parent>right_track</parent>
+    <joint name="right_track_j" type="revolute">
+      <child>right_track</child>
+      <parent>base_link</parent>
       <axis>
         <xyz>0 1 0</xyz>
         <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
+          <lower>0</lower>
+          <upper>0</upper>
+          <effort>0</effort>
+          <velocity>4</velocity>
         </limit>
         <dynamics>
           <spring_reference>0</spring_reference>
@@ -3517,170 +1880,142 @@
         </dynamics>
         <use_parent_model_frame>0</use_parent_model_frame>
       </axis>
+      <physics>
+        <ode>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+        </ode>
+      </physics>
+      <physics>
+        <ode>
+          <implicit_spring_damper>1</implicit_spring_damper>
+          <cfm>0</cfm>
+          <erp>0.95</erp>
+        </ode>
+      </physics>
     </joint>
-    <link name="right_track_wheel3">
-      <pose>0.107143 -0.1985 0.01855 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0.0141 0 -0 0</pose>
-        <mass>0.7575</mass>
-        <inertia>
-          <ixx>0.002731</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.032554</iyy>
-          <iyz>1.5e-05</iyz>
-          <izz>0.031391</izz>
+    <link name="front_right_flipper">
+      <pose>0.25 -0.272 0.0195 3.1415926535897931 -0.193732 3.1415926535897931</pose>
+      <inertial>
+        <pose>-0.08 0 0 0 -0 0</pose>
+        <mass>0.75</mass>
+        <inertia>
+          <ixx>0.0017491</ixx>
+          <ixy>2.8512e-07</ixy>
+          <ixz>0.0018277</ixz>
+          <iyy>0.012277</iyy>
+          <iyz>-3.6288e-07</iyz>
+          <izz>0.010941</izz>
         </inertia>
       </inertial>
-      <collision name="right_track_wheel3_collision">
+      <collision name="front_right_flipper_collision_large_wheel_collision">
         <pose>0 0 0 1.5707963267948966 -0 0</pose>
         <geometry>
           <cylinder>
-            <length>0.097</length>
+            <length>0.04981</length>
             <radius>0.089</radius>
           </cylinder>
         </geometry>
         <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
           <friction>
             <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
+              <mu>10</mu>
+              <mu2>150</mu2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
-    </link>
-    <joint name="right_track_wheel3_j" type="revolute">
-      <child>right_track_wheel3</child>
-      <parent>right_track</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="right_track_wheel4">
-      <pose>0.035714 -0.1985 0.01855 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0.0141 0 -0 0</pose>
-        <mass>0.7575</mass>
-        <inertia>
-          <ixx>0.002731</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.032554</iyy>
-          <iyz>1.5e-05</iyz>
-          <izz>0.031391</izz>
-        </inertia>
-      </inertial>
-      <collision name="right_track_wheel4_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="front_right_flipper_collision_small_wheel_collision_1">
+        <pose>-0.33 0 0 1.5707963267948966 -0 0</pose>
         <geometry>
           <cylinder>
-            <length>0.097</length>
-            <radius>0.089</radius>
+            <length>0.04981</length>
+            <radius>0.029</radius>
           </cylinder>
         </geometry>
         <surface>
-          <contact>
+          <friction>
             <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
+              <mu>10</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
             </ode>
-          </contact>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="front_right_flipper_collision_top_bar_collision_2">
+        <pose>-0.165 0 0.0325 0 0.184162 -3.1415926535897931</pose>
+        <geometry>
+          <box>
+            <size>0.33 0.04981 0.055</size>
+          </box>
+        </geometry>
+        <surface>
           <friction>
             <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
+              <mu>10</mu>
+              <mu2>150</mu2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
-    </link>
-    <joint name="right_track_wheel4_j" type="revolute">
-      <child>right_track_wheel4</child>
-      <parent>right_track</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="right_track_wheel5">
-      <pose>-0.035714 -0.1985 0.01855 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0.0141 0 -0 0</pose>
-        <mass>0.7575</mass>
-        <inertia>
-          <ixx>0.002731</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.032554</iyy>
-          <iyz>1.5e-05</iyz>
-          <izz>0.031391</izz>
-        </inertia>
-      </inertial>
-      <collision name="right_track_wheel5_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="front_right_flipper_collision_bottom_bar_collision_3">
+        <pose>-0.165 0 -0.0325 0 -0.184162 -3.1415926535897931</pose>
         <geometry>
-          <cylinder>
-            <length>0.097</length>
-            <radius>0.089</radius>
-          </cylinder>
+          <box>
+            <size>0.33 0.04981 0.055</size>
+          </box>
         </geometry>
         <surface>
-          <contact>
+          <friction>
             <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
+              <mu>10</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
             </ode>
-          </contact>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="front_right_flipper_collision_middle_bar_collision_4">
+        <pose>-0.166 0 0.004 0 -0.02 -3.1415926535897931</pose>
+        <geometry>
+          <box>
+            <size>0.2 0.04981 0.07</size>
+          </box>
+        </geometry>
+        <surface>
           <friction>
             <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
+              <mu>10</mu>
+              <mu2>150</mu2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
+      <visual name="front_right_flipper_visual">
+        <pose>0 0 0 -2.95743 -0 -1.5707963267948966</pose>
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/flipper.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
     </link>
-    <joint name="right_track_wheel5_j" type="revolute">
-      <child>right_track_wheel5</child>
+    <joint name="front_right_flipper_j" type="revolute">
+      <child>front_right_flipper</child>
       <parent>right_track</parent>
       <axis>
         <xyz>0 1 0</xyz>
         <limit>
           <lower>-1e+16</lower>
           <upper>1e+16</upper>
+          <effort>20</effort>
+          <velocity>0.785398</velocity>
         </limit>
         <dynamics>
           <spring_reference>0</spring_reference>
@@ -3688,170 +2023,137 @@
         </dynamics>
         <use_parent_model_frame>0</use_parent_model_frame>
       </axis>
+      <physics>
+        <ode>
+          <implicit_spring_damper>1</implicit_spring_damper>
+          <cfm_damping>1</cfm_damping>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+        </ode>
+      </physics>
     </joint>
-    <link name="right_track_wheel6">
-      <pose>-0.107143 -0.1985 0.01855 0 -0 0</pose>
+    <link name="rear_right_flipper">
+      <pose>-0.25 -0.272 0.0195 0 -0.193732 0</pose>
       <inertial>
-        <pose>0 0 0.0141 0 -0 0</pose>
-        <mass>0.7575</mass>
+        <pose>-0.08 0 0 0 -0 0</pose>
+        <mass>0.75</mass>
         <inertia>
-          <ixx>0.002731</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.032554</iyy>
-          <iyz>1.5e-05</iyz>
-          <izz>0.031391</izz>
+          <ixx>0.0017491</ixx>
+          <ixy>2.8512e-07</ixy>
+          <ixz>0.0018277</ixz>
+          <iyy>0.012277</iyy>
+          <iyz>-3.6288e-07</iyz>
+          <izz>0.010941</izz>
         </inertia>
       </inertial>
-      <collision name="right_track_wheel6_collision">
+      <collision name="rear_right_flipper_collision_large_wheel_collision">
         <pose>0 0 0 1.5707963267948966 -0 0</pose>
         <geometry>
           <cylinder>
-            <length>0.097</length>
+            <length>0.04981</length>
             <radius>0.089</radius>
           </cylinder>
         </geometry>
         <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
           <friction>
             <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
+              <mu>10</mu>
+              <mu2>150</mu2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
-    </link>
-    <joint name="right_track_wheel6_j" type="revolute">
-      <child>right_track_wheel6</child>
-      <parent>right_track</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="right_track_wheel7">
-      <pose>-0.178571 -0.1985 0.01855 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0.0141 0 -0 0</pose>
-        <mass>0.7575</mass>
-        <inertia>
-          <ixx>0.002731</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.032554</iyy>
-          <iyz>1.5e-05</iyz>
-          <izz>0.031391</izz>
-        </inertia>
-      </inertial>
-      <collision name="right_track_wheel7_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="rear_right_flipper_collision_small_wheel_collision_1">
+        <pose>-0.33 0 0 1.5707963267948966 -0 0</pose>
         <geometry>
           <cylinder>
-            <length>0.097</length>
-            <radius>0.089</radius>
+            <length>0.04981</length>
+            <radius>0.029</radius>
           </cylinder>
         </geometry>
         <surface>
-          <contact>
+          <friction>
             <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
+              <mu>10</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
             </ode>
-          </contact>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="rear_right_flipper_collision_top_bar_collision_2">
+        <pose>-0.165 0 0.0325 0 0.184162 -3.1415926535897931</pose>
+        <geometry>
+          <box>
+            <size>0.33 0.04981 0.055</size>
+          </box>
+        </geometry>
+        <surface>
           <friction>
             <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
+              <mu>10</mu>
+              <mu2>150</mu2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
-    </link>
-    <joint name="right_track_wheel7_j" type="revolute">
-      <child>right_track_wheel7</child>
-      <parent>right_track</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="right_track_wheel8">
-      <pose>-0.25 -0.1985 0.01855 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0.0141 0 -0 0</pose>
-        <mass>0.7575</mass>
-        <inertia>
-          <ixx>0.002731</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.032554</iyy>
-          <iyz>1.5e-05</iyz>
-          <izz>0.031391</izz>
-        </inertia>
-      </inertial>
-      <collision name="right_track_wheel8_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="rear_right_flipper_collision_bottom_bar_collision_3">
+        <pose>-0.165 0 -0.0325 0 -0.184162 -3.1415926535897931</pose>
         <geometry>
-          <cylinder>
-            <length>0.097</length>
-            <radius>0.089</radius>
-          </cylinder>
+          <box>
+            <size>0.33 0.04981 0.055</size>
+          </box>
         </geometry>
         <surface>
-          <contact>
+          <friction>
             <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
+              <mu>10</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
             </ode>
-          </contact>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="rear_right_flipper_collision_middle_bar_collision_4">
+        <pose>-0.166 0 0.004 0 -0.02 -3.1415926535897931</pose>
+        <geometry>
+          <box>
+            <size>0.2 0.04981 0.07</size>
+          </box>
+        </geometry>
+        <surface>
           <friction>
             <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
+              <mu>10</mu>
+              <mu2>150</mu2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
+      <visual name="rear_right_flipper_visual">
+        <pose>0 0 0 -2.95743 -0 -1.5707963267948966</pose>
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/flipper.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
     </link>
-    <joint name="right_track_wheel8_j" type="revolute">
-      <child>right_track_wheel8</child>
+    <joint name="rear_right_flipper_j" type="revolute">
+      <child>rear_right_flipper</child>
       <parent>right_track</parent>
       <axis>
         <xyz>0 1 0</xyz>
         <limit>
           <lower>-1e+16</lower>
           <upper>1e+16</upper>
+          <effort>20</effort>
+          <velocity>0.785398</velocity>
         </limit>
         <dynamics>
           <spring_reference>0</spring_reference>
@@ -3859,6 +2161,16 @@
         </dynamics>
         <use_parent_model_frame>0</use_parent_model_frame>
       </axis>
+      <physics>
+        <ode>
+          <implicit_spring_damper>1</implicit_spring_damper>
+          <cfm_damping>1</cfm_damping>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+        </ode>
+      </physics>
     </joint>
     <plugin name="cras::FlipperControlPlugin" filename="libflipper_control_plugin.so">
       <joint_name>front_left_flipper_j</joint_name>
diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_7/model.sdf b/submitted_models/ctu_cras_norlab_absolem_sensor_config_7/model.sdf
index 959607f4..b6aee5aa 100644
--- a/submitted_models/ctu_cras_norlab_absolem_sensor_config_7/model.sdf
+++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_7/model.sdf
@@ -457,26 +457,64 @@
     <link name="left_track">
       <pose>0 0.1985 0 0 -0 0</pose>
       <inertial>
-        <mass>1e-05</mass>
+        <pose>0 0 0.0141 0 -0 0</pose>
+        <mass>6.06</mass>
         <inertia>
-          <ixx>0.001</ixx>
-          <ixy>1e-06</ixy>
-          <ixz>1e-06</ixz>
-          <iyy>0.001</iyy>
-          <iyz>1e-06</iyz>
-          <izz>0.001</izz>
+          <ixx>0.002731</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.032554</iyy>
+          <iyz>1.5e-05</iyz>
+          <izz>0.031391</izz>
         </inertia>
       </inertial>
       <collision name="left_track_collision">
+        <pose>0 0 0.01855 1.5707963267948966 -0 1.5707963267948966</pose>
         <geometry>
           <box>
-            <size>0.01 0.01 0.01</size>
+            <size>0.097 0.178 0.5</size>
           </box>
         </geometry>
         <surface>
           <friction>
             <ode>
-              <mu>0.7</mu>
+              <mu>10</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="left_track_collision_1">
+        <pose>0.25 -0.015 0.01855 1.5707963267948966 -0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.112</length>
+            <radius>0.089</radius>
+          </cylinder>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>10</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="left_track_collision_2">
+        <pose>-0.25 0 0.01855 1.5707963267948966 -0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.097</length>
+            <radius>0.089</radius>
+          </cylinder>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>10</mu>
               <mu2>150</mu2>
               <fdir1>0 0 1</fdir1>
             </ode>
@@ -528,26 +566,98 @@
     <link name="front_left_flipper">
       <pose>0.25 0.272 0.0195 0 0.193732 0</pose>
       <inertial>
-        <mass>1e-05</mass>
+        <pose>0.08 0 0 0 -0 0</pose>
+        <mass>0.75</mass>
         <inertia>
-          <ixx>0.001</ixx>
-          <ixy>1e-06</ixy>
-          <ixz>1e-06</ixz>
-          <iyy>0.001</iyy>
-          <iyz>1e-06</iyz>
-          <izz>0.001</izz>
+          <ixx>0.0017491</ixx>
+          <ixy>2.8512e-07</ixy>
+          <ixz>0.0018277</ixz>
+          <iyy>0.012277</iyy>
+          <iyz>-3.6288e-07</iyz>
+          <izz>0.010941</izz>
         </inertia>
       </inertial>
-      <collision name="front_left_flipper_collision">
+      <collision name="front_left_flipper_collision_large_wheel_collision">
+        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.04981</length>
+            <radius>0.089</radius>
+          </cylinder>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>10</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="front_left_flipper_collision_small_wheel_collision_1">
+        <pose>0.33 0 0 1.5707963267948966 -0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.04981</length>
+            <radius>0.029</radius>
+          </cylinder>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>10</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="front_left_flipper_collision_top_bar_collision_2">
+        <pose>0.165 0 0.0325 0 0.184162 0</pose>
+        <geometry>
+          <box>
+            <size>0.33 0.04981 0.055</size>
+          </box>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>10</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="front_left_flipper_collision_bottom_bar_collision_3">
+        <pose>0.165 0 -0.0325 0 -0.184162 0</pose>
+        <geometry>
+          <box>
+            <size>0.33 0.04981 0.055</size>
+          </box>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>10</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="front_left_flipper_collision_middle_bar_collision_4">
+        <pose>0.166 0 0.004 0 -0.02 0</pose>
         <geometry>
           <box>
-            <size>0.01 0.01 0.01</size>
+            <size>0.2 0.04981 0.07</size>
           </box>
         </geometry>
         <surface>
           <friction>
             <ode>
-              <mu>0.7</mu>
+              <mu>10</mu>
               <mu2>150</mu2>
               <fdir1>0 0 1</fdir1>
             </ode>
@@ -591,11 +701,11 @@
         </ode>
       </physics>
     </joint>
-    <link name="front_left_flipper_wheel1">
-      <pose>0.25 0.272 0.0195 0 0.193732 0</pose>
+    <link name="rear_left_flipper">
+      <pose>-0.25 0.272 0.0195 3.1415926535897931 0.193732 3.1415926535897931</pose>
       <inertial>
         <pose>0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
+        <mass>0.75</mass>
         <inertia>
           <ixx>0.0017491</ixx>
           <ixy>2.8512e-07</ixy>
@@ -605,7 +715,7 @@
           <izz>0.010941</izz>
         </inertia>
       </inertial>
-      <collision name="front_left_flipper_wheel1_collision_collision">
+      <collision name="rear_left_flipper_collision_large_wheel_collision">
         <pose>0 0 0 1.5707963267948966 -0 0</pose>
         <geometry>
           <cylinder>
@@ -614,260 +724,103 @@
           </cylinder>
         </geometry>
         <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
           <friction>
             <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
+              <mu>10</mu>
+              <mu2>150</mu2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
-    </link>
-    <joint name="front_left_flipper_wheel1_j" type="revolute">
-      <child>front_left_flipper_wheel1</child>
-      <parent>front_left_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="front_left_flipper_wheel2">
-      <pose>0.330957 0.272 0.003617 0 0.193732 0</pose>
-      <inertial>
-        <pose>0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
-        <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
-        </inertia>
-      </inertial>
-      <collision name="front_left_flipper_wheel2_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="rear_left_flipper_collision_small_wheel_collision_1">
+        <pose>0.33 0 0 1.5707963267948966 -0 0</pose>
         <geometry>
           <cylinder>
             <length>0.04981</length>
-            <radius>0.074</radius>
+            <radius>0.029</radius>
           </cylinder>
         </geometry>
         <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
           <friction>
             <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
+              <mu>10</mu>
+              <mu2>150</mu2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
-    </link>
-    <joint name="front_left_flipper_wheel2_j" type="revolute">
-      <child>front_left_flipper_wheel2</child>
-      <parent>front_left_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="front_left_flipper_wheel3">
-      <pose>0.411913 0.272 -0.012266 0 0.193732 0</pose>
-      <inertial>
-        <pose>0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
-        <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
-        </inertia>
-      </inertial>
-      <collision name="front_left_flipper_wheel3_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="rear_left_flipper_collision_top_bar_collision_2">
+        <pose>0.165 0 0.0325 0 0.184162 0</pose>
         <geometry>
-          <cylinder>
-            <length>0.04981</length>
-            <radius>0.059</radius>
-          </cylinder>
+          <box>
+            <size>0.33 0.04981 0.055</size>
+          </box>
         </geometry>
         <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
           <friction>
             <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
+              <mu>10</mu>
+              <mu2>150</mu2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
-    </link>
-    <joint name="front_left_flipper_wheel3_j" type="revolute">
-      <child>front_left_flipper_wheel3</child>
-      <parent>front_left_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="front_left_flipper_wheel4">
-      <pose>0.49287 0.272 -0.028149 0 0.193732 0</pose>
-      <inertial>
-        <pose>0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
-        <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
-        </inertia>
-      </inertial>
-      <collision name="front_left_flipper_wheel4_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="rear_left_flipper_collision_bottom_bar_collision_3">
+        <pose>0.165 0 -0.0325 0 -0.184162 0</pose>
         <geometry>
-          <cylinder>
-            <length>0.04981</length>
-            <radius>0.044</radius>
-          </cylinder>
+          <box>
+            <size>0.33 0.04981 0.055</size>
+          </box>
         </geometry>
         <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
           <friction>
             <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
+              <mu>10</mu>
+              <mu2>150</mu2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
-    </link>
-    <joint name="front_left_flipper_wheel4_j" type="revolute">
-      <child>front_left_flipper_wheel4</child>
-      <parent>front_left_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="front_left_flipper_wheel5">
-      <pose>0.573827 0.272 -0.044032 0 0.193732 0</pose>
-      <inertial>
-        <pose>0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
-        <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
-        </inertia>
-      </inertial>
-      <collision name="front_left_flipper_wheel5_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="rear_left_flipper_collision_middle_bar_collision_4">
+        <pose>0.166 0 0.004 0 -0.02 0</pose>
         <geometry>
-          <cylinder>
-            <length>0.04981</length>
-            <radius>0.029</radius>
-          </cylinder>
+          <box>
+            <size>0.2 0.04981 0.07</size>
+          </box>
         </geometry>
         <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
           <friction>
             <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
+              <mu>10</mu>
+              <mu2>150</mu2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
+      <visual name="rear_left_flipper_visual">
+        <pose>0 0 0 -2.95743 -0 1.5707963267948966</pose>
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/flipper.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
     </link>
-    <joint name="front_left_flipper_wheel5_j" type="revolute">
-      <child>front_left_flipper_wheel5</child>
-      <parent>front_left_flipper</parent>
+    <joint name="rear_left_flipper_j" type="revolute">
+      <child>rear_left_flipper</child>
+      <parent>left_track</parent>
       <axis>
         <xyz>0 1 0</xyz>
         <limit>
           <lower>-1e+16</lower>
           <upper>1e+16</upper>
+          <effort>20</effort>
+          <velocity>0.785398</velocity>
         </limit>
         <dynamics>
           <spring_reference>0</spring_reference>
@@ -875,522 +828,610 @@
         </dynamics>
         <use_parent_model_frame>0</use_parent_model_frame>
       </axis>
-    </joint>
-    <link name="left_track_wheel1">
-      <pose>0.25 0.1985 0.01855 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0.0141 0 -0 0</pose>
-        <mass>0.7575</mass>
+      <physics>
+        <ode>
+          <implicit_spring_damper>1</implicit_spring_damper>
+          <cfm_damping>1</cfm_damping>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+        </ode>
+      </physics>
+    </joint>
+    <link name="camera_0">
+      <pose>0.185 0 0.195 0 -0 0</pose>
+      <inertial>
+        <pose>0.039802 0 0.0145 0 -0 0</pose>
+        <mass>0.232</mass>
         <inertia>
-          <ixx>0.002731</ixx>
+          <ixx>3.25187e-05</ixx>
           <ixy>0</ixy>
           <ixz>0</ixz>
-          <iyy>0.032554</iyy>
-          <iyz>1.5e-05</iyz>
-          <izz>0.031391</izz>
+          <iyy>0.000158598</iyy>
+          <iyz>0</iyz>
+          <izz>0.000158598</izz>
         </inertia>
       </inertial>
-      <collision name="left_track_wheel1_collision">
-        <pose>0 -0.015 0 1.5707963267948966 -0 0</pose>
+      <collision name="camera_0_collision_collision">
+        <pose>0.02465 0 0.0145 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.0555 0.029 0.029</size>
+          </box>
+        </geometry>
+      </collision>
+      <collision name="camera_0_lens_collision_collision_1">
+        <pose>0.062834 0 0.0145 0 1.5707963267948966 0</pose>
         <geometry>
           <cylinder>
-            <length>0.112</length>
-            <radius>0.089</radius>
+            <length>0.03974</length>
+            <radius>0.0125</radius>
           </cylinder>
         </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
       </collision>
+      <visual name="camera_0_visual">
+        <pose>0 0 0.0145 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/basler_ace2_pro.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <visual name="camera_0_visual_1">
+        <pose>0.042964 0 0.0145 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/evetar_lens.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <visual name="camera_0_fixed_joint_lump__front_camera_holder_visual_2">
+        <pose>0.02 0 -0.005 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.04 0.025 0.01</size>
+          </box>
+        </geometry>
+      </visual>
+      <sensor name="camera_0" type="camera">
+        <pose>0.072044 0 0.0145 0 -0 0</pose>
+        <update_rate>9</update_rate>
+        <visualize>0</visualize>
+        <camera>
+          <horizontal_fov>1.50971</horizontal_fov>
+          <image>
+            <width>1920</width>
+            <height>1200</height>
+            <format>R8G8B8</format>
+          </image>
+          <clip>
+            <near>0.011726</near>
+            <far>300</far>
+          </clip>
+          <noise>
+            <type>gaussian</type>
+            <mean>0</mean>
+            <stddev>0.007</stddev>
+          </noise>
+          <lens>
+            <intrinsics>
+              <fx>1020.51</fx>
+              <fy>1020.51</fy>
+              <cx>959.5</cx>
+              <cy>599.5</cy>
+              <s>0</s>
+            </intrinsics>
+            <type>stereographic</type>
+            <scale_to_hfov>1</scale_to_hfov>
+          </lens>
+        </camera>
+      </sensor>
     </link>
-    <joint name="left_track_wheel1_j" type="revolute">
-      <child>left_track_wheel1</child>
-      <parent>left_track</parent>
+    <joint name="camera_0_j" type="fixed">
+      <child>camera_0</child>
+      <parent>base_link</parent>
       <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
         <dynamics>
           <spring_reference>0</spring_reference>
           <spring_stiffness>0</spring_stiffness>
         </dynamics>
+        <xyz>0 0 1</xyz>
         <use_parent_model_frame>0</use_parent_model_frame>
+        <limit>
+          <lower>-1e+16</lower>
+          <upper>1e+16</upper>
+        </limit>
       </axis>
+      <physics>
+        <ode>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+        </ode>
+      </physics>
     </joint>
-    <link name="left_track_wheel2">
-      <pose>0.178571 0.1985 0.01855 0 -0 0</pose>
+    <link name="camera_1">
+      <pose>-0.02 -0.037465 0.185 0 0 -1.5707963267948966</pose>
       <inertial>
-        <pose>0 0 0.0141 0 -0 0</pose>
-        <mass>0.7575</mass>
+        <pose>0.039802 0 0.0145 0 -0 0</pose>
+        <mass>0.232</mass>
         <inertia>
-          <ixx>0.002731</ixx>
+          <ixx>3.25187e-05</ixx>
           <ixy>0</ixy>
           <ixz>0</ixz>
-          <iyy>0.032554</iyy>
-          <iyz>1.5e-05</iyz>
-          <izz>0.031391</izz>
+          <iyy>0.000158598</iyy>
+          <iyz>0</iyz>
+          <izz>0.000158598</izz>
         </inertia>
       </inertial>
-      <collision name="left_track_wheel2_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="camera_1_collision_collision">
+        <pose>0.02465 0 0.0145 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.0555 0.029 0.029</size>
+          </box>
+        </geometry>
+      </collision>
+      <collision name="camera_1_lens_collision_collision_1">
+        <pose>0.062834 0 0.0145 0 1.5707963267948966 0</pose>
         <geometry>
           <cylinder>
-            <length>0.097</length>
-            <radius>0.089</radius>
+            <length>0.03974</length>
+            <radius>0.0125</radius>
           </cylinder>
         </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
       </collision>
+      <visual name="camera_1_visual">
+        <pose>0 0 0.0145 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/basler_ace2_pro.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <visual name="camera_1_visual_1">
+        <pose>0.042964 0 0.0145 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/evetar_lens.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <sensor name="camera_1" type="camera">
+        <pose>0.072044 0 0.0145 0 -0 0</pose>
+        <update_rate>9</update_rate>
+        <visualize>0</visualize>
+        <camera>
+          <horizontal_fov>1.50971</horizontal_fov>
+          <image>
+            <width>1920</width>
+            <height>1200</height>
+            <format>R8G8B8</format>
+          </image>
+          <clip>
+            <near>0.011726</near>
+            <far>300</far>
+          </clip>
+          <noise>
+            <type>gaussian</type>
+            <mean>0</mean>
+            <stddev>0.007</stddev>
+          </noise>
+          <lens>
+            <intrinsics>
+              <fx>1020.51</fx>
+              <fy>1020.51</fy>
+              <cx>959.5</cx>
+              <cy>599.5</cy>
+              <s>0</s>
+            </intrinsics>
+            <type>stereographic</type>
+            <scale_to_hfov>1</scale_to_hfov>
+          </lens>
+        </camera>
+      </sensor>
     </link>
-    <joint name="left_track_wheel2_j" type="revolute">
-      <child>left_track_wheel2</child>
-      <parent>left_track</parent>
+    <joint name="camera_1_j" type="fixed">
+      <child>camera_1</child>
+      <parent>base_link</parent>
       <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
         <dynamics>
           <spring_reference>0</spring_reference>
           <spring_stiffness>0</spring_stiffness>
         </dynamics>
+        <xyz>0 0 1</xyz>
         <use_parent_model_frame>0</use_parent_model_frame>
+        <limit>
+          <lower>-1e+16</lower>
+          <upper>1e+16</upper>
+        </limit>
       </axis>
+      <physics>
+        <ode>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+        </ode>
+      </physics>
     </joint>
-    <link name="left_track_wheel3">
-      <pose>0.107143 0.1985 0.01855 0 -0 0</pose>
+    <link name="camera_2">
+      <pose>-0.245 0 0.185 0 -0 3.1415926535897931</pose>
       <inertial>
-        <pose>0 0 0.0141 0 -0 0</pose>
-        <mass>0.7575</mass>
+        <pose>0.039802 0 0.0145 0 -0 0</pose>
+        <mass>0.232</mass>
         <inertia>
-          <ixx>0.002731</ixx>
+          <ixx>3.25187e-05</ixx>
           <ixy>0</ixy>
           <ixz>0</ixz>
-          <iyy>0.032554</iyy>
-          <iyz>1.5e-05</iyz>
-          <izz>0.031391</izz>
+          <iyy>0.000158598</iyy>
+          <iyz>0</iyz>
+          <izz>0.000158598</izz>
         </inertia>
       </inertial>
-      <collision name="left_track_wheel3_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="camera_2_collision_collision">
+        <pose>0.02465 0 0.0145 0 -0 0</pose>
         <geometry>
-          <cylinder>
-            <length>0.097</length>
-            <radius>0.089</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
+          <box>
+            <size>0.0555 0.029 0.029</size>
+          </box>
+        </geometry>
       </collision>
-    </link>
-    <joint name="left_track_wheel3_j" type="revolute">
-      <child>left_track_wheel3</child>
-      <parent>left_track</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="left_track_wheel4">
-      <pose>0.035714 0.1985 0.01855 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0.0141 0 -0 0</pose>
-        <mass>0.7575</mass>
-        <inertia>
-          <ixx>0.002731</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.032554</iyy>
-          <iyz>1.5e-05</iyz>
-          <izz>0.031391</izz>
-        </inertia>
-      </inertial>
-      <collision name="left_track_wheel4_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="camera_2_lens_collision_collision_1">
+        <pose>0.062834 0 0.0145 0 1.5707963267948966 0</pose>
         <geometry>
           <cylinder>
-            <length>0.097</length>
-            <radius>0.089</radius>
+            <length>0.03974</length>
+            <radius>0.0125</radius>
           </cylinder>
         </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
       </collision>
+      <visual name="camera_2_visual">
+        <pose>0 0 0.0145 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/basler_ace2_pro.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <visual name="camera_2_visual_1">
+        <pose>0.042964 0 0.0145 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/evetar_lens.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <sensor name="camera_2" type="camera">
+        <pose>0.072044 0 0.0145 0 -0 0</pose>
+        <update_rate>9</update_rate>
+        <visualize>0</visualize>
+        <camera>
+          <horizontal_fov>1.50971</horizontal_fov>
+          <image>
+            <width>1920</width>
+            <height>1200</height>
+            <format>R8G8B8</format>
+          </image>
+          <clip>
+            <near>0.011726</near>
+            <far>300</far>
+          </clip>
+          <noise>
+            <type>gaussian</type>
+            <mean>0</mean>
+            <stddev>0.007</stddev>
+          </noise>
+          <lens>
+            <intrinsics>
+              <fx>1020.51</fx>
+              <fy>1020.51</fy>
+              <cx>959.5</cx>
+              <cy>599.5</cy>
+              <s>0</s>
+            </intrinsics>
+            <type>stereographic</type>
+            <scale_to_hfov>1</scale_to_hfov>
+          </lens>
+        </camera>
+      </sensor>
     </link>
-    <joint name="left_track_wheel4_j" type="revolute">
-      <child>left_track_wheel4</child>
-      <parent>left_track</parent>
+    <joint name="camera_2_j" type="fixed">
+      <child>camera_2</child>
+      <parent>base_link</parent>
       <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
         <dynamics>
           <spring_reference>0</spring_reference>
           <spring_stiffness>0</spring_stiffness>
         </dynamics>
+        <xyz>0 0 1</xyz>
         <use_parent_model_frame>0</use_parent_model_frame>
+        <limit>
+          <lower>-1e+16</lower>
+          <upper>1e+16</upper>
+        </limit>
       </axis>
+      <physics>
+        <ode>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+        </ode>
+      </physics>
     </joint>
-    <link name="left_track_wheel5">
-      <pose>-0.035714 0.1985 0.01855 0 -0 0</pose>
+    <link name="camera_3">
+      <pose>-0.02 0.037465 0.185 0 -0 1.5707963267948966</pose>
       <inertial>
-        <pose>0 0 0.0141 0 -0 0</pose>
-        <mass>0.7575</mass>
+        <pose>0.039802 0 0.0145 0 -0 0</pose>
+        <mass>0.232</mass>
         <inertia>
-          <ixx>0.002731</ixx>
+          <ixx>3.25187e-05</ixx>
           <ixy>0</ixy>
           <ixz>0</ixz>
-          <iyy>0.032554</iyy>
-          <iyz>1.5e-05</iyz>
-          <izz>0.031391</izz>
+          <iyy>0.000158598</iyy>
+          <iyz>0</iyz>
+          <izz>0.000158598</izz>
         </inertia>
       </inertial>
-      <collision name="left_track_wheel5_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="camera_3_collision_collision">
+        <pose>0.02465 0 0.0145 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.0555 0.029 0.029</size>
+          </box>
+        </geometry>
+      </collision>
+      <collision name="camera_3_lens_collision_collision_1">
+        <pose>0.062834 0 0.0145 0 1.5707963267948966 0</pose>
         <geometry>
           <cylinder>
-            <length>0.097</length>
-            <radius>0.089</radius>
+            <length>0.03974</length>
+            <radius>0.0125</radius>
           </cylinder>
         </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
       </collision>
+      <visual name="camera_3_visual">
+        <pose>0 0 0.0145 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/basler_ace2_pro.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <visual name="camera_3_visual_1">
+        <pose>0.042964 0 0.0145 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/evetar_lens.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <sensor name="camera_3" type="camera">
+        <pose>0.072044 0 0.0145 0 -0 0</pose>
+        <update_rate>9</update_rate>
+        <visualize>0</visualize>
+        <camera>
+          <horizontal_fov>1.50971</horizontal_fov>
+          <image>
+            <width>1920</width>
+            <height>1200</height>
+            <format>R8G8B8</format>
+          </image>
+          <clip>
+            <near>0.011726</near>
+            <far>300</far>
+          </clip>
+          <noise>
+            <type>gaussian</type>
+            <mean>0</mean>
+            <stddev>0.007</stddev>
+          </noise>
+          <lens>
+            <intrinsics>
+              <fx>1020.51</fx>
+              <fy>1020.51</fy>
+              <cx>959.5</cx>
+              <cy>599.5</cy>
+              <s>0</s>
+            </intrinsics>
+            <type>stereographic</type>
+            <scale_to_hfov>1</scale_to_hfov>
+          </lens>
+        </camera>
+      </sensor>
     </link>
-    <joint name="left_track_wheel5_j" type="revolute">
-      <child>left_track_wheel5</child>
-      <parent>left_track</parent>
+    <joint name="camera_3_j" type="fixed">
+      <child>camera_3</child>
+      <parent>base_link</parent>
       <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
         <dynamics>
           <spring_reference>0</spring_reference>
           <spring_stiffness>0</spring_stiffness>
         </dynamics>
+        <xyz>0 0 1</xyz>
         <use_parent_model_frame>0</use_parent_model_frame>
+        <limit>
+          <lower>-1e+16</lower>
+          <upper>1e+16</upper>
+        </limit>
       </axis>
+      <physics>
+        <ode>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+        </ode>
+      </physics>
     </joint>
-    <link name="left_track_wheel6">
-      <pose>-0.107143 0.1985 0.01855 0 -0 0</pose>
+    <link name="cliff_sensor_0">
+      <pose>0.275 0.119535 0.2035 -1.5707963267948966 1.5707963267948966 0</pose>
       <inertial>
-        <pose>0 0 0.0141 0 -0 0</pose>
-        <mass>0.7575</mass>
+        <pose>0.0105 0 0.00925 0 -0 0</pose>
+        <mass>0.012</mass>
         <inertia>
-          <ixx>0.002731</ixx>
+          <ixx>1.56725e-06</ixx>
           <ixy>0</ixy>
           <ixz>0</ixz>
-          <iyy>0.032554</iyy>
-          <iyz>1.5e-05</iyz>
-          <izz>0.031391</izz>
+          <iyy>7.8325e-07</iyy>
+          <iyz>0</iyz>
+          <izz>1.666e-06</izz>
         </inertia>
       </inertial>
-      <collision name="left_track_wheel6_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="cliff_sensor_0_collision">
+        <pose>0.0105 0 0.00925 0 -0 0</pose>
         <geometry>
-          <cylinder>
-            <length>0.097</length>
-            <radius>0.089</radius>
-          </cylinder>
+          <box>
+            <size>0.021 0.035 0.0185</size>
+          </box>
         </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
       </collision>
-    </link>
-    <joint name="left_track_wheel6_j" type="revolute">
-      <child>left_track_wheel6</child>
-      <parent>left_track</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="left_track_wheel7">
-      <pose>-0.178571 0.1985 0.01855 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0.0141 0 -0 0</pose>
-        <mass>0.7575</mass>
-        <inertia>
-          <ixx>0.002731</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.032554</iyy>
-          <iyz>1.5e-05</iyz>
-          <izz>0.031391</izz>
-        </inertia>
-      </inertial>
-      <collision name="left_track_wheel7_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <visual name="cliff_sensor_0_visual">
         <geometry>
-          <cylinder>
-            <length>0.097</length>
-            <radius>0.089</radius>
-          </cylinder>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/tfmini_plus_lidar.dae</uri>
+          </mesh>
         </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
+      </visual>
+      <sensor name="laser" type="gpu_lidar">
+        <pose>0.021 0 0.00925 0 -0 0</pose>
+        <update_rate>10</update_rate>
+        <visualize>0</visualize>
+        <always_on>1</always_on>
+        <lidar>
+          <scan>
+            <horizontal>
+              <samples>3</samples>
+              <resolution>1</resolution>
+              <min_angle>-0.0314159</min_angle>
+              <max_angle>0.0314159</max_angle>
+            </horizontal>
+            <vertical>
+              <samples>3</samples>
+              <resolution>1</resolution>
+              <min_angle>-0.0314159</min_angle>
+              <max_angle>0.0314159</max_angle>
+            </vertical>
+          </scan>
+          <range>
+            <min>0.1</min>
+            <max>12</max>
+            <resolution>0.01</resolution>
+          </range>
+          <noise>
+            <type>gaussian</type>
+            <mean>0</mean>
+            <stddev>0.015</stddev>
+          </noise>
+        </lidar>
+      </sensor>
     </link>
-    <joint name="left_track_wheel7_j" type="revolute">
-      <child>left_track_wheel7</child>
-      <parent>left_track</parent>
+    <joint name="cliff_sensor_0_j" type="fixed">
+      <child>cliff_sensor_0</child>
+      <parent>base_link</parent>
       <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
         <dynamics>
           <spring_reference>0</spring_reference>
           <spring_stiffness>0</spring_stiffness>
         </dynamics>
+        <xyz>0 0 1</xyz>
         <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="left_track_wheel8">
-      <pose>-0.25 0.1985 0.01855 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0.0141 0 -0 0</pose>
-        <mass>0.7575</mass>
-        <inertia>
-          <ixx>0.002731</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.032554</iyy>
-          <iyz>1.5e-05</iyz>
-          <izz>0.031391</izz>
-        </inertia>
-      </inertial>
-      <collision name="left_track_wheel8_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.097</length>
-            <radius>0.089</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-    </link>
-    <joint name="left_track_wheel8_j" type="revolute">
-      <child>left_track_wheel8</child>
-      <parent>left_track</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
         <limit>
           <lower>-1e+16</lower>
           <upper>1e+16</upper>
         </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
       </axis>
+      <physics>
+        <ode>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+        </ode>
+      </physics>
     </joint>
-    <link name="rear_left_flipper">
-      <pose>-0.25 0.272 0.0195 3.1415926535897931 0.193732 3.1415926535897931</pose>
+    <link name="cliff_sensor_1">
+      <pose>0.275 -0.120465 0.2035 1.5707963267948966 1.5707963267948966 0</pose>
       <inertial>
-        <mass>1e-05</mass>
+        <pose>0.0105 0 0.00925 0 -0 0</pose>
+        <mass>0.012</mass>
         <inertia>
-          <ixx>0.001</ixx>
-          <ixy>1e-06</ixy>
-          <ixz>1e-06</ixz>
-          <iyy>0.001</iyy>
-          <iyz>1e-06</iyz>
-          <izz>0.001</izz>
+          <ixx>1.56725e-06</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>7.8325e-07</iyy>
+          <iyz>0</iyz>
+          <izz>1.666e-06</izz>
         </inertia>
       </inertial>
-      <collision name="rear_left_flipper_collision">
+      <collision name="cliff_sensor_1_collision">
+        <pose>0.0105 0 0.00925 0 -0 0</pose>
         <geometry>
           <box>
-            <size>0.01 0.01 0.01</size>
+            <size>0.021 0.035 0.0185</size>
           </box>
         </geometry>
-        <surface>
-          <friction>
-            <ode>
-              <mu>0.7</mu>
-              <mu2>150</mu2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
       </collision>
-      <visual name="rear_left_flipper_visual">
-        <pose>0 0 0 -2.95743 -0 1.5707963267948966</pose>
+      <visual name="cliff_sensor_1_visual">
         <geometry>
           <mesh>
-            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/flipper.dae</uri>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/tfmini_plus_lidar.dae</uri>
           </mesh>
         </geometry>
       </visual>
+      <sensor name="laser" type="gpu_lidar">
+        <pose>0.021 0 0.00925 0 -0 0</pose>
+        <update_rate>10</update_rate>
+        <visualize>0</visualize>
+        <always_on>1</always_on>
+        <lidar>
+          <scan>
+            <horizontal>
+              <samples>3</samples>
+              <resolution>1</resolution>
+              <min_angle>-0.0314159</min_angle>
+              <max_angle>0.0314159</max_angle>
+            </horizontal>
+            <vertical>
+              <samples>3</samples>
+              <resolution>1</resolution>
+              <min_angle>-0.0314159</min_angle>
+              <max_angle>0.0314159</max_angle>
+            </vertical>
+          </scan>
+          <range>
+            <min>0.1</min>
+            <max>12</max>
+            <resolution>0.01</resolution>
+          </range>
+          <noise>
+            <type>gaussian</type>
+            <mean>0</mean>
+            <stddev>0.015</stddev>
+          </noise>
+        </lidar>
+      </sensor>
     </link>
-    <joint name="rear_left_flipper_j" type="revolute">
-      <child>rear_left_flipper</child>
-      <parent>left_track</parent>
+    <joint name="cliff_sensor_1_j" type="fixed">
+      <child>cliff_sensor_1</child>
+      <parent>base_link</parent>
       <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>20</effort>
-          <velocity>0.785398</velocity>
-        </limit>
         <dynamics>
           <spring_reference>0</spring_reference>
           <spring_stiffness>0</spring_stiffness>
         </dynamics>
+        <xyz>0 0 1</xyz>
         <use_parent_model_frame>0</use_parent_model_frame>
+        <limit>
+          <lower>-1e+16</lower>
+          <upper>1e+16</upper>
+        </limit>
       </axis>
       <physics>
         <ode>
-          <implicit_spring_damper>1</implicit_spring_damper>
-          <cfm_damping>1</cfm_damping>
           <limit>
             <cfm>0</cfm>
             <erp>0.2</erp>
@@ -1398,1736 +1439,171 @@
         </ode>
       </physics>
     </joint>
-    <link name="rear_left_flipper_wheel1">
-      <pose>-0.25 0.272 0.0195 3.1415926535897931 0.193732 3.1415926535897931</pose>
+    <link name="cliff_sensor_2">
+      <pose>-0.275 0.119535 0.2035 -1.5707963267948966 1.5707963267948966 0</pose>
       <inertial>
-        <pose>0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
+        <pose>0.0105 0 0.00925 0 -0 0</pose>
+        <mass>0.012</mass>
         <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
+          <ixx>1.56725e-06</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>7.8325e-07</iyy>
+          <iyz>0</iyz>
+          <izz>1.666e-06</izz>
         </inertia>
       </inertial>
-      <collision name="rear_left_flipper_wheel1_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="cliff_sensor_2_collision">
+        <pose>0.0105 0 0.00925 0 -0 0</pose>
         <geometry>
-          <cylinder>
-            <length>0.04981</length>
-            <radius>0.089</radius>
-          </cylinder>
+          <box>
+            <size>0.021 0.035 0.0185</size>
+          </box>
         </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-    </link>
-    <joint name="rear_left_flipper_wheel1_j" type="revolute">
-      <child>rear_left_flipper_wheel1</child>
-      <parent>rear_left_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="rear_left_flipper_wheel2">
-      <pose>-0.330957 0.272 0.003617 3.1415926535897931 0.193732 3.1415926535897931</pose>
-      <inertial>
-        <pose>0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
-        <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
-        </inertia>
-      </inertial>
-      <collision name="rear_left_flipper_wheel2_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.04981</length>
-            <radius>0.074</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-    </link>
-    <joint name="rear_left_flipper_wheel2_j" type="revolute">
-      <child>rear_left_flipper_wheel2</child>
-      <parent>rear_left_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="rear_left_flipper_wheel3">
-      <pose>-0.411913 0.272 -0.012266 3.1415926535897931 0.193732 3.1415926535897931</pose>
-      <inertial>
-        <pose>0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
-        <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
-        </inertia>
-      </inertial>
-      <collision name="rear_left_flipper_wheel3_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.04981</length>
-            <radius>0.059</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-    </link>
-    <joint name="rear_left_flipper_wheel3_j" type="revolute">
-      <child>rear_left_flipper_wheel3</child>
-      <parent>rear_left_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="rear_left_flipper_wheel4">
-      <pose>-0.49287 0.272 -0.028149 3.1415926535897931 0.193732 3.1415926535897931</pose>
-      <inertial>
-        <pose>0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
-        <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
-        </inertia>
-      </inertial>
-      <collision name="rear_left_flipper_wheel4_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.04981</length>
-            <radius>0.044</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
       </collision>
-    </link>
-    <joint name="rear_left_flipper_wheel4_j" type="revolute">
-      <child>rear_left_flipper_wheel4</child>
-      <parent>rear_left_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="rear_left_flipper_wheel5">
-      <pose>-0.573827 0.272 -0.044032 3.1415926535897931 0.193732 3.1415926535897931</pose>
-      <inertial>
-        <pose>0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
-        <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
-        </inertia>
-      </inertial>
-      <collision name="rear_left_flipper_wheel5_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.04981</length>
-            <radius>0.029</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-    </link>
-    <joint name="rear_left_flipper_wheel5_j" type="revolute">
-      <child>rear_left_flipper_wheel5</child>
-      <parent>rear_left_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="camera_0">
-      <pose>0.185 0 0.195 0 -0 0</pose>
-      <inertial>
-        <pose>0.039802 0 0.0145 0 -0 0</pose>
-        <mass>0.232</mass>
-        <inertia>
-          <ixx>3.25187e-05</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.000158598</iyy>
-          <iyz>0</iyz>
-          <izz>0.000158598</izz>
-        </inertia>
-      </inertial>
-      <collision name="camera_0_collision_collision">
-        <pose>0.02465 0 0.0145 0 -0 0</pose>
-        <geometry>
-          <box>
-            <size>0.0555 0.029 0.029</size>
-          </box>
-        </geometry>
-      </collision>
-      <collision name="camera_0_lens_collision_collision_1">
-        <pose>0.062834 0 0.0145 0 1.5707963267948966 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.03974</length>
-            <radius>0.0125</radius>
-          </cylinder>
-        </geometry>
-      </collision>
-      <visual name="camera_0_visual">
-        <pose>0 0 0.0145 0 -0 0</pose>
-        <geometry>
-          <mesh>
-            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/basler_ace2_pro.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-      <visual name="camera_0_visual_1">
-        <pose>0.042964 0 0.0145 0 -0 0</pose>
+      <visual name="cliff_sensor_2_visual">
         <geometry>
           <mesh>
-            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/evetar_lens.dae</uri>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/tfmini_plus_lidar.dae</uri>
           </mesh>
         </geometry>
       </visual>
-      <visual name="camera_0_fixed_joint_lump__front_camera_holder_visual_2">
-        <pose>0.02 0 -0.005 0 -0 0</pose>
-        <geometry>
-          <box>
-            <size>0.04 0.025 0.01</size>
-          </box>
-        </geometry>
-      </visual>
-      <sensor name="camera_0" type="camera">
-        <pose>0.072044 0 0.0145 0 -0 0</pose>
-        <update_rate>9</update_rate>
+      <sensor name="laser" type="gpu_lidar">
+        <pose>0.021 0 0.00925 0 -0 0</pose>
+        <update_rate>10</update_rate>
         <visualize>0</visualize>
-        <camera>
-          <horizontal_fov>1.50971</horizontal_fov>
-          <image>
-            <width>1920</width>
-            <height>1200</height>
-            <format>R8G8B8</format>
-          </image>
-          <clip>
-            <near>0.011726</near>
-            <far>300</far>
-          </clip>
-          <noise>
-            <type>gaussian</type>
-            <mean>0</mean>
-            <stddev>0.007</stddev>
-          </noise>
-          <lens>
-            <intrinsics>
-              <fx>1020.51</fx>
-              <fy>1020.51</fy>
-              <cx>959.5</cx>
-              <cy>599.5</cy>
-              <s>0</s>
-            </intrinsics>
-            <type>stereographic</type>
-            <scale_to_hfov>1</scale_to_hfov>
-          </lens>
-        </camera>
-      </sensor>
-    </link>
-    <joint name="camera_0_j" type="fixed">
-      <child>camera_0</child>
-      <parent>base_link</parent>
-      <axis>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <xyz>0 0 1</xyz>
-        <use_parent_model_frame>0</use_parent_model_frame>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-      </axis>
-      <physics>
-        <ode>
-          <limit>
-            <cfm>0</cfm>
-            <erp>0.2</erp>
-          </limit>
-        </ode>
-      </physics>
-    </joint>
-    <link name="camera_1">
-      <pose>-0.02 -0.037465 0.185 0 0 -1.5707963267948966</pose>
-      <inertial>
-        <pose>0.039802 0 0.0145 0 -0 0</pose>
-        <mass>0.232</mass>
-        <inertia>
-          <ixx>3.25187e-05</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.000158598</iyy>
-          <iyz>0</iyz>
-          <izz>0.000158598</izz>
-        </inertia>
-      </inertial>
-      <collision name="camera_1_collision_collision">
-        <pose>0.02465 0 0.0145 0 -0 0</pose>
-        <geometry>
-          <box>
-            <size>0.0555 0.029 0.029</size>
-          </box>
-        </geometry>
-      </collision>
-      <collision name="camera_1_lens_collision_collision_1">
-        <pose>0.062834 0 0.0145 0 1.5707963267948966 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.03974</length>
-            <radius>0.0125</radius>
-          </cylinder>
-        </geometry>
-      </collision>
-      <visual name="camera_1_visual">
-        <pose>0 0 0.0145 0 -0 0</pose>
-        <geometry>
-          <mesh>
-            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/basler_ace2_pro.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-      <visual name="camera_1_visual_1">
-        <pose>0.042964 0 0.0145 0 -0 0</pose>
-        <geometry>
-          <mesh>
-            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/evetar_lens.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-      <sensor name="camera_1" type="camera">
-        <pose>0.072044 0 0.0145 0 -0 0</pose>
-        <update_rate>9</update_rate>
-        <visualize>0</visualize>
-        <camera>
-          <horizontal_fov>1.50971</horizontal_fov>
-          <image>
-            <width>1920</width>
-            <height>1200</height>
-            <format>R8G8B8</format>
-          </image>
-          <clip>
-            <near>0.011726</near>
-            <far>300</far>
-          </clip>
-          <noise>
-            <type>gaussian</type>
-            <mean>0</mean>
-            <stddev>0.007</stddev>
-          </noise>
-          <lens>
-            <intrinsics>
-              <fx>1020.51</fx>
-              <fy>1020.51</fy>
-              <cx>959.5</cx>
-              <cy>599.5</cy>
-              <s>0</s>
-            </intrinsics>
-            <type>stereographic</type>
-            <scale_to_hfov>1</scale_to_hfov>
-          </lens>
-        </camera>
-      </sensor>
-    </link>
-    <joint name="camera_1_j" type="fixed">
-      <child>camera_1</child>
-      <parent>base_link</parent>
-      <axis>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <xyz>0 0 1</xyz>
-        <use_parent_model_frame>0</use_parent_model_frame>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-      </axis>
-      <physics>
-        <ode>
-          <limit>
-            <cfm>0</cfm>
-            <erp>0.2</erp>
-          </limit>
-        </ode>
-      </physics>
-    </joint>
-    <link name="camera_2">
-      <pose>-0.245 0 0.185 0 -0 3.1415926535897931</pose>
-      <inertial>
-        <pose>0.039802 0 0.0145 0 -0 0</pose>
-        <mass>0.232</mass>
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-      <parent>base_link</parent>
-      <axis>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <xyz>0 0 1</xyz>
-        <use_parent_model_frame>0</use_parent_model_frame>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-      </axis>
-      <physics>
-        <ode>
-          <limit>
-            <cfm>0</cfm>
-            <erp>0.2</erp>
-          </limit>
-        </ode>
-      </physics>
-    </joint>
-    <link name="laser">
-      <pose>0.1415 0 0.365 0 0.18 0</pose>
-      <inertial>
-        <pose>0 0 0.03675 0 -0 0</pose>
-        <mass>0.5</mass>
-        <inertia>
-          <ixx>0.000461625</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.000461625</iyy>
-          <iyz>0</iyz>
-          <izz>0.000473063</izz>
-        </inertia>
-      </inertial>
-      <collision name="laser_collision">
-        <pose>0 0 0.03675 0 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.0735</length>
-            <radius>0.0435</radius>
-          </cylinder>
-        </geometry>
-      </collision>
-      <visual name="laser_visual">
-        <geometry>
-          <mesh>
-            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/ouster-os0.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-      <sensor name="laser" type="gpu_lidar">
-        <pose>0 0 0.035925 0 -0 0</pose>
-        <update_rate>10</update_rate>
-        <visualize>0</visualize>
-        <always_on>1</always_on>
-        <lidar>
-          <scan>
-            <horizontal>
-              <samples>2048</samples>
-              <resolution>1</resolution>
-              <min_angle>-3.1459</min_angle>
-              <max_angle>3.1459</max_angle>
-            </horizontal>
-            <vertical>
-              <samples>128</samples>
-              <resolution>1</resolution>
-              <min_angle>-0.785398</min_angle>
-              <max_angle>0.785398</max_angle>
-            </vertical>
-          </scan>
-          <range>
-            <min>0.1</min>
-            <max>50</max>
-            <resolution>0.01</resolution>
-          </range>
-          <noise>
-            <type>gaussian</type>
-            <mean>0</mean>
-            <stddev>0.01</stddev>
-          </noise>
-        </lidar>
-      </sensor>
-    </link>
-    <joint name="laser_j" type="fixed">
-      <child>laser</child>
-      <parent>base_link</parent>
-      <axis>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <xyz>0 0 1</xyz>
-        <use_parent_model_frame>0</use_parent_model_frame>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-      </axis>
-      <physics>
-        <ode>
-          <limit>
-            <cfm>0</cfm>
-            <erp>0.2</erp>
-          </limit>
-        </ode>
-      </physics>
-    </joint>
-    <link name="right_track">
-      <pose>0 -0.1985 0 0 -0 0</pose>
-      <inertial>
-        <mass>1e-05</mass>
-        <inertia>
-          <ixx>0.001</ixx>
-          <ixy>1e-06</ixy>
-          <ixz>1e-06</ixz>
-          <iyy>0.001</iyy>
-          <iyz>1e-06</iyz>
-          <izz>0.001</izz>
-        </inertia>
-      </inertial>
-      <collision name="right_track_collision">
-        <geometry>
-          <box>
-            <size>0.01 0.01 0.01</size>
-          </box>
-        </geometry>
-        <surface>
-          <friction>
-            <ode>
-              <mu>0.7</mu>
-              <mu2>150</mu2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-      <visual name="right_track_visual">
-        <pose>0 0 -0.0705 1.5707963267948966 0 -1.5707963267948966</pose>
-        <geometry>
-          <mesh>
-            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/bogie.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-    </link>
-    <joint name="right_track_j" type="revolute">
-      <child>right_track</child>
-      <parent>base_link</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>0</lower>
-          <upper>0</upper>
-          <effort>0</effort>
-          <velocity>4</velocity>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-      <physics>
-        <ode>
-          <limit>
-            <cfm>0</cfm>
-            <erp>0.2</erp>
-          </limit>
-        </ode>
-      </physics>
-      <physics>
-        <ode>
-          <implicit_spring_damper>1</implicit_spring_damper>
-          <cfm>0</cfm>
-          <erp>0.95</erp>
-        </ode>
-      </physics>
-    </joint>
-    <link name="front_right_flipper">
-      <pose>0.25 -0.272 0.0195 3.1415926535897931 -0.193732 3.1415926535897931</pose>
-      <inertial>
-        <mass>1e-05</mass>
-        <inertia>
-          <ixx>0.001</ixx>
-          <ixy>1e-06</ixy>
-          <ixz>1e-06</ixz>
-          <iyy>0.001</iyy>
-          <iyz>1e-06</iyz>
-          <izz>0.001</izz>
-        </inertia>
-      </inertial>
-      <collision name="front_right_flipper_collision">
-        <geometry>
-          <box>
-            <size>0.01 0.01 0.01</size>
-          </box>
-        </geometry>
-        <surface>
-          <friction>
-            <ode>
-              <mu>0.7</mu>
-              <mu2>150</mu2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-      <visual name="front_right_flipper_visual">
-        <pose>0 0 0 -2.95743 -0 -1.5707963267948966</pose>
-        <geometry>
-          <mesh>
-            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/flipper.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-    </link>
-    <joint name="front_right_flipper_j" type="revolute">
-      <child>front_right_flipper</child>
-      <parent>right_track</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>20</effort>
-          <velocity>0.785398</velocity>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-      <physics>
-        <ode>
-          <implicit_spring_damper>1</implicit_spring_damper>
-          <cfm_damping>1</cfm_damping>
-          <limit>
-            <cfm>0</cfm>
-            <erp>0.2</erp>
-          </limit>
-        </ode>
-      </physics>
-    </joint>
-    <link name="front_right_flipper_wheel1">
-      <pose>0.25 -0.272 0.0195 3.1415926535897931 -0.193732 3.1415926535897931</pose>
-      <inertial>
-        <pose>-0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
-        <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
-        </inertia>
-      </inertial>
-      <collision name="front_right_flipper_wheel1_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.04981</length>
-            <radius>0.089</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-    </link>
-    <joint name="front_right_flipper_wheel1_j" type="revolute">
-      <child>front_right_flipper_wheel1</child>
-      <parent>front_right_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="front_right_flipper_wheel2">
-      <pose>0.330957 -0.272 0.003617 3.1415926535897931 -0.193732 3.1415926535897931</pose>
-      <inertial>
-        <pose>-0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
-        <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
-        </inertia>
-      </inertial>
-      <collision name="front_right_flipper_wheel2_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.04981</length>
-            <radius>0.074</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-    </link>
-    <joint name="front_right_flipper_wheel2_j" type="revolute">
-      <child>front_right_flipper_wheel2</child>
-      <parent>front_right_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="front_right_flipper_wheel3">
-      <pose>0.411913 -0.272 -0.012266 3.1415926535897931 -0.193732 3.1415926535897931</pose>
-      <inertial>
-        <pose>-0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
-        <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
-        </inertia>
-      </inertial>
-      <collision name="front_right_flipper_wheel3_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.04981</length>
-            <radius>0.059</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-    </link>
-    <joint name="front_right_flipper_wheel3_j" type="revolute">
-      <child>front_right_flipper_wheel3</child>
-      <parent>front_right_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="front_right_flipper_wheel4">
-      <pose>0.49287 -0.272 -0.028149 3.1415926535897931 -0.193732 3.1415926535897931</pose>
-      <inertial>
-        <pose>-0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
-        <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
-        </inertia>
-      </inertial>
-      <collision name="front_right_flipper_wheel4_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.04981</length>
-            <radius>0.044</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-    </link>
-    <joint name="front_right_flipper_wheel4_j" type="revolute">
-      <child>front_right_flipper_wheel4</child>
-      <parent>front_right_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="front_right_flipper_wheel5">
-      <pose>0.573827 -0.272 -0.044032 3.1415926535897931 -0.193732 3.1415926535897931</pose>
-      <inertial>
-        <pose>-0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
-        <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
-        </inertia>
-      </inertial>
-      <collision name="front_right_flipper_wheel5_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.04981</length>
-            <radius>0.029</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
+        <always_on>1</always_on>
+        <lidar>
+          <scan>
+            <horizontal>
+              <samples>3</samples>
+              <resolution>1</resolution>
+              <min_angle>-0.0314159</min_angle>
+              <max_angle>0.0314159</max_angle>
+            </horizontal>
+            <vertical>
+              <samples>3</samples>
+              <resolution>1</resolution>
+              <min_angle>-0.0314159</min_angle>
+              <max_angle>0.0314159</max_angle>
+            </vertical>
+          </scan>
+          <range>
+            <min>0.1</min>
+            <max>12</max>
+            <resolution>0.01</resolution>
+          </range>
+          <noise>
+            <type>gaussian</type>
+            <mean>0</mean>
+            <stddev>0.015</stddev>
+          </noise>
+        </lidar>
+      </sensor>
     </link>
-    <joint name="front_right_flipper_wheel5_j" type="revolute">
-      <child>front_right_flipper_wheel5</child>
-      <parent>front_right_flipper</parent>
+    <joint name="cliff_sensor_2_j" type="fixed">
+      <child>cliff_sensor_2</child>
+      <parent>base_link</parent>
       <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
         <dynamics>
           <spring_reference>0</spring_reference>
           <spring_stiffness>0</spring_stiffness>
         </dynamics>
+        <xyz>0 0 1</xyz>
         <use_parent_model_frame>0</use_parent_model_frame>
+        <limit>
+          <lower>-1e+16</lower>
+          <upper>1e+16</upper>
+        </limit>
       </axis>
+      <physics>
+        <ode>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+        </ode>
+      </physics>
     </joint>
-    <link name="rear_right_flipper">
-      <pose>-0.25 -0.272 0.0195 0 -0.193732 0</pose>
+    <link name="cliff_sensor_3">
+      <pose>-0.275 -0.120465 0.2035 1.5707963267948966 1.5707963267948966 0</pose>
       <inertial>
-        <mass>1e-05</mass>
+        <pose>0.0105 0 0.00925 0 -0 0</pose>
+        <mass>0.012</mass>
         <inertia>
-          <ixx>0.001</ixx>
-          <ixy>1e-06</ixy>
-          <ixz>1e-06</ixz>
-          <iyy>0.001</iyy>
-          <iyz>1e-06</iyz>
-          <izz>0.001</izz>
+          <ixx>1.56725e-06</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>7.8325e-07</iyy>
+          <iyz>0</iyz>
+          <izz>1.666e-06</izz>
         </inertia>
       </inertial>
-      <collision name="rear_right_flipper_collision">
+      <collision name="cliff_sensor_3_collision">
+        <pose>0.0105 0 0.00925 0 -0 0</pose>
         <geometry>
           <box>
-            <size>0.01 0.01 0.01</size>
+            <size>0.021 0.035 0.0185</size>
           </box>
         </geometry>
-        <surface>
-          <friction>
-            <ode>
-              <mu>0.7</mu>
-              <mu2>150</mu2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
       </collision>
-      <visual name="rear_right_flipper_visual">
-        <pose>0 0 0 -2.95743 -0 -1.5707963267948966</pose>
+      <visual name="cliff_sensor_3_visual">
         <geometry>
           <mesh>
-            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/flipper.dae</uri>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/tfmini_plus_lidar.dae</uri>
           </mesh>
         </geometry>
       </visual>
+      <sensor name="laser" type="gpu_lidar">
+        <pose>0.021 0 0.00925 0 -0 0</pose>
+        <update_rate>10</update_rate>
+        <visualize>0</visualize>
+        <always_on>1</always_on>
+        <lidar>
+          <scan>
+            <horizontal>
+              <samples>3</samples>
+              <resolution>1</resolution>
+              <min_angle>-0.0314159</min_angle>
+              <max_angle>0.0314159</max_angle>
+            </horizontal>
+            <vertical>
+              <samples>3</samples>
+              <resolution>1</resolution>
+              <min_angle>-0.0314159</min_angle>
+              <max_angle>0.0314159</max_angle>
+            </vertical>
+          </scan>
+          <range>
+            <min>0.1</min>
+            <max>12</max>
+            <resolution>0.01</resolution>
+          </range>
+          <noise>
+            <type>gaussian</type>
+            <mean>0</mean>
+            <stddev>0.015</stddev>
+          </noise>
+        </lidar>
+      </sensor>
     </link>
-    <joint name="rear_right_flipper_j" type="revolute">
-      <child>rear_right_flipper</child>
-      <parent>right_track</parent>
+    <joint name="cliff_sensor_3_j" type="fixed">
+      <child>cliff_sensor_3</child>
+      <parent>base_link</parent>
       <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>20</effort>
-          <velocity>0.785398</velocity>
-        </limit>
         <dynamics>
           <spring_reference>0</spring_reference>
           <spring_stiffness>0</spring_stiffness>
         </dynamics>
+        <xyz>0 0 1</xyz>
         <use_parent_model_frame>0</use_parent_model_frame>
+        <limit>
+          <lower>-1e+16</lower>
+          <upper>1e+16</upper>
+        </limit>
       </axis>
       <physics>
         <ode>
-          <implicit_spring_damper>1</implicit_spring_damper>
-          <cfm_damping>1</cfm_damping>
           <limit>
             <cfm>0</cfm>
             <erp>0.2</erp>
@@ -3135,296 +1611,203 @@
         </ode>
       </physics>
     </joint>
-    <link name="rear_right_flipper_wheel1">
-      <pose>-0.25 -0.272 0.0195 0 -0.193732 0</pose>
+    <link name="camera_4">
+      <pose>0.0435 -0.0145 0.26752 -1.5707963267948966 -1.5707963267948966 0</pose>
       <inertial>
-        <pose>-0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
+        <pose>0.039802 0 0.0145 0 -0 0</pose>
+        <mass>0.232</mass>
         <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
+          <ixx>3.25187e-05</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.000158598</iyy>
+          <iyz>0</iyz>
+          <izz>0.000158598</izz>
         </inertia>
       </inertial>
-      <collision name="rear_right_flipper_wheel1_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="camera_4_collision_collision">
+        <pose>0.02465 0 0.0145 0 -0 0</pose>
         <geometry>
-          <cylinder>
-            <length>0.04981</length>
-            <radius>0.089</radius>
-          </cylinder>
+          <box>
+            <size>0.0555 0.029 0.029</size>
+          </box>
         </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
       </collision>
-    </link>
-    <joint name="rear_right_flipper_wheel1_j" type="revolute">
-      <child>rear_right_flipper_wheel1</child>
-      <parent>rear_right_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="rear_right_flipper_wheel2">
-      <pose>-0.330957 -0.272 0.003617 0 -0.193732 0</pose>
-      <inertial>
-        <pose>-0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
-        <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
-        </inertia>
-      </inertial>
-      <collision name="rear_right_flipper_wheel2_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="camera_4_lens_collision_collision_1">
+        <pose>0.062834 0 0.0145 0 1.5707963267948966 0</pose>
         <geometry>
           <cylinder>
-            <length>0.04981</length>
-            <radius>0.074</radius>
+            <length>0.03974</length>
+            <radius>0.0125</radius>
           </cylinder>
         </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
       </collision>
-    </link>
-    <joint name="rear_right_flipper_wheel2_j" type="revolute">
-      <child>rear_right_flipper_wheel2</child>
-      <parent>rear_right_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="rear_right_flipper_wheel3">
-      <pose>-0.411913 -0.272 -0.012266 0 -0.193732 0</pose>
-      <inertial>
-        <pose>-0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
-        <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
-        </inertia>
-      </inertial>
-      <collision name="rear_right_flipper_wheel3_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <visual name="camera_4_visual">
+        <pose>0 0 0.0145 0 -0 0</pose>
         <geometry>
-          <cylinder>
-            <length>0.04981</length>
-            <radius>0.059</radius>
-          </cylinder>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/basler_ace2_pro.dae</uri>
+          </mesh>
         </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
+      </visual>
+      <visual name="camera_4_visual_1">
+        <pose>0.042964 0 0.0145 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/evetar_lens.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <sensor name="camera_4" type="camera">
+        <pose>0.072044 0 0.0145 0 -0 0</pose>
+        <update_rate>9</update_rate>
+        <visualize>0</visualize>
+        <camera>
+          <horizontal_fov>1.50971</horizontal_fov>
+          <image>
+            <width>1920</width>
+            <height>1200</height>
+            <format>R8G8B8</format>
+          </image>
+          <clip>
+            <near>0.011726</near>
+            <far>300</far>
+          </clip>
+          <noise>
+            <type>gaussian</type>
+            <mean>0</mean>
+            <stddev>0.007</stddev>
+          </noise>
+          <lens>
+            <intrinsics>
+              <fx>1020.51</fx>
+              <fy>1020.51</fy>
+              <cx>959.5</cx>
+              <cy>599.5</cy>
+              <s>0</s>
+            </intrinsics>
+            <type>stereographic</type>
+            <scale_to_hfov>1</scale_to_hfov>
+          </lens>
+        </camera>
+      </sensor>
     </link>
-    <joint name="rear_right_flipper_wheel3_j" type="revolute">
-      <child>rear_right_flipper_wheel3</child>
-      <parent>rear_right_flipper</parent>
+    <joint name="camera_4_j" type="fixed">
+      <child>camera_4</child>
+      <parent>base_link</parent>
       <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
         <dynamics>
           <spring_reference>0</spring_reference>
           <spring_stiffness>0</spring_stiffness>
         </dynamics>
+        <xyz>0 0 1</xyz>
         <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="rear_right_flipper_wheel4">
-      <pose>-0.49287 -0.272 -0.028149 0 -0.193732 0</pose>
-      <inertial>
-        <pose>-0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
-        <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
-        </inertia>
-      </inertial>
-      <collision name="rear_right_flipper_wheel4_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.04981</length>
-            <radius>0.044</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-    </link>
-    <joint name="rear_right_flipper_wheel4_j" type="revolute">
-      <child>rear_right_flipper_wheel4</child>
-      <parent>rear_right_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
         <limit>
           <lower>-1e+16</lower>
           <upper>1e+16</upper>
         </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
       </axis>
+      <physics>
+        <ode>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+        </ode>
+      </physics>
     </joint>
-    <link name="rear_right_flipper_wheel5">
-      <pose>-0.573827 -0.272 -0.044032 0 -0.193732 0</pose>
+    <link name="laser">
+      <pose>0.1415 0 0.365 0 0.18 0</pose>
       <inertial>
-        <pose>-0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
+        <pose>0 0 0.03675 0 -0 0</pose>
+        <mass>0.5</mass>
         <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
+          <ixx>0.000461625</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.000461625</iyy>
+          <iyz>0</iyz>
+          <izz>0.000473063</izz>
         </inertia>
       </inertial>
-      <collision name="rear_right_flipper_wheel5_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="laser_collision">
+        <pose>0 0 0.03675 0 -0 0</pose>
         <geometry>
           <cylinder>
-            <length>0.04981</length>
-            <radius>0.029</radius>
+            <length>0.0735</length>
+            <radius>0.0435</radius>
           </cylinder>
         </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
       </collision>
+      <visual name="laser_visual">
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/ouster-os0.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <sensor name="laser" type="gpu_lidar">
+        <pose>0 0 0.035925 0 -0 0</pose>
+        <update_rate>10</update_rate>
+        <visualize>0</visualize>
+        <always_on>1</always_on>
+        <lidar>
+          <scan>
+            <horizontal>
+              <samples>2048</samples>
+              <resolution>1</resolution>
+              <min_angle>-3.1459</min_angle>
+              <max_angle>3.1459</max_angle>
+            </horizontal>
+            <vertical>
+              <samples>128</samples>
+              <resolution>1</resolution>
+              <min_angle>-0.785398</min_angle>
+              <max_angle>0.785398</max_angle>
+            </vertical>
+          </scan>
+          <range>
+            <min>0.1</min>
+            <max>50</max>
+            <resolution>0.01</resolution>
+          </range>
+          <noise>
+            <type>gaussian</type>
+            <mean>0</mean>
+            <stddev>0.01</stddev>
+          </noise>
+        </lidar>
+      </sensor>
     </link>
-    <joint name="rear_right_flipper_wheel5_j" type="revolute">
-      <child>rear_right_flipper_wheel5</child>
-      <parent>rear_right_flipper</parent>
+    <joint name="laser_j" type="fixed">
+      <child>laser</child>
+      <parent>base_link</parent>
       <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
         <dynamics>
           <spring_reference>0</spring_reference>
           <spring_stiffness>0</spring_stiffness>
         </dynamics>
+        <xyz>0 0 1</xyz>
         <use_parent_model_frame>0</use_parent_model_frame>
+        <limit>
+          <lower>-1e+16</lower>
+          <upper>1e+16</upper>
+        </limit>
       </axis>
+      <physics>
+        <ode>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+        </ode>
+      </physics>
     </joint>
-    <link name="right_track_wheel1">
-      <pose>0.25 -0.1985 0.01855 0 -0 0</pose>
+    <link name="right_track">
+      <pose>0 -0.1985 0 0 -0 0</pose>
       <inertial>
         <pose>0 0 0.0141 0 -0 0</pose>
-        <mass>0.7575</mass>
+        <mass>6.06</mass>
         <inertia>
           <ixx>0.002731</ixx>
           <ixy>0</ixy>
@@ -3434,8 +1817,25 @@
           <izz>0.031391</izz>
         </inertia>
       </inertial>
-      <collision name="right_track_wheel1_collision">
-        <pose>0 0.015 0 1.5707963267948966 -0 0</pose>
+      <collision name="right_track_collision">
+        <pose>0 0 0.01855 1.5707963267948966 -0 1.5707963267948966</pose>
+        <geometry>
+          <box>
+            <size>0.097 0.178 0.5</size>
+          </box>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>10</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="right_track_collision_1">
+        <pose>0.25 0.015 0.01855 1.5707963267948966 -0 0</pose>
         <geometry>
           <cylinder>
             <length>0.112</length>
@@ -3443,56 +1843,17 @@
           </cylinder>
         </geometry>
         <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
           <friction>
             <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
+              <mu>10</mu>
+              <mu2>150</mu2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
-    </link>
-    <joint name="right_track_wheel1_j" type="revolute">
-      <child>right_track_wheel1</child>
-      <parent>right_track</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="right_track_wheel2">
-      <pose>0.178571 -0.1985 0.01855 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0.0141 0 -0 0</pose>
-        <mass>0.7575</mass>
-        <inertia>
-          <ixx>0.002731</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.032554</iyy>
-          <iyz>1.5e-05</iyz>
-          <izz>0.031391</izz>
-        </inertia>
-      </inertial>
-      <collision name="right_track_wheel2_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="right_track_collision_2">
+        <pose>-0.25 0 0.01855 1.5707963267948966 -0 0</pose>
         <geometry>
           <cylinder>
             <length>0.097</length>
@@ -3500,32 +1861,34 @@
           </cylinder>
         </geometry>
         <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
           <friction>
             <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
+              <mu>10</mu>
+              <mu2>150</mu2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
+      <visual name="right_track_visual">
+        <pose>0 0 -0.0705 1.5707963267948966 0 -1.5707963267948966</pose>
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/bogie.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
     </link>
-    <joint name="right_track_wheel2_j" type="revolute">
-      <child>right_track_wheel2</child>
-      <parent>right_track</parent>
+    <joint name="right_track_j" type="revolute">
+      <child>right_track</child>
+      <parent>base_link</parent>
       <axis>
         <xyz>0 1 0</xyz>
         <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
+          <lower>0</lower>
+          <upper>0</upper>
+          <effort>0</effort>
+          <velocity>4</velocity>
         </limit>
         <dynamics>
           <spring_reference>0</spring_reference>
@@ -3533,170 +1896,142 @@
         </dynamics>
         <use_parent_model_frame>0</use_parent_model_frame>
       </axis>
+      <physics>
+        <ode>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+        </ode>
+      </physics>
+      <physics>
+        <ode>
+          <implicit_spring_damper>1</implicit_spring_damper>
+          <cfm>0</cfm>
+          <erp>0.95</erp>
+        </ode>
+      </physics>
     </joint>
-    <link name="right_track_wheel3">
-      <pose>0.107143 -0.1985 0.01855 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0.0141 0 -0 0</pose>
-        <mass>0.7575</mass>
-        <inertia>
-          <ixx>0.002731</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.032554</iyy>
-          <iyz>1.5e-05</iyz>
-          <izz>0.031391</izz>
+    <link name="front_right_flipper">
+      <pose>0.25 -0.272 0.0195 3.1415926535897931 -0.193732 3.1415926535897931</pose>
+      <inertial>
+        <pose>-0.08 0 0 0 -0 0</pose>
+        <mass>0.75</mass>
+        <inertia>
+          <ixx>0.0017491</ixx>
+          <ixy>2.8512e-07</ixy>
+          <ixz>0.0018277</ixz>
+          <iyy>0.012277</iyy>
+          <iyz>-3.6288e-07</iyz>
+          <izz>0.010941</izz>
         </inertia>
       </inertial>
-      <collision name="right_track_wheel3_collision">
+      <collision name="front_right_flipper_collision_large_wheel_collision">
         <pose>0 0 0 1.5707963267948966 -0 0</pose>
         <geometry>
           <cylinder>
-            <length>0.097</length>
+            <length>0.04981</length>
             <radius>0.089</radius>
           </cylinder>
         </geometry>
         <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
           <friction>
             <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
+              <mu>10</mu>
+              <mu2>150</mu2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
-    </link>
-    <joint name="right_track_wheel3_j" type="revolute">
-      <child>right_track_wheel3</child>
-      <parent>right_track</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="right_track_wheel4">
-      <pose>0.035714 -0.1985 0.01855 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0.0141 0 -0 0</pose>
-        <mass>0.7575</mass>
-        <inertia>
-          <ixx>0.002731</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.032554</iyy>
-          <iyz>1.5e-05</iyz>
-          <izz>0.031391</izz>
-        </inertia>
-      </inertial>
-      <collision name="right_track_wheel4_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="front_right_flipper_collision_small_wheel_collision_1">
+        <pose>-0.33 0 0 1.5707963267948966 -0 0</pose>
         <geometry>
           <cylinder>
-            <length>0.097</length>
-            <radius>0.089</radius>
+            <length>0.04981</length>
+            <radius>0.029</radius>
           </cylinder>
         </geometry>
         <surface>
-          <contact>
+          <friction>
             <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
+              <mu>10</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
             </ode>
-          </contact>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="front_right_flipper_collision_top_bar_collision_2">
+        <pose>-0.165 0 0.0325 0 0.184162 -3.1415926535897931</pose>
+        <geometry>
+          <box>
+            <size>0.33 0.04981 0.055</size>
+          </box>
+        </geometry>
+        <surface>
           <friction>
             <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
+              <mu>10</mu>
+              <mu2>150</mu2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
-    </link>
-    <joint name="right_track_wheel4_j" type="revolute">
-      <child>right_track_wheel4</child>
-      <parent>right_track</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="right_track_wheel5">
-      <pose>-0.035714 -0.1985 0.01855 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0.0141 0 -0 0</pose>
-        <mass>0.7575</mass>
-        <inertia>
-          <ixx>0.002731</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.032554</iyy>
-          <iyz>1.5e-05</iyz>
-          <izz>0.031391</izz>
-        </inertia>
-      </inertial>
-      <collision name="right_track_wheel5_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="front_right_flipper_collision_bottom_bar_collision_3">
+        <pose>-0.165 0 -0.0325 0 -0.184162 -3.1415926535897931</pose>
         <geometry>
-          <cylinder>
-            <length>0.097</length>
-            <radius>0.089</radius>
-          </cylinder>
+          <box>
+            <size>0.33 0.04981 0.055</size>
+          </box>
         </geometry>
         <surface>
-          <contact>
+          <friction>
             <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
+              <mu>10</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
             </ode>
-          </contact>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="front_right_flipper_collision_middle_bar_collision_4">
+        <pose>-0.166 0 0.004 0 -0.02 -3.1415926535897931</pose>
+        <geometry>
+          <box>
+            <size>0.2 0.04981 0.07</size>
+          </box>
+        </geometry>
+        <surface>
           <friction>
             <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
+              <mu>10</mu>
+              <mu2>150</mu2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
+      <visual name="front_right_flipper_visual">
+        <pose>0 0 0 -2.95743 -0 -1.5707963267948966</pose>
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/flipper.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
     </link>
-    <joint name="right_track_wheel5_j" type="revolute">
-      <child>right_track_wheel5</child>
+    <joint name="front_right_flipper_j" type="revolute">
+      <child>front_right_flipper</child>
       <parent>right_track</parent>
       <axis>
         <xyz>0 1 0</xyz>
         <limit>
           <lower>-1e+16</lower>
           <upper>1e+16</upper>
+          <effort>20</effort>
+          <velocity>0.785398</velocity>
         </limit>
         <dynamics>
           <spring_reference>0</spring_reference>
@@ -3704,170 +2039,137 @@
         </dynamics>
         <use_parent_model_frame>0</use_parent_model_frame>
       </axis>
+      <physics>
+        <ode>
+          <implicit_spring_damper>1</implicit_spring_damper>
+          <cfm_damping>1</cfm_damping>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+        </ode>
+      </physics>
     </joint>
-    <link name="right_track_wheel6">
-      <pose>-0.107143 -0.1985 0.01855 0 -0 0</pose>
+    <link name="rear_right_flipper">
+      <pose>-0.25 -0.272 0.0195 0 -0.193732 0</pose>
       <inertial>
-        <pose>0 0 0.0141 0 -0 0</pose>
-        <mass>0.7575</mass>
+        <pose>-0.08 0 0 0 -0 0</pose>
+        <mass>0.75</mass>
         <inertia>
-          <ixx>0.002731</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.032554</iyy>
-          <iyz>1.5e-05</iyz>
-          <izz>0.031391</izz>
+          <ixx>0.0017491</ixx>
+          <ixy>2.8512e-07</ixy>
+          <ixz>0.0018277</ixz>
+          <iyy>0.012277</iyy>
+          <iyz>-3.6288e-07</iyz>
+          <izz>0.010941</izz>
         </inertia>
       </inertial>
-      <collision name="right_track_wheel6_collision">
+      <collision name="rear_right_flipper_collision_large_wheel_collision">
         <pose>0 0 0 1.5707963267948966 -0 0</pose>
         <geometry>
           <cylinder>
-            <length>0.097</length>
+            <length>0.04981</length>
             <radius>0.089</radius>
           </cylinder>
         </geometry>
         <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
           <friction>
             <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
+              <mu>10</mu>
+              <mu2>150</mu2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
-    </link>
-    <joint name="right_track_wheel6_j" type="revolute">
-      <child>right_track_wheel6</child>
-      <parent>right_track</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="right_track_wheel7">
-      <pose>-0.178571 -0.1985 0.01855 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0.0141 0 -0 0</pose>
-        <mass>0.7575</mass>
-        <inertia>
-          <ixx>0.002731</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.032554</iyy>
-          <iyz>1.5e-05</iyz>
-          <izz>0.031391</izz>
-        </inertia>
-      </inertial>
-      <collision name="right_track_wheel7_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="rear_right_flipper_collision_small_wheel_collision_1">
+        <pose>-0.33 0 0 1.5707963267948966 -0 0</pose>
         <geometry>
           <cylinder>
-            <length>0.097</length>
-            <radius>0.089</radius>
+            <length>0.04981</length>
+            <radius>0.029</radius>
           </cylinder>
         </geometry>
         <surface>
-          <contact>
+          <friction>
             <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
+              <mu>10</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
             </ode>
-          </contact>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="rear_right_flipper_collision_top_bar_collision_2">
+        <pose>-0.165 0 0.0325 0 0.184162 -3.1415926535897931</pose>
+        <geometry>
+          <box>
+            <size>0.33 0.04981 0.055</size>
+          </box>
+        </geometry>
+        <surface>
           <friction>
             <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
+              <mu>10</mu>
+              <mu2>150</mu2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
-    </link>
-    <joint name="right_track_wheel7_j" type="revolute">
-      <child>right_track_wheel7</child>
-      <parent>right_track</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="right_track_wheel8">
-      <pose>-0.25 -0.1985 0.01855 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0.0141 0 -0 0</pose>
-        <mass>0.7575</mass>
-        <inertia>
-          <ixx>0.002731</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.032554</iyy>
-          <iyz>1.5e-05</iyz>
-          <izz>0.031391</izz>
-        </inertia>
-      </inertial>
-      <collision name="right_track_wheel8_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="rear_right_flipper_collision_bottom_bar_collision_3">
+        <pose>-0.165 0 -0.0325 0 -0.184162 -3.1415926535897931</pose>
         <geometry>
-          <cylinder>
-            <length>0.097</length>
-            <radius>0.089</radius>
-          </cylinder>
+          <box>
+            <size>0.33 0.04981 0.055</size>
+          </box>
         </geometry>
         <surface>
-          <contact>
+          <friction>
             <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
+              <mu>10</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
             </ode>
-          </contact>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="rear_right_flipper_collision_middle_bar_collision_4">
+        <pose>-0.166 0 0.004 0 -0.02 -3.1415926535897931</pose>
+        <geometry>
+          <box>
+            <size>0.2 0.04981 0.07</size>
+          </box>
+        </geometry>
+        <surface>
           <friction>
             <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
+              <mu>10</mu>
+              <mu2>150</mu2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
+      <visual name="rear_right_flipper_visual">
+        <pose>0 0 0 -2.95743 -0 -1.5707963267948966</pose>
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/flipper.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
     </link>
-    <joint name="right_track_wheel8_j" type="revolute">
-      <child>right_track_wheel8</child>
+    <joint name="rear_right_flipper_j" type="revolute">
+      <child>rear_right_flipper</child>
       <parent>right_track</parent>
       <axis>
         <xyz>0 1 0</xyz>
         <limit>
           <lower>-1e+16</lower>
           <upper>1e+16</upper>
+          <effort>20</effort>
+          <velocity>0.785398</velocity>
         </limit>
         <dynamics>
           <spring_reference>0</spring_reference>
@@ -3875,6 +2177,16 @@
         </dynamics>
         <use_parent_model_frame>0</use_parent_model_frame>
       </axis>
+      <physics>
+        <ode>
+          <implicit_spring_damper>1</implicit_spring_damper>
+          <cfm_damping>1</cfm_damping>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+        </ode>
+      </physics>
     </joint>
     <plugin name="cras::FlipperControlPlugin" filename="libflipper_control_plugin.so">
       <joint_name>front_left_flipper_j</joint_name>
diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_8/model.sdf b/submitted_models/ctu_cras_norlab_absolem_sensor_config_8/model.sdf
index 034c279a..b69ca503 100644
--- a/submitted_models/ctu_cras_norlab_absolem_sensor_config_8/model.sdf
+++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_8/model.sdf
@@ -457,26 +457,64 @@
     <link name="left_track">
       <pose>0 0.1985 0 0 -0 0</pose>
       <inertial>
-        <mass>1e-05</mass>
+        <pose>0 0 0.0141 0 -0 0</pose>
+        <mass>6.06</mass>
         <inertia>
-          <ixx>0.001</ixx>
-          <ixy>1e-06</ixy>
-          <ixz>1e-06</ixz>
-          <iyy>0.001</iyy>
-          <iyz>1e-06</iyz>
-          <izz>0.001</izz>
+          <ixx>0.002731</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.032554</iyy>
+          <iyz>1.5e-05</iyz>
+          <izz>0.031391</izz>
         </inertia>
       </inertial>
       <collision name="left_track_collision">
+        <pose>0 0 0.01855 1.5707963267948966 -0 1.5707963267948966</pose>
         <geometry>
           <box>
-            <size>0.01 0.01 0.01</size>
+            <size>0.097 0.178 0.5</size>
           </box>
         </geometry>
         <surface>
           <friction>
             <ode>
-              <mu>0.7</mu>
+              <mu>10</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="left_track_collision_1">
+        <pose>0.25 -0.015 0.01855 1.5707963267948966 -0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.112</length>
+            <radius>0.089</radius>
+          </cylinder>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>10</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="left_track_collision_2">
+        <pose>-0.25 0 0.01855 1.5707963267948966 -0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.097</length>
+            <radius>0.089</radius>
+          </cylinder>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>10</mu>
               <mu2>150</mu2>
               <fdir1>0 0 1</fdir1>
             </ode>
@@ -528,26 +566,98 @@
     <link name="front_left_flipper">
       <pose>0.25 0.272 0.0195 0 0.193732 0</pose>
       <inertial>
-        <mass>1e-05</mass>
+        <pose>0.08 0 0 0 -0 0</pose>
+        <mass>0.75</mass>
         <inertia>
-          <ixx>0.001</ixx>
-          <ixy>1e-06</ixy>
-          <ixz>1e-06</ixz>
-          <iyy>0.001</iyy>
-          <iyz>1e-06</iyz>
-          <izz>0.001</izz>
+          <ixx>0.0017491</ixx>
+          <ixy>2.8512e-07</ixy>
+          <ixz>0.0018277</ixz>
+          <iyy>0.012277</iyy>
+          <iyz>-3.6288e-07</iyz>
+          <izz>0.010941</izz>
         </inertia>
       </inertial>
-      <collision name="front_left_flipper_collision">
+      <collision name="front_left_flipper_collision_large_wheel_collision">
+        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.04981</length>
+            <radius>0.089</radius>
+          </cylinder>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>10</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="front_left_flipper_collision_small_wheel_collision_1">
+        <pose>0.33 0 0 1.5707963267948966 -0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.04981</length>
+            <radius>0.029</radius>
+          </cylinder>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>10</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="front_left_flipper_collision_top_bar_collision_2">
+        <pose>0.165 0 0.0325 0 0.184162 0</pose>
+        <geometry>
+          <box>
+            <size>0.33 0.04981 0.055</size>
+          </box>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>10</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="front_left_flipper_collision_bottom_bar_collision_3">
+        <pose>0.165 0 -0.0325 0 -0.184162 0</pose>
+        <geometry>
+          <box>
+            <size>0.33 0.04981 0.055</size>
+          </box>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>10</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="front_left_flipper_collision_middle_bar_collision_4">
+        <pose>0.166 0 0.004 0 -0.02 0</pose>
         <geometry>
           <box>
-            <size>0.01 0.01 0.01</size>
+            <size>0.2 0.04981 0.07</size>
           </box>
         </geometry>
         <surface>
           <friction>
             <ode>
-              <mu>0.7</mu>
+              <mu>10</mu>
               <mu2>150</mu2>
               <fdir1>0 0 1</fdir1>
             </ode>
@@ -591,11 +701,11 @@
         </ode>
       </physics>
     </joint>
-    <link name="front_left_flipper_wheel1">
-      <pose>0.25 0.272 0.0195 0 0.193732 0</pose>
+    <link name="rear_left_flipper">
+      <pose>-0.25 0.272 0.0195 3.1415926535897931 0.193732 3.1415926535897931</pose>
       <inertial>
         <pose>0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
+        <mass>0.75</mass>
         <inertia>
           <ixx>0.0017491</ixx>
           <ixy>2.8512e-07</ixy>
@@ -605,7 +715,7 @@
           <izz>0.010941</izz>
         </inertia>
       </inertial>
-      <collision name="front_left_flipper_wheel1_collision_collision">
+      <collision name="rear_left_flipper_collision_large_wheel_collision">
         <pose>0 0 0 1.5707963267948966 -0 0</pose>
         <geometry>
           <cylinder>
@@ -614,260 +724,103 @@
           </cylinder>
         </geometry>
         <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
           <friction>
             <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
+              <mu>10</mu>
+              <mu2>150</mu2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
-    </link>
-    <joint name="front_left_flipper_wheel1_j" type="revolute">
-      <child>front_left_flipper_wheel1</child>
-      <parent>front_left_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="front_left_flipper_wheel2">
-      <pose>0.330957 0.272 0.003617 0 0.193732 0</pose>
-      <inertial>
-        <pose>0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
-        <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
-        </inertia>
-      </inertial>
-      <collision name="front_left_flipper_wheel2_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="rear_left_flipper_collision_small_wheel_collision_1">
+        <pose>0.33 0 0 1.5707963267948966 -0 0</pose>
         <geometry>
           <cylinder>
             <length>0.04981</length>
-            <radius>0.074</radius>
+            <radius>0.029</radius>
           </cylinder>
         </geometry>
         <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
           <friction>
             <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
+              <mu>10</mu>
+              <mu2>150</mu2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
-    </link>
-    <joint name="front_left_flipper_wheel2_j" type="revolute">
-      <child>front_left_flipper_wheel2</child>
-      <parent>front_left_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="front_left_flipper_wheel3">
-      <pose>0.411913 0.272 -0.012266 0 0.193732 0</pose>
-      <inertial>
-        <pose>0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
-        <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
-        </inertia>
-      </inertial>
-      <collision name="front_left_flipper_wheel3_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="rear_left_flipper_collision_top_bar_collision_2">
+        <pose>0.165 0 0.0325 0 0.184162 0</pose>
         <geometry>
-          <cylinder>
-            <length>0.04981</length>
-            <radius>0.059</radius>
-          </cylinder>
+          <box>
+            <size>0.33 0.04981 0.055</size>
+          </box>
         </geometry>
         <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
           <friction>
             <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
+              <mu>10</mu>
+              <mu2>150</mu2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
-    </link>
-    <joint name="front_left_flipper_wheel3_j" type="revolute">
-      <child>front_left_flipper_wheel3</child>
-      <parent>front_left_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="front_left_flipper_wheel4">
-      <pose>0.49287 0.272 -0.028149 0 0.193732 0</pose>
-      <inertial>
-        <pose>0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
-        <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
-        </inertia>
-      </inertial>
-      <collision name="front_left_flipper_wheel4_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="rear_left_flipper_collision_bottom_bar_collision_3">
+        <pose>0.165 0 -0.0325 0 -0.184162 0</pose>
         <geometry>
-          <cylinder>
-            <length>0.04981</length>
-            <radius>0.044</radius>
-          </cylinder>
+          <box>
+            <size>0.33 0.04981 0.055</size>
+          </box>
         </geometry>
         <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
           <friction>
             <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
+              <mu>10</mu>
+              <mu2>150</mu2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
-    </link>
-    <joint name="front_left_flipper_wheel4_j" type="revolute">
-      <child>front_left_flipper_wheel4</child>
-      <parent>front_left_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="front_left_flipper_wheel5">
-      <pose>0.573827 0.272 -0.044032 0 0.193732 0</pose>
-      <inertial>
-        <pose>0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
-        <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
-        </inertia>
-      </inertial>
-      <collision name="front_left_flipper_wheel5_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="rear_left_flipper_collision_middle_bar_collision_4">
+        <pose>0.166 0 0.004 0 -0.02 0</pose>
         <geometry>
-          <cylinder>
-            <length>0.04981</length>
-            <radius>0.029</radius>
-          </cylinder>
+          <box>
+            <size>0.2 0.04981 0.07</size>
+          </box>
         </geometry>
         <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
           <friction>
             <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
+              <mu>10</mu>
+              <mu2>150</mu2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
+      <visual name="rear_left_flipper_visual">
+        <pose>0 0 0 -2.95743 -0 1.5707963267948966</pose>
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/flipper.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
     </link>
-    <joint name="front_left_flipper_wheel5_j" type="revolute">
-      <child>front_left_flipper_wheel5</child>
-      <parent>front_left_flipper</parent>
+    <joint name="rear_left_flipper_j" type="revolute">
+      <child>rear_left_flipper</child>
+      <parent>left_track</parent>
       <axis>
         <xyz>0 1 0</xyz>
         <limit>
           <lower>-1e+16</lower>
           <upper>1e+16</upper>
+          <effort>20</effort>
+          <velocity>0.785398</velocity>
         </limit>
         <dynamics>
           <spring_reference>0</spring_reference>
@@ -875,522 +828,610 @@
         </dynamics>
         <use_parent_model_frame>0</use_parent_model_frame>
       </axis>
-    </joint>
-    <link name="left_track_wheel1">
-      <pose>0.25 0.1985 0.01855 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0.0141 0 -0 0</pose>
-        <mass>0.7575</mass>
+      <physics>
+        <ode>
+          <implicit_spring_damper>1</implicit_spring_damper>
+          <cfm_damping>1</cfm_damping>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+        </ode>
+      </physics>
+    </joint>
+    <link name="camera_0">
+      <pose>0.185 0 0.195 0 -0 0</pose>
+      <inertial>
+        <pose>0.039802 0 0.0145 0 -0 0</pose>
+        <mass>0.232</mass>
         <inertia>
-          <ixx>0.002731</ixx>
+          <ixx>3.25187e-05</ixx>
           <ixy>0</ixy>
           <ixz>0</ixz>
-          <iyy>0.032554</iyy>
-          <iyz>1.5e-05</iyz>
-          <izz>0.031391</izz>
+          <iyy>0.000158598</iyy>
+          <iyz>0</iyz>
+          <izz>0.000158598</izz>
         </inertia>
       </inertial>
-      <collision name="left_track_wheel1_collision">
-        <pose>0 -0.015 0 1.5707963267948966 -0 0</pose>
+      <collision name="camera_0_collision_collision">
+        <pose>0.02465 0 0.0145 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.0555 0.029 0.029</size>
+          </box>
+        </geometry>
+      </collision>
+      <collision name="camera_0_lens_collision_collision_1">
+        <pose>0.062834 0 0.0145 0 1.5707963267948966 0</pose>
         <geometry>
           <cylinder>
-            <length>0.112</length>
-            <radius>0.089</radius>
+            <length>0.03974</length>
+            <radius>0.0125</radius>
           </cylinder>
         </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
       </collision>
+      <visual name="camera_0_visual">
+        <pose>0 0 0.0145 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/basler_ace2_pro.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <visual name="camera_0_visual_1">
+        <pose>0.042964 0 0.0145 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/evetar_lens.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <visual name="camera_0_fixed_joint_lump__front_camera_holder_visual_2">
+        <pose>0.02 0 -0.005 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.04 0.025 0.01</size>
+          </box>
+        </geometry>
+      </visual>
+      <sensor name="camera_0" type="camera">
+        <pose>0.072044 0 0.0145 0 -0 0</pose>
+        <update_rate>9</update_rate>
+        <visualize>0</visualize>
+        <camera>
+          <horizontal_fov>1.50971</horizontal_fov>
+          <image>
+            <width>1920</width>
+            <height>1200</height>
+            <format>R8G8B8</format>
+          </image>
+          <clip>
+            <near>0.011726</near>
+            <far>300</far>
+          </clip>
+          <noise>
+            <type>gaussian</type>
+            <mean>0</mean>
+            <stddev>0.007</stddev>
+          </noise>
+          <lens>
+            <intrinsics>
+              <fx>1020.51</fx>
+              <fy>1020.51</fy>
+              <cx>959.5</cx>
+              <cy>599.5</cy>
+              <s>0</s>
+            </intrinsics>
+            <type>stereographic</type>
+            <scale_to_hfov>1</scale_to_hfov>
+          </lens>
+        </camera>
+      </sensor>
     </link>
-    <joint name="left_track_wheel1_j" type="revolute">
-      <child>left_track_wheel1</child>
-      <parent>left_track</parent>
+    <joint name="camera_0_j" type="fixed">
+      <child>camera_0</child>
+      <parent>base_link</parent>
       <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
         <dynamics>
           <spring_reference>0</spring_reference>
           <spring_stiffness>0</spring_stiffness>
         </dynamics>
+        <xyz>0 0 1</xyz>
         <use_parent_model_frame>0</use_parent_model_frame>
+        <limit>
+          <lower>-1e+16</lower>
+          <upper>1e+16</upper>
+        </limit>
       </axis>
+      <physics>
+        <ode>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+        </ode>
+      </physics>
     </joint>
-    <link name="left_track_wheel2">
-      <pose>0.178571 0.1985 0.01855 0 -0 0</pose>
+    <link name="camera_1">
+      <pose>-0.02 -0.037465 0.185 0 0 -1.5707963267948966</pose>
       <inertial>
-        <pose>0 0 0.0141 0 -0 0</pose>
-        <mass>0.7575</mass>
+        <pose>0.039802 0 0.0145 0 -0 0</pose>
+        <mass>0.232</mass>
         <inertia>
-          <ixx>0.002731</ixx>
+          <ixx>3.25187e-05</ixx>
           <ixy>0</ixy>
           <ixz>0</ixz>
-          <iyy>0.032554</iyy>
-          <iyz>1.5e-05</iyz>
-          <izz>0.031391</izz>
+          <iyy>0.000158598</iyy>
+          <iyz>0</iyz>
+          <izz>0.000158598</izz>
         </inertia>
       </inertial>
-      <collision name="left_track_wheel2_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="camera_1_collision_collision">
+        <pose>0.02465 0 0.0145 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.0555 0.029 0.029</size>
+          </box>
+        </geometry>
+      </collision>
+      <collision name="camera_1_lens_collision_collision_1">
+        <pose>0.062834 0 0.0145 0 1.5707963267948966 0</pose>
         <geometry>
           <cylinder>
-            <length>0.097</length>
-            <radius>0.089</radius>
+            <length>0.03974</length>
+            <radius>0.0125</radius>
           </cylinder>
         </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
       </collision>
+      <visual name="camera_1_visual">
+        <pose>0 0 0.0145 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/basler_ace2_pro.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <visual name="camera_1_visual_1">
+        <pose>0.042964 0 0.0145 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/evetar_lens.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <sensor name="camera_1" type="camera">
+        <pose>0.072044 0 0.0145 0 -0 0</pose>
+        <update_rate>9</update_rate>
+        <visualize>0</visualize>
+        <camera>
+          <horizontal_fov>1.50971</horizontal_fov>
+          <image>
+            <width>1920</width>
+            <height>1200</height>
+            <format>R8G8B8</format>
+          </image>
+          <clip>
+            <near>0.011726</near>
+            <far>300</far>
+          </clip>
+          <noise>
+            <type>gaussian</type>
+            <mean>0</mean>
+            <stddev>0.007</stddev>
+          </noise>
+          <lens>
+            <intrinsics>
+              <fx>1020.51</fx>
+              <fy>1020.51</fy>
+              <cx>959.5</cx>
+              <cy>599.5</cy>
+              <s>0</s>
+            </intrinsics>
+            <type>stereographic</type>
+            <scale_to_hfov>1</scale_to_hfov>
+          </lens>
+        </camera>
+      </sensor>
     </link>
-    <joint name="left_track_wheel2_j" type="revolute">
-      <child>left_track_wheel2</child>
-      <parent>left_track</parent>
+    <joint name="camera_1_j" type="fixed">
+      <child>camera_1</child>
+      <parent>base_link</parent>
       <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
         <dynamics>
           <spring_reference>0</spring_reference>
           <spring_stiffness>0</spring_stiffness>
         </dynamics>
+        <xyz>0 0 1</xyz>
         <use_parent_model_frame>0</use_parent_model_frame>
+        <limit>
+          <lower>-1e+16</lower>
+          <upper>1e+16</upper>
+        </limit>
       </axis>
+      <physics>
+        <ode>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+        </ode>
+      </physics>
     </joint>
-    <link name="left_track_wheel3">
-      <pose>0.107143 0.1985 0.01855 0 -0 0</pose>
+    <link name="camera_2">
+      <pose>-0.245 0 0.185 0 -0 3.1415926535897931</pose>
       <inertial>
-        <pose>0 0 0.0141 0 -0 0</pose>
-        <mass>0.7575</mass>
+        <pose>0.039802 0 0.0145 0 -0 0</pose>
+        <mass>0.232</mass>
         <inertia>
-          <ixx>0.002731</ixx>
+          <ixx>3.25187e-05</ixx>
           <ixy>0</ixy>
           <ixz>0</ixz>
-          <iyy>0.032554</iyy>
-          <iyz>1.5e-05</iyz>
-          <izz>0.031391</izz>
+          <iyy>0.000158598</iyy>
+          <iyz>0</iyz>
+          <izz>0.000158598</izz>
         </inertia>
       </inertial>
-      <collision name="left_track_wheel3_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="camera_2_collision_collision">
+        <pose>0.02465 0 0.0145 0 -0 0</pose>
         <geometry>
-          <cylinder>
-            <length>0.097</length>
-            <radius>0.089</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
+          <box>
+            <size>0.0555 0.029 0.029</size>
+          </box>
+        </geometry>
       </collision>
-    </link>
-    <joint name="left_track_wheel3_j" type="revolute">
-      <child>left_track_wheel3</child>
-      <parent>left_track</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="left_track_wheel4">
-      <pose>0.035714 0.1985 0.01855 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0.0141 0 -0 0</pose>
-        <mass>0.7575</mass>
-        <inertia>
-          <ixx>0.002731</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.032554</iyy>
-          <iyz>1.5e-05</iyz>
-          <izz>0.031391</izz>
-        </inertia>
-      </inertial>
-      <collision name="left_track_wheel4_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="camera_2_lens_collision_collision_1">
+        <pose>0.062834 0 0.0145 0 1.5707963267948966 0</pose>
         <geometry>
           <cylinder>
-            <length>0.097</length>
-            <radius>0.089</radius>
+            <length>0.03974</length>
+            <radius>0.0125</radius>
           </cylinder>
         </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
       </collision>
+      <visual name="camera_2_visual">
+        <pose>0 0 0.0145 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/basler_ace2_pro.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <visual name="camera_2_visual_1">
+        <pose>0.042964 0 0.0145 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/evetar_lens.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <sensor name="camera_2" type="camera">
+        <pose>0.072044 0 0.0145 0 -0 0</pose>
+        <update_rate>9</update_rate>
+        <visualize>0</visualize>
+        <camera>
+          <horizontal_fov>1.50971</horizontal_fov>
+          <image>
+            <width>1920</width>
+            <height>1200</height>
+            <format>R8G8B8</format>
+          </image>
+          <clip>
+            <near>0.011726</near>
+            <far>300</far>
+          </clip>
+          <noise>
+            <type>gaussian</type>
+            <mean>0</mean>
+            <stddev>0.007</stddev>
+          </noise>
+          <lens>
+            <intrinsics>
+              <fx>1020.51</fx>
+              <fy>1020.51</fy>
+              <cx>959.5</cx>
+              <cy>599.5</cy>
+              <s>0</s>
+            </intrinsics>
+            <type>stereographic</type>
+            <scale_to_hfov>1</scale_to_hfov>
+          </lens>
+        </camera>
+      </sensor>
     </link>
-    <joint name="left_track_wheel4_j" type="revolute">
-      <child>left_track_wheel4</child>
-      <parent>left_track</parent>
+    <joint name="camera_2_j" type="fixed">
+      <child>camera_2</child>
+      <parent>base_link</parent>
       <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
         <dynamics>
           <spring_reference>0</spring_reference>
           <spring_stiffness>0</spring_stiffness>
         </dynamics>
+        <xyz>0 0 1</xyz>
         <use_parent_model_frame>0</use_parent_model_frame>
+        <limit>
+          <lower>-1e+16</lower>
+          <upper>1e+16</upper>
+        </limit>
       </axis>
+      <physics>
+        <ode>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+        </ode>
+      </physics>
     </joint>
-    <link name="left_track_wheel5">
-      <pose>-0.035714 0.1985 0.01855 0 -0 0</pose>
+    <link name="camera_3">
+      <pose>-0.02 0.037465 0.185 0 -0 1.5707963267948966</pose>
       <inertial>
-        <pose>0 0 0.0141 0 -0 0</pose>
-        <mass>0.7575</mass>
+        <pose>0.039802 0 0.0145 0 -0 0</pose>
+        <mass>0.232</mass>
         <inertia>
-          <ixx>0.002731</ixx>
+          <ixx>3.25187e-05</ixx>
           <ixy>0</ixy>
           <ixz>0</ixz>
-          <iyy>0.032554</iyy>
-          <iyz>1.5e-05</iyz>
-          <izz>0.031391</izz>
+          <iyy>0.000158598</iyy>
+          <iyz>0</iyz>
+          <izz>0.000158598</izz>
         </inertia>
       </inertial>
-      <collision name="left_track_wheel5_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="camera_3_collision_collision">
+        <pose>0.02465 0 0.0145 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.0555 0.029 0.029</size>
+          </box>
+        </geometry>
+      </collision>
+      <collision name="camera_3_lens_collision_collision_1">
+        <pose>0.062834 0 0.0145 0 1.5707963267948966 0</pose>
         <geometry>
           <cylinder>
-            <length>0.097</length>
-            <radius>0.089</radius>
+            <length>0.03974</length>
+            <radius>0.0125</radius>
           </cylinder>
         </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
       </collision>
+      <visual name="camera_3_visual">
+        <pose>0 0 0.0145 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/basler_ace2_pro.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <visual name="camera_3_visual_1">
+        <pose>0.042964 0 0.0145 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/evetar_lens.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <sensor name="camera_3" type="camera">
+        <pose>0.072044 0 0.0145 0 -0 0</pose>
+        <update_rate>9</update_rate>
+        <visualize>0</visualize>
+        <camera>
+          <horizontal_fov>1.50971</horizontal_fov>
+          <image>
+            <width>1920</width>
+            <height>1200</height>
+            <format>R8G8B8</format>
+          </image>
+          <clip>
+            <near>0.011726</near>
+            <far>300</far>
+          </clip>
+          <noise>
+            <type>gaussian</type>
+            <mean>0</mean>
+            <stddev>0.007</stddev>
+          </noise>
+          <lens>
+            <intrinsics>
+              <fx>1020.51</fx>
+              <fy>1020.51</fy>
+              <cx>959.5</cx>
+              <cy>599.5</cy>
+              <s>0</s>
+            </intrinsics>
+            <type>stereographic</type>
+            <scale_to_hfov>1</scale_to_hfov>
+          </lens>
+        </camera>
+      </sensor>
     </link>
-    <joint name="left_track_wheel5_j" type="revolute">
-      <child>left_track_wheel5</child>
-      <parent>left_track</parent>
+    <joint name="camera_3_j" type="fixed">
+      <child>camera_3</child>
+      <parent>base_link</parent>
       <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
         <dynamics>
           <spring_reference>0</spring_reference>
           <spring_stiffness>0</spring_stiffness>
         </dynamics>
+        <xyz>0 0 1</xyz>
         <use_parent_model_frame>0</use_parent_model_frame>
+        <limit>
+          <lower>-1e+16</lower>
+          <upper>1e+16</upper>
+        </limit>
       </axis>
+      <physics>
+        <ode>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+        </ode>
+      </physics>
     </joint>
-    <link name="left_track_wheel6">
-      <pose>-0.107143 0.1985 0.01855 0 -0 0</pose>
+    <link name="cliff_sensor_0">
+      <pose>0.275 0.119535 0.2035 -1.5707963267948966 1.5707963267948966 0</pose>
       <inertial>
-        <pose>0 0 0.0141 0 -0 0</pose>
-        <mass>0.7575</mass>
+        <pose>0.0105 0 0.00925 0 -0 0</pose>
+        <mass>0.012</mass>
         <inertia>
-          <ixx>0.002731</ixx>
+          <ixx>1.56725e-06</ixx>
           <ixy>0</ixy>
           <ixz>0</ixz>
-          <iyy>0.032554</iyy>
-          <iyz>1.5e-05</iyz>
-          <izz>0.031391</izz>
+          <iyy>7.8325e-07</iyy>
+          <iyz>0</iyz>
+          <izz>1.666e-06</izz>
         </inertia>
       </inertial>
-      <collision name="left_track_wheel6_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="cliff_sensor_0_collision">
+        <pose>0.0105 0 0.00925 0 -0 0</pose>
         <geometry>
-          <cylinder>
-            <length>0.097</length>
-            <radius>0.089</radius>
-          </cylinder>
+          <box>
+            <size>0.021 0.035 0.0185</size>
+          </box>
         </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
       </collision>
-    </link>
-    <joint name="left_track_wheel6_j" type="revolute">
-      <child>left_track_wheel6</child>
-      <parent>left_track</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="left_track_wheel7">
-      <pose>-0.178571 0.1985 0.01855 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0.0141 0 -0 0</pose>
-        <mass>0.7575</mass>
-        <inertia>
-          <ixx>0.002731</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.032554</iyy>
-          <iyz>1.5e-05</iyz>
-          <izz>0.031391</izz>
-        </inertia>
-      </inertial>
-      <collision name="left_track_wheel7_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <visual name="cliff_sensor_0_visual">
         <geometry>
-          <cylinder>
-            <length>0.097</length>
-            <radius>0.089</radius>
-          </cylinder>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/tfmini_plus_lidar.dae</uri>
+          </mesh>
         </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
+      </visual>
+      <sensor name="laser" type="gpu_lidar">
+        <pose>0.021 0 0.00925 0 -0 0</pose>
+        <update_rate>10</update_rate>
+        <visualize>0</visualize>
+        <always_on>1</always_on>
+        <lidar>
+          <scan>
+            <horizontal>
+              <samples>3</samples>
+              <resolution>1</resolution>
+              <min_angle>-0.0314159</min_angle>
+              <max_angle>0.0314159</max_angle>
+            </horizontal>
+            <vertical>
+              <samples>3</samples>
+              <resolution>1</resolution>
+              <min_angle>-0.0314159</min_angle>
+              <max_angle>0.0314159</max_angle>
+            </vertical>
+          </scan>
+          <range>
+            <min>0.1</min>
+            <max>12</max>
+            <resolution>0.01</resolution>
+          </range>
+          <noise>
+            <type>gaussian</type>
+            <mean>0</mean>
+            <stddev>0.015</stddev>
+          </noise>
+        </lidar>
+      </sensor>
     </link>
-    <joint name="left_track_wheel7_j" type="revolute">
-      <child>left_track_wheel7</child>
-      <parent>left_track</parent>
+    <joint name="cliff_sensor_0_j" type="fixed">
+      <child>cliff_sensor_0</child>
+      <parent>base_link</parent>
       <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
         <dynamics>
           <spring_reference>0</spring_reference>
           <spring_stiffness>0</spring_stiffness>
         </dynamics>
+        <xyz>0 0 1</xyz>
         <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="left_track_wheel8">
-      <pose>-0.25 0.1985 0.01855 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0.0141 0 -0 0</pose>
-        <mass>0.7575</mass>
-        <inertia>
-          <ixx>0.002731</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.032554</iyy>
-          <iyz>1.5e-05</iyz>
-          <izz>0.031391</izz>
-        </inertia>
-      </inertial>
-      <collision name="left_track_wheel8_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.097</length>
-            <radius>0.089</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-    </link>
-    <joint name="left_track_wheel8_j" type="revolute">
-      <child>left_track_wheel8</child>
-      <parent>left_track</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
         <limit>
           <lower>-1e+16</lower>
           <upper>1e+16</upper>
         </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
       </axis>
+      <physics>
+        <ode>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+        </ode>
+      </physics>
     </joint>
-    <link name="rear_left_flipper">
-      <pose>-0.25 0.272 0.0195 3.1415926535897931 0.193732 3.1415926535897931</pose>
+    <link name="cliff_sensor_1">
+      <pose>0.275 -0.120465 0.2035 1.5707963267948966 1.5707963267948966 0</pose>
       <inertial>
-        <mass>1e-05</mass>
+        <pose>0.0105 0 0.00925 0 -0 0</pose>
+        <mass>0.012</mass>
         <inertia>
-          <ixx>0.001</ixx>
-          <ixy>1e-06</ixy>
-          <ixz>1e-06</ixz>
-          <iyy>0.001</iyy>
-          <iyz>1e-06</iyz>
-          <izz>0.001</izz>
+          <ixx>1.56725e-06</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>7.8325e-07</iyy>
+          <iyz>0</iyz>
+          <izz>1.666e-06</izz>
         </inertia>
       </inertial>
-      <collision name="rear_left_flipper_collision">
+      <collision name="cliff_sensor_1_collision">
+        <pose>0.0105 0 0.00925 0 -0 0</pose>
         <geometry>
           <box>
-            <size>0.01 0.01 0.01</size>
+            <size>0.021 0.035 0.0185</size>
           </box>
         </geometry>
-        <surface>
-          <friction>
-            <ode>
-              <mu>0.7</mu>
-              <mu2>150</mu2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
       </collision>
-      <visual name="rear_left_flipper_visual">
-        <pose>0 0 0 -2.95743 -0 1.5707963267948966</pose>
+      <visual name="cliff_sensor_1_visual">
         <geometry>
           <mesh>
-            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/flipper.dae</uri>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/tfmini_plus_lidar.dae</uri>
           </mesh>
         </geometry>
       </visual>
+      <sensor name="laser" type="gpu_lidar">
+        <pose>0.021 0 0.00925 0 -0 0</pose>
+        <update_rate>10</update_rate>
+        <visualize>0</visualize>
+        <always_on>1</always_on>
+        <lidar>
+          <scan>
+            <horizontal>
+              <samples>3</samples>
+              <resolution>1</resolution>
+              <min_angle>-0.0314159</min_angle>
+              <max_angle>0.0314159</max_angle>
+            </horizontal>
+            <vertical>
+              <samples>3</samples>
+              <resolution>1</resolution>
+              <min_angle>-0.0314159</min_angle>
+              <max_angle>0.0314159</max_angle>
+            </vertical>
+          </scan>
+          <range>
+            <min>0.1</min>
+            <max>12</max>
+            <resolution>0.01</resolution>
+          </range>
+          <noise>
+            <type>gaussian</type>
+            <mean>0</mean>
+            <stddev>0.015</stddev>
+          </noise>
+        </lidar>
+      </sensor>
     </link>
-    <joint name="rear_left_flipper_j" type="revolute">
-      <child>rear_left_flipper</child>
-      <parent>left_track</parent>
+    <joint name="cliff_sensor_1_j" type="fixed">
+      <child>cliff_sensor_1</child>
+      <parent>base_link</parent>
       <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>20</effort>
-          <velocity>0.785398</velocity>
-        </limit>
         <dynamics>
           <spring_reference>0</spring_reference>
           <spring_stiffness>0</spring_stiffness>
         </dynamics>
+        <xyz>0 0 1</xyz>
         <use_parent_model_frame>0</use_parent_model_frame>
+        <limit>
+          <lower>-1e+16</lower>
+          <upper>1e+16</upper>
+        </limit>
       </axis>
       <physics>
         <ode>
-          <implicit_spring_damper>1</implicit_spring_damper>
-          <cfm_damping>1</cfm_damping>
           <limit>
             <cfm>0</cfm>
             <erp>0.2</erp>
@@ -1398,1825 +1439,260 @@
         </ode>
       </physics>
     </joint>
-    <link name="rear_left_flipper_wheel1">
-      <pose>-0.25 0.272 0.0195 3.1415926535897931 0.193732 3.1415926535897931</pose>
+    <link name="cliff_sensor_2">
+      <pose>-0.275 0.119535 0.2035 -1.5707963267948966 1.5707963267948966 0</pose>
       <inertial>
-        <pose>0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
+        <pose>0.0105 0 0.00925 0 -0 0</pose>
+        <mass>0.012</mass>
         <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
+          <ixx>1.56725e-06</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>7.8325e-07</iyy>
+          <iyz>0</iyz>
+          <izz>1.666e-06</izz>
         </inertia>
       </inertial>
-      <collision name="rear_left_flipper_wheel1_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="cliff_sensor_2_collision">
+        <pose>0.0105 0 0.00925 0 -0 0</pose>
         <geometry>
-          <cylinder>
-            <length>0.04981</length>
-            <radius>0.089</radius>
-          </cylinder>
+          <box>
+            <size>0.021 0.035 0.0185</size>
+          </box>
         </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-    </link>
-    <joint name="rear_left_flipper_wheel1_j" type="revolute">
-      <child>rear_left_flipper_wheel1</child>
-      <parent>rear_left_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="rear_left_flipper_wheel2">
-      <pose>-0.330957 0.272 0.003617 3.1415926535897931 0.193732 3.1415926535897931</pose>
-      <inertial>
-        <pose>0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
-        <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
-        </inertia>
-      </inertial>
-      <collision name="rear_left_flipper_wheel2_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.04981</length>
-            <radius>0.074</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-    </link>
-    <joint name="rear_left_flipper_wheel2_j" type="revolute">
-      <child>rear_left_flipper_wheel2</child>
-      <parent>rear_left_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="rear_left_flipper_wheel3">
-      <pose>-0.411913 0.272 -0.012266 3.1415926535897931 0.193732 3.1415926535897931</pose>
-      <inertial>
-        <pose>0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
-        <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
-        </inertia>
-      </inertial>
-      <collision name="rear_left_flipper_wheel3_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.04981</length>
-            <radius>0.059</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
       </collision>
-    </link>
-    <joint name="rear_left_flipper_wheel3_j" type="revolute">
-      <child>rear_left_flipper_wheel3</child>
-      <parent>rear_left_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="rear_left_flipper_wheel4">
-      <pose>-0.49287 0.272 -0.028149 3.1415926535897931 0.193732 3.1415926535897931</pose>
-      <inertial>
-        <pose>0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
-        <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
-        </inertia>
-      </inertial>
-      <collision name="rear_left_flipper_wheel4_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <visual name="cliff_sensor_2_visual">
         <geometry>
-          <cylinder>
-            <length>0.04981</length>
-            <radius>0.044</radius>
-          </cylinder>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/tfmini_plus_lidar.dae</uri>
+          </mesh>
         </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
+      </visual>
+      <sensor name="laser" type="gpu_lidar">
+        <pose>0.021 0 0.00925 0 -0 0</pose>
+        <update_rate>10</update_rate>
+        <visualize>0</visualize>
+        <always_on>1</always_on>
+        <lidar>
+          <scan>
+            <horizontal>
+              <samples>3</samples>
+              <resolution>1</resolution>
+              <min_angle>-0.0314159</min_angle>
+              <max_angle>0.0314159</max_angle>
+            </horizontal>
+            <vertical>
+              <samples>3</samples>
+              <resolution>1</resolution>
+              <min_angle>-0.0314159</min_angle>
+              <max_angle>0.0314159</max_angle>
+            </vertical>
+          </scan>
+          <range>
+            <min>0.1</min>
+            <max>12</max>
+            <resolution>0.01</resolution>
+          </range>
+          <noise>
+            <type>gaussian</type>
+            <mean>0</mean>
+            <stddev>0.015</stddev>
+          </noise>
+        </lidar>
+      </sensor>
     </link>
-    <joint name="rear_left_flipper_wheel4_j" type="revolute">
-      <child>rear_left_flipper_wheel4</child>
-      <parent>rear_left_flipper</parent>
+    <joint name="cliff_sensor_2_j" type="fixed">
+      <child>cliff_sensor_2</child>
+      <parent>base_link</parent>
       <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
         <dynamics>
           <spring_reference>0</spring_reference>
           <spring_stiffness>0</spring_stiffness>
         </dynamics>
+        <xyz>0 0 1</xyz>
         <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="rear_left_flipper_wheel5">
-      <pose>-0.573827 0.272 -0.044032 3.1415926535897931 0.193732 3.1415926535897931</pose>
-      <inertial>
-        <pose>0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
-        <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
-        </inertia>
-      </inertial>
-      <collision name="rear_left_flipper_wheel5_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.04981</length>
-            <radius>0.029</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-    </link>
-    <joint name="rear_left_flipper_wheel5_j" type="revolute">
-      <child>rear_left_flipper_wheel5</child>
-      <parent>rear_left_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
         <limit>
           <lower>-1e+16</lower>
           <upper>1e+16</upper>
         </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
       </axis>
+      <physics>
+        <ode>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+        </ode>
+      </physics>
     </joint>
-    <link name="camera_0">
-      <pose>0.185 0 0.195 0 -0 0</pose>
+    <link name="cliff_sensor_3">
+      <pose>-0.275 -0.120465 0.2035 1.5707963267948966 1.5707963267948966 0</pose>
       <inertial>
-        <pose>0.039802 0 0.0145 0 -0 0</pose>
-        <mass>0.232</mass>
+        <pose>0.0105 0 0.00925 0 -0 0</pose>
+        <mass>0.012</mass>
         <inertia>
-          <ixx>3.25187e-05</ixx>
+          <ixx>1.56725e-06</ixx>
           <ixy>0</ixy>
           <ixz>0</ixz>
-          <iyy>0.000158598</iyy>
+          <iyy>7.8325e-07</iyy>
           <iyz>0</iyz>
-          <izz>0.000158598</izz>
+          <izz>1.666e-06</izz>
         </inertia>
       </inertial>
-      <collision name="camera_0_collision_collision">
-        <pose>0.02465 0 0.0145 0 -0 0</pose>
+      <collision name="cliff_sensor_3_collision">
+        <pose>0.0105 0 0.00925 0 -0 0</pose>
         <geometry>
           <box>
-            <size>0.0555 0.029 0.029</size>
+            <size>0.021 0.035 0.0185</size>
           </box>
         </geometry>
       </collision>
-      <collision name="camera_0_lens_collision_collision_1">
-        <pose>0.062834 0 0.0145 0 1.5707963267948966 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.03974</length>
-            <radius>0.0125</radius>
-          </cylinder>
-        </geometry>
-      </collision>
-      <visual name="camera_0_visual">
-        <pose>0 0 0.0145 0 -0 0</pose>
+      <visual name="cliff_sensor_3_visual">
         <geometry>
           <mesh>
-            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/basler_ace2_pro.dae</uri>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/tfmini_plus_lidar.dae</uri>
           </mesh>
         </geometry>
       </visual>
-      <visual name="camera_0_visual_1">
-        <pose>0.042964 0 0.0145 0 -0 0</pose>
-        <geometry>
-          <mesh>
-            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/evetar_lens.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-      <visual name="camera_0_fixed_joint_lump__front_camera_holder_visual_2">
-        <pose>0.02 0 -0.005 0 -0 0</pose>
-        <geometry>
-          <box>
-            <size>0.04 0.025 0.01</size>
-          </box>
-        </geometry>
-      </visual>
-      <sensor name="camera_0" type="camera">
-        <pose>0.072044 0 0.0145 0 -0 0</pose>
-        <update_rate>9</update_rate>
-        <visualize>0</visualize>
-        <camera>
-          <horizontal_fov>1.50971</horizontal_fov>
-          <image>
-            <width>1920</width>
-            <height>1200</height>
-            <format>R8G8B8</format>
-          </image>
-          <clip>
-            <near>0.011726</near>
-            <far>300</far>
-          </clip>
-          <noise>
-            <type>gaussian</type>
-            <mean>0</mean>
-            <stddev>0.007</stddev>
-          </noise>
-          <lens>
-            <intrinsics>
-              <fx>1020.51</fx>
-              <fy>1020.51</fy>
-              <cx>959.5</cx>
-              <cy>599.5</cy>
-              <s>0</s>
-            </intrinsics>
-            <type>stereographic</type>
-            <scale_to_hfov>1</scale_to_hfov>
-          </lens>
-        </camera>
-      </sensor>
-    </link>
-    <joint name="camera_0_j" type="fixed">
-      <child>camera_0</child>
-      <parent>base_link</parent>
-      <axis>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <xyz>0 0 1</xyz>
-        <use_parent_model_frame>0</use_parent_model_frame>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-      </axis>
-      <physics>
-        <ode>
-          <limit>
-            <cfm>0</cfm>
-            <erp>0.2</erp>
-          </limit>
-        </ode>
-      </physics>
-    </joint>
-    <link name="camera_1">
-      <pose>-0.02 -0.037465 0.185 0 0 -1.5707963267948966</pose>
-      <inertial>
-        <pose>0.039802 0 0.0145 0 -0 0</pose>
-        <mass>0.232</mass>
-        <inertia>
-          <ixx>3.25187e-05</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.000158598</iyy>
-          <iyz>0</iyz>
-          <izz>0.000158598</izz>
-        </inertia>
-      </inertial>
-      <collision name="camera_1_collision_collision">
-        <pose>0.02465 0 0.0145 0 -0 0</pose>
-        <geometry>
-          <box>
-            <size>0.0555 0.029 0.029</size>
-          </box>
-        </geometry>
-      </collision>
-      <collision name="camera_1_lens_collision_collision_1">
-        <pose>0.062834 0 0.0145 0 1.5707963267948966 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.03974</length>
-            <radius>0.0125</radius>
-          </cylinder>
-        </geometry>
-      </collision>
-      <visual name="camera_1_visual">
-        <pose>0 0 0.0145 0 -0 0</pose>
-        <geometry>
-          <mesh>
-            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/basler_ace2_pro.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-      <visual name="camera_1_visual_1">
-        <pose>0.042964 0 0.0145 0 -0 0</pose>
-        <geometry>
-          <mesh>
-            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/evetar_lens.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-      <sensor name="camera_1" type="camera">
-        <pose>0.072044 0 0.0145 0 -0 0</pose>
-        <update_rate>9</update_rate>
+      <sensor name="laser" type="gpu_lidar">
+        <pose>0.021 0 0.00925 0 -0 0</pose>
+        <update_rate>10</update_rate>
         <visualize>0</visualize>
-        <camera>
-          <horizontal_fov>1.50971</horizontal_fov>
-          <image>
-            <width>1920</width>
-            <height>1200</height>
-            <format>R8G8B8</format>
-          </image>
-          <clip>
-            <near>0.011726</near>
-            <far>300</far>
-          </clip>
+        <always_on>1</always_on>
+        <lidar>
+          <scan>
+            <horizontal>
+              <samples>3</samples>
+              <resolution>1</resolution>
+              <min_angle>-0.0314159</min_angle>
+              <max_angle>0.0314159</max_angle>
+            </horizontal>
+            <vertical>
+              <samples>3</samples>
+              <resolution>1</resolution>
+              <min_angle>-0.0314159</min_angle>
+              <max_angle>0.0314159</max_angle>
+            </vertical>
+          </scan>
+          <range>
+            <min>0.1</min>
+            <max>12</max>
+            <resolution>0.01</resolution>
+          </range>
           <noise>
-            <type>gaussian</type>
-            <mean>0</mean>
-            <stddev>0.007</stddev>
-          </noise>
-          <lens>
-            <intrinsics>
-              <fx>1020.51</fx>
-              <fy>1020.51</fy>
-              <cx>959.5</cx>
-              <cy>599.5</cy>
-              <s>0</s>
-            </intrinsics>
-            <type>stereographic</type>
-            <scale_to_hfov>1</scale_to_hfov>
-          </lens>
-        </camera>
-      </sensor>
-    </link>
-    <joint name="camera_1_j" type="fixed">
-      <child>camera_1</child>
-      <parent>base_link</parent>
-      <axis>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <xyz>0 0 1</xyz>
-        <use_parent_model_frame>0</use_parent_model_frame>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-      </axis>
-      <physics>
-        <ode>
-          <limit>
-            <cfm>0</cfm>
-            <erp>0.2</erp>
-          </limit>
-        </ode>
-      </physics>
-    </joint>
-    <link name="camera_2">
-      <pose>-0.245 0 0.185 0 -0 3.1415926535897931</pose>
-      <inertial>
-        <pose>0.039802 0 0.0145 0 -0 0</pose>
-        <mass>0.232</mass>
-        <inertia>
-          <ixx>3.25187e-05</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.000158598</iyy>
-          <iyz>0</iyz>
-          <izz>0.000158598</izz>
-        </inertia>
-      </inertial>
-      <collision name="camera_2_collision_collision">
-        <pose>0.02465 0 0.0145 0 -0 0</pose>
-        <geometry>
-          <box>
-            <size>0.0555 0.029 0.029</size>
-          </box>
-        </geometry>
-      </collision>
-      <collision name="camera_2_lens_collision_collision_1">
-        <pose>0.062834 0 0.0145 0 1.5707963267948966 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.03974</length>
-            <radius>0.0125</radius>
-          </cylinder>
-        </geometry>
-      </collision>
-      <visual name="camera_2_visual">
-        <pose>0 0 0.0145 0 -0 0</pose>
-        <geometry>
-          <mesh>
-            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/basler_ace2_pro.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-      <visual name="camera_2_visual_1">
-        <pose>0.042964 0 0.0145 0 -0 0</pose>
-        <geometry>
-          <mesh>
-            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/evetar_lens.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-      <sensor name="camera_2" type="camera">
-        <pose>0.072044 0 0.0145 0 -0 0</pose>
-        <update_rate>9</update_rate>
-        <visualize>0</visualize>
-        <camera>
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-          <image>
-            <width>1920</width>
-            <height>1200</height>
-            <format>R8G8B8</format>
-          </image>
-          <clip>
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-            <far>300</far>
-          </clip>
-          <noise>
-            <type>gaussian</type>
-            <mean>0</mean>
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-          <lens>
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-              <fy>1020.51</fy>
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-              <cy>599.5</cy>
-              <s>0</s>
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-            <type>stereographic</type>
-            <scale_to_hfov>1</scale_to_hfov>
-          </lens>
-        </camera>
-      </sensor>
-    </link>
-    <joint name="camera_2_j" type="fixed">
-      <child>camera_2</child>
-      <parent>base_link</parent>
-      <axis>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <xyz>0 0 1</xyz>
-        <use_parent_model_frame>0</use_parent_model_frame>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
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-      <physics>
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-            <cfm>0</cfm>
-            <erp>0.2</erp>
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-        </ode>
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-    <link name="camera_3">
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-          <iyz>0</iyz>
-          <izz>0.000158598</izz>
-        </inertia>
-      </inertial>
-      <collision name="camera_3_collision_collision">
-        <pose>0.02465 0 0.0145 0 -0 0</pose>
-        <geometry>
-          <box>
-            <size>0.0555 0.029 0.029</size>
-          </box>
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-      <collision name="camera_3_lens_collision_collision_1">
-        <pose>0.062834 0 0.0145 0 1.5707963267948966 0</pose>
-        <geometry>
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-      <visual name="camera_3_visual">
-        <pose>0 0 0.0145 0 -0 0</pose>
-        <geometry>
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-        </geometry>
-      </visual>
-      <visual name="camera_3_visual_1">
-        <pose>0.042964 0 0.0145 0 -0 0</pose>
-        <geometry>
-          <mesh>
-            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/evetar_lens.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-      <sensor name="camera_3" type="camera">
-        <pose>0.072044 0 0.0145 0 -0 0</pose>
-        <update_rate>9</update_rate>
-        <visualize>0</visualize>
-        <camera>
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-          <image>
-            <width>1920</width>
-            <height>1200</height>
-            <format>R8G8B8</format>
-          </image>
-          <clip>
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-            <far>300</far>
-          </clip>
-          <noise>
-            <type>gaussian</type>
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-          <lens>
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-              <fx>1020.51</fx>
-              <fy>1020.51</fy>
-              <cx>959.5</cx>
-              <cy>599.5</cy>
-              <s>0</s>
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-            <type>stereographic</type>
-            <scale_to_hfov>1</scale_to_hfov>
-          </lens>
-        </camera>
-      </sensor>
-    </link>
-    <joint name="camera_3_j" type="fixed">
-      <child>camera_3</child>
-      <parent>base_link</parent>
-      <axis>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <xyz>0 0 1</xyz>
-        <use_parent_model_frame>0</use_parent_model_frame>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
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-            <cfm>0</cfm>
-            <erp>0.2</erp>
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-    </joint>
-    <link name="cliff_sensor_0">
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-          <ixx>1.56725e-06</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>7.8325e-07</iyy>
-          <iyz>0</iyz>
-          <izz>1.666e-06</izz>
-        </inertia>
-      </inertial>
-      <collision name="cliff_sensor_0_collision">
-        <pose>0.0105 0 0.00925 0 -0 0</pose>
-        <geometry>
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-          </box>
-        </geometry>
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-      <visual name="cliff_sensor_0_visual">
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-      <sensor name="laser" type="gpu_lidar">
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-        <visualize>0</visualize>
-        <always_on>1</always_on>
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-              <samples>3</samples>
-              <resolution>1</resolution>
-              <min_angle>-0.0314159</min_angle>
-              <max_angle>0.0314159</max_angle>
-            </horizontal>
-            <vertical>
-              <samples>3</samples>
-              <resolution>1</resolution>
-              <min_angle>-0.0314159</min_angle>
-              <max_angle>0.0314159</max_angle>
-            </vertical>
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-            <max>12</max>
-            <resolution>0.01</resolution>
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-          <noise>
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-            <mean>0</mean>
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-    <joint name="cliff_sensor_0_j" type="fixed">
-      <child>cliff_sensor_0</child>
-      <parent>base_link</parent>
-      <axis>
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-          <spring_stiffness>0</spring_stiffness>
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-        <xyz>0 0 1</xyz>
-        <use_parent_model_frame>0</use_parent_model_frame>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
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-      <physics>
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-    </joint>
-    <link name="cliff_sensor_1">
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-      <collision name="cliff_sensor_1_collision">
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-      <visual name="cliff_sensor_1_visual">
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-              <resolution>1</resolution>
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-              <max_angle>0.0314159</max_angle>
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-          <noise>
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-        <xyz>0 0 1</xyz>
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-      <pose>-0.275 0.119535 0.2035 -1.5707963267948966 1.5707963267948966 0</pose>
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-          <izz>1.666e-06</izz>
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-      <visual name="cliff_sensor_2_visual">
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-            <max>12</max>
-            <resolution>0.01</resolution>
-          </range>
-          <noise>
-            <type>gaussian</type>
-            <mean>0</mean>
-            <stddev>0.015</stddev>
-          </noise>
-        </lidar>
-      </sensor>
-    </link>
-    <joint name="cliff_sensor_3_j" type="fixed">
-      <child>cliff_sensor_3</child>
-      <parent>base_link</parent>
-      <axis>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <xyz>0 0 1</xyz>
-        <use_parent_model_frame>0</use_parent_model_frame>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-      </axis>
-      <physics>
-        <ode>
-          <limit>
-            <cfm>0</cfm>
-            <erp>0.2</erp>
-          </limit>
-        </ode>
-      </physics>
-    </joint>
-    <link name="thermocam">
-      <pose>0.225 -0.040465 0.185 0 -0 0</pose>
-      <inertial>
-        <pose>0.0155 0 0 0 -0 0</pose>
-        <mass>0.024</mass>
-        <inertia>
-          <ixx>1.764e-06</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>4.58e-06</iyy>
-          <iyz>0</iyz>
-          <izz>4.58e-06</izz>
-        </inertia>
-      </inertial>
-      <collision name="thermocam_collision">
-        <pose>0.0155 0 0 0 -0 0</pose>
-        <geometry>
-          <box>
-            <size>0.043 0.021 0.021</size>
-          </box>
-        </geometry>
-      </collision>
-      <visual name="thermocam_visual">
-        <pose>0 0 0.0105 0 -0 0</pose>
-        <geometry>
-          <mesh>
-            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/flir_boson.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-      <sensor name="thermal_camera" type="thermal_camera">
-        <pose>0.03 0 0 0 -0 0</pose>
-        <always_on>1</always_on>
-        <update_rate>8.6</update_rate>
-        <visualize>0</visualize>
-        <camera name="thermal_camera">
-          <horizontal_fov>1.6057</horizontal_fov>
-          <lens>
-            <intrinsics>
-              <fx>154.51</fx>
-              <fy>154.51</fy>
-              <cx>160.5</cx>
-              <cy>128.5</cy>
-              <s>0</s>
-            </intrinsics>
-            <type>stereographic</type>
-            <scale_to_hfov>1</scale_to_hfov>
-          </lens>
-          <image>
-            <width>320</width>
-            <height>256</height>
-            <format>L8</format>
-          </image>
-          <clip>
-            <near>0.6</near>
-            <far>50</far>
-          </clip>
-        </camera>
-        <plugin name="ignition::gazebo::systems::ThermalSensor" filename="ignition-gazebo-thermal-sensor-system">
-          <min_temp>253.15</min_temp>
-          <max_temp>673.15</max_temp>
-          <resolution>1.6</resolution>
-        </plugin>
-      </sensor>
-    </link>
-    <joint name="thermocam_j" type="fixed">
-      <child>thermocam</child>
-      <parent>base_link</parent>
-      <axis>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <xyz>0 0 1</xyz>
-        <use_parent_model_frame>0</use_parent_model_frame>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-      </axis>
-      <physics>
-        <ode>
-          <limit>
-            <cfm>0</cfm>
-            <erp>0.2</erp>
-          </limit>
-        </ode>
-      </physics>
-    </joint>
-    <link name="camera_4">
-      <pose>0.0435 -0.0145 0.26752 -1.5707963267948966 -1.5707963267948966 0</pose>
-      <inertial>
-        <pose>0.039802 0 0.0145 0 -0 0</pose>
-        <mass>0.232</mass>
-        <inertia>
-          <ixx>3.25187e-05</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.000158598</iyy>
-          <iyz>0</iyz>
-          <izz>0.000158598</izz>
-        </inertia>
-      </inertial>
-      <collision name="camera_4_collision_collision">
-        <pose>0.02465 0 0.0145 0 -0 0</pose>
-        <geometry>
-          <box>
-            <size>0.0555 0.029 0.029</size>
-          </box>
-        </geometry>
-      </collision>
-      <collision name="camera_4_lens_collision_collision_1">
-        <pose>0.062834 0 0.0145 0 1.5707963267948966 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.03974</length>
-            <radius>0.0125</radius>
-          </cylinder>
-        </geometry>
-      </collision>
-      <visual name="camera_4_visual">
-        <pose>0 0 0.0145 0 -0 0</pose>
-        <geometry>
-          <mesh>
-            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/basler_ace2_pro.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-      <visual name="camera_4_visual_1">
-        <pose>0.042964 0 0.0145 0 -0 0</pose>
-        <geometry>
-          <mesh>
-            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/evetar_lens.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-      <sensor name="camera_4" type="camera">
-        <pose>0.072044 0 0.0145 0 -0 0</pose>
-        <update_rate>9</update_rate>
-        <visualize>0</visualize>
-        <camera>
-          <horizontal_fov>1.50971</horizontal_fov>
-          <image>
-            <width>1920</width>
-            <height>1200</height>
-            <format>R8G8B8</format>
-          </image>
-          <clip>
-            <near>0.011726</near>
-            <far>300</far>
-          </clip>
-          <noise>
-            <type>gaussian</type>
-            <mean>0</mean>
-            <stddev>0.007</stddev>
-          </noise>
-          <lens>
-            <intrinsics>
-              <fx>1020.51</fx>
-              <fy>1020.51</fy>
-              <cx>959.5</cx>
-              <cy>599.5</cy>
-              <s>0</s>
-            </intrinsics>
-            <type>stereographic</type>
-            <scale_to_hfov>1</scale_to_hfov>
-          </lens>
-        </camera>
-      </sensor>
-    </link>
-    <joint name="camera_4_j" type="fixed">
-      <child>camera_4</child>
-      <parent>base_link</parent>
-      <axis>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <xyz>0 0 1</xyz>
-        <use_parent_model_frame>0</use_parent_model_frame>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-      </axis>
-      <physics>
-        <ode>
-          <limit>
-            <cfm>0</cfm>
-            <erp>0.2</erp>
-          </limit>
-        </ode>
-      </physics>
-    </joint>
-    <link name="laser">
-      <pose>0.1415 0 0.365 0 0.18 0</pose>
-      <inertial>
-        <pose>0 0 0.03675 0 -0 0</pose>
-        <mass>0.5</mass>
-        <inertia>
-          <ixx>0.000461625</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.000461625</iyy>
-          <iyz>0</iyz>
-          <izz>0.000473063</izz>
-        </inertia>
-      </inertial>
-      <collision name="laser_collision">
-        <pose>0 0 0.03675 0 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.0735</length>
-            <radius>0.0435</radius>
-          </cylinder>
-        </geometry>
-      </collision>
-      <visual name="laser_visual">
-        <geometry>
-          <mesh>
-            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/ouster-os0.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-      <sensor name="laser" type="gpu_lidar">
-        <pose>0 0 0.035925 0 -0 0</pose>
-        <update_rate>10</update_rate>
-        <visualize>0</visualize>
-        <always_on>1</always_on>
-        <lidar>
-          <scan>
-            <horizontal>
-              <samples>2048</samples>
-              <resolution>1</resolution>
-              <min_angle>-3.1459</min_angle>
-              <max_angle>3.1459</max_angle>
-            </horizontal>
-            <vertical>
-              <samples>128</samples>
-              <resolution>1</resolution>
-              <min_angle>-0.785398</min_angle>
-              <max_angle>0.785398</max_angle>
-            </vertical>
-          </scan>
-          <range>
-            <min>0.1</min>
-            <max>50</max>
-            <resolution>0.01</resolution>
-          </range>
-          <noise>
-            <type>gaussian</type>
-            <mean>0</mean>
-            <stddev>0.01</stddev>
-          </noise>
-        </lidar>
-      </sensor>
-    </link>
-    <joint name="laser_j" type="fixed">
-      <child>laser</child>
-      <parent>base_link</parent>
-      <axis>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <xyz>0 0 1</xyz>
-        <use_parent_model_frame>0</use_parent_model_frame>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-      </axis>
-      <physics>
-        <ode>
-          <limit>
-            <cfm>0</cfm>
-            <erp>0.2</erp>
-          </limit>
-        </ode>
-      </physics>
-    </joint>
-    <link name="right_track">
-      <pose>0 -0.1985 0 0 -0 0</pose>
-      <inertial>
-        <mass>1e-05</mass>
-        <inertia>
-          <ixx>0.001</ixx>
-          <ixy>1e-06</ixy>
-          <ixz>1e-06</ixz>
-          <iyy>0.001</iyy>
-          <iyz>1e-06</iyz>
-          <izz>0.001</izz>
-        </inertia>
-      </inertial>
-      <collision name="right_track_collision">
-        <geometry>
-          <box>
-            <size>0.01 0.01 0.01</size>
-          </box>
-        </geometry>
-        <surface>
-          <friction>
-            <ode>
-              <mu>0.7</mu>
-              <mu2>150</mu2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-      <visual name="right_track_visual">
-        <pose>0 0 -0.0705 1.5707963267948966 0 -1.5707963267948966</pose>
-        <geometry>
-          <mesh>
-            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/bogie.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-    </link>
-    <joint name="right_track_j" type="revolute">
-      <child>right_track</child>
-      <parent>base_link</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>0</lower>
-          <upper>0</upper>
-          <effort>0</effort>
-          <velocity>4</velocity>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-      <physics>
-        <ode>
-          <limit>
-            <cfm>0</cfm>
-            <erp>0.2</erp>
-          </limit>
-        </ode>
-      </physics>
-      <physics>
-        <ode>
-          <implicit_spring_damper>1</implicit_spring_damper>
-          <cfm>0</cfm>
-          <erp>0.95</erp>
-        </ode>
-      </physics>
-    </joint>
-    <link name="front_right_flipper">
-      <pose>0.25 -0.272 0.0195 3.1415926535897931 -0.193732 3.1415926535897931</pose>
-      <inertial>
-        <mass>1e-05</mass>
-        <inertia>
-          <ixx>0.001</ixx>
-          <ixy>1e-06</ixy>
-          <ixz>1e-06</ixz>
-          <iyy>0.001</iyy>
-          <iyz>1e-06</iyz>
-          <izz>0.001</izz>
-        </inertia>
-      </inertial>
-      <collision name="front_right_flipper_collision">
-        <geometry>
-          <box>
-            <size>0.01 0.01 0.01</size>
-          </box>
-        </geometry>
-        <surface>
-          <friction>
-            <ode>
-              <mu>0.7</mu>
-              <mu2>150</mu2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-      <visual name="front_right_flipper_visual">
-        <pose>0 0 0 -2.95743 -0 -1.5707963267948966</pose>
-        <geometry>
-          <mesh>
-            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/flipper.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-    </link>
-    <joint name="front_right_flipper_j" type="revolute">
-      <child>front_right_flipper</child>
-      <parent>right_track</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>20</effort>
-          <velocity>0.785398</velocity>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-      <physics>
-        <ode>
-          <implicit_spring_damper>1</implicit_spring_damper>
-          <cfm_damping>1</cfm_damping>
-          <limit>
-            <cfm>0</cfm>
-            <erp>0.2</erp>
-          </limit>
-        </ode>
-      </physics>
-    </joint>
-    <link name="front_right_flipper_wheel1">
-      <pose>0.25 -0.272 0.0195 3.1415926535897931 -0.193732 3.1415926535897931</pose>
-      <inertial>
-        <pose>-0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
-        <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
-        </inertia>
-      </inertial>
-      <collision name="front_right_flipper_wheel1_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.04981</length>
-            <radius>0.089</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-    </link>
-    <joint name="front_right_flipper_wheel1_j" type="revolute">
-      <child>front_right_flipper_wheel1</child>
-      <parent>front_right_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="front_right_flipper_wheel2">
-      <pose>0.330957 -0.272 0.003617 3.1415926535897931 -0.193732 3.1415926535897931</pose>
-      <inertial>
-        <pose>-0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
-        <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
-        </inertia>
-      </inertial>
-      <collision name="front_right_flipper_wheel2_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.04981</length>
-            <radius>0.074</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-    </link>
-    <joint name="front_right_flipper_wheel2_j" type="revolute">
-      <child>front_right_flipper_wheel2</child>
-      <parent>front_right_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="front_right_flipper_wheel3">
-      <pose>0.411913 -0.272 -0.012266 3.1415926535897931 -0.193732 3.1415926535897931</pose>
-      <inertial>
-        <pose>-0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
-        <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
-        </inertia>
-      </inertial>
-      <collision name="front_right_flipper_wheel3_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.04981</length>
-            <radius>0.059</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-    </link>
-    <joint name="front_right_flipper_wheel3_j" type="revolute">
-      <child>front_right_flipper_wheel3</child>
-      <parent>front_right_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="front_right_flipper_wheel4">
-      <pose>0.49287 -0.272 -0.028149 3.1415926535897931 -0.193732 3.1415926535897931</pose>
-      <inertial>
-        <pose>-0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
-        <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
-        </inertia>
-      </inertial>
-      <collision name="front_right_flipper_wheel4_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.04981</length>
-            <radius>0.044</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-    </link>
-    <joint name="front_right_flipper_wheel4_j" type="revolute">
-      <child>front_right_flipper_wheel4</child>
-      <parent>front_right_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="front_right_flipper_wheel5">
-      <pose>0.573827 -0.272 -0.044032 3.1415926535897931 -0.193732 3.1415926535897931</pose>
-      <inertial>
-        <pose>-0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
-        <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
-        </inertia>
-      </inertial>
-      <collision name="front_right_flipper_wheel5_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.04981</length>
-            <radius>0.029</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
+            <type>gaussian</type>
+            <mean>0</mean>
+            <stddev>0.015</stddev>
+          </noise>
+        </lidar>
+      </sensor>
     </link>
-    <joint name="front_right_flipper_wheel5_j" type="revolute">
-      <child>front_right_flipper_wheel5</child>
-      <parent>front_right_flipper</parent>
+    <joint name="cliff_sensor_3_j" type="fixed">
+      <child>cliff_sensor_3</child>
+      <parent>base_link</parent>
       <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
         <dynamics>
           <spring_reference>0</spring_reference>
           <spring_stiffness>0</spring_stiffness>
         </dynamics>
+        <xyz>0 0 1</xyz>
         <use_parent_model_frame>0</use_parent_model_frame>
+        <limit>
+          <lower>-1e+16</lower>
+          <upper>1e+16</upper>
+        </limit>
       </axis>
+      <physics>
+        <ode>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+        </ode>
+      </physics>
     </joint>
-    <link name="rear_right_flipper">
-      <pose>-0.25 -0.272 0.0195 0 -0.193732 0</pose>
+    <link name="thermocam">
+      <pose>0.225 -0.040465 0.185 0 -0 0</pose>
       <inertial>
-        <mass>1e-05</mass>
+        <pose>0.0155 0 0 0 -0 0</pose>
+        <mass>0.024</mass>
         <inertia>
-          <ixx>0.001</ixx>
-          <ixy>1e-06</ixy>
-          <ixz>1e-06</ixz>
-          <iyy>0.001</iyy>
-          <iyz>1e-06</iyz>
-          <izz>0.001</izz>
+          <ixx>1.764e-06</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>4.58e-06</iyy>
+          <iyz>0</iyz>
+          <izz>4.58e-06</izz>
         </inertia>
       </inertial>
-      <collision name="rear_right_flipper_collision">
+      <collision name="thermocam_collision">
+        <pose>0.0155 0 0 0 -0 0</pose>
         <geometry>
           <box>
-            <size>0.01 0.01 0.01</size>
+            <size>0.043 0.021 0.021</size>
           </box>
         </geometry>
-        <surface>
-          <friction>
-            <ode>
-              <mu>0.7</mu>
-              <mu2>150</mu2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
       </collision>
-      <visual name="rear_right_flipper_visual">
-        <pose>0 0 0 -2.95743 -0 -1.5707963267948966</pose>
+      <visual name="thermocam_visual">
+        <pose>0 0 0.0105 0 -0 0</pose>
         <geometry>
           <mesh>
-            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/flipper.dae</uri>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/flir_boson.dae</uri>
           </mesh>
         </geometry>
       </visual>
+      <sensor name="thermal_camera" type="thermal_camera">
+        <pose>0.03 0 0 0 -0 0</pose>
+        <always_on>1</always_on>
+        <update_rate>8.6</update_rate>
+        <visualize>0</visualize>
+        <camera name="thermal_camera">
+          <horizontal_fov>1.6057</horizontal_fov>
+          <lens>
+            <intrinsics>
+              <fx>154.51</fx>
+              <fy>154.51</fy>
+              <cx>160.5</cx>
+              <cy>128.5</cy>
+              <s>0</s>
+            </intrinsics>
+            <type>stereographic</type>
+            <scale_to_hfov>1</scale_to_hfov>
+          </lens>
+          <image>
+            <width>320</width>
+            <height>256</height>
+            <format>L8</format>
+          </image>
+          <clip>
+            <near>0.6</near>
+            <far>50</far>
+          </clip>
+        </camera>
+        <plugin name="ignition::gazebo::systems::ThermalSensor" filename="ignition-gazebo-thermal-sensor-system">
+          <min_temp>253.15</min_temp>
+          <max_temp>673.15</max_temp>
+          <resolution>1.6</resolution>
+        </plugin>
+      </sensor>
     </link>
-    <joint name="rear_right_flipper_j" type="revolute">
-      <child>rear_right_flipper</child>
-      <parent>right_track</parent>
+    <joint name="thermocam_j" type="fixed">
+      <child>thermocam</child>
+      <parent>base_link</parent>
       <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>20</effort>
-          <velocity>0.785398</velocity>
-        </limit>
         <dynamics>
           <spring_reference>0</spring_reference>
           <spring_stiffness>0</spring_stiffness>
         </dynamics>
+        <xyz>0 0 1</xyz>
         <use_parent_model_frame>0</use_parent_model_frame>
+        <limit>
+          <lower>-1e+16</lower>
+          <upper>1e+16</upper>
+        </limit>
       </axis>
       <physics>
         <ode>
-          <implicit_spring_damper>1</implicit_spring_damper>
-          <cfm_damping>1</cfm_damping>
           <limit>
             <cfm>0</cfm>
             <erp>0.2</erp>
@@ -3224,296 +1700,203 @@
         </ode>
       </physics>
     </joint>
-    <link name="rear_right_flipper_wheel1">
-      <pose>-0.25 -0.272 0.0195 0 -0.193732 0</pose>
+    <link name="camera_4">
+      <pose>0.0435 -0.0145 0.26752 -1.5707963267948966 -1.5707963267948966 0</pose>
       <inertial>
-        <pose>-0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
+        <pose>0.039802 0 0.0145 0 -0 0</pose>
+        <mass>0.232</mass>
         <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
+          <ixx>3.25187e-05</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.000158598</iyy>
+          <iyz>0</iyz>
+          <izz>0.000158598</izz>
         </inertia>
       </inertial>
-      <collision name="rear_right_flipper_wheel1_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="camera_4_collision_collision">
+        <pose>0.02465 0 0.0145 0 -0 0</pose>
         <geometry>
-          <cylinder>
-            <length>0.04981</length>
-            <radius>0.089</radius>
-          </cylinder>
+          <box>
+            <size>0.0555 0.029 0.029</size>
+          </box>
         </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
       </collision>
-    </link>
-    <joint name="rear_right_flipper_wheel1_j" type="revolute">
-      <child>rear_right_flipper_wheel1</child>
-      <parent>rear_right_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="rear_right_flipper_wheel2">
-      <pose>-0.330957 -0.272 0.003617 0 -0.193732 0</pose>
-      <inertial>
-        <pose>-0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
-        <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
-        </inertia>
-      </inertial>
-      <collision name="rear_right_flipper_wheel2_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="camera_4_lens_collision_collision_1">
+        <pose>0.062834 0 0.0145 0 1.5707963267948966 0</pose>
         <geometry>
           <cylinder>
-            <length>0.04981</length>
-            <radius>0.074</radius>
+            <length>0.03974</length>
+            <radius>0.0125</radius>
           </cylinder>
         </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
       </collision>
-    </link>
-    <joint name="rear_right_flipper_wheel2_j" type="revolute">
-      <child>rear_right_flipper_wheel2</child>
-      <parent>rear_right_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="rear_right_flipper_wheel3">
-      <pose>-0.411913 -0.272 -0.012266 0 -0.193732 0</pose>
-      <inertial>
-        <pose>-0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
-        <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
-        </inertia>
-      </inertial>
-      <collision name="rear_right_flipper_wheel3_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <visual name="camera_4_visual">
+        <pose>0 0 0.0145 0 -0 0</pose>
         <geometry>
-          <cylinder>
-            <length>0.04981</length>
-            <radius>0.059</radius>
-          </cylinder>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/basler_ace2_pro.dae</uri>
+          </mesh>
         </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
+      </visual>
+      <visual name="camera_4_visual_1">
+        <pose>0.042964 0 0.0145 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/evetar_lens.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <sensor name="camera_4" type="camera">
+        <pose>0.072044 0 0.0145 0 -0 0</pose>
+        <update_rate>9</update_rate>
+        <visualize>0</visualize>
+        <camera>
+          <horizontal_fov>1.50971</horizontal_fov>
+          <image>
+            <width>1920</width>
+            <height>1200</height>
+            <format>R8G8B8</format>
+          </image>
+          <clip>
+            <near>0.011726</near>
+            <far>300</far>
+          </clip>
+          <noise>
+            <type>gaussian</type>
+            <mean>0</mean>
+            <stddev>0.007</stddev>
+          </noise>
+          <lens>
+            <intrinsics>
+              <fx>1020.51</fx>
+              <fy>1020.51</fy>
+              <cx>959.5</cx>
+              <cy>599.5</cy>
+              <s>0</s>
+            </intrinsics>
+            <type>stereographic</type>
+            <scale_to_hfov>1</scale_to_hfov>
+          </lens>
+        </camera>
+      </sensor>
     </link>
-    <joint name="rear_right_flipper_wheel3_j" type="revolute">
-      <child>rear_right_flipper_wheel3</child>
-      <parent>rear_right_flipper</parent>
+    <joint name="camera_4_j" type="fixed">
+      <child>camera_4</child>
+      <parent>base_link</parent>
       <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
         <dynamics>
           <spring_reference>0</spring_reference>
           <spring_stiffness>0</spring_stiffness>
         </dynamics>
+        <xyz>0 0 1</xyz>
         <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="rear_right_flipper_wheel4">
-      <pose>-0.49287 -0.272 -0.028149 0 -0.193732 0</pose>
-      <inertial>
-        <pose>-0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
-        <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
-        </inertia>
-      </inertial>
-      <collision name="rear_right_flipper_wheel4_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.04981</length>
-            <radius>0.044</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-    </link>
-    <joint name="rear_right_flipper_wheel4_j" type="revolute">
-      <child>rear_right_flipper_wheel4</child>
-      <parent>rear_right_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
         <limit>
           <lower>-1e+16</lower>
           <upper>1e+16</upper>
         </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
       </axis>
+      <physics>
+        <ode>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+        </ode>
+      </physics>
     </joint>
-    <link name="rear_right_flipper_wheel5">
-      <pose>-0.573827 -0.272 -0.044032 0 -0.193732 0</pose>
+    <link name="laser">
+      <pose>0.1415 0 0.365 0 0.18 0</pose>
       <inertial>
-        <pose>-0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
+        <pose>0 0 0.03675 0 -0 0</pose>
+        <mass>0.5</mass>
         <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
+          <ixx>0.000461625</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.000461625</iyy>
+          <iyz>0</iyz>
+          <izz>0.000473063</izz>
         </inertia>
       </inertial>
-      <collision name="rear_right_flipper_wheel5_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="laser_collision">
+        <pose>0 0 0.03675 0 -0 0</pose>
         <geometry>
           <cylinder>
-            <length>0.04981</length>
-            <radius>0.029</radius>
+            <length>0.0735</length>
+            <radius>0.0435</radius>
           </cylinder>
         </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
       </collision>
+      <visual name="laser_visual">
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/ouster-os0.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <sensor name="laser" type="gpu_lidar">
+        <pose>0 0 0.035925 0 -0 0</pose>
+        <update_rate>10</update_rate>
+        <visualize>0</visualize>
+        <always_on>1</always_on>
+        <lidar>
+          <scan>
+            <horizontal>
+              <samples>2048</samples>
+              <resolution>1</resolution>
+              <min_angle>-3.1459</min_angle>
+              <max_angle>3.1459</max_angle>
+            </horizontal>
+            <vertical>
+              <samples>128</samples>
+              <resolution>1</resolution>
+              <min_angle>-0.785398</min_angle>
+              <max_angle>0.785398</max_angle>
+            </vertical>
+          </scan>
+          <range>
+            <min>0.1</min>
+            <max>50</max>
+            <resolution>0.01</resolution>
+          </range>
+          <noise>
+            <type>gaussian</type>
+            <mean>0</mean>
+            <stddev>0.01</stddev>
+          </noise>
+        </lidar>
+      </sensor>
     </link>
-    <joint name="rear_right_flipper_wheel5_j" type="revolute">
-      <child>rear_right_flipper_wheel5</child>
-      <parent>rear_right_flipper</parent>
+    <joint name="laser_j" type="fixed">
+      <child>laser</child>
+      <parent>base_link</parent>
       <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
         <dynamics>
           <spring_reference>0</spring_reference>
           <spring_stiffness>0</spring_stiffness>
         </dynamics>
+        <xyz>0 0 1</xyz>
         <use_parent_model_frame>0</use_parent_model_frame>
+        <limit>
+          <lower>-1e+16</lower>
+          <upper>1e+16</upper>
+        </limit>
       </axis>
+      <physics>
+        <ode>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+        </ode>
+      </physics>
     </joint>
-    <link name="right_track_wheel1">
-      <pose>0.25 -0.1985 0.01855 0 -0 0</pose>
+    <link name="right_track">
+      <pose>0 -0.1985 0 0 -0 0</pose>
       <inertial>
         <pose>0 0 0.0141 0 -0 0</pose>
-        <mass>0.7575</mass>
+        <mass>6.06</mass>
         <inertia>
           <ixx>0.002731</ixx>
           <ixy>0</ixy>
@@ -3523,8 +1906,25 @@
           <izz>0.031391</izz>
         </inertia>
       </inertial>
-      <collision name="right_track_wheel1_collision">
-        <pose>0 0.015 0 1.5707963267948966 -0 0</pose>
+      <collision name="right_track_collision">
+        <pose>0 0 0.01855 1.5707963267948966 -0 1.5707963267948966</pose>
+        <geometry>
+          <box>
+            <size>0.097 0.178 0.5</size>
+          </box>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>10</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="right_track_collision_1">
+        <pose>0.25 0.015 0.01855 1.5707963267948966 -0 0</pose>
         <geometry>
           <cylinder>
             <length>0.112</length>
@@ -3532,56 +1932,17 @@
           </cylinder>
         </geometry>
         <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
           <friction>
             <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
+              <mu>10</mu>
+              <mu2>150</mu2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
-    </link>
-    <joint name="right_track_wheel1_j" type="revolute">
-      <child>right_track_wheel1</child>
-      <parent>right_track</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="right_track_wheel2">
-      <pose>0.178571 -0.1985 0.01855 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0.0141 0 -0 0</pose>
-        <mass>0.7575</mass>
-        <inertia>
-          <ixx>0.002731</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.032554</iyy>
-          <iyz>1.5e-05</iyz>
-          <izz>0.031391</izz>
-        </inertia>
-      </inertial>
-      <collision name="right_track_wheel2_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="right_track_collision_2">
+        <pose>-0.25 0 0.01855 1.5707963267948966 -0 0</pose>
         <geometry>
           <cylinder>
             <length>0.097</length>
@@ -3589,32 +1950,34 @@
           </cylinder>
         </geometry>
         <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
           <friction>
             <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
+              <mu>10</mu>
+              <mu2>150</mu2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
+      <visual name="right_track_visual">
+        <pose>0 0 -0.0705 1.5707963267948966 0 -1.5707963267948966</pose>
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/bogie.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
     </link>
-    <joint name="right_track_wheel2_j" type="revolute">
-      <child>right_track_wheel2</child>
-      <parent>right_track</parent>
+    <joint name="right_track_j" type="revolute">
+      <child>right_track</child>
+      <parent>base_link</parent>
       <axis>
         <xyz>0 1 0</xyz>
         <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
+          <lower>0</lower>
+          <upper>0</upper>
+          <effort>0</effort>
+          <velocity>4</velocity>
         </limit>
         <dynamics>
           <spring_reference>0</spring_reference>
@@ -3622,170 +1985,142 @@
         </dynamics>
         <use_parent_model_frame>0</use_parent_model_frame>
       </axis>
+      <physics>
+        <ode>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+        </ode>
+      </physics>
+      <physics>
+        <ode>
+          <implicit_spring_damper>1</implicit_spring_damper>
+          <cfm>0</cfm>
+          <erp>0.95</erp>
+        </ode>
+      </physics>
     </joint>
-    <link name="right_track_wheel3">
-      <pose>0.107143 -0.1985 0.01855 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0.0141 0 -0 0</pose>
-        <mass>0.7575</mass>
-        <inertia>
-          <ixx>0.002731</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.032554</iyy>
-          <iyz>1.5e-05</iyz>
-          <izz>0.031391</izz>
+    <link name="front_right_flipper">
+      <pose>0.25 -0.272 0.0195 3.1415926535897931 -0.193732 3.1415926535897931</pose>
+      <inertial>
+        <pose>-0.08 0 0 0 -0 0</pose>
+        <mass>0.75</mass>
+        <inertia>
+          <ixx>0.0017491</ixx>
+          <ixy>2.8512e-07</ixy>
+          <ixz>0.0018277</ixz>
+          <iyy>0.012277</iyy>
+          <iyz>-3.6288e-07</iyz>
+          <izz>0.010941</izz>
         </inertia>
       </inertial>
-      <collision name="right_track_wheel3_collision">
+      <collision name="front_right_flipper_collision_large_wheel_collision">
         <pose>0 0 0 1.5707963267948966 -0 0</pose>
         <geometry>
           <cylinder>
-            <length>0.097</length>
+            <length>0.04981</length>
             <radius>0.089</radius>
           </cylinder>
         </geometry>
         <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
           <friction>
             <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
+              <mu>10</mu>
+              <mu2>150</mu2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
-    </link>
-    <joint name="right_track_wheel3_j" type="revolute">
-      <child>right_track_wheel3</child>
-      <parent>right_track</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="right_track_wheel4">
-      <pose>0.035714 -0.1985 0.01855 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0.0141 0 -0 0</pose>
-        <mass>0.7575</mass>
-        <inertia>
-          <ixx>0.002731</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.032554</iyy>
-          <iyz>1.5e-05</iyz>
-          <izz>0.031391</izz>
-        </inertia>
-      </inertial>
-      <collision name="right_track_wheel4_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="front_right_flipper_collision_small_wheel_collision_1">
+        <pose>-0.33 0 0 1.5707963267948966 -0 0</pose>
         <geometry>
           <cylinder>
-            <length>0.097</length>
-            <radius>0.089</radius>
+            <length>0.04981</length>
+            <radius>0.029</radius>
           </cylinder>
         </geometry>
         <surface>
-          <contact>
+          <friction>
             <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
+              <mu>10</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
             </ode>
-          </contact>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="front_right_flipper_collision_top_bar_collision_2">
+        <pose>-0.165 0 0.0325 0 0.184162 -3.1415926535897931</pose>
+        <geometry>
+          <box>
+            <size>0.33 0.04981 0.055</size>
+          </box>
+        </geometry>
+        <surface>
           <friction>
             <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
+              <mu>10</mu>
+              <mu2>150</mu2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
-    </link>
-    <joint name="right_track_wheel4_j" type="revolute">
-      <child>right_track_wheel4</child>
-      <parent>right_track</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="right_track_wheel5">
-      <pose>-0.035714 -0.1985 0.01855 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0.0141 0 -0 0</pose>
-        <mass>0.7575</mass>
-        <inertia>
-          <ixx>0.002731</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.032554</iyy>
-          <iyz>1.5e-05</iyz>
-          <izz>0.031391</izz>
-        </inertia>
-      </inertial>
-      <collision name="right_track_wheel5_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="front_right_flipper_collision_bottom_bar_collision_3">
+        <pose>-0.165 0 -0.0325 0 -0.184162 -3.1415926535897931</pose>
         <geometry>
-          <cylinder>
-            <length>0.097</length>
-            <radius>0.089</radius>
-          </cylinder>
+          <box>
+            <size>0.33 0.04981 0.055</size>
+          </box>
         </geometry>
         <surface>
-          <contact>
+          <friction>
             <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
+              <mu>10</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
             </ode>
-          </contact>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="front_right_flipper_collision_middle_bar_collision_4">
+        <pose>-0.166 0 0.004 0 -0.02 -3.1415926535897931</pose>
+        <geometry>
+          <box>
+            <size>0.2 0.04981 0.07</size>
+          </box>
+        </geometry>
+        <surface>
           <friction>
             <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
+              <mu>10</mu>
+              <mu2>150</mu2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
+      <visual name="front_right_flipper_visual">
+        <pose>0 0 0 -2.95743 -0 -1.5707963267948966</pose>
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/flipper.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
     </link>
-    <joint name="right_track_wheel5_j" type="revolute">
-      <child>right_track_wheel5</child>
+    <joint name="front_right_flipper_j" type="revolute">
+      <child>front_right_flipper</child>
       <parent>right_track</parent>
       <axis>
         <xyz>0 1 0</xyz>
         <limit>
           <lower>-1e+16</lower>
           <upper>1e+16</upper>
+          <effort>20</effort>
+          <velocity>0.785398</velocity>
         </limit>
         <dynamics>
           <spring_reference>0</spring_reference>
@@ -3793,170 +2128,137 @@
         </dynamics>
         <use_parent_model_frame>0</use_parent_model_frame>
       </axis>
+      <physics>
+        <ode>
+          <implicit_spring_damper>1</implicit_spring_damper>
+          <cfm_damping>1</cfm_damping>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+        </ode>
+      </physics>
     </joint>
-    <link name="right_track_wheel6">
-      <pose>-0.107143 -0.1985 0.01855 0 -0 0</pose>
+    <link name="rear_right_flipper">
+      <pose>-0.25 -0.272 0.0195 0 -0.193732 0</pose>
       <inertial>
-        <pose>0 0 0.0141 0 -0 0</pose>
-        <mass>0.7575</mass>
+        <pose>-0.08 0 0 0 -0 0</pose>
+        <mass>0.75</mass>
         <inertia>
-          <ixx>0.002731</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.032554</iyy>
-          <iyz>1.5e-05</iyz>
-          <izz>0.031391</izz>
+          <ixx>0.0017491</ixx>
+          <ixy>2.8512e-07</ixy>
+          <ixz>0.0018277</ixz>
+          <iyy>0.012277</iyy>
+          <iyz>-3.6288e-07</iyz>
+          <izz>0.010941</izz>
         </inertia>
       </inertial>
-      <collision name="right_track_wheel6_collision">
+      <collision name="rear_right_flipper_collision_large_wheel_collision">
         <pose>0 0 0 1.5707963267948966 -0 0</pose>
         <geometry>
           <cylinder>
-            <length>0.097</length>
+            <length>0.04981</length>
             <radius>0.089</radius>
           </cylinder>
         </geometry>
         <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
           <friction>
             <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
+              <mu>10</mu>
+              <mu2>150</mu2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
-    </link>
-    <joint name="right_track_wheel6_j" type="revolute">
-      <child>right_track_wheel6</child>
-      <parent>right_track</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="right_track_wheel7">
-      <pose>-0.178571 -0.1985 0.01855 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0.0141 0 -0 0</pose>
-        <mass>0.7575</mass>
-        <inertia>
-          <ixx>0.002731</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.032554</iyy>
-          <iyz>1.5e-05</iyz>
-          <izz>0.031391</izz>
-        </inertia>
-      </inertial>
-      <collision name="right_track_wheel7_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="rear_right_flipper_collision_small_wheel_collision_1">
+        <pose>-0.33 0 0 1.5707963267948966 -0 0</pose>
         <geometry>
           <cylinder>
-            <length>0.097</length>
-            <radius>0.089</radius>
+            <length>0.04981</length>
+            <radius>0.029</radius>
           </cylinder>
         </geometry>
         <surface>
-          <contact>
+          <friction>
             <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
+              <mu>10</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
             </ode>
-          </contact>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="rear_right_flipper_collision_top_bar_collision_2">
+        <pose>-0.165 0 0.0325 0 0.184162 -3.1415926535897931</pose>
+        <geometry>
+          <box>
+            <size>0.33 0.04981 0.055</size>
+          </box>
+        </geometry>
+        <surface>
           <friction>
             <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
+              <mu>10</mu>
+              <mu2>150</mu2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
-    </link>
-    <joint name="right_track_wheel7_j" type="revolute">
-      <child>right_track_wheel7</child>
-      <parent>right_track</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="right_track_wheel8">
-      <pose>-0.25 -0.1985 0.01855 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0.0141 0 -0 0</pose>
-        <mass>0.7575</mass>
-        <inertia>
-          <ixx>0.002731</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.032554</iyy>
-          <iyz>1.5e-05</iyz>
-          <izz>0.031391</izz>
-        </inertia>
-      </inertial>
-      <collision name="right_track_wheel8_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="rear_right_flipper_collision_bottom_bar_collision_3">
+        <pose>-0.165 0 -0.0325 0 -0.184162 -3.1415926535897931</pose>
         <geometry>
-          <cylinder>
-            <length>0.097</length>
-            <radius>0.089</radius>
-          </cylinder>
+          <box>
+            <size>0.33 0.04981 0.055</size>
+          </box>
         </geometry>
         <surface>
-          <contact>
+          <friction>
             <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
+              <mu>10</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
             </ode>
-          </contact>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="rear_right_flipper_collision_middle_bar_collision_4">
+        <pose>-0.166 0 0.004 0 -0.02 -3.1415926535897931</pose>
+        <geometry>
+          <box>
+            <size>0.2 0.04981 0.07</size>
+          </box>
+        </geometry>
+        <surface>
           <friction>
             <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
+              <mu>10</mu>
+              <mu2>150</mu2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
+      <visual name="rear_right_flipper_visual">
+        <pose>0 0 0 -2.95743 -0 -1.5707963267948966</pose>
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/flipper.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
     </link>
-    <joint name="right_track_wheel8_j" type="revolute">
-      <child>right_track_wheel8</child>
+    <joint name="rear_right_flipper_j" type="revolute">
+      <child>rear_right_flipper</child>
       <parent>right_track</parent>
       <axis>
         <xyz>0 1 0</xyz>
         <limit>
           <lower>-1e+16</lower>
           <upper>1e+16</upper>
+          <effort>20</effort>
+          <velocity>0.785398</velocity>
         </limit>
         <dynamics>
           <spring_reference>0</spring_reference>
@@ -3964,6 +2266,16 @@
         </dynamics>
         <use_parent_model_frame>0</use_parent_model_frame>
       </axis>
+      <physics>
+        <ode>
+          <implicit_spring_damper>1</implicit_spring_damper>
+          <cfm_damping>1</cfm_damping>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+        </ode>
+      </physics>
     </joint>
     <plugin name="cras::FlipperControlPlugin" filename="libflipper_control_plugin.so">
       <joint_name>front_left_flipper_j</joint_name>
diff --git a/submitted_models/ctu_cras_norlab_marv_sensor_config_1/config/sim.yaml b/submitted_models/ctu_cras_norlab_marv_sensor_config_1/config/sim.yaml
index fb128d11..b7ccbc26 100644
--- a/submitted_models/ctu_cras_norlab_marv_sensor_config_1/config/sim.yaml
+++ b/submitted_models/ctu_cras_norlab_marv_sensor_config_1/config/sim.yaml
@@ -1,6 +1,6 @@
 # Common simulation parameters
 
-num_wheels: 8 # Number of small wheels that approximate each flipper
+num_wheels: 0 # Number of small wheels that approximate each flipper
 num_breadcrumbs: 0
 
 # Which sensors to simulate (if False, they will be a part of the model but not producing data)
diff --git a/submitted_models/ctu_cras_norlab_marv_sensor_config_1/launch/common.rb b/submitted_models/ctu_cras_norlab_marv_sensor_config_1/launch/common.rb
index e2b8ae6d..5036d61a 100644
--- a/submitted_models/ctu_cras_norlab_marv_sensor_config_1/launch/common.rb
+++ b/submitted_models/ctu_cras_norlab_marv_sensor_config_1/launch/common.rb
@@ -22,32 +22,75 @@ def _spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw, _add
   max_vel = config["rover_maxTrackSpeed"]
   max_accel = config["rover_maxTrackAcceleration"]
 
+  tracks = ["left", "right"]
+  flippers = ["front_left", "front_right", "rear_left", "rear_right"]
+
+  flippersOfTrack = Hash.new
+  flippersOfTrack["left"] = ["front_left", "rear_left"]
+  flippersOfTrack["right"] = ["front_right", "rear_right"]
+
   # generate a bunch of DiffDrive plugins (one for each simulated wheel size)
   diff_drive = ""
-  for wheel_num in 1..num_wheels
-    # we only want odometry from the first diffdrive
-    no_odom = ""
-    if wheel_num > 1
-      no_odom = "<odom_topic>unused_odom</odom_topic>\n"
+  trackControllers = ""
+  trackedVehicle = ""
+  if num_wheels > 0
+      for wheel_num in 1..num_wheels
+        # we only want odometry from the first diffdrive
+        no_odom = ""
+        if wheel_num > 1
+          no_odom = "<odom_topic>unused_odom</odom_topic>\n"
+        end
+        diff_drive += "
+          <plugin filename=\"libignition-gazebo-diff-drive-system.so\"
+                  name=\"ignition::gazebo::systems::DiffDrive\">
+              <left_joint>front_left_flipper_wheel#{wheel_num}_j</left_joint>
+              <left_joint>rear_left_flipper_wheel#{wheel_num}_j</left_joint>
+              <right_joint>front_right_flipper_wheel#{wheel_num}_j</right_joint>
+              <right_joint>rear_right_flipper_wheel#{wheel_num}_j</right_joint>
+              <wheel_separation>#{wheel_separation}</wheel_separation>
+              <wheel_radius>#{small_wheel_radius + wheel_radius_increment * (num_wheels - wheel_num)}</wheel_radius>
+              <topic>/model/#{_name}/cmd_vel_relay</topic>
+              <min_velocity>#{-max_vel}</min_velocity>
+              <max_velocity>#{max_vel}</max_velocity>
+              <min_acceleration>#{-max_accel}</min_acceleration>
+              <max_acceleration>#{max_accel}</max_acceleration>
+              #{no_odom}
+          </plugin>"
+      end
+  else
+    trackLinks = ""
+    for track in tracks
+        for flipper in flippersOfTrack[track]
+            trackControllers += <<-HEREDOC
+              <plugin name='ignition::gazebo::systems::TrackController' filename='libignition-gazebo-track-controller-system.so'>
+                  <link>#{flipper}_flipper</link>
+                  <min_velocity>-#{max_vel}</min_velocity>
+                  <max_velocity>#{max_vel}</max_velocity>
+                  <min_acceleration>-#{max_accel}</min_acceleration>
+                  <max_acceleration>#{max_accel}</max_acceleration>
+              </plugin>
+            HEREDOC
+            trackLinks += "<#{track}_track><link>#{flipper}_flipper</link></#{track}_track>"
+        end
     end
-    diff_drive += "
-      <plugin filename=\"libignition-gazebo-diff-drive-system.so\"
-              name=\"ignition::gazebo::systems::DiffDrive\">
-          <left_joint>front_left_flipper_wheel#{wheel_num}_j</left_joint>
-          <left_joint>rear_left_flipper_wheel#{wheel_num}_j</left_joint>
-          <right_joint>front_right_flipper_wheel#{wheel_num}_j</right_joint>
-          <right_joint>rear_right_flipper_wheel#{wheel_num}_j</right_joint>
-          <wheel_separation>#{wheel_separation}</wheel_separation>
-          <wheel_radius>#{small_wheel_radius + wheel_radius_increment * (num_wheels - wheel_num)}</wheel_radius>
-          <topic>/model/#{_name}/cmd_vel_relay</topic>
-          <min_velocity>#{-max_vel}</min_velocity>
-          <max_velocity>#{max_vel}</max_velocity>
-          <min_acceleration>#{-max_accel}</min_acceleration>
-          <max_acceleration>#{max_accel}</max_acceleration>
-          #{no_odom}
-      </plugin>"
+    trackedVehicle += <<-HEREDOC
+        <plugin name="ignition::gazebo::systems::TrackedVehicle" filename="ignition-gazebo-tracked-vehicle-system">
+              #{trackLinks}
+              <tracks_separation>#{wheel_separation}</tracks_separation>
+              <tracks_height>#{2 * wheel_radius_increment}</tracks_height>
+              <steering_efficiency>0.5</steering_efficiency>
+              <topic>/model/#{_name}/cmd_vel_relay</topic>
+              <linear_velocity>
+                  <min_velocity>-#{max_vel}</min_velocity>
+                  <max_velocity>#{max_vel}</max_velocity>
+                  <min_acceleration>-#{max_accel}</min_acceleration>
+                  <max_acceleration>#{max_accel}</max_acceleration>
+              </linear_velocity>
+          </plugin>
+    HEREDOC
   end
 
+
   <<-HEREDOC
   <spawn name='#{_name}'>
     <name>#{_name}</name>
@@ -61,6 +104,8 @@ def _spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw, _add
       <uri>#{_modelURI}</uri>
       <!-- Diff drive -->
       #{diff_drive}
+      #{trackedVehicle}
+      #{trackControllers}
       <!-- Publish robot state information -->
       <plugin filename="libignition-gazebo-pose-publisher-system.so"
         name="ignition::gazebo::systems::PosePublisher">
diff --git a/submitted_models/ctu_cras_norlab_marv_sensor_config_1/model.sdf b/submitted_models/ctu_cras_norlab_marv_sensor_config_1/model.sdf
index 6ccedcea..92ce3fe8 100644
--- a/submitted_models/ctu_cras_norlab_marv_sensor_config_1/model.sdf
+++ b/submitted_models/ctu_cras_norlab_marv_sensor_config_1/model.sdf
@@ -468,16 +468,104 @@
     <link name="front_left_flipper">
       <pose>0.256 0.248 0 0 -0 0</pose>
       <inertial>
-        <mass>1e-05</mass>
+        <pose>0.08 0 0 0 -0 0</pose>
+        <mass>3.659</mass>
         <inertia>
-          <ixx>0.001</ixx>
-          <ixy>1e-06</ixy>
-          <ixz>1e-06</ixz>
-          <iyy>0.001</iyy>
-          <iyz>1e-06</iyz>
-          <izz>0.001</izz>
+          <ixx>0.0017491</ixx>
+          <ixy>2.8512e-07</ixy>
+          <ixz>0.0018277</ixz>
+          <iyy>0.012277</iyy>
+          <iyz>-3.6288e-07</iyz>
+          <izz>0.010941</izz>
         </inertia>
       </inertial>
+      <collision name="front_left_flipper_collision">
+        <pose>0.15175 0 0 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.3035 0.075 0.078</size>
+          </box>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>1</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="front_left_flipper_collision_1">
+        <pose>0.15175 0 0.05825 0 0.126179 0</pose>
+        <geometry>
+          <box>
+            <size>0.3035 0.075 0.078</size>
+          </box>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>1</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="front_left_flipper_collision_2">
+        <pose>0.15175 0 -0.05825 0 -0.126179 0</pose>
+        <geometry>
+          <box>
+            <size>0.3035 0.075 0.078</size>
+          </box>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>1</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="front_left_flipper_collision_3">
+        <pose>0.3035 0 0 1.5707963267948966 -0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.075</length>
+            <radius>0.078</radius>
+          </cylinder>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>1</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="front_left_flipper_collision_4">
+        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.075</length>
+            <radius>0.1165</radius>
+          </cylinder>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>1</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
       <visual name="front_left_flipper_visual">
         <geometry>
           <mesh>
@@ -614,545 +702,145 @@
         </ode>
       </physics>
     </joint>
-    <link name="front_left_flipper_wheel1">
-      <pose>0.256 0.248 0 0 -0 0</pose>
+    <link name="front_left_motor">
       <inertial>
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <mass>0.457375</mass>
+        <pose>0.22 -0.09 0.02 0 -0 0</pose>
+        <mass>4.06</mass>
         <inertia>
-          <ixx>0.0017663</ixx>
+          <ixx>0.0151492</ixx>
           <ixy>0</ixy>
           <ixz>0</ixz>
-          <iyy>0.0017663</iyy>
+          <iyy>0.0129839</iyy>
           <iyz>0</iyz>
-          <izz>0.0031038</izz>
+          <izz>0.0173903</izz>
         </inertia>
       </inertial>
-      <collision name="front_left_flipper_wheel1_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.075</length>
-            <radius>0.1165</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-            <collide_bitmask>1</collide_bitmask>
-          </contact>
-          <friction>
-            <ode>
-              <mu>1</mu>
-              <mu2>150</mu2>
-              <slip1>0.000580604</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-      <self_collide>1</self_collide>
     </link>
-    <joint name="front_left_flipper_wheel1_j" type="revolute">
-      <child>front_left_flipper_wheel1</child>
-      <parent>front_left_flipper</parent>
+    <joint name="front_left_motor_j" type="fixed">
+      <child>front_left_motor</child>
+      <parent>base_link</parent>
       <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>-1</effort>
-          <velocity>8.58369</velocity>
-        </limit>
         <dynamics>
           <spring_reference>0</spring_reference>
           <spring_stiffness>0</spring_stiffness>
         </dynamics>
+        <xyz>0 0 1</xyz>
         <use_parent_model_frame>0</use_parent_model_frame>
+        <limit>
+          <lower>-1e+16</lower>
+          <upper>1e+16</upper>
+        </limit>
       </axis>
+      <physics>
+        <ode>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+        </ode>
+      </physics>
     </joint>
-    <link name="front_left_flipper_wheel2">
-      <pose>0.299357 0.248 0 0 -0 0</pose>
+    <link name="front_right_flipper">
+      <pose>0.256 -0.248 0 3.1415926535897931 -0 -3.1415926535897931</pose>
       <inertial>
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <mass>0.457375</mass>
+        <pose>-0.08 0 0 0 -0 0</pose>
+        <mass>3.659</mass>
         <inertia>
-          <ixx>0.00162322</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.00162322</iyy>
-          <iyz>0</iyz>
-          <izz>0.00281766</izz>
+          <ixx>0.0017491</ixx>
+          <ixy>2.8512e-07</ixy>
+          <ixz>0.0018277</ixz>
+          <iyy>0.012277</iyy>
+          <iyz>-3.6288e-07</iyz>
+          <izz>0.010941</izz>
         </inertia>
       </inertial>
-      <collision name="front_left_flipper_wheel2_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="front_right_flipper_collision">
+        <pose>-0.15175 0 0 0 -0 0</pose>
         <geometry>
-          <cylinder>
-            <length>0.075</length>
-            <radius>0.111</radius>
-          </cylinder>
+          <box>
+            <size>0.3035 0.075 0.078</size>
+          </box>
         </geometry>
         <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-            <collide_bitmask>2</collide_bitmask>
-          </contact>
           <friction>
             <ode>
               <mu>1</mu>
               <mu2>150</mu2>
-              <slip1>0.000580604</slip1>
-              <slip2>0</slip2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
-      <self_collide>1</self_collide>
-    </link>
-    <joint name="front_left_flipper_wheel2_j" type="revolute">
-      <child>front_left_flipper_wheel2</child>
-      <parent>front_left_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>-1</effort>
-          <velocity>9.00901</velocity>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="front_left_flipper_wheel3">
-      <pose>0.342714 0.248 0 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <mass>0.457375</mass>
-        <inertia>
-          <ixx>0.00148707</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.00148707</iyy>
-          <iyz>0</iyz>
-          <izz>0.00254535</izz>
-        </inertia>
-      </inertial>
-      <collision name="front_left_flipper_wheel3_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="front_right_flipper_collision_1">
+        <pose>-0.15175 0 0.05825 0 -0.126179 0</pose>
         <geometry>
-          <cylinder>
-            <length>0.075</length>
-            <radius>0.1055</radius>
-          </cylinder>
+          <box>
+            <size>0.3035 0.075 0.078</size>
+          </box>
         </geometry>
         <surface>
-          <contact>
+          <friction>
             <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
+              <mu>1</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
             </ode>
-            <collide_bitmask>4</collide_bitmask>
-          </contact>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="front_right_flipper_collision_2">
+        <pose>-0.15175 0 -0.05825 0 0.126179 0</pose>
+        <geometry>
+          <box>
+            <size>0.3035 0.075 0.078</size>
+          </box>
+        </geometry>
+        <surface>
           <friction>
             <ode>
               <mu>1</mu>
               <mu2>150</mu2>
-              <slip1>0.000580604</slip1>
-              <slip2>0</slip2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
-      <self_collide>1</self_collide>
-    </link>
-    <joint name="front_left_flipper_wheel3_j" type="revolute">
-      <child>front_left_flipper_wheel3</child>
-      <parent>front_left_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>-1</effort>
-          <velocity>9.47867</velocity>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="front_left_flipper_wheel4">
-      <pose>0.386071 0.248 0 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <mass>0.457375</mass>
-        <inertia>
-          <ixx>0.00135783</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.00135783</iyy>
-          <iyz>0</iyz>
-          <izz>0.00228687</izz>
-        </inertia>
-      </inertial>
-      <collision name="front_left_flipper_wheel4_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="front_right_flipper_collision_3">
+        <pose>-0.3035 0 0 1.5707963267948966 -0 0</pose>
         <geometry>
           <cylinder>
             <length>0.075</length>
-            <radius>0.1</radius>
+            <radius>0.078</radius>
           </cylinder>
         </geometry>
         <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-            <collide_bitmask>8</collide_bitmask>
-          </contact>
           <friction>
             <ode>
               <mu>1</mu>
               <mu2>150</mu2>
-              <slip1>0.000580604</slip1>
-              <slip2>0</slip2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
-      <self_collide>1</self_collide>
-    </link>
-    <joint name="front_left_flipper_wheel4_j" type="revolute">
-      <child>front_left_flipper_wheel4</child>
-      <parent>front_left_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>-1</effort>
-          <velocity>10</velocity>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="front_left_flipper_wheel5">
-      <pose>0.429429 0.248 0 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <mass>0.457375</mass>
-        <inertia>
-          <ixx>0.00123551</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.00123551</iyy>
-          <iyz>0</iyz>
-          <izz>0.00204224</izz>
-        </inertia>
-      </inertial>
-      <collision name="front_left_flipper_wheel5_collision_collision">
+      <collision name="front_right_flipper_collision_4">
         <pose>0 0 0 1.5707963267948966 -0 0</pose>
         <geometry>
           <cylinder>
             <length>0.075</length>
-            <radius>0.0945</radius>
+            <radius>0.1165</radius>
           </cylinder>
         </geometry>
         <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-            <collide_bitmask>16</collide_bitmask>
-          </contact>
           <friction>
             <ode>
               <mu>1</mu>
               <mu2>150</mu2>
-              <slip1>0.000580604</slip1>
-              <slip2>0</slip2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
-      <self_collide>1</self_collide>
-    </link>
-    <joint name="front_left_flipper_wheel5_j" type="revolute">
-      <child>front_left_flipper_wheel5</child>
-      <parent>front_left_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>-1</effort>
-          <velocity>10.582</velocity>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="front_left_flipper_wheel6">
-      <pose>0.472786 0.248 0 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <mass>0.457375</mass>
-        <inertia>
-          <ixx>0.00112011</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.00112011</iyy>
-          <iyz>0</iyz>
-          <izz>0.00181143</izz>
-        </inertia>
-      </inertial>
-      <collision name="front_left_flipper_wheel6_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.075</length>
-            <radius>0.089</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-            <collide_bitmask>32</collide_bitmask>
-          </contact>
-          <friction>
-            <ode>
-              <mu>1</mu>
-              <mu2>150</mu2>
-              <slip1>0.000580604</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-      <self_collide>1</self_collide>
-    </link>
-    <joint name="front_left_flipper_wheel6_j" type="revolute">
-      <child>front_left_flipper_wheel6</child>
-      <parent>front_left_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>-1</effort>
-          <velocity>11.236</velocity>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="front_left_flipper_wheel7">
-      <pose>0.516143 0.248 0 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <mass>0.457375</mass>
-        <inertia>
-          <ixx>0.00101163</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.00101163</iyy>
-          <iyz>0</iyz>
-          <izz>0.00159447</izz>
-        </inertia>
-      </inertial>
-      <collision name="front_left_flipper_wheel7_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.075</length>
-            <radius>0.0835</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-            <collide_bitmask>64</collide_bitmask>
-          </contact>
-          <friction>
-            <ode>
-              <mu>1</mu>
-              <mu2>150</mu2>
-              <slip1>0.000580604</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-      <self_collide>1</self_collide>
-    </link>
-    <joint name="front_left_flipper_wheel7_j" type="revolute">
-      <child>front_left_flipper_wheel7</child>
-      <parent>front_left_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>-1</effort>
-          <velocity>11.976</velocity>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="front_left_flipper_wheel8">
-      <pose>0.5595 0.248 0 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <mass>0.457375</mass>
-        <inertia>
-          <ixx>0.000910062</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.000910062</iyy>
-          <iyz>0</iyz>
-          <izz>0.00139133</izz>
-        </inertia>
-      </inertial>
-      <collision name="front_left_flipper_wheel8_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.075</length>
-            <radius>0.078</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-            <collide_bitmask>128</collide_bitmask>
-          </contact>
-          <friction>
-            <ode>
-              <mu>1</mu>
-              <mu2>150</mu2>
-              <slip1>0.000580604</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-      <self_collide>1</self_collide>
-    </link>
-    <joint name="front_left_flipper_wheel8_j" type="revolute">
-      <child>front_left_flipper_wheel8</child>
-      <parent>front_left_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>-1</effort>
-          <velocity>12.8205</velocity>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="front_left_motor">
-      <inertial>
-        <pose>0.22 -0.09 0.02 0 -0 0</pose>
-        <mass>4.06</mass>
-        <inertia>
-          <ixx>0.0151492</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.0129839</iyy>
-          <iyz>0</iyz>
-          <izz>0.0173903</izz>
-        </inertia>
-      </inertial>
-    </link>
-    <joint name="front_left_motor_j" type="fixed">
-      <child>front_left_motor</child>
-      <parent>base_link</parent>
-      <axis>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <xyz>0 0 1</xyz>
-        <use_parent_model_frame>0</use_parent_model_frame>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-      </axis>
-      <physics>
-        <ode>
-          <limit>
-            <cfm>0</cfm>
-            <erp>0.2</erp>
-          </limit>
-        </ode>
-      </physics>
-    </joint>
-    <link name="front_right_flipper">
-      <pose>0.256 -0.248 0 3.1415926535897931 -0 -3.1415926535897931</pose>
-      <inertial>
-        <mass>1e-05</mass>
-        <inertia>
-          <ixx>0.001</ixx>
-          <ixy>1e-06</ixy>
-          <ixz>1e-06</ixz>
-          <iyy>0.001</iyy>
-          <iyz>1e-06</iyz>
-          <izz>0.001</izz>
-        </inertia>
-      </inertial>
       <visual name="front_right_flipper_visual">
         <geometry>
           <mesh>
@@ -1289,1443 +977,137 @@
         </ode>
       </physics>
     </joint>
-    <link name="front_right_flipper_wheel1">
-      <pose>0.256 -0.248 0 3.1415926535897931 -0 3.1415926535897931</pose>
+    <link name="front_right_motor">
       <inertial>
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <mass>0.457375</mass>
+        <pose>0.22 0.09 0.02 0 -0 0</pose>
+        <mass>4.06</mass>
         <inertia>
-          <ixx>0.0017663</ixx>
+          <ixx>0.0151492</ixx>
           <ixy>0</ixy>
           <ixz>0</ixz>
-          <iyy>0.0017663</iyy>
+          <iyy>0.0129839</iyy>
           <iyz>0</iyz>
-          <izz>0.0031038</izz>
+          <izz>0.0173903</izz>
         </inertia>
       </inertial>
-      <collision name="front_right_flipper_wheel1_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.075</length>
-            <radius>0.1165</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-            <collide_bitmask>1</collide_bitmask>
-          </contact>
-          <friction>
-            <ode>
-              <mu>1</mu>
-              <mu2>150</mu2>
-              <slip1>0.000580604</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-      <self_collide>1</self_collide>
     </link>
-    <joint name="front_right_flipper_wheel1_j" type="revolute">
-      <child>front_right_flipper_wheel1</child>
-      <parent>front_right_flipper</parent>
+    <joint name="front_right_motor_j" type="fixed">
+      <child>front_right_motor</child>
+      <parent>base_link</parent>
       <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>-1</effort>
-          <velocity>8.58369</velocity>
-        </limit>
         <dynamics>
           <spring_reference>0</spring_reference>
           <spring_stiffness>0</spring_stiffness>
         </dynamics>
+        <xyz>0 0 1</xyz>
         <use_parent_model_frame>0</use_parent_model_frame>
+        <limit>
+          <lower>-1e+16</lower>
+          <upper>1e+16</upper>
+        </limit>
       </axis>
+      <physics>
+        <ode>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+        </ode>
+      </physics>
     </joint>
-    <link name="front_right_flipper_wheel2">
-      <pose>0.299357 -0.248 -0 3.1415926535897931 -0 3.1415926535897931</pose>
+    <link name="imu">
+      <pose>0 0 0.15 -3.1415926535897931 0 0</pose>
       <inertial>
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <mass>0.457375</mass>
+        <mass>1e-05</mass>
         <inertia>
-          <ixx>0.00162322</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.00162322</iyy>
-          <iyz>0</iyz>
-          <izz>0.00281766</izz>
-        </inertia>
-      </inertial>
-      <collision name="front_right_flipper_wheel2_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.075</length>
-            <radius>0.111</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-            <collide_bitmask>2</collide_bitmask>
-          </contact>
-          <friction>
-            <ode>
-              <mu>1</mu>
-              <mu2>150</mu2>
-              <slip1>0.000580604</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-      <self_collide>1</self_collide>
-    </link>
-    <joint name="front_right_flipper_wheel2_j" type="revolute">
-      <child>front_right_flipper_wheel2</child>
-      <parent>front_right_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>-1</effort>
-          <velocity>9.00901</velocity>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="front_right_flipper_wheel3">
-      <pose>0.342714 -0.248 -0 3.1415926535897931 -0 3.1415926535897931</pose>
-      <inertial>
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <mass>0.457375</mass>
-        <inertia>
-          <ixx>0.00148707</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.00148707</iyy>
-          <iyz>0</iyz>
-          <izz>0.00254535</izz>
-        </inertia>
-      </inertial>
-      <collision name="front_right_flipper_wheel3_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.075</length>
-            <radius>0.1055</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-            <collide_bitmask>4</collide_bitmask>
-          </contact>
-          <friction>
-            <ode>
-              <mu>1</mu>
-              <mu2>150</mu2>
-              <slip1>0.000580604</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-      <self_collide>1</self_collide>
-    </link>
-    <joint name="front_right_flipper_wheel3_j" type="revolute">
-      <child>front_right_flipper_wheel3</child>
-      <parent>front_right_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>-1</effort>
-          <velocity>9.47867</velocity>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="front_right_flipper_wheel4">
-      <pose>0.386071 -0.248 -0 3.1415926535897931 -0 3.1415926535897931</pose>
-      <inertial>
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <mass>0.457375</mass>
-        <inertia>
-          <ixx>0.00135783</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.00135783</iyy>
-          <iyz>0</iyz>
-          <izz>0.00228687</izz>
-        </inertia>
-      </inertial>
-      <collision name="front_right_flipper_wheel4_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.075</length>
-            <radius>0.1</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-            <collide_bitmask>8</collide_bitmask>
-          </contact>
-          <friction>
-            <ode>
-              <mu>1</mu>
-              <mu2>150</mu2>
-              <slip1>0.000580604</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-      <self_collide>1</self_collide>
-    </link>
-    <joint name="front_right_flipper_wheel4_j" type="revolute">
-      <child>front_right_flipper_wheel4</child>
-      <parent>front_right_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>-1</effort>
-          <velocity>10</velocity>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="front_right_flipper_wheel5">
-      <pose>0.429429 -0.248 -0 3.1415926535897931 -0 3.1415926535897931</pose>
-      <inertial>
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <mass>0.457375</mass>
-        <inertia>
-          <ixx>0.00123551</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.00123551</iyy>
-          <iyz>0</iyz>
-          <izz>0.00204224</izz>
-        </inertia>
-      </inertial>
-      <collision name="front_right_flipper_wheel5_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.075</length>
-            <radius>0.0945</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-            <collide_bitmask>16</collide_bitmask>
-          </contact>
-          <friction>
-            <ode>
-              <mu>1</mu>
-              <mu2>150</mu2>
-              <slip1>0.000580604</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-      <self_collide>1</self_collide>
-    </link>
-    <joint name="front_right_flipper_wheel5_j" type="revolute">
-      <child>front_right_flipper_wheel5</child>
-      <parent>front_right_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>-1</effort>
-          <velocity>10.582</velocity>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="front_right_flipper_wheel6">
-      <pose>0.472786 -0.248 -0 3.1415926535897931 -0 3.1415926535897931</pose>
-      <inertial>
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <mass>0.457375</mass>
-        <inertia>
-          <ixx>0.00112011</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.00112011</iyy>
-          <iyz>0</iyz>
-          <izz>0.00181143</izz>
-        </inertia>
-      </inertial>
-      <collision name="front_right_flipper_wheel6_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.075</length>
-            <radius>0.089</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-            <collide_bitmask>32</collide_bitmask>
-          </contact>
-          <friction>
-            <ode>
-              <mu>1</mu>
-              <mu2>150</mu2>
-              <slip1>0.000580604</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-      <self_collide>1</self_collide>
-    </link>
-    <joint name="front_right_flipper_wheel6_j" type="revolute">
-      <child>front_right_flipper_wheel6</child>
-      <parent>front_right_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>-1</effort>
-          <velocity>11.236</velocity>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="front_right_flipper_wheel7">
-      <pose>0.516143 -0.248 -0 3.1415926535897931 -0 3.1415926535897931</pose>
-      <inertial>
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <mass>0.457375</mass>
-        <inertia>
-          <ixx>0.00101163</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.00101163</iyy>
-          <iyz>0</iyz>
-          <izz>0.00159447</izz>
-        </inertia>
-      </inertial>
-      <collision name="front_right_flipper_wheel7_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.075</length>
-            <radius>0.0835</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-            <collide_bitmask>64</collide_bitmask>
-          </contact>
-          <friction>
-            <ode>
-              <mu>1</mu>
-              <mu2>150</mu2>
-              <slip1>0.000580604</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-      <self_collide>1</self_collide>
-    </link>
-    <joint name="front_right_flipper_wheel7_j" type="revolute">
-      <child>front_right_flipper_wheel7</child>
-      <parent>front_right_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>-1</effort>
-          <velocity>11.976</velocity>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="front_right_flipper_wheel8">
-      <pose>0.5595 -0.248 -0 3.1415926535897931 -0 3.1415926535897931</pose>
-      <inertial>
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <mass>0.457375</mass>
-        <inertia>
-          <ixx>0.000910062</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.000910062</iyy>
-          <iyz>0</iyz>
-          <izz>0.00139133</izz>
-        </inertia>
-      </inertial>
-      <collision name="front_right_flipper_wheel8_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.075</length>
-            <radius>0.078</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-            <collide_bitmask>128</collide_bitmask>
-          </contact>
-          <friction>
-            <ode>
-              <mu>1</mu>
-              <mu2>150</mu2>
-              <slip1>0.000580604</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-      <self_collide>1</self_collide>
-    </link>
-    <joint name="front_right_flipper_wheel8_j" type="revolute">
-      <child>front_right_flipper_wheel8</child>
-      <parent>front_right_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>-1</effort>
-          <velocity>12.8205</velocity>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="front_right_motor">
-      <inertial>
-        <pose>0.22 0.09 0.02 0 -0 0</pose>
-        <mass>4.06</mass>
-        <inertia>
-          <ixx>0.0151492</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.0129839</iyy>
-          <iyz>0</iyz>
-          <izz>0.0173903</izz>
-        </inertia>
-      </inertial>
-    </link>
-    <joint name="front_right_motor_j" type="fixed">
-      <child>front_right_motor</child>
-      <parent>base_link</parent>
-      <axis>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <xyz>0 0 1</xyz>
-        <use_parent_model_frame>0</use_parent_model_frame>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-      </axis>
-      <physics>
-        <ode>
-          <limit>
-            <cfm>0</cfm>
-            <erp>0.2</erp>
-          </limit>
-        </ode>
-      </physics>
-    </joint>
-    <link name="imu">
-      <pose>0 0 0.15 -3.1415926535897931 0 0</pose>
-      <inertial>
-        <mass>1e-05</mass>
-        <inertia>
-          <ixx>0.001</ixx>
-          <ixy>1e-06</ixy>
-          <ixz>1e-06</ixz>
-          <iyy>0.001</iyy>
-          <iyz>1e-06</iyz>
-          <izz>0.001</izz>
-        </inertia>
-      </inertial>
-      <self_collide>0</self_collide>
-      <sensor name="imu" type="imu">
-        <always_on>1</always_on>
-        <update_rate>50</update_rate>
-        <imu>
-          <angular_velocity>
-            <x>
-              <noise type="gaussian">
-                <mean>0</mean>
-                <stddev>0.009</stddev>
-                <bias_mean>0.00075</bias_mean>
-                <bias_stddev>0.005</bias_stddev>
-                <dynamic_bias_stddev>2e-05</dynamic_bias_stddev>
-                <dynamic_bias_correlation_time>400</dynamic_bias_correlation_time>
-                <precision>0.00025</precision>
-              </noise>
-            </x>
-            <y>
-              <noise type="gaussian">
-                <mean>0</mean>
-                <stddev>0.009</stddev>
-                <bias_mean>0.00075</bias_mean>
-                <bias_stddev>0.005</bias_stddev>
-                <dynamic_bias_stddev>2e-05</dynamic_bias_stddev>
-                <dynamic_bias_correlation_time>400</dynamic_bias_correlation_time>
-                <precision>0.00025</precision>
-              </noise>
-            </y>
-            <z>
-              <noise type="gaussian">
-                <mean>0</mean>
-                <stddev>0.009</stddev>
-                <bias_mean>0.00075</bias_mean>
-                <bias_stddev>0.005</bias_stddev>
-                <dynamic_bias_stddev>2e-05</dynamic_bias_stddev>
-                <dynamic_bias_correlation_time>400</dynamic_bias_correlation_time>
-                <precision>0.00025</precision>
-              </noise>
-            </z>
-          </angular_velocity>
-          <linear_acceleration>
-            <x>
-              <noise type="gaussian">
-                <mean>0</mean>
-                <stddev>0.021</stddev>
-                <bias_mean>0.05</bias_mean>
-                <bias_stddev>0.0075</bias_stddev>
-                <dynamic_bias_stddev>0.000375</dynamic_bias_stddev>
-                <dynamic_bias_correlation_time>175</dynamic_bias_correlation_time>
-                <precision>0.005</precision>
-              </noise>
-            </x>
-            <y>
-              <noise type="gaussian">
-                <mean>0</mean>
-                <stddev>0.021</stddev>
-                <bias_mean>0.05</bias_mean>
-                <bias_stddev>0.0075</bias_stddev>
-                <dynamic_bias_stddev>0.000375</dynamic_bias_stddev>
-                <dynamic_bias_correlation_time>175</dynamic_bias_correlation_time>
-                <precision>0.005</precision>
-              </noise>
-            </y>
-            <z>
-              <noise type="gaussian">
-                <mean>0</mean>
-                <stddev>0.021</stddev>
-                <bias_mean>0.05</bias_mean>
-                <bias_stddev>0.0075</bias_stddev>
-                <dynamic_bias_stddev>0.000375</dynamic_bias_stddev>
-                <dynamic_bias_correlation_time>175</dynamic_bias_correlation_time>
-                <precision>0.005</precision>
-              </noise>
-            </z>
-          </linear_acceleration>
-        </imu>
-      </sensor>
-    </link>
-    <joint name="imu_j" type="fixed">
-      <child>imu</child>
-      <parent>base_link</parent>
-      <axis>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <xyz>0 0 1</xyz>
-        <use_parent_model_frame>0</use_parent_model_frame>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-      </axis>
-      <physics>
-        <ode>
-          <limit>
-            <cfm>0</cfm>
-            <erp>0.2</erp>
-          </limit>
-        </ode>
-      </physics>
-    </joint>
-    <link name="rear_cam">
-      <pose>-0.244 0 0.1321 0 0 -3.1415926535897931</pose>
-      <inertial>
-        <pose>0.019862 0 0.0145 0 -0 0</pose>
-        <mass>0.14</mass>
-        <inertia>
-          <ixx>1.96233e-05</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>6.75088e-05</iyy>
-          <iyz>0</iyz>
-          <izz>6.75088e-05</izz>
-        </inertia>
-      </inertial>
-      <collision name="rear_cam_collision_collision">
-        <pose>0.0117 0 0.0145 0 -0 0</pose>
-        <geometry>
-          <box>
-            <size>0.054 0.029 0.029</size>
-          </box>
-        </geometry>
-      </collision>
-      <collision name="rear_cam_lens_collision_collision_1">
-        <pose>0.042024 0 0.0145 0 1.5707963267948966 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.026</length>
-            <radius>0.0125</radius>
-          </cylinder>
-        </geometry>
-      </collision>
-      <visual name="rear_cam_visual">
-        <pose>0 0 0.0145 0 -0 0</pose>
-        <geometry>
-          <mesh>
-            <uri>meshes/basler_ace.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-      <visual name="rear_cam_visual_1">
-        <pose>0.029024 0 0.0145 0 -0 0</pose>
-        <geometry>
-          <mesh>
-            <uri>meshes/evetar_fisheye_lens.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-      <sensor name="rear_cam" type="camera">
-        <pose>0.051574 0 0.0145 0 -0 0</pose>
-        <update_rate>15</update_rate>
-        <visualize>0</visualize>
-        <camera>
-          <horizontal_fov>2.40855</horizontal_fov>
-          <image>
-            <width>2048</width>
-            <height>1536</height>
-            <format>R8G8B8</format>
-          </image>
-          <clip>
-            <near>0.025</near>
-            <far>300</far>
-          </clip>
-          <noise>
-            <type>gaussian</type>
-            <mean>0</mean>
-            <stddev>0.007</stddev>
-          </noise>
-          <lens>
-            <intrinsics>
-              <fx>393.077</fx>
-              <fy>393.077</fy>
-              <cx>1023.5</cx>
-              <cy>767.5</cy>
-              <s>0</s>
-            </intrinsics>
-            <type>stereographic</type>
-            <scale_to_hfov>1</scale_to_hfov>
-          </lens>
-        </camera>
-      </sensor>
-    </link>
-    <joint name="rear_cam_j" type="fixed">
-      <child>rear_cam</child>
-      <parent>base_link</parent>
-      <axis>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <xyz>0 0 1</xyz>
-        <use_parent_model_frame>0</use_parent_model_frame>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-      </axis>
-      <physics>
-        <ode>
-          <limit>
-            <cfm>0</cfm>
-            <erp>0.2</erp>
-          </limit>
-        </ode>
-      </physics>
-    </joint>
-    <link name="rear_left_flipper">
-      <pose>-0.256 0.248 0 3.1415926535897931 -0 -3.1415926535897931</pose>
-      <inertial>
-        <mass>1e-05</mass>
-        <inertia>
-          <ixx>0.001</ixx>
-          <ixy>1e-06</ixy>
-          <ixz>1e-06</ixz>
-          <iyy>0.001</iyy>
-          <iyz>1e-06</iyz>
-          <izz>0.001</izz>
-        </inertia>
-      </inertial>
-      <visual name="rear_left_flipper_visual">
-        <geometry>
-          <mesh>
-            <uri>meshes/big_wheel.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-      <visual name="rear_left_flipper_visual_1">
-        <geometry>
-          <mesh>
-            <scale>-1 -1 1</scale>
-            <uri>meshes/flipper_arm.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-      <visual name="rear_left_flipper_visual_2">
-        <geometry>
-          <mesh>
-            <uri>meshes/belt.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-      <visual name="rear_left_flipper_visual_3">
-        <pose>0.3035 0 0 0 -0 0</pose>
-        <geometry>
-          <mesh>
-            <uri>meshes/small_wheel.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-      <self_collide>1</self_collide>
-    </link>
-    <joint name="rear_left_flipper_j" type="revolute">
-      <child>rear_left_flipper</child>
-      <parent>base_link</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>120</effort>
-          <velocity>1</velocity>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-      <physics>
-        <ode>
-          <implicit_spring_damper>1</implicit_spring_damper>
-          <cfm_damping>1</cfm_damping>
-          <limit>
-            <cfm>0</cfm>
-            <erp>0.2</erp>
-          </limit>
-        </ode>
-      </physics>
-    </joint>
-    <link name="rear_left_flipper_end_point_inflated">
-      <pose>-0.6375 0.248 0 3.1415926535897931 -0 3.1415926535897931</pose>
-      <inertial>
-        <mass>1e-05</mass>
-        <inertia>
-          <ixx>0.001</ixx>
-          <ixy>1e-06</ixy>
-          <ixz>1e-06</ixz>
-          <iyy>0.001</iyy>
-          <iyz>1e-06</iyz>
-          <izz>0.001</izz>
-        </inertia>
-      </inertial>
-    </link>
-    <joint name="rear_left_flipper_end_point_inflated_j" type="fixed">
-      <child>rear_left_flipper_end_point_inflated</child>
-      <parent>rear_left_flipper</parent>
-      <axis>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <xyz>0 0 1</xyz>
-        <use_parent_model_frame>0</use_parent_model_frame>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-      </axis>
-      <physics>
-        <ode>
-          <limit>
-            <cfm>0</cfm>
-            <erp>0.2</erp>
-          </limit>
-        </ode>
-      </physics>
-    </joint>
-    <link name="rear_left_flipper_end_point">
-      <pose>-0.6375 0.248 0 3.1415926535897931 -0 3.1415926535897931</pose>
-      <inertial>
-        <mass>1e-05</mass>
-        <inertia>
-          <ixx>0.001</ixx>
-          <ixy>1e-06</ixy>
-          <ixz>1e-06</ixz>
-          <iyy>0.001</iyy>
-          <iyz>1e-06</iyz>
-          <izz>0.001</izz>
-        </inertia>
-      </inertial>
-    </link>
-    <joint name="rear_left_flipper_end_point_j" type="fixed">
-      <child>rear_left_flipper_end_point</child>
-      <parent>rear_left_flipper</parent>
-      <axis>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <xyz>0 0 1</xyz>
-        <use_parent_model_frame>0</use_parent_model_frame>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-      </axis>
-      <physics>
-        <ode>
-          <limit>
-            <cfm>0</cfm>
-            <erp>0.2</erp>
-          </limit>
-        </ode>
-      </physics>
-    </joint>
-    <link name="rear_left_flipper_wheel1">
-      <pose>-0.256 0.248 0 3.1415926535897931 -0 3.1415926535897931</pose>
-      <inertial>
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <mass>0.457375</mass>
-        <inertia>
-          <ixx>0.0017663</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.0017663</iyy>
-          <iyz>0</iyz>
-          <izz>0.0031038</izz>
-        </inertia>
-      </inertial>
-      <collision name="rear_left_flipper_wheel1_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.075</length>
-            <radius>0.1165</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-            <collide_bitmask>1</collide_bitmask>
-          </contact>
-          <friction>
-            <ode>
-              <mu>1</mu>
-              <mu2>150</mu2>
-              <slip1>0.000580604</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-      <self_collide>1</self_collide>
-    </link>
-    <joint name="rear_left_flipper_wheel1_j" type="revolute">
-      <child>rear_left_flipper_wheel1</child>
-      <parent>rear_left_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>-1</effort>
-          <velocity>8.58369</velocity>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="rear_left_flipper_wheel2">
-      <pose>-0.299357 0.248 0 3.1415926535897931 -0 3.1415926535897931</pose>
-      <inertial>
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <mass>0.457375</mass>
-        <inertia>
-          <ixx>0.00162322</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.00162322</iyy>
-          <iyz>0</iyz>
-          <izz>0.00281766</izz>
-        </inertia>
-      </inertial>
-      <collision name="rear_left_flipper_wheel2_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.075</length>
-            <radius>0.111</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-            <collide_bitmask>2</collide_bitmask>
-          </contact>
-          <friction>
-            <ode>
-              <mu>1</mu>
-              <mu2>150</mu2>
-              <slip1>0.000580604</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-      <self_collide>1</self_collide>
-    </link>
-    <joint name="rear_left_flipper_wheel2_j" type="revolute">
-      <child>rear_left_flipper_wheel2</child>
-      <parent>rear_left_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>-1</effort>
-          <velocity>9.00901</velocity>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="rear_left_flipper_wheel3">
-      <pose>-0.342714 0.248 0 3.1415926535897931 -0 3.1415926535897931</pose>
-      <inertial>
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <mass>0.457375</mass>
-        <inertia>
-          <ixx>0.00148707</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.00148707</iyy>
-          <iyz>0</iyz>
-          <izz>0.00254535</izz>
-        </inertia>
-      </inertial>
-      <collision name="rear_left_flipper_wheel3_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.075</length>
-            <radius>0.1055</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-            <collide_bitmask>4</collide_bitmask>
-          </contact>
-          <friction>
-            <ode>
-              <mu>1</mu>
-              <mu2>150</mu2>
-              <slip1>0.000580604</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-      <self_collide>1</self_collide>
-    </link>
-    <joint name="rear_left_flipper_wheel3_j" type="revolute">
-      <child>rear_left_flipper_wheel3</child>
-      <parent>rear_left_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>-1</effort>
-          <velocity>9.47867</velocity>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="rear_left_flipper_wheel4">
-      <pose>-0.386071 0.248 0 3.1415926535897931 -0 3.1415926535897931</pose>
-      <inertial>
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <mass>0.457375</mass>
-        <inertia>
-          <ixx>0.00135783</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.00135783</iyy>
-          <iyz>0</iyz>
-          <izz>0.00228687</izz>
-        </inertia>
-      </inertial>
-      <collision name="rear_left_flipper_wheel4_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.075</length>
-            <radius>0.1</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-            <collide_bitmask>8</collide_bitmask>
-          </contact>
-          <friction>
-            <ode>
-              <mu>1</mu>
-              <mu2>150</mu2>
-              <slip1>0.000580604</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-      <self_collide>1</self_collide>
-    </link>
-    <joint name="rear_left_flipper_wheel4_j" type="revolute">
-      <child>rear_left_flipper_wheel4</child>
-      <parent>rear_left_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>-1</effort>
-          <velocity>10</velocity>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="rear_left_flipper_wheel5">
-      <pose>-0.429429 0.248 0 3.1415926535897931 -0 3.1415926535897931</pose>
-      <inertial>
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <mass>0.457375</mass>
-        <inertia>
-          <ixx>0.00123551</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.00123551</iyy>
-          <iyz>0</iyz>
-          <izz>0.00204224</izz>
-        </inertia>
-      </inertial>
-      <collision name="rear_left_flipper_wheel5_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.075</length>
-            <radius>0.0945</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-            <collide_bitmask>16</collide_bitmask>
-          </contact>
-          <friction>
-            <ode>
-              <mu>1</mu>
-              <mu2>150</mu2>
-              <slip1>0.000580604</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-      <self_collide>1</self_collide>
-    </link>
-    <joint name="rear_left_flipper_wheel5_j" type="revolute">
-      <child>rear_left_flipper_wheel5</child>
-      <parent>rear_left_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>-1</effort>
-          <velocity>10.582</velocity>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="rear_left_flipper_wheel6">
-      <pose>-0.472786 0.248 0 3.1415926535897931 -0 3.1415926535897931</pose>
-      <inertial>
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <mass>0.457375</mass>
-        <inertia>
-          <ixx>0.00112011</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.00112011</iyy>
-          <iyz>0</iyz>
-          <izz>0.00181143</izz>
-        </inertia>
-      </inertial>
-      <collision name="rear_left_flipper_wheel6_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.075</length>
-            <radius>0.089</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-            <collide_bitmask>32</collide_bitmask>
-          </contact>
-          <friction>
-            <ode>
-              <mu>1</mu>
-              <mu2>150</mu2>
-              <slip1>0.000580604</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-      <self_collide>1</self_collide>
-    </link>
-    <joint name="rear_left_flipper_wheel6_j" type="revolute">
-      <child>rear_left_flipper_wheel6</child>
-      <parent>rear_left_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>-1</effort>
-          <velocity>11.236</velocity>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="rear_left_flipper_wheel7">
-      <pose>-0.516143 0.248 0 3.1415926535897931 -0 3.1415926535897931</pose>
-      <inertial>
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <mass>0.457375</mass>
-        <inertia>
-          <ixx>0.00101163</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.00101163</iyy>
-          <iyz>0</iyz>
-          <izz>0.00159447</izz>
-        </inertia>
-      </inertial>
-      <collision name="rear_left_flipper_wheel7_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.075</length>
-            <radius>0.0835</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-            <collide_bitmask>64</collide_bitmask>
-          </contact>
-          <friction>
-            <ode>
-              <mu>1</mu>
-              <mu2>150</mu2>
-              <slip1>0.000580604</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-      <self_collide>1</self_collide>
-    </link>
-    <joint name="rear_left_flipper_wheel7_j" type="revolute">
-      <child>rear_left_flipper_wheel7</child>
-      <parent>rear_left_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>-1</effort>
-          <velocity>11.976</velocity>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="rear_left_flipper_wheel8">
-      <pose>-0.5595 0.248 0 3.1415926535897931 -0 3.1415926535897931</pose>
-      <inertial>
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <mass>0.457375</mass>
-        <inertia>
-          <ixx>0.000910062</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.000910062</iyy>
-          <iyz>0</iyz>
-          <izz>0.00139133</izz>
-        </inertia>
-      </inertial>
-      <collision name="rear_left_flipper_wheel8_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.075</length>
-            <radius>0.078</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-            <collide_bitmask>128</collide_bitmask>
-          </contact>
-          <friction>
-            <ode>
-              <mu>1</mu>
-              <mu2>150</mu2>
-              <slip1>0.000580604</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-      <self_collide>1</self_collide>
-    </link>
-    <joint name="rear_left_flipper_wheel8_j" type="revolute">
-      <child>rear_left_flipper_wheel8</child>
-      <parent>rear_left_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>-1</effort>
-          <velocity>12.8205</velocity>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="rear_left_motor">
-      <inertial>
-        <pose>-0.22 -0.09 0.02 0 -0 0</pose>
-        <mass>4.06</mass>
-        <inertia>
-          <ixx>0.0151492</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.0129839</iyy>
-          <iyz>0</iyz>
-          <izz>0.0173903</izz>
-        </inertia>
-      </inertial>
-    </link>
-    <joint name="rear_left_motor_j" type="fixed">
-      <child>rear_left_motor</child>
-      <parent>base_link</parent>
-      <axis>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <xyz>0 0 1</xyz>
-        <use_parent_model_frame>0</use_parent_model_frame>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-      </axis>
-      <physics>
-        <ode>
-          <limit>
-            <cfm>0</cfm>
-            <erp>0.2</erp>
-          </limit>
-        </ode>
-      </physics>
-    </joint>
-    <link name="rear_right_box">
-      <pose>-0.3 -0.18 0.1921 0 -0 0</pose>
-      <inertial>
-        <mass>1e-05</mass>
-        <inertia>
-          <ixx>0.001</ixx>
-          <ixy>1e-06</ixy>
-          <ixz>1e-06</ixz>
-          <iyy>0.001</iyy>
-          <iyz>1e-06</iyz>
-          <izz>0.001</izz>
+          <ixx>0.001</ixx>
+          <ixy>1e-06</ixy>
+          <ixz>1e-06</ixz>
+          <iyy>0.001</iyy>
+          <iyz>1e-06</iyz>
+          <izz>0.001</izz>
         </inertia>
       </inertial>
+      <self_collide>0</self_collide>
+      <sensor name="imu" type="imu">
+        <always_on>1</always_on>
+        <update_rate>50</update_rate>
+        <imu>
+          <angular_velocity>
+            <x>
+              <noise type="gaussian">
+                <mean>0</mean>
+                <stddev>0.009</stddev>
+                <bias_mean>0.00075</bias_mean>
+                <bias_stddev>0.005</bias_stddev>
+                <dynamic_bias_stddev>2e-05</dynamic_bias_stddev>
+                <dynamic_bias_correlation_time>400</dynamic_bias_correlation_time>
+                <precision>0.00025</precision>
+              </noise>
+            </x>
+            <y>
+              <noise type="gaussian">
+                <mean>0</mean>
+                <stddev>0.009</stddev>
+                <bias_mean>0.00075</bias_mean>
+                <bias_stddev>0.005</bias_stddev>
+                <dynamic_bias_stddev>2e-05</dynamic_bias_stddev>
+                <dynamic_bias_correlation_time>400</dynamic_bias_correlation_time>
+                <precision>0.00025</precision>
+              </noise>
+            </y>
+            <z>
+              <noise type="gaussian">
+                <mean>0</mean>
+                <stddev>0.009</stddev>
+                <bias_mean>0.00075</bias_mean>
+                <bias_stddev>0.005</bias_stddev>
+                <dynamic_bias_stddev>2e-05</dynamic_bias_stddev>
+                <dynamic_bias_correlation_time>400</dynamic_bias_correlation_time>
+                <precision>0.00025</precision>
+              </noise>
+            </z>
+          </angular_velocity>
+          <linear_acceleration>
+            <x>
+              <noise type="gaussian">
+                <mean>0</mean>
+                <stddev>0.021</stddev>
+                <bias_mean>0.05</bias_mean>
+                <bias_stddev>0.0075</bias_stddev>
+                <dynamic_bias_stddev>0.000375</dynamic_bias_stddev>
+                <dynamic_bias_correlation_time>175</dynamic_bias_correlation_time>
+                <precision>0.005</precision>
+              </noise>
+            </x>
+            <y>
+              <noise type="gaussian">
+                <mean>0</mean>
+                <stddev>0.021</stddev>
+                <bias_mean>0.05</bias_mean>
+                <bias_stddev>0.0075</bias_stddev>
+                <dynamic_bias_stddev>0.000375</dynamic_bias_stddev>
+                <dynamic_bias_correlation_time>175</dynamic_bias_correlation_time>
+                <precision>0.005</precision>
+              </noise>
+            </y>
+            <z>
+              <noise type="gaussian">
+                <mean>0</mean>
+                <stddev>0.021</stddev>
+                <bias_mean>0.05</bias_mean>
+                <bias_stddev>0.0075</bias_stddev>
+                <dynamic_bias_stddev>0.000375</dynamic_bias_stddev>
+                <dynamic_bias_correlation_time>175</dynamic_bias_correlation_time>
+                <precision>0.005</precision>
+              </noise>
+            </z>
+          </linear_acceleration>
+        </imu>
+      </sensor>
     </link>
-    <joint name="rear_right_box_j" type="fixed">
-      <child>rear_right_box</child>
+    <joint name="imu_j" type="fixed">
+      <child>imu</child>
       <parent>base_link</parent>
       <axis>
         <dynamics>
@@ -2748,66 +1130,66 @@
         </ode>
       </physics>
     </joint>
-    <link name="camera_0">
-      <pose>0.21 0 0.1921 0 -0 0</pose>
+    <link name="rear_cam">
+      <pose>-0.244 0 0.1321 0 0 -3.1415926535897931</pose>
       <inertial>
-        <pose>0.039802 0 0.0145 0 -0 0</pose>
-        <mass>0.232</mass>
+        <pose>0.019862 0 0.0145 0 -0 0</pose>
+        <mass>0.14</mass>
         <inertia>
-          <ixx>3.25187e-05</ixx>
+          <ixx>1.96233e-05</ixx>
           <ixy>0</ixy>
           <ixz>0</ixz>
-          <iyy>0.000158598</iyy>
+          <iyy>6.75088e-05</iyy>
           <iyz>0</iyz>
-          <izz>0.000158598</izz>
+          <izz>6.75088e-05</izz>
         </inertia>
       </inertial>
-      <collision name="camera_0_collision_collision">
-        <pose>0.02465 0 0.0145 0 -0 0</pose>
+      <collision name="rear_cam_collision_collision">
+        <pose>0.0117 0 0.0145 0 -0 0</pose>
         <geometry>
           <box>
-            <size>0.0555 0.029 0.029</size>
+            <size>0.054 0.029 0.029</size>
           </box>
         </geometry>
       </collision>
-      <collision name="camera_0_lens_collision_collision_1">
-        <pose>0.062834 0 0.0145 0 1.5707963267948966 0</pose>
+      <collision name="rear_cam_lens_collision_collision_1">
+        <pose>0.042024 0 0.0145 0 1.5707963267948966 0</pose>
         <geometry>
           <cylinder>
-            <length>0.03974</length>
+            <length>0.026</length>
             <radius>0.0125</radius>
           </cylinder>
         </geometry>
       </collision>
-      <visual name="camera_0_visual">
+      <visual name="rear_cam_visual">
         <pose>0 0 0.0145 0 -0 0</pose>
         <geometry>
           <mesh>
-            <uri>meshes/basler_ace2_pro.dae</uri>
+            <uri>meshes/basler_ace.dae</uri>
           </mesh>
         </geometry>
       </visual>
-      <visual name="camera_0_visual_1">
-        <pose>0.042964 0 0.0145 0 -0 0</pose>
+      <visual name="rear_cam_visual_1">
+        <pose>0.029024 0 0.0145 0 -0 0</pose>
         <geometry>
           <mesh>
-            <uri>meshes/evetar_lens.dae</uri>
+            <uri>meshes/evetar_fisheye_lens.dae</uri>
           </mesh>
         </geometry>
       </visual>
-      <sensor name="camera_0" type="camera">
-        <pose>0.072044 0 0.0145 0 -0 0</pose>
-        <update_rate>9</update_rate>
+      <sensor name="rear_cam" type="camera">
+        <pose>0.051574 0 0.0145 0 -0 0</pose>
+        <update_rate>15</update_rate>
         <visualize>0</visualize>
         <camera>
-          <horizontal_fov>1.50971</horizontal_fov>
+          <horizontal_fov>2.40855</horizontal_fov>
           <image>
-            <width>1920</width>
-            <height>1200</height>
+            <width>2048</width>
+            <height>1536</height>
             <format>R8G8B8</format>
           </image>
           <clip>
-            <near>0.011726</near>
+            <near>0.025</near>
             <far>300</far>
           </clip>
           <noise>
@@ -2817,10 +1199,10 @@
           </noise>
           <lens>
             <intrinsics>
-              <fx>1020.51</fx>
-              <fy>1020.51</fy>
-              <cx>959.5</cx>
-              <cy>599.5</cy>
+              <fx>393.077</fx>
+              <fy>393.077</fy>
+              <cx>1023.5</cx>
+              <cy>767.5</cy>
               <s>0</s>
             </intrinsics>
             <type>stereographic</type>
@@ -2829,23 +1211,184 @@
         </camera>
       </sensor>
     </link>
-    <joint name="camera_0_j" type="fixed">
-      <child>camera_0</child>
-      <parent>rear_right_box</parent>
+    <joint name="rear_cam_j" type="fixed">
+      <child>rear_cam</child>
+      <parent>base_link</parent>
+      <axis>
+        <dynamics>
+          <spring_reference>0</spring_reference>
+          <spring_stiffness>0</spring_stiffness>
+        </dynamics>
+        <xyz>0 0 1</xyz>
+        <use_parent_model_frame>0</use_parent_model_frame>
+        <limit>
+          <lower>-1e+16</lower>
+          <upper>1e+16</upper>
+        </limit>
+      </axis>
+      <physics>
+        <ode>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+        </ode>
+      </physics>
+    </joint>
+    <link name="rear_left_flipper">
+      <pose>-0.256 0.248 0 3.1415926535897931 -0 -3.1415926535897931</pose>
+      <inertial>
+        <pose>0.08 0 0 0 -0 0</pose>
+        <mass>3.659</mass>
+        <inertia>
+          <ixx>0.0017491</ixx>
+          <ixy>2.8512e-07</ixy>
+          <ixz>0.0018277</ixz>
+          <iyy>0.012277</iyy>
+          <iyz>-3.6288e-07</iyz>
+          <izz>0.010941</izz>
+        </inertia>
+      </inertial>
+      <collision name="rear_left_flipper_collision">
+        <pose>0.15175 0 0 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.3035 0.075 0.078</size>
+          </box>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>1</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="rear_left_flipper_collision_1">
+        <pose>0.15175 0 0.05825 0 0.126179 0</pose>
+        <geometry>
+          <box>
+            <size>0.3035 0.075 0.078</size>
+          </box>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>1</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="rear_left_flipper_collision_2">
+        <pose>0.15175 0 -0.05825 0 -0.126179 0</pose>
+        <geometry>
+          <box>
+            <size>0.3035 0.075 0.078</size>
+          </box>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>1</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="rear_left_flipper_collision_3">
+        <pose>0.3035 0 0 1.5707963267948966 -0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.075</length>
+            <radius>0.078</radius>
+          </cylinder>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>1</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="rear_left_flipper_collision_4">
+        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.075</length>
+            <radius>0.1165</radius>
+          </cylinder>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>1</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <visual name="rear_left_flipper_visual">
+        <geometry>
+          <mesh>
+            <uri>meshes/big_wheel.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <visual name="rear_left_flipper_visual_1">
+        <geometry>
+          <mesh>
+            <scale>-1 -1 1</scale>
+            <uri>meshes/flipper_arm.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <visual name="rear_left_flipper_visual_2">
+        <geometry>
+          <mesh>
+            <uri>meshes/belt.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <visual name="rear_left_flipper_visual_3">
+        <pose>0.3035 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>meshes/small_wheel.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <self_collide>1</self_collide>
+    </link>
+    <joint name="rear_left_flipper_j" type="revolute">
+      <child>rear_left_flipper</child>
+      <parent>base_link</parent>
       <axis>
+        <xyz>0 1 0</xyz>
+        <limit>
+          <lower>-1e+16</lower>
+          <upper>1e+16</upper>
+          <effort>120</effort>
+          <velocity>1</velocity>
+        </limit>
         <dynamics>
           <spring_reference>0</spring_reference>
           <spring_stiffness>0</spring_stiffness>
         </dynamics>
-        <xyz>0 0 1</xyz>
         <use_parent_model_frame>0</use_parent_model_frame>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
       </axis>
       <physics>
         <ode>
+          <implicit_spring_damper>1</implicit_spring_damper>
+          <cfm_damping>1</cfm_damping>
           <limit>
             <cfm>0</cfm>
             <erp>0.2</erp>
@@ -2853,90 +1396,23 @@
         </ode>
       </physics>
     </joint>
-    <link name="camera_2">
-      <pose>-0.21 0 0.1921 0 -0 3.1415926535897931</pose>
+    <link name="rear_left_flipper_end_point_inflated">
+      <pose>-0.6375 0.248 0 3.1415926535897931 -0 3.1415926535897931</pose>
       <inertial>
-        <pose>0.039802 0 0.0145 0 -0 0</pose>
-        <mass>0.232</mass>
+        <mass>1e-05</mass>
         <inertia>
-          <ixx>3.25187e-05</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.000158598</iyy>
-          <iyz>0</iyz>
-          <izz>0.000158598</izz>
+          <ixx>0.001</ixx>
+          <ixy>1e-06</ixy>
+          <ixz>1e-06</ixz>
+          <iyy>0.001</iyy>
+          <iyz>1e-06</iyz>
+          <izz>0.001</izz>
         </inertia>
       </inertial>
-      <collision name="camera_2_collision_collision">
-        <pose>0.02465 0 0.0145 0 -0 0</pose>
-        <geometry>
-          <box>
-            <size>0.0555 0.029 0.029</size>
-          </box>
-        </geometry>
-      </collision>
-      <collision name="camera_2_lens_collision_collision_1">
-        <pose>0.062834 0 0.0145 0 1.5707963267948966 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.03974</length>
-            <radius>0.0125</radius>
-          </cylinder>
-        </geometry>
-      </collision>
-      <visual name="camera_2_visual">
-        <pose>0 0 0.0145 0 -0 0</pose>
-        <geometry>
-          <mesh>
-            <uri>meshes/basler_ace2_pro.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-      <visual name="camera_2_visual_1">
-        <pose>0.042964 0 0.0145 0 -0 0</pose>
-        <geometry>
-          <mesh>
-            <uri>meshes/evetar_lens.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-      <sensor name="camera_2" type="camera">
-        <pose>0.072044 0 0.0145 0 -0 0</pose>
-        <update_rate>9</update_rate>
-        <visualize>0</visualize>
-        <camera>
-          <horizontal_fov>1.50971</horizontal_fov>
-          <image>
-            <width>1920</width>
-            <height>1200</height>
-            <format>R8G8B8</format>
-          </image>
-          <clip>
-            <near>0.011726</near>
-            <far>300</far>
-          </clip>
-          <noise>
-            <type>gaussian</type>
-            <mean>0</mean>
-            <stddev>0.007</stddev>
-          </noise>
-          <lens>
-            <intrinsics>
-              <fx>1020.51</fx>
-              <fy>1020.51</fy>
-              <cx>959.5</cx>
-              <cy>599.5</cy>
-              <s>0</s>
-            </intrinsics>
-            <type>stereographic</type>
-            <scale_to_hfov>1</scale_to_hfov>
-          </lens>
-        </camera>
-      </sensor>
     </link>
-    <joint name="camera_2_j" type="fixed">
-      <child>camera_2</child>
-      <parent>rear_right_box</parent>
+    <joint name="rear_left_flipper_end_point_inflated_j" type="fixed">
+      <child>rear_left_flipper_end_point_inflated</child>
+      <parent>rear_left_flipper</parent>
       <axis>
         <dynamics>
           <spring_reference>0</spring_reference>
@@ -2958,71 +1434,23 @@
         </ode>
       </physics>
     </joint>
-    <link name="cliff_sensor_front_left">
-      <pose>0.3 0.1445 0.2106 0 1.5707963267948966 0</pose>
+    <link name="rear_left_flipper_end_point">
+      <pose>-0.6375 0.248 0 3.1415926535897931 -0 3.1415926535897931</pose>
       <inertial>
-        <pose>0.0105 0 0.00925 0 -0 0</pose>
-        <mass>0.012</mass>
+        <mass>1e-05</mass>
         <inertia>
-          <ixx>1.56725e-06</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>7.8325e-07</iyy>
-          <iyz>0</iyz>
-          <izz>1.666e-06</izz>
+          <ixx>0.001</ixx>
+          <ixy>1e-06</ixy>
+          <ixz>1e-06</ixz>
+          <iyy>0.001</iyy>
+          <iyz>1e-06</iyz>
+          <izz>0.001</izz>
         </inertia>
       </inertial>
-      <collision name="cliff_sensor_front_left_collision">
-        <pose>0.0105 0 0.00925 0 -0 0</pose>
-        <geometry>
-          <box>
-            <size>0.021 0.035 0.0185</size>
-          </box>
-        </geometry>
-      </collision>
-      <visual name="cliff_sensor_front_left_visual">
-        <geometry>
-          <mesh>
-            <uri>meshes/tfmini_plus_lidar.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-      <sensor name="laser" type="gpu_lidar">
-        <pose>0.021 0 0.00925 0 -0 0</pose>
-        <update_rate>10</update_rate>
-        <visualize>0</visualize>
-        <always_on>1</always_on>
-        <lidar>
-          <scan>
-            <horizontal>
-              <samples>3</samples>
-              <resolution>1</resolution>
-              <min_angle>-0.0314159</min_angle>
-              <max_angle>0.0314159</max_angle>
-            </horizontal>
-            <vertical>
-              <samples>3</samples>
-              <resolution>1</resolution>
-              <min_angle>-0.0314159</min_angle>
-              <max_angle>0.0314159</max_angle>
-            </vertical>
-          </scan>
-          <range>
-            <min>0.1</min>
-            <max>12</max>
-            <resolution>0.01</resolution>
-          </range>
-          <noise>
-            <type>gaussian</type>
-            <mean>0</mean>
-            <stddev>0.015</stddev>
-          </noise>
-        </lidar>
-      </sensor>
     </link>
-    <joint name="cliff_sensor_front_left_j" type="fixed">
-      <child>cliff_sensor_front_left</child>
-      <parent>rear_right_box</parent>
+    <joint name="rear_left_flipper_end_point_j" type="fixed">
+      <child>rear_left_flipper_end_point</child>
+      <parent>rear_left_flipper</parent>
       <axis>
         <dynamics>
           <spring_reference>0</spring_reference>
@@ -3043,72 +1471,24 @@
           </limit>
         </ode>
       </physics>
-    </joint>
-    <link name="cliff_sensor_front_right">
-      <pose>0.3 -0.1445 0.2106 0 1.5707963267948966 0</pose>
-      <inertial>
-        <pose>0.0105 0 0.00925 0 -0 0</pose>
-        <mass>0.012</mass>
-        <inertia>
-          <ixx>1.56725e-06</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>7.8325e-07</iyy>
-          <iyz>0</iyz>
-          <izz>1.666e-06</izz>
-        </inertia>
-      </inertial>
-      <collision name="cliff_sensor_front_right_collision">
-        <pose>0.0105 0 0.00925 0 -0 0</pose>
-        <geometry>
-          <box>
-            <size>0.021 0.035 0.0185</size>
-          </box>
-        </geometry>
-      </collision>
-      <visual name="cliff_sensor_front_right_visual">
-        <geometry>
-          <mesh>
-            <uri>meshes/tfmini_plus_lidar.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-      <sensor name="laser" type="gpu_lidar">
-        <pose>0.021 0 0.00925 0 -0 0</pose>
-        <update_rate>10</update_rate>
-        <visualize>0</visualize>
-        <always_on>1</always_on>
-        <lidar>
-          <scan>
-            <horizontal>
-              <samples>3</samples>
-              <resolution>1</resolution>
-              <min_angle>-0.0314159</min_angle>
-              <max_angle>0.0314159</max_angle>
-            </horizontal>
-            <vertical>
-              <samples>3</samples>
-              <resolution>1</resolution>
-              <min_angle>-0.0314159</min_angle>
-              <max_angle>0.0314159</max_angle>
-            </vertical>
-          </scan>
-          <range>
-            <min>0.1</min>
-            <max>12</max>
-            <resolution>0.01</resolution>
-          </range>
-          <noise>
-            <type>gaussian</type>
-            <mean>0</mean>
-            <stddev>0.015</stddev>
-          </noise>
-        </lidar>
-      </sensor>
+    </joint>
+    <link name="rear_left_motor">
+      <inertial>
+        <pose>-0.22 -0.09 0.02 0 -0 0</pose>
+        <mass>4.06</mass>
+        <inertia>
+          <ixx>0.0151492</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.0129839</iyy>
+          <iyz>0</iyz>
+          <izz>0.0173903</izz>
+        </inertia>
+      </inertial>
     </link>
-    <joint name="cliff_sensor_front_right_j" type="fixed">
-      <child>cliff_sensor_front_right</child>
-      <parent>rear_right_box</parent>
+    <joint name="rear_left_motor_j" type="fixed">
+      <child>rear_left_motor</child>
+      <parent>base_link</parent>
       <axis>
         <dynamics>
           <spring_reference>0</spring_reference>
@@ -3130,71 +1510,23 @@
         </ode>
       </physics>
     </joint>
-    <link name="cliff_sensor_rear_left">
-      <pose>-0.3 0.1445 0.2106 3.1415926535897931 1.5707963267948966 0</pose>
+    <link name="rear_right_box">
+      <pose>-0.3 -0.18 0.1921 0 -0 0</pose>
       <inertial>
-        <pose>0.0105 0 0.00925 0 -0 0</pose>
-        <mass>0.012</mass>
+        <mass>1e-05</mass>
         <inertia>
-          <ixx>1.56725e-06</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>7.8325e-07</iyy>
-          <iyz>0</iyz>
-          <izz>1.666e-06</izz>
+          <ixx>0.001</ixx>
+          <ixy>1e-06</ixy>
+          <ixz>1e-06</ixz>
+          <iyy>0.001</iyy>
+          <iyz>1e-06</iyz>
+          <izz>0.001</izz>
         </inertia>
       </inertial>
-      <collision name="cliff_sensor_rear_left_collision">
-        <pose>0.0105 0 0.00925 0 -0 0</pose>
-        <geometry>
-          <box>
-            <size>0.021 0.035 0.0185</size>
-          </box>
-        </geometry>
-      </collision>
-      <visual name="cliff_sensor_rear_left_visual">
-        <geometry>
-          <mesh>
-            <uri>meshes/tfmini_plus_lidar.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-      <sensor name="laser" type="gpu_lidar">
-        <pose>0.021 0 0.00925 0 -0 0</pose>
-        <update_rate>10</update_rate>
-        <visualize>0</visualize>
-        <always_on>1</always_on>
-        <lidar>
-          <scan>
-            <horizontal>
-              <samples>3</samples>
-              <resolution>1</resolution>
-              <min_angle>-0.0314159</min_angle>
-              <max_angle>0.0314159</max_angle>
-            </horizontal>
-            <vertical>
-              <samples>3</samples>
-              <resolution>1</resolution>
-              <min_angle>-0.0314159</min_angle>
-              <max_angle>0.0314159</max_angle>
-            </vertical>
-          </scan>
-          <range>
-            <min>0.1</min>
-            <max>12</max>
-            <resolution>0.01</resolution>
-          </range>
-          <noise>
-            <type>gaussian</type>
-            <mean>0</mean>
-            <stddev>0.015</stddev>
-          </noise>
-        </lidar>
-      </sensor>
     </link>
-    <joint name="cliff_sensor_rear_left_j" type="fixed">
-      <child>cliff_sensor_rear_left</child>
-      <parent>rear_right_box</parent>
+    <joint name="rear_right_box_j" type="fixed">
+      <child>rear_right_box</child>
+      <parent>base_link</parent>
       <axis>
         <dynamics>
           <spring_reference>0</spring_reference>
@@ -3216,70 +1548,89 @@
         </ode>
       </physics>
     </joint>
-    <link name="cliff_sensor_rear_right">
-      <pose>-0.3 -0.1445 0.2106 3.1415926535897931 1.5707963267948966 0</pose>
+    <link name="camera_0">
+      <pose>0.21 0 0.1921 0 -0 0</pose>
       <inertial>
-        <pose>0.0105 0 0.00925 0 -0 0</pose>
-        <mass>0.012</mass>
+        <pose>0.039802 0 0.0145 0 -0 0</pose>
+        <mass>0.232</mass>
         <inertia>
-          <ixx>1.56725e-06</ixx>
+          <ixx>3.25187e-05</ixx>
           <ixy>0</ixy>
           <ixz>0</ixz>
-          <iyy>7.8325e-07</iyy>
+          <iyy>0.000158598</iyy>
           <iyz>0</iyz>
-          <izz>1.666e-06</izz>
+          <izz>0.000158598</izz>
         </inertia>
       </inertial>
-      <collision name="cliff_sensor_rear_right_collision">
-        <pose>0.0105 0 0.00925 0 -0 0</pose>
+      <collision name="camera_0_collision_collision">
+        <pose>0.02465 0 0.0145 0 -0 0</pose>
         <geometry>
           <box>
-            <size>0.021 0.035 0.0185</size>
+            <size>0.0555 0.029 0.029</size>
           </box>
         </geometry>
       </collision>
-      <visual name="cliff_sensor_rear_right_visual">
+      <collision name="camera_0_lens_collision_collision_1">
+        <pose>0.062834 0 0.0145 0 1.5707963267948966 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.03974</length>
+            <radius>0.0125</radius>
+          </cylinder>
+        </geometry>
+      </collision>
+      <visual name="camera_0_visual">
+        <pose>0 0 0.0145 0 -0 0</pose>
         <geometry>
           <mesh>
-            <uri>meshes/tfmini_plus_lidar.dae</uri>
+            <uri>meshes/basler_ace2_pro.dae</uri>
           </mesh>
         </geometry>
       </visual>
-      <sensor name="laser" type="gpu_lidar">
-        <pose>0.021 0 0.00925 0 -0 0</pose>
-        <update_rate>10</update_rate>
+      <visual name="camera_0_visual_1">
+        <pose>0.042964 0 0.0145 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>meshes/evetar_lens.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <sensor name="camera_0" type="camera">
+        <pose>0.072044 0 0.0145 0 -0 0</pose>
+        <update_rate>9</update_rate>
         <visualize>0</visualize>
-        <always_on>1</always_on>
-        <lidar>
-          <scan>
-            <horizontal>
-              <samples>3</samples>
-              <resolution>1</resolution>
-              <min_angle>-0.0314159</min_angle>
-              <max_angle>0.0314159</max_angle>
-            </horizontal>
-            <vertical>
-              <samples>3</samples>
-              <resolution>1</resolution>
-              <min_angle>-0.0314159</min_angle>
-              <max_angle>0.0314159</max_angle>
-            </vertical>
-          </scan>
-          <range>
-            <min>0.1</min>
-            <max>12</max>
-            <resolution>0.01</resolution>
-          </range>
+        <camera>
+          <horizontal_fov>1.50971</horizontal_fov>
+          <image>
+            <width>1920</width>
+            <height>1200</height>
+            <format>R8G8B8</format>
+          </image>
+          <clip>
+            <near>0.011726</near>
+            <far>300</far>
+          </clip>
           <noise>
             <type>gaussian</type>
             <mean>0</mean>
-            <stddev>0.015</stddev>
+            <stddev>0.007</stddev>
           </noise>
-        </lidar>
+          <lens>
+            <intrinsics>
+              <fx>1020.51</fx>
+              <fy>1020.51</fy>
+              <cx>959.5</cx>
+              <cy>599.5</cy>
+              <s>0</s>
+            </intrinsics>
+            <type>stereographic</type>
+            <scale_to_hfov>1</scale_to_hfov>
+          </lens>
+        </camera>
       </sensor>
     </link>
-    <joint name="cliff_sensor_rear_right_j" type="fixed">
-      <child>cliff_sensor_rear_right</child>
+    <joint name="camera_0_j" type="fixed">
+      <child>camera_0</child>
       <parent>rear_right_box</parent>
       <axis>
         <dynamics>
@@ -3302,38 +1653,89 @@
         </ode>
       </physics>
     </joint>
-    <link name="mobilicom">
-      <pose>-0.25 0.12 0.1921 0 -0 1.5707963267948966</pose>
+    <link name="camera_2">
+      <pose>-0.21 0 0.1921 0 -0 3.1415926535897931</pose>
       <inertial>
-        <pose>0 0 0.0135 0 -0 0</pose>
-        <mass>0.168</mass>
+        <pose>0.039802 0 0.0145 0 -0 0</pose>
+        <mass>0.232</mass>
         <inertia>
-          <ixx>8.687e-05</ixx>
+          <ixx>3.25187e-05</ixx>
           <ixy>0</ixy>
           <ixz>0</ixz>
-          <iyy>0.000150206</iyy>
+          <iyy>0.000158598</iyy>
           <iyz>0</iyz>
-          <izz>0.000216664</izz>
+          <izz>0.000158598</izz>
         </inertia>
       </inertial>
-      <collision name="mobilicom_collision">
-        <pose>0 0 0.0135 0 -0 0</pose>
+      <collision name="camera_2_collision_collision">
+        <pose>0.02465 0 0.0145 0 -0 0</pose>
         <geometry>
           <box>
-            <size>0.1 0.074 0.027</size>
+            <size>0.0555 0.029 0.029</size>
           </box>
         </geometry>
       </collision>
-      <visual name="mobilicom_visual">
+      <collision name="camera_2_lens_collision_collision_1">
+        <pose>0.062834 0 0.0145 0 1.5707963267948966 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.03974</length>
+            <radius>0.0125</radius>
+          </cylinder>
+        </geometry>
+      </collision>
+      <visual name="camera_2_visual">
+        <pose>0 0 0.0145 0 -0 0</pose>
         <geometry>
           <mesh>
-            <uri>meshes/mobilicom.dae</uri>
+            <uri>meshes/basler_ace2_pro.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <visual name="camera_2_visual_1">
+        <pose>0.042964 0 0.0145 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>meshes/evetar_lens.dae</uri>
           </mesh>
         </geometry>
       </visual>
+      <sensor name="camera_2" type="camera">
+        <pose>0.072044 0 0.0145 0 -0 0</pose>
+        <update_rate>9</update_rate>
+        <visualize>0</visualize>
+        <camera>
+          <horizontal_fov>1.50971</horizontal_fov>
+          <image>
+            <width>1920</width>
+            <height>1200</height>
+            <format>R8G8B8</format>
+          </image>
+          <clip>
+            <near>0.011726</near>
+            <far>300</far>
+          </clip>
+          <noise>
+            <type>gaussian</type>
+            <mean>0</mean>
+            <stddev>0.007</stddev>
+          </noise>
+          <lens>
+            <intrinsics>
+              <fx>1020.51</fx>
+              <fy>1020.51</fy>
+              <cx>959.5</cx>
+              <cy>599.5</cy>
+              <s>0</s>
+            </intrinsics>
+            <type>stereographic</type>
+            <scale_to_hfov>1</scale_to_hfov>
+          </lens>
+        </camera>
+      </sensor>
     </link>
-    <joint name="mobilicom_j" type="fixed">
-      <child>mobilicom</child>
+    <joint name="camera_2_j" type="fixed">
+      <child>camera_2</child>
       <parent>rear_right_box</parent>
       <axis>
         <dynamics>
@@ -3356,42 +1758,71 @@
         </ode>
       </physics>
     </joint>
-    <link name="mobilicom_antenna_l">
-      <pose>-0.275 0.17 0.2056 -0.5 -0 1.5707963267948966</pose>
+    <link name="cliff_sensor_front_left">
+      <pose>0.3 0.1445 0.2106 0 1.5707963267948966 0</pose>
       <inertial>
-        <pose>0 0 0.085 0 -0 0</pose>
-        <mass>0.03</mass>
+        <pose>0.0105 0 0.00925 0 -0 0</pose>
+        <mass>0.012</mass>
         <inertia>
-          <ixx>7.3e-05</ixx>
+          <ixx>1.56725e-06</ixx>
           <ixy>0</ixy>
           <ixz>0</ixz>
-          <iyy>7.3e-05</iyy>
+          <iyy>7.8325e-07</iyy>
           <iyz>0</iyz>
-          <izz>1.5e-06</izz>
+          <izz>1.666e-06</izz>
         </inertia>
       </inertial>
-      <collision name="mobilicom_antenna_l_collision">
-        <pose>0 0 0.085 0 -0 0</pose>
+      <collision name="cliff_sensor_front_left_collision">
+        <pose>0.0105 0 0.00925 0 -0 0</pose>
         <geometry>
-          <cylinder>
-            <length>0.17</length>
-            <radius>0.01</radius>
-          </cylinder>
+          <box>
+            <size>0.021 0.035 0.0185</size>
+          </box>
         </geometry>
       </collision>
-      <visual name="mobilicom_antenna_l_visual">
-        <pose>0 0 0.085 0 -0 0</pose>
+      <visual name="cliff_sensor_front_left_visual">
         <geometry>
-          <cylinder>
-            <length>0.17</length>
-            <radius>0.01</radius>
-          </cylinder>
+          <mesh>
+            <uri>meshes/tfmini_plus_lidar.dae</uri>
+          </mesh>
         </geometry>
       </visual>
+      <sensor name="laser" type="gpu_lidar">
+        <pose>0.021 0 0.00925 0 -0 0</pose>
+        <update_rate>10</update_rate>
+        <visualize>0</visualize>
+        <always_on>1</always_on>
+        <lidar>
+          <scan>
+            <horizontal>
+              <samples>3</samples>
+              <resolution>1</resolution>
+              <min_angle>-0.0314159</min_angle>
+              <max_angle>0.0314159</max_angle>
+            </horizontal>
+            <vertical>
+              <samples>3</samples>
+              <resolution>1</resolution>
+              <min_angle>-0.0314159</min_angle>
+              <max_angle>0.0314159</max_angle>
+            </vertical>
+          </scan>
+          <range>
+            <min>0.1</min>
+            <max>12</max>
+            <resolution>0.01</resolution>
+          </range>
+          <noise>
+            <type>gaussian</type>
+            <mean>0</mean>
+            <stddev>0.015</stddev>
+          </noise>
+        </lidar>
+      </sensor>
     </link>
-    <joint name="mobilicom_antenna_l_j" type="fixed">
-      <child>mobilicom_antenna_l</child>
-      <parent>mobilicom</parent>
+    <joint name="cliff_sensor_front_left_j" type="fixed">
+      <child>cliff_sensor_front_left</child>
+      <parent>rear_right_box</parent>
       <axis>
         <dynamics>
           <spring_reference>0</spring_reference>
@@ -3413,42 +1844,71 @@
         </ode>
       </physics>
     </joint>
-    <link name="mobilicom_antenna_r">
-      <pose>-0.225 0.17 0.2056 0 -0 1.5707963267948966</pose>
+    <link name="cliff_sensor_front_right">
+      <pose>0.3 -0.1445 0.2106 0 1.5707963267948966 0</pose>
       <inertial>
-        <pose>0 0 0.085 0 -0 0</pose>
-        <mass>0.03</mass>
+        <pose>0.0105 0 0.00925 0 -0 0</pose>
+        <mass>0.012</mass>
         <inertia>
-          <ixx>7.3e-05</ixx>
+          <ixx>1.56725e-06</ixx>
           <ixy>0</ixy>
           <ixz>0</ixz>
-          <iyy>7.3e-05</iyy>
+          <iyy>7.8325e-07</iyy>
           <iyz>0</iyz>
-          <izz>1.5e-06</izz>
+          <izz>1.666e-06</izz>
         </inertia>
       </inertial>
-      <collision name="mobilicom_antenna_r_collision">
-        <pose>0 0 0.085 0 -0 0</pose>
+      <collision name="cliff_sensor_front_right_collision">
+        <pose>0.0105 0 0.00925 0 -0 0</pose>
         <geometry>
-          <cylinder>
-            <length>0.17</length>
-            <radius>0.01</radius>
-          </cylinder>
+          <box>
+            <size>0.021 0.035 0.0185</size>
+          </box>
         </geometry>
       </collision>
-      <visual name="mobilicom_antenna_r_visual">
-        <pose>0 0 0.085 0 -0 0</pose>
+      <visual name="cliff_sensor_front_right_visual">
         <geometry>
-          <cylinder>
-            <length>0.17</length>
-            <radius>0.01</radius>
-          </cylinder>
+          <mesh>
+            <uri>meshes/tfmini_plus_lidar.dae</uri>
+          </mesh>
         </geometry>
       </visual>
+      <sensor name="laser" type="gpu_lidar">
+        <pose>0.021 0 0.00925 0 -0 0</pose>
+        <update_rate>10</update_rate>
+        <visualize>0</visualize>
+        <always_on>1</always_on>
+        <lidar>
+          <scan>
+            <horizontal>
+              <samples>3</samples>
+              <resolution>1</resolution>
+              <min_angle>-0.0314159</min_angle>
+              <max_angle>0.0314159</max_angle>
+            </horizontal>
+            <vertical>
+              <samples>3</samples>
+              <resolution>1</resolution>
+              <min_angle>-0.0314159</min_angle>
+              <max_angle>0.0314159</max_angle>
+            </vertical>
+          </scan>
+          <range>
+            <min>0.1</min>
+            <max>12</max>
+            <resolution>0.01</resolution>
+          </range>
+          <noise>
+            <type>gaussian</type>
+            <mean>0</mean>
+            <stddev>0.015</stddev>
+          </noise>
+        </lidar>
+      </sensor>
     </link>
-    <joint name="mobilicom_antenna_r_j" type="fixed">
-      <child>mobilicom_antenna_r</child>
-      <parent>mobilicom</parent>
+    <joint name="cliff_sensor_front_right_j" type="fixed">
+      <child>cliff_sensor_front_right</child>
+      <parent>rear_right_box</parent>
       <axis>
         <dynamics>
           <spring_reference>0</spring_reference>
@@ -3470,72 +1930,85 @@
         </ode>
       </physics>
     </joint>
-    <link name="rear_right_flipper">
-      <pose>-0.256 -0.248 0 0 -0 0</pose>
+    <link name="cliff_sensor_rear_left">
+      <pose>-0.3 0.1445 0.2106 3.1415926535897931 1.5707963267948966 0</pose>
       <inertial>
-        <mass>1e-05</mass>
+        <pose>0.0105 0 0.00925 0 -0 0</pose>
+        <mass>0.012</mass>
         <inertia>
-          <ixx>0.001</ixx>
-          <ixy>1e-06</ixy>
-          <ixz>1e-06</ixz>
-          <iyy>0.001</iyy>
-          <iyz>1e-06</iyz>
-          <izz>0.001</izz>
+          <ixx>1.56725e-06</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>7.8325e-07</iyy>
+          <iyz>0</iyz>
+          <izz>1.666e-06</izz>
         </inertia>
       </inertial>
-      <visual name="rear_right_flipper_visual">
-        <geometry>
-          <mesh>
-            <uri>meshes/big_wheel.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-      <visual name="rear_right_flipper_visual_1">
-        <geometry>
-          <mesh>
-            <uri>meshes/flipper_arm.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-      <visual name="rear_right_flipper_visual_2">
-        <pose>0 0 0 3.1415926535897931 -0 3.1415926535897931</pose>
+      <collision name="cliff_sensor_rear_left_collision">
+        <pose>0.0105 0 0.00925 0 -0 0</pose>
         <geometry>
-          <mesh>
-            <uri>meshes/belt.dae</uri>
-          </mesh>
+          <box>
+            <size>0.021 0.035 0.0185</size>
+          </box>
         </geometry>
-      </visual>
-      <visual name="rear_right_flipper_visual_3">
-        <pose>-0.3035 0 0 0 -0 0</pose>
+      </collision>
+      <visual name="cliff_sensor_rear_left_visual">
         <geometry>
           <mesh>
-            <uri>meshes/small_wheel.dae</uri>
+            <uri>meshes/tfmini_plus_lidar.dae</uri>
           </mesh>
         </geometry>
       </visual>
-      <self_collide>1</self_collide>
+      <sensor name="laser" type="gpu_lidar">
+        <pose>0.021 0 0.00925 0 -0 0</pose>
+        <update_rate>10</update_rate>
+        <visualize>0</visualize>
+        <always_on>1</always_on>
+        <lidar>
+          <scan>
+            <horizontal>
+              <samples>3</samples>
+              <resolution>1</resolution>
+              <min_angle>-0.0314159</min_angle>
+              <max_angle>0.0314159</max_angle>
+            </horizontal>
+            <vertical>
+              <samples>3</samples>
+              <resolution>1</resolution>
+              <min_angle>-0.0314159</min_angle>
+              <max_angle>0.0314159</max_angle>
+            </vertical>
+          </scan>
+          <range>
+            <min>0.1</min>
+            <max>12</max>
+            <resolution>0.01</resolution>
+          </range>
+          <noise>
+            <type>gaussian</type>
+            <mean>0</mean>
+            <stddev>0.015</stddev>
+          </noise>
+        </lidar>
+      </sensor>
     </link>
-    <joint name="rear_right_flipper_j" type="revolute">
-      <child>rear_right_flipper</child>
-      <parent>base_link</parent>
+    <joint name="cliff_sensor_rear_left_j" type="fixed">
+      <child>cliff_sensor_rear_left</child>
+      <parent>rear_right_box</parent>
       <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>120</effort>
-          <velocity>1</velocity>
-        </limit>
         <dynamics>
           <spring_reference>0</spring_reference>
           <spring_stiffness>0</spring_stiffness>
         </dynamics>
+        <xyz>0 0 1</xyz>
         <use_parent_model_frame>0</use_parent_model_frame>
+        <limit>
+          <lower>-1e+16</lower>
+          <upper>1e+16</upper>
+        </limit>
       </axis>
       <physics>
         <ode>
-          <implicit_spring_damper>1</implicit_spring_damper>
-          <cfm_damping>1</cfm_damping>
           <limit>
             <cfm>0</cfm>
             <erp>0.2</erp>
@@ -3543,23 +2016,71 @@
         </ode>
       </physics>
     </joint>
-    <link name="rear_right_flipper_end_point_inflated">
-      <pose>-0.6375 -0.248 0 0 -0 0</pose>
+    <link name="cliff_sensor_rear_right">
+      <pose>-0.3 -0.1445 0.2106 3.1415926535897931 1.5707963267948966 0</pose>
       <inertial>
-        <mass>1e-05</mass>
+        <pose>0.0105 0 0.00925 0 -0 0</pose>
+        <mass>0.012</mass>
         <inertia>
-          <ixx>0.001</ixx>
-          <ixy>1e-06</ixy>
-          <ixz>1e-06</ixz>
-          <iyy>0.001</iyy>
-          <iyz>1e-06</iyz>
-          <izz>0.001</izz>
+          <ixx>1.56725e-06</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>7.8325e-07</iyy>
+          <iyz>0</iyz>
+          <izz>1.666e-06</izz>
         </inertia>
       </inertial>
+      <collision name="cliff_sensor_rear_right_collision">
+        <pose>0.0105 0 0.00925 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.021 0.035 0.0185</size>
+          </box>
+        </geometry>
+      </collision>
+      <visual name="cliff_sensor_rear_right_visual">
+        <geometry>
+          <mesh>
+            <uri>meshes/tfmini_plus_lidar.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <sensor name="laser" type="gpu_lidar">
+        <pose>0.021 0 0.00925 0 -0 0</pose>
+        <update_rate>10</update_rate>
+        <visualize>0</visualize>
+        <always_on>1</always_on>
+        <lidar>
+          <scan>
+            <horizontal>
+              <samples>3</samples>
+              <resolution>1</resolution>
+              <min_angle>-0.0314159</min_angle>
+              <max_angle>0.0314159</max_angle>
+            </horizontal>
+            <vertical>
+              <samples>3</samples>
+              <resolution>1</resolution>
+              <min_angle>-0.0314159</min_angle>
+              <max_angle>0.0314159</max_angle>
+            </vertical>
+          </scan>
+          <range>
+            <min>0.1</min>
+            <max>12</max>
+            <resolution>0.01</resolution>
+          </range>
+          <noise>
+            <type>gaussian</type>
+            <mean>0</mean>
+            <stddev>0.015</stddev>
+          </noise>
+        </lidar>
+      </sensor>
     </link>
-    <joint name="rear_right_flipper_end_point_inflated_j" type="fixed">
-      <child>rear_right_flipper_end_point_inflated</child>
-      <parent>rear_right_flipper</parent>
+    <joint name="cliff_sensor_rear_right_j" type="fixed">
+      <child>cliff_sensor_rear_right</child>
+      <parent>rear_right_box</parent>
       <axis>
         <dynamics>
           <spring_reference>0</spring_reference>
@@ -3581,23 +2102,39 @@
         </ode>
       </physics>
     </joint>
-    <link name="rear_right_flipper_end_point">
-      <pose>-0.6375 -0.248 0 0 -0 0</pose>
+    <link name="mobilicom">
+      <pose>-0.25 0.12 0.1921 0 -0 1.5707963267948966</pose>
       <inertial>
-        <mass>1e-05</mass>
+        <pose>0 0 0.0135 0 -0 0</pose>
+        <mass>0.168</mass>
         <inertia>
-          <ixx>0.001</ixx>
-          <ixy>1e-06</ixy>
-          <ixz>1e-06</ixz>
-          <iyy>0.001</iyy>
-          <iyz>1e-06</iyz>
-          <izz>0.001</izz>
+          <ixx>8.687e-05</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.000150206</iyy>
+          <iyz>0</iyz>
+          <izz>0.000216664</izz>
         </inertia>
       </inertial>
+      <collision name="mobilicom_collision">
+        <pose>0 0 0.0135 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.1 0.074 0.027</size>
+          </box>
+        </geometry>
+      </collision>
+      <visual name="mobilicom_visual">
+        <geometry>
+          <mesh>
+            <uri>meshes/mobilicom.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
     </link>
-    <joint name="rear_right_flipper_end_point_j" type="fixed">
-      <child>rear_right_flipper_end_point</child>
-      <parent>rear_right_flipper</parent>
+    <joint name="mobilicom_j" type="fixed">
+      <child>mobilicom</child>
+      <parent>rear_right_box</parent>
       <axis>
         <dynamics>
           <spring_reference>0</spring_reference>
@@ -3619,425 +2156,263 @@
         </ode>
       </physics>
     </joint>
-    <link name="rear_right_flipper_wheel1">
-      <pose>-0.256 -0.248 0 0 -0 0</pose>
+    <link name="mobilicom_antenna_l">
+      <pose>-0.275 0.17 0.2056 -0.5 -0 1.5707963267948966</pose>
       <inertial>
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <mass>0.457375</mass>
+        <pose>0 0 0.085 0 -0 0</pose>
+        <mass>0.03</mass>
         <inertia>
-          <ixx>0.0017663</ixx>
+          <ixx>7.3e-05</ixx>
           <ixy>0</ixy>
           <ixz>0</ixz>
-          <iyy>0.0017663</iyy>
+          <iyy>7.3e-05</iyy>
           <iyz>0</iyz>
-          <izz>0.0031038</izz>
+          <izz>1.5e-06</izz>
         </inertia>
       </inertial>
-      <collision name="rear_right_flipper_wheel1_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="mobilicom_antenna_l_collision">
+        <pose>0 0 0.085 0 -0 0</pose>
         <geometry>
           <cylinder>
-            <length>0.075</length>
-            <radius>0.1165</radius>
+            <length>0.17</length>
+            <radius>0.01</radius>
           </cylinder>
         </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-            <collide_bitmask>1</collide_bitmask>
-          </contact>
-          <friction>
-            <ode>
-              <mu>1</mu>
-              <mu2>150</mu2>
-              <slip1>0.000580604</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
       </collision>
-      <self_collide>1</self_collide>
-    </link>
-    <joint name="rear_right_flipper_wheel1_j" type="revolute">
-      <child>rear_right_flipper_wheel1</child>
-      <parent>rear_right_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>-1</effort>
-          <velocity>8.58369</velocity>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="rear_right_flipper_wheel2">
-      <pose>-0.299357 -0.248 0 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <mass>0.457375</mass>
-        <inertia>
-          <ixx>0.00162322</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.00162322</iyy>
-          <iyz>0</iyz>
-          <izz>0.00281766</izz>
-        </inertia>
-      </inertial>
-      <collision name="rear_right_flipper_wheel2_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <visual name="mobilicom_antenna_l_visual">
+        <pose>0 0 0.085 0 -0 0</pose>
         <geometry>
           <cylinder>
-            <length>0.075</length>
-            <radius>0.111</radius>
+            <length>0.17</length>
+            <radius>0.01</radius>
           </cylinder>
         </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-            <collide_bitmask>2</collide_bitmask>
-          </contact>
-          <friction>
-            <ode>
-              <mu>1</mu>
-              <mu2>150</mu2>
-              <slip1>0.000580604</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-      <self_collide>1</self_collide>
+      </visual>
     </link>
-    <joint name="rear_right_flipper_wheel2_j" type="revolute">
-      <child>rear_right_flipper_wheel2</child>
-      <parent>rear_right_flipper</parent>
+    <joint name="mobilicom_antenna_l_j" type="fixed">
+      <child>mobilicom_antenna_l</child>
+      <parent>mobilicom</parent>
       <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>-1</effort>
-          <velocity>9.00901</velocity>
-        </limit>
         <dynamics>
           <spring_reference>0</spring_reference>
           <spring_stiffness>0</spring_stiffness>
         </dynamics>
+        <xyz>0 0 1</xyz>
         <use_parent_model_frame>0</use_parent_model_frame>
+        <limit>
+          <lower>-1e+16</lower>
+          <upper>1e+16</upper>
+        </limit>
       </axis>
+      <physics>
+        <ode>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+        </ode>
+      </physics>
     </joint>
-    <link name="rear_right_flipper_wheel3">
-      <pose>-0.342714 -0.248 0 0 -0 0</pose>
+    <link name="mobilicom_antenna_r">
+      <pose>-0.225 0.17 0.2056 0 -0 1.5707963267948966</pose>
       <inertial>
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <mass>0.457375</mass>
+        <pose>0 0 0.085 0 -0 0</pose>
+        <mass>0.03</mass>
         <inertia>
-          <ixx>0.00148707</ixx>
+          <ixx>7.3e-05</ixx>
           <ixy>0</ixy>
           <ixz>0</ixz>
-          <iyy>0.00148707</iyy>
+          <iyy>7.3e-05</iyy>
           <iyz>0</iyz>
-          <izz>0.00254535</izz>
+          <izz>1.5e-06</izz>
         </inertia>
       </inertial>
-      <collision name="rear_right_flipper_wheel3_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="mobilicom_antenna_r_collision">
+        <pose>0 0 0.085 0 -0 0</pose>
         <geometry>
           <cylinder>
-            <length>0.075</length>
-            <radius>0.1055</radius>
+            <length>0.17</length>
+            <radius>0.01</radius>
           </cylinder>
         </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-            <collide_bitmask>4</collide_bitmask>
-          </contact>
-          <friction>
-            <ode>
-              <mu>1</mu>
-              <mu2>150</mu2>
-              <slip1>0.000580604</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
       </collision>
-      <self_collide>1</self_collide>
+      <visual name="mobilicom_antenna_r_visual">
+        <pose>0 0 0.085 0 -0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.17</length>
+            <radius>0.01</radius>
+          </cylinder>
+        </geometry>
+      </visual>
     </link>
-    <joint name="rear_right_flipper_wheel3_j" type="revolute">
-      <child>rear_right_flipper_wheel3</child>
-      <parent>rear_right_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>-1</effort>
-          <velocity>9.47867</velocity>
-        </limit>
+    <joint name="mobilicom_antenna_r_j" type="fixed">
+      <child>mobilicom_antenna_r</child>
+      <parent>mobilicom</parent>
+      <axis>
         <dynamics>
           <spring_reference>0</spring_reference>
           <spring_stiffness>0</spring_stiffness>
         </dynamics>
+        <xyz>0 0 1</xyz>
         <use_parent_model_frame>0</use_parent_model_frame>
+        <limit>
+          <lower>-1e+16</lower>
+          <upper>1e+16</upper>
+        </limit>
       </axis>
+      <physics>
+        <ode>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+        </ode>
+      </physics>
     </joint>
-    <link name="rear_right_flipper_wheel4">
-      <pose>-0.386071 -0.248 0 0 -0 0</pose>
+    <link name="rear_right_flipper">
+      <pose>-0.256 -0.248 0 0 -0 0</pose>
       <inertial>
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <mass>0.457375</mass>
+        <pose>-0.08 0 0 0 -0 0</pose>
+        <mass>3.659</mass>
         <inertia>
-          <ixx>0.00135783</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.00135783</iyy>
-          <iyz>0</iyz>
-          <izz>0.00228687</izz>
+          <ixx>0.0017491</ixx>
+          <ixy>2.8512e-07</ixy>
+          <ixz>0.0018277</ixz>
+          <iyy>0.012277</iyy>
+          <iyz>-3.6288e-07</iyz>
+          <izz>0.010941</izz>
         </inertia>
       </inertial>
-      <collision name="rear_right_flipper_wheel4_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="rear_right_flipper_collision">
+        <pose>-0.15175 0 0 0 -0 0</pose>
         <geometry>
-          <cylinder>
-            <length>0.075</length>
-            <radius>0.1</radius>
-          </cylinder>
+          <box>
+            <size>0.3035 0.075 0.078</size>
+          </box>
         </geometry>
         <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-            <collide_bitmask>8</collide_bitmask>
-          </contact>
           <friction>
             <ode>
               <mu>1</mu>
               <mu2>150</mu2>
-              <slip1>0.000580604</slip1>
-              <slip2>0</slip2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
-      <self_collide>1</self_collide>
-    </link>
-    <joint name="rear_right_flipper_wheel4_j" type="revolute">
-      <child>rear_right_flipper_wheel4</child>
-      <parent>rear_right_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>-1</effort>
-          <velocity>10</velocity>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="rear_right_flipper_wheel5">
-      <pose>-0.429429 -0.248 0 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <mass>0.457375</mass>
-        <inertia>
-          <ixx>0.00123551</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.00123551</iyy>
-          <iyz>0</iyz>
-          <izz>0.00204224</izz>
-        </inertia>
-      </inertial>
-      <collision name="rear_right_flipper_wheel5_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="rear_right_flipper_collision_1">
+        <pose>-0.15175 0 0.05825 0 -0.126179 0</pose>
         <geometry>
-          <cylinder>
-            <length>0.075</length>
-            <radius>0.0945</radius>
-          </cylinder>
+          <box>
+            <size>0.3035 0.075 0.078</size>
+          </box>
         </geometry>
         <surface>
-          <contact>
+          <friction>
             <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
+              <mu>1</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
             </ode>
-            <collide_bitmask>16</collide_bitmask>
-          </contact>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="rear_right_flipper_collision_2">
+        <pose>-0.15175 0 -0.05825 0 0.126179 0</pose>
+        <geometry>
+          <box>
+            <size>0.3035 0.075 0.078</size>
+          </box>
+        </geometry>
+        <surface>
           <friction>
             <ode>
               <mu>1</mu>
               <mu2>150</mu2>
-              <slip1>0.000580604</slip1>
-              <slip2>0</slip2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
-      <self_collide>1</self_collide>
-    </link>
-    <joint name="rear_right_flipper_wheel5_j" type="revolute">
-      <child>rear_right_flipper_wheel5</child>
-      <parent>rear_right_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>-1</effort>
-          <velocity>10.582</velocity>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="rear_right_flipper_wheel6">
-      <pose>-0.472786 -0.248 0 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <mass>0.457375</mass>
-        <inertia>
-          <ixx>0.00112011</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.00112011</iyy>
-          <iyz>0</iyz>
-          <izz>0.00181143</izz>
-        </inertia>
-      </inertial>
-      <collision name="rear_right_flipper_wheel6_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="rear_right_flipper_collision_3">
+        <pose>-0.3035 0 0 1.5707963267948966 -0 0</pose>
         <geometry>
           <cylinder>
             <length>0.075</length>
-            <radius>0.089</radius>
+            <radius>0.078</radius>
           </cylinder>
         </geometry>
         <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-            <collide_bitmask>32</collide_bitmask>
-          </contact>
           <friction>
             <ode>
               <mu>1</mu>
               <mu2>150</mu2>
-              <slip1>0.000580604</slip1>
-              <slip2>0</slip2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
-      <self_collide>1</self_collide>
-    </link>
-    <joint name="rear_right_flipper_wheel6_j" type="revolute">
-      <child>rear_right_flipper_wheel6</child>
-      <parent>rear_right_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>-1</effort>
-          <velocity>11.236</velocity>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="rear_right_flipper_wheel7">
-      <pose>-0.516143 -0.248 0 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <mass>0.457375</mass>
-        <inertia>
-          <ixx>0.00101163</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.00101163</iyy>
-          <iyz>0</iyz>
-          <izz>0.00159447</izz>
-        </inertia>
-      </inertial>
-      <collision name="rear_right_flipper_wheel7_collision_collision">
+      <collision name="rear_right_flipper_collision_4">
         <pose>0 0 0 1.5707963267948966 -0 0</pose>
         <geometry>
           <cylinder>
             <length>0.075</length>
-            <radius>0.0835</radius>
+            <radius>0.1165</radius>
           </cylinder>
         </geometry>
         <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-            <collide_bitmask>64</collide_bitmask>
-          </contact>
           <friction>
             <ode>
               <mu>1</mu>
               <mu2>150</mu2>
-              <slip1>0.000580604</slip1>
-              <slip2>0</slip2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
+      <visual name="rear_right_flipper_visual">
+        <geometry>
+          <mesh>
+            <uri>meshes/big_wheel.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <visual name="rear_right_flipper_visual_1">
+        <geometry>
+          <mesh>
+            <uri>meshes/flipper_arm.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <visual name="rear_right_flipper_visual_2">
+        <pose>0 0 0 3.1415926535897931 -0 3.1415926535897931</pose>
+        <geometry>
+          <mesh>
+            <uri>meshes/belt.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <visual name="rear_right_flipper_visual_3">
+        <pose>-0.3035 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>meshes/small_wheel.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
       <self_collide>1</self_collide>
     </link>
-    <joint name="rear_right_flipper_wheel7_j" type="revolute">
-      <child>rear_right_flipper_wheel7</child>
-      <parent>rear_right_flipper</parent>
+    <joint name="rear_right_flipper_j" type="revolute">
+      <child>rear_right_flipper</child>
+      <parent>base_link</parent>
       <axis>
         <xyz>0 1 0</xyz>
         <limit>
           <lower>-1e+16</lower>
           <upper>1e+16</upper>
-          <effort>-1</effort>
-          <velocity>11.976</velocity>
+          <effort>120</effort>
+          <velocity>1</velocity>
         </limit>
         <dynamics>
           <spring_reference>0</spring_reference>
@@ -4045,67 +2420,92 @@
         </dynamics>
         <use_parent_model_frame>0</use_parent_model_frame>
       </axis>
+      <physics>
+        <ode>
+          <implicit_spring_damper>1</implicit_spring_damper>
+          <cfm_damping>1</cfm_damping>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+        </ode>
+      </physics>
     </joint>
-    <link name="rear_right_flipper_wheel8">
-      <pose>-0.5595 -0.248 0 0 -0 0</pose>
+    <link name="rear_right_flipper_end_point_inflated">
+      <pose>-0.6375 -0.248 0 0 -0 0</pose>
       <inertial>
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <mass>0.457375</mass>
+        <mass>1e-05</mass>
         <inertia>
-          <ixx>0.000910062</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.000910062</iyy>
-          <iyz>0</iyz>
-          <izz>0.00139133</izz>
+          <ixx>0.001</ixx>
+          <ixy>1e-06</ixy>
+          <ixz>1e-06</ixz>
+          <iyy>0.001</iyy>
+          <iyz>1e-06</iyz>
+          <izz>0.001</izz>
         </inertia>
       </inertial>
-      <collision name="rear_right_flipper_wheel8_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.075</length>
-            <radius>0.078</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-            <collide_bitmask>128</collide_bitmask>
-          </contact>
-          <friction>
-            <ode>
-              <mu>1</mu>
-              <mu2>150</mu2>
-              <slip1>0.000580604</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-      <self_collide>1</self_collide>
     </link>
-    <joint name="rear_right_flipper_wheel8_j" type="revolute">
-      <child>rear_right_flipper_wheel8</child>
+    <joint name="rear_right_flipper_end_point_inflated_j" type="fixed">
+      <child>rear_right_flipper_end_point_inflated</child>
       <parent>rear_right_flipper</parent>
       <axis>
-        <xyz>0 1 0</xyz>
+        <dynamics>
+          <spring_reference>0</spring_reference>
+          <spring_stiffness>0</spring_stiffness>
+        </dynamics>
+        <xyz>0 0 1</xyz>
+        <use_parent_model_frame>0</use_parent_model_frame>
         <limit>
           <lower>-1e+16</lower>
           <upper>1e+16</upper>
-          <effort>-1</effort>
-          <velocity>12.8205</velocity>
         </limit>
+      </axis>
+      <physics>
+        <ode>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+        </ode>
+      </physics>
+    </joint>
+    <link name="rear_right_flipper_end_point">
+      <pose>-0.6375 -0.248 0 0 -0 0</pose>
+      <inertial>
+        <mass>1e-05</mass>
+        <inertia>
+          <ixx>0.001</ixx>
+          <ixy>1e-06</ixy>
+          <ixz>1e-06</ixz>
+          <iyy>0.001</iyy>
+          <iyz>1e-06</iyz>
+          <izz>0.001</izz>
+        </inertia>
+      </inertial>
+    </link>
+    <joint name="rear_right_flipper_end_point_j" type="fixed">
+      <child>rear_right_flipper_end_point</child>
+      <parent>rear_right_flipper</parent>
+      <axis>
         <dynamics>
           <spring_reference>0</spring_reference>
           <spring_stiffness>0</spring_stiffness>
         </dynamics>
+        <xyz>0 0 1</xyz>
         <use_parent_model_frame>0</use_parent_model_frame>
+        <limit>
+          <lower>-1e+16</lower>
+          <upper>1e+16</upper>
+        </limit>
       </axis>
+      <physics>
+        <ode>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+        </ode>
+      </physics>
     </joint>
     <link name="rear_right_motor">
       <inertial>
@@ -4805,200 +3205,7 @@
       <joint_name>rear_left_flipper_j</joint_name>
       <joint_name>rear_right_flipper_j</joint_name>
     </plugin>
-    <plugin name="ignition::gazebo::systems::WheelSlip" filename="ignition-gazebo-wheel-slip-system">
-      <wheel link_name="front_left_flipper_wheel8">
-        <slip_compliance_lateral>0.0485</slip_compliance_lateral>
-        <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-        <wheel_normal_force>7.53525</wheel_normal_force>
-        <wheel_radius>0.078</wheel_radius>
-      </wheel>
-      <wheel link_name="front_left_flipper_wheel7">
-        <slip_compliance_lateral>0.0485</slip_compliance_lateral>
-        <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-        <wheel_normal_force>7.53525</wheel_normal_force>
-        <wheel_radius>0.0835</wheel_radius>
-      </wheel>
-      <wheel link_name="front_left_flipper_wheel6">
-        <slip_compliance_lateral>0.0485</slip_compliance_lateral>
-        <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-        <wheel_normal_force>7.53525</wheel_normal_force>
-        <wheel_radius>0.089</wheel_radius>
-      </wheel>
-      <wheel link_name="front_left_flipper_wheel5">
-        <slip_compliance_lateral>0.0485</slip_compliance_lateral>
-        <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-        <wheel_normal_force>7.53525</wheel_normal_force>
-        <wheel_radius>0.0945</wheel_radius>
-      </wheel>
-      <wheel link_name="front_left_flipper_wheel4">
-        <slip_compliance_lateral>0.0485</slip_compliance_lateral>
-        <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-        <wheel_normal_force>7.53525</wheel_normal_force>
-        <wheel_radius>0.1</wheel_radius>
-      </wheel>
-      <wheel link_name="front_left_flipper_wheel3">
-        <slip_compliance_lateral>0.0485</slip_compliance_lateral>
-        <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-        <wheel_normal_force>7.53525</wheel_normal_force>
-        <wheel_radius>0.1055</wheel_radius>
-      </wheel>
-      <wheel link_name="front_left_flipper_wheel2">
-        <slip_compliance_lateral>0.0485</slip_compliance_lateral>
-        <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-        <wheel_normal_force>7.53525</wheel_normal_force>
-        <wheel_radius>0.111</wheel_radius>
-      </wheel>
-      <wheel link_name="front_left_flipper_wheel1">
-        <slip_compliance_lateral>0.0485</slip_compliance_lateral>
-        <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-        <wheel_normal_force>7.53525</wheel_normal_force>
-        <wheel_radius>0.1165</wheel_radius>
-      </wheel>
-      <wheel link_name="front_right_flipper_wheel8">
-        <slip_compliance_lateral>0.0485</slip_compliance_lateral>
-        <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-        <wheel_normal_force>7.53525</wheel_normal_force>
-        <wheel_radius>0.078</wheel_radius>
-      </wheel>
-      <wheel link_name="front_right_flipper_wheel7">
-        <slip_compliance_lateral>0.0485</slip_compliance_lateral>
-        <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-        <wheel_normal_force>7.53525</wheel_normal_force>
-        <wheel_radius>0.0835</wheel_radius>
-      </wheel>
-      <wheel link_name="front_right_flipper_wheel6">
-        <slip_compliance_lateral>0.0485</slip_compliance_lateral>
-        <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-        <wheel_normal_force>7.53525</wheel_normal_force>
-        <wheel_radius>0.089</wheel_radius>
-      </wheel>
-      <wheel link_name="front_right_flipper_wheel5">
-        <slip_compliance_lateral>0.0485</slip_compliance_lateral>
-        <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-        <wheel_normal_force>7.53525</wheel_normal_force>
-        <wheel_radius>0.0945</wheel_radius>
-      </wheel>
-      <wheel link_name="front_right_flipper_wheel4">
-        <slip_compliance_lateral>0.0485</slip_compliance_lateral>
-        <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-        <wheel_normal_force>7.53525</wheel_normal_force>
-        <wheel_radius>0.1</wheel_radius>
-      </wheel>
-      <wheel link_name="front_right_flipper_wheel3">
-        <slip_compliance_lateral>0.0485</slip_compliance_lateral>
-        <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-        <wheel_normal_force>7.53525</wheel_normal_force>
-        <wheel_radius>0.1055</wheel_radius>
-      </wheel>
-      <wheel link_name="front_right_flipper_wheel2">
-        <slip_compliance_lateral>0.0485</slip_compliance_lateral>
-        <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-        <wheel_normal_force>7.53525</wheel_normal_force>
-        <wheel_radius>0.111</wheel_radius>
-      </wheel>
-      <wheel link_name="front_right_flipper_wheel1">
-        <slip_compliance_lateral>0.0485</slip_compliance_lateral>
-        <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-        <wheel_normal_force>7.53525</wheel_normal_force>
-        <wheel_radius>0.1165</wheel_radius>
-      </wheel>
-      <wheel link_name="rear_left_flipper_wheel8">
-        <slip_compliance_lateral>0.0485</slip_compliance_lateral>
-        <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-        <wheel_normal_force>7.53525</wheel_normal_force>
-        <wheel_radius>0.078</wheel_radius>
-      </wheel>
-      <wheel link_name="rear_left_flipper_wheel7">
-        <slip_compliance_lateral>0.0485</slip_compliance_lateral>
-        <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-        <wheel_normal_force>7.53525</wheel_normal_force>
-        <wheel_radius>0.0835</wheel_radius>
-      </wheel>
-      <wheel link_name="rear_left_flipper_wheel6">
-        <slip_compliance_lateral>0.0485</slip_compliance_lateral>
-        <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-        <wheel_normal_force>7.53525</wheel_normal_force>
-        <wheel_radius>0.089</wheel_radius>
-      </wheel>
-      <wheel link_name="rear_left_flipper_wheel5">
-        <slip_compliance_lateral>0.0485</slip_compliance_lateral>
-        <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-        <wheel_normal_force>7.53525</wheel_normal_force>
-        <wheel_radius>0.0945</wheel_radius>
-      </wheel>
-      <wheel link_name="rear_left_flipper_wheel4">
-        <slip_compliance_lateral>0.0485</slip_compliance_lateral>
-        <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-        <wheel_normal_force>7.53525</wheel_normal_force>
-        <wheel_radius>0.1</wheel_radius>
-      </wheel>
-      <wheel link_name="rear_left_flipper_wheel3">
-        <slip_compliance_lateral>0.0485</slip_compliance_lateral>
-        <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-        <wheel_normal_force>7.53525</wheel_normal_force>
-        <wheel_radius>0.1055</wheel_radius>
-      </wheel>
-      <wheel link_name="rear_left_flipper_wheel2">
-        <slip_compliance_lateral>0.0485</slip_compliance_lateral>
-        <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-        <wheel_normal_force>7.53525</wheel_normal_force>
-        <wheel_radius>0.111</wheel_radius>
-      </wheel>
-      <wheel link_name="rear_left_flipper_wheel1">
-        <slip_compliance_lateral>0.0485</slip_compliance_lateral>
-        <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-        <wheel_normal_force>7.53525</wheel_normal_force>
-        <wheel_radius>0.1165</wheel_radius>
-      </wheel>
-      <wheel link_name="rear_right_flipper_wheel8">
-        <slip_compliance_lateral>0.0485</slip_compliance_lateral>
-        <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-        <wheel_normal_force>7.53525</wheel_normal_force>
-        <wheel_radius>0.078</wheel_radius>
-      </wheel>
-      <wheel link_name="rear_right_flipper_wheel7">
-        <slip_compliance_lateral>0.0485</slip_compliance_lateral>
-        <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-        <wheel_normal_force>7.53525</wheel_normal_force>
-        <wheel_radius>0.0835</wheel_radius>
-      </wheel>
-      <wheel link_name="rear_right_flipper_wheel6">
-        <slip_compliance_lateral>0.0485</slip_compliance_lateral>
-        <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-        <wheel_normal_force>7.53525</wheel_normal_force>
-        <wheel_radius>0.089</wheel_radius>
-      </wheel>
-      <wheel link_name="rear_right_flipper_wheel5">
-        <slip_compliance_lateral>0.0485</slip_compliance_lateral>
-        <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-        <wheel_normal_force>7.53525</wheel_normal_force>
-        <wheel_radius>0.0945</wheel_radius>
-      </wheel>
-      <wheel link_name="rear_right_flipper_wheel4">
-        <slip_compliance_lateral>0.0485</slip_compliance_lateral>
-        <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-        <wheel_normal_force>7.53525</wheel_normal_force>
-        <wheel_radius>0.1</wheel_radius>
-      </wheel>
-      <wheel link_name="rear_right_flipper_wheel3">
-        <slip_compliance_lateral>0.0485</slip_compliance_lateral>
-        <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-        <wheel_normal_force>7.53525</wheel_normal_force>
-        <wheel_radius>0.1055</wheel_radius>
-      </wheel>
-      <wheel link_name="rear_right_flipper_wheel2">
-        <slip_compliance_lateral>0.0485</slip_compliance_lateral>
-        <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-        <wheel_normal_force>7.53525</wheel_normal_force>
-        <wheel_radius>0.111</wheel_radius>
-      </wheel>
-      <wheel link_name="rear_right_flipper_wheel1">
-        <slip_compliance_lateral>0.0485</slip_compliance_lateral>
-        <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-        <wheel_normal_force>7.53525</wheel_normal_force>
-        <wheel_radius>0.1165</wheel_radius>
-      </wheel>
-    </plugin>
+    <plugin name="ignition::gazebo::systems::WheelSlip" filename="ignition-gazebo-wheel-slip-system"/>
   </model>
 </sdf>
 
diff --git a/submitted_models/ctu_cras_norlab_marv_sensor_config_1/urdf/marv.xacro b/submitted_models/ctu_cras_norlab_marv_sensor_config_1/urdf/marv.xacro
index 9513a806..bb2e1552 100644
--- a/submitted_models/ctu_cras_norlab_marv_sensor_config_1/urdf/marv.xacro
+++ b/submitted_models/ctu_cras_norlab_marv_sensor_config_1/urdf/marv.xacro
@@ -437,7 +437,7 @@
                     <mesh filename="package://ctu_cras_norlab_marv_sensor_config_1/meshes/small_wheel.dae"/>
                 </geometry>
             </visual>
-            <xacro:if value="${'$(arg rendering_target)' == 'urdf'}">
+            <xacro:if value="${'$(arg rendering_target)' == 'urdf' or $(arg num_wheels) == 0}">
                 <xacro:property name="inflated_big_wheel" value="${$(arg flipper_inflation_ratio) * $(arg rover_flipperBigRadius)}" />
                 <xacro:property name="inflated_small_wheel" value="${$(arg flipper_inflation_ratio) * $(arg rover_flipperSmallRadius)}" />
                 <xacro:property name="flipper_edge_angle" value="${atan2(inflated_big_wheel - inflated_small_wheel, rover_flipperAxleDistance)}" />
@@ -474,7 +474,20 @@
                     </geometry>
                 </collision>
             </xacro:if>
-            <xacro:default_inertial />
+            <xacro:if value="${$(arg num_wheels) > 0}">
+                <xacro:default_inertial />
+            </xacro:if>
+            <xacro:if value="${$(arg num_wheels) == 0}">
+                <inertial>
+                    <origin xyz="${reflect_y*0.08} 0 0.0" rpy="0 0 0"/>
+                    <mass value="${flipper_arm_mass + flipper_big_wheel_mass + 2*flipper_small_wheel_mass + belt_mass}"/>
+                    <xacro:inertia_meshlab
+                            ixx="1.7491e-003" ixy="2.8512e-007" ixz="1.8277e-003"
+                            iyy="1.2277e-002" iyz="-3.6288e-007"
+                            izz="1.0941e-002" scale="1.0"
+                            mass="${flipper_arm_mass + flipper_big_wheel_mass + 2*flipper_small_wheel_mass + belt_mass}" />
+                </inertial>
+            </xacro:if>
         </link>
 
         <joint name="${prefix1}_${prefix2}_flipper_j" type="revolute">
diff --git a/submitted_models/ctu_cras_norlab_marv_sensor_config_2/model.sdf b/submitted_models/ctu_cras_norlab_marv_sensor_config_2/model.sdf
index 3438077c..0f77a312 100644
--- a/submitted_models/ctu_cras_norlab_marv_sensor_config_2/model.sdf
+++ b/submitted_models/ctu_cras_norlab_marv_sensor_config_2/model.sdf
@@ -468,16 +468,104 @@
     <link name="front_left_flipper">
       <pose>0.256 0.248 0 0 -0 0</pose>
       <inertial>
-        <mass>1e-05</mass>
+        <pose>0.08 0 0 0 -0 0</pose>
+        <mass>3.659</mass>
         <inertia>
-          <ixx>0.001</ixx>
-          <ixy>1e-06</ixy>
-          <ixz>1e-06</ixz>
-          <iyy>0.001</iyy>
-          <iyz>1e-06</iyz>
-          <izz>0.001</izz>
+          <ixx>0.0017491</ixx>
+          <ixy>2.8512e-07</ixy>
+          <ixz>0.0018277</ixz>
+          <iyy>0.012277</iyy>
+          <iyz>-3.6288e-07</iyz>
+          <izz>0.010941</izz>
         </inertia>
       </inertial>
+      <collision name="front_left_flipper_collision">
+        <pose>0.15175 0 0 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.3035 0.075 0.078</size>
+          </box>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>1</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="front_left_flipper_collision_1">
+        <pose>0.15175 0 0.05825 0 0.126179 0</pose>
+        <geometry>
+          <box>
+            <size>0.3035 0.075 0.078</size>
+          </box>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>1</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="front_left_flipper_collision_2">
+        <pose>0.15175 0 -0.05825 0 -0.126179 0</pose>
+        <geometry>
+          <box>
+            <size>0.3035 0.075 0.078</size>
+          </box>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>1</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="front_left_flipper_collision_3">
+        <pose>0.3035 0 0 1.5707963267948966 -0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.075</length>
+            <radius>0.078</radius>
+          </cylinder>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>1</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="front_left_flipper_collision_4">
+        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.075</length>
+            <radius>0.1165</radius>
+          </cylinder>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>1</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
       <visual name="front_left_flipper_visual">
         <geometry>
           <mesh>
@@ -614,545 +702,145 @@
         </ode>
       </physics>
     </joint>
-    <link name="front_left_flipper_wheel1">
-      <pose>0.256 0.248 0 0 -0 0</pose>
+    <link name="front_left_motor">
       <inertial>
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <mass>0.457375</mass>
+        <pose>0.22 -0.09 0.02 0 -0 0</pose>
+        <mass>4.06</mass>
         <inertia>
-          <ixx>0.0017663</ixx>
+          <ixx>0.0151492</ixx>
           <ixy>0</ixy>
           <ixz>0</ixz>
-          <iyy>0.0017663</iyy>
+          <iyy>0.0129839</iyy>
           <iyz>0</iyz>
-          <izz>0.0031038</izz>
+          <izz>0.0173903</izz>
         </inertia>
       </inertial>
-      <collision name="front_left_flipper_wheel1_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.075</length>
-            <radius>0.1165</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-            <collide_bitmask>1</collide_bitmask>
-          </contact>
-          <friction>
-            <ode>
-              <mu>1</mu>
-              <mu2>150</mu2>
-              <slip1>0.000575828</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-      <self_collide>1</self_collide>
     </link>
-    <joint name="front_left_flipper_wheel1_j" type="revolute">
-      <child>front_left_flipper_wheel1</child>
-      <parent>front_left_flipper</parent>
+    <joint name="front_left_motor_j" type="fixed">
+      <child>front_left_motor</child>
+      <parent>base_link</parent>
       <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>-1</effort>
-          <velocity>8.58369</velocity>
-        </limit>
         <dynamics>
           <spring_reference>0</spring_reference>
           <spring_stiffness>0</spring_stiffness>
         </dynamics>
+        <xyz>0 0 1</xyz>
         <use_parent_model_frame>0</use_parent_model_frame>
+        <limit>
+          <lower>-1e+16</lower>
+          <upper>1e+16</upper>
+        </limit>
       </axis>
+      <physics>
+        <ode>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+        </ode>
+      </physics>
     </joint>
-    <link name="front_left_flipper_wheel2">
-      <pose>0.299357 0.248 0 0 -0 0</pose>
+    <link name="front_right_flipper">
+      <pose>0.256 -0.248 0 3.1415926535897931 -0 -3.1415926535897931</pose>
       <inertial>
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <mass>0.457375</mass>
+        <pose>-0.08 0 0 0 -0 0</pose>
+        <mass>3.659</mass>
         <inertia>
-          <ixx>0.00162322</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.00162322</iyy>
-          <iyz>0</iyz>
-          <izz>0.00281766</izz>
+          <ixx>0.0017491</ixx>
+          <ixy>2.8512e-07</ixy>
+          <ixz>0.0018277</ixz>
+          <iyy>0.012277</iyy>
+          <iyz>-3.6288e-07</iyz>
+          <izz>0.010941</izz>
         </inertia>
       </inertial>
-      <collision name="front_left_flipper_wheel2_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="front_right_flipper_collision">
+        <pose>-0.15175 0 0 0 -0 0</pose>
         <geometry>
-          <cylinder>
-            <length>0.075</length>
-            <radius>0.111</radius>
-          </cylinder>
+          <box>
+            <size>0.3035 0.075 0.078</size>
+          </box>
         </geometry>
         <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-            <collide_bitmask>2</collide_bitmask>
-          </contact>
           <friction>
             <ode>
               <mu>1</mu>
               <mu2>150</mu2>
-              <slip1>0.000575828</slip1>
-              <slip2>0</slip2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
-      <self_collide>1</self_collide>
-    </link>
-    <joint name="front_left_flipper_wheel2_j" type="revolute">
-      <child>front_left_flipper_wheel2</child>
-      <parent>front_left_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>-1</effort>
-          <velocity>9.00901</velocity>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="front_left_flipper_wheel3">
-      <pose>0.342714 0.248 0 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <mass>0.457375</mass>
-        <inertia>
-          <ixx>0.00148707</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.00148707</iyy>
-          <iyz>0</iyz>
-          <izz>0.00254535</izz>
-        </inertia>
-      </inertial>
-      <collision name="front_left_flipper_wheel3_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="front_right_flipper_collision_1">
+        <pose>-0.15175 0 0.05825 0 -0.126179 0</pose>
         <geometry>
-          <cylinder>
-            <length>0.075</length>
-            <radius>0.1055</radius>
-          </cylinder>
+          <box>
+            <size>0.3035 0.075 0.078</size>
+          </box>
         </geometry>
         <surface>
-          <contact>
+          <friction>
             <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
+              <mu>1</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
             </ode>
-            <collide_bitmask>4</collide_bitmask>
-          </contact>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="front_right_flipper_collision_2">
+        <pose>-0.15175 0 -0.05825 0 0.126179 0</pose>
+        <geometry>
+          <box>
+            <size>0.3035 0.075 0.078</size>
+          </box>
+        </geometry>
+        <surface>
           <friction>
             <ode>
               <mu>1</mu>
               <mu2>150</mu2>
-              <slip1>0.000575828</slip1>
-              <slip2>0</slip2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
-      <self_collide>1</self_collide>
-    </link>
-    <joint name="front_left_flipper_wheel3_j" type="revolute">
-      <child>front_left_flipper_wheel3</child>
-      <parent>front_left_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>-1</effort>
-          <velocity>9.47867</velocity>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="front_left_flipper_wheel4">
-      <pose>0.386071 0.248 0 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <mass>0.457375</mass>
-        <inertia>
-          <ixx>0.00135783</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.00135783</iyy>
-          <iyz>0</iyz>
-          <izz>0.00228687</izz>
-        </inertia>
-      </inertial>
-      <collision name="front_left_flipper_wheel4_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="front_right_flipper_collision_3">
+        <pose>-0.3035 0 0 1.5707963267948966 -0 0</pose>
         <geometry>
           <cylinder>
             <length>0.075</length>
-            <radius>0.1</radius>
+            <radius>0.078</radius>
           </cylinder>
         </geometry>
         <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-            <collide_bitmask>8</collide_bitmask>
-          </contact>
           <friction>
             <ode>
               <mu>1</mu>
               <mu2>150</mu2>
-              <slip1>0.000575828</slip1>
-              <slip2>0</slip2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
-      <self_collide>1</self_collide>
-    </link>
-    <joint name="front_left_flipper_wheel4_j" type="revolute">
-      <child>front_left_flipper_wheel4</child>
-      <parent>front_left_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>-1</effort>
-          <velocity>10</velocity>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="front_left_flipper_wheel5">
-      <pose>0.429429 0.248 0 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <mass>0.457375</mass>
-        <inertia>
-          <ixx>0.00123551</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.00123551</iyy>
-          <iyz>0</iyz>
-          <izz>0.00204224</izz>
-        </inertia>
-      </inertial>
-      <collision name="front_left_flipper_wheel5_collision_collision">
+      <collision name="front_right_flipper_collision_4">
         <pose>0 0 0 1.5707963267948966 -0 0</pose>
         <geometry>
           <cylinder>
             <length>0.075</length>
-            <radius>0.0945</radius>
+            <radius>0.1165</radius>
           </cylinder>
         </geometry>
         <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-            <collide_bitmask>16</collide_bitmask>
-          </contact>
           <friction>
             <ode>
               <mu>1</mu>
               <mu2>150</mu2>
-              <slip1>0.000575828</slip1>
-              <slip2>0</slip2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
-      <self_collide>1</self_collide>
-    </link>
-    <joint name="front_left_flipper_wheel5_j" type="revolute">
-      <child>front_left_flipper_wheel5</child>
-      <parent>front_left_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>-1</effort>
-          <velocity>10.582</velocity>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="front_left_flipper_wheel6">
-      <pose>0.472786 0.248 0 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <mass>0.457375</mass>
-        <inertia>
-          <ixx>0.00112011</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.00112011</iyy>
-          <iyz>0</iyz>
-          <izz>0.00181143</izz>
-        </inertia>
-      </inertial>
-      <collision name="front_left_flipper_wheel6_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.075</length>
-            <radius>0.089</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-            <collide_bitmask>32</collide_bitmask>
-          </contact>
-          <friction>
-            <ode>
-              <mu>1</mu>
-              <mu2>150</mu2>
-              <slip1>0.000575828</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-      <self_collide>1</self_collide>
-    </link>
-    <joint name="front_left_flipper_wheel6_j" type="revolute">
-      <child>front_left_flipper_wheel6</child>
-      <parent>front_left_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>-1</effort>
-          <velocity>11.236</velocity>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="front_left_flipper_wheel7">
-      <pose>0.516143 0.248 0 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <mass>0.457375</mass>
-        <inertia>
-          <ixx>0.00101163</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.00101163</iyy>
-          <iyz>0</iyz>
-          <izz>0.00159447</izz>
-        </inertia>
-      </inertial>
-      <collision name="front_left_flipper_wheel7_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.075</length>
-            <radius>0.0835</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-            <collide_bitmask>64</collide_bitmask>
-          </contact>
-          <friction>
-            <ode>
-              <mu>1</mu>
-              <mu2>150</mu2>
-              <slip1>0.000575828</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-      <self_collide>1</self_collide>
-    </link>
-    <joint name="front_left_flipper_wheel7_j" type="revolute">
-      <child>front_left_flipper_wheel7</child>
-      <parent>front_left_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>-1</effort>
-          <velocity>11.976</velocity>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="front_left_flipper_wheel8">
-      <pose>0.5595 0.248 0 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <mass>0.457375</mass>
-        <inertia>
-          <ixx>0.000910062</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.000910062</iyy>
-          <iyz>0</iyz>
-          <izz>0.00139133</izz>
-        </inertia>
-      </inertial>
-      <collision name="front_left_flipper_wheel8_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.075</length>
-            <radius>0.078</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-            <collide_bitmask>128</collide_bitmask>
-          </contact>
-          <friction>
-            <ode>
-              <mu>1</mu>
-              <mu2>150</mu2>
-              <slip1>0.000575828</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-      <self_collide>1</self_collide>
-    </link>
-    <joint name="front_left_flipper_wheel8_j" type="revolute">
-      <child>front_left_flipper_wheel8</child>
-      <parent>front_left_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>-1</effort>
-          <velocity>12.8205</velocity>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="front_left_motor">
-      <inertial>
-        <pose>0.22 -0.09 0.02 0 -0 0</pose>
-        <mass>4.06</mass>
-        <inertia>
-          <ixx>0.0151492</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.0129839</iyy>
-          <iyz>0</iyz>
-          <izz>0.0173903</izz>
-        </inertia>
-      </inertial>
-    </link>
-    <joint name="front_left_motor_j" type="fixed">
-      <child>front_left_motor</child>
-      <parent>base_link</parent>
-      <axis>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <xyz>0 0 1</xyz>
-        <use_parent_model_frame>0</use_parent_model_frame>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-      </axis>
-      <physics>
-        <ode>
-          <limit>
-            <cfm>0</cfm>
-            <erp>0.2</erp>
-          </limit>
-        </ode>
-      </physics>
-    </joint>
-    <link name="front_right_flipper">
-      <pose>0.256 -0.248 0 3.1415926535897931 -0 -3.1415926535897931</pose>
-      <inertial>
-        <mass>1e-05</mass>
-        <inertia>
-          <ixx>0.001</ixx>
-          <ixy>1e-06</ixy>
-          <ixz>1e-06</ixz>
-          <iyy>0.001</iyy>
-          <iyz>1e-06</iyz>
-          <izz>0.001</izz>
-        </inertia>
-      </inertial>
       <visual name="front_right_flipper_visual">
         <geometry>
           <mesh>
@@ -1289,1443 +977,137 @@
         </ode>
       </physics>
     </joint>
-    <link name="front_right_flipper_wheel1">
-      <pose>0.256 -0.248 0 3.1415926535897931 -0 3.1415926535897931</pose>
+    <link name="front_right_motor">
       <inertial>
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <mass>0.457375</mass>
+        <pose>0.22 0.09 0.02 0 -0 0</pose>
+        <mass>4.06</mass>
         <inertia>
-          <ixx>0.0017663</ixx>
+          <ixx>0.0151492</ixx>
           <ixy>0</ixy>
           <ixz>0</ixz>
-          <iyy>0.0017663</iyy>
+          <iyy>0.0129839</iyy>
           <iyz>0</iyz>
-          <izz>0.0031038</izz>
+          <izz>0.0173903</izz>
         </inertia>
       </inertial>
-      <collision name="front_right_flipper_wheel1_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.075</length>
-            <radius>0.1165</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-            <collide_bitmask>1</collide_bitmask>
-          </contact>
-          <friction>
-            <ode>
-              <mu>1</mu>
-              <mu2>150</mu2>
-              <slip1>0.000575828</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-      <self_collide>1</self_collide>
     </link>
-    <joint name="front_right_flipper_wheel1_j" type="revolute">
-      <child>front_right_flipper_wheel1</child>
-      <parent>front_right_flipper</parent>
+    <joint name="front_right_motor_j" type="fixed">
+      <child>front_right_motor</child>
+      <parent>base_link</parent>
       <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>-1</effort>
-          <velocity>8.58369</velocity>
-        </limit>
         <dynamics>
           <spring_reference>0</spring_reference>
           <spring_stiffness>0</spring_stiffness>
         </dynamics>
+        <xyz>0 0 1</xyz>
         <use_parent_model_frame>0</use_parent_model_frame>
+        <limit>
+          <lower>-1e+16</lower>
+          <upper>1e+16</upper>
+        </limit>
       </axis>
+      <physics>
+        <ode>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+        </ode>
+      </physics>
     </joint>
-    <link name="front_right_flipper_wheel2">
-      <pose>0.299357 -0.248 -0 3.1415926535897931 -0 3.1415926535897931</pose>
+    <link name="imu">
+      <pose>0 0 0.15 -3.1415926535897931 0 0</pose>
       <inertial>
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <mass>0.457375</mass>
+        <mass>1e-05</mass>
         <inertia>
-          <ixx>0.00162322</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.00162322</iyy>
-          <iyz>0</iyz>
-          <izz>0.00281766</izz>
-        </inertia>
-      </inertial>
-      <collision name="front_right_flipper_wheel2_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.075</length>
-            <radius>0.111</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-            <collide_bitmask>2</collide_bitmask>
-          </contact>
-          <friction>
-            <ode>
-              <mu>1</mu>
-              <mu2>150</mu2>
-              <slip1>0.000575828</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-      <self_collide>1</self_collide>
-    </link>
-    <joint name="front_right_flipper_wheel2_j" type="revolute">
-      <child>front_right_flipper_wheel2</child>
-      <parent>front_right_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>-1</effort>
-          <velocity>9.00901</velocity>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="front_right_flipper_wheel3">
-      <pose>0.342714 -0.248 -0 3.1415926535897931 -0 3.1415926535897931</pose>
-      <inertial>
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <mass>0.457375</mass>
-        <inertia>
-          <ixx>0.00148707</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.00148707</iyy>
-          <iyz>0</iyz>
-          <izz>0.00254535</izz>
-        </inertia>
-      </inertial>
-      <collision name="front_right_flipper_wheel3_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.075</length>
-            <radius>0.1055</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-            <collide_bitmask>4</collide_bitmask>
-          </contact>
-          <friction>
-            <ode>
-              <mu>1</mu>
-              <mu2>150</mu2>
-              <slip1>0.000575828</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-      <self_collide>1</self_collide>
-    </link>
-    <joint name="front_right_flipper_wheel3_j" type="revolute">
-      <child>front_right_flipper_wheel3</child>
-      <parent>front_right_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>-1</effort>
-          <velocity>9.47867</velocity>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="front_right_flipper_wheel4">
-      <pose>0.386071 -0.248 -0 3.1415926535897931 -0 3.1415926535897931</pose>
-      <inertial>
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <mass>0.457375</mass>
-        <inertia>
-          <ixx>0.00135783</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.00135783</iyy>
-          <iyz>0</iyz>
-          <izz>0.00228687</izz>
-        </inertia>
-      </inertial>
-      <collision name="front_right_flipper_wheel4_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.075</length>
-            <radius>0.1</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-            <collide_bitmask>8</collide_bitmask>
-          </contact>
-          <friction>
-            <ode>
-              <mu>1</mu>
-              <mu2>150</mu2>
-              <slip1>0.000575828</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-      <self_collide>1</self_collide>
-    </link>
-    <joint name="front_right_flipper_wheel4_j" type="revolute">
-      <child>front_right_flipper_wheel4</child>
-      <parent>front_right_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>-1</effort>
-          <velocity>10</velocity>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="front_right_flipper_wheel5">
-      <pose>0.429429 -0.248 -0 3.1415926535897931 -0 3.1415926535897931</pose>
-      <inertial>
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <mass>0.457375</mass>
-        <inertia>
-          <ixx>0.00123551</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.00123551</iyy>
-          <iyz>0</iyz>
-          <izz>0.00204224</izz>
-        </inertia>
-      </inertial>
-      <collision name="front_right_flipper_wheel5_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.075</length>
-            <radius>0.0945</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-            <collide_bitmask>16</collide_bitmask>
-          </contact>
-          <friction>
-            <ode>
-              <mu>1</mu>
-              <mu2>150</mu2>
-              <slip1>0.000575828</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-      <self_collide>1</self_collide>
-    </link>
-    <joint name="front_right_flipper_wheel5_j" type="revolute">
-      <child>front_right_flipper_wheel5</child>
-      <parent>front_right_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>-1</effort>
-          <velocity>10.582</velocity>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="front_right_flipper_wheel6">
-      <pose>0.472786 -0.248 -0 3.1415926535897931 -0 3.1415926535897931</pose>
-      <inertial>
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <mass>0.457375</mass>
-        <inertia>
-          <ixx>0.00112011</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.00112011</iyy>
-          <iyz>0</iyz>
-          <izz>0.00181143</izz>
-        </inertia>
-      </inertial>
-      <collision name="front_right_flipper_wheel6_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.075</length>
-            <radius>0.089</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-            <collide_bitmask>32</collide_bitmask>
-          </contact>
-          <friction>
-            <ode>
-              <mu>1</mu>
-              <mu2>150</mu2>
-              <slip1>0.000575828</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-      <self_collide>1</self_collide>
-    </link>
-    <joint name="front_right_flipper_wheel6_j" type="revolute">
-      <child>front_right_flipper_wheel6</child>
-      <parent>front_right_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>-1</effort>
-          <velocity>11.236</velocity>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="front_right_flipper_wheel7">
-      <pose>0.516143 -0.248 -0 3.1415926535897931 -0 3.1415926535897931</pose>
-      <inertial>
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <mass>0.457375</mass>
-        <inertia>
-          <ixx>0.00101163</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.00101163</iyy>
-          <iyz>0</iyz>
-          <izz>0.00159447</izz>
-        </inertia>
-      </inertial>
-      <collision name="front_right_flipper_wheel7_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.075</length>
-            <radius>0.0835</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-            <collide_bitmask>64</collide_bitmask>
-          </contact>
-          <friction>
-            <ode>
-              <mu>1</mu>
-              <mu2>150</mu2>
-              <slip1>0.000575828</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-      <self_collide>1</self_collide>
-    </link>
-    <joint name="front_right_flipper_wheel7_j" type="revolute">
-      <child>front_right_flipper_wheel7</child>
-      <parent>front_right_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>-1</effort>
-          <velocity>11.976</velocity>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="front_right_flipper_wheel8">
-      <pose>0.5595 -0.248 -0 3.1415926535897931 -0 3.1415926535897931</pose>
-      <inertial>
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <mass>0.457375</mass>
-        <inertia>
-          <ixx>0.000910062</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.000910062</iyy>
-          <iyz>0</iyz>
-          <izz>0.00139133</izz>
-        </inertia>
-      </inertial>
-      <collision name="front_right_flipper_wheel8_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.075</length>
-            <radius>0.078</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-            <collide_bitmask>128</collide_bitmask>
-          </contact>
-          <friction>
-            <ode>
-              <mu>1</mu>
-              <mu2>150</mu2>
-              <slip1>0.000575828</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-      <self_collide>1</self_collide>
-    </link>
-    <joint name="front_right_flipper_wheel8_j" type="revolute">
-      <child>front_right_flipper_wheel8</child>
-      <parent>front_right_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>-1</effort>
-          <velocity>12.8205</velocity>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="front_right_motor">
-      <inertial>
-        <pose>0.22 0.09 0.02 0 -0 0</pose>
-        <mass>4.06</mass>
-        <inertia>
-          <ixx>0.0151492</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.0129839</iyy>
-          <iyz>0</iyz>
-          <izz>0.0173903</izz>
-        </inertia>
-      </inertial>
-    </link>
-    <joint name="front_right_motor_j" type="fixed">
-      <child>front_right_motor</child>
-      <parent>base_link</parent>
-      <axis>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <xyz>0 0 1</xyz>
-        <use_parent_model_frame>0</use_parent_model_frame>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-      </axis>
-      <physics>
-        <ode>
-          <limit>
-            <cfm>0</cfm>
-            <erp>0.2</erp>
-          </limit>
-        </ode>
-      </physics>
-    </joint>
-    <link name="imu">
-      <pose>0 0 0.15 -3.1415926535897931 0 0</pose>
-      <inertial>
-        <mass>1e-05</mass>
-        <inertia>
-          <ixx>0.001</ixx>
-          <ixy>1e-06</ixy>
-          <ixz>1e-06</ixz>
-          <iyy>0.001</iyy>
-          <iyz>1e-06</iyz>
-          <izz>0.001</izz>
-        </inertia>
-      </inertial>
-      <self_collide>0</self_collide>
-      <sensor name="imu" type="imu">
-        <always_on>1</always_on>
-        <update_rate>50</update_rate>
-        <imu>
-          <angular_velocity>
-            <x>
-              <noise type="gaussian">
-                <mean>0</mean>
-                <stddev>0.009</stddev>
-                <bias_mean>0.00075</bias_mean>
-                <bias_stddev>0.005</bias_stddev>
-                <dynamic_bias_stddev>2e-05</dynamic_bias_stddev>
-                <dynamic_bias_correlation_time>400</dynamic_bias_correlation_time>
-                <precision>0.00025</precision>
-              </noise>
-            </x>
-            <y>
-              <noise type="gaussian">
-                <mean>0</mean>
-                <stddev>0.009</stddev>
-                <bias_mean>0.00075</bias_mean>
-                <bias_stddev>0.005</bias_stddev>
-                <dynamic_bias_stddev>2e-05</dynamic_bias_stddev>
-                <dynamic_bias_correlation_time>400</dynamic_bias_correlation_time>
-                <precision>0.00025</precision>
-              </noise>
-            </y>
-            <z>
-              <noise type="gaussian">
-                <mean>0</mean>
-                <stddev>0.009</stddev>
-                <bias_mean>0.00075</bias_mean>
-                <bias_stddev>0.005</bias_stddev>
-                <dynamic_bias_stddev>2e-05</dynamic_bias_stddev>
-                <dynamic_bias_correlation_time>400</dynamic_bias_correlation_time>
-                <precision>0.00025</precision>
-              </noise>
-            </z>
-          </angular_velocity>
-          <linear_acceleration>
-            <x>
-              <noise type="gaussian">
-                <mean>0</mean>
-                <stddev>0.021</stddev>
-                <bias_mean>0.05</bias_mean>
-                <bias_stddev>0.0075</bias_stddev>
-                <dynamic_bias_stddev>0.000375</dynamic_bias_stddev>
-                <dynamic_bias_correlation_time>175</dynamic_bias_correlation_time>
-                <precision>0.005</precision>
-              </noise>
-            </x>
-            <y>
-              <noise type="gaussian">
-                <mean>0</mean>
-                <stddev>0.021</stddev>
-                <bias_mean>0.05</bias_mean>
-                <bias_stddev>0.0075</bias_stddev>
-                <dynamic_bias_stddev>0.000375</dynamic_bias_stddev>
-                <dynamic_bias_correlation_time>175</dynamic_bias_correlation_time>
-                <precision>0.005</precision>
-              </noise>
-            </y>
-            <z>
-              <noise type="gaussian">
-                <mean>0</mean>
-                <stddev>0.021</stddev>
-                <bias_mean>0.05</bias_mean>
-                <bias_stddev>0.0075</bias_stddev>
-                <dynamic_bias_stddev>0.000375</dynamic_bias_stddev>
-                <dynamic_bias_correlation_time>175</dynamic_bias_correlation_time>
-                <precision>0.005</precision>
-              </noise>
-            </z>
-          </linear_acceleration>
-        </imu>
-      </sensor>
-    </link>
-    <joint name="imu_j" type="fixed">
-      <child>imu</child>
-      <parent>base_link</parent>
-      <axis>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <xyz>0 0 1</xyz>
-        <use_parent_model_frame>0</use_parent_model_frame>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-      </axis>
-      <physics>
-        <ode>
-          <limit>
-            <cfm>0</cfm>
-            <erp>0.2</erp>
-          </limit>
-        </ode>
-      </physics>
-    </joint>
-    <link name="rear_cam">
-      <pose>-0.244 0 0.1321 0 0 -3.1415926535897931</pose>
-      <inertial>
-        <pose>0.019862 0 0.0145 0 -0 0</pose>
-        <mass>0.14</mass>
-        <inertia>
-          <ixx>1.96233e-05</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>6.75088e-05</iyy>
-          <iyz>0</iyz>
-          <izz>6.75088e-05</izz>
-        </inertia>
-      </inertial>
-      <collision name="rear_cam_collision_collision">
-        <pose>0.0117 0 0.0145 0 -0 0</pose>
-        <geometry>
-          <box>
-            <size>0.054 0.029 0.029</size>
-          </box>
-        </geometry>
-      </collision>
-      <collision name="rear_cam_lens_collision_collision_1">
-        <pose>0.042024 0 0.0145 0 1.5707963267948966 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.026</length>
-            <radius>0.0125</radius>
-          </cylinder>
-        </geometry>
-      </collision>
-      <visual name="rear_cam_visual">
-        <pose>0 0 0.0145 0 -0 0</pose>
-        <geometry>
-          <mesh>
-            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_MARV_SENSOR_CONFIG_1/tip/files/meshes/basler_ace.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-      <visual name="rear_cam_visual_1">
-        <pose>0.029024 0 0.0145 0 -0 0</pose>
-        <geometry>
-          <mesh>
-            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_MARV_SENSOR_CONFIG_1/tip/files/meshes/evetar_fisheye_lens.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-      <sensor name="rear_cam" type="camera">
-        <pose>0.051574 0 0.0145 0 -0 0</pose>
-        <update_rate>15</update_rate>
-        <visualize>0</visualize>
-        <camera>
-          <horizontal_fov>2.40855</horizontal_fov>
-          <image>
-            <width>2048</width>
-            <height>1536</height>
-            <format>R8G8B8</format>
-          </image>
-          <clip>
-            <near>0.025</near>
-            <far>300</far>
-          </clip>
-          <noise>
-            <type>gaussian</type>
-            <mean>0</mean>
-            <stddev>0.007</stddev>
-          </noise>
-          <lens>
-            <intrinsics>
-              <fx>393.077</fx>
-              <fy>393.077</fy>
-              <cx>1023.5</cx>
-              <cy>767.5</cy>
-              <s>0</s>
-            </intrinsics>
-            <type>stereographic</type>
-            <scale_to_hfov>1</scale_to_hfov>
-          </lens>
-        </camera>
-      </sensor>
-    </link>
-    <joint name="rear_cam_j" type="fixed">
-      <child>rear_cam</child>
-      <parent>base_link</parent>
-      <axis>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <xyz>0 0 1</xyz>
-        <use_parent_model_frame>0</use_parent_model_frame>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-      </axis>
-      <physics>
-        <ode>
-          <limit>
-            <cfm>0</cfm>
-            <erp>0.2</erp>
-          </limit>
-        </ode>
-      </physics>
-    </joint>
-    <link name="rear_left_flipper">
-      <pose>-0.256 0.248 0 3.1415926535897931 -0 -3.1415926535897931</pose>
-      <inertial>
-        <mass>1e-05</mass>
-        <inertia>
-          <ixx>0.001</ixx>
-          <ixy>1e-06</ixy>
-          <ixz>1e-06</ixz>
-          <iyy>0.001</iyy>
-          <iyz>1e-06</iyz>
-          <izz>0.001</izz>
-        </inertia>
-      </inertial>
-      <visual name="rear_left_flipper_visual">
-        <geometry>
-          <mesh>
-            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_MARV_SENSOR_CONFIG_1/tip/files/meshes/big_wheel.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-      <visual name="rear_left_flipper_visual_1">
-        <geometry>
-          <mesh>
-            <scale>-1 -1 1</scale>
-            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_MARV_SENSOR_CONFIG_1/tip/files/meshes/flipper_arm.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-      <visual name="rear_left_flipper_visual_2">
-        <geometry>
-          <mesh>
-            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_MARV_SENSOR_CONFIG_1/tip/files/meshes/belt.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-      <visual name="rear_left_flipper_visual_3">
-        <pose>0.3035 0 0 0 -0 0</pose>
-        <geometry>
-          <mesh>
-            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_MARV_SENSOR_CONFIG_1/tip/files/meshes/small_wheel.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-      <self_collide>1</self_collide>
-    </link>
-    <joint name="rear_left_flipper_j" type="revolute">
-      <child>rear_left_flipper</child>
-      <parent>base_link</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>120</effort>
-          <velocity>1</velocity>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-      <physics>
-        <ode>
-          <implicit_spring_damper>1</implicit_spring_damper>
-          <cfm_damping>1</cfm_damping>
-          <limit>
-            <cfm>0</cfm>
-            <erp>0.2</erp>
-          </limit>
-        </ode>
-      </physics>
-    </joint>
-    <link name="rear_left_flipper_end_point_inflated">
-      <pose>-0.6375 0.248 0 3.1415926535897931 -0 3.1415926535897931</pose>
-      <inertial>
-        <mass>1e-05</mass>
-        <inertia>
-          <ixx>0.001</ixx>
-          <ixy>1e-06</ixy>
-          <ixz>1e-06</ixz>
-          <iyy>0.001</iyy>
-          <iyz>1e-06</iyz>
-          <izz>0.001</izz>
-        </inertia>
-      </inertial>
-    </link>
-    <joint name="rear_left_flipper_end_point_inflated_j" type="fixed">
-      <child>rear_left_flipper_end_point_inflated</child>
-      <parent>rear_left_flipper</parent>
-      <axis>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <xyz>0 0 1</xyz>
-        <use_parent_model_frame>0</use_parent_model_frame>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-      </axis>
-      <physics>
-        <ode>
-          <limit>
-            <cfm>0</cfm>
-            <erp>0.2</erp>
-          </limit>
-        </ode>
-      </physics>
-    </joint>
-    <link name="rear_left_flipper_end_point">
-      <pose>-0.6375 0.248 0 3.1415926535897931 -0 3.1415926535897931</pose>
-      <inertial>
-        <mass>1e-05</mass>
-        <inertia>
-          <ixx>0.001</ixx>
-          <ixy>1e-06</ixy>
-          <ixz>1e-06</ixz>
-          <iyy>0.001</iyy>
-          <iyz>1e-06</iyz>
-          <izz>0.001</izz>
-        </inertia>
-      </inertial>
-    </link>
-    <joint name="rear_left_flipper_end_point_j" type="fixed">
-      <child>rear_left_flipper_end_point</child>
-      <parent>rear_left_flipper</parent>
-      <axis>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <xyz>0 0 1</xyz>
-        <use_parent_model_frame>0</use_parent_model_frame>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-      </axis>
-      <physics>
-        <ode>
-          <limit>
-            <cfm>0</cfm>
-            <erp>0.2</erp>
-          </limit>
-        </ode>
-      </physics>
-    </joint>
-    <link name="rear_left_flipper_wheel1">
-      <pose>-0.256 0.248 0 3.1415926535897931 -0 3.1415926535897931</pose>
-      <inertial>
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <mass>0.457375</mass>
-        <inertia>
-          <ixx>0.0017663</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.0017663</iyy>
-          <iyz>0</iyz>
-          <izz>0.0031038</izz>
-        </inertia>
-      </inertial>
-      <collision name="rear_left_flipper_wheel1_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.075</length>
-            <radius>0.1165</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-            <collide_bitmask>1</collide_bitmask>
-          </contact>
-          <friction>
-            <ode>
-              <mu>1</mu>
-              <mu2>150</mu2>
-              <slip1>0.000575828</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-      <self_collide>1</self_collide>
-    </link>
-    <joint name="rear_left_flipper_wheel1_j" type="revolute">
-      <child>rear_left_flipper_wheel1</child>
-      <parent>rear_left_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>-1</effort>
-          <velocity>8.58369</velocity>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="rear_left_flipper_wheel2">
-      <pose>-0.299357 0.248 0 3.1415926535897931 -0 3.1415926535897931</pose>
-      <inertial>
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <mass>0.457375</mass>
-        <inertia>
-          <ixx>0.00162322</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.00162322</iyy>
-          <iyz>0</iyz>
-          <izz>0.00281766</izz>
-        </inertia>
-      </inertial>
-      <collision name="rear_left_flipper_wheel2_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.075</length>
-            <radius>0.111</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-            <collide_bitmask>2</collide_bitmask>
-          </contact>
-          <friction>
-            <ode>
-              <mu>1</mu>
-              <mu2>150</mu2>
-              <slip1>0.000575828</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-      <self_collide>1</self_collide>
-    </link>
-    <joint name="rear_left_flipper_wheel2_j" type="revolute">
-      <child>rear_left_flipper_wheel2</child>
-      <parent>rear_left_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>-1</effort>
-          <velocity>9.00901</velocity>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="rear_left_flipper_wheel3">
-      <pose>-0.342714 0.248 0 3.1415926535897931 -0 3.1415926535897931</pose>
-      <inertial>
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <mass>0.457375</mass>
-        <inertia>
-          <ixx>0.00148707</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.00148707</iyy>
-          <iyz>0</iyz>
-          <izz>0.00254535</izz>
-        </inertia>
-      </inertial>
-      <collision name="rear_left_flipper_wheel3_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.075</length>
-            <radius>0.1055</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-            <collide_bitmask>4</collide_bitmask>
-          </contact>
-          <friction>
-            <ode>
-              <mu>1</mu>
-              <mu2>150</mu2>
-              <slip1>0.000575828</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-      <self_collide>1</self_collide>
-    </link>
-    <joint name="rear_left_flipper_wheel3_j" type="revolute">
-      <child>rear_left_flipper_wheel3</child>
-      <parent>rear_left_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>-1</effort>
-          <velocity>9.47867</velocity>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="rear_left_flipper_wheel4">
-      <pose>-0.386071 0.248 0 3.1415926535897931 -0 3.1415926535897931</pose>
-      <inertial>
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <mass>0.457375</mass>
-        <inertia>
-          <ixx>0.00135783</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.00135783</iyy>
-          <iyz>0</iyz>
-          <izz>0.00228687</izz>
-        </inertia>
-      </inertial>
-      <collision name="rear_left_flipper_wheel4_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.075</length>
-            <radius>0.1</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-            <collide_bitmask>8</collide_bitmask>
-          </contact>
-          <friction>
-            <ode>
-              <mu>1</mu>
-              <mu2>150</mu2>
-              <slip1>0.000575828</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-      <self_collide>1</self_collide>
-    </link>
-    <joint name="rear_left_flipper_wheel4_j" type="revolute">
-      <child>rear_left_flipper_wheel4</child>
-      <parent>rear_left_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>-1</effort>
-          <velocity>10</velocity>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="rear_left_flipper_wheel5">
-      <pose>-0.429429 0.248 0 3.1415926535897931 -0 3.1415926535897931</pose>
-      <inertial>
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <mass>0.457375</mass>
-        <inertia>
-          <ixx>0.00123551</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.00123551</iyy>
-          <iyz>0</iyz>
-          <izz>0.00204224</izz>
-        </inertia>
-      </inertial>
-      <collision name="rear_left_flipper_wheel5_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.075</length>
-            <radius>0.0945</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-            <collide_bitmask>16</collide_bitmask>
-          </contact>
-          <friction>
-            <ode>
-              <mu>1</mu>
-              <mu2>150</mu2>
-              <slip1>0.000575828</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-      <self_collide>1</self_collide>
-    </link>
-    <joint name="rear_left_flipper_wheel5_j" type="revolute">
-      <child>rear_left_flipper_wheel5</child>
-      <parent>rear_left_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>-1</effort>
-          <velocity>10.582</velocity>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="rear_left_flipper_wheel6">
-      <pose>-0.472786 0.248 0 3.1415926535897931 -0 3.1415926535897931</pose>
-      <inertial>
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <mass>0.457375</mass>
-        <inertia>
-          <ixx>0.00112011</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.00112011</iyy>
-          <iyz>0</iyz>
-          <izz>0.00181143</izz>
-        </inertia>
-      </inertial>
-      <collision name="rear_left_flipper_wheel6_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.075</length>
-            <radius>0.089</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-            <collide_bitmask>32</collide_bitmask>
-          </contact>
-          <friction>
-            <ode>
-              <mu>1</mu>
-              <mu2>150</mu2>
-              <slip1>0.000575828</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-      <self_collide>1</self_collide>
-    </link>
-    <joint name="rear_left_flipper_wheel6_j" type="revolute">
-      <child>rear_left_flipper_wheel6</child>
-      <parent>rear_left_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>-1</effort>
-          <velocity>11.236</velocity>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="rear_left_flipper_wheel7">
-      <pose>-0.516143 0.248 0 3.1415926535897931 -0 3.1415926535897931</pose>
-      <inertial>
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <mass>0.457375</mass>
-        <inertia>
-          <ixx>0.00101163</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.00101163</iyy>
-          <iyz>0</iyz>
-          <izz>0.00159447</izz>
-        </inertia>
-      </inertial>
-      <collision name="rear_left_flipper_wheel7_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.075</length>
-            <radius>0.0835</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-            <collide_bitmask>64</collide_bitmask>
-          </contact>
-          <friction>
-            <ode>
-              <mu>1</mu>
-              <mu2>150</mu2>
-              <slip1>0.000575828</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-      <self_collide>1</self_collide>
-    </link>
-    <joint name="rear_left_flipper_wheel7_j" type="revolute">
-      <child>rear_left_flipper_wheel7</child>
-      <parent>rear_left_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>-1</effort>
-          <velocity>11.976</velocity>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="rear_left_flipper_wheel8">
-      <pose>-0.5595 0.248 0 3.1415926535897931 -0 3.1415926535897931</pose>
-      <inertial>
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <mass>0.457375</mass>
-        <inertia>
-          <ixx>0.000910062</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.000910062</iyy>
-          <iyz>0</iyz>
-          <izz>0.00139133</izz>
-        </inertia>
-      </inertial>
-      <collision name="rear_left_flipper_wheel8_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.075</length>
-            <radius>0.078</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-            <collide_bitmask>128</collide_bitmask>
-          </contact>
-          <friction>
-            <ode>
-              <mu>1</mu>
-              <mu2>150</mu2>
-              <slip1>0.000575828</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-      <self_collide>1</self_collide>
-    </link>
-    <joint name="rear_left_flipper_wheel8_j" type="revolute">
-      <child>rear_left_flipper_wheel8</child>
-      <parent>rear_left_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>-1</effort>
-          <velocity>12.8205</velocity>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="rear_left_motor">
-      <inertial>
-        <pose>-0.22 -0.09 0.02 0 -0 0</pose>
-        <mass>4.06</mass>
-        <inertia>
-          <ixx>0.0151492</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.0129839</iyy>
-          <iyz>0</iyz>
-          <izz>0.0173903</izz>
-        </inertia>
-      </inertial>
-    </link>
-    <joint name="rear_left_motor_j" type="fixed">
-      <child>rear_left_motor</child>
-      <parent>base_link</parent>
-      <axis>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <xyz>0 0 1</xyz>
-        <use_parent_model_frame>0</use_parent_model_frame>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-      </axis>
-      <physics>
-        <ode>
-          <limit>
-            <cfm>0</cfm>
-            <erp>0.2</erp>
-          </limit>
-        </ode>
-      </physics>
-    </joint>
-    <link name="rear_right_box">
-      <pose>-0.3 -0.18 0.1921 0 -0 0</pose>
-      <inertial>
-        <mass>1e-05</mass>
-        <inertia>
-          <ixx>0.001</ixx>
-          <ixy>1e-06</ixy>
-          <ixz>1e-06</ixz>
-          <iyy>0.001</iyy>
-          <iyz>1e-06</iyz>
-          <izz>0.001</izz>
+          <ixx>0.001</ixx>
+          <ixy>1e-06</ixy>
+          <ixz>1e-06</ixz>
+          <iyy>0.001</iyy>
+          <iyz>1e-06</iyz>
+          <izz>0.001</izz>
         </inertia>
       </inertial>
+      <self_collide>0</self_collide>
+      <sensor name="imu" type="imu">
+        <always_on>1</always_on>
+        <update_rate>50</update_rate>
+        <imu>
+          <angular_velocity>
+            <x>
+              <noise type="gaussian">
+                <mean>0</mean>
+                <stddev>0.009</stddev>
+                <bias_mean>0.00075</bias_mean>
+                <bias_stddev>0.005</bias_stddev>
+                <dynamic_bias_stddev>2e-05</dynamic_bias_stddev>
+                <dynamic_bias_correlation_time>400</dynamic_bias_correlation_time>
+                <precision>0.00025</precision>
+              </noise>
+            </x>
+            <y>
+              <noise type="gaussian">
+                <mean>0</mean>
+                <stddev>0.009</stddev>
+                <bias_mean>0.00075</bias_mean>
+                <bias_stddev>0.005</bias_stddev>
+                <dynamic_bias_stddev>2e-05</dynamic_bias_stddev>
+                <dynamic_bias_correlation_time>400</dynamic_bias_correlation_time>
+                <precision>0.00025</precision>
+              </noise>
+            </y>
+            <z>
+              <noise type="gaussian">
+                <mean>0</mean>
+                <stddev>0.009</stddev>
+                <bias_mean>0.00075</bias_mean>
+                <bias_stddev>0.005</bias_stddev>
+                <dynamic_bias_stddev>2e-05</dynamic_bias_stddev>
+                <dynamic_bias_correlation_time>400</dynamic_bias_correlation_time>
+                <precision>0.00025</precision>
+              </noise>
+            </z>
+          </angular_velocity>
+          <linear_acceleration>
+            <x>
+              <noise type="gaussian">
+                <mean>0</mean>
+                <stddev>0.021</stddev>
+                <bias_mean>0.05</bias_mean>
+                <bias_stddev>0.0075</bias_stddev>
+                <dynamic_bias_stddev>0.000375</dynamic_bias_stddev>
+                <dynamic_bias_correlation_time>175</dynamic_bias_correlation_time>
+                <precision>0.005</precision>
+              </noise>
+            </x>
+            <y>
+              <noise type="gaussian">
+                <mean>0</mean>
+                <stddev>0.021</stddev>
+                <bias_mean>0.05</bias_mean>
+                <bias_stddev>0.0075</bias_stddev>
+                <dynamic_bias_stddev>0.000375</dynamic_bias_stddev>
+                <dynamic_bias_correlation_time>175</dynamic_bias_correlation_time>
+                <precision>0.005</precision>
+              </noise>
+            </y>
+            <z>
+              <noise type="gaussian">
+                <mean>0</mean>
+                <stddev>0.021</stddev>
+                <bias_mean>0.05</bias_mean>
+                <bias_stddev>0.0075</bias_stddev>
+                <dynamic_bias_stddev>0.000375</dynamic_bias_stddev>
+                <dynamic_bias_correlation_time>175</dynamic_bias_correlation_time>
+                <precision>0.005</precision>
+              </noise>
+            </z>
+          </linear_acceleration>
+        </imu>
+      </sensor>
     </link>
-    <joint name="rear_right_box_j" type="fixed">
-      <child>rear_right_box</child>
+    <joint name="imu_j" type="fixed">
+      <child>imu</child>
       <parent>base_link</parent>
       <axis>
         <dynamics>
@@ -2748,66 +1130,66 @@
         </ode>
       </physics>
     </joint>
-    <link name="camera_0">
-      <pose>0.21 0 0.1921 0 -0 0</pose>
+    <link name="rear_cam">
+      <pose>-0.244 0 0.1321 0 0 -3.1415926535897931</pose>
       <inertial>
-        <pose>0.039802 0 0.0145 0 -0 0</pose>
-        <mass>0.232</mass>
+        <pose>0.019862 0 0.0145 0 -0 0</pose>
+        <mass>0.14</mass>
         <inertia>
-          <ixx>3.25187e-05</ixx>
+          <ixx>1.96233e-05</ixx>
           <ixy>0</ixy>
           <ixz>0</ixz>
-          <iyy>0.000158598</iyy>
+          <iyy>6.75088e-05</iyy>
           <iyz>0</iyz>
-          <izz>0.000158598</izz>
+          <izz>6.75088e-05</izz>
         </inertia>
       </inertial>
-      <collision name="camera_0_collision_collision">
-        <pose>0.02465 0 0.0145 0 -0 0</pose>
+      <collision name="rear_cam_collision_collision">
+        <pose>0.0117 0 0.0145 0 -0 0</pose>
         <geometry>
           <box>
-            <size>0.0555 0.029 0.029</size>
+            <size>0.054 0.029 0.029</size>
           </box>
         </geometry>
       </collision>
-      <collision name="camera_0_lens_collision_collision_1">
-        <pose>0.062834 0 0.0145 0 1.5707963267948966 0</pose>
+      <collision name="rear_cam_lens_collision_collision_1">
+        <pose>0.042024 0 0.0145 0 1.5707963267948966 0</pose>
         <geometry>
           <cylinder>
-            <length>0.03974</length>
+            <length>0.026</length>
             <radius>0.0125</radius>
           </cylinder>
         </geometry>
       </collision>
-      <visual name="camera_0_visual">
+      <visual name="rear_cam_visual">
         <pose>0 0 0.0145 0 -0 0</pose>
         <geometry>
           <mesh>
-            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_MARV_SENSOR_CONFIG_1/tip/files/meshes/basler_ace2_pro.dae</uri>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_MARV_SENSOR_CONFIG_1/tip/files/meshes/basler_ace.dae</uri>
           </mesh>
         </geometry>
       </visual>
-      <visual name="camera_0_visual_1">
-        <pose>0.042964 0 0.0145 0 -0 0</pose>
+      <visual name="rear_cam_visual_1">
+        <pose>0.029024 0 0.0145 0 -0 0</pose>
         <geometry>
           <mesh>
-            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_MARV_SENSOR_CONFIG_1/tip/files/meshes/evetar_lens.dae</uri>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_MARV_SENSOR_CONFIG_1/tip/files/meshes/evetar_fisheye_lens.dae</uri>
           </mesh>
         </geometry>
       </visual>
-      <sensor name="camera_0" type="camera">
-        <pose>0.072044 0 0.0145 0 -0 0</pose>
-        <update_rate>9</update_rate>
+      <sensor name="rear_cam" type="camera">
+        <pose>0.051574 0 0.0145 0 -0 0</pose>
+        <update_rate>15</update_rate>
         <visualize>0</visualize>
         <camera>
-          <horizontal_fov>1.50971</horizontal_fov>
+          <horizontal_fov>2.40855</horizontal_fov>
           <image>
-            <width>1920</width>
-            <height>1200</height>
+            <width>2048</width>
+            <height>1536</height>
             <format>R8G8B8</format>
           </image>
           <clip>
-            <near>0.011726</near>
+            <near>0.025</near>
             <far>300</far>
           </clip>
           <noise>
@@ -2817,10 +1199,10 @@
           </noise>
           <lens>
             <intrinsics>
-              <fx>1020.51</fx>
-              <fy>1020.51</fy>
-              <cx>959.5</cx>
-              <cy>599.5</cy>
+              <fx>393.077</fx>
+              <fy>393.077</fy>
+              <cx>1023.5</cx>
+              <cy>767.5</cy>
               <s>0</s>
             </intrinsics>
             <type>stereographic</type>
@@ -2829,23 +1211,184 @@
         </camera>
       </sensor>
     </link>
-    <joint name="camera_0_j" type="fixed">
-      <child>camera_0</child>
-      <parent>rear_right_box</parent>
+    <joint name="rear_cam_j" type="fixed">
+      <child>rear_cam</child>
+      <parent>base_link</parent>
+      <axis>
+        <dynamics>
+          <spring_reference>0</spring_reference>
+          <spring_stiffness>0</spring_stiffness>
+        </dynamics>
+        <xyz>0 0 1</xyz>
+        <use_parent_model_frame>0</use_parent_model_frame>
+        <limit>
+          <lower>-1e+16</lower>
+          <upper>1e+16</upper>
+        </limit>
+      </axis>
+      <physics>
+        <ode>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+        </ode>
+      </physics>
+    </joint>
+    <link name="rear_left_flipper">
+      <pose>-0.256 0.248 0 3.1415926535897931 -0 -3.1415926535897931</pose>
+      <inertial>
+        <pose>0.08 0 0 0 -0 0</pose>
+        <mass>3.659</mass>
+        <inertia>
+          <ixx>0.0017491</ixx>
+          <ixy>2.8512e-07</ixy>
+          <ixz>0.0018277</ixz>
+          <iyy>0.012277</iyy>
+          <iyz>-3.6288e-07</iyz>
+          <izz>0.010941</izz>
+        </inertia>
+      </inertial>
+      <collision name="rear_left_flipper_collision">
+        <pose>0.15175 0 0 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.3035 0.075 0.078</size>
+          </box>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>1</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="rear_left_flipper_collision_1">
+        <pose>0.15175 0 0.05825 0 0.126179 0</pose>
+        <geometry>
+          <box>
+            <size>0.3035 0.075 0.078</size>
+          </box>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>1</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="rear_left_flipper_collision_2">
+        <pose>0.15175 0 -0.05825 0 -0.126179 0</pose>
+        <geometry>
+          <box>
+            <size>0.3035 0.075 0.078</size>
+          </box>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>1</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="rear_left_flipper_collision_3">
+        <pose>0.3035 0 0 1.5707963267948966 -0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.075</length>
+            <radius>0.078</radius>
+          </cylinder>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>1</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="rear_left_flipper_collision_4">
+        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.075</length>
+            <radius>0.1165</radius>
+          </cylinder>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>1</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <visual name="rear_left_flipper_visual">
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_MARV_SENSOR_CONFIG_1/tip/files/meshes/big_wheel.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <visual name="rear_left_flipper_visual_1">
+        <geometry>
+          <mesh>
+            <scale>-1 -1 1</scale>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_MARV_SENSOR_CONFIG_1/tip/files/meshes/flipper_arm.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <visual name="rear_left_flipper_visual_2">
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_MARV_SENSOR_CONFIG_1/tip/files/meshes/belt.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <visual name="rear_left_flipper_visual_3">
+        <pose>0.3035 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_MARV_SENSOR_CONFIG_1/tip/files/meshes/small_wheel.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <self_collide>1</self_collide>
+    </link>
+    <joint name="rear_left_flipper_j" type="revolute">
+      <child>rear_left_flipper</child>
+      <parent>base_link</parent>
       <axis>
+        <xyz>0 1 0</xyz>
+        <limit>
+          <lower>-1e+16</lower>
+          <upper>1e+16</upper>
+          <effort>120</effort>
+          <velocity>1</velocity>
+        </limit>
         <dynamics>
           <spring_reference>0</spring_reference>
           <spring_stiffness>0</spring_stiffness>
         </dynamics>
-        <xyz>0 0 1</xyz>
         <use_parent_model_frame>0</use_parent_model_frame>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
       </axis>
       <physics>
         <ode>
+          <implicit_spring_damper>1</implicit_spring_damper>
+          <cfm_damping>1</cfm_damping>
           <limit>
             <cfm>0</cfm>
             <erp>0.2</erp>
@@ -2853,90 +1396,23 @@
         </ode>
       </physics>
     </joint>
-    <link name="camera_2">
-      <pose>-0.21 0 0.1921 0 -0 3.1415926535897931</pose>
+    <link name="rear_left_flipper_end_point_inflated">
+      <pose>-0.6375 0.248 0 3.1415926535897931 -0 3.1415926535897931</pose>
       <inertial>
-        <pose>0.039802 0 0.0145 0 -0 0</pose>
-        <mass>0.232</mass>
+        <mass>1e-05</mass>
         <inertia>
-          <ixx>3.25187e-05</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.000158598</iyy>
-          <iyz>0</iyz>
-          <izz>0.000158598</izz>
+          <ixx>0.001</ixx>
+          <ixy>1e-06</ixy>
+          <ixz>1e-06</ixz>
+          <iyy>0.001</iyy>
+          <iyz>1e-06</iyz>
+          <izz>0.001</izz>
         </inertia>
       </inertial>
-      <collision name="camera_2_collision_collision">
-        <pose>0.02465 0 0.0145 0 -0 0</pose>
-        <geometry>
-          <box>
-            <size>0.0555 0.029 0.029</size>
-          </box>
-        </geometry>
-      </collision>
-      <collision name="camera_2_lens_collision_collision_1">
-        <pose>0.062834 0 0.0145 0 1.5707963267948966 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.03974</length>
-            <radius>0.0125</radius>
-          </cylinder>
-        </geometry>
-      </collision>
-      <visual name="camera_2_visual">
-        <pose>0 0 0.0145 0 -0 0</pose>
-        <geometry>
-          <mesh>
-            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_MARV_SENSOR_CONFIG_1/tip/files/meshes/basler_ace2_pro.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-      <visual name="camera_2_visual_1">
-        <pose>0.042964 0 0.0145 0 -0 0</pose>
-        <geometry>
-          <mesh>
-            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_MARV_SENSOR_CONFIG_1/tip/files/meshes/evetar_lens.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-      <sensor name="camera_2" type="camera">
-        <pose>0.072044 0 0.0145 0 -0 0</pose>
-        <update_rate>9</update_rate>
-        <visualize>0</visualize>
-        <camera>
-          <horizontal_fov>1.50971</horizontal_fov>
-          <image>
-            <width>1920</width>
-            <height>1200</height>
-            <format>R8G8B8</format>
-          </image>
-          <clip>
-            <near>0.011726</near>
-            <far>300</far>
-          </clip>
-          <noise>
-            <type>gaussian</type>
-            <mean>0</mean>
-            <stddev>0.007</stddev>
-          </noise>
-          <lens>
-            <intrinsics>
-              <fx>1020.51</fx>
-              <fy>1020.51</fy>
-              <cx>959.5</cx>
-              <cy>599.5</cy>
-              <s>0</s>
-            </intrinsics>
-            <type>stereographic</type>
-            <scale_to_hfov>1</scale_to_hfov>
-          </lens>
-        </camera>
-      </sensor>
     </link>
-    <joint name="camera_2_j" type="fixed">
-      <child>camera_2</child>
-      <parent>rear_right_box</parent>
+    <joint name="rear_left_flipper_end_point_inflated_j" type="fixed">
+      <child>rear_left_flipper_end_point_inflated</child>
+      <parent>rear_left_flipper</parent>
       <axis>
         <dynamics>
           <spring_reference>0</spring_reference>
@@ -2958,71 +1434,23 @@
         </ode>
       </physics>
     </joint>
-    <link name="cliff_sensor_front_left">
-      <pose>0.3 0.1445 0.2106 0 1.5707963267948966 0</pose>
+    <link name="rear_left_flipper_end_point">
+      <pose>-0.6375 0.248 0 3.1415926535897931 -0 3.1415926535897931</pose>
       <inertial>
-        <pose>0.0105 0 0.00925 0 -0 0</pose>
-        <mass>0.012</mass>
+        <mass>1e-05</mass>
         <inertia>
-          <ixx>1.56725e-06</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>7.8325e-07</iyy>
-          <iyz>0</iyz>
-          <izz>1.666e-06</izz>
+          <ixx>0.001</ixx>
+          <ixy>1e-06</ixy>
+          <ixz>1e-06</ixz>
+          <iyy>0.001</iyy>
+          <iyz>1e-06</iyz>
+          <izz>0.001</izz>
         </inertia>
       </inertial>
-      <collision name="cliff_sensor_front_left_collision">
-        <pose>0.0105 0 0.00925 0 -0 0</pose>
-        <geometry>
-          <box>
-            <size>0.021 0.035 0.0185</size>
-          </box>
-        </geometry>
-      </collision>
-      <visual name="cliff_sensor_front_left_visual">
-        <geometry>
-          <mesh>
-            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_MARV_SENSOR_CONFIG_1/tip/files/meshes/tfmini_plus_lidar.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-      <sensor name="laser" type="gpu_lidar">
-        <pose>0.021 0 0.00925 0 -0 0</pose>
-        <update_rate>10</update_rate>
-        <visualize>0</visualize>
-        <always_on>1</always_on>
-        <lidar>
-          <scan>
-            <horizontal>
-              <samples>3</samples>
-              <resolution>1</resolution>
-              <min_angle>-0.0314159</min_angle>
-              <max_angle>0.0314159</max_angle>
-            </horizontal>
-            <vertical>
-              <samples>3</samples>
-              <resolution>1</resolution>
-              <min_angle>-0.0314159</min_angle>
-              <max_angle>0.0314159</max_angle>
-            </vertical>
-          </scan>
-          <range>
-            <min>0.1</min>
-            <max>12</max>
-            <resolution>0.01</resolution>
-          </range>
-          <noise>
-            <type>gaussian</type>
-            <mean>0</mean>
-            <stddev>0.015</stddev>
-          </noise>
-        </lidar>
-      </sensor>
     </link>
-    <joint name="cliff_sensor_front_left_j" type="fixed">
-      <child>cliff_sensor_front_left</child>
-      <parent>rear_right_box</parent>
+    <joint name="rear_left_flipper_end_point_j" type="fixed">
+      <child>rear_left_flipper_end_point</child>
+      <parent>rear_left_flipper</parent>
       <axis>
         <dynamics>
           <spring_reference>0</spring_reference>
@@ -3044,71 +1472,23 @@
         </ode>
       </physics>
     </joint>
-    <link name="cliff_sensor_front_right">
-      <pose>0.3 -0.1445 0.2106 0 1.5707963267948966 0</pose>
+    <link name="rear_left_motor">
       <inertial>
-        <pose>0.0105 0 0.00925 0 -0 0</pose>
-        <mass>0.012</mass>
+        <pose>-0.22 -0.09 0.02 0 -0 0</pose>
+        <mass>4.06</mass>
         <inertia>
-          <ixx>1.56725e-06</ixx>
+          <ixx>0.0151492</ixx>
           <ixy>0</ixy>
           <ixz>0</ixz>
-          <iyy>7.8325e-07</iyy>
+          <iyy>0.0129839</iyy>
           <iyz>0</iyz>
-          <izz>1.666e-06</izz>
+          <izz>0.0173903</izz>
         </inertia>
       </inertial>
-      <collision name="cliff_sensor_front_right_collision">
-        <pose>0.0105 0 0.00925 0 -0 0</pose>
-        <geometry>
-          <box>
-            <size>0.021 0.035 0.0185</size>
-          </box>
-        </geometry>
-      </collision>
-      <visual name="cliff_sensor_front_right_visual">
-        <geometry>
-          <mesh>
-            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_MARV_SENSOR_CONFIG_1/tip/files/meshes/tfmini_plus_lidar.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-      <sensor name="laser" type="gpu_lidar">
-        <pose>0.021 0 0.00925 0 -0 0</pose>
-        <update_rate>10</update_rate>
-        <visualize>0</visualize>
-        <always_on>1</always_on>
-        <lidar>
-          <scan>
-            <horizontal>
-              <samples>3</samples>
-              <resolution>1</resolution>
-              <min_angle>-0.0314159</min_angle>
-              <max_angle>0.0314159</max_angle>
-            </horizontal>
-            <vertical>
-              <samples>3</samples>
-              <resolution>1</resolution>
-              <min_angle>-0.0314159</min_angle>
-              <max_angle>0.0314159</max_angle>
-            </vertical>
-          </scan>
-          <range>
-            <min>0.1</min>
-            <max>12</max>
-            <resolution>0.01</resolution>
-          </range>
-          <noise>
-            <type>gaussian</type>
-            <mean>0</mean>
-            <stddev>0.015</stddev>
-          </noise>
-        </lidar>
-      </sensor>
     </link>
-    <joint name="cliff_sensor_front_right_j" type="fixed">
-      <child>cliff_sensor_front_right</child>
-      <parent>rear_right_box</parent>
+    <joint name="rear_left_motor_j" type="fixed">
+      <child>rear_left_motor</child>
+      <parent>base_link</parent>
       <axis>
         <dynamics>
           <spring_reference>0</spring_reference>
@@ -3130,71 +1510,23 @@
         </ode>
       </physics>
     </joint>
-    <link name="cliff_sensor_rear_left">
-      <pose>-0.3 0.1445 0.2106 3.1415926535897931 1.5707963267948966 0</pose>
+    <link name="rear_right_box">
+      <pose>-0.3 -0.18 0.1921 0 -0 0</pose>
       <inertial>
-        <pose>0.0105 0 0.00925 0 -0 0</pose>
-        <mass>0.012</mass>
-        <inertia>
-          <ixx>1.56725e-06</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>7.8325e-07</iyy>
-          <iyz>0</iyz>
-          <izz>1.666e-06</izz>
+        <mass>1e-05</mass>
+        <inertia>
+          <ixx>0.001</ixx>
+          <ixy>1e-06</ixy>
+          <ixz>1e-06</ixz>
+          <iyy>0.001</iyy>
+          <iyz>1e-06</iyz>
+          <izz>0.001</izz>
         </inertia>
       </inertial>
-      <collision name="cliff_sensor_rear_left_collision">
-        <pose>0.0105 0 0.00925 0 -0 0</pose>
-        <geometry>
-          <box>
-            <size>0.021 0.035 0.0185</size>
-          </box>
-        </geometry>
-      </collision>
-      <visual name="cliff_sensor_rear_left_visual">
-        <geometry>
-          <mesh>
-            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_MARV_SENSOR_CONFIG_1/tip/files/meshes/tfmini_plus_lidar.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-      <sensor name="laser" type="gpu_lidar">
-        <pose>0.021 0 0.00925 0 -0 0</pose>
-        <update_rate>10</update_rate>
-        <visualize>0</visualize>
-        <always_on>1</always_on>
-        <lidar>
-          <scan>
-            <horizontal>
-              <samples>3</samples>
-              <resolution>1</resolution>
-              <min_angle>-0.0314159</min_angle>
-              <max_angle>0.0314159</max_angle>
-            </horizontal>
-            <vertical>
-              <samples>3</samples>
-              <resolution>1</resolution>
-              <min_angle>-0.0314159</min_angle>
-              <max_angle>0.0314159</max_angle>
-            </vertical>
-          </scan>
-          <range>
-            <min>0.1</min>
-            <max>12</max>
-            <resolution>0.01</resolution>
-          </range>
-          <noise>
-            <type>gaussian</type>
-            <mean>0</mean>
-            <stddev>0.015</stddev>
-          </noise>
-        </lidar>
-      </sensor>
     </link>
-    <joint name="cliff_sensor_rear_left_j" type="fixed">
-      <child>cliff_sensor_rear_left</child>
-      <parent>rear_right_box</parent>
+    <joint name="rear_right_box_j" type="fixed">
+      <child>rear_right_box</child>
+      <parent>base_link</parent>
       <axis>
         <dynamics>
           <spring_reference>0</spring_reference>
@@ -3216,70 +1548,89 @@
         </ode>
       </physics>
     </joint>
-    <link name="cliff_sensor_rear_right">
-      <pose>-0.3 -0.1445 0.2106 3.1415926535897931 1.5707963267948966 0</pose>
+    <link name="camera_0">
+      <pose>0.21 0 0.1921 0 -0 0</pose>
       <inertial>
-        <pose>0.0105 0 0.00925 0 -0 0</pose>
-        <mass>0.012</mass>
+        <pose>0.039802 0 0.0145 0 -0 0</pose>
+        <mass>0.232</mass>
         <inertia>
-          <ixx>1.56725e-06</ixx>
+          <ixx>3.25187e-05</ixx>
           <ixy>0</ixy>
           <ixz>0</ixz>
-          <iyy>7.8325e-07</iyy>
+          <iyy>0.000158598</iyy>
           <iyz>0</iyz>
-          <izz>1.666e-06</izz>
+          <izz>0.000158598</izz>
         </inertia>
       </inertial>
-      <collision name="cliff_sensor_rear_right_collision">
-        <pose>0.0105 0 0.00925 0 -0 0</pose>
+      <collision name="camera_0_collision_collision">
+        <pose>0.02465 0 0.0145 0 -0 0</pose>
         <geometry>
           <box>
-            <size>0.021 0.035 0.0185</size>
+            <size>0.0555 0.029 0.029</size>
           </box>
         </geometry>
       </collision>
-      <visual name="cliff_sensor_rear_right_visual">
+      <collision name="camera_0_lens_collision_collision_1">
+        <pose>0.062834 0 0.0145 0 1.5707963267948966 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.03974</length>
+            <radius>0.0125</radius>
+          </cylinder>
+        </geometry>
+      </collision>
+      <visual name="camera_0_visual">
+        <pose>0 0 0.0145 0 -0 0</pose>
         <geometry>
           <mesh>
-            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_MARV_SENSOR_CONFIG_1/tip/files/meshes/tfmini_plus_lidar.dae</uri>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_MARV_SENSOR_CONFIG_1/tip/files/meshes/basler_ace2_pro.dae</uri>
           </mesh>
         </geometry>
       </visual>
-      <sensor name="laser" type="gpu_lidar">
-        <pose>0.021 0 0.00925 0 -0 0</pose>
-        <update_rate>10</update_rate>
+      <visual name="camera_0_visual_1">
+        <pose>0.042964 0 0.0145 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_MARV_SENSOR_CONFIG_1/tip/files/meshes/evetar_lens.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <sensor name="camera_0" type="camera">
+        <pose>0.072044 0 0.0145 0 -0 0</pose>
+        <update_rate>9</update_rate>
         <visualize>0</visualize>
-        <always_on>1</always_on>
-        <lidar>
-          <scan>
-            <horizontal>
-              <samples>3</samples>
-              <resolution>1</resolution>
-              <min_angle>-0.0314159</min_angle>
-              <max_angle>0.0314159</max_angle>
-            </horizontal>
-            <vertical>
-              <samples>3</samples>
-              <resolution>1</resolution>
-              <min_angle>-0.0314159</min_angle>
-              <max_angle>0.0314159</max_angle>
-            </vertical>
-          </scan>
-          <range>
-            <min>0.1</min>
-            <max>12</max>
-            <resolution>0.01</resolution>
-          </range>
+        <camera>
+          <horizontal_fov>1.50971</horizontal_fov>
+          <image>
+            <width>1920</width>
+            <height>1200</height>
+            <format>R8G8B8</format>
+          </image>
+          <clip>
+            <near>0.011726</near>
+            <far>300</far>
+          </clip>
           <noise>
             <type>gaussian</type>
             <mean>0</mean>
-            <stddev>0.015</stddev>
+            <stddev>0.007</stddev>
           </noise>
-        </lidar>
+          <lens>
+            <intrinsics>
+              <fx>1020.51</fx>
+              <fy>1020.51</fy>
+              <cx>959.5</cx>
+              <cy>599.5</cy>
+              <s>0</s>
+            </intrinsics>
+            <type>stereographic</type>
+            <scale_to_hfov>1</scale_to_hfov>
+          </lens>
+        </camera>
       </sensor>
     </link>
-    <joint name="cliff_sensor_rear_right_j" type="fixed">
-      <child>cliff_sensor_rear_right</child>
+    <joint name="camera_0_j" type="fixed">
+      <child>camera_0</child>
       <parent>rear_right_box</parent>
       <axis>
         <dynamics>
@@ -3302,38 +1653,89 @@
         </ode>
       </physics>
     </joint>
-    <link name="mobilicom">
-      <pose>-0.25 0.12 0.1921 0 -0 1.5707963267948966</pose>
+    <link name="camera_2">
+      <pose>-0.21 0 0.1921 0 -0 3.1415926535897931</pose>
       <inertial>
-        <pose>0 0 0.0135 0 -0 0</pose>
-        <mass>0.168</mass>
+        <pose>0.039802 0 0.0145 0 -0 0</pose>
+        <mass>0.232</mass>
         <inertia>
-          <ixx>8.687e-05</ixx>
+          <ixx>3.25187e-05</ixx>
           <ixy>0</ixy>
           <ixz>0</ixz>
-          <iyy>0.000150206</iyy>
+          <iyy>0.000158598</iyy>
           <iyz>0</iyz>
-          <izz>0.000216664</izz>
+          <izz>0.000158598</izz>
         </inertia>
       </inertial>
-      <collision name="mobilicom_collision">
-        <pose>0 0 0.0135 0 -0 0</pose>
+      <collision name="camera_2_collision_collision">
+        <pose>0.02465 0 0.0145 0 -0 0</pose>
         <geometry>
           <box>
-            <size>0.1 0.074 0.027</size>
+            <size>0.0555 0.029 0.029</size>
           </box>
         </geometry>
       </collision>
-      <visual name="mobilicom_visual">
+      <collision name="camera_2_lens_collision_collision_1">
+        <pose>0.062834 0 0.0145 0 1.5707963267948966 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.03974</length>
+            <radius>0.0125</radius>
+          </cylinder>
+        </geometry>
+      </collision>
+      <visual name="camera_2_visual">
+        <pose>0 0 0.0145 0 -0 0</pose>
         <geometry>
           <mesh>
-            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_MARV_SENSOR_CONFIG_1/tip/files/meshes/mobilicom.dae</uri>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_MARV_SENSOR_CONFIG_1/tip/files/meshes/basler_ace2_pro.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <visual name="camera_2_visual_1">
+        <pose>0.042964 0 0.0145 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_MARV_SENSOR_CONFIG_1/tip/files/meshes/evetar_lens.dae</uri>
           </mesh>
         </geometry>
       </visual>
+      <sensor name="camera_2" type="camera">
+        <pose>0.072044 0 0.0145 0 -0 0</pose>
+        <update_rate>9</update_rate>
+        <visualize>0</visualize>
+        <camera>
+          <horizontal_fov>1.50971</horizontal_fov>
+          <image>
+            <width>1920</width>
+            <height>1200</height>
+            <format>R8G8B8</format>
+          </image>
+          <clip>
+            <near>0.011726</near>
+            <far>300</far>
+          </clip>
+          <noise>
+            <type>gaussian</type>
+            <mean>0</mean>
+            <stddev>0.007</stddev>
+          </noise>
+          <lens>
+            <intrinsics>
+              <fx>1020.51</fx>
+              <fy>1020.51</fy>
+              <cx>959.5</cx>
+              <cy>599.5</cy>
+              <s>0</s>
+            </intrinsics>
+            <type>stereographic</type>
+            <scale_to_hfov>1</scale_to_hfov>
+          </lens>
+        </camera>
+      </sensor>
     </link>
-    <joint name="mobilicom_j" type="fixed">
-      <child>mobilicom</child>
+    <joint name="camera_2_j" type="fixed">
+      <child>camera_2</child>
       <parent>rear_right_box</parent>
       <axis>
         <dynamics>
@@ -3356,42 +1758,71 @@
         </ode>
       </physics>
     </joint>
-    <link name="mobilicom_antenna_l">
-      <pose>-0.275 0.17 0.2056 -0.5 -0 1.5707963267948966</pose>
+    <link name="cliff_sensor_front_left">
+      <pose>0.3 0.1445 0.2106 0 1.5707963267948966 0</pose>
       <inertial>
-        <pose>0 0 0.085 0 -0 0</pose>
-        <mass>0.03</mass>
+        <pose>0.0105 0 0.00925 0 -0 0</pose>
+        <mass>0.012</mass>
         <inertia>
-          <ixx>7.3e-05</ixx>
+          <ixx>1.56725e-06</ixx>
           <ixy>0</ixy>
           <ixz>0</ixz>
-          <iyy>7.3e-05</iyy>
+          <iyy>7.8325e-07</iyy>
           <iyz>0</iyz>
-          <izz>1.5e-06</izz>
+          <izz>1.666e-06</izz>
         </inertia>
       </inertial>
-      <collision name="mobilicom_antenna_l_collision">
-        <pose>0 0 0.085 0 -0 0</pose>
+      <collision name="cliff_sensor_front_left_collision">
+        <pose>0.0105 0 0.00925 0 -0 0</pose>
         <geometry>
-          <cylinder>
-            <length>0.17</length>
-            <radius>0.01</radius>
-          </cylinder>
+          <box>
+            <size>0.021 0.035 0.0185</size>
+          </box>
         </geometry>
       </collision>
-      <visual name="mobilicom_antenna_l_visual">
-        <pose>0 0 0.085 0 -0 0</pose>
+      <visual name="cliff_sensor_front_left_visual">
         <geometry>
-          <cylinder>
-            <length>0.17</length>
-            <radius>0.01</radius>
-          </cylinder>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_MARV_SENSOR_CONFIG_1/tip/files/meshes/tfmini_plus_lidar.dae</uri>
+          </mesh>
         </geometry>
       </visual>
+      <sensor name="laser" type="gpu_lidar">
+        <pose>0.021 0 0.00925 0 -0 0</pose>
+        <update_rate>10</update_rate>
+        <visualize>0</visualize>
+        <always_on>1</always_on>
+        <lidar>
+          <scan>
+            <horizontal>
+              <samples>3</samples>
+              <resolution>1</resolution>
+              <min_angle>-0.0314159</min_angle>
+              <max_angle>0.0314159</max_angle>
+            </horizontal>
+            <vertical>
+              <samples>3</samples>
+              <resolution>1</resolution>
+              <min_angle>-0.0314159</min_angle>
+              <max_angle>0.0314159</max_angle>
+            </vertical>
+          </scan>
+          <range>
+            <min>0.1</min>
+            <max>12</max>
+            <resolution>0.01</resolution>
+          </range>
+          <noise>
+            <type>gaussian</type>
+            <mean>0</mean>
+            <stddev>0.015</stddev>
+          </noise>
+        </lidar>
+      </sensor>
     </link>
-    <joint name="mobilicom_antenna_l_j" type="fixed">
-      <child>mobilicom_antenna_l</child>
-      <parent>mobilicom</parent>
+    <joint name="cliff_sensor_front_left_j" type="fixed">
+      <child>cliff_sensor_front_left</child>
+      <parent>rear_right_box</parent>
       <axis>
         <dynamics>
           <spring_reference>0</spring_reference>
@@ -3413,42 +1844,71 @@
         </ode>
       </physics>
     </joint>
-    <link name="mobilicom_antenna_r">
-      <pose>-0.225 0.17 0.2056 0 -0 1.5707963267948966</pose>
+    <link name="cliff_sensor_front_right">
+      <pose>0.3 -0.1445 0.2106 0 1.5707963267948966 0</pose>
       <inertial>
-        <pose>0 0 0.085 0 -0 0</pose>
-        <mass>0.03</mass>
+        <pose>0.0105 0 0.00925 0 -0 0</pose>
+        <mass>0.012</mass>
         <inertia>
-          <ixx>7.3e-05</ixx>
+          <ixx>1.56725e-06</ixx>
           <ixy>0</ixy>
           <ixz>0</ixz>
-          <iyy>7.3e-05</iyy>
+          <iyy>7.8325e-07</iyy>
           <iyz>0</iyz>
-          <izz>1.5e-06</izz>
+          <izz>1.666e-06</izz>
         </inertia>
       </inertial>
-      <collision name="mobilicom_antenna_r_collision">
-        <pose>0 0 0.085 0 -0 0</pose>
+      <collision name="cliff_sensor_front_right_collision">
+        <pose>0.0105 0 0.00925 0 -0 0</pose>
         <geometry>
-          <cylinder>
-            <length>0.17</length>
-            <radius>0.01</radius>
-          </cylinder>
+          <box>
+            <size>0.021 0.035 0.0185</size>
+          </box>
         </geometry>
       </collision>
-      <visual name="mobilicom_antenna_r_visual">
-        <pose>0 0 0.085 0 -0 0</pose>
+      <visual name="cliff_sensor_front_right_visual">
         <geometry>
-          <cylinder>
-            <length>0.17</length>
-            <radius>0.01</radius>
-          </cylinder>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_MARV_SENSOR_CONFIG_1/tip/files/meshes/tfmini_plus_lidar.dae</uri>
+          </mesh>
         </geometry>
       </visual>
+      <sensor name="laser" type="gpu_lidar">
+        <pose>0.021 0 0.00925 0 -0 0</pose>
+        <update_rate>10</update_rate>
+        <visualize>0</visualize>
+        <always_on>1</always_on>
+        <lidar>
+          <scan>
+            <horizontal>
+              <samples>3</samples>
+              <resolution>1</resolution>
+              <min_angle>-0.0314159</min_angle>
+              <max_angle>0.0314159</max_angle>
+            </horizontal>
+            <vertical>
+              <samples>3</samples>
+              <resolution>1</resolution>
+              <min_angle>-0.0314159</min_angle>
+              <max_angle>0.0314159</max_angle>
+            </vertical>
+          </scan>
+          <range>
+            <min>0.1</min>
+            <max>12</max>
+            <resolution>0.01</resolution>
+          </range>
+          <noise>
+            <type>gaussian</type>
+            <mean>0</mean>
+            <stddev>0.015</stddev>
+          </noise>
+        </lidar>
+      </sensor>
     </link>
-    <joint name="mobilicom_antenna_r_j" type="fixed">
-      <child>mobilicom_antenna_r</child>
-      <parent>mobilicom</parent>
+    <joint name="cliff_sensor_front_right_j" type="fixed">
+      <child>cliff_sensor_front_right</child>
+      <parent>rear_right_box</parent>
       <axis>
         <dynamics>
           <spring_reference>0</spring_reference>
@@ -3470,38 +1930,70 @@
         </ode>
       </physics>
     </joint>
-    <link name="mote_deployer">
-      <pose>-0.24 -0.16 0.1821 0 0 -3.1415926535897931</pose>
+    <link name="cliff_sensor_rear_left">
+      <pose>-0.3 0.1445 0.2106 3.1415926535897931 1.5707963267948966 0</pose>
       <inertial>
-        <pose>0.0845 -0.024 0.0655 0 -0 0</pose>
-        <mass>0.5</mass>
+        <pose>0.0105 0 0.00925 0 -0 0</pose>
+        <mass>0.012</mass>
         <inertia>
-          <ixx>0.000931042</ixx>
+          <ixx>1.56725e-06</ixx>
           <ixy>0</ixy>
           <ixz>0</ixz>
-          <iyy>0.00220342</iyy>
+          <iyy>7.8325e-07</iyy>
           <iyz>0</iyz>
-          <izz>0.00170437</izz>
+          <izz>1.666e-06</izz>
         </inertia>
       </inertial>
-      <collision name="mote_deployer_collision">
-        <pose>0.0845 -0.024 0.0655 0 -0 0</pose>
+      <collision name="cliff_sensor_rear_left_collision">
+        <pose>0.0105 0 0.00925 0 -0 0</pose>
         <geometry>
           <box>
-            <size>0.189 0.072 0.131</size>
+            <size>0.021 0.035 0.0185</size>
           </box>
         </geometry>
       </collision>
-      <visual name="mote_deployer_visual">
+      <visual name="cliff_sensor_rear_left_visual">
         <geometry>
           <mesh>
-            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_MARV_SENSOR_CONFIG_1/tip/files/meshes/mote_deployer.dae</uri>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_MARV_SENSOR_CONFIG_1/tip/files/meshes/tfmini_plus_lidar.dae</uri>
           </mesh>
         </geometry>
       </visual>
+      <sensor name="laser" type="gpu_lidar">
+        <pose>0.021 0 0.00925 0 -0 0</pose>
+        <update_rate>10</update_rate>
+        <visualize>0</visualize>
+        <always_on>1</always_on>
+        <lidar>
+          <scan>
+            <horizontal>
+              <samples>3</samples>
+              <resolution>1</resolution>
+              <min_angle>-0.0314159</min_angle>
+              <max_angle>0.0314159</max_angle>
+            </horizontal>
+            <vertical>
+              <samples>3</samples>
+              <resolution>1</resolution>
+              <min_angle>-0.0314159</min_angle>
+              <max_angle>0.0314159</max_angle>
+            </vertical>
+          </scan>
+          <range>
+            <min>0.1</min>
+            <max>12</max>
+            <resolution>0.01</resolution>
+          </range>
+          <noise>
+            <type>gaussian</type>
+            <mean>0</mean>
+            <stddev>0.015</stddev>
+          </noise>
+        </lidar>
+      </sensor>
     </link>
-    <joint name="mote_deployer_j" type="fixed">
-      <child>mote_deployer</child>
+    <joint name="cliff_sensor_rear_left_j" type="fixed">
+      <child>cliff_sensor_rear_left</child>
       <parent>rear_right_box</parent>
       <axis>
         <dynamics>
@@ -3524,72 +2016,85 @@
         </ode>
       </physics>
     </joint>
-    <link name="rear_right_flipper">
-      <pose>-0.256 -0.248 0 0 -0 0</pose>
+    <link name="cliff_sensor_rear_right">
+      <pose>-0.3 -0.1445 0.2106 3.1415926535897931 1.5707963267948966 0</pose>
       <inertial>
-        <mass>1e-05</mass>
+        <pose>0.0105 0 0.00925 0 -0 0</pose>
+        <mass>0.012</mass>
         <inertia>
-          <ixx>0.001</ixx>
-          <ixy>1e-06</ixy>
-          <ixz>1e-06</ixz>
-          <iyy>0.001</iyy>
-          <iyz>1e-06</iyz>
-          <izz>0.001</izz>
+          <ixx>1.56725e-06</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>7.8325e-07</iyy>
+          <iyz>0</iyz>
+          <izz>1.666e-06</izz>
         </inertia>
       </inertial>
-      <visual name="rear_right_flipper_visual">
-        <geometry>
-          <mesh>
-            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_MARV_SENSOR_CONFIG_1/tip/files/meshes/big_wheel.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-      <visual name="rear_right_flipper_visual_1">
-        <geometry>
-          <mesh>
-            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_MARV_SENSOR_CONFIG_1/tip/files/meshes/flipper_arm.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-      <visual name="rear_right_flipper_visual_2">
-        <pose>0 0 0 3.1415926535897931 -0 3.1415926535897931</pose>
+      <collision name="cliff_sensor_rear_right_collision">
+        <pose>0.0105 0 0.00925 0 -0 0</pose>
         <geometry>
-          <mesh>
-            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_MARV_SENSOR_CONFIG_1/tip/files/meshes/belt.dae</uri>
-          </mesh>
+          <box>
+            <size>0.021 0.035 0.0185</size>
+          </box>
         </geometry>
-      </visual>
-      <visual name="rear_right_flipper_visual_3">
-        <pose>-0.3035 0 0 0 -0 0</pose>
+      </collision>
+      <visual name="cliff_sensor_rear_right_visual">
         <geometry>
           <mesh>
-            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_MARV_SENSOR_CONFIG_1/tip/files/meshes/small_wheel.dae</uri>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_MARV_SENSOR_CONFIG_1/tip/files/meshes/tfmini_plus_lidar.dae</uri>
           </mesh>
         </geometry>
       </visual>
-      <self_collide>1</self_collide>
+      <sensor name="laser" type="gpu_lidar">
+        <pose>0.021 0 0.00925 0 -0 0</pose>
+        <update_rate>10</update_rate>
+        <visualize>0</visualize>
+        <always_on>1</always_on>
+        <lidar>
+          <scan>
+            <horizontal>
+              <samples>3</samples>
+              <resolution>1</resolution>
+              <min_angle>-0.0314159</min_angle>
+              <max_angle>0.0314159</max_angle>
+            </horizontal>
+            <vertical>
+              <samples>3</samples>
+              <resolution>1</resolution>
+              <min_angle>-0.0314159</min_angle>
+              <max_angle>0.0314159</max_angle>
+            </vertical>
+          </scan>
+          <range>
+            <min>0.1</min>
+            <max>12</max>
+            <resolution>0.01</resolution>
+          </range>
+          <noise>
+            <type>gaussian</type>
+            <mean>0</mean>
+            <stddev>0.015</stddev>
+          </noise>
+        </lidar>
+      </sensor>
     </link>
-    <joint name="rear_right_flipper_j" type="revolute">
-      <child>rear_right_flipper</child>
-      <parent>base_link</parent>
+    <joint name="cliff_sensor_rear_right_j" type="fixed">
+      <child>cliff_sensor_rear_right</child>
+      <parent>rear_right_box</parent>
       <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>120</effort>
-          <velocity>1</velocity>
-        </limit>
         <dynamics>
           <spring_reference>0</spring_reference>
           <spring_stiffness>0</spring_stiffness>
         </dynamics>
+        <xyz>0 0 1</xyz>
         <use_parent_model_frame>0</use_parent_model_frame>
+        <limit>
+          <lower>-1e+16</lower>
+          <upper>1e+16</upper>
+        </limit>
       </axis>
       <physics>
         <ode>
-          <implicit_spring_damper>1</implicit_spring_damper>
-          <cfm_damping>1</cfm_damping>
           <limit>
             <cfm>0</cfm>
             <erp>0.2</erp>
@@ -3597,23 +2102,39 @@
         </ode>
       </physics>
     </joint>
-    <link name="rear_right_flipper_end_point_inflated">
-      <pose>-0.6375 -0.248 0 0 -0 0</pose>
+    <link name="mobilicom">
+      <pose>-0.25 0.12 0.1921 0 -0 1.5707963267948966</pose>
       <inertial>
-        <mass>1e-05</mass>
+        <pose>0 0 0.0135 0 -0 0</pose>
+        <mass>0.168</mass>
         <inertia>
-          <ixx>0.001</ixx>
-          <ixy>1e-06</ixy>
-          <ixz>1e-06</ixz>
-          <iyy>0.001</iyy>
-          <iyz>1e-06</iyz>
-          <izz>0.001</izz>
+          <ixx>8.687e-05</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.000150206</iyy>
+          <iyz>0</iyz>
+          <izz>0.000216664</izz>
         </inertia>
       </inertial>
+      <collision name="mobilicom_collision">
+        <pose>0 0 0.0135 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.1 0.074 0.027</size>
+          </box>
+        </geometry>
+      </collision>
+      <visual name="mobilicom_visual">
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_MARV_SENSOR_CONFIG_1/tip/files/meshes/mobilicom.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
     </link>
-    <joint name="rear_right_flipper_end_point_inflated_j" type="fixed">
-      <child>rear_right_flipper_end_point_inflated</child>
-      <parent>rear_right_flipper</parent>
+    <joint name="mobilicom_j" type="fixed">
+      <child>mobilicom</child>
+      <parent>rear_right_box</parent>
       <axis>
         <dynamics>
           <spring_reference>0</spring_reference>
@@ -3635,23 +2156,42 @@
         </ode>
       </physics>
     </joint>
-    <link name="rear_right_flipper_end_point">
-      <pose>-0.6375 -0.248 0 0 -0 0</pose>
+    <link name="mobilicom_antenna_l">
+      <pose>-0.275 0.17 0.2056 -0.5 -0 1.5707963267948966</pose>
       <inertial>
-        <mass>1e-05</mass>
+        <pose>0 0 0.085 0 -0 0</pose>
+        <mass>0.03</mass>
         <inertia>
-          <ixx>0.001</ixx>
-          <ixy>1e-06</ixy>
-          <ixz>1e-06</ixz>
-          <iyy>0.001</iyy>
-          <iyz>1e-06</iyz>
-          <izz>0.001</izz>
+          <ixx>7.3e-05</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>7.3e-05</iyy>
+          <iyz>0</iyz>
+          <izz>1.5e-06</izz>
         </inertia>
       </inertial>
+      <collision name="mobilicom_antenna_l_collision">
+        <pose>0 0 0.085 0 -0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.17</length>
+            <radius>0.01</radius>
+          </cylinder>
+        </geometry>
+      </collision>
+      <visual name="mobilicom_antenna_l_visual">
+        <pose>0 0 0.085 0 -0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.17</length>
+            <radius>0.01</radius>
+          </cylinder>
+        </geometry>
+      </visual>
     </link>
-    <joint name="rear_right_flipper_end_point_j" type="fixed">
-      <child>rear_right_flipper_end_point</child>
-      <parent>rear_right_flipper</parent>
+    <joint name="mobilicom_antenna_l_j" type="fixed">
+      <child>mobilicom_antenna_l</child>
+      <parent>mobilicom</parent>
       <axis>
         <dynamics>
           <spring_reference>0</spring_reference>
@@ -3673,425 +2213,260 @@
         </ode>
       </physics>
     </joint>
-    <link name="rear_right_flipper_wheel1">
-      <pose>-0.256 -0.248 0 0 -0 0</pose>
+    <link name="mobilicom_antenna_r">
+      <pose>-0.225 0.17 0.2056 0 -0 1.5707963267948966</pose>
       <inertial>
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <mass>0.457375</mass>
+        <pose>0 0 0.085 0 -0 0</pose>
+        <mass>0.03</mass>
         <inertia>
-          <ixx>0.0017663</ixx>
+          <ixx>7.3e-05</ixx>
           <ixy>0</ixy>
           <ixz>0</ixz>
-          <iyy>0.0017663</iyy>
+          <iyy>7.3e-05</iyy>
           <iyz>0</iyz>
-          <izz>0.0031038</izz>
+          <izz>1.5e-06</izz>
         </inertia>
       </inertial>
-      <collision name="rear_right_flipper_wheel1_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="mobilicom_antenna_r_collision">
+        <pose>0 0 0.085 0 -0 0</pose>
         <geometry>
           <cylinder>
-            <length>0.075</length>
-            <radius>0.1165</radius>
+            <length>0.17</length>
+            <radius>0.01</radius>
           </cylinder>
         </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-            <collide_bitmask>1</collide_bitmask>
-          </contact>
-          <friction>
-            <ode>
-              <mu>1</mu>
-              <mu2>150</mu2>
-              <slip1>0.000575828</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
       </collision>
-      <self_collide>1</self_collide>
-    </link>
-    <joint name="rear_right_flipper_wheel1_j" type="revolute">
-      <child>rear_right_flipper_wheel1</child>
-      <parent>rear_right_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>-1</effort>
-          <velocity>8.58369</velocity>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="rear_right_flipper_wheel2">
-      <pose>-0.299357 -0.248 0 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <mass>0.457375</mass>
-        <inertia>
-          <ixx>0.00162322</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.00162322</iyy>
-          <iyz>0</iyz>
-          <izz>0.00281766</izz>
-        </inertia>
-      </inertial>
-      <collision name="rear_right_flipper_wheel2_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <visual name="mobilicom_antenna_r_visual">
+        <pose>0 0 0.085 0 -0 0</pose>
         <geometry>
           <cylinder>
-            <length>0.075</length>
-            <radius>0.111</radius>
+            <length>0.17</length>
+            <radius>0.01</radius>
           </cylinder>
         </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-            <collide_bitmask>2</collide_bitmask>
-          </contact>
-          <friction>
-            <ode>
-              <mu>1</mu>
-              <mu2>150</mu2>
-              <slip1>0.000575828</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-      <self_collide>1</self_collide>
+      </visual>
     </link>
-    <joint name="rear_right_flipper_wheel2_j" type="revolute">
-      <child>rear_right_flipper_wheel2</child>
-      <parent>rear_right_flipper</parent>
+    <joint name="mobilicom_antenna_r_j" type="fixed">
+      <child>mobilicom_antenna_r</child>
+      <parent>mobilicom</parent>
       <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>-1</effort>
-          <velocity>9.00901</velocity>
-        </limit>
         <dynamics>
           <spring_reference>0</spring_reference>
           <spring_stiffness>0</spring_stiffness>
         </dynamics>
+        <xyz>0 0 1</xyz>
         <use_parent_model_frame>0</use_parent_model_frame>
+        <limit>
+          <lower>-1e+16</lower>
+          <upper>1e+16</upper>
+        </limit>
       </axis>
+      <physics>
+        <ode>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+        </ode>
+      </physics>
     </joint>
-    <link name="rear_right_flipper_wheel3">
-      <pose>-0.342714 -0.248 0 0 -0 0</pose>
+    <link name="mote_deployer">
+      <pose>-0.24 -0.16 0.1821 0 0 -3.1415926535897931</pose>
       <inertial>
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <mass>0.457375</mass>
+        <pose>0.0845 -0.024 0.0655 0 -0 0</pose>
+        <mass>0.5</mass>
         <inertia>
-          <ixx>0.00148707</ixx>
+          <ixx>0.000931042</ixx>
           <ixy>0</ixy>
           <ixz>0</ixz>
-          <iyy>0.00148707</iyy>
+          <iyy>0.00220342</iyy>
           <iyz>0</iyz>
-          <izz>0.00254535</izz>
+          <izz>0.00170437</izz>
         </inertia>
       </inertial>
-      <collision name="rear_right_flipper_wheel3_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="mote_deployer_collision">
+        <pose>0.0845 -0.024 0.0655 0 -0 0</pose>
         <geometry>
-          <cylinder>
-            <length>0.075</length>
-            <radius>0.1055</radius>
-          </cylinder>
+          <box>
+            <size>0.189 0.072 0.131</size>
+          </box>
         </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-            <collide_bitmask>4</collide_bitmask>
-          </contact>
-          <friction>
-            <ode>
-              <mu>1</mu>
-              <mu2>150</mu2>
-              <slip1>0.000575828</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
       </collision>
-      <self_collide>1</self_collide>
+      <visual name="mote_deployer_visual">
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_MARV_SENSOR_CONFIG_1/tip/files/meshes/mote_deployer.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
     </link>
-    <joint name="rear_right_flipper_wheel3_j" type="revolute">
-      <child>rear_right_flipper_wheel3</child>
-      <parent>rear_right_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>-1</effort>
-          <velocity>9.47867</velocity>
-        </limit>
+    <joint name="mote_deployer_j" type="fixed">
+      <child>mote_deployer</child>
+      <parent>rear_right_box</parent>
+      <axis>
         <dynamics>
           <spring_reference>0</spring_reference>
           <spring_stiffness>0</spring_stiffness>
         </dynamics>
+        <xyz>0 0 1</xyz>
         <use_parent_model_frame>0</use_parent_model_frame>
+        <limit>
+          <lower>-1e+16</lower>
+          <upper>1e+16</upper>
+        </limit>
       </axis>
+      <physics>
+        <ode>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+        </ode>
+      </physics>
     </joint>
-    <link name="rear_right_flipper_wheel4">
-      <pose>-0.386071 -0.248 0 0 -0 0</pose>
+    <link name="rear_right_flipper">
+      <pose>-0.256 -0.248 0 0 -0 0</pose>
       <inertial>
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <mass>0.457375</mass>
+        <pose>-0.08 0 0 0 -0 0</pose>
+        <mass>3.659</mass>
         <inertia>
-          <ixx>0.00135783</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.00135783</iyy>
-          <iyz>0</iyz>
-          <izz>0.00228687</izz>
+          <ixx>0.0017491</ixx>
+          <ixy>2.8512e-07</ixy>
+          <ixz>0.0018277</ixz>
+          <iyy>0.012277</iyy>
+          <iyz>-3.6288e-07</iyz>
+          <izz>0.010941</izz>
         </inertia>
       </inertial>
-      <collision name="rear_right_flipper_wheel4_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="rear_right_flipper_collision">
+        <pose>-0.15175 0 0 0 -0 0</pose>
         <geometry>
-          <cylinder>
-            <length>0.075</length>
-            <radius>0.1</radius>
-          </cylinder>
+          <box>
+            <size>0.3035 0.075 0.078</size>
+          </box>
         </geometry>
         <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-            <collide_bitmask>8</collide_bitmask>
-          </contact>
           <friction>
             <ode>
               <mu>1</mu>
               <mu2>150</mu2>
-              <slip1>0.000575828</slip1>
-              <slip2>0</slip2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
-      <self_collide>1</self_collide>
-    </link>
-    <joint name="rear_right_flipper_wheel4_j" type="revolute">
-      <child>rear_right_flipper_wheel4</child>
-      <parent>rear_right_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>-1</effort>
-          <velocity>10</velocity>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="rear_right_flipper_wheel5">
-      <pose>-0.429429 -0.248 0 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <mass>0.457375</mass>
-        <inertia>
-          <ixx>0.00123551</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.00123551</iyy>
-          <iyz>0</iyz>
-          <izz>0.00204224</izz>
-        </inertia>
-      </inertial>
-      <collision name="rear_right_flipper_wheel5_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="rear_right_flipper_collision_1">
+        <pose>-0.15175 0 0.05825 0 -0.126179 0</pose>
         <geometry>
-          <cylinder>
-            <length>0.075</length>
-            <radius>0.0945</radius>
-          </cylinder>
+          <box>
+            <size>0.3035 0.075 0.078</size>
+          </box>
         </geometry>
         <surface>
-          <contact>
+          <friction>
             <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
+              <mu>1</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
             </ode>
-            <collide_bitmask>16</collide_bitmask>
-          </contact>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="rear_right_flipper_collision_2">
+        <pose>-0.15175 0 -0.05825 0 0.126179 0</pose>
+        <geometry>
+          <box>
+            <size>0.3035 0.075 0.078</size>
+          </box>
+        </geometry>
+        <surface>
           <friction>
             <ode>
               <mu>1</mu>
               <mu2>150</mu2>
-              <slip1>0.000575828</slip1>
-              <slip2>0</slip2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
-      <self_collide>1</self_collide>
-    </link>
-    <joint name="rear_right_flipper_wheel5_j" type="revolute">
-      <child>rear_right_flipper_wheel5</child>
-      <parent>rear_right_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>-1</effort>
-          <velocity>10.582</velocity>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="rear_right_flipper_wheel6">
-      <pose>-0.472786 -0.248 0 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <mass>0.457375</mass>
-        <inertia>
-          <ixx>0.00112011</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.00112011</iyy>
-          <iyz>0</iyz>
-          <izz>0.00181143</izz>
-        </inertia>
-      </inertial>
-      <collision name="rear_right_flipper_wheel6_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="rear_right_flipper_collision_3">
+        <pose>-0.3035 0 0 1.5707963267948966 -0 0</pose>
         <geometry>
           <cylinder>
             <length>0.075</length>
-            <radius>0.089</radius>
+            <radius>0.078</radius>
           </cylinder>
         </geometry>
         <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-            <collide_bitmask>32</collide_bitmask>
-          </contact>
           <friction>
             <ode>
               <mu>1</mu>
               <mu2>150</mu2>
-              <slip1>0.000575828</slip1>
-              <slip2>0</slip2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
-      <self_collide>1</self_collide>
-    </link>
-    <joint name="rear_right_flipper_wheel6_j" type="revolute">
-      <child>rear_right_flipper_wheel6</child>
-      <parent>rear_right_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>-1</effort>
-          <velocity>11.236</velocity>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="rear_right_flipper_wheel7">
-      <pose>-0.516143 -0.248 0 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <mass>0.457375</mass>
-        <inertia>
-          <ixx>0.00101163</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.00101163</iyy>
-          <iyz>0</iyz>
-          <izz>0.00159447</izz>
-        </inertia>
-      </inertial>
-      <collision name="rear_right_flipper_wheel7_collision_collision">
+      <collision name="rear_right_flipper_collision_4">
         <pose>0 0 0 1.5707963267948966 -0 0</pose>
         <geometry>
           <cylinder>
             <length>0.075</length>
-            <radius>0.0835</radius>
+            <radius>0.1165</radius>
           </cylinder>
         </geometry>
         <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-            <collide_bitmask>64</collide_bitmask>
-          </contact>
           <friction>
             <ode>
               <mu>1</mu>
               <mu2>150</mu2>
-              <slip1>0.000575828</slip1>
-              <slip2>0</slip2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
+      <visual name="rear_right_flipper_visual">
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_MARV_SENSOR_CONFIG_1/tip/files/meshes/big_wheel.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <visual name="rear_right_flipper_visual_1">
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_MARV_SENSOR_CONFIG_1/tip/files/meshes/flipper_arm.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <visual name="rear_right_flipper_visual_2">
+        <pose>0 0 0 3.1415926535897931 -0 3.1415926535897931</pose>
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_MARV_SENSOR_CONFIG_1/tip/files/meshes/belt.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <visual name="rear_right_flipper_visual_3">
+        <pose>-0.3035 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_MARV_SENSOR_CONFIG_1/tip/files/meshes/small_wheel.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
       <self_collide>1</self_collide>
     </link>
-    <joint name="rear_right_flipper_wheel7_j" type="revolute">
-      <child>rear_right_flipper_wheel7</child>
-      <parent>rear_right_flipper</parent>
+    <joint name="rear_right_flipper_j" type="revolute">
+      <child>rear_right_flipper</child>
+      <parent>base_link</parent>
       <axis>
         <xyz>0 1 0</xyz>
         <limit>
           <lower>-1e+16</lower>
           <upper>1e+16</upper>
-          <effort>-1</effort>
-          <velocity>11.976</velocity>
+          <effort>120</effort>
+          <velocity>1</velocity>
         </limit>
         <dynamics>
           <spring_reference>0</spring_reference>
@@ -4099,67 +2474,92 @@
         </dynamics>
         <use_parent_model_frame>0</use_parent_model_frame>
       </axis>
+      <physics>
+        <ode>
+          <implicit_spring_damper>1</implicit_spring_damper>
+          <cfm_damping>1</cfm_damping>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+        </ode>
+      </physics>
     </joint>
-    <link name="rear_right_flipper_wheel8">
-      <pose>-0.5595 -0.248 0 0 -0 0</pose>
+    <link name="rear_right_flipper_end_point_inflated">
+      <pose>-0.6375 -0.248 0 0 -0 0</pose>
       <inertial>
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <mass>0.457375</mass>
+        <mass>1e-05</mass>
         <inertia>
-          <ixx>0.000910062</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.000910062</iyy>
-          <iyz>0</iyz>
-          <izz>0.00139133</izz>
+          <ixx>0.001</ixx>
+          <ixy>1e-06</ixy>
+          <ixz>1e-06</ixz>
+          <iyy>0.001</iyy>
+          <iyz>1e-06</iyz>
+          <izz>0.001</izz>
         </inertia>
       </inertial>
-      <collision name="rear_right_flipper_wheel8_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.075</length>
-            <radius>0.078</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-            <collide_bitmask>128</collide_bitmask>
-          </contact>
-          <friction>
-            <ode>
-              <mu>1</mu>
-              <mu2>150</mu2>
-              <slip1>0.000575828</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-      <self_collide>1</self_collide>
     </link>
-    <joint name="rear_right_flipper_wheel8_j" type="revolute">
-      <child>rear_right_flipper_wheel8</child>
+    <joint name="rear_right_flipper_end_point_inflated_j" type="fixed">
+      <child>rear_right_flipper_end_point_inflated</child>
       <parent>rear_right_flipper</parent>
       <axis>
-        <xyz>0 1 0</xyz>
+        <dynamics>
+          <spring_reference>0</spring_reference>
+          <spring_stiffness>0</spring_stiffness>
+        </dynamics>
+        <xyz>0 0 1</xyz>
+        <use_parent_model_frame>0</use_parent_model_frame>
         <limit>
           <lower>-1e+16</lower>
           <upper>1e+16</upper>
-          <effort>-1</effort>
-          <velocity>12.8205</velocity>
         </limit>
+      </axis>
+      <physics>
+        <ode>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+        </ode>
+      </physics>
+    </joint>
+    <link name="rear_right_flipper_end_point">
+      <pose>-0.6375 -0.248 0 0 -0 0</pose>
+      <inertial>
+        <mass>1e-05</mass>
+        <inertia>
+          <ixx>0.001</ixx>
+          <ixy>1e-06</ixy>
+          <ixz>1e-06</ixz>
+          <iyy>0.001</iyy>
+          <iyz>1e-06</iyz>
+          <izz>0.001</izz>
+        </inertia>
+      </inertial>
+    </link>
+    <joint name="rear_right_flipper_end_point_j" type="fixed">
+      <child>rear_right_flipper_end_point</child>
+      <parent>rear_right_flipper</parent>
+      <axis>
         <dynamics>
           <spring_reference>0</spring_reference>
           <spring_stiffness>0</spring_stiffness>
         </dynamics>
+        <xyz>0 0 1</xyz>
         <use_parent_model_frame>0</use_parent_model_frame>
+        <limit>
+          <lower>-1e+16</lower>
+          <upper>1e+16</upper>
+        </limit>
       </axis>
+      <physics>
+        <ode>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+        </ode>
+      </physics>
     </joint>
     <link name="rear_right_motor">
       <inertial>
@@ -4859,200 +3259,7 @@
       <joint_name>rear_left_flipper_j</joint_name>
       <joint_name>rear_right_flipper_j</joint_name>
     </plugin>
-    <plugin name="ignition::gazebo::systems::WheelSlip" filename="ignition-gazebo-wheel-slip-system">
-      <wheel link_name="front_left_flipper_wheel8">
-        <slip_compliance_lateral>0.0485</slip_compliance_lateral>
-        <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-        <wheel_normal_force>7.59775</wheel_normal_force>
-        <wheel_radius>0.078</wheel_radius>
-      </wheel>
-      <wheel link_name="front_left_flipper_wheel7">
-        <slip_compliance_lateral>0.0485</slip_compliance_lateral>
-        <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-        <wheel_normal_force>7.59775</wheel_normal_force>
-        <wheel_radius>0.0835</wheel_radius>
-      </wheel>
-      <wheel link_name="front_left_flipper_wheel6">
-        <slip_compliance_lateral>0.0485</slip_compliance_lateral>
-        <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-        <wheel_normal_force>7.59775</wheel_normal_force>
-        <wheel_radius>0.089</wheel_radius>
-      </wheel>
-      <wheel link_name="front_left_flipper_wheel5">
-        <slip_compliance_lateral>0.0485</slip_compliance_lateral>
-        <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-        <wheel_normal_force>7.59775</wheel_normal_force>
-        <wheel_radius>0.0945</wheel_radius>
-      </wheel>
-      <wheel link_name="front_left_flipper_wheel4">
-        <slip_compliance_lateral>0.0485</slip_compliance_lateral>
-        <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-        <wheel_normal_force>7.59775</wheel_normal_force>
-        <wheel_radius>0.1</wheel_radius>
-      </wheel>
-      <wheel link_name="front_left_flipper_wheel3">
-        <slip_compliance_lateral>0.0485</slip_compliance_lateral>
-        <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-        <wheel_normal_force>7.59775</wheel_normal_force>
-        <wheel_radius>0.1055</wheel_radius>
-      </wheel>
-      <wheel link_name="front_left_flipper_wheel2">
-        <slip_compliance_lateral>0.0485</slip_compliance_lateral>
-        <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-        <wheel_normal_force>7.59775</wheel_normal_force>
-        <wheel_radius>0.111</wheel_radius>
-      </wheel>
-      <wheel link_name="front_left_flipper_wheel1">
-        <slip_compliance_lateral>0.0485</slip_compliance_lateral>
-        <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-        <wheel_normal_force>7.59775</wheel_normal_force>
-        <wheel_radius>0.1165</wheel_radius>
-      </wheel>
-      <wheel link_name="front_right_flipper_wheel8">
-        <slip_compliance_lateral>0.0485</slip_compliance_lateral>
-        <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-        <wheel_normal_force>7.59775</wheel_normal_force>
-        <wheel_radius>0.078</wheel_radius>
-      </wheel>
-      <wheel link_name="front_right_flipper_wheel7">
-        <slip_compliance_lateral>0.0485</slip_compliance_lateral>
-        <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-        <wheel_normal_force>7.59775</wheel_normal_force>
-        <wheel_radius>0.0835</wheel_radius>
-      </wheel>
-      <wheel link_name="front_right_flipper_wheel6">
-        <slip_compliance_lateral>0.0485</slip_compliance_lateral>
-        <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-        <wheel_normal_force>7.59775</wheel_normal_force>
-        <wheel_radius>0.089</wheel_radius>
-      </wheel>
-      <wheel link_name="front_right_flipper_wheel5">
-        <slip_compliance_lateral>0.0485</slip_compliance_lateral>
-        <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-        <wheel_normal_force>7.59775</wheel_normal_force>
-        <wheel_radius>0.0945</wheel_radius>
-      </wheel>
-      <wheel link_name="front_right_flipper_wheel4">
-        <slip_compliance_lateral>0.0485</slip_compliance_lateral>
-        <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-        <wheel_normal_force>7.59775</wheel_normal_force>
-        <wheel_radius>0.1</wheel_radius>
-      </wheel>
-      <wheel link_name="front_right_flipper_wheel3">
-        <slip_compliance_lateral>0.0485</slip_compliance_lateral>
-        <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-        <wheel_normal_force>7.59775</wheel_normal_force>
-        <wheel_radius>0.1055</wheel_radius>
-      </wheel>
-      <wheel link_name="front_right_flipper_wheel2">
-        <slip_compliance_lateral>0.0485</slip_compliance_lateral>
-        <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-        <wheel_normal_force>7.59775</wheel_normal_force>
-        <wheel_radius>0.111</wheel_radius>
-      </wheel>
-      <wheel link_name="front_right_flipper_wheel1">
-        <slip_compliance_lateral>0.0485</slip_compliance_lateral>
-        <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-        <wheel_normal_force>7.59775</wheel_normal_force>
-        <wheel_radius>0.1165</wheel_radius>
-      </wheel>
-      <wheel link_name="rear_left_flipper_wheel8">
-        <slip_compliance_lateral>0.0485</slip_compliance_lateral>
-        <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-        <wheel_normal_force>7.59775</wheel_normal_force>
-        <wheel_radius>0.078</wheel_radius>
-      </wheel>
-      <wheel link_name="rear_left_flipper_wheel7">
-        <slip_compliance_lateral>0.0485</slip_compliance_lateral>
-        <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-        <wheel_normal_force>7.59775</wheel_normal_force>
-        <wheel_radius>0.0835</wheel_radius>
-      </wheel>
-      <wheel link_name="rear_left_flipper_wheel6">
-        <slip_compliance_lateral>0.0485</slip_compliance_lateral>
-        <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-        <wheel_normal_force>7.59775</wheel_normal_force>
-        <wheel_radius>0.089</wheel_radius>
-      </wheel>
-      <wheel link_name="rear_left_flipper_wheel5">
-        <slip_compliance_lateral>0.0485</slip_compliance_lateral>
-        <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-        <wheel_normal_force>7.59775</wheel_normal_force>
-        <wheel_radius>0.0945</wheel_radius>
-      </wheel>
-      <wheel link_name="rear_left_flipper_wheel4">
-        <slip_compliance_lateral>0.0485</slip_compliance_lateral>
-        <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-        <wheel_normal_force>7.59775</wheel_normal_force>
-        <wheel_radius>0.1</wheel_radius>
-      </wheel>
-      <wheel link_name="rear_left_flipper_wheel3">
-        <slip_compliance_lateral>0.0485</slip_compliance_lateral>
-        <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-        <wheel_normal_force>7.59775</wheel_normal_force>
-        <wheel_radius>0.1055</wheel_radius>
-      </wheel>
-      <wheel link_name="rear_left_flipper_wheel2">
-        <slip_compliance_lateral>0.0485</slip_compliance_lateral>
-        <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-        <wheel_normal_force>7.59775</wheel_normal_force>
-        <wheel_radius>0.111</wheel_radius>
-      </wheel>
-      <wheel link_name="rear_left_flipper_wheel1">
-        <slip_compliance_lateral>0.0485</slip_compliance_lateral>
-        <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-        <wheel_normal_force>7.59775</wheel_normal_force>
-        <wheel_radius>0.1165</wheel_radius>
-      </wheel>
-      <wheel link_name="rear_right_flipper_wheel8">
-        <slip_compliance_lateral>0.0485</slip_compliance_lateral>
-        <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-        <wheel_normal_force>7.59775</wheel_normal_force>
-        <wheel_radius>0.078</wheel_radius>
-      </wheel>
-      <wheel link_name="rear_right_flipper_wheel7">
-        <slip_compliance_lateral>0.0485</slip_compliance_lateral>
-        <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-        <wheel_normal_force>7.59775</wheel_normal_force>
-        <wheel_radius>0.0835</wheel_radius>
-      </wheel>
-      <wheel link_name="rear_right_flipper_wheel6">
-        <slip_compliance_lateral>0.0485</slip_compliance_lateral>
-        <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-        <wheel_normal_force>7.59775</wheel_normal_force>
-        <wheel_radius>0.089</wheel_radius>
-      </wheel>
-      <wheel link_name="rear_right_flipper_wheel5">
-        <slip_compliance_lateral>0.0485</slip_compliance_lateral>
-        <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-        <wheel_normal_force>7.59775</wheel_normal_force>
-        <wheel_radius>0.0945</wheel_radius>
-      </wheel>
-      <wheel link_name="rear_right_flipper_wheel4">
-        <slip_compliance_lateral>0.0485</slip_compliance_lateral>
-        <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-        <wheel_normal_force>7.59775</wheel_normal_force>
-        <wheel_radius>0.1</wheel_radius>
-      </wheel>
-      <wheel link_name="rear_right_flipper_wheel3">
-        <slip_compliance_lateral>0.0485</slip_compliance_lateral>
-        <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-        <wheel_normal_force>7.59775</wheel_normal_force>
-        <wheel_radius>0.1055</wheel_radius>
-      </wheel>
-      <wheel link_name="rear_right_flipper_wheel2">
-        <slip_compliance_lateral>0.0485</slip_compliance_lateral>
-        <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-        <wheel_normal_force>7.59775</wheel_normal_force>
-        <wheel_radius>0.111</wheel_radius>
-      </wheel>
-      <wheel link_name="rear_right_flipper_wheel1">
-        <slip_compliance_lateral>0.0485</slip_compliance_lateral>
-        <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-        <wheel_normal_force>7.59775</wheel_normal_force>
-        <wheel_radius>0.1165</wheel_radius>
-      </wheel>
-    </plugin>
+    <plugin name="ignition::gazebo::systems::WheelSlip" filename="ignition-gazebo-wheel-slip-system"/>
   </model>
 </sdf>
 
diff --git a/submitted_models/ctu_cras_norlab_marv_sensor_config_3/model.sdf b/submitted_models/ctu_cras_norlab_marv_sensor_config_3/model.sdf
index 155ac4a3..ffc53114 100644
--- a/submitted_models/ctu_cras_norlab_marv_sensor_config_3/model.sdf
+++ b/submitted_models/ctu_cras_norlab_marv_sensor_config_3/model.sdf
@@ -468,16 +468,104 @@
     <link name="front_left_flipper">
       <pose>0.256 0.248 0 0 -0 0</pose>
       <inertial>
-        <mass>1e-05</mass>
+        <pose>0.08 0 0 0 -0 0</pose>
+        <mass>3.659</mass>
         <inertia>
-          <ixx>0.001</ixx>
-          <ixy>1e-06</ixy>
-          <ixz>1e-06</ixz>
-          <iyy>0.001</iyy>
-          <iyz>1e-06</iyz>
-          <izz>0.001</izz>
+          <ixx>0.0017491</ixx>
+          <ixy>2.8512e-07</ixy>
+          <ixz>0.0018277</ixz>
+          <iyy>0.012277</iyy>
+          <iyz>-3.6288e-07</iyz>
+          <izz>0.010941</izz>
         </inertia>
       </inertial>
+      <collision name="front_left_flipper_collision">
+        <pose>0.15175 0 0 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.3035 0.075 0.078</size>
+          </box>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>1</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="front_left_flipper_collision_1">
+        <pose>0.15175 0 0.05825 0 0.126179 0</pose>
+        <geometry>
+          <box>
+            <size>0.3035 0.075 0.078</size>
+          </box>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>1</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="front_left_flipper_collision_2">
+        <pose>0.15175 0 -0.05825 0 -0.126179 0</pose>
+        <geometry>
+          <box>
+            <size>0.3035 0.075 0.078</size>
+          </box>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>1</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="front_left_flipper_collision_3">
+        <pose>0.3035 0 0 1.5707963267948966 -0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.075</length>
+            <radius>0.078</radius>
+          </cylinder>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>1</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="front_left_flipper_collision_4">
+        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.075</length>
+            <radius>0.1165</radius>
+          </cylinder>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>1</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
       <visual name="front_left_flipper_visual">
         <geometry>
           <mesh>
@@ -614,545 +702,145 @@
         </ode>
       </physics>
     </joint>
-    <link name="front_left_flipper_wheel1">
-      <pose>0.256 0.248 0 0 -0 0</pose>
+    <link name="front_left_motor">
       <inertial>
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <mass>0.457375</mass>
+        <pose>0.22 -0.09 0.02 0 -0 0</pose>
+        <mass>4.06</mass>
         <inertia>
-          <ixx>0.0017663</ixx>
+          <ixx>0.0151492</ixx>
           <ixy>0</ixy>
           <ixz>0</ixz>
-          <iyy>0.0017663</iyy>
+          <iyy>0.0129839</iyy>
           <iyz>0</iyz>
-          <izz>0.0031038</izz>
+          <izz>0.0173903</izz>
         </inertia>
       </inertial>
-      <collision name="front_left_flipper_wheel1_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.075</length>
-            <radius>0.1165</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-            <collide_bitmask>1</collide_bitmask>
-          </contact>
-          <friction>
-            <ode>
-              <mu>1</mu>
-              <mu2>150</mu2>
-              <slip1>0.000580373</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-      <self_collide>1</self_collide>
     </link>
-    <joint name="front_left_flipper_wheel1_j" type="revolute">
-      <child>front_left_flipper_wheel1</child>
-      <parent>front_left_flipper</parent>
+    <joint name="front_left_motor_j" type="fixed">
+      <child>front_left_motor</child>
+      <parent>base_link</parent>
       <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>-1</effort>
-          <velocity>8.58369</velocity>
-        </limit>
         <dynamics>
           <spring_reference>0</spring_reference>
           <spring_stiffness>0</spring_stiffness>
         </dynamics>
+        <xyz>0 0 1</xyz>
         <use_parent_model_frame>0</use_parent_model_frame>
+        <limit>
+          <lower>-1e+16</lower>
+          <upper>1e+16</upper>
+        </limit>
       </axis>
+      <physics>
+        <ode>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+        </ode>
+      </physics>
     </joint>
-    <link name="front_left_flipper_wheel2">
-      <pose>0.299357 0.248 0 0 -0 0</pose>
+    <link name="front_right_flipper">
+      <pose>0.256 -0.248 0 3.1415926535897931 -0 -3.1415926535897931</pose>
       <inertial>
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <mass>0.457375</mass>
+        <pose>-0.08 0 0 0 -0 0</pose>
+        <mass>3.659</mass>
         <inertia>
-          <ixx>0.00162322</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.00162322</iyy>
-          <iyz>0</iyz>
-          <izz>0.00281766</izz>
+          <ixx>0.0017491</ixx>
+          <ixy>2.8512e-07</ixy>
+          <ixz>0.0018277</ixz>
+          <iyy>0.012277</iyy>
+          <iyz>-3.6288e-07</iyz>
+          <izz>0.010941</izz>
         </inertia>
       </inertial>
-      <collision name="front_left_flipper_wheel2_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="front_right_flipper_collision">
+        <pose>-0.15175 0 0 0 -0 0</pose>
         <geometry>
-          <cylinder>
-            <length>0.075</length>
-            <radius>0.111</radius>
-          </cylinder>
+          <box>
+            <size>0.3035 0.075 0.078</size>
+          </box>
         </geometry>
         <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-            <collide_bitmask>2</collide_bitmask>
-          </contact>
           <friction>
             <ode>
               <mu>1</mu>
               <mu2>150</mu2>
-              <slip1>0.000580373</slip1>
-              <slip2>0</slip2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
-      <self_collide>1</self_collide>
-    </link>
-    <joint name="front_left_flipper_wheel2_j" type="revolute">
-      <child>front_left_flipper_wheel2</child>
-      <parent>front_left_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>-1</effort>
-          <velocity>9.00901</velocity>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="front_left_flipper_wheel3">
-      <pose>0.342714 0.248 0 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <mass>0.457375</mass>
-        <inertia>
-          <ixx>0.00148707</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.00148707</iyy>
-          <iyz>0</iyz>
-          <izz>0.00254535</izz>
-        </inertia>
-      </inertial>
-      <collision name="front_left_flipper_wheel3_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="front_right_flipper_collision_1">
+        <pose>-0.15175 0 0.05825 0 -0.126179 0</pose>
         <geometry>
-          <cylinder>
-            <length>0.075</length>
-            <radius>0.1055</radius>
-          </cylinder>
+          <box>
+            <size>0.3035 0.075 0.078</size>
+          </box>
         </geometry>
         <surface>
-          <contact>
+          <friction>
             <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
+              <mu>1</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
             </ode>
-            <collide_bitmask>4</collide_bitmask>
-          </contact>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="front_right_flipper_collision_2">
+        <pose>-0.15175 0 -0.05825 0 0.126179 0</pose>
+        <geometry>
+          <box>
+            <size>0.3035 0.075 0.078</size>
+          </box>
+        </geometry>
+        <surface>
           <friction>
             <ode>
               <mu>1</mu>
               <mu2>150</mu2>
-              <slip1>0.000580373</slip1>
-              <slip2>0</slip2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
-      <self_collide>1</self_collide>
-    </link>
-    <joint name="front_left_flipper_wheel3_j" type="revolute">
-      <child>front_left_flipper_wheel3</child>
-      <parent>front_left_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>-1</effort>
-          <velocity>9.47867</velocity>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="front_left_flipper_wheel4">
-      <pose>0.386071 0.248 0 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <mass>0.457375</mass>
-        <inertia>
-          <ixx>0.00135783</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.00135783</iyy>
-          <iyz>0</iyz>
-          <izz>0.00228687</izz>
-        </inertia>
-      </inertial>
-      <collision name="front_left_flipper_wheel4_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="front_right_flipper_collision_3">
+        <pose>-0.3035 0 0 1.5707963267948966 -0 0</pose>
         <geometry>
           <cylinder>
             <length>0.075</length>
-            <radius>0.1</radius>
+            <radius>0.078</radius>
           </cylinder>
         </geometry>
         <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-            <collide_bitmask>8</collide_bitmask>
-          </contact>
           <friction>
             <ode>
               <mu>1</mu>
               <mu2>150</mu2>
-              <slip1>0.000580373</slip1>
-              <slip2>0</slip2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
-      <self_collide>1</self_collide>
-    </link>
-    <joint name="front_left_flipper_wheel4_j" type="revolute">
-      <child>front_left_flipper_wheel4</child>
-      <parent>front_left_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>-1</effort>
-          <velocity>10</velocity>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="front_left_flipper_wheel5">
-      <pose>0.429429 0.248 0 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <mass>0.457375</mass>
-        <inertia>
-          <ixx>0.00123551</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.00123551</iyy>
-          <iyz>0</iyz>
-          <izz>0.00204224</izz>
-        </inertia>
-      </inertial>
-      <collision name="front_left_flipper_wheel5_collision_collision">
+      <collision name="front_right_flipper_collision_4">
         <pose>0 0 0 1.5707963267948966 -0 0</pose>
         <geometry>
           <cylinder>
             <length>0.075</length>
-            <radius>0.0945</radius>
+            <radius>0.1165</radius>
           </cylinder>
         </geometry>
         <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-            <collide_bitmask>16</collide_bitmask>
-          </contact>
           <friction>
             <ode>
               <mu>1</mu>
               <mu2>150</mu2>
-              <slip1>0.000580373</slip1>
-              <slip2>0</slip2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
-      <self_collide>1</self_collide>
-    </link>
-    <joint name="front_left_flipper_wheel5_j" type="revolute">
-      <child>front_left_flipper_wheel5</child>
-      <parent>front_left_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>-1</effort>
-          <velocity>10.582</velocity>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="front_left_flipper_wheel6">
-      <pose>0.472786 0.248 0 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <mass>0.457375</mass>
-        <inertia>
-          <ixx>0.00112011</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.00112011</iyy>
-          <iyz>0</iyz>
-          <izz>0.00181143</izz>
-        </inertia>
-      </inertial>
-      <collision name="front_left_flipper_wheel6_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.075</length>
-            <radius>0.089</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-            <collide_bitmask>32</collide_bitmask>
-          </contact>
-          <friction>
-            <ode>
-              <mu>1</mu>
-              <mu2>150</mu2>
-              <slip1>0.000580373</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-      <self_collide>1</self_collide>
-    </link>
-    <joint name="front_left_flipper_wheel6_j" type="revolute">
-      <child>front_left_flipper_wheel6</child>
-      <parent>front_left_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>-1</effort>
-          <velocity>11.236</velocity>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="front_left_flipper_wheel7">
-      <pose>0.516143 0.248 0 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <mass>0.457375</mass>
-        <inertia>
-          <ixx>0.00101163</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.00101163</iyy>
-          <iyz>0</iyz>
-          <izz>0.00159447</izz>
-        </inertia>
-      </inertial>
-      <collision name="front_left_flipper_wheel7_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.075</length>
-            <radius>0.0835</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-            <collide_bitmask>64</collide_bitmask>
-          </contact>
-          <friction>
-            <ode>
-              <mu>1</mu>
-              <mu2>150</mu2>
-              <slip1>0.000580373</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-      <self_collide>1</self_collide>
-    </link>
-    <joint name="front_left_flipper_wheel7_j" type="revolute">
-      <child>front_left_flipper_wheel7</child>
-      <parent>front_left_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>-1</effort>
-          <velocity>11.976</velocity>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="front_left_flipper_wheel8">
-      <pose>0.5595 0.248 0 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <mass>0.457375</mass>
-        <inertia>
-          <ixx>0.000910062</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.000910062</iyy>
-          <iyz>0</iyz>
-          <izz>0.00139133</izz>
-        </inertia>
-      </inertial>
-      <collision name="front_left_flipper_wheel8_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.075</length>
-            <radius>0.078</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-            <collide_bitmask>128</collide_bitmask>
-          </contact>
-          <friction>
-            <ode>
-              <mu>1</mu>
-              <mu2>150</mu2>
-              <slip1>0.000580373</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-      <self_collide>1</self_collide>
-    </link>
-    <joint name="front_left_flipper_wheel8_j" type="revolute">
-      <child>front_left_flipper_wheel8</child>
-      <parent>front_left_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>-1</effort>
-          <velocity>12.8205</velocity>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="front_left_motor">
-      <inertial>
-        <pose>0.22 -0.09 0.02 0 -0 0</pose>
-        <mass>4.06</mass>
-        <inertia>
-          <ixx>0.0151492</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.0129839</iyy>
-          <iyz>0</iyz>
-          <izz>0.0173903</izz>
-        </inertia>
-      </inertial>
-    </link>
-    <joint name="front_left_motor_j" type="fixed">
-      <child>front_left_motor</child>
-      <parent>base_link</parent>
-      <axis>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <xyz>0 0 1</xyz>
-        <use_parent_model_frame>0</use_parent_model_frame>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-      </axis>
-      <physics>
-        <ode>
-          <limit>
-            <cfm>0</cfm>
-            <erp>0.2</erp>
-          </limit>
-        </ode>
-      </physics>
-    </joint>
-    <link name="front_right_flipper">
-      <pose>0.256 -0.248 0 3.1415926535897931 -0 -3.1415926535897931</pose>
-      <inertial>
-        <mass>1e-05</mass>
-        <inertia>
-          <ixx>0.001</ixx>
-          <ixy>1e-06</ixy>
-          <ixz>1e-06</ixz>
-          <iyy>0.001</iyy>
-          <iyz>1e-06</iyz>
-          <izz>0.001</izz>
-        </inertia>
-      </inertial>
       <visual name="front_right_flipper_visual">
         <geometry>
           <mesh>
@@ -1289,1381 +977,407 @@
         </ode>
       </physics>
     </joint>
-    <link name="front_right_flipper_wheel1">
-      <pose>0.256 -0.248 0 3.1415926535897931 -0 3.1415926535897931</pose>
+    <link name="front_right_motor">
       <inertial>
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <mass>0.457375</mass>
+        <pose>0.22 0.09 0.02 0 -0 0</pose>
+        <mass>4.06</mass>
         <inertia>
-          <ixx>0.0017663</ixx>
+          <ixx>0.0151492</ixx>
           <ixy>0</ixy>
           <ixz>0</ixz>
-          <iyy>0.0017663</iyy>
+          <iyy>0.0129839</iyy>
           <iyz>0</iyz>
-          <izz>0.0031038</izz>
+          <izz>0.0173903</izz>
         </inertia>
       </inertial>
-      <collision name="front_right_flipper_wheel1_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.075</length>
-            <radius>0.1165</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-            <collide_bitmask>1</collide_bitmask>
-          </contact>
-          <friction>
-            <ode>
-              <mu>1</mu>
-              <mu2>150</mu2>
-              <slip1>0.000580373</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-      <self_collide>1</self_collide>
     </link>
-    <joint name="front_right_flipper_wheel1_j" type="revolute">
-      <child>front_right_flipper_wheel1</child>
-      <parent>front_right_flipper</parent>
+    <joint name="front_right_motor_j" type="fixed">
+      <child>front_right_motor</child>
+      <parent>base_link</parent>
       <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>-1</effort>
-          <velocity>8.58369</velocity>
-        </limit>
         <dynamics>
           <spring_reference>0</spring_reference>
           <spring_stiffness>0</spring_stiffness>
         </dynamics>
+        <xyz>0 0 1</xyz>
         <use_parent_model_frame>0</use_parent_model_frame>
+        <limit>
+          <lower>-1e+16</lower>
+          <upper>1e+16</upper>
+        </limit>
       </axis>
+      <physics>
+        <ode>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+        </ode>
+      </physics>
     </joint>
-    <link name="front_right_flipper_wheel2">
-      <pose>0.299357 -0.248 -0 3.1415926535897931 -0 3.1415926535897931</pose>
+    <link name="imu">
+      <pose>0 0 0.15 -3.1415926535897931 0 0</pose>
       <inertial>
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <mass>0.457375</mass>
+        <mass>1e-05</mass>
         <inertia>
-          <ixx>0.00162322</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.00162322</iyy>
-          <iyz>0</iyz>
-          <izz>0.00281766</izz>
+          <ixx>0.001</ixx>
+          <ixy>1e-06</ixy>
+          <ixz>1e-06</ixz>
+          <iyy>0.001</iyy>
+          <iyz>1e-06</iyz>
+          <izz>0.001</izz>
         </inertia>
       </inertial>
-      <collision name="front_right_flipper_wheel2_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.075</length>
-            <radius>0.111</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-            <collide_bitmask>2</collide_bitmask>
-          </contact>
-          <friction>
-            <ode>
-              <mu>1</mu>
-              <mu2>150</mu2>
-              <slip1>0.000580373</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-      <self_collide>1</self_collide>
-    </link>
-    <joint name="front_right_flipper_wheel2_j" type="revolute">
-      <child>front_right_flipper_wheel2</child>
-      <parent>front_right_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>-1</effort>
-          <velocity>9.00901</velocity>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="front_right_flipper_wheel3">
-      <pose>0.342714 -0.248 -0 3.1415926535897931 -0 3.1415926535897931</pose>
-      <inertial>
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <mass>0.457375</mass>
-        <inertia>
-          <ixx>0.00148707</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.00148707</iyy>
-          <iyz>0</iyz>
-          <izz>0.00254535</izz>
-        </inertia>
-      </inertial>
-      <collision name="front_right_flipper_wheel3_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.075</length>
-            <radius>0.1055</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-            <collide_bitmask>4</collide_bitmask>
-          </contact>
-          <friction>
-            <ode>
-              <mu>1</mu>
-              <mu2>150</mu2>
-              <slip1>0.000580373</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-      <self_collide>1</self_collide>
-    </link>
-    <joint name="front_right_flipper_wheel3_j" type="revolute">
-      <child>front_right_flipper_wheel3</child>
-      <parent>front_right_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>-1</effort>
-          <velocity>9.47867</velocity>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="front_right_flipper_wheel4">
-      <pose>0.386071 -0.248 -0 3.1415926535897931 -0 3.1415926535897931</pose>
-      <inertial>
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <mass>0.457375</mass>
-        <inertia>
-          <ixx>0.00135783</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.00135783</iyy>
-          <iyz>0</iyz>
-          <izz>0.00228687</izz>
-        </inertia>
-      </inertial>
-      <collision name="front_right_flipper_wheel4_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.075</length>
-            <radius>0.1</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-            <collide_bitmask>8</collide_bitmask>
-          </contact>
-          <friction>
-            <ode>
-              <mu>1</mu>
-              <mu2>150</mu2>
-              <slip1>0.000580373</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-      <self_collide>1</self_collide>
-    </link>
-    <joint name="front_right_flipper_wheel4_j" type="revolute">
-      <child>front_right_flipper_wheel4</child>
-      <parent>front_right_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>-1</effort>
-          <velocity>10</velocity>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="front_right_flipper_wheel5">
-      <pose>0.429429 -0.248 -0 3.1415926535897931 -0 3.1415926535897931</pose>
-      <inertial>
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <mass>0.457375</mass>
-        <inertia>
-          <ixx>0.00123551</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.00123551</iyy>
-          <iyz>0</iyz>
-          <izz>0.00204224</izz>
-        </inertia>
-      </inertial>
-      <collision name="front_right_flipper_wheel5_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.075</length>
-            <radius>0.0945</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-            <collide_bitmask>16</collide_bitmask>
-          </contact>
-          <friction>
-            <ode>
-              <mu>1</mu>
-              <mu2>150</mu2>
-              <slip1>0.000580373</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-      <self_collide>1</self_collide>
-    </link>
-    <joint name="front_right_flipper_wheel5_j" type="revolute">
-      <child>front_right_flipper_wheel5</child>
-      <parent>front_right_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>-1</effort>
-          <velocity>10.582</velocity>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="front_right_flipper_wheel6">
-      <pose>0.472786 -0.248 -0 3.1415926535897931 -0 3.1415926535897931</pose>
-      <inertial>
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <mass>0.457375</mass>
-        <inertia>
-          <ixx>0.00112011</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.00112011</iyy>
-          <iyz>0</iyz>
-          <izz>0.00181143</izz>
-        </inertia>
-      </inertial>
-      <collision name="front_right_flipper_wheel6_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.075</length>
-            <radius>0.089</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-            <collide_bitmask>32</collide_bitmask>
-          </contact>
-          <friction>
-            <ode>
-              <mu>1</mu>
-              <mu2>150</mu2>
-              <slip1>0.000580373</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-      <self_collide>1</self_collide>
-    </link>
-    <joint name="front_right_flipper_wheel6_j" type="revolute">
-      <child>front_right_flipper_wheel6</child>
-      <parent>front_right_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>-1</effort>
-          <velocity>11.236</velocity>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="front_right_flipper_wheel7">
-      <pose>0.516143 -0.248 -0 3.1415926535897931 -0 3.1415926535897931</pose>
-      <inertial>
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <mass>0.457375</mass>
-        <inertia>
-          <ixx>0.00101163</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.00101163</iyy>
-          <iyz>0</iyz>
-          <izz>0.00159447</izz>
-        </inertia>
-      </inertial>
-      <collision name="front_right_flipper_wheel7_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.075</length>
-            <radius>0.0835</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-            <collide_bitmask>64</collide_bitmask>
-          </contact>
-          <friction>
-            <ode>
-              <mu>1</mu>
-              <mu2>150</mu2>
-              <slip1>0.000580373</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-      <self_collide>1</self_collide>
-    </link>
-    <joint name="front_right_flipper_wheel7_j" type="revolute">
-      <child>front_right_flipper_wheel7</child>
-      <parent>front_right_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>-1</effort>
-          <velocity>11.976</velocity>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="front_right_flipper_wheel8">
-      <pose>0.5595 -0.248 -0 3.1415926535897931 -0 3.1415926535897931</pose>
-      <inertial>
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <mass>0.457375</mass>
-        <inertia>
-          <ixx>0.000910062</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.000910062</iyy>
-          <iyz>0</iyz>
-          <izz>0.00139133</izz>
-        </inertia>
-      </inertial>
-      <collision name="front_right_flipper_wheel8_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.075</length>
-            <radius>0.078</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-            <collide_bitmask>128</collide_bitmask>
-          </contact>
-          <friction>
-            <ode>
-              <mu>1</mu>
-              <mu2>150</mu2>
-              <slip1>0.000580373</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-      <self_collide>1</self_collide>
-    </link>
-    <joint name="front_right_flipper_wheel8_j" type="revolute">
-      <child>front_right_flipper_wheel8</child>
-      <parent>front_right_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>-1</effort>
-          <velocity>12.8205</velocity>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="front_right_motor">
-      <inertial>
-        <pose>0.22 0.09 0.02 0 -0 0</pose>
-        <mass>4.06</mass>
-        <inertia>
-          <ixx>0.0151492</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.0129839</iyy>
-          <iyz>0</iyz>
-          <izz>0.0173903</izz>
-        </inertia>
-      </inertial>
-    </link>
-    <joint name="front_right_motor_j" type="fixed">
-      <child>front_right_motor</child>
-      <parent>base_link</parent>
-      <axis>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <xyz>0 0 1</xyz>
-        <use_parent_model_frame>0</use_parent_model_frame>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-      </axis>
-      <physics>
-        <ode>
-          <limit>
-            <cfm>0</cfm>
-            <erp>0.2</erp>
-          </limit>
-        </ode>
-      </physics>
-    </joint>
-    <link name="imu">
-      <pose>0 0 0.15 -3.1415926535897931 0 0</pose>
-      <inertial>
-        <mass>1e-05</mass>
-        <inertia>
-          <ixx>0.001</ixx>
-          <ixy>1e-06</ixy>
-          <ixz>1e-06</ixz>
-          <iyy>0.001</iyy>
-          <iyz>1e-06</iyz>
-          <izz>0.001</izz>
-        </inertia>
-      </inertial>
-      <self_collide>0</self_collide>
-      <sensor name="imu" type="imu">
-        <always_on>1</always_on>
-        <update_rate>50</update_rate>
-        <imu>
-          <angular_velocity>
-            <x>
-              <noise type="gaussian">
-                <mean>0</mean>
-                <stddev>0.009</stddev>
-                <bias_mean>0.00075</bias_mean>
-                <bias_stddev>0.005</bias_stddev>
-                <dynamic_bias_stddev>2e-05</dynamic_bias_stddev>
-                <dynamic_bias_correlation_time>400</dynamic_bias_correlation_time>
-                <precision>0.00025</precision>
-              </noise>
-            </x>
-            <y>
-              <noise type="gaussian">
-                <mean>0</mean>
-                <stddev>0.009</stddev>
-                <bias_mean>0.00075</bias_mean>
-                <bias_stddev>0.005</bias_stddev>
-                <dynamic_bias_stddev>2e-05</dynamic_bias_stddev>
-                <dynamic_bias_correlation_time>400</dynamic_bias_correlation_time>
-                <precision>0.00025</precision>
-              </noise>
-            </y>
-            <z>
-              <noise type="gaussian">
-                <mean>0</mean>
-                <stddev>0.009</stddev>
-                <bias_mean>0.00075</bias_mean>
-                <bias_stddev>0.005</bias_stddev>
-                <dynamic_bias_stddev>2e-05</dynamic_bias_stddev>
-                <dynamic_bias_correlation_time>400</dynamic_bias_correlation_time>
-                <precision>0.00025</precision>
-              </noise>
-            </z>
-          </angular_velocity>
-          <linear_acceleration>
-            <x>
-              <noise type="gaussian">
-                <mean>0</mean>
-                <stddev>0.021</stddev>
-                <bias_mean>0.05</bias_mean>
-                <bias_stddev>0.0075</bias_stddev>
-                <dynamic_bias_stddev>0.000375</dynamic_bias_stddev>
-                <dynamic_bias_correlation_time>175</dynamic_bias_correlation_time>
-                <precision>0.005</precision>
-              </noise>
-            </x>
-            <y>
-              <noise type="gaussian">
-                <mean>0</mean>
-                <stddev>0.021</stddev>
-                <bias_mean>0.05</bias_mean>
-                <bias_stddev>0.0075</bias_stddev>
-                <dynamic_bias_stddev>0.000375</dynamic_bias_stddev>
-                <dynamic_bias_correlation_time>175</dynamic_bias_correlation_time>
-                <precision>0.005</precision>
-              </noise>
-            </y>
-            <z>
-              <noise type="gaussian">
-                <mean>0</mean>
-                <stddev>0.021</stddev>
-                <bias_mean>0.05</bias_mean>
-                <bias_stddev>0.0075</bias_stddev>
-                <dynamic_bias_stddev>0.000375</dynamic_bias_stddev>
-                <dynamic_bias_correlation_time>175</dynamic_bias_correlation_time>
-                <precision>0.005</precision>
-              </noise>
-            </z>
-          </linear_acceleration>
-        </imu>
-      </sensor>
-    </link>
-    <joint name="imu_j" type="fixed">
-      <child>imu</child>
-      <parent>base_link</parent>
-      <axis>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <xyz>0 0 1</xyz>
-        <use_parent_model_frame>0</use_parent_model_frame>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-      </axis>
-      <physics>
-        <ode>
-          <limit>
-            <cfm>0</cfm>
-            <erp>0.2</erp>
-          </limit>
-        </ode>
-      </physics>
-    </joint>
-    <link name="rear_cam">
-      <pose>-0.244 0 0.1321 0 0 -3.1415926535897931</pose>
-      <inertial>
-        <pose>0.019862 0 0.0145 0 -0 0</pose>
-        <mass>0.14</mass>
-        <inertia>
-          <ixx>1.96233e-05</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>6.75088e-05</iyy>
-          <iyz>0</iyz>
-          <izz>6.75088e-05</izz>
-        </inertia>
-      </inertial>
-      <collision name="rear_cam_collision_collision">
-        <pose>0.0117 0 0.0145 0 -0 0</pose>
-        <geometry>
-          <box>
-            <size>0.054 0.029 0.029</size>
-          </box>
-        </geometry>
-      </collision>
-      <collision name="rear_cam_lens_collision_collision_1">
-        <pose>0.042024 0 0.0145 0 1.5707963267948966 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.026</length>
-            <radius>0.0125</radius>
-          </cylinder>
-        </geometry>
-      </collision>
-      <visual name="rear_cam_visual">
-        <pose>0 0 0.0145 0 -0 0</pose>
-        <geometry>
-          <mesh>
-            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_MARV_SENSOR_CONFIG_1/tip/files/meshes/basler_ace.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-      <visual name="rear_cam_visual_1">
-        <pose>0.029024 0 0.0145 0 -0 0</pose>
-        <geometry>
-          <mesh>
-            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_MARV_SENSOR_CONFIG_1/tip/files/meshes/evetar_fisheye_lens.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-      <sensor name="rear_cam" type="camera">
-        <pose>0.051574 0 0.0145 0 -0 0</pose>
-        <update_rate>15</update_rate>
-        <visualize>0</visualize>
-        <camera>
-          <horizontal_fov>2.40855</horizontal_fov>
-          <image>
-            <width>2048</width>
-            <height>1536</height>
-            <format>R8G8B8</format>
-          </image>
-          <clip>
-            <near>0.025</near>
-            <far>300</far>
-          </clip>
-          <noise>
-            <type>gaussian</type>
-            <mean>0</mean>
-            <stddev>0.007</stddev>
-          </noise>
-          <lens>
-            <intrinsics>
-              <fx>393.077</fx>
-              <fy>393.077</fy>
-              <cx>1023.5</cx>
-              <cy>767.5</cy>
-              <s>0</s>
-            </intrinsics>
-            <type>stereographic</type>
-            <scale_to_hfov>1</scale_to_hfov>
-          </lens>
-        </camera>
-      </sensor>
-    </link>
-    <joint name="rear_cam_j" type="fixed">
-      <child>rear_cam</child>
-      <parent>base_link</parent>
-      <axis>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <xyz>0 0 1</xyz>
-        <use_parent_model_frame>0</use_parent_model_frame>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-      </axis>
-      <physics>
-        <ode>
-          <limit>
-            <cfm>0</cfm>
-            <erp>0.2</erp>
-          </limit>
-        </ode>
-      </physics>
-    </joint>
-    <link name="rear_left_flipper">
-      <pose>-0.256 0.248 0 3.1415926535897931 -0 -3.1415926535897931</pose>
-      <inertial>
-        <mass>1e-05</mass>
-        <inertia>
-          <ixx>0.001</ixx>
-          <ixy>1e-06</ixy>
-          <ixz>1e-06</ixz>
-          <iyy>0.001</iyy>
-          <iyz>1e-06</iyz>
-          <izz>0.001</izz>
-        </inertia>
-      </inertial>
-      <visual name="rear_left_flipper_visual">
-        <geometry>
-          <mesh>
-            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_MARV_SENSOR_CONFIG_1/tip/files/meshes/big_wheel.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-      <visual name="rear_left_flipper_visual_1">
-        <geometry>
-          <mesh>
-            <scale>-1 -1 1</scale>
-            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_MARV_SENSOR_CONFIG_1/tip/files/meshes/flipper_arm.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-      <visual name="rear_left_flipper_visual_2">
-        <geometry>
-          <mesh>
-            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_MARV_SENSOR_CONFIG_1/tip/files/meshes/belt.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-      <visual name="rear_left_flipper_visual_3">
-        <pose>0.3035 0 0 0 -0 0</pose>
-        <geometry>
-          <mesh>
-            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_MARV_SENSOR_CONFIG_1/tip/files/meshes/small_wheel.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-      <self_collide>1</self_collide>
-    </link>
-    <joint name="rear_left_flipper_j" type="revolute">
-      <child>rear_left_flipper</child>
-      <parent>base_link</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>120</effort>
-          <velocity>1</velocity>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-      <physics>
-        <ode>
-          <implicit_spring_damper>1</implicit_spring_damper>
-          <cfm_damping>1</cfm_damping>
-          <limit>
-            <cfm>0</cfm>
-            <erp>0.2</erp>
-          </limit>
-        </ode>
-      </physics>
-    </joint>
-    <link name="rear_left_flipper_end_point_inflated">
-      <pose>-0.6375 0.248 0 3.1415926535897931 -0 3.1415926535897931</pose>
-      <inertial>
-        <mass>1e-05</mass>
-        <inertia>
-          <ixx>0.001</ixx>
-          <ixy>1e-06</ixy>
-          <ixz>1e-06</ixz>
-          <iyy>0.001</iyy>
-          <iyz>1e-06</iyz>
-          <izz>0.001</izz>
-        </inertia>
-      </inertial>
-    </link>
-    <joint name="rear_left_flipper_end_point_inflated_j" type="fixed">
-      <child>rear_left_flipper_end_point_inflated</child>
-      <parent>rear_left_flipper</parent>
-      <axis>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <xyz>0 0 1</xyz>
-        <use_parent_model_frame>0</use_parent_model_frame>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-      </axis>
-      <physics>
-        <ode>
-          <limit>
-            <cfm>0</cfm>
-            <erp>0.2</erp>
-          </limit>
-        </ode>
-      </physics>
-    </joint>
-    <link name="rear_left_flipper_end_point">
-      <pose>-0.6375 0.248 0 3.1415926535897931 -0 3.1415926535897931</pose>
-      <inertial>
-        <mass>1e-05</mass>
-        <inertia>
-          <ixx>0.001</ixx>
-          <ixy>1e-06</ixy>
-          <ixz>1e-06</ixz>
-          <iyy>0.001</iyy>
-          <iyz>1e-06</iyz>
-          <izz>0.001</izz>
-        </inertia>
-      </inertial>
-    </link>
-    <joint name="rear_left_flipper_end_point_j" type="fixed">
-      <child>rear_left_flipper_end_point</child>
-      <parent>rear_left_flipper</parent>
-      <axis>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <xyz>0 0 1</xyz>
-        <use_parent_model_frame>0</use_parent_model_frame>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-      </axis>
-      <physics>
-        <ode>
-          <limit>
-            <cfm>0</cfm>
-            <erp>0.2</erp>
-          </limit>
-        </ode>
-      </physics>
-    </joint>
-    <link name="rear_left_flipper_wheel1">
-      <pose>-0.256 0.248 0 3.1415926535897931 -0 3.1415926535897931</pose>
-      <inertial>
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <mass>0.457375</mass>
-        <inertia>
-          <ixx>0.0017663</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.0017663</iyy>
-          <iyz>0</iyz>
-          <izz>0.0031038</izz>
-        </inertia>
-      </inertial>
-      <collision name="rear_left_flipper_wheel1_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.075</length>
-            <radius>0.1165</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-            <collide_bitmask>1</collide_bitmask>
-          </contact>
-          <friction>
-            <ode>
-              <mu>1</mu>
-              <mu2>150</mu2>
-              <slip1>0.000580373</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-      <self_collide>1</self_collide>
+      <self_collide>0</self_collide>
+      <sensor name="imu" type="imu">
+        <always_on>1</always_on>
+        <update_rate>50</update_rate>
+        <imu>
+          <angular_velocity>
+            <x>
+              <noise type="gaussian">
+                <mean>0</mean>
+                <stddev>0.009</stddev>
+                <bias_mean>0.00075</bias_mean>
+                <bias_stddev>0.005</bias_stddev>
+                <dynamic_bias_stddev>2e-05</dynamic_bias_stddev>
+                <dynamic_bias_correlation_time>400</dynamic_bias_correlation_time>
+                <precision>0.00025</precision>
+              </noise>
+            </x>
+            <y>
+              <noise type="gaussian">
+                <mean>0</mean>
+                <stddev>0.009</stddev>
+                <bias_mean>0.00075</bias_mean>
+                <bias_stddev>0.005</bias_stddev>
+                <dynamic_bias_stddev>2e-05</dynamic_bias_stddev>
+                <dynamic_bias_correlation_time>400</dynamic_bias_correlation_time>
+                <precision>0.00025</precision>
+              </noise>
+            </y>
+            <z>
+              <noise type="gaussian">
+                <mean>0</mean>
+                <stddev>0.009</stddev>
+                <bias_mean>0.00075</bias_mean>
+                <bias_stddev>0.005</bias_stddev>
+                <dynamic_bias_stddev>2e-05</dynamic_bias_stddev>
+                <dynamic_bias_correlation_time>400</dynamic_bias_correlation_time>
+                <precision>0.00025</precision>
+              </noise>
+            </z>
+          </angular_velocity>
+          <linear_acceleration>
+            <x>
+              <noise type="gaussian">
+                <mean>0</mean>
+                <stddev>0.021</stddev>
+                <bias_mean>0.05</bias_mean>
+                <bias_stddev>0.0075</bias_stddev>
+                <dynamic_bias_stddev>0.000375</dynamic_bias_stddev>
+                <dynamic_bias_correlation_time>175</dynamic_bias_correlation_time>
+                <precision>0.005</precision>
+              </noise>
+            </x>
+            <y>
+              <noise type="gaussian">
+                <mean>0</mean>
+                <stddev>0.021</stddev>
+                <bias_mean>0.05</bias_mean>
+                <bias_stddev>0.0075</bias_stddev>
+                <dynamic_bias_stddev>0.000375</dynamic_bias_stddev>
+                <dynamic_bias_correlation_time>175</dynamic_bias_correlation_time>
+                <precision>0.005</precision>
+              </noise>
+            </y>
+            <z>
+              <noise type="gaussian">
+                <mean>0</mean>
+                <stddev>0.021</stddev>
+                <bias_mean>0.05</bias_mean>
+                <bias_stddev>0.0075</bias_stddev>
+                <dynamic_bias_stddev>0.000375</dynamic_bias_stddev>
+                <dynamic_bias_correlation_time>175</dynamic_bias_correlation_time>
+                <precision>0.005</precision>
+              </noise>
+            </z>
+          </linear_acceleration>
+        </imu>
+      </sensor>
     </link>
-    <joint name="rear_left_flipper_wheel1_j" type="revolute">
-      <child>rear_left_flipper_wheel1</child>
-      <parent>rear_left_flipper</parent>
+    <joint name="imu_j" type="fixed">
+      <child>imu</child>
+      <parent>base_link</parent>
       <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>-1</effort>
-          <velocity>8.58369</velocity>
-        </limit>
         <dynamics>
           <spring_reference>0</spring_reference>
           <spring_stiffness>0</spring_stiffness>
         </dynamics>
+        <xyz>0 0 1</xyz>
         <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="rear_left_flipper_wheel2">
-      <pose>-0.299357 0.248 0 3.1415926535897931 -0 3.1415926535897931</pose>
-      <inertial>
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <mass>0.457375</mass>
-        <inertia>
-          <ixx>0.00162322</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.00162322</iyy>
-          <iyz>0</iyz>
-          <izz>0.00281766</izz>
-        </inertia>
-      </inertial>
-      <collision name="rear_left_flipper_wheel2_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.075</length>
-            <radius>0.111</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-            <collide_bitmask>2</collide_bitmask>
-          </contact>
-          <friction>
-            <ode>
-              <mu>1</mu>
-              <mu2>150</mu2>
-              <slip1>0.000580373</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-      <self_collide>1</self_collide>
-    </link>
-    <joint name="rear_left_flipper_wheel2_j" type="revolute">
-      <child>rear_left_flipper_wheel2</child>
-      <parent>rear_left_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
         <limit>
           <lower>-1e+16</lower>
           <upper>1e+16</upper>
-          <effort>-1</effort>
-          <velocity>9.00901</velocity>
         </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
       </axis>
+      <physics>
+        <ode>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+        </ode>
+      </physics>
     </joint>
-    <link name="rear_left_flipper_wheel3">
-      <pose>-0.342714 0.248 0 3.1415926535897931 -0 3.1415926535897931</pose>
+    <link name="rear_cam">
+      <pose>-0.244 0 0.1321 0 0 -3.1415926535897931</pose>
       <inertial>
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <mass>0.457375</mass>
+        <pose>0.019862 0 0.0145 0 -0 0</pose>
+        <mass>0.14</mass>
         <inertia>
-          <ixx>0.00148707</ixx>
+          <ixx>1.96233e-05</ixx>
           <ixy>0</ixy>
           <ixz>0</ixz>
-          <iyy>0.00148707</iyy>
+          <iyy>6.75088e-05</iyy>
           <iyz>0</iyz>
-          <izz>0.00254535</izz>
+          <izz>6.75088e-05</izz>
         </inertia>
       </inertial>
-      <collision name="rear_left_flipper_wheel3_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="rear_cam_collision_collision">
+        <pose>0.0117 0 0.0145 0 -0 0</pose>
         <geometry>
-          <cylinder>
-            <length>0.075</length>
-            <radius>0.1055</radius>
-          </cylinder>
+          <box>
+            <size>0.054 0.029 0.029</size>
+          </box>
         </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-            <collide_bitmask>4</collide_bitmask>
-          </contact>
-          <friction>
-            <ode>
-              <mu>1</mu>
-              <mu2>150</mu2>
-              <slip1>0.000580373</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
       </collision>
-      <self_collide>1</self_collide>
-    </link>
-    <joint name="rear_left_flipper_wheel3_j" type="revolute">
-      <child>rear_left_flipper_wheel3</child>
-      <parent>rear_left_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>-1</effort>
-          <velocity>9.47867</velocity>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="rear_left_flipper_wheel4">
-      <pose>-0.386071 0.248 0 3.1415926535897931 -0 3.1415926535897931</pose>
-      <inertial>
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <mass>0.457375</mass>
-        <inertia>
-          <ixx>0.00135783</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.00135783</iyy>
-          <iyz>0</iyz>
-          <izz>0.00228687</izz>
-        </inertia>
-      </inertial>
-      <collision name="rear_left_flipper_wheel4_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="rear_cam_lens_collision_collision_1">
+        <pose>0.042024 0 0.0145 0 1.5707963267948966 0</pose>
         <geometry>
           <cylinder>
-            <length>0.075</length>
-            <radius>0.1</radius>
+            <length>0.026</length>
+            <radius>0.0125</radius>
           </cylinder>
         </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-            <collide_bitmask>8</collide_bitmask>
-          </contact>
-          <friction>
-            <ode>
-              <mu>1</mu>
-              <mu2>150</mu2>
-              <slip1>0.000580373</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
       </collision>
-      <self_collide>1</self_collide>
+      <visual name="rear_cam_visual">
+        <pose>0 0 0.0145 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_MARV_SENSOR_CONFIG_1/tip/files/meshes/basler_ace.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <visual name="rear_cam_visual_1">
+        <pose>0.029024 0 0.0145 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_MARV_SENSOR_CONFIG_1/tip/files/meshes/evetar_fisheye_lens.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <sensor name="rear_cam" type="camera">
+        <pose>0.051574 0 0.0145 0 -0 0</pose>
+        <update_rate>15</update_rate>
+        <visualize>0</visualize>
+        <camera>
+          <horizontal_fov>2.40855</horizontal_fov>
+          <image>
+            <width>2048</width>
+            <height>1536</height>
+            <format>R8G8B8</format>
+          </image>
+          <clip>
+            <near>0.025</near>
+            <far>300</far>
+          </clip>
+          <noise>
+            <type>gaussian</type>
+            <mean>0</mean>
+            <stddev>0.007</stddev>
+          </noise>
+          <lens>
+            <intrinsics>
+              <fx>393.077</fx>
+              <fy>393.077</fy>
+              <cx>1023.5</cx>
+              <cy>767.5</cy>
+              <s>0</s>
+            </intrinsics>
+            <type>stereographic</type>
+            <scale_to_hfov>1</scale_to_hfov>
+          </lens>
+        </camera>
+      </sensor>
     </link>
-    <joint name="rear_left_flipper_wheel4_j" type="revolute">
-      <child>rear_left_flipper_wheel4</child>
-      <parent>rear_left_flipper</parent>
+    <joint name="rear_cam_j" type="fixed">
+      <child>rear_cam</child>
+      <parent>base_link</parent>
       <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>-1</effort>
-          <velocity>10</velocity>
-        </limit>
         <dynamics>
           <spring_reference>0</spring_reference>
           <spring_stiffness>0</spring_stiffness>
         </dynamics>
+        <xyz>0 0 1</xyz>
         <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="rear_left_flipper_wheel5">
-      <pose>-0.429429 0.248 0 3.1415926535897931 -0 3.1415926535897931</pose>
-      <inertial>
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <mass>0.457375</mass>
-        <inertia>
-          <ixx>0.00123551</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.00123551</iyy>
-          <iyz>0</iyz>
-          <izz>0.00204224</izz>
-        </inertia>
-      </inertial>
-      <collision name="rear_left_flipper_wheel5_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.075</length>
-            <radius>0.0945</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-            <collide_bitmask>16</collide_bitmask>
-          </contact>
-          <friction>
-            <ode>
-              <mu>1</mu>
-              <mu2>150</mu2>
-              <slip1>0.000580373</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-      <self_collide>1</self_collide>
-    </link>
-    <joint name="rear_left_flipper_wheel5_j" type="revolute">
-      <child>rear_left_flipper_wheel5</child>
-      <parent>rear_left_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
         <limit>
           <lower>-1e+16</lower>
           <upper>1e+16</upper>
-          <effort>-1</effort>
-          <velocity>10.582</velocity>
         </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
       </axis>
+      <physics>
+        <ode>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+        </ode>
+      </physics>
     </joint>
-    <link name="rear_left_flipper_wheel6">
-      <pose>-0.472786 0.248 0 3.1415926535897931 -0 3.1415926535897931</pose>
+    <link name="rear_left_flipper">
+      <pose>-0.256 0.248 0 3.1415926535897931 -0 -3.1415926535897931</pose>
       <inertial>
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <mass>0.457375</mass>
+        <pose>0.08 0 0 0 -0 0</pose>
+        <mass>3.659</mass>
         <inertia>
-          <ixx>0.00112011</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.00112011</iyy>
-          <iyz>0</iyz>
-          <izz>0.00181143</izz>
+          <ixx>0.0017491</ixx>
+          <ixy>2.8512e-07</ixy>
+          <ixz>0.0018277</ixz>
+          <iyy>0.012277</iyy>
+          <iyz>-3.6288e-07</iyz>
+          <izz>0.010941</izz>
         </inertia>
       </inertial>
-      <collision name="rear_left_flipper_wheel6_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="rear_left_flipper_collision">
+        <pose>0.15175 0 0 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.3035 0.075 0.078</size>
+          </box>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>1</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="rear_left_flipper_collision_1">
+        <pose>0.15175 0 0.05825 0 0.126179 0</pose>
         <geometry>
-          <cylinder>
-            <length>0.075</length>
-            <radius>0.089</radius>
-          </cylinder>
+          <box>
+            <size>0.3035 0.075 0.078</size>
+          </box>
         </geometry>
         <surface>
-          <contact>
+          <friction>
             <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
+              <mu>1</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
             </ode>
-            <collide_bitmask>32</collide_bitmask>
-          </contact>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="rear_left_flipper_collision_2">
+        <pose>0.15175 0 -0.05825 0 -0.126179 0</pose>
+        <geometry>
+          <box>
+            <size>0.3035 0.075 0.078</size>
+          </box>
+        </geometry>
+        <surface>
           <friction>
             <ode>
               <mu>1</mu>
               <mu2>150</mu2>
-              <slip1>0.000580373</slip1>
-              <slip2>0</slip2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
-      <self_collide>1</self_collide>
-    </link>
-    <joint name="rear_left_flipper_wheel6_j" type="revolute">
-      <child>rear_left_flipper_wheel6</child>
-      <parent>rear_left_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>-1</effort>
-          <velocity>11.236</velocity>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="rear_left_flipper_wheel7">
-      <pose>-0.516143 0.248 0 3.1415926535897931 -0 3.1415926535897931</pose>
-      <inertial>
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <mass>0.457375</mass>
-        <inertia>
-          <ixx>0.00101163</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.00101163</iyy>
-          <iyz>0</iyz>
-          <izz>0.00159447</izz>
-        </inertia>
-      </inertial>
-      <collision name="rear_left_flipper_wheel7_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="rear_left_flipper_collision_3">
+        <pose>0.3035 0 0 1.5707963267948966 -0 0</pose>
         <geometry>
           <cylinder>
             <length>0.075</length>
-            <radius>0.0835</radius>
+            <radius>0.078</radius>
           </cylinder>
         </geometry>
         <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-            <collide_bitmask>64</collide_bitmask>
-          </contact>
           <friction>
             <ode>
               <mu>1</mu>
               <mu2>150</mu2>
-              <slip1>0.000580373</slip1>
-              <slip2>0</slip2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
-      <self_collide>1</self_collide>
-    </link>
-    <joint name="rear_left_flipper_wheel7_j" type="revolute">
-      <child>rear_left_flipper_wheel7</child>
-      <parent>rear_left_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>-1</effort>
-          <velocity>11.976</velocity>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="rear_left_flipper_wheel8">
-      <pose>-0.5595 0.248 0 3.1415926535897931 -0 3.1415926535897931</pose>
-      <inertial>
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <mass>0.457375</mass>
-        <inertia>
-          <ixx>0.000910062</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.000910062</iyy>
-          <iyz>0</iyz>
-          <izz>0.00139133</izz>
-        </inertia>
-      </inertial>
-      <collision name="rear_left_flipper_wheel8_collision_collision">
+      <collision name="rear_left_flipper_collision_4">
         <pose>0 0 0 1.5707963267948966 -0 0</pose>
         <geometry>
           <cylinder>
             <length>0.075</length>
-            <radius>0.078</radius>
+            <radius>0.1165</radius>
           </cylinder>
         </geometry>
         <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-            <collide_bitmask>128</collide_bitmask>
-          </contact>
           <friction>
             <ode>
               <mu>1</mu>
               <mu2>150</mu2>
-              <slip1>0.000580373</slip1>
-              <slip2>0</slip2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
+      <visual name="rear_left_flipper_visual">
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_MARV_SENSOR_CONFIG_1/tip/files/meshes/big_wheel.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <visual name="rear_left_flipper_visual_1">
+        <geometry>
+          <mesh>
+            <scale>-1 -1 1</scale>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_MARV_SENSOR_CONFIG_1/tip/files/meshes/flipper_arm.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <visual name="rear_left_flipper_visual_2">
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_MARV_SENSOR_CONFIG_1/tip/files/meshes/belt.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <visual name="rear_left_flipper_visual_3">
+        <pose>0.3035 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_MARV_SENSOR_CONFIG_1/tip/files/meshes/small_wheel.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
       <self_collide>1</self_collide>
     </link>
-    <joint name="rear_left_flipper_wheel8_j" type="revolute">
-      <child>rear_left_flipper_wheel8</child>
-      <parent>rear_left_flipper</parent>
+    <joint name="rear_left_flipper_j" type="revolute">
+      <child>rear_left_flipper</child>
+      <parent>base_link</parent>
       <axis>
         <xyz>0 1 0</xyz>
         <limit>
           <lower>-1e+16</lower>
           <upper>1e+16</upper>
-          <effort>-1</effort>
-          <velocity>12.8205</velocity>
+          <effort>120</effort>
+          <velocity>1</velocity>
         </limit>
         <dynamics>
           <spring_reference>0</spring_reference>
@@ -2671,38 +1385,10 @@
         </dynamics>
         <use_parent_model_frame>0</use_parent_model_frame>
       </axis>
-    </joint>
-    <link name="rear_left_motor">
-      <inertial>
-        <pose>-0.22 -0.09 0.02 0 -0 0</pose>
-        <mass>4.06</mass>
-        <inertia>
-          <ixx>0.0151492</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.0129839</iyy>
-          <iyz>0</iyz>
-          <izz>0.0173903</izz>
-        </inertia>
-      </inertial>
-    </link>
-    <joint name="rear_left_motor_j" type="fixed">
-      <child>rear_left_motor</child>
-      <parent>base_link</parent>
-      <axis>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <xyz>0 0 1</xyz>
-        <use_parent_model_frame>0</use_parent_model_frame>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-      </axis>
       <physics>
         <ode>
+          <implicit_spring_damper>1</implicit_spring_damper>
+          <cfm_damping>1</cfm_damping>
           <limit>
             <cfm>0</cfm>
             <erp>0.2</erp>
@@ -2710,8 +1396,8 @@
         </ode>
       </physics>
     </joint>
-    <link name="rear_right_box">
-      <pose>-0.3 -0.18 0.1921 0 -0 0</pose>
+    <link name="rear_left_flipper_end_point_inflated">
+      <pose>-0.6375 0.248 0 3.1415926535897931 -0 3.1415926535897931</pose>
       <inertial>
         <mass>1e-05</mass>
         <inertia>
@@ -2724,9 +1410,9 @@
         </inertia>
       </inertial>
     </link>
-    <joint name="rear_right_box_j" type="fixed">
-      <child>rear_right_box</child>
-      <parent>base_link</parent>
+    <joint name="rear_left_flipper_end_point_inflated_j" type="fixed">
+      <child>rear_left_flipper_end_point_inflated</child>
+      <parent>rear_left_flipper</parent>
       <axis>
         <dynamics>
           <spring_reference>0</spring_reference>
@@ -2734,104 +1420,37 @@
         </dynamics>
         <xyz>0 0 1</xyz>
         <use_parent_model_frame>0</use_parent_model_frame>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-      </axis>
-      <physics>
-        <ode>
-          <limit>
-            <cfm>0</cfm>
-            <erp>0.2</erp>
-          </limit>
-        </ode>
-      </physics>
-    </joint>
-    <link name="camera_0">
-      <pose>0.21 0 0.1921 0 -0 0</pose>
-      <inertial>
-        <pose>0.039802 0 0.0145 0 -0 0</pose>
-        <mass>0.232</mass>
-        <inertia>
-          <ixx>3.25187e-05</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.000158598</iyy>
-          <iyz>0</iyz>
-          <izz>0.000158598</izz>
-        </inertia>
-      </inertial>
-      <collision name="camera_0_collision_collision">
-        <pose>0.02465 0 0.0145 0 -0 0</pose>
-        <geometry>
-          <box>
-            <size>0.0555 0.029 0.029</size>
-          </box>
-        </geometry>
-      </collision>
-      <collision name="camera_0_lens_collision_collision_1">
-        <pose>0.062834 0 0.0145 0 1.5707963267948966 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.03974</length>
-            <radius>0.0125</radius>
-          </cylinder>
-        </geometry>
-      </collision>
-      <visual name="camera_0_visual">
-        <pose>0 0 0.0145 0 -0 0</pose>
-        <geometry>
-          <mesh>
-            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_MARV_SENSOR_CONFIG_1/tip/files/meshes/basler_ace2_pro.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-      <visual name="camera_0_visual_1">
-        <pose>0.042964 0 0.0145 0 -0 0</pose>
-        <geometry>
-          <mesh>
-            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_MARV_SENSOR_CONFIG_1/tip/files/meshes/evetar_lens.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-      <sensor name="camera_0" type="camera">
-        <pose>0.072044 0 0.0145 0 -0 0</pose>
-        <update_rate>9</update_rate>
-        <visualize>0</visualize>
-        <camera>
-          <horizontal_fov>1.50971</horizontal_fov>
-          <image>
-            <width>1920</width>
-            <height>1200</height>
-            <format>R8G8B8</format>
-          </image>
-          <clip>
-            <near>0.011726</near>
-            <far>300</far>
-          </clip>
-          <noise>
-            <type>gaussian</type>
-            <mean>0</mean>
-            <stddev>0.007</stddev>
-          </noise>
-          <lens>
-            <intrinsics>
-              <fx>1020.51</fx>
-              <fy>1020.51</fy>
-              <cx>959.5</cx>
-              <cy>599.5</cy>
-              <s>0</s>
-            </intrinsics>
-            <type>stereographic</type>
-            <scale_to_hfov>1</scale_to_hfov>
-          </lens>
-        </camera>
-      </sensor>
+        <limit>
+          <lower>-1e+16</lower>
+          <upper>1e+16</upper>
+        </limit>
+      </axis>
+      <physics>
+        <ode>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+        </ode>
+      </physics>
+    </joint>
+    <link name="rear_left_flipper_end_point">
+      <pose>-0.6375 0.248 0 3.1415926535897931 -0 3.1415926535897931</pose>
+      <inertial>
+        <mass>1e-05</mass>
+        <inertia>
+          <ixx>0.001</ixx>
+          <ixy>1e-06</ixy>
+          <ixz>1e-06</ixz>
+          <iyy>0.001</iyy>
+          <iyz>1e-06</iyz>
+          <izz>0.001</izz>
+        </inertia>
+      </inertial>
     </link>
-    <joint name="camera_0_j" type="fixed">
-      <child>camera_0</child>
-      <parent>rear_right_box</parent>
+    <joint name="rear_left_flipper_end_point_j" type="fixed">
+      <child>rear_left_flipper_end_point</child>
+      <parent>rear_left_flipper</parent>
       <axis>
         <dynamics>
           <spring_reference>0</spring_reference>
@@ -2853,90 +1472,23 @@
         </ode>
       </physics>
     </joint>
-    <link name="camera_2">
-      <pose>-0.21 0 0.1921 0 -0 3.1415926535897931</pose>
+    <link name="rear_left_motor">
       <inertial>
-        <pose>0.039802 0 0.0145 0 -0 0</pose>
-        <mass>0.232</mass>
+        <pose>-0.22 -0.09 0.02 0 -0 0</pose>
+        <mass>4.06</mass>
         <inertia>
-          <ixx>3.25187e-05</ixx>
+          <ixx>0.0151492</ixx>
           <ixy>0</ixy>
           <ixz>0</ixz>
-          <iyy>0.000158598</iyy>
+          <iyy>0.0129839</iyy>
           <iyz>0</iyz>
-          <izz>0.000158598</izz>
+          <izz>0.0173903</izz>
         </inertia>
       </inertial>
-      <collision name="camera_2_collision_collision">
-        <pose>0.02465 0 0.0145 0 -0 0</pose>
-        <geometry>
-          <box>
-            <size>0.0555 0.029 0.029</size>
-          </box>
-        </geometry>
-      </collision>
-      <collision name="camera_2_lens_collision_collision_1">
-        <pose>0.062834 0 0.0145 0 1.5707963267948966 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.03974</length>
-            <radius>0.0125</radius>
-          </cylinder>
-        </geometry>
-      </collision>
-      <visual name="camera_2_visual">
-        <pose>0 0 0.0145 0 -0 0</pose>
-        <geometry>
-          <mesh>
-            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_MARV_SENSOR_CONFIG_1/tip/files/meshes/basler_ace2_pro.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-      <visual name="camera_2_visual_1">
-        <pose>0.042964 0 0.0145 0 -0 0</pose>
-        <geometry>
-          <mesh>
-            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_MARV_SENSOR_CONFIG_1/tip/files/meshes/evetar_lens.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-      <sensor name="camera_2" type="camera">
-        <pose>0.072044 0 0.0145 0 -0 0</pose>
-        <update_rate>9</update_rate>
-        <visualize>0</visualize>
-        <camera>
-          <horizontal_fov>1.50971</horizontal_fov>
-          <image>
-            <width>1920</width>
-            <height>1200</height>
-            <format>R8G8B8</format>
-          </image>
-          <clip>
-            <near>0.011726</near>
-            <far>300</far>
-          </clip>
-          <noise>
-            <type>gaussian</type>
-            <mean>0</mean>
-            <stddev>0.007</stddev>
-          </noise>
-          <lens>
-            <intrinsics>
-              <fx>1020.51</fx>
-              <fy>1020.51</fy>
-              <cx>959.5</cx>
-              <cy>599.5</cy>
-              <s>0</s>
-            </intrinsics>
-            <type>stereographic</type>
-            <scale_to_hfov>1</scale_to_hfov>
-          </lens>
-        </camera>
-      </sensor>
     </link>
-    <joint name="camera_2_j" type="fixed">
-      <child>camera_2</child>
-      <parent>rear_right_box</parent>
+    <joint name="rear_left_motor_j" type="fixed">
+      <child>rear_left_motor</child>
+      <parent>base_link</parent>
       <axis>
         <dynamics>
           <spring_reference>0</spring_reference>
@@ -2958,71 +1510,23 @@
         </ode>
       </physics>
     </joint>
-    <link name="cliff_sensor_front_left">
-      <pose>0.3 0.1445 0.2106 0 1.5707963267948966 0</pose>
+    <link name="rear_right_box">
+      <pose>-0.3 -0.18 0.1921 0 -0 0</pose>
       <inertial>
-        <pose>0.0105 0 0.00925 0 -0 0</pose>
-        <mass>0.012</mass>
+        <mass>1e-05</mass>
         <inertia>
-          <ixx>1.56725e-06</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>7.8325e-07</iyy>
-          <iyz>0</iyz>
-          <izz>1.666e-06</izz>
+          <ixx>0.001</ixx>
+          <ixy>1e-06</ixy>
+          <ixz>1e-06</ixz>
+          <iyy>0.001</iyy>
+          <iyz>1e-06</iyz>
+          <izz>0.001</izz>
         </inertia>
       </inertial>
-      <collision name="cliff_sensor_front_left_collision">
-        <pose>0.0105 0 0.00925 0 -0 0</pose>
-        <geometry>
-          <box>
-            <size>0.021 0.035 0.0185</size>
-          </box>
-        </geometry>
-      </collision>
-      <visual name="cliff_sensor_front_left_visual">
-        <geometry>
-          <mesh>
-            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_MARV_SENSOR_CONFIG_1/tip/files/meshes/tfmini_plus_lidar.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-      <sensor name="laser" type="gpu_lidar">
-        <pose>0.021 0 0.00925 0 -0 0</pose>
-        <update_rate>10</update_rate>
-        <visualize>0</visualize>
-        <always_on>1</always_on>
-        <lidar>
-          <scan>
-            <horizontal>
-              <samples>3</samples>
-              <resolution>1</resolution>
-              <min_angle>-0.0314159</min_angle>
-              <max_angle>0.0314159</max_angle>
-            </horizontal>
-            <vertical>
-              <samples>3</samples>
-              <resolution>1</resolution>
-              <min_angle>-0.0314159</min_angle>
-              <max_angle>0.0314159</max_angle>
-            </vertical>
-          </scan>
-          <range>
-            <min>0.1</min>
-            <max>12</max>
-            <resolution>0.01</resolution>
-          </range>
-          <noise>
-            <type>gaussian</type>
-            <mean>0</mean>
-            <stddev>0.015</stddev>
-          </noise>
-        </lidar>
-      </sensor>
     </link>
-    <joint name="cliff_sensor_front_left_j" type="fixed">
-      <child>cliff_sensor_front_left</child>
-      <parent>rear_right_box</parent>
+    <joint name="rear_right_box_j" type="fixed">
+      <child>rear_right_box</child>
+      <parent>base_link</parent>
       <axis>
         <dynamics>
           <spring_reference>0</spring_reference>
@@ -3044,70 +1548,89 @@
         </ode>
       </physics>
     </joint>
-    <link name="cliff_sensor_front_right">
-      <pose>0.3 -0.1445 0.2106 0 1.5707963267948966 0</pose>
+    <link name="camera_0">
+      <pose>0.21 0 0.1921 0 -0 0</pose>
       <inertial>
-        <pose>0.0105 0 0.00925 0 -0 0</pose>
-        <mass>0.012</mass>
+        <pose>0.039802 0 0.0145 0 -0 0</pose>
+        <mass>0.232</mass>
         <inertia>
-          <ixx>1.56725e-06</ixx>
+          <ixx>3.25187e-05</ixx>
           <ixy>0</ixy>
           <ixz>0</ixz>
-          <iyy>7.8325e-07</iyy>
+          <iyy>0.000158598</iyy>
           <iyz>0</iyz>
-          <izz>1.666e-06</izz>
+          <izz>0.000158598</izz>
         </inertia>
       </inertial>
-      <collision name="cliff_sensor_front_right_collision">
-        <pose>0.0105 0 0.00925 0 -0 0</pose>
+      <collision name="camera_0_collision_collision">
+        <pose>0.02465 0 0.0145 0 -0 0</pose>
         <geometry>
           <box>
-            <size>0.021 0.035 0.0185</size>
+            <size>0.0555 0.029 0.029</size>
           </box>
         </geometry>
       </collision>
-      <visual name="cliff_sensor_front_right_visual">
+      <collision name="camera_0_lens_collision_collision_1">
+        <pose>0.062834 0 0.0145 0 1.5707963267948966 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.03974</length>
+            <radius>0.0125</radius>
+          </cylinder>
+        </geometry>
+      </collision>
+      <visual name="camera_0_visual">
+        <pose>0 0 0.0145 0 -0 0</pose>
         <geometry>
           <mesh>
-            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_MARV_SENSOR_CONFIG_1/tip/files/meshes/tfmini_plus_lidar.dae</uri>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_MARV_SENSOR_CONFIG_1/tip/files/meshes/basler_ace2_pro.dae</uri>
           </mesh>
         </geometry>
       </visual>
-      <sensor name="laser" type="gpu_lidar">
-        <pose>0.021 0 0.00925 0 -0 0</pose>
-        <update_rate>10</update_rate>
-        <visualize>0</visualize>
-        <always_on>1</always_on>
-        <lidar>
-          <scan>
-            <horizontal>
-              <samples>3</samples>
-              <resolution>1</resolution>
-              <min_angle>-0.0314159</min_angle>
-              <max_angle>0.0314159</max_angle>
-            </horizontal>
-            <vertical>
-              <samples>3</samples>
-              <resolution>1</resolution>
-              <min_angle>-0.0314159</min_angle>
-              <max_angle>0.0314159</max_angle>
-            </vertical>
-          </scan>
-          <range>
-            <min>0.1</min>
-            <max>12</max>
-            <resolution>0.01</resolution>
-          </range>
+      <visual name="camera_0_visual_1">
+        <pose>0.042964 0 0.0145 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_MARV_SENSOR_CONFIG_1/tip/files/meshes/evetar_lens.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <sensor name="camera_0" type="camera">
+        <pose>0.072044 0 0.0145 0 -0 0</pose>
+        <update_rate>9</update_rate>
+        <visualize>0</visualize>
+        <camera>
+          <horizontal_fov>1.50971</horizontal_fov>
+          <image>
+            <width>1920</width>
+            <height>1200</height>
+            <format>R8G8B8</format>
+          </image>
+          <clip>
+            <near>0.011726</near>
+            <far>300</far>
+          </clip>
           <noise>
             <type>gaussian</type>
             <mean>0</mean>
-            <stddev>0.015</stddev>
+            <stddev>0.007</stddev>
           </noise>
-        </lidar>
+          <lens>
+            <intrinsics>
+              <fx>1020.51</fx>
+              <fy>1020.51</fy>
+              <cx>959.5</cx>
+              <cy>599.5</cy>
+              <s>0</s>
+            </intrinsics>
+            <type>stereographic</type>
+            <scale_to_hfov>1</scale_to_hfov>
+          </lens>
+        </camera>
       </sensor>
     </link>
-    <joint name="cliff_sensor_front_right_j" type="fixed">
-      <child>cliff_sensor_front_right</child>
+    <joint name="camera_0_j" type="fixed">
+      <child>camera_0</child>
       <parent>rear_right_box</parent>
       <axis>
         <dynamics>
@@ -3130,70 +1653,89 @@
         </ode>
       </physics>
     </joint>
-    <link name="cliff_sensor_rear_left">
-      <pose>-0.3 0.1445 0.2106 3.1415926535897931 1.5707963267948966 0</pose>
+    <link name="camera_2">
+      <pose>-0.21 0 0.1921 0 -0 3.1415926535897931</pose>
       <inertial>
-        <pose>0.0105 0 0.00925 0 -0 0</pose>
-        <mass>0.012</mass>
+        <pose>0.039802 0 0.0145 0 -0 0</pose>
+        <mass>0.232</mass>
         <inertia>
-          <ixx>1.56725e-06</ixx>
+          <ixx>3.25187e-05</ixx>
           <ixy>0</ixy>
           <ixz>0</ixz>
-          <iyy>7.8325e-07</iyy>
+          <iyy>0.000158598</iyy>
           <iyz>0</iyz>
-          <izz>1.666e-06</izz>
+          <izz>0.000158598</izz>
         </inertia>
       </inertial>
-      <collision name="cliff_sensor_rear_left_collision">
-        <pose>0.0105 0 0.00925 0 -0 0</pose>
+      <collision name="camera_2_collision_collision">
+        <pose>0.02465 0 0.0145 0 -0 0</pose>
         <geometry>
           <box>
-            <size>0.021 0.035 0.0185</size>
+            <size>0.0555 0.029 0.029</size>
           </box>
         </geometry>
       </collision>
-      <visual name="cliff_sensor_rear_left_visual">
+      <collision name="camera_2_lens_collision_collision_1">
+        <pose>0.062834 0 0.0145 0 1.5707963267948966 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.03974</length>
+            <radius>0.0125</radius>
+          </cylinder>
+        </geometry>
+      </collision>
+      <visual name="camera_2_visual">
+        <pose>0 0 0.0145 0 -0 0</pose>
         <geometry>
           <mesh>
-            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_MARV_SENSOR_CONFIG_1/tip/files/meshes/tfmini_plus_lidar.dae</uri>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_MARV_SENSOR_CONFIG_1/tip/files/meshes/basler_ace2_pro.dae</uri>
           </mesh>
         </geometry>
       </visual>
-      <sensor name="laser" type="gpu_lidar">
-        <pose>0.021 0 0.00925 0 -0 0</pose>
-        <update_rate>10</update_rate>
+      <visual name="camera_2_visual_1">
+        <pose>0.042964 0 0.0145 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_MARV_SENSOR_CONFIG_1/tip/files/meshes/evetar_lens.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <sensor name="camera_2" type="camera">
+        <pose>0.072044 0 0.0145 0 -0 0</pose>
+        <update_rate>9</update_rate>
         <visualize>0</visualize>
-        <always_on>1</always_on>
-        <lidar>
-          <scan>
-            <horizontal>
-              <samples>3</samples>
-              <resolution>1</resolution>
-              <min_angle>-0.0314159</min_angle>
-              <max_angle>0.0314159</max_angle>
-            </horizontal>
-            <vertical>
-              <samples>3</samples>
-              <resolution>1</resolution>
-              <min_angle>-0.0314159</min_angle>
-              <max_angle>0.0314159</max_angle>
-            </vertical>
-          </scan>
-          <range>
-            <min>0.1</min>
-            <max>12</max>
-            <resolution>0.01</resolution>
-          </range>
+        <camera>
+          <horizontal_fov>1.50971</horizontal_fov>
+          <image>
+            <width>1920</width>
+            <height>1200</height>
+            <format>R8G8B8</format>
+          </image>
+          <clip>
+            <near>0.011726</near>
+            <far>300</far>
+          </clip>
           <noise>
             <type>gaussian</type>
             <mean>0</mean>
-            <stddev>0.015</stddev>
+            <stddev>0.007</stddev>
           </noise>
-        </lidar>
+          <lens>
+            <intrinsics>
+              <fx>1020.51</fx>
+              <fy>1020.51</fy>
+              <cx>959.5</cx>
+              <cy>599.5</cy>
+              <s>0</s>
+            </intrinsics>
+            <type>stereographic</type>
+            <scale_to_hfov>1</scale_to_hfov>
+          </lens>
+        </camera>
       </sensor>
     </link>
-    <joint name="cliff_sensor_rear_left_j" type="fixed">
-      <child>cliff_sensor_rear_left</child>
+    <joint name="camera_2_j" type="fixed">
+      <child>camera_2</child>
       <parent>rear_right_box</parent>
       <axis>
         <dynamics>
@@ -3216,8 +1758,8 @@
         </ode>
       </physics>
     </joint>
-    <link name="cliff_sensor_rear_right">
-      <pose>-0.3 -0.1445 0.2106 3.1415926535897931 1.5707963267948966 0</pose>
+    <link name="cliff_sensor_front_left">
+      <pose>0.3 0.1445 0.2106 0 1.5707963267948966 0</pose>
       <inertial>
         <pose>0.0105 0 0.00925 0 -0 0</pose>
         <mass>0.012</mass>
@@ -3230,7 +1772,7 @@
           <izz>1.666e-06</izz>
         </inertia>
       </inertial>
-      <collision name="cliff_sensor_rear_right_collision">
+      <collision name="cliff_sensor_front_left_collision">
         <pose>0.0105 0 0.00925 0 -0 0</pose>
         <geometry>
           <box>
@@ -3238,7 +1780,7 @@
           </box>
         </geometry>
       </collision>
-      <visual name="cliff_sensor_rear_right_visual">
+      <visual name="cliff_sensor_front_left_visual">
         <geometry>
           <mesh>
             <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_MARV_SENSOR_CONFIG_1/tip/files/meshes/tfmini_plus_lidar.dae</uri>
@@ -3274,124 +1816,13 @@
             <type>gaussian</type>
             <mean>0</mean>
             <stddev>0.015</stddev>
-          </noise>
-        </lidar>
-      </sensor>
-    </link>
-    <joint name="cliff_sensor_rear_right_j" type="fixed">
-      <child>cliff_sensor_rear_right</child>
-      <parent>rear_right_box</parent>
-      <axis>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <xyz>0 0 1</xyz>
-        <use_parent_model_frame>0</use_parent_model_frame>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-      </axis>
-      <physics>
-        <ode>
-          <limit>
-            <cfm>0</cfm>
-            <erp>0.2</erp>
-          </limit>
-        </ode>
-      </physics>
-    </joint>
-    <link name="mobilicom">
-      <pose>-0.25 0.12 0.1921 0 -0 1.5707963267948966</pose>
-      <inertial>
-        <pose>0 0 0.0135 0 -0 0</pose>
-        <mass>0.168</mass>
-        <inertia>
-          <ixx>8.687e-05</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.000150206</iyy>
-          <iyz>0</iyz>
-          <izz>0.000216664</izz>
-        </inertia>
-      </inertial>
-      <collision name="mobilicom_collision">
-        <pose>0 0 0.0135 0 -0 0</pose>
-        <geometry>
-          <box>
-            <size>0.1 0.074 0.027</size>
-          </box>
-        </geometry>
-      </collision>
-      <visual name="mobilicom_visual">
-        <geometry>
-          <mesh>
-            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_MARV_SENSOR_CONFIG_1/tip/files/meshes/mobilicom.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-    </link>
-    <joint name="mobilicom_j" type="fixed">
-      <child>mobilicom</child>
-      <parent>rear_right_box</parent>
-      <axis>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <xyz>0 0 1</xyz>
-        <use_parent_model_frame>0</use_parent_model_frame>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-      </axis>
-      <physics>
-        <ode>
-          <limit>
-            <cfm>0</cfm>
-            <erp>0.2</erp>
-          </limit>
-        </ode>
-      </physics>
-    </joint>
-    <link name="mobilicom_antenna_l">
-      <pose>-0.275 0.17 0.2056 -0.5 -0 1.5707963267948966</pose>
-      <inertial>
-        <pose>0 0 0.085 0 -0 0</pose>
-        <mass>0.03</mass>
-        <inertia>
-          <ixx>7.3e-05</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>7.3e-05</iyy>
-          <iyz>0</iyz>
-          <izz>1.5e-06</izz>
-        </inertia>
-      </inertial>
-      <collision name="mobilicom_antenna_l_collision">
-        <pose>0 0 0.085 0 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.17</length>
-            <radius>0.01</radius>
-          </cylinder>
-        </geometry>
-      </collision>
-      <visual name="mobilicom_antenna_l_visual">
-        <pose>0 0 0.085 0 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.17</length>
-            <radius>0.01</radius>
-          </cylinder>
-        </geometry>
-      </visual>
+          </noise>
+        </lidar>
+      </sensor>
     </link>
-    <joint name="mobilicom_antenna_l_j" type="fixed">
-      <child>mobilicom_antenna_l</child>
-      <parent>mobilicom</parent>
+    <joint name="cliff_sensor_front_left_j" type="fixed">
+      <child>cliff_sensor_front_left</child>
+      <parent>rear_right_box</parent>
       <axis>
         <dynamics>
           <spring_reference>0</spring_reference>
@@ -3413,42 +1844,71 @@
         </ode>
       </physics>
     </joint>
-    <link name="mobilicom_antenna_r">
-      <pose>-0.225 0.17 0.2056 0 -0 1.5707963267948966</pose>
+    <link name="cliff_sensor_front_right">
+      <pose>0.3 -0.1445 0.2106 0 1.5707963267948966 0</pose>
       <inertial>
-        <pose>0 0 0.085 0 -0 0</pose>
-        <mass>0.03</mass>
+        <pose>0.0105 0 0.00925 0 -0 0</pose>
+        <mass>0.012</mass>
         <inertia>
-          <ixx>7.3e-05</ixx>
+          <ixx>1.56725e-06</ixx>
           <ixy>0</ixy>
           <ixz>0</ixz>
-          <iyy>7.3e-05</iyy>
+          <iyy>7.8325e-07</iyy>
           <iyz>0</iyz>
-          <izz>1.5e-06</izz>
+          <izz>1.666e-06</izz>
         </inertia>
       </inertial>
-      <collision name="mobilicom_antenna_r_collision">
-        <pose>0 0 0.085 0 -0 0</pose>
+      <collision name="cliff_sensor_front_right_collision">
+        <pose>0.0105 0 0.00925 0 -0 0</pose>
         <geometry>
-          <cylinder>
-            <length>0.17</length>
-            <radius>0.01</radius>
-          </cylinder>
+          <box>
+            <size>0.021 0.035 0.0185</size>
+          </box>
         </geometry>
       </collision>
-      <visual name="mobilicom_antenna_r_visual">
-        <pose>0 0 0.085 0 -0 0</pose>
+      <visual name="cliff_sensor_front_right_visual">
         <geometry>
-          <cylinder>
-            <length>0.17</length>
-            <radius>0.01</radius>
-          </cylinder>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_MARV_SENSOR_CONFIG_1/tip/files/meshes/tfmini_plus_lidar.dae</uri>
+          </mesh>
         </geometry>
       </visual>
+      <sensor name="laser" type="gpu_lidar">
+        <pose>0.021 0 0.00925 0 -0 0</pose>
+        <update_rate>10</update_rate>
+        <visualize>0</visualize>
+        <always_on>1</always_on>
+        <lidar>
+          <scan>
+            <horizontal>
+              <samples>3</samples>
+              <resolution>1</resolution>
+              <min_angle>-0.0314159</min_angle>
+              <max_angle>0.0314159</max_angle>
+            </horizontal>
+            <vertical>
+              <samples>3</samples>
+              <resolution>1</resolution>
+              <min_angle>-0.0314159</min_angle>
+              <max_angle>0.0314159</max_angle>
+            </vertical>
+          </scan>
+          <range>
+            <min>0.1</min>
+            <max>12</max>
+            <resolution>0.01</resolution>
+          </range>
+          <noise>
+            <type>gaussian</type>
+            <mean>0</mean>
+            <stddev>0.015</stddev>
+          </noise>
+        </lidar>
+      </sensor>
     </link>
-    <joint name="mobilicom_antenna_r_j" type="fixed">
-      <child>mobilicom_antenna_r</child>
-      <parent>mobilicom</parent>
+    <joint name="cliff_sensor_front_right_j" type="fixed">
+      <child>cliff_sensor_front_right</child>
+      <parent>rear_right_box</parent>
       <axis>
         <dynamics>
           <spring_reference>0</spring_reference>
@@ -3470,62 +1930,70 @@
         </ode>
       </physics>
     </joint>
-    <link name="thermocam">
-      <pose>0.26 -0.04 0.1921 0 -0 0</pose>
+    <link name="cliff_sensor_rear_left">
+      <pose>-0.3 0.1445 0.2106 3.1415926535897931 1.5707963267948966 0</pose>
       <inertial>
-        <pose>0.0155 0 0 0 -0 0</pose>
-        <mass>0.024</mass>
+        <pose>0.0105 0 0.00925 0 -0 0</pose>
+        <mass>0.012</mass>
         <inertia>
-          <ixx>1.764e-06</ixx>
+          <ixx>1.56725e-06</ixx>
           <ixy>0</ixy>
           <ixz>0</ixz>
-          <iyy>4.58e-06</iyy>
+          <iyy>7.8325e-07</iyy>
           <iyz>0</iyz>
-          <izz>4.58e-06</izz>
+          <izz>1.666e-06</izz>
         </inertia>
       </inertial>
-      <collision name="thermocam_collision">
-        <pose>0.0155 0 0 0 -0 0</pose>
+      <collision name="cliff_sensor_rear_left_collision">
+        <pose>0.0105 0 0.00925 0 -0 0</pose>
         <geometry>
           <box>
-            <size>0.043 0.021 0.021</size>
+            <size>0.021 0.035 0.0185</size>
           </box>
         </geometry>
       </collision>
-      <visual name="thermocam_visual">
-        <pose>0 0 0.0105 0 -0 0</pose>
+      <visual name="cliff_sensor_rear_left_visual">
         <geometry>
           <mesh>
-            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_MARV_SENSOR_CONFIG_1/tip/files/meshes/flir_boson.dae</uri>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_MARV_SENSOR_CONFIG_1/tip/files/meshes/tfmini_plus_lidar.dae</uri>
           </mesh>
         </geometry>
       </visual>
-      <sensor name="thermal_camera" type="thermal_camera">
-        <pose>0.03 0 0 0 -0 0</pose>
-        <always_on>1</always_on>
-        <update_rate>8.6</update_rate>
+      <sensor name="laser" type="gpu_lidar">
+        <pose>0.021 0 0.00925 0 -0 0</pose>
+        <update_rate>10</update_rate>
         <visualize>0</visualize>
-        <camera name="thermal_camera">
-          <horizontal_fov>1.6057</horizontal_fov>
-          <image>
-            <width>320</width>
-            <height>256</height>
-            <format>L16</format>
-          </image>
-          <clip>
-            <near>0.2</near>
-            <far>50</far>
-          </clip>
-        </camera>
-        <plugin name="ignition::gazebo::systems::ThermalSensor" filename="ignition-gazebo-thermal-sensor-system">
-          <min_temp>223.15</min_temp>
-          <max_temp>453.15</max_temp>
-          <resolution>0.06</resolution>
-        </plugin>
+        <always_on>1</always_on>
+        <lidar>
+          <scan>
+            <horizontal>
+              <samples>3</samples>
+              <resolution>1</resolution>
+              <min_angle>-0.0314159</min_angle>
+              <max_angle>0.0314159</max_angle>
+            </horizontal>
+            <vertical>
+              <samples>3</samples>
+              <resolution>1</resolution>
+              <min_angle>-0.0314159</min_angle>
+              <max_angle>0.0314159</max_angle>
+            </vertical>
+          </scan>
+          <range>
+            <min>0.1</min>
+            <max>12</max>
+            <resolution>0.01</resolution>
+          </range>
+          <noise>
+            <type>gaussian</type>
+            <mean>0</mean>
+            <stddev>0.015</stddev>
+          </noise>
+        </lidar>
       </sensor>
     </link>
-    <joint name="thermocam_j" type="fixed">
-      <child>thermocam</child>
+    <joint name="cliff_sensor_rear_left_j" type="fixed">
+      <child>cliff_sensor_rear_left</child>
       <parent>rear_right_box</parent>
       <axis>
         <dynamics>
@@ -3548,72 +2016,85 @@
         </ode>
       </physics>
     </joint>
-    <link name="rear_right_flipper">
-      <pose>-0.256 -0.248 0 0 -0 0</pose>
+    <link name="cliff_sensor_rear_right">
+      <pose>-0.3 -0.1445 0.2106 3.1415926535897931 1.5707963267948966 0</pose>
       <inertial>
-        <mass>1e-05</mass>
+        <pose>0.0105 0 0.00925 0 -0 0</pose>
+        <mass>0.012</mass>
         <inertia>
-          <ixx>0.001</ixx>
-          <ixy>1e-06</ixy>
-          <ixz>1e-06</ixz>
-          <iyy>0.001</iyy>
-          <iyz>1e-06</iyz>
-          <izz>0.001</izz>
+          <ixx>1.56725e-06</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>7.8325e-07</iyy>
+          <iyz>0</iyz>
+          <izz>1.666e-06</izz>
         </inertia>
       </inertial>
-      <visual name="rear_right_flipper_visual">
-        <geometry>
-          <mesh>
-            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_MARV_SENSOR_CONFIG_1/tip/files/meshes/big_wheel.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-      <visual name="rear_right_flipper_visual_1">
-        <geometry>
-          <mesh>
-            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_MARV_SENSOR_CONFIG_1/tip/files/meshes/flipper_arm.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-      <visual name="rear_right_flipper_visual_2">
-        <pose>0 0 0 3.1415926535897931 -0 3.1415926535897931</pose>
+      <collision name="cliff_sensor_rear_right_collision">
+        <pose>0.0105 0 0.00925 0 -0 0</pose>
         <geometry>
-          <mesh>
-            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_MARV_SENSOR_CONFIG_1/tip/files/meshes/belt.dae</uri>
-          </mesh>
+          <box>
+            <size>0.021 0.035 0.0185</size>
+          </box>
         </geometry>
-      </visual>
-      <visual name="rear_right_flipper_visual_3">
-        <pose>-0.3035 0 0 0 -0 0</pose>
+      </collision>
+      <visual name="cliff_sensor_rear_right_visual">
         <geometry>
           <mesh>
-            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_MARV_SENSOR_CONFIG_1/tip/files/meshes/small_wheel.dae</uri>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_MARV_SENSOR_CONFIG_1/tip/files/meshes/tfmini_plus_lidar.dae</uri>
           </mesh>
         </geometry>
       </visual>
-      <self_collide>1</self_collide>
+      <sensor name="laser" type="gpu_lidar">
+        <pose>0.021 0 0.00925 0 -0 0</pose>
+        <update_rate>10</update_rate>
+        <visualize>0</visualize>
+        <always_on>1</always_on>
+        <lidar>
+          <scan>
+            <horizontal>
+              <samples>3</samples>
+              <resolution>1</resolution>
+              <min_angle>-0.0314159</min_angle>
+              <max_angle>0.0314159</max_angle>
+            </horizontal>
+            <vertical>
+              <samples>3</samples>
+              <resolution>1</resolution>
+              <min_angle>-0.0314159</min_angle>
+              <max_angle>0.0314159</max_angle>
+            </vertical>
+          </scan>
+          <range>
+            <min>0.1</min>
+            <max>12</max>
+            <resolution>0.01</resolution>
+          </range>
+          <noise>
+            <type>gaussian</type>
+            <mean>0</mean>
+            <stddev>0.015</stddev>
+          </noise>
+        </lidar>
+      </sensor>
     </link>
-    <joint name="rear_right_flipper_j" type="revolute">
-      <child>rear_right_flipper</child>
-      <parent>base_link</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>120</effort>
-          <velocity>1</velocity>
-        </limit>
+    <joint name="cliff_sensor_rear_right_j" type="fixed">
+      <child>cliff_sensor_rear_right</child>
+      <parent>rear_right_box</parent>
+      <axis>
         <dynamics>
           <spring_reference>0</spring_reference>
           <spring_stiffness>0</spring_stiffness>
         </dynamics>
+        <xyz>0 0 1</xyz>
         <use_parent_model_frame>0</use_parent_model_frame>
+        <limit>
+          <lower>-1e+16</lower>
+          <upper>1e+16</upper>
+        </limit>
       </axis>
       <physics>
         <ode>
-          <implicit_spring_damper>1</implicit_spring_damper>
-          <cfm_damping>1</cfm_damping>
           <limit>
             <cfm>0</cfm>
             <erp>0.2</erp>
@@ -3621,23 +2102,39 @@
         </ode>
       </physics>
     </joint>
-    <link name="rear_right_flipper_end_point_inflated">
-      <pose>-0.6375 -0.248 0 0 -0 0</pose>
+    <link name="mobilicom">
+      <pose>-0.25 0.12 0.1921 0 -0 1.5707963267948966</pose>
       <inertial>
-        <mass>1e-05</mass>
+        <pose>0 0 0.0135 0 -0 0</pose>
+        <mass>0.168</mass>
         <inertia>
-          <ixx>0.001</ixx>
-          <ixy>1e-06</ixy>
-          <ixz>1e-06</ixz>
-          <iyy>0.001</iyy>
-          <iyz>1e-06</iyz>
-          <izz>0.001</izz>
+          <ixx>8.687e-05</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.000150206</iyy>
+          <iyz>0</iyz>
+          <izz>0.000216664</izz>
         </inertia>
       </inertial>
+      <collision name="mobilicom_collision">
+        <pose>0 0 0.0135 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.1 0.074 0.027</size>
+          </box>
+        </geometry>
+      </collision>
+      <visual name="mobilicom_visual">
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_MARV_SENSOR_CONFIG_1/tip/files/meshes/mobilicom.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
     </link>
-    <joint name="rear_right_flipper_end_point_inflated_j" type="fixed">
-      <child>rear_right_flipper_end_point_inflated</child>
-      <parent>rear_right_flipper</parent>
+    <joint name="mobilicom_j" type="fixed">
+      <child>mobilicom</child>
+      <parent>rear_right_box</parent>
       <axis>
         <dynamics>
           <spring_reference>0</spring_reference>
@@ -3659,23 +2156,42 @@
         </ode>
       </physics>
     </joint>
-    <link name="rear_right_flipper_end_point">
-      <pose>-0.6375 -0.248 0 0 -0 0</pose>
+    <link name="mobilicom_antenna_l">
+      <pose>-0.275 0.17 0.2056 -0.5 -0 1.5707963267948966</pose>
       <inertial>
-        <mass>1e-05</mass>
+        <pose>0 0 0.085 0 -0 0</pose>
+        <mass>0.03</mass>
         <inertia>
-          <ixx>0.001</ixx>
-          <ixy>1e-06</ixy>
-          <ixz>1e-06</ixz>
-          <iyy>0.001</iyy>
-          <iyz>1e-06</iyz>
-          <izz>0.001</izz>
+          <ixx>7.3e-05</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>7.3e-05</iyy>
+          <iyz>0</iyz>
+          <izz>1.5e-06</izz>
         </inertia>
       </inertial>
+      <collision name="mobilicom_antenna_l_collision">
+        <pose>0 0 0.085 0 -0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.17</length>
+            <radius>0.01</radius>
+          </cylinder>
+        </geometry>
+      </collision>
+      <visual name="mobilicom_antenna_l_visual">
+        <pose>0 0 0.085 0 -0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.17</length>
+            <radius>0.01</radius>
+          </cylinder>
+        </geometry>
+      </visual>
     </link>
-    <joint name="rear_right_flipper_end_point_j" type="fixed">
-      <child>rear_right_flipper_end_point</child>
-      <parent>rear_right_flipper</parent>
+    <joint name="mobilicom_antenna_l_j" type="fixed">
+      <child>mobilicom_antenna_l</child>
+      <parent>mobilicom</parent>
       <axis>
         <dynamics>
           <spring_reference>0</spring_reference>
@@ -3697,425 +2213,284 @@
         </ode>
       </physics>
     </joint>
-    <link name="rear_right_flipper_wheel1">
-      <pose>-0.256 -0.248 0 0 -0 0</pose>
+    <link name="mobilicom_antenna_r">
+      <pose>-0.225 0.17 0.2056 0 -0 1.5707963267948966</pose>
       <inertial>
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <mass>0.457375</mass>
+        <pose>0 0 0.085 0 -0 0</pose>
+        <mass>0.03</mass>
         <inertia>
-          <ixx>0.0017663</ixx>
+          <ixx>7.3e-05</ixx>
           <ixy>0</ixy>
           <ixz>0</ixz>
-          <iyy>0.0017663</iyy>
+          <iyy>7.3e-05</iyy>
           <iyz>0</iyz>
-          <izz>0.0031038</izz>
+          <izz>1.5e-06</izz>
         </inertia>
       </inertial>
-      <collision name="rear_right_flipper_wheel1_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="mobilicom_antenna_r_collision">
+        <pose>0 0 0.085 0 -0 0</pose>
         <geometry>
           <cylinder>
-            <length>0.075</length>
-            <radius>0.1165</radius>
+            <length>0.17</length>
+            <radius>0.01</radius>
           </cylinder>
         </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-            <collide_bitmask>1</collide_bitmask>
-          </contact>
-          <friction>
-            <ode>
-              <mu>1</mu>
-              <mu2>150</mu2>
-              <slip1>0.000580373</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
       </collision>
-      <self_collide>1</self_collide>
-    </link>
-    <joint name="rear_right_flipper_wheel1_j" type="revolute">
-      <child>rear_right_flipper_wheel1</child>
-      <parent>rear_right_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>-1</effort>
-          <velocity>8.58369</velocity>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="rear_right_flipper_wheel2">
-      <pose>-0.299357 -0.248 0 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <mass>0.457375</mass>
-        <inertia>
-          <ixx>0.00162322</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.00162322</iyy>
-          <iyz>0</iyz>
-          <izz>0.00281766</izz>
-        </inertia>
-      </inertial>
-      <collision name="rear_right_flipper_wheel2_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <visual name="mobilicom_antenna_r_visual">
+        <pose>0 0 0.085 0 -0 0</pose>
         <geometry>
           <cylinder>
-            <length>0.075</length>
-            <radius>0.111</radius>
+            <length>0.17</length>
+            <radius>0.01</radius>
           </cylinder>
         </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-            <collide_bitmask>2</collide_bitmask>
-          </contact>
-          <friction>
-            <ode>
-              <mu>1</mu>
-              <mu2>150</mu2>
-              <slip1>0.000580373</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-      <self_collide>1</self_collide>
+      </visual>
     </link>
-    <joint name="rear_right_flipper_wheel2_j" type="revolute">
-      <child>rear_right_flipper_wheel2</child>
-      <parent>rear_right_flipper</parent>
+    <joint name="mobilicom_antenna_r_j" type="fixed">
+      <child>mobilicom_antenna_r</child>
+      <parent>mobilicom</parent>
       <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>-1</effort>
-          <velocity>9.00901</velocity>
-        </limit>
         <dynamics>
           <spring_reference>0</spring_reference>
           <spring_stiffness>0</spring_stiffness>
         </dynamics>
+        <xyz>0 0 1</xyz>
         <use_parent_model_frame>0</use_parent_model_frame>
+        <limit>
+          <lower>-1e+16</lower>
+          <upper>1e+16</upper>
+        </limit>
       </axis>
+      <physics>
+        <ode>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+        </ode>
+      </physics>
     </joint>
-    <link name="rear_right_flipper_wheel3">
-      <pose>-0.342714 -0.248 0 0 -0 0</pose>
+    <link name="thermocam">
+      <pose>0.26 -0.04 0.1921 0 -0 0</pose>
       <inertial>
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <mass>0.457375</mass>
+        <pose>0.0155 0 0 0 -0 0</pose>
+        <mass>0.024</mass>
         <inertia>
-          <ixx>0.00148707</ixx>
+          <ixx>1.764e-06</ixx>
           <ixy>0</ixy>
           <ixz>0</ixz>
-          <iyy>0.00148707</iyy>
+          <iyy>4.58e-06</iyy>
           <iyz>0</iyz>
-          <izz>0.00254535</izz>
+          <izz>4.58e-06</izz>
         </inertia>
       </inertial>
-      <collision name="rear_right_flipper_wheel3_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="thermocam_collision">
+        <pose>0.0155 0 0 0 -0 0</pose>
         <geometry>
-          <cylinder>
-            <length>0.075</length>
-            <radius>0.1055</radius>
-          </cylinder>
+          <box>
+            <size>0.043 0.021 0.021</size>
+          </box>
         </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-            <collide_bitmask>4</collide_bitmask>
-          </contact>
-          <friction>
-            <ode>
-              <mu>1</mu>
-              <mu2>150</mu2>
-              <slip1>0.000580373</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
       </collision>
-      <self_collide>1</self_collide>
+      <visual name="thermocam_visual">
+        <pose>0 0 0.0105 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_MARV_SENSOR_CONFIG_1/tip/files/meshes/flir_boson.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <sensor name="thermal_camera" type="thermal_camera">
+        <pose>0.03 0 0 0 -0 0</pose>
+        <always_on>1</always_on>
+        <update_rate>8.6</update_rate>
+        <visualize>0</visualize>
+        <camera name="thermal_camera">
+          <horizontal_fov>1.6057</horizontal_fov>
+          <image>
+            <width>320</width>
+            <height>256</height>
+            <format>L16</format>
+          </image>
+          <clip>
+            <near>0.2</near>
+            <far>50</far>
+          </clip>
+        </camera>
+        <plugin name="ignition::gazebo::systems::ThermalSensor" filename="ignition-gazebo-thermal-sensor-system">
+          <min_temp>223.15</min_temp>
+          <max_temp>453.15</max_temp>
+          <resolution>0.06</resolution>
+        </plugin>
+      </sensor>
     </link>
-    <joint name="rear_right_flipper_wheel3_j" type="revolute">
-      <child>rear_right_flipper_wheel3</child>
-      <parent>rear_right_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>-1</effort>
-          <velocity>9.47867</velocity>
-        </limit>
+    <joint name="thermocam_j" type="fixed">
+      <child>thermocam</child>
+      <parent>rear_right_box</parent>
+      <axis>
         <dynamics>
           <spring_reference>0</spring_reference>
           <spring_stiffness>0</spring_stiffness>
         </dynamics>
+        <xyz>0 0 1</xyz>
         <use_parent_model_frame>0</use_parent_model_frame>
+        <limit>
+          <lower>-1e+16</lower>
+          <upper>1e+16</upper>
+        </limit>
       </axis>
+      <physics>
+        <ode>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+        </ode>
+      </physics>
     </joint>
-    <link name="rear_right_flipper_wheel4">
-      <pose>-0.386071 -0.248 0 0 -0 0</pose>
+    <link name="rear_right_flipper">
+      <pose>-0.256 -0.248 0 0 -0 0</pose>
       <inertial>
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <mass>0.457375</mass>
+        <pose>-0.08 0 0 0 -0 0</pose>
+        <mass>3.659</mass>
         <inertia>
-          <ixx>0.00135783</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.00135783</iyy>
-          <iyz>0</iyz>
-          <izz>0.00228687</izz>
+          <ixx>0.0017491</ixx>
+          <ixy>2.8512e-07</ixy>
+          <ixz>0.0018277</ixz>
+          <iyy>0.012277</iyy>
+          <iyz>-3.6288e-07</iyz>
+          <izz>0.010941</izz>
         </inertia>
       </inertial>
-      <collision name="rear_right_flipper_wheel4_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="rear_right_flipper_collision">
+        <pose>-0.15175 0 0 0 -0 0</pose>
         <geometry>
-          <cylinder>
-            <length>0.075</length>
-            <radius>0.1</radius>
-          </cylinder>
+          <box>
+            <size>0.3035 0.075 0.078</size>
+          </box>
         </geometry>
         <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-            <collide_bitmask>8</collide_bitmask>
-          </contact>
           <friction>
             <ode>
               <mu>1</mu>
               <mu2>150</mu2>
-              <slip1>0.000580373</slip1>
-              <slip2>0</slip2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
-      <self_collide>1</self_collide>
-    </link>
-    <joint name="rear_right_flipper_wheel4_j" type="revolute">
-      <child>rear_right_flipper_wheel4</child>
-      <parent>rear_right_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>-1</effort>
-          <velocity>10</velocity>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="rear_right_flipper_wheel5">
-      <pose>-0.429429 -0.248 0 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <mass>0.457375</mass>
-        <inertia>
-          <ixx>0.00123551</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.00123551</iyy>
-          <iyz>0</iyz>
-          <izz>0.00204224</izz>
-        </inertia>
-      </inertial>
-      <collision name="rear_right_flipper_wheel5_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="rear_right_flipper_collision_1">
+        <pose>-0.15175 0 0.05825 0 -0.126179 0</pose>
         <geometry>
-          <cylinder>
-            <length>0.075</length>
-            <radius>0.0945</radius>
-          </cylinder>
+          <box>
+            <size>0.3035 0.075 0.078</size>
+          </box>
         </geometry>
         <surface>
-          <contact>
+          <friction>
             <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
+              <mu>1</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
             </ode>
-            <collide_bitmask>16</collide_bitmask>
-          </contact>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="rear_right_flipper_collision_2">
+        <pose>-0.15175 0 -0.05825 0 0.126179 0</pose>
+        <geometry>
+          <box>
+            <size>0.3035 0.075 0.078</size>
+          </box>
+        </geometry>
+        <surface>
           <friction>
             <ode>
               <mu>1</mu>
               <mu2>150</mu2>
-              <slip1>0.000580373</slip1>
-              <slip2>0</slip2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
-      <self_collide>1</self_collide>
-    </link>
-    <joint name="rear_right_flipper_wheel5_j" type="revolute">
-      <child>rear_right_flipper_wheel5</child>
-      <parent>rear_right_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>-1</effort>
-          <velocity>10.582</velocity>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="rear_right_flipper_wheel6">
-      <pose>-0.472786 -0.248 0 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <mass>0.457375</mass>
-        <inertia>
-          <ixx>0.00112011</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.00112011</iyy>
-          <iyz>0</iyz>
-          <izz>0.00181143</izz>
-        </inertia>
-      </inertial>
-      <collision name="rear_right_flipper_wheel6_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="rear_right_flipper_collision_3">
+        <pose>-0.3035 0 0 1.5707963267948966 -0 0</pose>
         <geometry>
           <cylinder>
             <length>0.075</length>
-            <radius>0.089</radius>
+            <radius>0.078</radius>
           </cylinder>
         </geometry>
         <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-            <collide_bitmask>32</collide_bitmask>
-          </contact>
           <friction>
             <ode>
               <mu>1</mu>
               <mu2>150</mu2>
-              <slip1>0.000580373</slip1>
-              <slip2>0</slip2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
-      <self_collide>1</self_collide>
-    </link>
-    <joint name="rear_right_flipper_wheel6_j" type="revolute">
-      <child>rear_right_flipper_wheel6</child>
-      <parent>rear_right_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>-1</effort>
-          <velocity>11.236</velocity>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="rear_right_flipper_wheel7">
-      <pose>-0.516143 -0.248 0 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <mass>0.457375</mass>
-        <inertia>
-          <ixx>0.00101163</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.00101163</iyy>
-          <iyz>0</iyz>
-          <izz>0.00159447</izz>
-        </inertia>
-      </inertial>
-      <collision name="rear_right_flipper_wheel7_collision_collision">
+      <collision name="rear_right_flipper_collision_4">
         <pose>0 0 0 1.5707963267948966 -0 0</pose>
         <geometry>
           <cylinder>
             <length>0.075</length>
-            <radius>0.0835</radius>
+            <radius>0.1165</radius>
           </cylinder>
         </geometry>
         <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-            <collide_bitmask>64</collide_bitmask>
-          </contact>
           <friction>
             <ode>
               <mu>1</mu>
               <mu2>150</mu2>
-              <slip1>0.000580373</slip1>
-              <slip2>0</slip2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
+      <visual name="rear_right_flipper_visual">
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_MARV_SENSOR_CONFIG_1/tip/files/meshes/big_wheel.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <visual name="rear_right_flipper_visual_1">
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_MARV_SENSOR_CONFIG_1/tip/files/meshes/flipper_arm.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <visual name="rear_right_flipper_visual_2">
+        <pose>0 0 0 3.1415926535897931 -0 3.1415926535897931</pose>
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_MARV_SENSOR_CONFIG_1/tip/files/meshes/belt.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <visual name="rear_right_flipper_visual_3">
+        <pose>-0.3035 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_MARV_SENSOR_CONFIG_1/tip/files/meshes/small_wheel.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
       <self_collide>1</self_collide>
     </link>
-    <joint name="rear_right_flipper_wheel7_j" type="revolute">
-      <child>rear_right_flipper_wheel7</child>
-      <parent>rear_right_flipper</parent>
+    <joint name="rear_right_flipper_j" type="revolute">
+      <child>rear_right_flipper</child>
+      <parent>base_link</parent>
       <axis>
         <xyz>0 1 0</xyz>
         <limit>
           <lower>-1e+16</lower>
           <upper>1e+16</upper>
-          <effort>-1</effort>
-          <velocity>11.976</velocity>
+          <effort>120</effort>
+          <velocity>1</velocity>
         </limit>
         <dynamics>
           <spring_reference>0</spring_reference>
@@ -4123,67 +2498,92 @@
         </dynamics>
         <use_parent_model_frame>0</use_parent_model_frame>
       </axis>
+      <physics>
+        <ode>
+          <implicit_spring_damper>1</implicit_spring_damper>
+          <cfm_damping>1</cfm_damping>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+        </ode>
+      </physics>
     </joint>
-    <link name="rear_right_flipper_wheel8">
-      <pose>-0.5595 -0.248 0 0 -0 0</pose>
+    <link name="rear_right_flipper_end_point_inflated">
+      <pose>-0.6375 -0.248 0 0 -0 0</pose>
       <inertial>
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <mass>0.457375</mass>
+        <mass>1e-05</mass>
         <inertia>
-          <ixx>0.000910062</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.000910062</iyy>
-          <iyz>0</iyz>
-          <izz>0.00139133</izz>
+          <ixx>0.001</ixx>
+          <ixy>1e-06</ixy>
+          <ixz>1e-06</ixz>
+          <iyy>0.001</iyy>
+          <iyz>1e-06</iyz>
+          <izz>0.001</izz>
         </inertia>
       </inertial>
-      <collision name="rear_right_flipper_wheel8_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.075</length>
-            <radius>0.078</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-            <collide_bitmask>128</collide_bitmask>
-          </contact>
-          <friction>
-            <ode>
-              <mu>1</mu>
-              <mu2>150</mu2>
-              <slip1>0.000580373</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-      <self_collide>1</self_collide>
     </link>
-    <joint name="rear_right_flipper_wheel8_j" type="revolute">
-      <child>rear_right_flipper_wheel8</child>
+    <joint name="rear_right_flipper_end_point_inflated_j" type="fixed">
+      <child>rear_right_flipper_end_point_inflated</child>
       <parent>rear_right_flipper</parent>
       <axis>
-        <xyz>0 1 0</xyz>
+        <dynamics>
+          <spring_reference>0</spring_reference>
+          <spring_stiffness>0</spring_stiffness>
+        </dynamics>
+        <xyz>0 0 1</xyz>
+        <use_parent_model_frame>0</use_parent_model_frame>
         <limit>
           <lower>-1e+16</lower>
           <upper>1e+16</upper>
-          <effort>-1</effort>
-          <velocity>12.8205</velocity>
         </limit>
+      </axis>
+      <physics>
+        <ode>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+        </ode>
+      </physics>
+    </joint>
+    <link name="rear_right_flipper_end_point">
+      <pose>-0.6375 -0.248 0 0 -0 0</pose>
+      <inertial>
+        <mass>1e-05</mass>
+        <inertia>
+          <ixx>0.001</ixx>
+          <ixy>1e-06</ixy>
+          <ixz>1e-06</ixz>
+          <iyy>0.001</iyy>
+          <iyz>1e-06</iyz>
+          <izz>0.001</izz>
+        </inertia>
+      </inertial>
+    </link>
+    <joint name="rear_right_flipper_end_point_j" type="fixed">
+      <child>rear_right_flipper_end_point</child>
+      <parent>rear_right_flipper</parent>
+      <axis>
         <dynamics>
           <spring_reference>0</spring_reference>
           <spring_stiffness>0</spring_stiffness>
         </dynamics>
+        <xyz>0 0 1</xyz>
         <use_parent_model_frame>0</use_parent_model_frame>
+        <limit>
+          <lower>-1e+16</lower>
+          <upper>1e+16</upper>
+        </limit>
       </axis>
+      <physics>
+        <ode>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+        </ode>
+      </physics>
     </joint>
     <link name="rear_right_motor">
       <inertial>
@@ -4883,200 +3283,7 @@
       <joint_name>rear_left_flipper_j</joint_name>
       <joint_name>rear_right_flipper_j</joint_name>
     </plugin>
-    <plugin name="ignition::gazebo::systems::WheelSlip" filename="ignition-gazebo-wheel-slip-system">
-      <wheel link_name="front_left_flipper_wheel8">
-        <slip_compliance_lateral>0.0485</slip_compliance_lateral>
-        <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-        <wheel_normal_force>7.53825</wheel_normal_force>
-        <wheel_radius>0.078</wheel_radius>
-      </wheel>
-      <wheel link_name="front_left_flipper_wheel7">
-        <slip_compliance_lateral>0.0485</slip_compliance_lateral>
-        <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-        <wheel_normal_force>7.53825</wheel_normal_force>
-        <wheel_radius>0.0835</wheel_radius>
-      </wheel>
-      <wheel link_name="front_left_flipper_wheel6">
-        <slip_compliance_lateral>0.0485</slip_compliance_lateral>
-        <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-        <wheel_normal_force>7.53825</wheel_normal_force>
-        <wheel_radius>0.089</wheel_radius>
-      </wheel>
-      <wheel link_name="front_left_flipper_wheel5">
-        <slip_compliance_lateral>0.0485</slip_compliance_lateral>
-        <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-        <wheel_normal_force>7.53825</wheel_normal_force>
-        <wheel_radius>0.0945</wheel_radius>
-      </wheel>
-      <wheel link_name="front_left_flipper_wheel4">
-        <slip_compliance_lateral>0.0485</slip_compliance_lateral>
-        <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-        <wheel_normal_force>7.53825</wheel_normal_force>
-        <wheel_radius>0.1</wheel_radius>
-      </wheel>
-      <wheel link_name="front_left_flipper_wheel3">
-        <slip_compliance_lateral>0.0485</slip_compliance_lateral>
-        <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-        <wheel_normal_force>7.53825</wheel_normal_force>
-        <wheel_radius>0.1055</wheel_radius>
-      </wheel>
-      <wheel link_name="front_left_flipper_wheel2">
-        <slip_compliance_lateral>0.0485</slip_compliance_lateral>
-        <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-        <wheel_normal_force>7.53825</wheel_normal_force>
-        <wheel_radius>0.111</wheel_radius>
-      </wheel>
-      <wheel link_name="front_left_flipper_wheel1">
-        <slip_compliance_lateral>0.0485</slip_compliance_lateral>
-        <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-        <wheel_normal_force>7.53825</wheel_normal_force>
-        <wheel_radius>0.1165</wheel_radius>
-      </wheel>
-      <wheel link_name="front_right_flipper_wheel8">
-        <slip_compliance_lateral>0.0485</slip_compliance_lateral>
-        <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-        <wheel_normal_force>7.53825</wheel_normal_force>
-        <wheel_radius>0.078</wheel_radius>
-      </wheel>
-      <wheel link_name="front_right_flipper_wheel7">
-        <slip_compliance_lateral>0.0485</slip_compliance_lateral>
-        <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-        <wheel_normal_force>7.53825</wheel_normal_force>
-        <wheel_radius>0.0835</wheel_radius>
-      </wheel>
-      <wheel link_name="front_right_flipper_wheel6">
-        <slip_compliance_lateral>0.0485</slip_compliance_lateral>
-        <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-        <wheel_normal_force>7.53825</wheel_normal_force>
-        <wheel_radius>0.089</wheel_radius>
-      </wheel>
-      <wheel link_name="front_right_flipper_wheel5">
-        <slip_compliance_lateral>0.0485</slip_compliance_lateral>
-        <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-        <wheel_normal_force>7.53825</wheel_normal_force>
-        <wheel_radius>0.0945</wheel_radius>
-      </wheel>
-      <wheel link_name="front_right_flipper_wheel4">
-        <slip_compliance_lateral>0.0485</slip_compliance_lateral>
-        <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-        <wheel_normal_force>7.53825</wheel_normal_force>
-        <wheel_radius>0.1</wheel_radius>
-      </wheel>
-      <wheel link_name="front_right_flipper_wheel3">
-        <slip_compliance_lateral>0.0485</slip_compliance_lateral>
-        <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-        <wheel_normal_force>7.53825</wheel_normal_force>
-        <wheel_radius>0.1055</wheel_radius>
-      </wheel>
-      <wheel link_name="front_right_flipper_wheel2">
-        <slip_compliance_lateral>0.0485</slip_compliance_lateral>
-        <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-        <wheel_normal_force>7.53825</wheel_normal_force>
-        <wheel_radius>0.111</wheel_radius>
-      </wheel>
-      <wheel link_name="front_right_flipper_wheel1">
-        <slip_compliance_lateral>0.0485</slip_compliance_lateral>
-        <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-        <wheel_normal_force>7.53825</wheel_normal_force>
-        <wheel_radius>0.1165</wheel_radius>
-      </wheel>
-      <wheel link_name="rear_left_flipper_wheel8">
-        <slip_compliance_lateral>0.0485</slip_compliance_lateral>
-        <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-        <wheel_normal_force>7.53825</wheel_normal_force>
-        <wheel_radius>0.078</wheel_radius>
-      </wheel>
-      <wheel link_name="rear_left_flipper_wheel7">
-        <slip_compliance_lateral>0.0485</slip_compliance_lateral>
-        <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-        <wheel_normal_force>7.53825</wheel_normal_force>
-        <wheel_radius>0.0835</wheel_radius>
-      </wheel>
-      <wheel link_name="rear_left_flipper_wheel6">
-        <slip_compliance_lateral>0.0485</slip_compliance_lateral>
-        <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-        <wheel_normal_force>7.53825</wheel_normal_force>
-        <wheel_radius>0.089</wheel_radius>
-      </wheel>
-      <wheel link_name="rear_left_flipper_wheel5">
-        <slip_compliance_lateral>0.0485</slip_compliance_lateral>
-        <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-        <wheel_normal_force>7.53825</wheel_normal_force>
-        <wheel_radius>0.0945</wheel_radius>
-      </wheel>
-      <wheel link_name="rear_left_flipper_wheel4">
-        <slip_compliance_lateral>0.0485</slip_compliance_lateral>
-        <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-        <wheel_normal_force>7.53825</wheel_normal_force>
-        <wheel_radius>0.1</wheel_radius>
-      </wheel>
-      <wheel link_name="rear_left_flipper_wheel3">
-        <slip_compliance_lateral>0.0485</slip_compliance_lateral>
-        <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-        <wheel_normal_force>7.53825</wheel_normal_force>
-        <wheel_radius>0.1055</wheel_radius>
-      </wheel>
-      <wheel link_name="rear_left_flipper_wheel2">
-        <slip_compliance_lateral>0.0485</slip_compliance_lateral>
-        <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-        <wheel_normal_force>7.53825</wheel_normal_force>
-        <wheel_radius>0.111</wheel_radius>
-      </wheel>
-      <wheel link_name="rear_left_flipper_wheel1">
-        <slip_compliance_lateral>0.0485</slip_compliance_lateral>
-        <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-        <wheel_normal_force>7.53825</wheel_normal_force>
-        <wheel_radius>0.1165</wheel_radius>
-      </wheel>
-      <wheel link_name="rear_right_flipper_wheel8">
-        <slip_compliance_lateral>0.0485</slip_compliance_lateral>
-        <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-        <wheel_normal_force>7.53825</wheel_normal_force>
-        <wheel_radius>0.078</wheel_radius>
-      </wheel>
-      <wheel link_name="rear_right_flipper_wheel7">
-        <slip_compliance_lateral>0.0485</slip_compliance_lateral>
-        <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-        <wheel_normal_force>7.53825</wheel_normal_force>
-        <wheel_radius>0.0835</wheel_radius>
-      </wheel>
-      <wheel link_name="rear_right_flipper_wheel6">
-        <slip_compliance_lateral>0.0485</slip_compliance_lateral>
-        <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-        <wheel_normal_force>7.53825</wheel_normal_force>
-        <wheel_radius>0.089</wheel_radius>
-      </wheel>
-      <wheel link_name="rear_right_flipper_wheel5">
-        <slip_compliance_lateral>0.0485</slip_compliance_lateral>
-        <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-        <wheel_normal_force>7.53825</wheel_normal_force>
-        <wheel_radius>0.0945</wheel_radius>
-      </wheel>
-      <wheel link_name="rear_right_flipper_wheel4">
-        <slip_compliance_lateral>0.0485</slip_compliance_lateral>
-        <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-        <wheel_normal_force>7.53825</wheel_normal_force>
-        <wheel_radius>0.1</wheel_radius>
-      </wheel>
-      <wheel link_name="rear_right_flipper_wheel3">
-        <slip_compliance_lateral>0.0485</slip_compliance_lateral>
-        <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-        <wheel_normal_force>7.53825</wheel_normal_force>
-        <wheel_radius>0.1055</wheel_radius>
-      </wheel>
-      <wheel link_name="rear_right_flipper_wheel2">
-        <slip_compliance_lateral>0.0485</slip_compliance_lateral>
-        <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-        <wheel_normal_force>7.53825</wheel_normal_force>
-        <wheel_radius>0.111</wheel_radius>
-      </wheel>
-      <wheel link_name="rear_right_flipper_wheel1">
-        <slip_compliance_lateral>0.0485</slip_compliance_lateral>
-        <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-        <wheel_normal_force>7.53825</wheel_normal_force>
-        <wheel_radius>0.1165</wheel_radius>
-      </wheel>
-    </plugin>
+    <plugin name="ignition::gazebo::systems::WheelSlip" filename="ignition-gazebo-wheel-slip-system"/>
   </model>
 </sdf>
 
diff --git a/submitted_models/ctu_cras_norlab_marv_sensor_config_4/model.sdf b/submitted_models/ctu_cras_norlab_marv_sensor_config_4/model.sdf
index 9eb58e59..01a4dd88 100644
--- a/submitted_models/ctu_cras_norlab_marv_sensor_config_4/model.sdf
+++ b/submitted_models/ctu_cras_norlab_marv_sensor_config_4/model.sdf
@@ -468,16 +468,104 @@
     <link name="front_left_flipper">
       <pose>0.256 0.248 0 0 -0 0</pose>
       <inertial>
-        <mass>1e-05</mass>
+        <pose>0.08 0 0 0 -0 0</pose>
+        <mass>3.659</mass>
         <inertia>
-          <ixx>0.001</ixx>
-          <ixy>1e-06</ixy>
-          <ixz>1e-06</ixz>
-          <iyy>0.001</iyy>
-          <iyz>1e-06</iyz>
-          <izz>0.001</izz>
+          <ixx>0.0017491</ixx>
+          <ixy>2.8512e-07</ixy>
+          <ixz>0.0018277</ixz>
+          <iyy>0.012277</iyy>
+          <iyz>-3.6288e-07</iyz>
+          <izz>0.010941</izz>
         </inertia>
       </inertial>
+      <collision name="front_left_flipper_collision">
+        <pose>0.15175 0 0 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.3035 0.075 0.078</size>
+          </box>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>1</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="front_left_flipper_collision_1">
+        <pose>0.15175 0 0.05825 0 0.126179 0</pose>
+        <geometry>
+          <box>
+            <size>0.3035 0.075 0.078</size>
+          </box>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>1</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="front_left_flipper_collision_2">
+        <pose>0.15175 0 -0.05825 0 -0.126179 0</pose>
+        <geometry>
+          <box>
+            <size>0.3035 0.075 0.078</size>
+          </box>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>1</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="front_left_flipper_collision_3">
+        <pose>0.3035 0 0 1.5707963267948966 -0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.075</length>
+            <radius>0.078</radius>
+          </cylinder>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>1</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="front_left_flipper_collision_4">
+        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.075</length>
+            <radius>0.1165</radius>
+          </cylinder>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>1</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
       <visual name="front_left_flipper_visual">
         <geometry>
           <mesh>
@@ -614,545 +702,145 @@
         </ode>
       </physics>
     </joint>
-    <link name="front_left_flipper_wheel1">
-      <pose>0.256 0.248 0 0 -0 0</pose>
+    <link name="front_left_motor">
       <inertial>
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <mass>0.457375</mass>
+        <pose>0.22 -0.09 0.02 0 -0 0</pose>
+        <mass>4.06</mass>
         <inertia>
-          <ixx>0.0017663</ixx>
+          <ixx>0.0151492</ixx>
           <ixy>0</ixy>
           <ixz>0</ixz>
-          <iyy>0.0017663</iyy>
+          <iyy>0.0129839</iyy>
           <iyz>0</iyz>
-          <izz>0.0031038</izz>
+          <izz>0.0173903</izz>
         </inertia>
       </inertial>
-      <collision name="front_left_flipper_wheel1_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.075</length>
-            <radius>0.1165</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-            <collide_bitmask>1</collide_bitmask>
-          </contact>
-          <friction>
-            <ode>
-              <mu>1</mu>
-              <mu2>150</mu2>
-              <slip1>0.000575601</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-      <self_collide>1</self_collide>
     </link>
-    <joint name="front_left_flipper_wheel1_j" type="revolute">
-      <child>front_left_flipper_wheel1</child>
-      <parent>front_left_flipper</parent>
+    <joint name="front_left_motor_j" type="fixed">
+      <child>front_left_motor</child>
+      <parent>base_link</parent>
       <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>-1</effort>
-          <velocity>8.58369</velocity>
-        </limit>
         <dynamics>
           <spring_reference>0</spring_reference>
           <spring_stiffness>0</spring_stiffness>
         </dynamics>
+        <xyz>0 0 1</xyz>
         <use_parent_model_frame>0</use_parent_model_frame>
+        <limit>
+          <lower>-1e+16</lower>
+          <upper>1e+16</upper>
+        </limit>
       </axis>
+      <physics>
+        <ode>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+        </ode>
+      </physics>
     </joint>
-    <link name="front_left_flipper_wheel2">
-      <pose>0.299357 0.248 0 0 -0 0</pose>
+    <link name="front_right_flipper">
+      <pose>0.256 -0.248 0 3.1415926535897931 -0 -3.1415926535897931</pose>
       <inertial>
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <mass>0.457375</mass>
+        <pose>-0.08 0 0 0 -0 0</pose>
+        <mass>3.659</mass>
         <inertia>
-          <ixx>0.00162322</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.00162322</iyy>
-          <iyz>0</iyz>
-          <izz>0.00281766</izz>
+          <ixx>0.0017491</ixx>
+          <ixy>2.8512e-07</ixy>
+          <ixz>0.0018277</ixz>
+          <iyy>0.012277</iyy>
+          <iyz>-3.6288e-07</iyz>
+          <izz>0.010941</izz>
         </inertia>
       </inertial>
-      <collision name="front_left_flipper_wheel2_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="front_right_flipper_collision">
+        <pose>-0.15175 0 0 0 -0 0</pose>
         <geometry>
-          <cylinder>
-            <length>0.075</length>
-            <radius>0.111</radius>
-          </cylinder>
+          <box>
+            <size>0.3035 0.075 0.078</size>
+          </box>
         </geometry>
         <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-            <collide_bitmask>2</collide_bitmask>
-          </contact>
           <friction>
             <ode>
               <mu>1</mu>
               <mu2>150</mu2>
-              <slip1>0.000575601</slip1>
-              <slip2>0</slip2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
-      <self_collide>1</self_collide>
-    </link>
-    <joint name="front_left_flipper_wheel2_j" type="revolute">
-      <child>front_left_flipper_wheel2</child>
-      <parent>front_left_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>-1</effort>
-          <velocity>9.00901</velocity>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="front_left_flipper_wheel3">
-      <pose>0.342714 0.248 0 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <mass>0.457375</mass>
-        <inertia>
-          <ixx>0.00148707</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.00148707</iyy>
-          <iyz>0</iyz>
-          <izz>0.00254535</izz>
-        </inertia>
-      </inertial>
-      <collision name="front_left_flipper_wheel3_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="front_right_flipper_collision_1">
+        <pose>-0.15175 0 0.05825 0 -0.126179 0</pose>
         <geometry>
-          <cylinder>
-            <length>0.075</length>
-            <radius>0.1055</radius>
-          </cylinder>
+          <box>
+            <size>0.3035 0.075 0.078</size>
+          </box>
         </geometry>
         <surface>
-          <contact>
+          <friction>
             <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
+              <mu>1</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
             </ode>
-            <collide_bitmask>4</collide_bitmask>
-          </contact>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="front_right_flipper_collision_2">
+        <pose>-0.15175 0 -0.05825 0 0.126179 0</pose>
+        <geometry>
+          <box>
+            <size>0.3035 0.075 0.078</size>
+          </box>
+        </geometry>
+        <surface>
           <friction>
             <ode>
               <mu>1</mu>
               <mu2>150</mu2>
-              <slip1>0.000575601</slip1>
-              <slip2>0</slip2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
-      <self_collide>1</self_collide>
-    </link>
-    <joint name="front_left_flipper_wheel3_j" type="revolute">
-      <child>front_left_flipper_wheel3</child>
-      <parent>front_left_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>-1</effort>
-          <velocity>9.47867</velocity>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="front_left_flipper_wheel4">
-      <pose>0.386071 0.248 0 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <mass>0.457375</mass>
-        <inertia>
-          <ixx>0.00135783</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.00135783</iyy>
-          <iyz>0</iyz>
-          <izz>0.00228687</izz>
-        </inertia>
-      </inertial>
-      <collision name="front_left_flipper_wheel4_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="front_right_flipper_collision_3">
+        <pose>-0.3035 0 0 1.5707963267948966 -0 0</pose>
         <geometry>
           <cylinder>
             <length>0.075</length>
-            <radius>0.1</radius>
+            <radius>0.078</radius>
           </cylinder>
         </geometry>
         <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-            <collide_bitmask>8</collide_bitmask>
-          </contact>
           <friction>
             <ode>
               <mu>1</mu>
               <mu2>150</mu2>
-              <slip1>0.000575601</slip1>
-              <slip2>0</slip2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
-      <self_collide>1</self_collide>
-    </link>
-    <joint name="front_left_flipper_wheel4_j" type="revolute">
-      <child>front_left_flipper_wheel4</child>
-      <parent>front_left_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>-1</effort>
-          <velocity>10</velocity>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="front_left_flipper_wheel5">
-      <pose>0.429429 0.248 0 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <mass>0.457375</mass>
-        <inertia>
-          <ixx>0.00123551</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.00123551</iyy>
-          <iyz>0</iyz>
-          <izz>0.00204224</izz>
-        </inertia>
-      </inertial>
-      <collision name="front_left_flipper_wheel5_collision_collision">
+      <collision name="front_right_flipper_collision_4">
         <pose>0 0 0 1.5707963267948966 -0 0</pose>
         <geometry>
           <cylinder>
             <length>0.075</length>
-            <radius>0.0945</radius>
+            <radius>0.1165</radius>
           </cylinder>
         </geometry>
         <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-            <collide_bitmask>16</collide_bitmask>
-          </contact>
           <friction>
             <ode>
               <mu>1</mu>
               <mu2>150</mu2>
-              <slip1>0.000575601</slip1>
-              <slip2>0</slip2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
-      <self_collide>1</self_collide>
-    </link>
-    <joint name="front_left_flipper_wheel5_j" type="revolute">
-      <child>front_left_flipper_wheel5</child>
-      <parent>front_left_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>-1</effort>
-          <velocity>10.582</velocity>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="front_left_flipper_wheel6">
-      <pose>0.472786 0.248 0 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <mass>0.457375</mass>
-        <inertia>
-          <ixx>0.00112011</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.00112011</iyy>
-          <iyz>0</iyz>
-          <izz>0.00181143</izz>
-        </inertia>
-      </inertial>
-      <collision name="front_left_flipper_wheel6_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.075</length>
-            <radius>0.089</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-            <collide_bitmask>32</collide_bitmask>
-          </contact>
-          <friction>
-            <ode>
-              <mu>1</mu>
-              <mu2>150</mu2>
-              <slip1>0.000575601</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-      <self_collide>1</self_collide>
-    </link>
-    <joint name="front_left_flipper_wheel6_j" type="revolute">
-      <child>front_left_flipper_wheel6</child>
-      <parent>front_left_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>-1</effort>
-          <velocity>11.236</velocity>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="front_left_flipper_wheel7">
-      <pose>0.516143 0.248 0 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <mass>0.457375</mass>
-        <inertia>
-          <ixx>0.00101163</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.00101163</iyy>
-          <iyz>0</iyz>
-          <izz>0.00159447</izz>
-        </inertia>
-      </inertial>
-      <collision name="front_left_flipper_wheel7_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.075</length>
-            <radius>0.0835</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-            <collide_bitmask>64</collide_bitmask>
-          </contact>
-          <friction>
-            <ode>
-              <mu>1</mu>
-              <mu2>150</mu2>
-              <slip1>0.000575601</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-      <self_collide>1</self_collide>
-    </link>
-    <joint name="front_left_flipper_wheel7_j" type="revolute">
-      <child>front_left_flipper_wheel7</child>
-      <parent>front_left_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>-1</effort>
-          <velocity>11.976</velocity>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="front_left_flipper_wheel8">
-      <pose>0.5595 0.248 0 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <mass>0.457375</mass>
-        <inertia>
-          <ixx>0.000910062</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.000910062</iyy>
-          <iyz>0</iyz>
-          <izz>0.00139133</izz>
-        </inertia>
-      </inertial>
-      <collision name="front_left_flipper_wheel8_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.075</length>
-            <radius>0.078</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-            <collide_bitmask>128</collide_bitmask>
-          </contact>
-          <friction>
-            <ode>
-              <mu>1</mu>
-              <mu2>150</mu2>
-              <slip1>0.000575601</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-      <self_collide>1</self_collide>
-    </link>
-    <joint name="front_left_flipper_wheel8_j" type="revolute">
-      <child>front_left_flipper_wheel8</child>
-      <parent>front_left_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>-1</effort>
-          <velocity>12.8205</velocity>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="front_left_motor">
-      <inertial>
-        <pose>0.22 -0.09 0.02 0 -0 0</pose>
-        <mass>4.06</mass>
-        <inertia>
-          <ixx>0.0151492</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.0129839</iyy>
-          <iyz>0</iyz>
-          <izz>0.0173903</izz>
-        </inertia>
-      </inertial>
-    </link>
-    <joint name="front_left_motor_j" type="fixed">
-      <child>front_left_motor</child>
-      <parent>base_link</parent>
-      <axis>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <xyz>0 0 1</xyz>
-        <use_parent_model_frame>0</use_parent_model_frame>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-      </axis>
-      <physics>
-        <ode>
-          <limit>
-            <cfm>0</cfm>
-            <erp>0.2</erp>
-          </limit>
-        </ode>
-      </physics>
-    </joint>
-    <link name="front_right_flipper">
-      <pose>0.256 -0.248 0 3.1415926535897931 -0 -3.1415926535897931</pose>
-      <inertial>
-        <mass>1e-05</mass>
-        <inertia>
-          <ixx>0.001</ixx>
-          <ixy>1e-06</ixy>
-          <ixz>1e-06</ixz>
-          <iyy>0.001</iyy>
-          <iyz>1e-06</iyz>
-          <izz>0.001</izz>
-        </inertia>
-      </inertial>
       <visual name="front_right_flipper_visual">
         <geometry>
           <mesh>
@@ -1289,1443 +977,137 @@
         </ode>
       </physics>
     </joint>
-    <link name="front_right_flipper_wheel1">
-      <pose>0.256 -0.248 0 3.1415926535897931 -0 3.1415926535897931</pose>
+    <link name="front_right_motor">
       <inertial>
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <mass>0.457375</mass>
+        <pose>0.22 0.09 0.02 0 -0 0</pose>
+        <mass>4.06</mass>
         <inertia>
-          <ixx>0.0017663</ixx>
+          <ixx>0.0151492</ixx>
           <ixy>0</ixy>
           <ixz>0</ixz>
-          <iyy>0.0017663</iyy>
+          <iyy>0.0129839</iyy>
           <iyz>0</iyz>
-          <izz>0.0031038</izz>
+          <izz>0.0173903</izz>
         </inertia>
       </inertial>
-      <collision name="front_right_flipper_wheel1_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.075</length>
-            <radius>0.1165</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-            <collide_bitmask>1</collide_bitmask>
-          </contact>
-          <friction>
-            <ode>
-              <mu>1</mu>
-              <mu2>150</mu2>
-              <slip1>0.000575601</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-      <self_collide>1</self_collide>
     </link>
-    <joint name="front_right_flipper_wheel1_j" type="revolute">
-      <child>front_right_flipper_wheel1</child>
-      <parent>front_right_flipper</parent>
+    <joint name="front_right_motor_j" type="fixed">
+      <child>front_right_motor</child>
+      <parent>base_link</parent>
       <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>-1</effort>
-          <velocity>8.58369</velocity>
-        </limit>
         <dynamics>
           <spring_reference>0</spring_reference>
           <spring_stiffness>0</spring_stiffness>
         </dynamics>
+        <xyz>0 0 1</xyz>
         <use_parent_model_frame>0</use_parent_model_frame>
+        <limit>
+          <lower>-1e+16</lower>
+          <upper>1e+16</upper>
+        </limit>
       </axis>
+      <physics>
+        <ode>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+        </ode>
+      </physics>
     </joint>
-    <link name="front_right_flipper_wheel2">
-      <pose>0.299357 -0.248 -0 3.1415926535897931 -0 3.1415926535897931</pose>
+    <link name="imu">
+      <pose>0 0 0.15 -3.1415926535897931 0 0</pose>
       <inertial>
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <mass>0.457375</mass>
+        <mass>1e-05</mass>
         <inertia>
-          <ixx>0.00162322</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.00162322</iyy>
-          <iyz>0</iyz>
-          <izz>0.00281766</izz>
-        </inertia>
-      </inertial>
-      <collision name="front_right_flipper_wheel2_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.075</length>
-            <radius>0.111</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-            <collide_bitmask>2</collide_bitmask>
-          </contact>
-          <friction>
-            <ode>
-              <mu>1</mu>
-              <mu2>150</mu2>
-              <slip1>0.000575601</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-      <self_collide>1</self_collide>
-    </link>
-    <joint name="front_right_flipper_wheel2_j" type="revolute">
-      <child>front_right_flipper_wheel2</child>
-      <parent>front_right_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>-1</effort>
-          <velocity>9.00901</velocity>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="front_right_flipper_wheel3">
-      <pose>0.342714 -0.248 -0 3.1415926535897931 -0 3.1415926535897931</pose>
-      <inertial>
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <mass>0.457375</mass>
-        <inertia>
-          <ixx>0.00148707</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.00148707</iyy>
-          <iyz>0</iyz>
-          <izz>0.00254535</izz>
-        </inertia>
-      </inertial>
-      <collision name="front_right_flipper_wheel3_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.075</length>
-            <radius>0.1055</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-            <collide_bitmask>4</collide_bitmask>
-          </contact>
-          <friction>
-            <ode>
-              <mu>1</mu>
-              <mu2>150</mu2>
-              <slip1>0.000575601</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-      <self_collide>1</self_collide>
-    </link>
-    <joint name="front_right_flipper_wheel3_j" type="revolute">
-      <child>front_right_flipper_wheel3</child>
-      <parent>front_right_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>-1</effort>
-          <velocity>9.47867</velocity>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="front_right_flipper_wheel4">
-      <pose>0.386071 -0.248 -0 3.1415926535897931 -0 3.1415926535897931</pose>
-      <inertial>
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <mass>0.457375</mass>
-        <inertia>
-          <ixx>0.00135783</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.00135783</iyy>
-          <iyz>0</iyz>
-          <izz>0.00228687</izz>
-        </inertia>
-      </inertial>
-      <collision name="front_right_flipper_wheel4_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.075</length>
-            <radius>0.1</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-            <collide_bitmask>8</collide_bitmask>
-          </contact>
-          <friction>
-            <ode>
-              <mu>1</mu>
-              <mu2>150</mu2>
-              <slip1>0.000575601</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-      <self_collide>1</self_collide>
-    </link>
-    <joint name="front_right_flipper_wheel4_j" type="revolute">
-      <child>front_right_flipper_wheel4</child>
-      <parent>front_right_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>-1</effort>
-          <velocity>10</velocity>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="front_right_flipper_wheel5">
-      <pose>0.429429 -0.248 -0 3.1415926535897931 -0 3.1415926535897931</pose>
-      <inertial>
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <mass>0.457375</mass>
-        <inertia>
-          <ixx>0.00123551</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.00123551</iyy>
-          <iyz>0</iyz>
-          <izz>0.00204224</izz>
-        </inertia>
-      </inertial>
-      <collision name="front_right_flipper_wheel5_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.075</length>
-            <radius>0.0945</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-            <collide_bitmask>16</collide_bitmask>
-          </contact>
-          <friction>
-            <ode>
-              <mu>1</mu>
-              <mu2>150</mu2>
-              <slip1>0.000575601</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-      <self_collide>1</self_collide>
-    </link>
-    <joint name="front_right_flipper_wheel5_j" type="revolute">
-      <child>front_right_flipper_wheel5</child>
-      <parent>front_right_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>-1</effort>
-          <velocity>10.582</velocity>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="front_right_flipper_wheel6">
-      <pose>0.472786 -0.248 -0 3.1415926535897931 -0 3.1415926535897931</pose>
-      <inertial>
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <mass>0.457375</mass>
-        <inertia>
-          <ixx>0.00112011</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.00112011</iyy>
-          <iyz>0</iyz>
-          <izz>0.00181143</izz>
-        </inertia>
-      </inertial>
-      <collision name="front_right_flipper_wheel6_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.075</length>
-            <radius>0.089</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-            <collide_bitmask>32</collide_bitmask>
-          </contact>
-          <friction>
-            <ode>
-              <mu>1</mu>
-              <mu2>150</mu2>
-              <slip1>0.000575601</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-      <self_collide>1</self_collide>
-    </link>
-    <joint name="front_right_flipper_wheel6_j" type="revolute">
-      <child>front_right_flipper_wheel6</child>
-      <parent>front_right_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>-1</effort>
-          <velocity>11.236</velocity>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="front_right_flipper_wheel7">
-      <pose>0.516143 -0.248 -0 3.1415926535897931 -0 3.1415926535897931</pose>
-      <inertial>
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <mass>0.457375</mass>
-        <inertia>
-          <ixx>0.00101163</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.00101163</iyy>
-          <iyz>0</iyz>
-          <izz>0.00159447</izz>
-        </inertia>
-      </inertial>
-      <collision name="front_right_flipper_wheel7_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.075</length>
-            <radius>0.0835</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-            <collide_bitmask>64</collide_bitmask>
-          </contact>
-          <friction>
-            <ode>
-              <mu>1</mu>
-              <mu2>150</mu2>
-              <slip1>0.000575601</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-      <self_collide>1</self_collide>
-    </link>
-    <joint name="front_right_flipper_wheel7_j" type="revolute">
-      <child>front_right_flipper_wheel7</child>
-      <parent>front_right_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>-1</effort>
-          <velocity>11.976</velocity>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="front_right_flipper_wheel8">
-      <pose>0.5595 -0.248 -0 3.1415926535897931 -0 3.1415926535897931</pose>
-      <inertial>
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <mass>0.457375</mass>
-        <inertia>
-          <ixx>0.000910062</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.000910062</iyy>
-          <iyz>0</iyz>
-          <izz>0.00139133</izz>
-        </inertia>
-      </inertial>
-      <collision name="front_right_flipper_wheel8_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.075</length>
-            <radius>0.078</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-            <collide_bitmask>128</collide_bitmask>
-          </contact>
-          <friction>
-            <ode>
-              <mu>1</mu>
-              <mu2>150</mu2>
-              <slip1>0.000575601</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-      <self_collide>1</self_collide>
-    </link>
-    <joint name="front_right_flipper_wheel8_j" type="revolute">
-      <child>front_right_flipper_wheel8</child>
-      <parent>front_right_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>-1</effort>
-          <velocity>12.8205</velocity>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="front_right_motor">
-      <inertial>
-        <pose>0.22 0.09 0.02 0 -0 0</pose>
-        <mass>4.06</mass>
-        <inertia>
-          <ixx>0.0151492</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.0129839</iyy>
-          <iyz>0</iyz>
-          <izz>0.0173903</izz>
-        </inertia>
-      </inertial>
-    </link>
-    <joint name="front_right_motor_j" type="fixed">
-      <child>front_right_motor</child>
-      <parent>base_link</parent>
-      <axis>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <xyz>0 0 1</xyz>
-        <use_parent_model_frame>0</use_parent_model_frame>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-      </axis>
-      <physics>
-        <ode>
-          <limit>
-            <cfm>0</cfm>
-            <erp>0.2</erp>
-          </limit>
-        </ode>
-      </physics>
-    </joint>
-    <link name="imu">
-      <pose>0 0 0.15 -3.1415926535897931 0 0</pose>
-      <inertial>
-        <mass>1e-05</mass>
-        <inertia>
-          <ixx>0.001</ixx>
-          <ixy>1e-06</ixy>
-          <ixz>1e-06</ixz>
-          <iyy>0.001</iyy>
-          <iyz>1e-06</iyz>
-          <izz>0.001</izz>
-        </inertia>
-      </inertial>
-      <self_collide>0</self_collide>
-      <sensor name="imu" type="imu">
-        <always_on>1</always_on>
-        <update_rate>50</update_rate>
-        <imu>
-          <angular_velocity>
-            <x>
-              <noise type="gaussian">
-                <mean>0</mean>
-                <stddev>0.009</stddev>
-                <bias_mean>0.00075</bias_mean>
-                <bias_stddev>0.005</bias_stddev>
-                <dynamic_bias_stddev>2e-05</dynamic_bias_stddev>
-                <dynamic_bias_correlation_time>400</dynamic_bias_correlation_time>
-                <precision>0.00025</precision>
-              </noise>
-            </x>
-            <y>
-              <noise type="gaussian">
-                <mean>0</mean>
-                <stddev>0.009</stddev>
-                <bias_mean>0.00075</bias_mean>
-                <bias_stddev>0.005</bias_stddev>
-                <dynamic_bias_stddev>2e-05</dynamic_bias_stddev>
-                <dynamic_bias_correlation_time>400</dynamic_bias_correlation_time>
-                <precision>0.00025</precision>
-              </noise>
-            </y>
-            <z>
-              <noise type="gaussian">
-                <mean>0</mean>
-                <stddev>0.009</stddev>
-                <bias_mean>0.00075</bias_mean>
-                <bias_stddev>0.005</bias_stddev>
-                <dynamic_bias_stddev>2e-05</dynamic_bias_stddev>
-                <dynamic_bias_correlation_time>400</dynamic_bias_correlation_time>
-                <precision>0.00025</precision>
-              </noise>
-            </z>
-          </angular_velocity>
-          <linear_acceleration>
-            <x>
-              <noise type="gaussian">
-                <mean>0</mean>
-                <stddev>0.021</stddev>
-                <bias_mean>0.05</bias_mean>
-                <bias_stddev>0.0075</bias_stddev>
-                <dynamic_bias_stddev>0.000375</dynamic_bias_stddev>
-                <dynamic_bias_correlation_time>175</dynamic_bias_correlation_time>
-                <precision>0.005</precision>
-              </noise>
-            </x>
-            <y>
-              <noise type="gaussian">
-                <mean>0</mean>
-                <stddev>0.021</stddev>
-                <bias_mean>0.05</bias_mean>
-                <bias_stddev>0.0075</bias_stddev>
-                <dynamic_bias_stddev>0.000375</dynamic_bias_stddev>
-                <dynamic_bias_correlation_time>175</dynamic_bias_correlation_time>
-                <precision>0.005</precision>
-              </noise>
-            </y>
-            <z>
-              <noise type="gaussian">
-                <mean>0</mean>
-                <stddev>0.021</stddev>
-                <bias_mean>0.05</bias_mean>
-                <bias_stddev>0.0075</bias_stddev>
-                <dynamic_bias_stddev>0.000375</dynamic_bias_stddev>
-                <dynamic_bias_correlation_time>175</dynamic_bias_correlation_time>
-                <precision>0.005</precision>
-              </noise>
-            </z>
-          </linear_acceleration>
-        </imu>
-      </sensor>
-    </link>
-    <joint name="imu_j" type="fixed">
-      <child>imu</child>
-      <parent>base_link</parent>
-      <axis>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <xyz>0 0 1</xyz>
-        <use_parent_model_frame>0</use_parent_model_frame>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-      </axis>
-      <physics>
-        <ode>
-          <limit>
-            <cfm>0</cfm>
-            <erp>0.2</erp>
-          </limit>
-        </ode>
-      </physics>
-    </joint>
-    <link name="rear_cam">
-      <pose>-0.244 0 0.1321 0 0 -3.1415926535897931</pose>
-      <inertial>
-        <pose>0.019862 0 0.0145 0 -0 0</pose>
-        <mass>0.14</mass>
-        <inertia>
-          <ixx>1.96233e-05</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>6.75088e-05</iyy>
-          <iyz>0</iyz>
-          <izz>6.75088e-05</izz>
-        </inertia>
-      </inertial>
-      <collision name="rear_cam_collision_collision">
-        <pose>0.0117 0 0.0145 0 -0 0</pose>
-        <geometry>
-          <box>
-            <size>0.054 0.029 0.029</size>
-          </box>
-        </geometry>
-      </collision>
-      <collision name="rear_cam_lens_collision_collision_1">
-        <pose>0.042024 0 0.0145 0 1.5707963267948966 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.026</length>
-            <radius>0.0125</radius>
-          </cylinder>
-        </geometry>
-      </collision>
-      <visual name="rear_cam_visual">
-        <pose>0 0 0.0145 0 -0 0</pose>
-        <geometry>
-          <mesh>
-            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_MARV_SENSOR_CONFIG_1/tip/files/meshes/basler_ace.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-      <visual name="rear_cam_visual_1">
-        <pose>0.029024 0 0.0145 0 -0 0</pose>
-        <geometry>
-          <mesh>
-            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_MARV_SENSOR_CONFIG_1/tip/files/meshes/evetar_fisheye_lens.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-      <sensor name="rear_cam" type="camera">
-        <pose>0.051574 0 0.0145 0 -0 0</pose>
-        <update_rate>15</update_rate>
-        <visualize>0</visualize>
-        <camera>
-          <horizontal_fov>2.40855</horizontal_fov>
-          <image>
-            <width>2048</width>
-            <height>1536</height>
-            <format>R8G8B8</format>
-          </image>
-          <clip>
-            <near>0.025</near>
-            <far>300</far>
-          </clip>
-          <noise>
-            <type>gaussian</type>
-            <mean>0</mean>
-            <stddev>0.007</stddev>
-          </noise>
-          <lens>
-            <intrinsics>
-              <fx>393.077</fx>
-              <fy>393.077</fy>
-              <cx>1023.5</cx>
-              <cy>767.5</cy>
-              <s>0</s>
-            </intrinsics>
-            <type>stereographic</type>
-            <scale_to_hfov>1</scale_to_hfov>
-          </lens>
-        </camera>
-      </sensor>
-    </link>
-    <joint name="rear_cam_j" type="fixed">
-      <child>rear_cam</child>
-      <parent>base_link</parent>
-      <axis>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <xyz>0 0 1</xyz>
-        <use_parent_model_frame>0</use_parent_model_frame>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-      </axis>
-      <physics>
-        <ode>
-          <limit>
-            <cfm>0</cfm>
-            <erp>0.2</erp>
-          </limit>
-        </ode>
-      </physics>
-    </joint>
-    <link name="rear_left_flipper">
-      <pose>-0.256 0.248 0 3.1415926535897931 -0 -3.1415926535897931</pose>
-      <inertial>
-        <mass>1e-05</mass>
-        <inertia>
-          <ixx>0.001</ixx>
-          <ixy>1e-06</ixy>
-          <ixz>1e-06</ixz>
-          <iyy>0.001</iyy>
-          <iyz>1e-06</iyz>
-          <izz>0.001</izz>
-        </inertia>
-      </inertial>
-      <visual name="rear_left_flipper_visual">
-        <geometry>
-          <mesh>
-            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_MARV_SENSOR_CONFIG_1/tip/files/meshes/big_wheel.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-      <visual name="rear_left_flipper_visual_1">
-        <geometry>
-          <mesh>
-            <scale>-1 -1 1</scale>
-            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_MARV_SENSOR_CONFIG_1/tip/files/meshes/flipper_arm.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-      <visual name="rear_left_flipper_visual_2">
-        <geometry>
-          <mesh>
-            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_MARV_SENSOR_CONFIG_1/tip/files/meshes/belt.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-      <visual name="rear_left_flipper_visual_3">
-        <pose>0.3035 0 0 0 -0 0</pose>
-        <geometry>
-          <mesh>
-            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_MARV_SENSOR_CONFIG_1/tip/files/meshes/small_wheel.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-      <self_collide>1</self_collide>
-    </link>
-    <joint name="rear_left_flipper_j" type="revolute">
-      <child>rear_left_flipper</child>
-      <parent>base_link</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>120</effort>
-          <velocity>1</velocity>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-      <physics>
-        <ode>
-          <implicit_spring_damper>1</implicit_spring_damper>
-          <cfm_damping>1</cfm_damping>
-          <limit>
-            <cfm>0</cfm>
-            <erp>0.2</erp>
-          </limit>
-        </ode>
-      </physics>
-    </joint>
-    <link name="rear_left_flipper_end_point_inflated">
-      <pose>-0.6375 0.248 0 3.1415926535897931 -0 3.1415926535897931</pose>
-      <inertial>
-        <mass>1e-05</mass>
-        <inertia>
-          <ixx>0.001</ixx>
-          <ixy>1e-06</ixy>
-          <ixz>1e-06</ixz>
-          <iyy>0.001</iyy>
-          <iyz>1e-06</iyz>
-          <izz>0.001</izz>
-        </inertia>
-      </inertial>
-    </link>
-    <joint name="rear_left_flipper_end_point_inflated_j" type="fixed">
-      <child>rear_left_flipper_end_point_inflated</child>
-      <parent>rear_left_flipper</parent>
-      <axis>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <xyz>0 0 1</xyz>
-        <use_parent_model_frame>0</use_parent_model_frame>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-      </axis>
-      <physics>
-        <ode>
-          <limit>
-            <cfm>0</cfm>
-            <erp>0.2</erp>
-          </limit>
-        </ode>
-      </physics>
-    </joint>
-    <link name="rear_left_flipper_end_point">
-      <pose>-0.6375 0.248 0 3.1415926535897931 -0 3.1415926535897931</pose>
-      <inertial>
-        <mass>1e-05</mass>
-        <inertia>
-          <ixx>0.001</ixx>
-          <ixy>1e-06</ixy>
-          <ixz>1e-06</ixz>
-          <iyy>0.001</iyy>
-          <iyz>1e-06</iyz>
-          <izz>0.001</izz>
-        </inertia>
-      </inertial>
-    </link>
-    <joint name="rear_left_flipper_end_point_j" type="fixed">
-      <child>rear_left_flipper_end_point</child>
-      <parent>rear_left_flipper</parent>
-      <axis>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <xyz>0 0 1</xyz>
-        <use_parent_model_frame>0</use_parent_model_frame>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-      </axis>
-      <physics>
-        <ode>
-          <limit>
-            <cfm>0</cfm>
-            <erp>0.2</erp>
-          </limit>
-        </ode>
-      </physics>
-    </joint>
-    <link name="rear_left_flipper_wheel1">
-      <pose>-0.256 0.248 0 3.1415926535897931 -0 3.1415926535897931</pose>
-      <inertial>
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <mass>0.457375</mass>
-        <inertia>
-          <ixx>0.0017663</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.0017663</iyy>
-          <iyz>0</iyz>
-          <izz>0.0031038</izz>
-        </inertia>
-      </inertial>
-      <collision name="rear_left_flipper_wheel1_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.075</length>
-            <radius>0.1165</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-            <collide_bitmask>1</collide_bitmask>
-          </contact>
-          <friction>
-            <ode>
-              <mu>1</mu>
-              <mu2>150</mu2>
-              <slip1>0.000575601</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-      <self_collide>1</self_collide>
-    </link>
-    <joint name="rear_left_flipper_wheel1_j" type="revolute">
-      <child>rear_left_flipper_wheel1</child>
-      <parent>rear_left_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>-1</effort>
-          <velocity>8.58369</velocity>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="rear_left_flipper_wheel2">
-      <pose>-0.299357 0.248 0 3.1415926535897931 -0 3.1415926535897931</pose>
-      <inertial>
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <mass>0.457375</mass>
-        <inertia>
-          <ixx>0.00162322</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.00162322</iyy>
-          <iyz>0</iyz>
-          <izz>0.00281766</izz>
-        </inertia>
-      </inertial>
-      <collision name="rear_left_flipper_wheel2_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.075</length>
-            <radius>0.111</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-            <collide_bitmask>2</collide_bitmask>
-          </contact>
-          <friction>
-            <ode>
-              <mu>1</mu>
-              <mu2>150</mu2>
-              <slip1>0.000575601</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-      <self_collide>1</self_collide>
-    </link>
-    <joint name="rear_left_flipper_wheel2_j" type="revolute">
-      <child>rear_left_flipper_wheel2</child>
-      <parent>rear_left_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>-1</effort>
-          <velocity>9.00901</velocity>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="rear_left_flipper_wheel3">
-      <pose>-0.342714 0.248 0 3.1415926535897931 -0 3.1415926535897931</pose>
-      <inertial>
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <mass>0.457375</mass>
-        <inertia>
-          <ixx>0.00148707</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.00148707</iyy>
-          <iyz>0</iyz>
-          <izz>0.00254535</izz>
-        </inertia>
-      </inertial>
-      <collision name="rear_left_flipper_wheel3_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.075</length>
-            <radius>0.1055</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-            <collide_bitmask>4</collide_bitmask>
-          </contact>
-          <friction>
-            <ode>
-              <mu>1</mu>
-              <mu2>150</mu2>
-              <slip1>0.000575601</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-      <self_collide>1</self_collide>
-    </link>
-    <joint name="rear_left_flipper_wheel3_j" type="revolute">
-      <child>rear_left_flipper_wheel3</child>
-      <parent>rear_left_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>-1</effort>
-          <velocity>9.47867</velocity>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="rear_left_flipper_wheel4">
-      <pose>-0.386071 0.248 0 3.1415926535897931 -0 3.1415926535897931</pose>
-      <inertial>
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <mass>0.457375</mass>
-        <inertia>
-          <ixx>0.00135783</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.00135783</iyy>
-          <iyz>0</iyz>
-          <izz>0.00228687</izz>
-        </inertia>
-      </inertial>
-      <collision name="rear_left_flipper_wheel4_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.075</length>
-            <radius>0.1</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-            <collide_bitmask>8</collide_bitmask>
-          </contact>
-          <friction>
-            <ode>
-              <mu>1</mu>
-              <mu2>150</mu2>
-              <slip1>0.000575601</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-      <self_collide>1</self_collide>
-    </link>
-    <joint name="rear_left_flipper_wheel4_j" type="revolute">
-      <child>rear_left_flipper_wheel4</child>
-      <parent>rear_left_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>-1</effort>
-          <velocity>10</velocity>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="rear_left_flipper_wheel5">
-      <pose>-0.429429 0.248 0 3.1415926535897931 -0 3.1415926535897931</pose>
-      <inertial>
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <mass>0.457375</mass>
-        <inertia>
-          <ixx>0.00123551</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.00123551</iyy>
-          <iyz>0</iyz>
-          <izz>0.00204224</izz>
-        </inertia>
-      </inertial>
-      <collision name="rear_left_flipper_wheel5_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.075</length>
-            <radius>0.0945</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-            <collide_bitmask>16</collide_bitmask>
-          </contact>
-          <friction>
-            <ode>
-              <mu>1</mu>
-              <mu2>150</mu2>
-              <slip1>0.000575601</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-      <self_collide>1</self_collide>
-    </link>
-    <joint name="rear_left_flipper_wheel5_j" type="revolute">
-      <child>rear_left_flipper_wheel5</child>
-      <parent>rear_left_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>-1</effort>
-          <velocity>10.582</velocity>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="rear_left_flipper_wheel6">
-      <pose>-0.472786 0.248 0 3.1415926535897931 -0 3.1415926535897931</pose>
-      <inertial>
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <mass>0.457375</mass>
-        <inertia>
-          <ixx>0.00112011</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.00112011</iyy>
-          <iyz>0</iyz>
-          <izz>0.00181143</izz>
-        </inertia>
-      </inertial>
-      <collision name="rear_left_flipper_wheel6_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.075</length>
-            <radius>0.089</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-            <collide_bitmask>32</collide_bitmask>
-          </contact>
-          <friction>
-            <ode>
-              <mu>1</mu>
-              <mu2>150</mu2>
-              <slip1>0.000575601</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-      <self_collide>1</self_collide>
-    </link>
-    <joint name="rear_left_flipper_wheel6_j" type="revolute">
-      <child>rear_left_flipper_wheel6</child>
-      <parent>rear_left_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>-1</effort>
-          <velocity>11.236</velocity>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="rear_left_flipper_wheel7">
-      <pose>-0.516143 0.248 0 3.1415926535897931 -0 3.1415926535897931</pose>
-      <inertial>
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <mass>0.457375</mass>
-        <inertia>
-          <ixx>0.00101163</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.00101163</iyy>
-          <iyz>0</iyz>
-          <izz>0.00159447</izz>
-        </inertia>
-      </inertial>
-      <collision name="rear_left_flipper_wheel7_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.075</length>
-            <radius>0.0835</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-            <collide_bitmask>64</collide_bitmask>
-          </contact>
-          <friction>
-            <ode>
-              <mu>1</mu>
-              <mu2>150</mu2>
-              <slip1>0.000575601</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-      <self_collide>1</self_collide>
-    </link>
-    <joint name="rear_left_flipper_wheel7_j" type="revolute">
-      <child>rear_left_flipper_wheel7</child>
-      <parent>rear_left_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>-1</effort>
-          <velocity>11.976</velocity>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="rear_left_flipper_wheel8">
-      <pose>-0.5595 0.248 0 3.1415926535897931 -0 3.1415926535897931</pose>
-      <inertial>
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <mass>0.457375</mass>
-        <inertia>
-          <ixx>0.000910062</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.000910062</iyy>
-          <iyz>0</iyz>
-          <izz>0.00139133</izz>
-        </inertia>
-      </inertial>
-      <collision name="rear_left_flipper_wheel8_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.075</length>
-            <radius>0.078</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-            <collide_bitmask>128</collide_bitmask>
-          </contact>
-          <friction>
-            <ode>
-              <mu>1</mu>
-              <mu2>150</mu2>
-              <slip1>0.000575601</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-      <self_collide>1</self_collide>
-    </link>
-    <joint name="rear_left_flipper_wheel8_j" type="revolute">
-      <child>rear_left_flipper_wheel8</child>
-      <parent>rear_left_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>-1</effort>
-          <velocity>12.8205</velocity>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="rear_left_motor">
-      <inertial>
-        <pose>-0.22 -0.09 0.02 0 -0 0</pose>
-        <mass>4.06</mass>
-        <inertia>
-          <ixx>0.0151492</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.0129839</iyy>
-          <iyz>0</iyz>
-          <izz>0.0173903</izz>
-        </inertia>
-      </inertial>
-    </link>
-    <joint name="rear_left_motor_j" type="fixed">
-      <child>rear_left_motor</child>
-      <parent>base_link</parent>
-      <axis>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <xyz>0 0 1</xyz>
-        <use_parent_model_frame>0</use_parent_model_frame>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-      </axis>
-      <physics>
-        <ode>
-          <limit>
-            <cfm>0</cfm>
-            <erp>0.2</erp>
-          </limit>
-        </ode>
-      </physics>
-    </joint>
-    <link name="rear_right_box">
-      <pose>-0.3 -0.18 0.1921 0 -0 0</pose>
-      <inertial>
-        <mass>1e-05</mass>
-        <inertia>
-          <ixx>0.001</ixx>
-          <ixy>1e-06</ixy>
-          <ixz>1e-06</ixz>
-          <iyy>0.001</iyy>
-          <iyz>1e-06</iyz>
-          <izz>0.001</izz>
+          <ixx>0.001</ixx>
+          <ixy>1e-06</ixy>
+          <ixz>1e-06</ixz>
+          <iyy>0.001</iyy>
+          <iyz>1e-06</iyz>
+          <izz>0.001</izz>
         </inertia>
       </inertial>
+      <self_collide>0</self_collide>
+      <sensor name="imu" type="imu">
+        <always_on>1</always_on>
+        <update_rate>50</update_rate>
+        <imu>
+          <angular_velocity>
+            <x>
+              <noise type="gaussian">
+                <mean>0</mean>
+                <stddev>0.009</stddev>
+                <bias_mean>0.00075</bias_mean>
+                <bias_stddev>0.005</bias_stddev>
+                <dynamic_bias_stddev>2e-05</dynamic_bias_stddev>
+                <dynamic_bias_correlation_time>400</dynamic_bias_correlation_time>
+                <precision>0.00025</precision>
+              </noise>
+            </x>
+            <y>
+              <noise type="gaussian">
+                <mean>0</mean>
+                <stddev>0.009</stddev>
+                <bias_mean>0.00075</bias_mean>
+                <bias_stddev>0.005</bias_stddev>
+                <dynamic_bias_stddev>2e-05</dynamic_bias_stddev>
+                <dynamic_bias_correlation_time>400</dynamic_bias_correlation_time>
+                <precision>0.00025</precision>
+              </noise>
+            </y>
+            <z>
+              <noise type="gaussian">
+                <mean>0</mean>
+                <stddev>0.009</stddev>
+                <bias_mean>0.00075</bias_mean>
+                <bias_stddev>0.005</bias_stddev>
+                <dynamic_bias_stddev>2e-05</dynamic_bias_stddev>
+                <dynamic_bias_correlation_time>400</dynamic_bias_correlation_time>
+                <precision>0.00025</precision>
+              </noise>
+            </z>
+          </angular_velocity>
+          <linear_acceleration>
+            <x>
+              <noise type="gaussian">
+                <mean>0</mean>
+                <stddev>0.021</stddev>
+                <bias_mean>0.05</bias_mean>
+                <bias_stddev>0.0075</bias_stddev>
+                <dynamic_bias_stddev>0.000375</dynamic_bias_stddev>
+                <dynamic_bias_correlation_time>175</dynamic_bias_correlation_time>
+                <precision>0.005</precision>
+              </noise>
+            </x>
+            <y>
+              <noise type="gaussian">
+                <mean>0</mean>
+                <stddev>0.021</stddev>
+                <bias_mean>0.05</bias_mean>
+                <bias_stddev>0.0075</bias_stddev>
+                <dynamic_bias_stddev>0.000375</dynamic_bias_stddev>
+                <dynamic_bias_correlation_time>175</dynamic_bias_correlation_time>
+                <precision>0.005</precision>
+              </noise>
+            </y>
+            <z>
+              <noise type="gaussian">
+                <mean>0</mean>
+                <stddev>0.021</stddev>
+                <bias_mean>0.05</bias_mean>
+                <bias_stddev>0.0075</bias_stddev>
+                <dynamic_bias_stddev>0.000375</dynamic_bias_stddev>
+                <dynamic_bias_correlation_time>175</dynamic_bias_correlation_time>
+                <precision>0.005</precision>
+              </noise>
+            </z>
+          </linear_acceleration>
+        </imu>
+      </sensor>
     </link>
-    <joint name="rear_right_box_j" type="fixed">
-      <child>rear_right_box</child>
+    <joint name="imu_j" type="fixed">
+      <child>imu</child>
       <parent>base_link</parent>
       <axis>
         <dynamics>
@@ -2748,66 +1130,66 @@
         </ode>
       </physics>
     </joint>
-    <link name="camera_0">
-      <pose>0.21 0 0.1921 0 -0 0</pose>
+    <link name="rear_cam">
+      <pose>-0.244 0 0.1321 0 0 -3.1415926535897931</pose>
       <inertial>
-        <pose>0.039802 0 0.0145 0 -0 0</pose>
-        <mass>0.232</mass>
+        <pose>0.019862 0 0.0145 0 -0 0</pose>
+        <mass>0.14</mass>
         <inertia>
-          <ixx>3.25187e-05</ixx>
+          <ixx>1.96233e-05</ixx>
           <ixy>0</ixy>
           <ixz>0</ixz>
-          <iyy>0.000158598</iyy>
+          <iyy>6.75088e-05</iyy>
           <iyz>0</iyz>
-          <izz>0.000158598</izz>
+          <izz>6.75088e-05</izz>
         </inertia>
       </inertial>
-      <collision name="camera_0_collision_collision">
-        <pose>0.02465 0 0.0145 0 -0 0</pose>
+      <collision name="rear_cam_collision_collision">
+        <pose>0.0117 0 0.0145 0 -0 0</pose>
         <geometry>
           <box>
-            <size>0.0555 0.029 0.029</size>
+            <size>0.054 0.029 0.029</size>
           </box>
         </geometry>
       </collision>
-      <collision name="camera_0_lens_collision_collision_1">
-        <pose>0.062834 0 0.0145 0 1.5707963267948966 0</pose>
+      <collision name="rear_cam_lens_collision_collision_1">
+        <pose>0.042024 0 0.0145 0 1.5707963267948966 0</pose>
         <geometry>
           <cylinder>
-            <length>0.03974</length>
+            <length>0.026</length>
             <radius>0.0125</radius>
           </cylinder>
         </geometry>
       </collision>
-      <visual name="camera_0_visual">
+      <visual name="rear_cam_visual">
         <pose>0 0 0.0145 0 -0 0</pose>
         <geometry>
           <mesh>
-            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_MARV_SENSOR_CONFIG_1/tip/files/meshes/basler_ace2_pro.dae</uri>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_MARV_SENSOR_CONFIG_1/tip/files/meshes/basler_ace.dae</uri>
           </mesh>
         </geometry>
       </visual>
-      <visual name="camera_0_visual_1">
-        <pose>0.042964 0 0.0145 0 -0 0</pose>
+      <visual name="rear_cam_visual_1">
+        <pose>0.029024 0 0.0145 0 -0 0</pose>
         <geometry>
           <mesh>
-            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_MARV_SENSOR_CONFIG_1/tip/files/meshes/evetar_lens.dae</uri>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_MARV_SENSOR_CONFIG_1/tip/files/meshes/evetar_fisheye_lens.dae</uri>
           </mesh>
         </geometry>
       </visual>
-      <sensor name="camera_0" type="camera">
-        <pose>0.072044 0 0.0145 0 -0 0</pose>
-        <update_rate>9</update_rate>
+      <sensor name="rear_cam" type="camera">
+        <pose>0.051574 0 0.0145 0 -0 0</pose>
+        <update_rate>15</update_rate>
         <visualize>0</visualize>
         <camera>
-          <horizontal_fov>1.50971</horizontal_fov>
+          <horizontal_fov>2.40855</horizontal_fov>
           <image>
-            <width>1920</width>
-            <height>1200</height>
+            <width>2048</width>
+            <height>1536</height>
             <format>R8G8B8</format>
           </image>
           <clip>
-            <near>0.011726</near>
+            <near>0.025</near>
             <far>300</far>
           </clip>
           <noise>
@@ -2817,10 +1199,10 @@
           </noise>
           <lens>
             <intrinsics>
-              <fx>1020.51</fx>
-              <fy>1020.51</fy>
-              <cx>959.5</cx>
-              <cy>599.5</cy>
+              <fx>393.077</fx>
+              <fy>393.077</fy>
+              <cx>1023.5</cx>
+              <cy>767.5</cy>
               <s>0</s>
             </intrinsics>
             <type>stereographic</type>
@@ -2829,9 +1211,9 @@
         </camera>
       </sensor>
     </link>
-    <joint name="camera_0_j" type="fixed">
-      <child>camera_0</child>
-      <parent>rear_right_box</parent>
+    <joint name="rear_cam_j" type="fixed">
+      <child>rear_cam</child>
+      <parent>base_link</parent>
       <axis>
         <dynamics>
           <spring_reference>0</spring_reference>
@@ -2853,104 +1235,160 @@
         </ode>
       </physics>
     </joint>
-    <link name="camera_2">
-      <pose>-0.21 0 0.1921 0 -0 3.1415926535897931</pose>
+    <link name="rear_left_flipper">
+      <pose>-0.256 0.248 0 3.1415926535897931 -0 -3.1415926535897931</pose>
       <inertial>
-        <pose>0.039802 0 0.0145 0 -0 0</pose>
-        <mass>0.232</mass>
+        <pose>0.08 0 0 0 -0 0</pose>
+        <mass>3.659</mass>
         <inertia>
-          <ixx>3.25187e-05</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.000158598</iyy>
-          <iyz>0</iyz>
-          <izz>0.000158598</izz>
+          <ixx>0.0017491</ixx>
+          <ixy>2.8512e-07</ixy>
+          <ixz>0.0018277</ixz>
+          <iyy>0.012277</iyy>
+          <iyz>-3.6288e-07</iyz>
+          <izz>0.010941</izz>
         </inertia>
       </inertial>
-      <collision name="camera_2_collision_collision">
-        <pose>0.02465 0 0.0145 0 -0 0</pose>
+      <collision name="rear_left_flipper_collision">
+        <pose>0.15175 0 0 0 -0 0</pose>
         <geometry>
           <box>
-            <size>0.0555 0.029 0.029</size>
+            <size>0.3035 0.075 0.078</size>
+          </box>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>1</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="rear_left_flipper_collision_1">
+        <pose>0.15175 0 0.05825 0 0.126179 0</pose>
+        <geometry>
+          <box>
+            <size>0.3035 0.075 0.078</size>
           </box>
         </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>1</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
+            </ode>
+          </friction>
+        </surface>
       </collision>
-      <collision name="camera_2_lens_collision_collision_1">
-        <pose>0.062834 0 0.0145 0 1.5707963267948966 0</pose>
+      <collision name="rear_left_flipper_collision_2">
+        <pose>0.15175 0 -0.05825 0 -0.126179 0</pose>
+        <geometry>
+          <box>
+            <size>0.3035 0.075 0.078</size>
+          </box>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>1</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="rear_left_flipper_collision_3">
+        <pose>0.3035 0 0 1.5707963267948966 -0 0</pose>
         <geometry>
           <cylinder>
-            <length>0.03974</length>
-            <radius>0.0125</radius>
+            <length>0.075</length>
+            <radius>0.078</radius>
           </cylinder>
         </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>1</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
+            </ode>
+          </friction>
+        </surface>
       </collision>
-      <visual name="camera_2_visual">
-        <pose>0 0 0.0145 0 -0 0</pose>
+      <collision name="rear_left_flipper_collision_4">
+        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.075</length>
+            <radius>0.1165</radius>
+          </cylinder>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>1</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <visual name="rear_left_flipper_visual">
         <geometry>
           <mesh>
-            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_MARV_SENSOR_CONFIG_1/tip/files/meshes/basler_ace2_pro.dae</uri>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_MARV_SENSOR_CONFIG_1/tip/files/meshes/big_wheel.dae</uri>
           </mesh>
         </geometry>
       </visual>
-      <visual name="camera_2_visual_1">
-        <pose>0.042964 0 0.0145 0 -0 0</pose>
+      <visual name="rear_left_flipper_visual_1">
         <geometry>
           <mesh>
-            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_MARV_SENSOR_CONFIG_1/tip/files/meshes/evetar_lens.dae</uri>
+            <scale>-1 -1 1</scale>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_MARV_SENSOR_CONFIG_1/tip/files/meshes/flipper_arm.dae</uri>
           </mesh>
         </geometry>
       </visual>
-      <sensor name="camera_2" type="camera">
-        <pose>0.072044 0 0.0145 0 -0 0</pose>
-        <update_rate>9</update_rate>
-        <visualize>0</visualize>
-        <camera>
-          <horizontal_fov>1.50971</horizontal_fov>
-          <image>
-            <width>1920</width>
-            <height>1200</height>
-            <format>R8G8B8</format>
-          </image>
-          <clip>
-            <near>0.011726</near>
-            <far>300</far>
-          </clip>
-          <noise>
-            <type>gaussian</type>
-            <mean>0</mean>
-            <stddev>0.007</stddev>
-          </noise>
-          <lens>
-            <intrinsics>
-              <fx>1020.51</fx>
-              <fy>1020.51</fy>
-              <cx>959.5</cx>
-              <cy>599.5</cy>
-              <s>0</s>
-            </intrinsics>
-            <type>stereographic</type>
-            <scale_to_hfov>1</scale_to_hfov>
-          </lens>
-        </camera>
-      </sensor>
+      <visual name="rear_left_flipper_visual_2">
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_MARV_SENSOR_CONFIG_1/tip/files/meshes/belt.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <visual name="rear_left_flipper_visual_3">
+        <pose>0.3035 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_MARV_SENSOR_CONFIG_1/tip/files/meshes/small_wheel.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <self_collide>1</self_collide>
     </link>
-    <joint name="camera_2_j" type="fixed">
-      <child>camera_2</child>
-      <parent>rear_right_box</parent>
+    <joint name="rear_left_flipper_j" type="revolute">
+      <child>rear_left_flipper</child>
+      <parent>base_link</parent>
       <axis>
+        <xyz>0 1 0</xyz>
+        <limit>
+          <lower>-1e+16</lower>
+          <upper>1e+16</upper>
+          <effort>120</effort>
+          <velocity>1</velocity>
+        </limit>
         <dynamics>
           <spring_reference>0</spring_reference>
           <spring_stiffness>0</spring_stiffness>
         </dynamics>
-        <xyz>0 0 1</xyz>
         <use_parent_model_frame>0</use_parent_model_frame>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
       </axis>
       <physics>
         <ode>
+          <implicit_spring_damper>1</implicit_spring_damper>
+          <cfm_damping>1</cfm_damping>
           <limit>
             <cfm>0</cfm>
             <erp>0.2</erp>
@@ -2958,71 +1396,23 @@
         </ode>
       </physics>
     </joint>
-    <link name="cliff_sensor_front_left">
-      <pose>0.3 0.1445 0.2106 0 1.5707963267948966 0</pose>
+    <link name="rear_left_flipper_end_point_inflated">
+      <pose>-0.6375 0.248 0 3.1415926535897931 -0 3.1415926535897931</pose>
       <inertial>
-        <pose>0.0105 0 0.00925 0 -0 0</pose>
-        <mass>0.012</mass>
+        <mass>1e-05</mass>
         <inertia>
-          <ixx>1.56725e-06</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>7.8325e-07</iyy>
-          <iyz>0</iyz>
-          <izz>1.666e-06</izz>
+          <ixx>0.001</ixx>
+          <ixy>1e-06</ixy>
+          <ixz>1e-06</ixz>
+          <iyy>0.001</iyy>
+          <iyz>1e-06</iyz>
+          <izz>0.001</izz>
         </inertia>
       </inertial>
-      <collision name="cliff_sensor_front_left_collision">
-        <pose>0.0105 0 0.00925 0 -0 0</pose>
-        <geometry>
-          <box>
-            <size>0.021 0.035 0.0185</size>
-          </box>
-        </geometry>
-      </collision>
-      <visual name="cliff_sensor_front_left_visual">
-        <geometry>
-          <mesh>
-            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_MARV_SENSOR_CONFIG_1/tip/files/meshes/tfmini_plus_lidar.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-      <sensor name="laser" type="gpu_lidar">
-        <pose>0.021 0 0.00925 0 -0 0</pose>
-        <update_rate>10</update_rate>
-        <visualize>0</visualize>
-        <always_on>1</always_on>
-        <lidar>
-          <scan>
-            <horizontal>
-              <samples>3</samples>
-              <resolution>1</resolution>
-              <min_angle>-0.0314159</min_angle>
-              <max_angle>0.0314159</max_angle>
-            </horizontal>
-            <vertical>
-              <samples>3</samples>
-              <resolution>1</resolution>
-              <min_angle>-0.0314159</min_angle>
-              <max_angle>0.0314159</max_angle>
-            </vertical>
-          </scan>
-          <range>
-            <min>0.1</min>
-            <max>12</max>
-            <resolution>0.01</resolution>
-          </range>
-          <noise>
-            <type>gaussian</type>
-            <mean>0</mean>
-            <stddev>0.015</stddev>
-          </noise>
-        </lidar>
-      </sensor>
     </link>
-    <joint name="cliff_sensor_front_left_j" type="fixed">
-      <child>cliff_sensor_front_left</child>
-      <parent>rear_right_box</parent>
+    <joint name="rear_left_flipper_end_point_inflated_j" type="fixed">
+      <child>rear_left_flipper_end_point_inflated</child>
+      <parent>rear_left_flipper</parent>
       <axis>
         <dynamics>
           <spring_reference>0</spring_reference>
@@ -3044,71 +1434,23 @@
         </ode>
       </physics>
     </joint>
-    <link name="cliff_sensor_front_right">
-      <pose>0.3 -0.1445 0.2106 0 1.5707963267948966 0</pose>
+    <link name="rear_left_flipper_end_point">
+      <pose>-0.6375 0.248 0 3.1415926535897931 -0 3.1415926535897931</pose>
       <inertial>
-        <pose>0.0105 0 0.00925 0 -0 0</pose>
-        <mass>0.012</mass>
+        <mass>1e-05</mass>
         <inertia>
-          <ixx>1.56725e-06</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>7.8325e-07</iyy>
-          <iyz>0</iyz>
-          <izz>1.666e-06</izz>
+          <ixx>0.001</ixx>
+          <ixy>1e-06</ixy>
+          <ixz>1e-06</ixz>
+          <iyy>0.001</iyy>
+          <iyz>1e-06</iyz>
+          <izz>0.001</izz>
         </inertia>
       </inertial>
-      <collision name="cliff_sensor_front_right_collision">
-        <pose>0.0105 0 0.00925 0 -0 0</pose>
-        <geometry>
-          <box>
-            <size>0.021 0.035 0.0185</size>
-          </box>
-        </geometry>
-      </collision>
-      <visual name="cliff_sensor_front_right_visual">
-        <geometry>
-          <mesh>
-            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_MARV_SENSOR_CONFIG_1/tip/files/meshes/tfmini_plus_lidar.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-      <sensor name="laser" type="gpu_lidar">
-        <pose>0.021 0 0.00925 0 -0 0</pose>
-        <update_rate>10</update_rate>
-        <visualize>0</visualize>
-        <always_on>1</always_on>
-        <lidar>
-          <scan>
-            <horizontal>
-              <samples>3</samples>
-              <resolution>1</resolution>
-              <min_angle>-0.0314159</min_angle>
-              <max_angle>0.0314159</max_angle>
-            </horizontal>
-            <vertical>
-              <samples>3</samples>
-              <resolution>1</resolution>
-              <min_angle>-0.0314159</min_angle>
-              <max_angle>0.0314159</max_angle>
-            </vertical>
-          </scan>
-          <range>
-            <min>0.1</min>
-            <max>12</max>
-            <resolution>0.01</resolution>
-          </range>
-          <noise>
-            <type>gaussian</type>
-            <mean>0</mean>
-            <stddev>0.015</stddev>
-          </noise>
-        </lidar>
-      </sensor>
     </link>
-    <joint name="cliff_sensor_front_right_j" type="fixed">
-      <child>cliff_sensor_front_right</child>
-      <parent>rear_right_box</parent>
+    <joint name="rear_left_flipper_end_point_j" type="fixed">
+      <child>rear_left_flipper_end_point</child>
+      <parent>rear_left_flipper</parent>
       <axis>
         <dynamics>
           <spring_reference>0</spring_reference>
@@ -3130,71 +1472,23 @@
         </ode>
       </physics>
     </joint>
-    <link name="cliff_sensor_rear_left">
-      <pose>-0.3 0.1445 0.2106 3.1415926535897931 1.5707963267948966 0</pose>
+    <link name="rear_left_motor">
       <inertial>
-        <pose>0.0105 0 0.00925 0 -0 0</pose>
-        <mass>0.012</mass>
+        <pose>-0.22 -0.09 0.02 0 -0 0</pose>
+        <mass>4.06</mass>
         <inertia>
-          <ixx>1.56725e-06</ixx>
+          <ixx>0.0151492</ixx>
           <ixy>0</ixy>
           <ixz>0</ixz>
-          <iyy>7.8325e-07</iyy>
+          <iyy>0.0129839</iyy>
           <iyz>0</iyz>
-          <izz>1.666e-06</izz>
+          <izz>0.0173903</izz>
         </inertia>
       </inertial>
-      <collision name="cliff_sensor_rear_left_collision">
-        <pose>0.0105 0 0.00925 0 -0 0</pose>
-        <geometry>
-          <box>
-            <size>0.021 0.035 0.0185</size>
-          </box>
-        </geometry>
-      </collision>
-      <visual name="cliff_sensor_rear_left_visual">
-        <geometry>
-          <mesh>
-            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_MARV_SENSOR_CONFIG_1/tip/files/meshes/tfmini_plus_lidar.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-      <sensor name="laser" type="gpu_lidar">
-        <pose>0.021 0 0.00925 0 -0 0</pose>
-        <update_rate>10</update_rate>
-        <visualize>0</visualize>
-        <always_on>1</always_on>
-        <lidar>
-          <scan>
-            <horizontal>
-              <samples>3</samples>
-              <resolution>1</resolution>
-              <min_angle>-0.0314159</min_angle>
-              <max_angle>0.0314159</max_angle>
-            </horizontal>
-            <vertical>
-              <samples>3</samples>
-              <resolution>1</resolution>
-              <min_angle>-0.0314159</min_angle>
-              <max_angle>0.0314159</max_angle>
-            </vertical>
-          </scan>
-          <range>
-            <min>0.1</min>
-            <max>12</max>
-            <resolution>0.01</resolution>
-          </range>
-          <noise>
-            <type>gaussian</type>
-            <mean>0</mean>
-            <stddev>0.015</stddev>
-          </noise>
-        </lidar>
-      </sensor>
     </link>
-    <joint name="cliff_sensor_rear_left_j" type="fixed">
-      <child>cliff_sensor_rear_left</child>
-      <parent>rear_right_box</parent>
+    <joint name="rear_left_motor_j" type="fixed">
+      <child>rear_left_motor</child>
+      <parent>base_link</parent>
       <axis>
         <dynamics>
           <spring_reference>0</spring_reference>
@@ -3216,71 +1510,23 @@
         </ode>
       </physics>
     </joint>
-    <link name="cliff_sensor_rear_right">
-      <pose>-0.3 -0.1445 0.2106 3.1415926535897931 1.5707963267948966 0</pose>
+    <link name="rear_right_box">
+      <pose>-0.3 -0.18 0.1921 0 -0 0</pose>
       <inertial>
-        <pose>0.0105 0 0.00925 0 -0 0</pose>
-        <mass>0.012</mass>
-        <inertia>
-          <ixx>1.56725e-06</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>7.8325e-07</iyy>
-          <iyz>0</iyz>
-          <izz>1.666e-06</izz>
-        </inertia>
-      </inertial>
-      <collision name="cliff_sensor_rear_right_collision">
-        <pose>0.0105 0 0.00925 0 -0 0</pose>
-        <geometry>
-          <box>
-            <size>0.021 0.035 0.0185</size>
-          </box>
-        </geometry>
-      </collision>
-      <visual name="cliff_sensor_rear_right_visual">
-        <geometry>
-          <mesh>
-            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_MARV_SENSOR_CONFIG_1/tip/files/meshes/tfmini_plus_lidar.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-      <sensor name="laser" type="gpu_lidar">
-        <pose>0.021 0 0.00925 0 -0 0</pose>
-        <update_rate>10</update_rate>
-        <visualize>0</visualize>
-        <always_on>1</always_on>
-        <lidar>
-          <scan>
-            <horizontal>
-              <samples>3</samples>
-              <resolution>1</resolution>
-              <min_angle>-0.0314159</min_angle>
-              <max_angle>0.0314159</max_angle>
-            </horizontal>
-            <vertical>
-              <samples>3</samples>
-              <resolution>1</resolution>
-              <min_angle>-0.0314159</min_angle>
-              <max_angle>0.0314159</max_angle>
-            </vertical>
-          </scan>
-          <range>
-            <min>0.1</min>
-            <max>12</max>
-            <resolution>0.01</resolution>
-          </range>
-          <noise>
-            <type>gaussian</type>
-            <mean>0</mean>
-            <stddev>0.015</stddev>
-          </noise>
-        </lidar>
-      </sensor>
+        <mass>1e-05</mass>
+        <inertia>
+          <ixx>0.001</ixx>
+          <ixy>1e-06</ixy>
+          <ixz>1e-06</ixz>
+          <iyy>0.001</iyy>
+          <iyz>1e-06</iyz>
+          <izz>0.001</izz>
+        </inertia>
+      </inertial>
     </link>
-    <joint name="cliff_sensor_rear_right_j" type="fixed">
-      <child>cliff_sensor_rear_right</child>
-      <parent>rear_right_box</parent>
+    <joint name="rear_right_box_j" type="fixed">
+      <child>rear_right_box</child>
+      <parent>base_link</parent>
       <axis>
         <dynamics>
           <spring_reference>0</spring_reference>
@@ -3302,38 +1548,89 @@
         </ode>
       </physics>
     </joint>
-    <link name="mobilicom">
-      <pose>-0.25 0.12 0.1921 0 -0 1.5707963267948966</pose>
+    <link name="camera_0">
+      <pose>0.21 0 0.1921 0 -0 0</pose>
       <inertial>
-        <pose>0 0 0.0135 0 -0 0</pose>
-        <mass>0.168</mass>
+        <pose>0.039802 0 0.0145 0 -0 0</pose>
+        <mass>0.232</mass>
         <inertia>
-          <ixx>8.687e-05</ixx>
+          <ixx>3.25187e-05</ixx>
           <ixy>0</ixy>
           <ixz>0</ixz>
-          <iyy>0.000150206</iyy>
+          <iyy>0.000158598</iyy>
           <iyz>0</iyz>
-          <izz>0.000216664</izz>
+          <izz>0.000158598</izz>
         </inertia>
       </inertial>
-      <collision name="mobilicom_collision">
-        <pose>0 0 0.0135 0 -0 0</pose>
+      <collision name="camera_0_collision_collision">
+        <pose>0.02465 0 0.0145 0 -0 0</pose>
         <geometry>
           <box>
-            <size>0.1 0.074 0.027</size>
+            <size>0.0555 0.029 0.029</size>
           </box>
         </geometry>
       </collision>
-      <visual name="mobilicom_visual">
+      <collision name="camera_0_lens_collision_collision_1">
+        <pose>0.062834 0 0.0145 0 1.5707963267948966 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.03974</length>
+            <radius>0.0125</radius>
+          </cylinder>
+        </geometry>
+      </collision>
+      <visual name="camera_0_visual">
+        <pose>0 0 0.0145 0 -0 0</pose>
         <geometry>
           <mesh>
-            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_MARV_SENSOR_CONFIG_1/tip/files/meshes/mobilicom.dae</uri>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_MARV_SENSOR_CONFIG_1/tip/files/meshes/basler_ace2_pro.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <visual name="camera_0_visual_1">
+        <pose>0.042964 0 0.0145 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_MARV_SENSOR_CONFIG_1/tip/files/meshes/evetar_lens.dae</uri>
           </mesh>
         </geometry>
       </visual>
+      <sensor name="camera_0" type="camera">
+        <pose>0.072044 0 0.0145 0 -0 0</pose>
+        <update_rate>9</update_rate>
+        <visualize>0</visualize>
+        <camera>
+          <horizontal_fov>1.50971</horizontal_fov>
+          <image>
+            <width>1920</width>
+            <height>1200</height>
+            <format>R8G8B8</format>
+          </image>
+          <clip>
+            <near>0.011726</near>
+            <far>300</far>
+          </clip>
+          <noise>
+            <type>gaussian</type>
+            <mean>0</mean>
+            <stddev>0.007</stddev>
+          </noise>
+          <lens>
+            <intrinsics>
+              <fx>1020.51</fx>
+              <fy>1020.51</fy>
+              <cx>959.5</cx>
+              <cy>599.5</cy>
+              <s>0</s>
+            </intrinsics>
+            <type>stereographic</type>
+            <scale_to_hfov>1</scale_to_hfov>
+          </lens>
+        </camera>
+      </sensor>
     </link>
-    <joint name="mobilicom_j" type="fixed">
-      <child>mobilicom</child>
+    <joint name="camera_0_j" type="fixed">
+      <child>camera_0</child>
       <parent>rear_right_box</parent>
       <axis>
         <dynamics>
@@ -3356,42 +1653,90 @@
         </ode>
       </physics>
     </joint>
-    <link name="mobilicom_antenna_l">
-      <pose>-0.275 0.17 0.2056 -0.5 -0 1.5707963267948966</pose>
+    <link name="camera_2">
+      <pose>-0.21 0 0.1921 0 -0 3.1415926535897931</pose>
       <inertial>
-        <pose>0 0 0.085 0 -0 0</pose>
-        <mass>0.03</mass>
+        <pose>0.039802 0 0.0145 0 -0 0</pose>
+        <mass>0.232</mass>
         <inertia>
-          <ixx>7.3e-05</ixx>
+          <ixx>3.25187e-05</ixx>
           <ixy>0</ixy>
           <ixz>0</ixz>
-          <iyy>7.3e-05</iyy>
+          <iyy>0.000158598</iyy>
           <iyz>0</iyz>
-          <izz>1.5e-06</izz>
+          <izz>0.000158598</izz>
         </inertia>
       </inertial>
-      <collision name="mobilicom_antenna_l_collision">
-        <pose>0 0 0.085 0 -0 0</pose>
+      <collision name="camera_2_collision_collision">
+        <pose>0.02465 0 0.0145 0 -0 0</pose>
         <geometry>
-          <cylinder>
-            <length>0.17</length>
-            <radius>0.01</radius>
-          </cylinder>
+          <box>
+            <size>0.0555 0.029 0.029</size>
+          </box>
         </geometry>
       </collision>
-      <visual name="mobilicom_antenna_l_visual">
-        <pose>0 0 0.085 0 -0 0</pose>
+      <collision name="camera_2_lens_collision_collision_1">
+        <pose>0.062834 0 0.0145 0 1.5707963267948966 0</pose>
         <geometry>
           <cylinder>
-            <length>0.17</length>
-            <radius>0.01</radius>
+            <length>0.03974</length>
+            <radius>0.0125</radius>
           </cylinder>
         </geometry>
+      </collision>
+      <visual name="camera_2_visual">
+        <pose>0 0 0.0145 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_MARV_SENSOR_CONFIG_1/tip/files/meshes/basler_ace2_pro.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <visual name="camera_2_visual_1">
+        <pose>0.042964 0 0.0145 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_MARV_SENSOR_CONFIG_1/tip/files/meshes/evetar_lens.dae</uri>
+          </mesh>
+        </geometry>
       </visual>
+      <sensor name="camera_2" type="camera">
+        <pose>0.072044 0 0.0145 0 -0 0</pose>
+        <update_rate>9</update_rate>
+        <visualize>0</visualize>
+        <camera>
+          <horizontal_fov>1.50971</horizontal_fov>
+          <image>
+            <width>1920</width>
+            <height>1200</height>
+            <format>R8G8B8</format>
+          </image>
+          <clip>
+            <near>0.011726</near>
+            <far>300</far>
+          </clip>
+          <noise>
+            <type>gaussian</type>
+            <mean>0</mean>
+            <stddev>0.007</stddev>
+          </noise>
+          <lens>
+            <intrinsics>
+              <fx>1020.51</fx>
+              <fy>1020.51</fy>
+              <cx>959.5</cx>
+              <cy>599.5</cy>
+              <s>0</s>
+            </intrinsics>
+            <type>stereographic</type>
+            <scale_to_hfov>1</scale_to_hfov>
+          </lens>
+        </camera>
+      </sensor>
     </link>
-    <joint name="mobilicom_antenna_l_j" type="fixed">
-      <child>mobilicom_antenna_l</child>
-      <parent>mobilicom</parent>
+    <joint name="camera_2_j" type="fixed">
+      <child>camera_2</child>
+      <parent>rear_right_box</parent>
       <axis>
         <dynamics>
           <spring_reference>0</spring_reference>
@@ -3413,42 +1758,71 @@
         </ode>
       </physics>
     </joint>
-    <link name="mobilicom_antenna_r">
-      <pose>-0.225 0.17 0.2056 0 -0 1.5707963267948966</pose>
+    <link name="cliff_sensor_front_left">
+      <pose>0.3 0.1445 0.2106 0 1.5707963267948966 0</pose>
       <inertial>
-        <pose>0 0 0.085 0 -0 0</pose>
-        <mass>0.03</mass>
+        <pose>0.0105 0 0.00925 0 -0 0</pose>
+        <mass>0.012</mass>
         <inertia>
-          <ixx>7.3e-05</ixx>
+          <ixx>1.56725e-06</ixx>
           <ixy>0</ixy>
           <ixz>0</ixz>
-          <iyy>7.3e-05</iyy>
+          <iyy>7.8325e-07</iyy>
           <iyz>0</iyz>
-          <izz>1.5e-06</izz>
+          <izz>1.666e-06</izz>
         </inertia>
       </inertial>
-      <collision name="mobilicom_antenna_r_collision">
-        <pose>0 0 0.085 0 -0 0</pose>
+      <collision name="cliff_sensor_front_left_collision">
+        <pose>0.0105 0 0.00925 0 -0 0</pose>
         <geometry>
-          <cylinder>
-            <length>0.17</length>
-            <radius>0.01</radius>
-          </cylinder>
+          <box>
+            <size>0.021 0.035 0.0185</size>
+          </box>
         </geometry>
       </collision>
-      <visual name="mobilicom_antenna_r_visual">
-        <pose>0 0 0.085 0 -0 0</pose>
+      <visual name="cliff_sensor_front_left_visual">
         <geometry>
-          <cylinder>
-            <length>0.17</length>
-            <radius>0.01</radius>
-          </cylinder>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_MARV_SENSOR_CONFIG_1/tip/files/meshes/tfmini_plus_lidar.dae</uri>
+          </mesh>
         </geometry>
       </visual>
+      <sensor name="laser" type="gpu_lidar">
+        <pose>0.021 0 0.00925 0 -0 0</pose>
+        <update_rate>10</update_rate>
+        <visualize>0</visualize>
+        <always_on>1</always_on>
+        <lidar>
+          <scan>
+            <horizontal>
+              <samples>3</samples>
+              <resolution>1</resolution>
+              <min_angle>-0.0314159</min_angle>
+              <max_angle>0.0314159</max_angle>
+            </horizontal>
+            <vertical>
+              <samples>3</samples>
+              <resolution>1</resolution>
+              <min_angle>-0.0314159</min_angle>
+              <max_angle>0.0314159</max_angle>
+            </vertical>
+          </scan>
+          <range>
+            <min>0.1</min>
+            <max>12</max>
+            <resolution>0.01</resolution>
+          </range>
+          <noise>
+            <type>gaussian</type>
+            <mean>0</mean>
+            <stddev>0.015</stddev>
+          </noise>
+        </lidar>
+      </sensor>
     </link>
-    <joint name="mobilicom_antenna_r_j" type="fixed">
-      <child>mobilicom_antenna_r</child>
-      <parent>mobilicom</parent>
+    <joint name="cliff_sensor_front_left_j" type="fixed">
+      <child>cliff_sensor_front_left</child>
+      <parent>rear_right_box</parent>
       <axis>
         <dynamics>
           <spring_reference>0</spring_reference>
@@ -3470,38 +1844,70 @@
         </ode>
       </physics>
     </joint>
-    <link name="mote_deployer">
-      <pose>-0.24 -0.16 0.1821 0 0 -3.1415926535897931</pose>
+    <link name="cliff_sensor_front_right">
+      <pose>0.3 -0.1445 0.2106 0 1.5707963267948966 0</pose>
       <inertial>
-        <pose>0.0845 -0.024 0.0655 0 -0 0</pose>
-        <mass>0.5</mass>
+        <pose>0.0105 0 0.00925 0 -0 0</pose>
+        <mass>0.012</mass>
         <inertia>
-          <ixx>0.000931042</ixx>
+          <ixx>1.56725e-06</ixx>
           <ixy>0</ixy>
           <ixz>0</ixz>
-          <iyy>0.00220342</iyy>
+          <iyy>7.8325e-07</iyy>
           <iyz>0</iyz>
-          <izz>0.00170437</izz>
+          <izz>1.666e-06</izz>
         </inertia>
       </inertial>
-      <collision name="mote_deployer_collision">
-        <pose>0.0845 -0.024 0.0655 0 -0 0</pose>
+      <collision name="cliff_sensor_front_right_collision">
+        <pose>0.0105 0 0.00925 0 -0 0</pose>
         <geometry>
           <box>
-            <size>0.189 0.072 0.131</size>
+            <size>0.021 0.035 0.0185</size>
           </box>
         </geometry>
       </collision>
-      <visual name="mote_deployer_visual">
+      <visual name="cliff_sensor_front_right_visual">
         <geometry>
           <mesh>
-            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_MARV_SENSOR_CONFIG_1/tip/files/meshes/mote_deployer.dae</uri>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_MARV_SENSOR_CONFIG_1/tip/files/meshes/tfmini_plus_lidar.dae</uri>
           </mesh>
         </geometry>
       </visual>
+      <sensor name="laser" type="gpu_lidar">
+        <pose>0.021 0 0.00925 0 -0 0</pose>
+        <update_rate>10</update_rate>
+        <visualize>0</visualize>
+        <always_on>1</always_on>
+        <lidar>
+          <scan>
+            <horizontal>
+              <samples>3</samples>
+              <resolution>1</resolution>
+              <min_angle>-0.0314159</min_angle>
+              <max_angle>0.0314159</max_angle>
+            </horizontal>
+            <vertical>
+              <samples>3</samples>
+              <resolution>1</resolution>
+              <min_angle>-0.0314159</min_angle>
+              <max_angle>0.0314159</max_angle>
+            </vertical>
+          </scan>
+          <range>
+            <min>0.1</min>
+            <max>12</max>
+            <resolution>0.01</resolution>
+          </range>
+          <noise>
+            <type>gaussian</type>
+            <mean>0</mean>
+            <stddev>0.015</stddev>
+          </noise>
+        </lidar>
+      </sensor>
     </link>
-    <joint name="mote_deployer_j" type="fixed">
-      <child>mote_deployer</child>
+    <joint name="cliff_sensor_front_right_j" type="fixed">
+      <child>cliff_sensor_front_right</child>
       <parent>rear_right_box</parent>
       <axis>
         <dynamics>
@@ -3524,62 +1930,70 @@
         </ode>
       </physics>
     </joint>
-    <link name="thermocam">
-      <pose>0.26 -0.04 0.1921 0 -0 0</pose>
+    <link name="cliff_sensor_rear_left">
+      <pose>-0.3 0.1445 0.2106 3.1415926535897931 1.5707963267948966 0</pose>
       <inertial>
-        <pose>0.0155 0 0 0 -0 0</pose>
-        <mass>0.024</mass>
+        <pose>0.0105 0 0.00925 0 -0 0</pose>
+        <mass>0.012</mass>
         <inertia>
-          <ixx>1.764e-06</ixx>
+          <ixx>1.56725e-06</ixx>
           <ixy>0</ixy>
           <ixz>0</ixz>
-          <iyy>4.58e-06</iyy>
+          <iyy>7.8325e-07</iyy>
           <iyz>0</iyz>
-          <izz>4.58e-06</izz>
+          <izz>1.666e-06</izz>
         </inertia>
       </inertial>
-      <collision name="thermocam_collision">
-        <pose>0.0155 0 0 0 -0 0</pose>
+      <collision name="cliff_sensor_rear_left_collision">
+        <pose>0.0105 0 0.00925 0 -0 0</pose>
         <geometry>
           <box>
-            <size>0.043 0.021 0.021</size>
+            <size>0.021 0.035 0.0185</size>
           </box>
         </geometry>
       </collision>
-      <visual name="thermocam_visual">
-        <pose>0 0 0.0105 0 -0 0</pose>
+      <visual name="cliff_sensor_rear_left_visual">
         <geometry>
           <mesh>
-            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_MARV_SENSOR_CONFIG_1/tip/files/meshes/flir_boson.dae</uri>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_MARV_SENSOR_CONFIG_1/tip/files/meshes/tfmini_plus_lidar.dae</uri>
           </mesh>
         </geometry>
       </visual>
-      <sensor name="thermal_camera" type="thermal_camera">
-        <pose>0.03 0 0 0 -0 0</pose>
-        <always_on>1</always_on>
-        <update_rate>8.6</update_rate>
+      <sensor name="laser" type="gpu_lidar">
+        <pose>0.021 0 0.00925 0 -0 0</pose>
+        <update_rate>10</update_rate>
         <visualize>0</visualize>
-        <camera name="thermal_camera">
-          <horizontal_fov>1.6057</horizontal_fov>
-          <image>
-            <width>320</width>
-            <height>256</height>
-            <format>L16</format>
-          </image>
-          <clip>
-            <near>0.2</near>
-            <far>50</far>
-          </clip>
-        </camera>
-        <plugin name="ignition::gazebo::systems::ThermalSensor" filename="ignition-gazebo-thermal-sensor-system">
-          <min_temp>223.15</min_temp>
-          <max_temp>453.15</max_temp>
-          <resolution>0.06</resolution>
-        </plugin>
+        <always_on>1</always_on>
+        <lidar>
+          <scan>
+            <horizontal>
+              <samples>3</samples>
+              <resolution>1</resolution>
+              <min_angle>-0.0314159</min_angle>
+              <max_angle>0.0314159</max_angle>
+            </horizontal>
+            <vertical>
+              <samples>3</samples>
+              <resolution>1</resolution>
+              <min_angle>-0.0314159</min_angle>
+              <max_angle>0.0314159</max_angle>
+            </vertical>
+          </scan>
+          <range>
+            <min>0.1</min>
+            <max>12</max>
+            <resolution>0.01</resolution>
+          </range>
+          <noise>
+            <type>gaussian</type>
+            <mean>0</mean>
+            <stddev>0.015</stddev>
+          </noise>
+        </lidar>
       </sensor>
     </link>
-    <joint name="thermocam_j" type="fixed">
-      <child>thermocam</child>
+    <joint name="cliff_sensor_rear_left_j" type="fixed">
+      <child>cliff_sensor_rear_left</child>
       <parent>rear_right_box</parent>
       <axis>
         <dynamics>
@@ -3602,72 +2016,85 @@
         </ode>
       </physics>
     </joint>
-    <link name="rear_right_flipper">
-      <pose>-0.256 -0.248 0 0 -0 0</pose>
+    <link name="cliff_sensor_rear_right">
+      <pose>-0.3 -0.1445 0.2106 3.1415926535897931 1.5707963267948966 0</pose>
       <inertial>
-        <mass>1e-05</mass>
+        <pose>0.0105 0 0.00925 0 -0 0</pose>
+        <mass>0.012</mass>
         <inertia>
-          <ixx>0.001</ixx>
-          <ixy>1e-06</ixy>
-          <ixz>1e-06</ixz>
-          <iyy>0.001</iyy>
-          <iyz>1e-06</iyz>
-          <izz>0.001</izz>
+          <ixx>1.56725e-06</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>7.8325e-07</iyy>
+          <iyz>0</iyz>
+          <izz>1.666e-06</izz>
         </inertia>
       </inertial>
-      <visual name="rear_right_flipper_visual">
-        <geometry>
-          <mesh>
-            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_MARV_SENSOR_CONFIG_1/tip/files/meshes/big_wheel.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-      <visual name="rear_right_flipper_visual_1">
-        <geometry>
-          <mesh>
-            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_MARV_SENSOR_CONFIG_1/tip/files/meshes/flipper_arm.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-      <visual name="rear_right_flipper_visual_2">
-        <pose>0 0 0 3.1415926535897931 -0 3.1415926535897931</pose>
+      <collision name="cliff_sensor_rear_right_collision">
+        <pose>0.0105 0 0.00925 0 -0 0</pose>
         <geometry>
-          <mesh>
-            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_MARV_SENSOR_CONFIG_1/tip/files/meshes/belt.dae</uri>
-          </mesh>
+          <box>
+            <size>0.021 0.035 0.0185</size>
+          </box>
         </geometry>
-      </visual>
-      <visual name="rear_right_flipper_visual_3">
-        <pose>-0.3035 0 0 0 -0 0</pose>
+      </collision>
+      <visual name="cliff_sensor_rear_right_visual">
         <geometry>
           <mesh>
-            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_MARV_SENSOR_CONFIG_1/tip/files/meshes/small_wheel.dae</uri>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_MARV_SENSOR_CONFIG_1/tip/files/meshes/tfmini_plus_lidar.dae</uri>
           </mesh>
         </geometry>
       </visual>
-      <self_collide>1</self_collide>
+      <sensor name="laser" type="gpu_lidar">
+        <pose>0.021 0 0.00925 0 -0 0</pose>
+        <update_rate>10</update_rate>
+        <visualize>0</visualize>
+        <always_on>1</always_on>
+        <lidar>
+          <scan>
+            <horizontal>
+              <samples>3</samples>
+              <resolution>1</resolution>
+              <min_angle>-0.0314159</min_angle>
+              <max_angle>0.0314159</max_angle>
+            </horizontal>
+            <vertical>
+              <samples>3</samples>
+              <resolution>1</resolution>
+              <min_angle>-0.0314159</min_angle>
+              <max_angle>0.0314159</max_angle>
+            </vertical>
+          </scan>
+          <range>
+            <min>0.1</min>
+            <max>12</max>
+            <resolution>0.01</resolution>
+          </range>
+          <noise>
+            <type>gaussian</type>
+            <mean>0</mean>
+            <stddev>0.015</stddev>
+          </noise>
+        </lidar>
+      </sensor>
     </link>
-    <joint name="rear_right_flipper_j" type="revolute">
-      <child>rear_right_flipper</child>
-      <parent>base_link</parent>
+    <joint name="cliff_sensor_rear_right_j" type="fixed">
+      <child>cliff_sensor_rear_right</child>
+      <parent>rear_right_box</parent>
       <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>120</effort>
-          <velocity>1</velocity>
-        </limit>
         <dynamics>
           <spring_reference>0</spring_reference>
           <spring_stiffness>0</spring_stiffness>
         </dynamics>
+        <xyz>0 0 1</xyz>
         <use_parent_model_frame>0</use_parent_model_frame>
+        <limit>
+          <lower>-1e+16</lower>
+          <upper>1e+16</upper>
+        </limit>
       </axis>
       <physics>
         <ode>
-          <implicit_spring_damper>1</implicit_spring_damper>
-          <cfm_damping>1</cfm_damping>
           <limit>
             <cfm>0</cfm>
             <erp>0.2</erp>
@@ -3675,23 +2102,39 @@
         </ode>
       </physics>
     </joint>
-    <link name="rear_right_flipper_end_point_inflated">
-      <pose>-0.6375 -0.248 0 0 -0 0</pose>
+    <link name="mobilicom">
+      <pose>-0.25 0.12 0.1921 0 -0 1.5707963267948966</pose>
       <inertial>
-        <mass>1e-05</mass>
+        <pose>0 0 0.0135 0 -0 0</pose>
+        <mass>0.168</mass>
         <inertia>
-          <ixx>0.001</ixx>
-          <ixy>1e-06</ixy>
-          <ixz>1e-06</ixz>
-          <iyy>0.001</iyy>
-          <iyz>1e-06</iyz>
-          <izz>0.001</izz>
+          <ixx>8.687e-05</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.000150206</iyy>
+          <iyz>0</iyz>
+          <izz>0.000216664</izz>
         </inertia>
       </inertial>
+      <collision name="mobilicom_collision">
+        <pose>0 0 0.0135 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.1 0.074 0.027</size>
+          </box>
+        </geometry>
+      </collision>
+      <visual name="mobilicom_visual">
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_MARV_SENSOR_CONFIG_1/tip/files/meshes/mobilicom.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
     </link>
-    <joint name="rear_right_flipper_end_point_inflated_j" type="fixed">
-      <child>rear_right_flipper_end_point_inflated</child>
-      <parent>rear_right_flipper</parent>
+    <joint name="mobilicom_j" type="fixed">
+      <child>mobilicom</child>
+      <parent>rear_right_box</parent>
       <axis>
         <dynamics>
           <spring_reference>0</spring_reference>
@@ -3713,23 +2156,42 @@
         </ode>
       </physics>
     </joint>
-    <link name="rear_right_flipper_end_point">
-      <pose>-0.6375 -0.248 0 0 -0 0</pose>
+    <link name="mobilicom_antenna_l">
+      <pose>-0.275 0.17 0.2056 -0.5 -0 1.5707963267948966</pose>
       <inertial>
-        <mass>1e-05</mass>
+        <pose>0 0 0.085 0 -0 0</pose>
+        <mass>0.03</mass>
         <inertia>
-          <ixx>0.001</ixx>
-          <ixy>1e-06</ixy>
-          <ixz>1e-06</ixz>
-          <iyy>0.001</iyy>
-          <iyz>1e-06</iyz>
-          <izz>0.001</izz>
+          <ixx>7.3e-05</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>7.3e-05</iyy>
+          <iyz>0</iyz>
+          <izz>1.5e-06</izz>
         </inertia>
       </inertial>
+      <collision name="mobilicom_antenna_l_collision">
+        <pose>0 0 0.085 0 -0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.17</length>
+            <radius>0.01</radius>
+          </cylinder>
+        </geometry>
+      </collision>
+      <visual name="mobilicom_antenna_l_visual">
+        <pose>0 0 0.085 0 -0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.17</length>
+            <radius>0.01</radius>
+          </cylinder>
+        </geometry>
+      </visual>
     </link>
-    <joint name="rear_right_flipper_end_point_j" type="fixed">
-      <child>rear_right_flipper_end_point</child>
-      <parent>rear_right_flipper</parent>
+    <joint name="mobilicom_antenna_l_j" type="fixed">
+      <child>mobilicom_antenna_l</child>
+      <parent>mobilicom</parent>
       <axis>
         <dynamics>
           <spring_reference>0</spring_reference>
@@ -3751,425 +2213,338 @@
         </ode>
       </physics>
     </joint>
-    <link name="rear_right_flipper_wheel1">
-      <pose>-0.256 -0.248 0 0 -0 0</pose>
+    <link name="mobilicom_antenna_r">
+      <pose>-0.225 0.17 0.2056 0 -0 1.5707963267948966</pose>
       <inertial>
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <mass>0.457375</mass>
+        <pose>0 0 0.085 0 -0 0</pose>
+        <mass>0.03</mass>
         <inertia>
-          <ixx>0.0017663</ixx>
+          <ixx>7.3e-05</ixx>
           <ixy>0</ixy>
           <ixz>0</ixz>
-          <iyy>0.0017663</iyy>
+          <iyy>7.3e-05</iyy>
           <iyz>0</iyz>
-          <izz>0.0031038</izz>
+          <izz>1.5e-06</izz>
         </inertia>
       </inertial>
-      <collision name="rear_right_flipper_wheel1_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="mobilicom_antenna_r_collision">
+        <pose>0 0 0.085 0 -0 0</pose>
         <geometry>
           <cylinder>
-            <length>0.075</length>
-            <radius>0.1165</radius>
+            <length>0.17</length>
+            <radius>0.01</radius>
           </cylinder>
         </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-            <collide_bitmask>1</collide_bitmask>
-          </contact>
-          <friction>
-            <ode>
-              <mu>1</mu>
-              <mu2>150</mu2>
-              <slip1>0.000575601</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
       </collision>
-      <self_collide>1</self_collide>
+      <visual name="mobilicom_antenna_r_visual">
+        <pose>0 0 0.085 0 -0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.17</length>
+            <radius>0.01</radius>
+          </cylinder>
+        </geometry>
+      </visual>
     </link>
-    <joint name="rear_right_flipper_wheel1_j" type="revolute">
-      <child>rear_right_flipper_wheel1</child>
-      <parent>rear_right_flipper</parent>
+    <joint name="mobilicom_antenna_r_j" type="fixed">
+      <child>mobilicom_antenna_r</child>
+      <parent>mobilicom</parent>
       <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>-1</effort>
-          <velocity>8.58369</velocity>
-        </limit>
         <dynamics>
           <spring_reference>0</spring_reference>
           <spring_stiffness>0</spring_stiffness>
         </dynamics>
+        <xyz>0 0 1</xyz>
         <use_parent_model_frame>0</use_parent_model_frame>
+        <limit>
+          <lower>-1e+16</lower>
+          <upper>1e+16</upper>
+        </limit>
       </axis>
+      <physics>
+        <ode>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+        </ode>
+      </physics>
     </joint>
-    <link name="rear_right_flipper_wheel2">
-      <pose>-0.299357 -0.248 0 0 -0 0</pose>
+    <link name="mote_deployer">
+      <pose>-0.24 -0.16 0.1821 0 0 -3.1415926535897931</pose>
       <inertial>
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <mass>0.457375</mass>
+        <pose>0.0845 -0.024 0.0655 0 -0 0</pose>
+        <mass>0.5</mass>
         <inertia>
-          <ixx>0.00162322</ixx>
+          <ixx>0.000931042</ixx>
           <ixy>0</ixy>
           <ixz>0</ixz>
-          <iyy>0.00162322</iyy>
+          <iyy>0.00220342</iyy>
           <iyz>0</iyz>
-          <izz>0.00281766</izz>
+          <izz>0.00170437</izz>
         </inertia>
       </inertial>
-      <collision name="rear_right_flipper_wheel2_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="mote_deployer_collision">
+        <pose>0.0845 -0.024 0.0655 0 -0 0</pose>
         <geometry>
-          <cylinder>
-            <length>0.075</length>
-            <radius>0.111</radius>
-          </cylinder>
+          <box>
+            <size>0.189 0.072 0.131</size>
+          </box>
         </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-            <collide_bitmask>2</collide_bitmask>
-          </contact>
-          <friction>
-            <ode>
-              <mu>1</mu>
-              <mu2>150</mu2>
-              <slip1>0.000575601</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
       </collision>
-      <self_collide>1</self_collide>
+      <visual name="mote_deployer_visual">
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_MARV_SENSOR_CONFIG_1/tip/files/meshes/mote_deployer.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
     </link>
-    <joint name="rear_right_flipper_wheel2_j" type="revolute">
-      <child>rear_right_flipper_wheel2</child>
-      <parent>rear_right_flipper</parent>
+    <joint name="mote_deployer_j" type="fixed">
+      <child>mote_deployer</child>
+      <parent>rear_right_box</parent>
       <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>-1</effort>
-          <velocity>9.00901</velocity>
-        </limit>
         <dynamics>
           <spring_reference>0</spring_reference>
           <spring_stiffness>0</spring_stiffness>
         </dynamics>
+        <xyz>0 0 1</xyz>
         <use_parent_model_frame>0</use_parent_model_frame>
+        <limit>
+          <lower>-1e+16</lower>
+          <upper>1e+16</upper>
+        </limit>
       </axis>
+      <physics>
+        <ode>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+        </ode>
+      </physics>
     </joint>
-    <link name="rear_right_flipper_wheel3">
-      <pose>-0.342714 -0.248 0 0 -0 0</pose>
+    <link name="thermocam">
+      <pose>0.26 -0.04 0.1921 0 -0 0</pose>
       <inertial>
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <mass>0.457375</mass>
+        <pose>0.0155 0 0 0 -0 0</pose>
+        <mass>0.024</mass>
         <inertia>
-          <ixx>0.00148707</ixx>
+          <ixx>1.764e-06</ixx>
           <ixy>0</ixy>
           <ixz>0</ixz>
-          <iyy>0.00148707</iyy>
+          <iyy>4.58e-06</iyy>
           <iyz>0</iyz>
-          <izz>0.00254535</izz>
+          <izz>4.58e-06</izz>
         </inertia>
       </inertial>
-      <collision name="rear_right_flipper_wheel3_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="thermocam_collision">
+        <pose>0.0155 0 0 0 -0 0</pose>
         <geometry>
-          <cylinder>
-            <length>0.075</length>
-            <radius>0.1055</radius>
-          </cylinder>
+          <box>
+            <size>0.043 0.021 0.021</size>
+          </box>
         </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-            <collide_bitmask>4</collide_bitmask>
-          </contact>
-          <friction>
-            <ode>
-              <mu>1</mu>
-              <mu2>150</mu2>
-              <slip1>0.000575601</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
       </collision>
-      <self_collide>1</self_collide>
+      <visual name="thermocam_visual">
+        <pose>0 0 0.0105 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_MARV_SENSOR_CONFIG_1/tip/files/meshes/flir_boson.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <sensor name="thermal_camera" type="thermal_camera">
+        <pose>0.03 0 0 0 -0 0</pose>
+        <always_on>1</always_on>
+        <update_rate>8.6</update_rate>
+        <visualize>0</visualize>
+        <camera name="thermal_camera">
+          <horizontal_fov>1.6057</horizontal_fov>
+          <image>
+            <width>320</width>
+            <height>256</height>
+            <format>L16</format>
+          </image>
+          <clip>
+            <near>0.2</near>
+            <far>50</far>
+          </clip>
+        </camera>
+        <plugin name="ignition::gazebo::systems::ThermalSensor" filename="ignition-gazebo-thermal-sensor-system">
+          <min_temp>223.15</min_temp>
+          <max_temp>453.15</max_temp>
+          <resolution>0.06</resolution>
+        </plugin>
+      </sensor>
     </link>
-    <joint name="rear_right_flipper_wheel3_j" type="revolute">
-      <child>rear_right_flipper_wheel3</child>
-      <parent>rear_right_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>-1</effort>
-          <velocity>9.47867</velocity>
-        </limit>
+    <joint name="thermocam_j" type="fixed">
+      <child>thermocam</child>
+      <parent>rear_right_box</parent>
+      <axis>
         <dynamics>
           <spring_reference>0</spring_reference>
           <spring_stiffness>0</spring_stiffness>
         </dynamics>
+        <xyz>0 0 1</xyz>
         <use_parent_model_frame>0</use_parent_model_frame>
+        <limit>
+          <lower>-1e+16</lower>
+          <upper>1e+16</upper>
+        </limit>
       </axis>
+      <physics>
+        <ode>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+        </ode>
+      </physics>
     </joint>
-    <link name="rear_right_flipper_wheel4">
-      <pose>-0.386071 -0.248 0 0 -0 0</pose>
+    <link name="rear_right_flipper">
+      <pose>-0.256 -0.248 0 0 -0 0</pose>
       <inertial>
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <mass>0.457375</mass>
+        <pose>-0.08 0 0 0 -0 0</pose>
+        <mass>3.659</mass>
         <inertia>
-          <ixx>0.00135783</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.00135783</iyy>
-          <iyz>0</iyz>
-          <izz>0.00228687</izz>
+          <ixx>0.0017491</ixx>
+          <ixy>2.8512e-07</ixy>
+          <ixz>0.0018277</ixz>
+          <iyy>0.012277</iyy>
+          <iyz>-3.6288e-07</iyz>
+          <izz>0.010941</izz>
         </inertia>
       </inertial>
-      <collision name="rear_right_flipper_wheel4_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="rear_right_flipper_collision">
+        <pose>-0.15175 0 0 0 -0 0</pose>
         <geometry>
-          <cylinder>
-            <length>0.075</length>
-            <radius>0.1</radius>
-          </cylinder>
+          <box>
+            <size>0.3035 0.075 0.078</size>
+          </box>
         </geometry>
         <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-            <collide_bitmask>8</collide_bitmask>
-          </contact>
           <friction>
             <ode>
               <mu>1</mu>
               <mu2>150</mu2>
-              <slip1>0.000575601</slip1>
-              <slip2>0</slip2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
-      <self_collide>1</self_collide>
-    </link>
-    <joint name="rear_right_flipper_wheel4_j" type="revolute">
-      <child>rear_right_flipper_wheel4</child>
-      <parent>rear_right_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>-1</effort>
-          <velocity>10</velocity>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="rear_right_flipper_wheel5">
-      <pose>-0.429429 -0.248 0 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <mass>0.457375</mass>
-        <inertia>
-          <ixx>0.00123551</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.00123551</iyy>
-          <iyz>0</iyz>
-          <izz>0.00204224</izz>
-        </inertia>
-      </inertial>
-      <collision name="rear_right_flipper_wheel5_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="rear_right_flipper_collision_1">
+        <pose>-0.15175 0 0.05825 0 -0.126179 0</pose>
         <geometry>
-          <cylinder>
-            <length>0.075</length>
-            <radius>0.0945</radius>
-          </cylinder>
+          <box>
+            <size>0.3035 0.075 0.078</size>
+          </box>
         </geometry>
         <surface>
-          <contact>
+          <friction>
             <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
+              <mu>1</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
             </ode>
-            <collide_bitmask>16</collide_bitmask>
-          </contact>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="rear_right_flipper_collision_2">
+        <pose>-0.15175 0 -0.05825 0 0.126179 0</pose>
+        <geometry>
+          <box>
+            <size>0.3035 0.075 0.078</size>
+          </box>
+        </geometry>
+        <surface>
           <friction>
             <ode>
               <mu>1</mu>
               <mu2>150</mu2>
-              <slip1>0.000575601</slip1>
-              <slip2>0</slip2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
-      <self_collide>1</self_collide>
-    </link>
-    <joint name="rear_right_flipper_wheel5_j" type="revolute">
-      <child>rear_right_flipper_wheel5</child>
-      <parent>rear_right_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>-1</effort>
-          <velocity>10.582</velocity>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="rear_right_flipper_wheel6">
-      <pose>-0.472786 -0.248 0 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <mass>0.457375</mass>
-        <inertia>
-          <ixx>0.00112011</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.00112011</iyy>
-          <iyz>0</iyz>
-          <izz>0.00181143</izz>
-        </inertia>
-      </inertial>
-      <collision name="rear_right_flipper_wheel6_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="rear_right_flipper_collision_3">
+        <pose>-0.3035 0 0 1.5707963267948966 -0 0</pose>
         <geometry>
           <cylinder>
             <length>0.075</length>
-            <radius>0.089</radius>
+            <radius>0.078</radius>
           </cylinder>
         </geometry>
         <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-            <collide_bitmask>32</collide_bitmask>
-          </contact>
           <friction>
             <ode>
               <mu>1</mu>
               <mu2>150</mu2>
-              <slip1>0.000575601</slip1>
-              <slip2>0</slip2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
-      <self_collide>1</self_collide>
-    </link>
-    <joint name="rear_right_flipper_wheel6_j" type="revolute">
-      <child>rear_right_flipper_wheel6</child>
-      <parent>rear_right_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>-1</effort>
-          <velocity>11.236</velocity>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="rear_right_flipper_wheel7">
-      <pose>-0.516143 -0.248 0 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <mass>0.457375</mass>
-        <inertia>
-          <ixx>0.00101163</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.00101163</iyy>
-          <iyz>0</iyz>
-          <izz>0.00159447</izz>
-        </inertia>
-      </inertial>
-      <collision name="rear_right_flipper_wheel7_collision_collision">
+      <collision name="rear_right_flipper_collision_4">
         <pose>0 0 0 1.5707963267948966 -0 0</pose>
         <geometry>
           <cylinder>
             <length>0.075</length>
-            <radius>0.0835</radius>
+            <radius>0.1165</radius>
           </cylinder>
         </geometry>
         <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-            <collide_bitmask>64</collide_bitmask>
-          </contact>
           <friction>
             <ode>
               <mu>1</mu>
               <mu2>150</mu2>
-              <slip1>0.000575601</slip1>
-              <slip2>0</slip2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
+      <visual name="rear_right_flipper_visual">
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_MARV_SENSOR_CONFIG_1/tip/files/meshes/big_wheel.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <visual name="rear_right_flipper_visual_1">
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_MARV_SENSOR_CONFIG_1/tip/files/meshes/flipper_arm.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <visual name="rear_right_flipper_visual_2">
+        <pose>0 0 0 3.1415926535897931 -0 3.1415926535897931</pose>
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_MARV_SENSOR_CONFIG_1/tip/files/meshes/belt.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <visual name="rear_right_flipper_visual_3">
+        <pose>-0.3035 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_MARV_SENSOR_CONFIG_1/tip/files/meshes/small_wheel.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
       <self_collide>1</self_collide>
     </link>
-    <joint name="rear_right_flipper_wheel7_j" type="revolute">
-      <child>rear_right_flipper_wheel7</child>
-      <parent>rear_right_flipper</parent>
+    <joint name="rear_right_flipper_j" type="revolute">
+      <child>rear_right_flipper</child>
+      <parent>base_link</parent>
       <axis>
         <xyz>0 1 0</xyz>
         <limit>
           <lower>-1e+16</lower>
           <upper>1e+16</upper>
-          <effort>-1</effort>
-          <velocity>11.976</velocity>
+          <effort>120</effort>
+          <velocity>1</velocity>
         </limit>
         <dynamics>
           <spring_reference>0</spring_reference>
@@ -4177,67 +2552,92 @@
         </dynamics>
         <use_parent_model_frame>0</use_parent_model_frame>
       </axis>
+      <physics>
+        <ode>
+          <implicit_spring_damper>1</implicit_spring_damper>
+          <cfm_damping>1</cfm_damping>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+        </ode>
+      </physics>
     </joint>
-    <link name="rear_right_flipper_wheel8">
-      <pose>-0.5595 -0.248 0 0 -0 0</pose>
+    <link name="rear_right_flipper_end_point_inflated">
+      <pose>-0.6375 -0.248 0 0 -0 0</pose>
       <inertial>
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <mass>0.457375</mass>
+        <mass>1e-05</mass>
         <inertia>
-          <ixx>0.000910062</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.000910062</iyy>
-          <iyz>0</iyz>
-          <izz>0.00139133</izz>
+          <ixx>0.001</ixx>
+          <ixy>1e-06</ixy>
+          <ixz>1e-06</ixz>
+          <iyy>0.001</iyy>
+          <iyz>1e-06</iyz>
+          <izz>0.001</izz>
         </inertia>
       </inertial>
-      <collision name="rear_right_flipper_wheel8_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.075</length>
-            <radius>0.078</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-            <collide_bitmask>128</collide_bitmask>
-          </contact>
-          <friction>
-            <ode>
-              <mu>1</mu>
-              <mu2>150</mu2>
-              <slip1>0.000575601</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-      <self_collide>1</self_collide>
     </link>
-    <joint name="rear_right_flipper_wheel8_j" type="revolute">
-      <child>rear_right_flipper_wheel8</child>
+    <joint name="rear_right_flipper_end_point_inflated_j" type="fixed">
+      <child>rear_right_flipper_end_point_inflated</child>
       <parent>rear_right_flipper</parent>
       <axis>
-        <xyz>0 1 0</xyz>
+        <dynamics>
+          <spring_reference>0</spring_reference>
+          <spring_stiffness>0</spring_stiffness>
+        </dynamics>
+        <xyz>0 0 1</xyz>
+        <use_parent_model_frame>0</use_parent_model_frame>
         <limit>
           <lower>-1e+16</lower>
           <upper>1e+16</upper>
-          <effort>-1</effort>
-          <velocity>12.8205</velocity>
         </limit>
+      </axis>
+      <physics>
+        <ode>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+        </ode>
+      </physics>
+    </joint>
+    <link name="rear_right_flipper_end_point">
+      <pose>-0.6375 -0.248 0 0 -0 0</pose>
+      <inertial>
+        <mass>1e-05</mass>
+        <inertia>
+          <ixx>0.001</ixx>
+          <ixy>1e-06</ixy>
+          <ixz>1e-06</ixz>
+          <iyy>0.001</iyy>
+          <iyz>1e-06</iyz>
+          <izz>0.001</izz>
+        </inertia>
+      </inertial>
+    </link>
+    <joint name="rear_right_flipper_end_point_j" type="fixed">
+      <child>rear_right_flipper_end_point</child>
+      <parent>rear_right_flipper</parent>
+      <axis>
         <dynamics>
           <spring_reference>0</spring_reference>
           <spring_stiffness>0</spring_stiffness>
         </dynamics>
+        <xyz>0 0 1</xyz>
         <use_parent_model_frame>0</use_parent_model_frame>
+        <limit>
+          <lower>-1e+16</lower>
+          <upper>1e+16</upper>
+        </limit>
       </axis>
+      <physics>
+        <ode>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+        </ode>
+      </physics>
     </joint>
     <link name="rear_right_motor">
       <inertial>
@@ -4937,200 +3337,7 @@
       <joint_name>rear_left_flipper_j</joint_name>
       <joint_name>rear_right_flipper_j</joint_name>
     </plugin>
-    <plugin name="ignition::gazebo::systems::WheelSlip" filename="ignition-gazebo-wheel-slip-system">
-      <wheel link_name="front_left_flipper_wheel8">
-        <slip_compliance_lateral>0.0485</slip_compliance_lateral>
-        <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-        <wheel_normal_force>7.60075</wheel_normal_force>
-        <wheel_radius>0.078</wheel_radius>
-      </wheel>
-      <wheel link_name="front_left_flipper_wheel7">
-        <slip_compliance_lateral>0.0485</slip_compliance_lateral>
-        <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-        <wheel_normal_force>7.60075</wheel_normal_force>
-        <wheel_radius>0.0835</wheel_radius>
-      </wheel>
-      <wheel link_name="front_left_flipper_wheel6">
-        <slip_compliance_lateral>0.0485</slip_compliance_lateral>
-        <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-        <wheel_normal_force>7.60075</wheel_normal_force>
-        <wheel_radius>0.089</wheel_radius>
-      </wheel>
-      <wheel link_name="front_left_flipper_wheel5">
-        <slip_compliance_lateral>0.0485</slip_compliance_lateral>
-        <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-        <wheel_normal_force>7.60075</wheel_normal_force>
-        <wheel_radius>0.0945</wheel_radius>
-      </wheel>
-      <wheel link_name="front_left_flipper_wheel4">
-        <slip_compliance_lateral>0.0485</slip_compliance_lateral>
-        <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-        <wheel_normal_force>7.60075</wheel_normal_force>
-        <wheel_radius>0.1</wheel_radius>
-      </wheel>
-      <wheel link_name="front_left_flipper_wheel3">
-        <slip_compliance_lateral>0.0485</slip_compliance_lateral>
-        <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-        <wheel_normal_force>7.60075</wheel_normal_force>
-        <wheel_radius>0.1055</wheel_radius>
-      </wheel>
-      <wheel link_name="front_left_flipper_wheel2">
-        <slip_compliance_lateral>0.0485</slip_compliance_lateral>
-        <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-        <wheel_normal_force>7.60075</wheel_normal_force>
-        <wheel_radius>0.111</wheel_radius>
-      </wheel>
-      <wheel link_name="front_left_flipper_wheel1">
-        <slip_compliance_lateral>0.0485</slip_compliance_lateral>
-        <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-        <wheel_normal_force>7.60075</wheel_normal_force>
-        <wheel_radius>0.1165</wheel_radius>
-      </wheel>
-      <wheel link_name="front_right_flipper_wheel8">
-        <slip_compliance_lateral>0.0485</slip_compliance_lateral>
-        <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-        <wheel_normal_force>7.60075</wheel_normal_force>
-        <wheel_radius>0.078</wheel_radius>
-      </wheel>
-      <wheel link_name="front_right_flipper_wheel7">
-        <slip_compliance_lateral>0.0485</slip_compliance_lateral>
-        <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-        <wheel_normal_force>7.60075</wheel_normal_force>
-        <wheel_radius>0.0835</wheel_radius>
-      </wheel>
-      <wheel link_name="front_right_flipper_wheel6">
-        <slip_compliance_lateral>0.0485</slip_compliance_lateral>
-        <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-        <wheel_normal_force>7.60075</wheel_normal_force>
-        <wheel_radius>0.089</wheel_radius>
-      </wheel>
-      <wheel link_name="front_right_flipper_wheel5">
-        <slip_compliance_lateral>0.0485</slip_compliance_lateral>
-        <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-        <wheel_normal_force>7.60075</wheel_normal_force>
-        <wheel_radius>0.0945</wheel_radius>
-      </wheel>
-      <wheel link_name="front_right_flipper_wheel4">
-        <slip_compliance_lateral>0.0485</slip_compliance_lateral>
-        <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-        <wheel_normal_force>7.60075</wheel_normal_force>
-        <wheel_radius>0.1</wheel_radius>
-      </wheel>
-      <wheel link_name="front_right_flipper_wheel3">
-        <slip_compliance_lateral>0.0485</slip_compliance_lateral>
-        <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-        <wheel_normal_force>7.60075</wheel_normal_force>
-        <wheel_radius>0.1055</wheel_radius>
-      </wheel>
-      <wheel link_name="front_right_flipper_wheel2">
-        <slip_compliance_lateral>0.0485</slip_compliance_lateral>
-        <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-        <wheel_normal_force>7.60075</wheel_normal_force>
-        <wheel_radius>0.111</wheel_radius>
-      </wheel>
-      <wheel link_name="front_right_flipper_wheel1">
-        <slip_compliance_lateral>0.0485</slip_compliance_lateral>
-        <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-        <wheel_normal_force>7.60075</wheel_normal_force>
-        <wheel_radius>0.1165</wheel_radius>
-      </wheel>
-      <wheel link_name="rear_left_flipper_wheel8">
-        <slip_compliance_lateral>0.0485</slip_compliance_lateral>
-        <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-        <wheel_normal_force>7.60075</wheel_normal_force>
-        <wheel_radius>0.078</wheel_radius>
-      </wheel>
-      <wheel link_name="rear_left_flipper_wheel7">
-        <slip_compliance_lateral>0.0485</slip_compliance_lateral>
-        <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-        <wheel_normal_force>7.60075</wheel_normal_force>
-        <wheel_radius>0.0835</wheel_radius>
-      </wheel>
-      <wheel link_name="rear_left_flipper_wheel6">
-        <slip_compliance_lateral>0.0485</slip_compliance_lateral>
-        <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-        <wheel_normal_force>7.60075</wheel_normal_force>
-        <wheel_radius>0.089</wheel_radius>
-      </wheel>
-      <wheel link_name="rear_left_flipper_wheel5">
-        <slip_compliance_lateral>0.0485</slip_compliance_lateral>
-        <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-        <wheel_normal_force>7.60075</wheel_normal_force>
-        <wheel_radius>0.0945</wheel_radius>
-      </wheel>
-      <wheel link_name="rear_left_flipper_wheel4">
-        <slip_compliance_lateral>0.0485</slip_compliance_lateral>
-        <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-        <wheel_normal_force>7.60075</wheel_normal_force>
-        <wheel_radius>0.1</wheel_radius>
-      </wheel>
-      <wheel link_name="rear_left_flipper_wheel3">
-        <slip_compliance_lateral>0.0485</slip_compliance_lateral>
-        <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-        <wheel_normal_force>7.60075</wheel_normal_force>
-        <wheel_radius>0.1055</wheel_radius>
-      </wheel>
-      <wheel link_name="rear_left_flipper_wheel2">
-        <slip_compliance_lateral>0.0485</slip_compliance_lateral>
-        <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-        <wheel_normal_force>7.60075</wheel_normal_force>
-        <wheel_radius>0.111</wheel_radius>
-      </wheel>
-      <wheel link_name="rear_left_flipper_wheel1">
-        <slip_compliance_lateral>0.0485</slip_compliance_lateral>
-        <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-        <wheel_normal_force>7.60075</wheel_normal_force>
-        <wheel_radius>0.1165</wheel_radius>
-      </wheel>
-      <wheel link_name="rear_right_flipper_wheel8">
-        <slip_compliance_lateral>0.0485</slip_compliance_lateral>
-        <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-        <wheel_normal_force>7.60075</wheel_normal_force>
-        <wheel_radius>0.078</wheel_radius>
-      </wheel>
-      <wheel link_name="rear_right_flipper_wheel7">
-        <slip_compliance_lateral>0.0485</slip_compliance_lateral>
-        <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-        <wheel_normal_force>7.60075</wheel_normal_force>
-        <wheel_radius>0.0835</wheel_radius>
-      </wheel>
-      <wheel link_name="rear_right_flipper_wheel6">
-        <slip_compliance_lateral>0.0485</slip_compliance_lateral>
-        <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-        <wheel_normal_force>7.60075</wheel_normal_force>
-        <wheel_radius>0.089</wheel_radius>
-      </wheel>
-      <wheel link_name="rear_right_flipper_wheel5">
-        <slip_compliance_lateral>0.0485</slip_compliance_lateral>
-        <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-        <wheel_normal_force>7.60075</wheel_normal_force>
-        <wheel_radius>0.0945</wheel_radius>
-      </wheel>
-      <wheel link_name="rear_right_flipper_wheel4">
-        <slip_compliance_lateral>0.0485</slip_compliance_lateral>
-        <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-        <wheel_normal_force>7.60075</wheel_normal_force>
-        <wheel_radius>0.1</wheel_radius>
-      </wheel>
-      <wheel link_name="rear_right_flipper_wheel3">
-        <slip_compliance_lateral>0.0485</slip_compliance_lateral>
-        <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-        <wheel_normal_force>7.60075</wheel_normal_force>
-        <wheel_radius>0.1055</wheel_radius>
-      </wheel>
-      <wheel link_name="rear_right_flipper_wheel2">
-        <slip_compliance_lateral>0.0485</slip_compliance_lateral>
-        <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-        <wheel_normal_force>7.60075</wheel_normal_force>
-        <wheel_radius>0.111</wheel_radius>
-      </wheel>
-      <wheel link_name="rear_right_flipper_wheel1">
-        <slip_compliance_lateral>0.0485</slip_compliance_lateral>
-        <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-        <wheel_normal_force>7.60075</wheel_normal_force>
-        <wheel_radius>0.1165</wheel_radius>
-      </wheel>
-    </plugin>
+    <plugin name="ignition::gazebo::systems::WheelSlip" filename="ignition-gazebo-wheel-slip-system"/>
   </model>
 </sdf>
 

From c0ee4ff68fcd705b8bee0e38240d38925945af9e Mon Sep 17 00:00:00 2001
From: Martin Pecka <peckama2@fel.cvut.cz>
Date: Tue, 17 Aug 2021 01:42:55 +0200
Subject: [PATCH 03/14] Merge upstream thermal cam settings for MARV SC3

---
 .../model.sdf                                 | 24 +++++++++++++++----
 1 file changed, 19 insertions(+), 5 deletions(-)

diff --git a/submitted_models/ctu_cras_norlab_marv_sensor_config_3/model.sdf b/submitted_models/ctu_cras_norlab_marv_sensor_config_3/model.sdf
index ffc53114..2c69bd75 100644
--- a/submitted_models/ctu_cras_norlab_marv_sensor_config_3/model.sdf
+++ b/submitted_models/ctu_cras_norlab_marv_sensor_config_3/model.sdf
@@ -1,5 +1,8 @@
 <?xml version='1.0' encoding='utf-8'?>
-<sdf version="1.6">
  <!-- CAUTION: This is an autogenerated file, DO NOT EDIT IT!
  It was generated by script update_robot_sdf_ign and is based on urdf/marv.xacro source file.
  Do all modifications there and then run the update script to regenerate the SDF. -->
+<sdf version="1.6">
+  <!-- CAUTION: This is an autogenerated file, DO NOT EDIT IT!
+  It was generated by script update_robot_sdf_ign and is based on urdf/marv.xacro source file.
+  Do all modifications there and then run the update script to regenerate the SDF. -->
   <model name="ctu_cras_norlab_marv_sensor_config_1">
     <link name="base_link">
       <inertial>
@@ -2307,10 +2310,21 @@
         <visualize>0</visualize>
         <camera name="thermal_camera">
           <horizontal_fov>1.6057</horizontal_fov>
+          <lens>
+            <intrinsics>
+              <fx>154.51</fx>
+              <fy>154.51</fy>
+              <cx>159.5</cx>
+              <cy>127.5</cy>
+              <s>0</s>
+            </intrinsics>
+            <type>stereographic</type>
+            <scale_to_hfov>1</scale_to_hfov>
+          </lens>
           <image>
             <width>320</width>
             <height>256</height>
-            <format>L16</format>
+            <format>L8</format>
           </image>
           <clip>
             <near>0.2</near>
@@ -2318,9 +2332,9 @@
           </clip>
         </camera>
         <plugin name="ignition::gazebo::systems::ThermalSensor" filename="ignition-gazebo-thermal-sensor-system">
-          <min_temp>223.15</min_temp>
-          <max_temp>453.15</max_temp>
-          <resolution>0.06</resolution>
+          <min_temp>253.15</min_temp>
+          <max_temp>673.15</max_temp>
+          <resolution>1.6</resolution>
         </plugin>
       </sensor>
     </link>

From 0a298b220df13569b37bc618941765e0fd59cee3 Mon Sep 17 00:00:00 2001
From: Martin Pecka <peckama2@fel.cvut.cz>
Date: Mon, 15 Nov 2021 23:18:01 +0100
Subject: [PATCH 04/14] Update with latest changes.

---
 .../model.sdf                                 |  2 +-
 .../urdf/nifti_robot.xacro                    |  1 +
 .../model.sdf                                 |  2 +-
 .../model.sdf                                 |  2 +-
 .../model.sdf                                 |  2 +-
 .../model.sdf                                 |  2 +-
 .../model.sdf                                 |  2 +-
 .../model.sdf                                 |  2 +-
 .../model.sdf                                 |  7 ++---
 .../urdf/marv.xacro                           |  1 +
 .../model.sdf                                 |  7 ++---
 .../model.sdf                                 |  7 ++---
 .../model.sdf                                 | 26 ++++++++++++-------
 13 files changed, 32 insertions(+), 31 deletions(-)

diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/model.sdf b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/model.sdf
index f43e4de2..3bff28f4 100644
--- a/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/model.sdf
+++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/model.sdf
@@ -407,7 +407,6 @@
         <always_on>1</always_on>
         <update_rate>50</update_rate>
         <imu>
-          <enable_orientation>0</enable_orientation>
           <angular_velocity>
             <x>
               <noise type="gaussian">
@@ -478,6 +477,7 @@
               </noise>
             </z>
           </linear_acceleration>
+          <enable_orientation>0</enable_orientation>
         </imu>
         <pose>0 0 0.15 -3.1415926535897931 -0 0</pose>
       </sensor>
diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/urdf/nifti_robot.xacro b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/urdf/nifti_robot.xacro
index 7ecd0b95..c192b192 100644
--- a/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/urdf/nifti_robot.xacro
+++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/urdf/nifti_robot.xacro
@@ -2007,6 +2007,7 @@
 				<always_on>1</always_on>
 				<update_rate>50</update_rate>
 				<imu>
+					<enable_orientation>0</enable_orientation>
 					<angular_velocity>
 						<xacro:macro name="angular_imu_noise">
 							<noise type="gaussian">
diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_3/model.sdf b/submitted_models/ctu_cras_norlab_absolem_sensor_config_3/model.sdf
index 8c65d294..cfec35a1 100644
--- a/submitted_models/ctu_cras_norlab_absolem_sensor_config_3/model.sdf
+++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_3/model.sdf
@@ -352,7 +352,6 @@
         <always_on>1</always_on>
         <update_rate>50</update_rate>
         <imu>
-          <enable_orientation>0</enable_orientation>
           <angular_velocity>
             <x>
               <noise type="gaussian">
@@ -423,6 +422,7 @@
               </noise>
             </z>
           </linear_acceleration>
+          <enable_orientation>0</enable_orientation>
         </imu>
         <pose>0 0 0.15 -3.1415926535897931 -0 0</pose>
       </sensor>
diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_4/model.sdf b/submitted_models/ctu_cras_norlab_absolem_sensor_config_4/model.sdf
index 7ece47be..6596307f 100644
--- a/submitted_models/ctu_cras_norlab_absolem_sensor_config_4/model.sdf
+++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_4/model.sdf
@@ -368,7 +368,6 @@
         <always_on>1</always_on>
         <update_rate>50</update_rate>
         <imu>
-          <enable_orientation>0</enable_orientation>
           <angular_velocity>
             <x>
               <noise type="gaussian">
@@ -439,6 +438,7 @@
               </noise>
             </z>
           </linear_acceleration>
+          <enable_orientation>0</enable_orientation>
         </imu>
         <pose>0 0 0.15 -3.1415926535897931 -0 0</pose>
       </sensor>
diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_5/model.sdf b/submitted_models/ctu_cras_norlab_absolem_sensor_config_5/model.sdf
index 8f99c2a8..83b42d8c 100644
--- a/submitted_models/ctu_cras_norlab_absolem_sensor_config_5/model.sdf
+++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_5/model.sdf
@@ -368,7 +368,6 @@
         <always_on>1</always_on>
         <update_rate>50</update_rate>
         <imu>
-          <enable_orientation>0</enable_orientation>
           <angular_velocity>
             <x>
               <noise type="gaussian">
@@ -439,6 +438,7 @@
               </noise>
             </z>
           </linear_acceleration>
+          <enable_orientation>0</enable_orientation>
         </imu>
         <pose>0 0 0.15 -3.1415926535897931 -0 0</pose>
       </sensor>
diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_6/model.sdf b/submitted_models/ctu_cras_norlab_absolem_sensor_config_6/model.sdf
index 3a78b962..3d63a844 100644
--- a/submitted_models/ctu_cras_norlab_absolem_sensor_config_6/model.sdf
+++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_6/model.sdf
@@ -347,7 +347,6 @@
         <always_on>1</always_on>
         <update_rate>50</update_rate>
         <imu>
-          <enable_orientation>0</enable_orientation>
           <angular_velocity>
             <x>
               <noise type="gaussian">
@@ -418,6 +417,7 @@
               </noise>
             </z>
           </linear_acceleration>
+          <enable_orientation>0</enable_orientation>
         </imu>
         <pose>0 0 0.15 -3.1415926535897931 -0 0</pose>
       </sensor>
diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_7/model.sdf b/submitted_models/ctu_cras_norlab_absolem_sensor_config_7/model.sdf
index efa11bd9..15d6c305 100644
--- a/submitted_models/ctu_cras_norlab_absolem_sensor_config_7/model.sdf
+++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_7/model.sdf
@@ -363,7 +363,6 @@
         <always_on>1</always_on>
         <update_rate>50</update_rate>
         <imu>
-          <enable_orientation>0</enable_orientation>
           <angular_velocity>
             <x>
               <noise type="gaussian">
@@ -434,6 +433,7 @@
               </noise>
             </z>
           </linear_acceleration>
+          <enable_orientation>0</enable_orientation>
         </imu>
         <pose>0 0 0.15 -3.1415926535897931 -0 0</pose>
       </sensor>
diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_8/model.sdf b/submitted_models/ctu_cras_norlab_absolem_sensor_config_8/model.sdf
index b825e860..266eff93 100644
--- a/submitted_models/ctu_cras_norlab_absolem_sensor_config_8/model.sdf
+++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_8/model.sdf
@@ -363,7 +363,6 @@
         <always_on>1</always_on>
         <update_rate>50</update_rate>
         <imu>
-          <enable_orientation>0</enable_orientation>
           <angular_velocity>
             <x>
               <noise type="gaussian">
@@ -434,6 +433,7 @@
               </noise>
             </z>
           </linear_acceleration>
+          <enable_orientation>0</enable_orientation>
         </imu>
         <pose>0 0 0.15 -3.1415926535897931 -0 0</pose>
       </sensor>
diff --git a/submitted_models/ctu_cras_norlab_marv_sensor_config_1/model.sdf b/submitted_models/ctu_cras_norlab_marv_sensor_config_1/model.sdf
index 0e84dec7..a1464614 100644
--- a/submitted_models/ctu_cras_norlab_marv_sensor_config_1/model.sdf
+++ b/submitted_models/ctu_cras_norlab_marv_sensor_config_1/model.sdf
@@ -1,8 +1,5 @@
 <?xml version='1.0' encoding='utf-8'?>
-<sdf version="1.6">
-  <!-- CAUTION: This is an autogenerated file, DO NOT EDIT IT!
-  It was generated by script update_robot_sdf_ign and is based on urdf/marv.xacro source file.
-  Do all modifications there and then run the update script to regenerate the SDF. -->
+<sdf version="1.6">
  <!-- CAUTION: This is an autogenerated file, DO NOT EDIT IT!
  It was generated by script update_robot_sdf_ign and is based on urdf/marv.xacro source file.
  Do all modifications there and then run the update script to regenerate the SDF. -->
   <model name="ctu_cras_norlab_marv_sensor_config_1">
     <link name="base_link">
       <inertial>
@@ -1036,7 +1033,6 @@
         <always_on>1</always_on>
         <update_rate>50</update_rate>
         <imu>
-          <enable_orientation>0</enable_orientation>
           <angular_velocity>
             <x>
               <noise type="gaussian">
@@ -1107,6 +1103,7 @@
               </noise>
             </z>
           </linear_acceleration>
+          <enable_orientation>0</enable_orientation>
         </imu>
       </sensor>
     </link>
diff --git a/submitted_models/ctu_cras_norlab_marv_sensor_config_1/urdf/marv.xacro b/submitted_models/ctu_cras_norlab_marv_sensor_config_1/urdf/marv.xacro
index bb2e1552..649cda5c 100644
--- a/submitted_models/ctu_cras_norlab_marv_sensor_config_1/urdf/marv.xacro
+++ b/submitted_models/ctu_cras_norlab_marv_sensor_config_1/urdf/marv.xacro
@@ -856,6 +856,7 @@
                 <always_on>1</always_on>
                 <update_rate>50</update_rate>
                 <imu>
+                    <enable_orientation>0</enable_orientation>
                     <angular_velocity>
                         <xacro:macro name="angular_imu_noise">
                             <noise type="gaussian">
diff --git a/submitted_models/ctu_cras_norlab_marv_sensor_config_2/model.sdf b/submitted_models/ctu_cras_norlab_marv_sensor_config_2/model.sdf
index 3fde80f3..284abb3d 100644
--- a/submitted_models/ctu_cras_norlab_marv_sensor_config_2/model.sdf
+++ b/submitted_models/ctu_cras_norlab_marv_sensor_config_2/model.sdf
@@ -1,8 +1,5 @@
 <?xml version='1.0' encoding='utf-8'?>
-<sdf version="1.6">
-  <!-- CAUTION: This is an autogenerated file, DO NOT EDIT IT!
-  It was generated by script update_robot_sdf_ign and is based on urdf/marv.xacro source file.
-  Do all modifications there and then run the update script to regenerate the SDF. -->
+<sdf version="1.6">
  <!-- CAUTION: This is an autogenerated file, DO NOT EDIT IT!
  It was generated by script update_robot_sdf_ign and is based on urdf/marv.xacro source file.
  Do all modifications there and then run the update script to regenerate the SDF. -->
   <model name="ctu_cras_norlab_marv_sensor_config_1">
     <link name="base_link">
       <inertial>
@@ -1036,7 +1033,6 @@
         <always_on>1</always_on>
         <update_rate>50</update_rate>
         <imu>
-          <enable_orientation>0</enable_orientation>
           <angular_velocity>
             <x>
               <noise type="gaussian">
@@ -1107,6 +1103,7 @@
               </noise>
             </z>
           </linear_acceleration>
+          <enable_orientation>0</enable_orientation>
         </imu>
       </sensor>
     </link>
diff --git a/submitted_models/ctu_cras_norlab_marv_sensor_config_3/model.sdf b/submitted_models/ctu_cras_norlab_marv_sensor_config_3/model.sdf
index 91852f60..ad85bce8 100644
--- a/submitted_models/ctu_cras_norlab_marv_sensor_config_3/model.sdf
+++ b/submitted_models/ctu_cras_norlab_marv_sensor_config_3/model.sdf
@@ -1,8 +1,5 @@
 <?xml version='1.0' encoding='utf-8'?>
-<sdf version="1.6">
-  <!-- CAUTION: This is an autogenerated file, DO NOT EDIT IT!
-  It was generated by script update_robot_sdf_ign and is based on urdf/marv.xacro source file.
-  Do all modifications there and then run the update script to regenerate the SDF. -->
+<sdf version="1.6">
  <!-- CAUTION: This is an autogenerated file, DO NOT EDIT IT!
  It was generated by script update_robot_sdf_ign and is based on urdf/marv.xacro source file.
  Do all modifications there and then run the update script to regenerate the SDF. -->
   <model name="ctu_cras_norlab_marv_sensor_config_1">
     <link name="base_link">
       <inertial>
@@ -1036,7 +1033,6 @@
         <always_on>1</always_on>
         <update_rate>50</update_rate>
         <imu>
-          <enable_orientation>0</enable_orientation>
           <angular_velocity>
             <x>
               <noise type="gaussian">
@@ -1107,6 +1103,7 @@
               </noise>
             </z>
           </linear_acceleration>
+          <enable_orientation>0</enable_orientation>
         </imu>
       </sensor>
     </link>
diff --git a/submitted_models/ctu_cras_norlab_marv_sensor_config_4/model.sdf b/submitted_models/ctu_cras_norlab_marv_sensor_config_4/model.sdf
index 019b9986..11d9195b 100644
--- a/submitted_models/ctu_cras_norlab_marv_sensor_config_4/model.sdf
+++ b/submitted_models/ctu_cras_norlab_marv_sensor_config_4/model.sdf
@@ -1,8 +1,5 @@
 <?xml version='1.0' encoding='utf-8'?>
-<sdf version="1.6">
-  <!-- CAUTION: This is an autogenerated file, DO NOT EDIT IT!
-  It was generated by script update_robot_sdf_ign and is based on urdf/marv.xacro source file.
-  Do all modifications there and then run the update script to regenerate the SDF. -->
+<sdf version="1.6">
  <!-- CAUTION: This is an autogenerated file, DO NOT EDIT IT!
  It was generated by script update_robot_sdf_ign and is based on urdf/marv.xacro source file.
  Do all modifications there and then run the update script to regenerate the SDF. -->
   <model name="ctu_cras_norlab_marv_sensor_config_1">
     <link name="base_link">
       <inertial>
@@ -1036,7 +1033,6 @@
         <always_on>1</always_on>
         <update_rate>50</update_rate>
         <imu>
-          <enable_orientation>0</enable_orientation>
           <angular_velocity>
             <x>
               <noise type="gaussian">
@@ -1107,6 +1103,7 @@
               </noise>
             </z>
           </linear_acceleration>
+          <enable_orientation>0</enable_orientation>
         </imu>
       </sensor>
     </link>
@@ -2365,10 +2362,21 @@
         <visualize>0</visualize>
         <camera name="thermal_camera">
           <horizontal_fov>1.6057</horizontal_fov>
+          <lens>
+            <intrinsics>
+              <fx>154.51</fx>
+              <fy>154.51</fy>
+              <cx>159.5</cx>
+              <cy>127.5</cy>
+              <s>0</s>
+            </intrinsics>
+            <type>stereographic</type>
+            <scale_to_hfov>1</scale_to_hfov>
+          </lens>
           <image>
             <width>320</width>
             <height>256</height>
-            <format>L16</format>
+            <format>L8</format>
           </image>
           <clip>
             <near>0.2</near>
@@ -2376,9 +2384,9 @@
           </clip>
         </camera>
         <plugin name="ignition::gazebo::systems::ThermalSensor" filename="ignition-gazebo-thermal-sensor-system">
-          <min_temp>223.15</min_temp>
-          <max_temp>453.15</max_temp>
-          <resolution>0.06</resolution>
+          <min_temp>253.15</min_temp>
+          <max_temp>673.15</max_temp>
+          <resolution>1.6</resolution>
         </plugin>
       </sensor>
     </link>

From bbbbe3979595c7b85de4974c279b2d439fe1dce8 Mon Sep 17 00:00:00 2001
From: Martin Pecka <peckama2@fel.cvut.cz>
Date: Tue, 16 Nov 2021 18:46:53 +0100
Subject: [PATCH 05/14] Removed empty wheel slip plugin.

---
 submitted_models/ctu_cras_norlab_marv_sensor_config_1/model.sdf | 1 -
 .../ctu_cras_norlab_marv_sensor_config_1/urdf/marv.xacro        | 2 +-
 submitted_models/ctu_cras_norlab_marv_sensor_config_2/model.sdf | 1 -
 submitted_models/ctu_cras_norlab_marv_sensor_config_3/model.sdf | 1 -
 submitted_models/ctu_cras_norlab_marv_sensor_config_4/model.sdf | 1 -
 5 files changed, 1 insertion(+), 5 deletions(-)

diff --git a/submitted_models/ctu_cras_norlab_marv_sensor_config_1/model.sdf b/submitted_models/ctu_cras_norlab_marv_sensor_config_1/model.sdf
index a1464614..63e0fb53 100644
--- a/submitted_models/ctu_cras_norlab_marv_sensor_config_1/model.sdf
+++ b/submitted_models/ctu_cras_norlab_marv_sensor_config_1/model.sdf
@@ -3206,7 +3206,6 @@
       <joint_name>rear_left_flipper_j</joint_name>
       <joint_name>rear_right_flipper_j</joint_name>
     </plugin>
-    <plugin name="ignition::gazebo::systems::WheelSlip" filename="ignition-gazebo-wheel-slip-system"/>
   </model>
 </sdf>
 
diff --git a/submitted_models/ctu_cras_norlab_marv_sensor_config_1/urdf/marv.xacro b/submitted_models/ctu_cras_norlab_marv_sensor_config_1/urdf/marv.xacro
index 649cda5c..38c5b813 100644
--- a/submitted_models/ctu_cras_norlab_marv_sensor_config_1/urdf/marv.xacro
+++ b/submitted_models/ctu_cras_norlab_marv_sensor_config_1/urdf/marv.xacro
@@ -762,7 +762,7 @@
         </xacro:macro>
         <xacro:flipper_wheel_tags wheel_num="${$(arg num_wheels)}" />
 
-        <xacro:if value="${'$(arg rendering_target)' == 'ign'}">
+        <xacro:if value="${'$(arg rendering_target)' == 'ign' and $(arg num_wheels) > 0}">
             <gazebo>
                 <xacro:property name="inflation_coef" value="$(arg flipper_inflation_ratio)" />
                 <xacro:property name="small_wheel_radius" value="${$(arg rover_flipperSmallRadius) * inflation_coef}" />
diff --git a/submitted_models/ctu_cras_norlab_marv_sensor_config_2/model.sdf b/submitted_models/ctu_cras_norlab_marv_sensor_config_2/model.sdf
index 284abb3d..b9c61e60 100644
--- a/submitted_models/ctu_cras_norlab_marv_sensor_config_2/model.sdf
+++ b/submitted_models/ctu_cras_norlab_marv_sensor_config_2/model.sdf
@@ -3260,7 +3260,6 @@
       <joint_name>rear_left_flipper_j</joint_name>
       <joint_name>rear_right_flipper_j</joint_name>
     </plugin>
-    <plugin name="ignition::gazebo::systems::WheelSlip" filename="ignition-gazebo-wheel-slip-system"/>
   </model>
 </sdf>
 
diff --git a/submitted_models/ctu_cras_norlab_marv_sensor_config_3/model.sdf b/submitted_models/ctu_cras_norlab_marv_sensor_config_3/model.sdf
index ad85bce8..acd5bf72 100644
--- a/submitted_models/ctu_cras_norlab_marv_sensor_config_3/model.sdf
+++ b/submitted_models/ctu_cras_norlab_marv_sensor_config_3/model.sdf
@@ -3295,7 +3295,6 @@
       <joint_name>rear_left_flipper_j</joint_name>
       <joint_name>rear_right_flipper_j</joint_name>
     </plugin>
-    <plugin name="ignition::gazebo::systems::WheelSlip" filename="ignition-gazebo-wheel-slip-system"/>
   </model>
 </sdf>
 
diff --git a/submitted_models/ctu_cras_norlab_marv_sensor_config_4/model.sdf b/submitted_models/ctu_cras_norlab_marv_sensor_config_4/model.sdf
index 11d9195b..dd4e4f75 100644
--- a/submitted_models/ctu_cras_norlab_marv_sensor_config_4/model.sdf
+++ b/submitted_models/ctu_cras_norlab_marv_sensor_config_4/model.sdf
@@ -3349,7 +3349,6 @@
       <joint_name>rear_left_flipper_j</joint_name>
       <joint_name>rear_right_flipper_j</joint_name>
     </plugin>
-    <plugin name="ignition::gazebo::systems::WheelSlip" filename="ignition-gazebo-wheel-slip-system"/>
   </model>
 </sdf>
 

From 23bec12097e1772fe65f13d1ffe376b38800e07d Mon Sep 17 00:00:00 2001
From: Martin Pecka <peckama2@fel.cvut.cz>
Date: Wed, 5 Jan 2022 18:07:55 +0100
Subject: [PATCH 06/14] Use power_draining_topic to start battery drain for
 tracked vehicles.

---
 .../ctu_cras_norlab_absolem_sensor_config_1/launch/common.rb  | 4 ++++
 .../ctu_cras_norlab_marv_sensor_config_1/launch/common.rb     | 3 +++
 2 files changed, 7 insertions(+)

diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/launch/common.rb b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/launch/common.rb
index 373794b2..48f1ac79 100644
--- a/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/launch/common.rb
+++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/launch/common.rb
@@ -36,6 +36,7 @@ def _spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw, _add
   wheelSlip = ""
   trackControllers = ""
   trackLinks = ""
+  power_draining_topics = ""
 
   for track in tracks
     if useWheels
@@ -61,6 +62,7 @@ def _spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw, _add
           </plugin>
         HEREDOC
         trackLinks += "<#{track}_track><link>#{track}_track</link></#{track}_track>"
+        power_draining_topics += "<power_draining_topic>/model/#{_name}/link/#{track}_track/track_cmd_vel</power_draining_topic>"
     end
     for flipper in flippersOfTrack[track]
       if useWheels
@@ -86,6 +88,7 @@ def _spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw, _add
           </plugin>
         HEREDOC
         trackLinks += "<#{track}_track><link>#{flipper}_flipper</link></#{track}_track>"
+        power_draining_topics += "<power_draining_topic>/model/#{_name}/link/#{flipper}_flipper/track_cmd_vel</power_draining_topic>"
       end
     end
   end
@@ -177,6 +180,7 @@ def _spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw, _add
         <smooth_current_tau>1.9499</smooth_current_tau>
         <power_load>4.95</power_load>
         <start_on_motion>true</start_on_motion>
+        #{power_draining_topics}
       </plugin>
       <!-- Gas Sensor plugin -->
       <plugin filename="libGasEmitterDetectorPlugin.so"
diff --git a/submitted_models/ctu_cras_norlab_marv_sensor_config_1/launch/common.rb b/submitted_models/ctu_cras_norlab_marv_sensor_config_1/launch/common.rb
index 5036d61a..0c6cfa81 100644
--- a/submitted_models/ctu_cras_norlab_marv_sensor_config_1/launch/common.rb
+++ b/submitted_models/ctu_cras_norlab_marv_sensor_config_1/launch/common.rb
@@ -33,6 +33,7 @@ def _spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw, _add
   diff_drive = ""
   trackControllers = ""
   trackedVehicle = ""
+  power_draining_topics = ""
   if num_wheels > 0
       for wheel_num in 1..num_wheels
         # we only want odometry from the first diffdrive
@@ -71,6 +72,7 @@ def _spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw, _add
               </plugin>
             HEREDOC
             trackLinks += "<#{track}_track><link>#{flipper}_flipper</link></#{track}_track>"
+            power_draining_topics += "<power_draining_topic>/model/#{_name}/link/#{flipper}_flipper/track_cmd_vel</power_draining_topic>"
         end
     end
     trackedVehicle += <<-HEREDOC
@@ -131,6 +133,7 @@ def _spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw, _add
         <smooth_current_tau>1.9499</smooth_current_tau>
         <power_load>9.9</power_load>
         <start_on_motion>true</start_on_motion>
+        #{power_draining_topics}
       </plugin>
       <!-- Gas Sensor plugin -->
       <plugin filename="libGasEmitterDetectorPlugin.so"

From 56cb9e3f4bcd46333eba694fde45561c797e538b Mon Sep 17 00:00:00 2001
From: Martin Pecka <peckama2@fel.cvut.cz>
Date: Thu, 18 Nov 2021 12:07:39 +0100
Subject: [PATCH 07/14] CCN Marmotte: Implement proper tracks.

---
 .../launch/example.ign                        |  10 +-
 .../launch/spawner.rb                         |  82 +---
 .../model.sdf                                 | 372 +++---------------
 .../specifications.md                         |   6 +-
 .../urdf/robot_from_sdf.xacro                 | 116 +-----
 .../worlds/example.sdf                        |   7 +
 .../launch/example.ign                        |  20 +
 .../launch/spawner.rb                         | 110 ++----
 8 files changed, 155 insertions(+), 568 deletions(-)
 create mode 100644 submitted_models/ctu_cras_norlab_marmotte_sensor_config_2/launch/example.ign

diff --git a/submitted_models/ctu_cras_norlab_marmotte_sensor_config_1/launch/example.ign b/submitted_models/ctu_cras_norlab_marmotte_sensor_config_1/launch/example.ign
index 6cec8f92..5a950369 100644
--- a/submitted_models/ctu_cras_norlab_marmotte_sensor_config_1/launch/example.ign
+++ b/submitted_models/ctu_cras_norlab_marmotte_sensor_config_1/launch/example.ign
@@ -6,7 +6,9 @@
 -->
 
 <%
-  require_relative 'spawner'
+  #require_relative 'spawner'
+  _base_dir = defined?(base_dir) ? base_dir.tr('"', '') : File.realpath(File.join(File.dirname(__FILE__), ".."))
+  load File.join(_base_dir, "launch", "spawner.rb")
 
   # Modify these as needed
   $enableGroundTruth = true
@@ -34,9 +36,11 @@
 
   <!-- Start ROS first. This is a bit hacky for now. -->
   <!-- Make sure to source /opt/ros/melodic/setup.bash -->
+<% if local_variables.include?(:ros) and ros %>
   <executable name='ros'>
     <command>roslaunch subt_ros competition_init.launch world_name:=<%=$worldName%> vehicle_topics:=0 enable_ground_truth:=<%=($enableGroundTruth)?"1":"0"%> robot_names:=<%=robotName%></command>
   </executable>
+<% end %>
 
   <plugin name="ignition::launch::GazeboServer"
           filename="libignition-launch-gazebo.so">
@@ -166,7 +170,9 @@
         filename="ignition-launch-gazebo-factory">
   <%= spawner(robotName, modelURI, $worldName, 0, 0, 0, 0, 0, 0) %>
 </plugin>
-<%= rosExecutables(robotName, $worldName) %>
+<% if local_variables.include?(:ros) and ros %>
+  <%= rosExecutables(robotName, $worldName) %>
+<% end %>
  
 </ignition>
 
diff --git a/submitted_models/ctu_cras_norlab_marmotte_sensor_config_1/launch/spawner.rb b/submitted_models/ctu_cras_norlab_marmotte_sensor_config_1/launch/spawner.rb
index 8139b94c..f3f01f44 100644
--- a/submitted_models/ctu_cras_norlab_marmotte_sensor_config_1/launch/spawner.rb
+++ b/submitted_models/ctu_cras_norlab_marmotte_sensor_config_1/launch/spawner.rb
@@ -10,24 +10,20 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
     <include>
       <name>#{_name}</name>
       <uri>#{_modelURI}</uri>
-      <!-- Diff drive -->
-      <plugin filename="libignition-gazebo-diff-drive-system.so"
-              name="ignition::gazebo::systems::DiffDrive">
-        <left_joint>front_left_wheel_joint</left_joint>
-        <left_joint>front_middle_left_wheel_joint</left_joint>
-        <left_joint>rear_middle_left_wheel_joint</left_joint>
-        <left_joint>rear_left_wheel_joint</left_joint>
-        <right_joint>front_right_wheel_joint</right_joint>
-        <right_joint>front_middle_right_wheel_joint</right_joint>
-        <right_joint>rear_middle_right_wheel_joint</right_joint>
-        <right_joint>rear_right_wheel_joint</right_joint>
-        <wheel_separation>#{0.525}</wheel_separation>
-        <wheel_radius>0.129</wheel_radius>
+      <!-- Tracked vehicle controller -->
+      <plugin name="ignition::gazebo::systems::TrackedVehicle" filename="ignition-gazebo-tracked-vehicle-system">
+        <left_track><link>left_track</link></left_track>
+        <right_track><link>right_track</link></right_track>
+        <tracks_separation>#{0.525}</tracks_separation>
+        <tracks_height>0.258</tracks_height>
+        <steering_efficiency>0.5</steering_efficiency>
         <topic>/model/#{_name}/cmd_vel_relay</topic>
-        <min_velocity>-1</min_velocity>
-        <max_velocity>1</max_velocity>
-        <min_acceleration>-3</min_acceleration>
-        <max_acceleration>3</max_acceleration>
+        <linear_velocity>
+          <min_velocity>-1</min_velocity>
+          <max_velocity>1</max_velocity>
+          <min_acceleration>-3</min_acceleration>
+          <max_acceleration>3</max_acceleration>
+        </linear_velocity>
       </plugin>
       <!-- Publish robot state information -->
       <plugin filename="libignition-gazebo-pose-publisher-system.so"
@@ -48,58 +44,6 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
         <update_rate>10</update_rate>
         <type>gas</type>
       </plugin>
-      <!-- Wheel slip -->
-      <plugin filename="libignition-gazebo-wheel-slip-system.so"
-        name="ignition::gazebo::systems::WheelSlip">
-        <wheel link_name="front_left_wheel_link">
-          <slip_compliance_lateral>0.086</slip_compliance_lateral>
-          <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-          <wheel_normal_force>63.765</wheel_normal_force>
-          <wheel_radius>0.129</wheel_radius>
-        </wheel>
-        <wheel link_name="front_middle_left_wheel_link">
-          <slip_compliance_lateral>0.086</slip_compliance_lateral>
-          <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-          <wheel_normal_force>63.765</wheel_normal_force>
-          <wheel_radius>0.129</wheel_radius>
-        </wheel>
-        <wheel link_name="rear_middle_left_wheel_link">
-          <slip_compliance_lateral>0.086</slip_compliance_lateral>
-          <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-          <wheel_normal_force>63.765</wheel_normal_force>
-          <wheel_radius>0.129</wheel_radius>
-        </wheel>
-        <wheel link_name="rear_left_wheel_link">
-          <slip_compliance_lateral>0.086</slip_compliance_lateral>
-          <slip_compliance_longitudinal>0.25</slip_compliance_longitudinal>
-          <wheel_normal_force>63.765</wheel_normal_force>
-          <wheel_radius>0.129</wheel_radius>
-        </wheel>
-        <wheel link_name="front_right_wheel_link">
-          <slip_compliance_lateral>0.086</slip_compliance_lateral>
-          <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-          <wheel_normal_force>63.765</wheel_normal_force>
-          <wheel_radius>0.129</wheel_radius>
-        </wheel>
-        <wheel link_name="front_middle_right_wheel_link">
-          <slip_compliance_lateral>0.086</slip_compliance_lateral>
-          <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-          <wheel_normal_force>63.765</wheel_normal_force>
-          <wheel_radius>0.129</wheel_radius>
-        </wheel>
-        <wheel link_name="rear_middle_right_wheel_link">
-          <slip_compliance_lateral>0.086</slip_compliance_lateral>
-          <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-          <wheel_normal_force>63.765</wheel_normal_force>
-          <wheel_radius>0.129</wheel_radius>
-        </wheel>
-        <wheel link_name="rear_right_wheel_link">
-          <slip_compliance_lateral>0.086</slip_compliance_lateral>
-          <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-          <wheel_normal_force>63.765</wheel_normal_force>
-          <wheel_radius>0.129</wheel_radius>
-        </wheel>
-      </plugin>
       <!-- Battery plugin -->
       <plugin filename="libignition-gazebo-linearbatteryplugin-system.so"
         name="ignition::gazebo::systems::LinearBatteryPlugin">
diff --git a/submitted_models/ctu_cras_norlab_marmotte_sensor_config_1/model.sdf b/submitted_models/ctu_cras_norlab_marmotte_sensor_config_1/model.sdf
index b46ce2c4..a035588c 100644
--- a/submitted_models/ctu_cras_norlab_marmotte_sensor_config_1/model.sdf
+++ b/submitted_models/ctu_cras_norlab_marmotte_sensor_config_1/model.sdf
@@ -718,80 +718,23 @@
       </physics>
     </joint>
 
-    <!-- Left Side Wheels  -->
-    <link name="front_left_wheel_link">
-      <pose frame="">0.360 0.26 0.00 0 -0 0</pose>
+    <!-- Left Track  -->
+    <link name="left_track">
+      <pose frame="">0 0.26 0.00 0 -0 0</pose>
       <inertial>
         <pose frame="">0 0 0 0 -0 0</pose>
-        <mass>1.5</mass>
-        <inertia>
-          <ixx>0.02467</ixx>
+        <mass>6.0</mass>
+        <inertia> <!-- Inertia of a 6 kg box 0.1x0.258x0.72 m -->
+          <ixx>0.03828</ixx>
           <ixy>0</ixy>
           <ixz>0</ixz>
-          <iyy>0.04411</iyy>
+          <iyy>0.2925</iyy>
           <iyz>0</iyz>
-          <izz>0.02467</izz>
+          <izz>0.2642</izz>
         </inertia>
       </inertial>
       <collision name="front_left_wheel_link_collision">
-        <pose frame="">0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.1</length>
-            <radius>0.129</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.001</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-    </link>
-    <joint name="front_left_wheel_joint" type="revolute">
-      <child>front_left_wheel_link</child>
-      <parent>base_link</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>1</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="front_middle_left_wheel_link">
-      <pose frame="">0.120 0.26 0.00 0 -0 0</pose>
-      <inertial>
-        <pose frame="">0 0 0 0 -0 0</pose>
-        <mass>1.5</mass>
-        <inertia>
-          <ixx>0.02467</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.04411</iyy>
-          <iyz>0</iyz>
-          <izz>0.02467</izz>
-        </inertia>
-      </inertial>
-      <collision name="front_middle_left_wheel_link_collision">
-        <pose frame="">0 0 0 1.5707963267948966 -0 0</pose>
+        <pose frame="">0.360 0 0 1.5707963267948966 -0 0</pose>
         <geometry>
           <cylinder>
             <length>0.1</length>
@@ -807,65 +750,8 @@
           </contact>
           <friction>
             <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.001</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-    </link>
-    <joint name="front_middle_left_wheel_joint" type="revolute">
-      <child>front_middle_left_wheel_link</child>
-      <parent>base_link</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>1</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="rear_middle_left_wheel_link">
-      <pose frame="">-0.120 0.26 0.00 0 -0 0</pose>
-      <inertial>
-        <pose frame="">0 0 0 0 -0 0</pose>
-        <mass>1.5</mass>
-        <inertia>
-          <ixx>0.02467</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.04411</iyy>
-          <iyz>0</iyz>
-          <izz>0.02467</izz>
-        </inertia>
-      </inertial>
-      <collision name="rear_middle_left_wheel_link_collision">
-        <pose frame="">0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.1</length>
-            <radius>0.129</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
+              <mu>1</mu>
+              <mu2>150</mu2>
               <slip1>0.001</slip1>
               <slip2>0</slip2>
               <fdir1>0 0 1</fdir1>
@@ -873,39 +759,8 @@
           </friction>
         </surface>
       </collision>
-    </link>
-    <joint name="rear_middle_left_wheel_joint" type="revolute">
-      <child>rear_middle_left_wheel_link</child>
-      <parent>base_link</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>1</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="rear_left_wheel_link">
-      <pose frame="">-0.36 0.26 0.0 0 -0 0</pose>
-      <inertial>
-        <pose frame="">0 0 0 0 -0 0</pose>
-        <mass>1.5</mass>
-        <inertia>
-          <ixx>0.02467</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.04411</iyy>
-          <iyz>0</iyz>
-          <izz>0.02467</izz>
-        </inertia>
-      </inertial>
       <collision name="rear_left_wheel_link_collision">
-        <pose frame="">0 0 0 1.5707963267948966 -0 0</pose>
+        <pose frame="">-0.36 0 0 1.5707963267948966 -0 0</pose>
         <geometry>
           <cylinder>
             <length>0.1</length>
@@ -921,8 +776,8 @@
           </contact>
           <friction>
             <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
+              <mu>1</mu>
+              <mu2>150</mu2>
               <slip1>0.001</slip1>
               <slip2>0</slip2>
               <fdir1>0 0 1</fdir1>
@@ -930,45 +785,11 @@
           </friction>
         </surface>
       </collision>
-    </link>
-    <joint name="rear_left_wheel_joint" type="revolute">
-      <child>rear_left_wheel_link</child>
-      <parent>base_link</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>1</use_parent_model_frame>
-      </axis>
-    </joint>
-    <!-- Right Side Wheels -->
-    <link name="front_right_wheel_link">
-      <pose frame="">0.360 -0.26 0.00 0 -0 0</pose>
-      <inertial>
-        <pose frame="">0 0 0 0 -0 0</pose>
-        <mass>1.5</mass>
-        <inertia>
-          <ixx>0.02467</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.04411</iyy>
-          <iyz>0</iyz>
-          <izz>0.02467</izz>
-        </inertia>
-      </inertial>
-      <collision name="front_right_wheel_link_collision">
-        <pose frame="">0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="left_track_box_collision">
         <geometry>
-          <cylinder>
-            <length>0.1</length>
-            <radius>0.129</radius>
-          </cylinder>
+          <box>
+            <size>0.72 0.1 0.258</size>
+          </box>
         </geometry>
         <surface>
           <contact>
@@ -979,8 +800,8 @@
           </contact>
           <friction>
             <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
+              <mu>1</mu>
+              <mu2>150</mu2>
               <slip1>0.001</slip1>
               <slip2>0</slip2>
               <fdir1>0 0 1</fdir1>
@@ -989,38 +810,27 @@
         </surface>
       </collision>
     </link>
-    <joint name="front_right_wheel_joint" type="revolute">
-      <child>front_right_wheel_link</child>
+    <joint name="left_track_j" type="fixed">
+      <child>left_track</child>
       <parent>base_link</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>1</use_parent_model_frame>
-      </axis>
     </joint>
-    <link name="front_middle_right_wheel_link">
-      <pose frame="">0.120 -0.26 0.00 0 -0 0</pose>
+    <!-- Right Track  -->
+    <link name="right_track">
+      <pose frame="">0 -0.26 0.00 0 -0 0</pose>
       <inertial>
         <pose frame="">0 0 0 0 -0 0</pose>
-        <mass>1.5</mass>
-        <inertia>
-          <ixx>0.02467</ixx>
+        <mass>6.0</mass>
+        <inertia> <!-- Inertia of a 6 kg box 0.1x0.258x0.72 m -->
+          <ixx>0.03828</ixx>
           <ixy>0</ixy>
           <ixz>0</ixz>
-          <iyy>0.04411</iyy>
+          <iyy>0.2925</iyy>
           <iyz>0</iyz>
-          <izz>0.02467</izz>
+          <izz>0.2642</izz>
         </inertia>
       </inertial>
-      <collision name="front_middle_right_wheel_link_collision">
-        <pose frame="">0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="front_right_wheel_link_collision">
+        <pose frame="">0.360 0 0 1.5707963267948966 -0 0</pose>
         <geometry>
           <cylinder>
             <length>0.1</length>
@@ -1036,8 +846,8 @@
           </contact>
           <friction>
             <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
+              <mu>1</mu>
+              <mu2>150</mu2>
               <slip1>0.001</slip1>
               <slip2>0</slip2>
               <fdir1>0 0 1</fdir1>
@@ -1045,39 +855,8 @@
           </friction>
         </surface>
       </collision>
-    </link>
-    <joint name="front_middle_right_wheel_joint" type="revolute">
-      <child>front_middle_right_wheel_link</child>
-      <parent>base_link</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>1</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="rear_middle_right_wheel_link">
-      <pose frame="">-0.120 -0.26 0.00 0 -0 0</pose>
-      <inertial>
-        <pose frame="">0 0 0 0 -0 0</pose>
-        <mass>1.5</mass>
-        <inertia>
-          <ixx>0.02467</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.04411</iyy>
-          <iyz>0</iyz>
-          <izz>0.02467</izz>
-        </inertia>
-      </inertial>
-      <collision name="rear_middle_right_wheel_link_collision">
-        <pose frame="">0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="rear_right_wheel_link_collision">
+        <pose frame="">-0.36 0 0 1.5707963267948966 -0 0</pose>
         <geometry>
           <cylinder>
             <length>0.1</length>
@@ -1093,8 +872,8 @@
           </contact>
           <friction>
             <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
+              <mu>1</mu>
+              <mu2>150</mu2>
               <slip1>0.001</slip1>
               <slip2>0</slip2>
               <fdir1>0 0 1</fdir1>
@@ -1102,44 +881,11 @@
           </friction>
         </surface>
       </collision>
-    </link>
-    <joint name="rear_middle_right_wheel_joint" type="revolute">
-      <child>rear_middle_right_wheel_link</child>
-      <parent>base_link</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>1</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="rear_right_wheel_link">
-      <pose frame="">-0.36 -0.26 0.0 0 -0 0</pose>
-      <inertial>
-        <pose frame="">0 0 0 0 -0 0</pose>
-        <mass>1.5</mass>
-        <inertia>
-          <ixx>0.02467</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.04411</iyy>
-          <iyz>0</iyz>
-          <izz>0.02467</izz>
-        </inertia>
-      </inertial>
-      <collision name="rear_right_wheel_link_collision">
-        <pose frame="">0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="right_track_box_collision">
         <geometry>
-          <cylinder>
-            <length>0.1</length>
-            <radius>0.129</radius>
-          </cylinder>
+          <box>
+            <size>0.72 0.1 0.258</size>
+          </box>
         </geometry>
         <surface>
           <contact>
@@ -1150,8 +896,8 @@
           </contact>
           <friction>
             <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
+              <mu>1</mu>
+              <mu2>150</mu2>
               <slip1>0.001</slip1>
               <slip2>0</slip2>
               <fdir1>0 0 1</fdir1>
@@ -1160,22 +906,24 @@
         </surface>
       </collision>
     </link>
-    <joint name="rear_right_wheel_joint" type="revolute">
-      <child>rear_right_wheel_link</child>
+    <joint name="right_track_j" type="fixed">
+      <child>right_track</child>
       <parent>base_link</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>1</use_parent_model_frame>
-      </axis>
     </joint>
+    <plugin name='ignition::gazebo::systems::TrackController' filename='libignition-gazebo-track-controller-system.so'>
+      <link>left_track</link>
+      <min_velocity>-1</min_velocity>
+      <max_velocity>1</max_velocity>
+      <min_acceleration>-3</min_acceleration>
+      <max_acceleration>3</max_acceleration>
+    </plugin>
+    <plugin name='ignition::gazebo::systems::TrackController' filename='libignition-gazebo-track-controller-system.so'>
+      <link>right_track</link>
+      <min_velocity>-1</min_velocity>
+      <max_velocity>1</max_velocity>
+      <min_acceleration>-3</min_acceleration>
+      <max_acceleration>3</max_acceleration>
+    </plugin>
     <static>0</static>
     </model>
   </sdf>
diff --git a/submitted_models/ctu_cras_norlab_marmotte_sensor_config_1/specifications.md b/submitted_models/ctu_cras_norlab_marmotte_sensor_config_1/specifications.md
index 46606181..34045c96 100644
--- a/submitted_models/ctu_cras_norlab_marmotte_sensor_config_1/specifications.md
+++ b/submitted_models/ctu_cras_norlab_marmotte_sensor_config_1/specifications.md
@@ -10,7 +10,7 @@ This Ignition Gazebo model is based on the Team MARBLE's HD2, namely on the mesh
 Thanks to the original authors Derek Vasquez (dvasquez@ssci.com), Neil Johnson (njohnson@ssci.com) and Hector Escobar (hescobar@ssci.com) for making our lives easier! 
 
 ## Usage Instructions
-The robot motion is controlled via standard `cmd_vel` commands and produces standard odometry. The tracks are modeled by 4 virtual wheels on each side.
+The robot motion is controlled via standard `cmd_vel` commands and produces standard odometry. The tracks are modeled by `TrackController` Gazebo plugin.
 
 ## Usage Rights
 No additional restrictions have to be taken into account for this configuration.
@@ -33,7 +33,7 @@ This Marmotte with sensor configuration 1 includes the following sensors. The sp
 * Xsens MTi-100 IMU, modeled by the `imu_sensor` plugin
 
 ### Control
-The robot is controlled by the DiffDrive plugin. It accepts twist inputs which drive the vehicle along the x-direction and around the z-axis. The model follow the MARBLE's approach with 4 wheels on each side approximating tracks.
+The robot is controlled by the TrackedVehicle plugin. It accepts twist inputs which drive the vehicle along the x-direction and around the z-axis.
 
 ### Motion Characteristics
 The characteristics are identical to the MARBLE HD2 robot:
@@ -52,8 +52,6 @@ We leave the same endurance as the Team MARBLE, i.e. 1 hour. Based on the experi
 ### Diversions from Physical Hardware of the Marmotte
 The Marmotte HD2 has a payload bay similar to those on ClearPath Husky robots. This detail is not shown in the mesh visualization. Moreover, the sensor rack visualization is based on our CAD file of the robot and misses wiring and light bulbs. We consider these details irrelevant for the simulation.
 
-The tracks have to be approximated by wheels, as DartSim/Ignition Gazebo have no support for tracked vehicles. There is a working model for ODE/Gazebo, but there is no straight way of transferring it to Ignition Gazebo. This approximation results in worse performance on obstacles, and it can even happen that a piece of terrain gets "stuck" right between two wheels and the robot would completely stop in a case that would not be a problem with real tracks.
-
 Cameras have no distortion as the simulator doesn't support it.
 
 The 3D lidar produces the 360 degree scans in a single instant in simulation, as opposed to the 100 ms-long interval it takes the real lidar.
diff --git a/submitted_models/ctu_cras_norlab_marmotte_sensor_config_1/urdf/robot_from_sdf.xacro b/submitted_models/ctu_cras_norlab_marmotte_sensor_config_1/urdf/robot_from_sdf.xacro
index 50404898..66a1fb82 100644
--- a/submitted_models/ctu_cras_norlab_marmotte_sensor_config_1/urdf/robot_from_sdf.xacro
+++ b/submitted_models/ctu_cras_norlab_marmotte_sensor_config_1/urdf/robot_from_sdf.xacro
@@ -49,132 +49,52 @@
     <child link='${robot_namespace}/sensor_rack'/>
   </joint>
 
-  <link name='${robot_namespace}/front_left_wheel_link'>
+  <link name='${robot_namespace}/left_track'>
     <collision name='front_left_wheel_link_collision'>
-      <origin xyz='0 0 0' rpy='1.5708 -0 0'/>
+      <origin xyz='0.36 0 0' rpy='1.5708 -0 0'/>
       <geometry>
         <cylinder radius='0.129' length='0.1'/>
       </geometry>
     </collision>
-  </link>
-  <link name='${robot_namespace}/front_middle_left_wheel_link'>
-    <collision name='front_middle_left_wheel_link_collision'>
-      <origin xyz='0 0 0' rpy='1.5708 -0 0'/>
-      <geometry>
-        <cylinder radius='0.129' length='0.1'/>
-      </geometry>
-    </collision>
-  </link>
-  <link name='${robot_namespace}/rear_middle_left_wheel_link'>
-    <collision name='rear_middle_left_wheel_link_collision'>
-      <origin xyz='0 0 0' rpy='1.5708 -0 0'/>
-      <geometry>
-        <cylinder radius='0.129' length='0.1'/>
-      </geometry>
-    </collision>
-  </link>
-  <link name='${robot_namespace}/rear_left_wheel_link'>
     <collision name='rear_left_wheel_link_collision'>
-      <origin xyz='0 0 0' rpy='1.5708 -0 0'/>
+      <origin xyz='-0.36 0 0' rpy='1.5708 -0 0'/>
       <geometry>
         <cylinder radius='0.129' length='0.1'/>
       </geometry>
     </collision>
-  </link>
-  <link name='${robot_namespace}/front_right_wheel_link'>
-    <collision name='front_right_wheel_link_collision'>
-      <origin xyz='0 0 0' rpy='1.5708 -0 0'/>
+    <collision name='left_track_box_collision'>
       <geometry>
-        <cylinder radius='0.129' length='0.1'/>
+        <box size='0.72 0.1 0.258'/>
       </geometry>
     </collision>
   </link>
-  <link name='${robot_namespace}/front_middle_right_wheel_link'>
-    <collision name='front_middle_right_wheel_link_collision'>
-      <origin xyz='0 0 0' rpy='1.5708 -0 0'/>
+  <link name='${robot_namespace}/right_track'>
+    <collision name='front_right_wheel_link_collision'>
+      <origin xyz='0.36 0 0' rpy='1.5708 -0 0'/>
       <geometry>
         <cylinder radius='0.129' length='0.1'/>
       </geometry>
     </collision>
-  </link>
-  <link name='${robot_namespace}/rear_middle_right_wheel_link'>
-    <collision name='rear_middle_right_wheel_link_collision'>
-      <origin xyz='0 0 0' rpy='1.5708 -0 0'/>
+    <collision name='rear_right_wheel_link_collision'>
+      <origin xyz='-0.36 0 0' rpy='1.5708 -0 0'/>
       <geometry>
         <cylinder radius='0.129' length='0.1'/>
       </geometry>
     </collision>
-  </link>
-  <link name='${robot_namespace}/rear_right_wheel_link'>
-    <collision name='rear_right_wheel_link_collision'>
-      <origin xyz='0 0 0' rpy='1.5708 -0 0'/>
+    <collision name='right_track_box_collision'>
       <geometry>
-        <cylinder radius='0.129' length='0.1'/>
+        <box size='0.72 0.1 0.258'/>
       </geometry>
     </collision>
   </link>
-  <joint name='front_left_wheel_joint' type='revolute'>
-    <origin xyz='0.36 0.26 0' rpy='0 -0 0'/>
-    <parent link='${robot_namespace}/base_link'/>
-    <child link='${robot_namespace}/front_left_wheel_link'/>
-    <dynamics damping='0' friction='0' />
-    <axis xyz='0 1 0'/>
-    <limit lower='-1e+16' upper='1e+16' effort='-1' velocity='-1'/>
-  </joint>
-  <joint name='front_middle_left_wheel_joint' type='revolute'>
-    <origin xyz='0.12 0.26 0' rpy='0 -0 0'/>
-    <parent link='${robot_namespace}/base_link'/>
-    <child link='${robot_namespace}/front_middle_left_wheel_link'/>
-    <dynamics damping='0' friction='0' />
-    <axis xyz='0 1 0'/>
-    <limit lower='-1e+16' upper='1e+16' effort='-1' velocity='-1'/>
-  </joint>
-  <joint name='rear_middle_left_wheel_joint' type='revolute'>
-    <origin xyz='-0.12 0.26 0' rpy='0 -0 0'/>
-    <parent link='${robot_namespace}/base_link'/>
-    <child link='${robot_namespace}/rear_middle_left_wheel_link'/>
-    <dynamics damping='0' friction='0' />
-    <axis xyz='0 1 0'/>
-    <limit lower='-1e+16' upper='1e+16' effort='-1' velocity='-1'/>
-  </joint>
-  <joint name='rear_left_wheel_joint' type='revolute'>
-    <origin xyz='-0.36 0.26 0' rpy='0 -0 0'/>
-    <parent link='${robot_namespace}/base_link'/>
-    <child link='${robot_namespace}/rear_left_wheel_link'/>
-    <dynamics damping='0' friction='0' />
-    <axis xyz='0 1 0'/>
-    <limit lower='-1e+16' upper='1e+16' effort='-1' velocity='-1'/>
-  </joint>
-  <joint name='front_right_wheel_joint' type='revolute'>
-    <origin xyz='0.36 -0.26 0' rpy='0 -0 0'/>
-    <parent link='${robot_namespace}/base_link'/>
-    <child link='${robot_namespace}/front_right_wheel_link'/>
-    <dynamics damping='0' friction='0' />
-    <axis xyz='0 1 0'/>
-    <limit lower='-1e+16' upper='1e+16' effort='-1' velocity='-1'/>
-  </joint>
-  <joint name='front_middle_right_wheel_joint' type='revolute'>
-    <origin xyz='0.12 -0.26 0' rpy='0 -0 0'/>
-    <parent link='${robot_namespace}/base_link'/>
-    <child link='${robot_namespace}/front_middle_right_wheel_link'/>
-    <dynamics damping='0' friction='0' />
-    <axis xyz='0 1 0'/>
-    <limit lower='-1e+16' upper='1e+16' effort='-1' velocity='-1'/>
-  </joint>
-  <joint name='rear_middle_right_wheel_joint' type='revolute'>
-    <origin xyz='-0.12 -0.26 0' rpy='0 -0 0'/>
+  <joint name='left_track_j' type='fixed'>
+    <origin xyz='0 0.26 0' rpy='0 0 0'/>
     <parent link='${robot_namespace}/base_link'/>
-    <child link='${robot_namespace}/rear_middle_right_wheel_link'/>
-    <dynamics damping='0' friction='0' />
-    <axis xyz='0 1 0'/>
-    <limit lower='-1e+16' upper='1e+16' effort='-1' velocity='-1'/>
+    <child link='${robot_namespace}/left_track'/>
   </joint>
-  <joint name='rear_right_wheel_joint' type='revolute'>
-    <origin xyz='-0.36 -0.26 0' rpy='0 -0 0'/>
+  <joint name='right_track_j' type='fixed'>
+    <origin xyz='0 -0.26 0' rpy='0 0 0'/>
     <parent link='${robot_namespace}/base_link'/>
-    <child link='${robot_namespace}/rear_right_wheel_link'/>
-    <dynamics damping='0' friction='0' />
-    <axis xyz='0 1 0'/>
-    <limit lower='-1e+16' upper='1e+16' effort='-1' velocity='-1'/>
+    <child link='${robot_namespace}/right_track'/>
   </joint>
 </robot>
diff --git a/submitted_models/ctu_cras_norlab_marmotte_sensor_config_1/worlds/example.sdf b/submitted_models/ctu_cras_norlab_marmotte_sensor_config_1/worlds/example.sdf
index 9ea5042c..5c46cff1 100644
--- a/submitted_models/ctu_cras_norlab_marmotte_sensor_config_1/worlds/example.sdf
+++ b/submitted_models/ctu_cras_norlab_marmotte_sensor_config_1/worlds/example.sdf
@@ -171,6 +171,13 @@
       <uri> https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier </uri>
     </include>
 
+    <include>
+      <name>pallet</name>
+      <pose>2 0 0.02 0 0 0</pose>
+      <uri> https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Euro pallet </uri>
+      <static>1</static>
+    </include>
+
 
     <!-- The base station -->
     <include>
diff --git a/submitted_models/ctu_cras_norlab_marmotte_sensor_config_2/launch/example.ign b/submitted_models/ctu_cras_norlab_marmotte_sensor_config_2/launch/example.ign
new file mode 100644
index 00000000..45885010
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_marmotte_sensor_config_2/launch/example.ign
@@ -0,0 +1,20 @@
+<?xml version="1.0"?>
+<%
+  base_launch = `rospack find ctu_cras_norlab_marmotte_sensor_config_1`.chomp + "/launch"
+  base_dir = File.realpath(File.join(File.dirname(__FILE__), ".."))
+
+  ros_param=''
+  if defined?(ros) and ros
+    ros_param='ros:=true'
+  end
+
+  headless_param=''
+  if defined?(headless) and headless
+    headless_param='headless:=true'
+  end
+%>
+<ignition version='1.0'>
+  <executable name='include'>
+    <command>ign launch -v4 <%= File.join(base_launch, "example.ign") %> base_dir:=<%= base_dir %> robotName:=<%= robotName %> <%= ros_param %> <%= headless_param %></command>
+  </executable>
+</ignition>
\ No newline at end of file
diff --git a/submitted_models/ctu_cras_norlab_marmotte_sensor_config_2/launch/spawner.rb b/submitted_models/ctu_cras_norlab_marmotte_sensor_config_2/launch/spawner.rb
index 74ff2d1a..4893112c 100644
--- a/submitted_models/ctu_cras_norlab_marmotte_sensor_config_2/launch/spawner.rb
+++ b/submitted_models/ctu_cras_norlab_marmotte_sensor_config_2/launch/spawner.rb
@@ -10,24 +10,20 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
     <include>
       <name>#{_name}</name>
       <uri>#{_modelURI}</uri>
-      <!-- Diff drive -->
-      <plugin filename="libignition-gazebo-diff-drive-system.so"
-              name="ignition::gazebo::systems::DiffDrive">
-        <left_joint>front_left_wheel_joint</left_joint>
-        <left_joint>front_middle_left_wheel_joint</left_joint>
-        <left_joint>rear_middle_left_wheel_joint</left_joint>
-        <left_joint>rear_left_wheel_joint</left_joint>
-        <right_joint>front_right_wheel_joint</right_joint>
-        <right_joint>front_middle_right_wheel_joint</right_joint>
-        <right_joint>rear_middle_right_wheel_joint</right_joint>
-        <right_joint>rear_right_wheel_joint</right_joint>
-        <wheel_separation>#{0.525}</wheel_separation>
-        <wheel_radius>0.129</wheel_radius>
+      <!-- Tracked vehicle controller -->
+      <plugin name="ignition::gazebo::systems::TrackedVehicle" filename="ignition-gazebo-tracked-vehicle-system">
+        <left_track><link>left_track</link></left_track>
+        <right_track><link>right_track</link></right_track>
+        <tracks_separation>#{0.525}</tracks_separation>
+        <tracks_height>0.258</tracks_height>
+        <steering_efficiency>0.5</steering_efficiency>
         <topic>/model/#{_name}/cmd_vel_relay</topic>
-        <min_velocity>-1</min_velocity>
-        <max_velocity>1</max_velocity>
-        <min_acceleration>-3</min_acceleration>
-        <max_acceleration>3</max_acceleration>
+        <linear_velocity>
+          <min_velocity>-1</min_velocity>
+          <max_velocity>1</max_velocity>
+          <min_acceleration>-3</min_acceleration>
+          <max_acceleration>3</max_acceleration>
+        </linear_velocity>
       </plugin>
       <!-- Publish robot state information -->
       <plugin filename="libignition-gazebo-pose-publisher-system.so"
@@ -41,20 +37,6 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
         <static_publisher>true</static_publisher>
         <static_update_frequency>1</static_update_frequency>
       </plugin>
-      <!-- Battery plugin -->
-      <plugin filename="libignition-gazebo-linearbatteryplugin-system.so"
-        name="ignition::gazebo::systems::LinearBatteryPlugin">
-        <battery_name>linear_battery</battery_name>
-        <voltage>12.694</voltage>
-        <open_circuit_voltage_constant_coef>12.694</open_circuit_voltage_constant_coef>
-        <open_circuit_voltage_linear_coef>-3.1424</open_circuit_voltage_linear_coef>
-        <initial_charge>78.4</initial_charge>
-        <capacity>78.4</capacity>
-        <resistance>0.061523</resistance>
-        <smooth_current_tau>1.9499</smooth_current_tau>
-        <power_load>9.9</power_load>
-        <start_on_motion>true</start_on_motion>
-      </plugin>
       <!-- Gas Sensor plugin -->
       <plugin filename="libGasEmitterDetectorPlugin.so"
         name="subt::GasDetector">
@@ -62,58 +44,6 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
         <update_rate>10</update_rate>
         <type>gas</type>
       </plugin>
-      <!-- Wheel slip -->
-      <plugin filename="libignition-gazebo-wheel-slip-system.so"
-        name="ignition::gazebo::systems::WheelSlip">
-        <wheel link_name="front_left_wheel_link">
-          <slip_compliance_lateral>0.086</slip_compliance_lateral>
-          <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-          <wheel_normal_force>63.765</wheel_normal_force>
-          <wheel_radius>0.129</wheel_radius>
-        </wheel>
-        <wheel link_name="front_middle_left_wheel_link">
-          <slip_compliance_lateral>0.086</slip_compliance_lateral>
-          <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-          <wheel_normal_force>63.765</wheel_normal_force>
-          <wheel_radius>0.129</wheel_radius>
-        </wheel>
-        <wheel link_name="rear_middle_left_wheel_link">
-          <slip_compliance_lateral>0.086</slip_compliance_lateral>
-          <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-          <wheel_normal_force>63.765</wheel_normal_force>
-          <wheel_radius>0.129</wheel_radius>
-        </wheel>
-        <wheel link_name="rear_left_wheel_link">
-          <slip_compliance_lateral>0.086</slip_compliance_lateral>
-          <slip_compliance_longitudinal>0.25</slip_compliance_longitudinal>
-          <wheel_normal_force>63.765</wheel_normal_force>
-          <wheel_radius>0.129</wheel_radius>
-        </wheel>
-        <wheel link_name="front_right_wheel_link">
-          <slip_compliance_lateral>0.086</slip_compliance_lateral>
-          <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-          <wheel_normal_force>63.765</wheel_normal_force>
-          <wheel_radius>0.129</wheel_radius>
-        </wheel>
-        <wheel link_name="front_middle_right_wheel_link">
-          <slip_compliance_lateral>0.086</slip_compliance_lateral>
-          <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-          <wheel_normal_force>63.765</wheel_normal_force>
-          <wheel_radius>0.129</wheel_radius>
-        </wheel>
-        <wheel link_name="rear_middle_right_wheel_link">
-          <slip_compliance_lateral>0.086</slip_compliance_lateral>
-          <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-          <wheel_normal_force>63.765</wheel_normal_force>
-          <wheel_radius>0.129</wheel_radius>
-        </wheel>
-        <wheel link_name="rear_right_wheel_link">
-          <slip_compliance_lateral>0.086</slip_compliance_lateral>
-          <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-          <wheel_normal_force>63.765</wheel_normal_force>
-          <wheel_radius>0.129</wheel_radius>
-        </wheel>
-      </plugin>
       <plugin filename="libignition-gazebo-breadcrumbs-system.so"
             name="ignition::gazebo::systems::Breadcrumbs">
         <topic>/model/#{_name}/breadcrumb/deploy</topic>
@@ -131,6 +61,20 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
          </sdf>
        </breadcrumb>
       </plugin>
+      <!-- Battery plugin -->
+      <plugin filename="libignition-gazebo-linearbatteryplugin-system.so"
+        name="ignition::gazebo::systems::LinearBatteryPlugin">
+        <battery_name>linear_battery</battery_name>
+        <voltage>12.694</voltage>
+        <open_circuit_voltage_constant_coef>12.694</open_circuit_voltage_constant_coef>
+        <open_circuit_voltage_linear_coef>-3.1424</open_circuit_voltage_linear_coef>
+        <initial_charge>78.4</initial_charge>
+        <capacity>78.4</capacity>
+        <resistance>0.061523</resistance>
+        <smooth_current_tau>1.9499</smooth_current_tau>
+        <power_load>9.9</power_load>
+        <start_on_motion>true</start_on_motion>
+      </plugin>
     </include>
     </sdf>
   </spawn>

From 54db40cb79d14cc91be07c90e65e97e41bd12cca Mon Sep 17 00:00:00 2001
From: Martin Pecka <peckama2@fel.cvut.cz>
Date: Thu, 18 Nov 2021 15:08:21 +0100
Subject: [PATCH 08/14] MARBLE_HD2: Implement proper tracks + little fixes.

---
 .../marble_hd2_sensor_config_1/CMakeLists.txt |   2 +-
 .../launch/example.ign                        |  18 +-
 .../launch/spawner.rb                         |  82 +---
 .../materials/textures/HD2_Albedo.jpg         | Bin 0 -> 908310 bytes
 .../materials/textures/HD2_Albedo.png         | Bin 2933853 -> 0 bytes
 .../materials/textures/HD2_Metalness.jpg      | Bin 0 -> 246789 bytes
 .../materials/textures/HD2_Metalness.png      | Bin 89037 -> 0 bytes
 .../materials/textures/HD2_Roughness.jpg      | Bin 0 -> 465633 bytes
 .../materials/textures/HD2_Roughness.png      | Bin 742629 -> 0 bytes
 .../marble_hd2_sensor_config_1/meshes/hd2.dae |   2 +-
 .../marble_hd2_sensor_config_1/model.sdf      | 372 +++-------------
 .../marble_hd2_sensor_config_1/pan_echo.sh    |   2 +-
 .../specifications.md                         |   8 +-
 .../marble_hd2_sensor_config_1/tilt_echo.sh   |   2 +-
 .../urdf/robot_from_sdf.xacro                 | 212 +--------
 .../worlds/example.sdf                        |   6 +
 .../launch/example.ign                        |  20 +
 .../launch/spawner.rb                         |  82 +---
 .../launch/example.ign                        |  21 +
 .../launch/spawner.rb                         | 101 +----
 .../marble_hd2_sensor_config_3/model.config   |  14 +
 .../marble_hd2_sensor_config_3/model.sdf      | 414 ++++--------------
 .../marble_hd2_sensor_config_4/README.md      |   2 +-
 .../launch/example.ign                        |  21 +
 .../launch/spawner.rb                         |  82 +---
 .../marble_hd2_sensor_config_4/model.config   |  14 +
 .../marble_hd2_sensor_config_4/model.sdf      | 414 ++++--------------
 27 files changed, 416 insertions(+), 1475 deletions(-)
 create mode 100644 submitted_models/marble_hd2_sensor_config_1/materials/textures/HD2_Albedo.jpg
 delete mode 100644 submitted_models/marble_hd2_sensor_config_1/materials/textures/HD2_Albedo.png
 create mode 100644 submitted_models/marble_hd2_sensor_config_1/materials/textures/HD2_Metalness.jpg
 delete mode 100644 submitted_models/marble_hd2_sensor_config_1/materials/textures/HD2_Metalness.png
 create mode 100644 submitted_models/marble_hd2_sensor_config_1/materials/textures/HD2_Roughness.jpg
 delete mode 100644 submitted_models/marble_hd2_sensor_config_1/materials/textures/HD2_Roughness.png
 create mode 100644 submitted_models/marble_hd2_sensor_config_2/launch/example.ign
 create mode 100644 submitted_models/marble_hd2_sensor_config_3/launch/example.ign
 create mode 100644 submitted_models/marble_hd2_sensor_config_3/model.config
 create mode 100644 submitted_models/marble_hd2_sensor_config_4/launch/example.ign
 create mode 100644 submitted_models/marble_hd2_sensor_config_4/model.config

diff --git a/submitted_models/marble_hd2_sensor_config_1/CMakeLists.txt b/submitted_models/marble_hd2_sensor_config_1/CMakeLists.txt
index 2fa5e884..3ed546f0 100644
--- a/submitted_models/marble_hd2_sensor_config_1/CMakeLists.txt
+++ b/submitted_models/marble_hd2_sensor_config_1/CMakeLists.txt
@@ -5,7 +5,7 @@ find_package(catkin REQUIRED)
 
 catkin_package()
 
-install(DIRECTORY launch meshes materials urdf
+install(DIRECTORY launch meshes materials urdf worlds
   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
 
 install(FILES model.sdf model.config
diff --git a/submitted_models/marble_hd2_sensor_config_1/launch/example.ign b/submitted_models/marble_hd2_sensor_config_1/launch/example.ign
index dd4ae56a..4f966689 100644
--- a/submitted_models/marble_hd2_sensor_config_1/launch/example.ign
+++ b/submitted_models/marble_hd2_sensor_config_1/launch/example.ign
@@ -6,7 +6,9 @@
 -->
 
 <%
-  require_relative 'spawner'
+  #require_relative 'spawner'
+  _base_dir = defined?(base_dir) ? base_dir.tr('"', '') : File.realpath(File.join(File.dirname(__FILE__), ".."))
+  load File.join(_base_dir, "launch", "spawner.rb")
 
   # Modify these as needed
   $enableGroundTruth = true
@@ -20,7 +22,8 @@
   end
 
   # This assumes that this launch file is in a directory below the model
-  modelURI = File.expand_path("../", File.dirname(__FILE__))
+  _model_base_dir = defined?(model_base_dir) ? model_base_dir.tr('"', '') : "../"
+  modelURI = File.expand_path(_model_base_dir, File.dirname(__FILE__))
   $worldName = 'example'
   worldFile = File.join(File.expand_path("../worlds", File.dirname(__FILE__)), "#{$worldName}.sdf")
 
@@ -34,9 +37,11 @@
 
   <!-- Start ROS first. This is a bit hacky for now. -->
   <!-- Make sure to source /opt/ros/melodic/setup.bash -->
+<% if local_variables.include?(:ros) and ros %>
   <executable name='ros'>
     <command>roslaunch subt_ros competition_init.launch world_name:=<%=$worldName%> vehicle_topics:=0 enable_ground_truth:=<%=($enableGroundTruth)?"1":"0"%> robot_names:=<%=robotName%></command>
   </executable>
+<% end %>
 
   <plugin name="ignition::launch::GazeboServer"
           filename="libignition-launch-gazebo.so">
@@ -162,8 +167,13 @@
   </executable_wrapper>
   <%end%>
 
-<%= spawner(robotName, modelURI, $worldName, 0, 0, 0, 0, 0, 0) %>
-<%= rosExecutables(robotName, $worldName) %>
+<plugin name="ignition::launch::GazeboFactory"
+        filename="ignition-launch-gazebo-factory">
+  <%= spawner(robotName, modelURI, $worldName, 0, 0, 0, 0, 0, 0) %>
+</plugin>
+<% if local_variables.include?(:ros) and ros %>
+  <%= rosExecutables(robotName, $worldName) %>
+<% end %>
  
 </ignition>
 
diff --git a/submitted_models/marble_hd2_sensor_config_1/launch/spawner.rb b/submitted_models/marble_hd2_sensor_config_1/launch/spawner.rb
index a0b8bf25..f3685430 100644
--- a/submitted_models/marble_hd2_sensor_config_1/launch/spawner.rb
+++ b/submitted_models/marble_hd2_sensor_config_1/launch/spawner.rb
@@ -10,24 +10,20 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
     <include>
       <name>#{_name}</name>
       <uri>#{_modelURI}</uri>
-      <!-- Diff drive -->
-      <plugin filename="libignition-gazebo-diff-drive-system.so"
-              name="ignition::gazebo::systems::DiffDrive">
-        <left_joint>front_left_wheel_joint</left_joint>
-        <left_joint>front_middle_left_wheel_joint</left_joint>
-        <left_joint>rear_middle_left_wheel_joint</left_joint>
-        <left_joint>rear_left_wheel_joint</left_joint>
-        <right_joint>front_right_wheel_joint</right_joint>
-        <right_joint>front_middle_right_wheel_joint</right_joint>
-        <right_joint>rear_middle_right_wheel_joint</right_joint>
-        <right_joint>rear_right_wheel_joint</right_joint>
-        <wheel_separation>#{0.525}</wheel_separation>
-        <wheel_radius>0.129</wheel_radius>
+      <!-- Tracked vehicle controller -->
+      <plugin name="ignition::gazebo::systems::TrackedVehicle" filename="ignition-gazebo-tracked-vehicle-system">
+        <left_track><link>left_track</link></left_track>
+        <right_track><link>right_track</link></right_track>
+        <tracks_separation>#{0.525}</tracks_separation>
+        <tracks_height>0.258</tracks_height>
+        <steering_efficiency>0.5</steering_efficiency>
         <topic>/model/#{_name}/cmd_vel_relay</topic>
-        <min_velocity>-1</min_velocity>
-        <max_velocity>1</max_velocity>
-        <min_acceleration>-3</min_acceleration>
-        <max_acceleration>3</max_acceleration>
+        <linear_velocity>
+          <min_velocity>-1</min_velocity>
+          <max_velocity>1</max_velocity>
+          <min_acceleration>-3</min_acceleration>
+          <max_acceleration>3</max_acceleration>
+        </linear_velocity>
       </plugin>
       <!-- Publish robot state information -->
       <plugin filename="libignition-gazebo-pose-publisher-system.so"
@@ -62,58 +58,6 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
         <update_rate>10</update_rate>
         <type>gas</type>
       </plugin>
-      <!-- Wheel slip -->
-      <plugin filename="libignition-gazebo-wheel-slip-system.so"
-        name="ignition::gazebo::systems::WheelSlip">
-        <wheel link_name="front_left_wheel_link">
-          <slip_compliance_lateral>0.086</slip_compliance_lateral>
-          <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-          <wheel_normal_force>41.47103925</wheel_normal_force>
-          <wheel_radius>0.129</wheel_radius>
-        </wheel>
-        <wheel link_name="front_middle_left_wheel_link">
-          <slip_compliance_lateral>0.086</slip_compliance_lateral>
-          <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-          <wheel_normal_force>41.47103925</wheel_normal_force>
-          <wheel_radius>0.129</wheel_radius>
-        </wheel>
-        <wheel link_name="rear_middle_left_wheel_link">
-          <slip_compliance_lateral>0.086</slip_compliance_lateral>
-          <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-          <wheel_normal_force>41.47103925</wheel_normal_force>
-          <wheel_radius>0.129</wheel_radius>
-        </wheel>
-        <wheel link_name="rear_left_wheel_link">
-          <slip_compliance_lateral>0.086</slip_compliance_lateral>
-          <slip_compliance_longitudinal>0.25</slip_compliance_longitudinal>
-          <wheel_normal_force>41.47103925</wheel_normal_force>
-          <wheel_radius>0.129</wheel_radius>
-        </wheel>
-        <wheel link_name="front_right_wheel_link">
-          <slip_compliance_lateral>0.086</slip_compliance_lateral>
-          <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-          <wheel_normal_force>41.47103925</wheel_normal_force>
-          <wheel_radius>0.129</wheel_radius>
-        </wheel>
-        <wheel link_name="front_middle_right_wheel_link">
-          <slip_compliance_lateral>0.086</slip_compliance_lateral>
-          <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-          <wheel_normal_force>41.47103925</wheel_normal_force>
-          <wheel_radius>0.129</wheel_radius>
-        </wheel>
-        <wheel link_name="rear_middle_right_wheel_link">
-          <slip_compliance_lateral>0.086</slip_compliance_lateral>
-          <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-          <wheel_normal_force>41.47103925</wheel_normal_force>
-          <wheel_radius>0.129</wheel_radius>
-        </wheel>
-        <wheel link_name="rear_right_wheel_link">
-          <slip_compliance_lateral>0.086</slip_compliance_lateral>
-          <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-          <wheel_normal_force>41.47103925</wheel_normal_force>
-          <wheel_radius>0.129</wheel_radius>
-        </wheel>
-      </plugin>
     </include>
     </sdf>
   </spawn>
diff --git a/submitted_models/marble_hd2_sensor_config_1/materials/textures/HD2_Albedo.jpg b/submitted_models/marble_hd2_sensor_config_1/materials/textures/HD2_Albedo.jpg
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diff --git a/submitted_models/marble_hd2_sensor_config_1/meshes/hd2.dae b/submitted_models/marble_hd2_sensor_config_1/meshes/hd2.dae
index b0321ae9..5b87246f 100644
--- a/submitted_models/marble_hd2_sensor_config_1/meshes/hd2.dae
+++ b/submitted_models/marble_hd2_sensor_config_1/meshes/hd2.dae
@@ -17,7 +17,7 @@
   </asset>
   <library_images>
     <image id="MapFBXASC032FBXASC0351-image" name="MapFBXASC032FBXASC0351">
-      <init_from>../materials/textures/HD2_Albedo.png</init_from>
+      <init_from>../materials/textures/HD2_Albedo.jpg</init_from>
     </image>
   </library_images>
   <library_materials>
diff --git a/submitted_models/marble_hd2_sensor_config_1/model.sdf b/submitted_models/marble_hd2_sensor_config_1/model.sdf
index 5c8ee27d..99b24a54 100644
--- a/submitted_models/marble_hd2_sensor_config_1/model.sdf
+++ b/submitted_models/marble_hd2_sensor_config_1/model.sdf
@@ -407,80 +407,23 @@
                 </imu>
                     </sensor>
                   </link>
-                  <!-- Left Side Wheels  -->
-                  <link name="front_left_wheel_link">
-                    <pose frame="">0.360 0.26 0.00 0 -0 0</pose>
+                  <!-- Left Track  -->
+                  <link name="left_track">
+                    <pose frame="">0 0.26 0.00 0 -0 0</pose>
                     <inertial>
                       <pose frame="">0 0 0 0 -0 0</pose>
-                      <mass>1.5</mass>
-                      <inertia>
-                        <ixx>0.02467</ixx>
+                      <mass>6.0</mass>
+                      <inertia> <!-- Inertia of a 6 kg box 0.1x0.258x0.72 m -->
+                        <ixx>0.03828</ixx>
                         <ixy>0</ixy>
                         <ixz>0</ixz>
-                        <iyy>0.04411</iyy>
+                        <iyy>0.2925</iyy>
                         <iyz>0</iyz>
-                        <izz>0.02467</izz>
+                        <izz>0.2642</izz>
                       </inertia>
                     </inertial>
                     <collision name="front_left_wheel_link_collision">
-                      <pose frame="">0 0 0 1.5707963267948966 -0 0</pose>
-                      <geometry>
-                        <cylinder>
-                          <length>0.1</length>
-                          <radius>0.129</radius>
-                        </cylinder>
-                      </geometry>
-                      <surface>
-                        <contact>
-                          <ode>
-                            <kp>1e+07</kp>
-                            <kd>1</kd>
-                          </ode>
-                        </contact>
-                        <friction>
-                          <ode>
-                            <mu>0.5</mu>
-                            <mu2>1</mu2>
-                            <slip1>0.001</slip1>
-                            <slip2>0</slip2>
-                            <fdir1>0 0 1</fdir1>
-                          </ode>
-                        </friction>
-                      </surface>
-                    </collision>
-                  </link>
-                  <joint name="front_left_wheel_joint" type="revolute">
-                    <child>front_left_wheel_link</child>
-                    <parent>base_link</parent>
-                    <axis>
-                      <xyz>0 1 0</xyz>
-                      <limit>
-                        <lower>-1e+16</lower>
-                        <upper>1e+16</upper>
-                      </limit>
-                      <dynamics>
-                        <spring_reference>0</spring_reference>
-                        <spring_stiffness>0</spring_stiffness>
-                      </dynamics>
-                      <use_parent_model_frame>1</use_parent_model_frame>
-                    </axis>
-                  </joint>
-                  <link name="front_middle_left_wheel_link">
-                    <pose frame="">0.120 0.26 0.00 0 -0 0</pose>
-                    <inertial>
-                      <pose frame="">0 0 0 0 -0 0</pose>
-                      <mass>1.5</mass>
-                      <inertia>
-                        <ixx>0.02467</ixx>
-                        <ixy>0</ixy>
-                        <ixz>0</ixz>
-                        <iyy>0.04411</iyy>
-                        <iyz>0</iyz>
-                        <izz>0.02467</izz>
-                      </inertia>
-                    </inertial>
-                    <collision name="front_middle_left_wheel_link_collision">
-                      <pose frame="">0 0 0 1.5707963267948966 -0 0</pose>
+                      <pose frame="">0.360 0 0 1.5707963267948966 -0 0</pose>
                       <geometry>
                         <cylinder>
                           <length>0.1</length>
@@ -496,8 +439,8 @@
                         </contact>
                         <friction>
                           <ode>
-                            <mu>0.5</mu>
-                            <mu2>1</mu2>
+                            <mu>1</mu>
+                            <mu2>150</mu2>
                             <slip1>0.001</slip1>
                             <slip2>0</slip2>
                             <fdir1>0 0 1</fdir1>
@@ -505,96 +448,8 @@
                         </friction>
                       </surface>
                     </collision>
-                  </link>
-                  <joint name="front_middle_left_wheel_joint" type="revolute">
-                    <child>front_middle_left_wheel_link</child>
-                    <parent>base_link</parent>
-                    <axis>
-                      <xyz>0 1 0</xyz>
-                      <limit>
-                        <lower>-1e+16</lower>
-                        <upper>1e+16</upper>
-                      </limit>
-                      <dynamics>
-                        <spring_reference>0</spring_reference>
-                        <spring_stiffness>0</spring_stiffness>
-                      </dynamics>
-                      <use_parent_model_frame>1</use_parent_model_frame>
-                    </axis>
-                  </joint>
-                  <link name="rear_middle_left_wheel_link">
-                    <pose frame="">-0.120 0.26 0.00 0 -0 0</pose>
-                    <inertial>
-                      <pose frame="">0 0 0 0 -0 0</pose>
-                      <mass>1.5</mass>
-                      <inertia>
-                        <ixx>0.02467</ixx>
-                        <ixy>0</ixy>
-                        <ixz>0</ixz>
-                        <iyy>0.04411</iyy>
-                        <iyz>0</iyz>
-                        <izz>0.02467</izz>
-                      </inertia>
-                    </inertial>
-                    <collision name="rear_middle_left_wheel_link_collision">
-                      <pose frame="">0 0 0 1.5707963267948966 -0 0</pose>
-                      <geometry>
-                        <cylinder>
-                          <length>0.1</length>
-                          <radius>0.129</radius>
-                        </cylinder>
-                      </geometry>
-                      <surface>
-                        <contact>
-                          <ode>
-                            <kp>1e+07</kp>
-                            <kd>1</kd>
-                          </ode>
-                        </contact>
-                        <friction>
-                          <ode>
-                            <mu>0.5</mu>
-                            <mu2>1</mu2>
-                            <slip1>0.001</slip1>
-                            <slip2>0</slip2>
-                            <fdir1>0 0 1</fdir1>
-                          </ode>
-                        </friction>
-                      </surface>
-                    </collision>
-                  </link>
-                  <joint name="rear_middle_left_wheel_joint" type="revolute">
-                    <child>rear_middle_left_wheel_link</child>
-                    <parent>base_link</parent>
-                    <axis>
-                      <xyz>0 1 0</xyz>
-                      <limit>
-                        <lower>-1e+16</lower>
-                        <upper>1e+16</upper>
-                      </limit>
-                      <dynamics>
-                        <spring_reference>0</spring_reference>
-                        <spring_stiffness>0</spring_stiffness>
-                      </dynamics>
-                      <use_parent_model_frame>1</use_parent_model_frame>
-                    </axis>
-                  </joint>
-                  <link name="rear_left_wheel_link">
-                    <pose frame="">-0.36 0.26 0.0 0 -0 0</pose>
-                    <inertial>
-                      <pose frame="">0 0 0 0 -0 0</pose>
-                      <mass>1.5</mass>
-                      <inertia>
-                        <ixx>0.02467</ixx>
-                        <ixy>0</ixy>
-                        <ixz>0</ixz>
-                        <iyy>0.04411</iyy>
-                        <iyz>0</iyz>
-                        <izz>0.02467</izz>
-                      </inertia>
-                    </inertial>
                     <collision name="rear_left_wheel_link_collision">
-                      <pose frame="">0 0 0 1.5707963267948966 -0 0</pose>
+                      <pose frame="">-0.36 0 0 1.5707963267948966 -0 0</pose>
                       <geometry>
                         <cylinder>
                           <length>0.1</length>
@@ -610,8 +465,8 @@
                         </contact>
                         <friction>
                           <ode>
-                            <mu>0.5</mu>
-                            <mu2>1</mu2>
+                            <mu>1</mu>
+                            <mu2>150</mu2>
                             <slip1>0.001</slip1>
                             <slip2>0</slip2>
                             <fdir1>0 0 1</fdir1>
@@ -619,45 +474,11 @@
                         </friction>
                       </surface>
                     </collision>
-                  </link>
-                  <joint name="rear_left_wheel_joint" type="revolute">
-                    <child>rear_left_wheel_link</child>
-                    <parent>base_link</parent>
-                    <axis>
-                      <xyz>0 1 0</xyz>
-                      <limit>
-                        <lower>-1e+16</lower>
-                        <upper>1e+16</upper>
-                      </limit>
-                      <dynamics>
-                        <spring_reference>0</spring_reference>
-                        <spring_stiffness>0</spring_stiffness>
-                      </dynamics>
-                      <use_parent_model_frame>1</use_parent_model_frame>
-                    </axis>
-                  </joint>
-                  <!-- Right Side Wheels -->
-                  <link name="front_right_wheel_link">
-                    <pose frame="">0.360 -0.26 0.00 0 -0 0</pose>
-                    <inertial>
-                      <pose frame="">0 0 0 0 -0 0</pose>
-                      <mass>1.5</mass>
-                      <inertia>
-                        <ixx>0.02467</ixx>
-                        <ixy>0</ixy>
-                        <ixz>0</ixz>
-                        <iyy>0.04411</iyy>
-                        <iyz>0</iyz>
-                        <izz>0.02467</izz>
-                      </inertia>
-                    </inertial>
-                    <collision name="front_right_wheel_link_collision">
-                      <pose frame="">0 0 0 1.5707963267948966 -0 0</pose>
+                    <collision name="left_track_box_collision">
                       <geometry>
-                        <cylinder>
-                          <length>0.1</length>
-                          <radius>0.129</radius>
-                        </cylinder>
+                        <box>
+                          <size>0.72 0.1 0.258</size>
+                        </box>
                       </geometry>
                       <surface>
                         <contact>
@@ -668,8 +489,8 @@
                         </contact>
                         <friction>
                           <ode>
-                            <mu>0.5</mu>
-                            <mu2>1</mu2>
+                            <mu>1</mu>
+                            <mu2>150</mu2>
                             <slip1>0.001</slip1>
                             <slip2>0</slip2>
                             <fdir1>0 0 1</fdir1>
@@ -678,38 +499,27 @@
                       </surface>
                     </collision>
                   </link>
-                  <joint name="front_right_wheel_joint" type="revolute">
-                    <child>front_right_wheel_link</child>
+                  <joint name="left_track_j" type="fixed">
+                    <child>left_track</child>
                     <parent>base_link</parent>
-                    <axis>
-                      <xyz>0 1 0</xyz>
-                      <limit>
-                        <lower>-1e+16</lower>
-                        <upper>1e+16</upper>
-                      </limit>
-                      <dynamics>
-                        <spring_reference>0</spring_reference>
-                        <spring_stiffness>0</spring_stiffness>
-                      </dynamics>
-                      <use_parent_model_frame>1</use_parent_model_frame>
-                    </axis>
                   </joint>
-                  <link name="front_middle_right_wheel_link">
-                    <pose frame="">0.120 -0.26 0.00 0 -0 0</pose>
+                  <!-- Right Track  -->
+                  <link name="right_track">
+                    <pose frame="">0 -0.26 0.00 0 -0 0</pose>
                     <inertial>
                       <pose frame="">0 0 0 0 -0 0</pose>
-                      <mass>1.5</mass>
-                      <inertia>
-                        <ixx>0.02467</ixx>
+                      <mass>6.0</mass>
+                      <inertia> <!-- Inertia of a 6 kg box 0.1x0.258x0.72 m -->
+                        <ixx>0.03828</ixx>
                         <ixy>0</ixy>
                         <ixz>0</ixz>
-                        <iyy>0.04411</iyy>
+                        <iyy>0.2925</iyy>
                         <iyz>0</iyz>
-                        <izz>0.02467</izz>
+                        <izz>0.2642</izz>
                       </inertia>
                     </inertial>
-                    <collision name="front_middle_right_wheel_link_collision">
-                      <pose frame="">0 0 0 1.5707963267948966 -0 0</pose>
+                    <collision name="front_right_wheel_link_collision">
+                      <pose frame="">0.360 0 0 1.5707963267948966 -0 0</pose>
                       <geometry>
                         <cylinder>
                           <length>0.1</length>
@@ -725,8 +535,8 @@
                         </contact>
                         <friction>
                           <ode>
-                            <mu>0.5</mu>
-                            <mu2>1</mu2>
+                            <mu>1</mu>
+                            <mu2>150</mu2>
                             <slip1>0.001</slip1>
                             <slip2>0</slip2>
                             <fdir1>0 0 1</fdir1>
@@ -734,39 +544,8 @@
                         </friction>
                       </surface>
                     </collision>
-                  </link>
-                  <joint name="front_middle_right_wheel_joint" type="revolute">
-                    <child>front_middle_right_wheel_link</child>
-                    <parent>base_link</parent>
-                    <axis>
-                      <xyz>0 1 0</xyz>
-                      <limit>
-                        <lower>-1e+16</lower>
-                        <upper>1e+16</upper>
-                      </limit>
-                      <dynamics>
-                        <spring_reference>0</spring_reference>
-                        <spring_stiffness>0</spring_stiffness>
-                      </dynamics>
-                      <use_parent_model_frame>1</use_parent_model_frame>
-                    </axis>
-                  </joint>
-                  <link name="rear_middle_right_wheel_link">
-                    <pose frame="">-0.120 -0.26 0.00 0 -0 0</pose>
-                    <inertial>
-                      <pose frame="">0 0 0 0 -0 0</pose>
-                      <mass>1.5</mass>
-                      <inertia>
-                        <ixx>0.02467</ixx>
-                        <ixy>0</ixy>
-                        <ixz>0</ixz>
-                        <iyy>0.04411</iyy>
-                        <iyz>0</iyz>
-                        <izz>0.02467</izz>
-                      </inertia>
-                    </inertial>
-                    <collision name="rear_middle_right_wheel_link_collision">
-                      <pose frame="">0 0 0 1.5707963267948966 -0 0</pose>
+                    <collision name="rear_right_wheel_link_collision">
+                      <pose frame="">-0.36 0 0 1.5707963267948966 -0 0</pose>
                       <geometry>
                         <cylinder>
                           <length>0.1</length>
@@ -782,8 +561,8 @@
                         </contact>
                         <friction>
                           <ode>
-                            <mu>0.5</mu>
-                            <mu2>1</mu2>
+                            <mu>1</mu>
+                            <mu2>150</mu2>
                             <slip1>0.001</slip1>
                             <slip2>0</slip2>
                             <fdir1>0 0 1</fdir1>
@@ -791,44 +570,11 @@
                         </friction>
                       </surface>
                     </collision>
-                  </link>
-                  <joint name="rear_middle_right_wheel_joint" type="revolute">
-                    <child>rear_middle_right_wheel_link</child>
-                    <parent>base_link</parent>
-                    <axis>
-                      <xyz>0 1 0</xyz>
-                      <limit>
-                        <lower>-1e+16</lower>
-                        <upper>1e+16</upper>
-                      </limit>
-                      <dynamics>
-                        <spring_reference>0</spring_reference>
-                        <spring_stiffness>0</spring_stiffness>
-                      </dynamics>
-                      <use_parent_model_frame>1</use_parent_model_frame>
-                    </axis>
-                  </joint>
-                  <link name="rear_right_wheel_link">
-                    <pose frame="">-0.36 -0.26 0.0 0 -0 0</pose>
-                    <inertial>
-                      <pose frame="">0 0 0 0 -0 0</pose>
-                      <mass>1.5</mass>
-                      <inertia>
-                        <ixx>0.02467</ixx>
-                        <ixy>0</ixy>
-                        <ixz>0</ixz>
-                        <iyy>0.04411</iyy>
-                        <iyz>0</iyz>
-                        <izz>0.02467</izz>
-                      </inertia>
-                    </inertial>
-                    <collision name="rear_right_wheel_link_collision">
-                      <pose frame="">0 0 0 1.5707963267948966 -0 0</pose>
+                    <collision name="right_track_box_collision">
                       <geometry>
-                        <cylinder>
-                          <length>0.1</length>
-                          <radius>0.129</radius>
-                        </cylinder>
+                        <box>
+                          <size>0.72 0.1 0.258</size>
+                        </box>
                       </geometry>
                       <surface>
                         <contact>
@@ -839,8 +585,8 @@
                         </contact>
                         <friction>
                           <ode>
-                            <mu>0.5</mu>
-                            <mu2>1</mu2>
+                            <mu>1</mu>
+                            <mu2>150</mu2>
                             <slip1>0.001</slip1>
                             <slip2>0</slip2>
                             <fdir1>0 0 1</fdir1>
@@ -849,22 +595,24 @@
                       </surface>
                     </collision>
                   </link>
-                  <joint name="rear_right_wheel_joint" type="revolute">
-                    <child>rear_right_wheel_link</child>
+                  <joint name="right_track_j" type="fixed">
+                    <child>right_track</child>
                     <parent>base_link</parent>
-                    <axis>
-                      <xyz>0 1 0</xyz>
-                      <limit>
-                        <lower>-1e+16</lower>
-                        <upper>1e+16</upper>
-                      </limit>
-                      <dynamics>
-                        <spring_reference>0</spring_reference>
-                        <spring_stiffness>0</spring_stiffness>
-                      </dynamics>
-                      <use_parent_model_frame>1</use_parent_model_frame>
-                    </axis>
                   </joint>
+                  <plugin name='ignition::gazebo::systems::TrackController' filename='libignition-gazebo-track-controller-system.so'>
+                    <link>left_track</link>
+                    <min_velocity>-1</min_velocity>
+                    <max_velocity>1</max_velocity>
+                    <min_acceleration>-3</min_acceleration>
+                    <max_acceleration>3</max_acceleration>
+                  </plugin>
+                  <plugin name='ignition::gazebo::systems::TrackController' filename='libignition-gazebo-track-controller-system.so'>
+                    <link>right_track</link>
+                    <min_velocity>-1</min_velocity>
+                    <max_velocity>1</max_velocity>
+                    <min_acceleration>-3</min_acceleration>
+                    <max_acceleration>3</max_acceleration>
+                  </plugin>
                   <!-- Gimbal Links + Joints -->
                   <link name="pan_gimbal_link">
                     <pose frame="">0.4056 -0.01122 0.4904 0 -0 0</pose>
diff --git a/submitted_models/marble_hd2_sensor_config_1/pan_echo.sh b/submitted_models/marble_hd2_sensor_config_1/pan_echo.sh
index e007c6b9..ac9b57a1 100755
--- a/submitted_models/marble_hd2_sensor_config_1/pan_echo.sh
+++ b/submitted_models/marble_hd2_sensor_config_1/pan_echo.sh
@@ -1 +1 @@
-rostopic echo /X1/joint_state/position[4]
+rostopic echo /X1/joint_state/position[0]
diff --git a/submitted_models/marble_hd2_sensor_config_1/specifications.md b/submitted_models/marble_hd2_sensor_config_1/specifications.md
index c88c0298..f2e7c9e6 100644
--- a/submitted_models/marble_hd2_sensor_config_1/specifications.md
+++ b/submitted_models/marble_hd2_sensor_config_1/specifications.md
@@ -14,8 +14,8 @@ pan_tilt/pan_rate_cmd_double (send a std_msgs/Double message)
 pan_tilt/tilt_rate_cmd_double (send a std_msgs/Double message)
 
 The position of the pan and tilt axes can be accessed through the joint_state topic.  The name of each axis is available inside that message, but as of today the pan and tilt can be accessed as follows:
-Pan: joint_state/position[4]
-Tilt: joint_state/position[5]
+Pan: joint_state/position[0]
+Tilt: joint_state/position[1]
 
 ## Usage Rights
 The same Rights are granted for the configuration as for the MARBLE Husky. No additional restrictions have to be taken into account for this configuration.
@@ -46,7 +46,7 @@ The following specific sensors are declared payloads of this vehicle:
 * 12 communication breadcrumbs are also available as a payload for this robot in sensor configuration 2.
 
 ### Control
-This MARBLE HD2 is controlled by the DiffDrive plugin.  It accepts twist inputs which drive the vehicle along the x-direction and around the z-axis.  We add additional pseudo-wheels where the HD2's treads are to better approximate a track vehicle.  Currently, we are not aware of a track-vehicle plugin for ignition-gazebo.  A TrackedVehicle plugin does exist in gazebo8+, but it is not straightforward to port to ignition-gazebo.  We hope to work with other SubT teams and possibly experts among the ignition-gazebo developers to address this in the future.
+This MARBLE HD2 is controlled by the TrackedVehicle plugin.  It accepts twist inputs which drive the vehicle along the x-direction and around the z-axis.
 
 ### Motion Characteristics
 Based on the tests specified in the DARPA SubT Challenge [Model Preparation Guide](https://subtchallenge.com/resources/Simulation_Model_Preparation_Guide.pdf), this vehicle has the following motion constraint characteristics:
@@ -56,7 +56,7 @@ Based on the tests specified in the DARPA SubT Challenge [Model Preparation Guid
 
 The constraints can be found in the following locations within the simulation model package:
 
-* `spawner.rb`, lines 27-30
+* `spawner.rb`, lines 22-25
 
 This configuration has roughly the same motion characteristics as the COSTAR/MARBLE husky vehicles, except it also has a pan/tilt mechanism which has additional motion characteristics.  We have included a test script in this folder (test_gimbal.sh) which sends pan and tilt commands using ROS topics.  This script assumes you have named your vehicle X1.
 
diff --git a/submitted_models/marble_hd2_sensor_config_1/tilt_echo.sh b/submitted_models/marble_hd2_sensor_config_1/tilt_echo.sh
index 0e4f88ee..d275d954 100755
--- a/submitted_models/marble_hd2_sensor_config_1/tilt_echo.sh
+++ b/submitted_models/marble_hd2_sensor_config_1/tilt_echo.sh
@@ -1 +1 @@
-rostopic echo /X1/joint_state/position[5]
+rostopic echo /X1/joint_state/position[1]
diff --git a/submitted_models/marble_hd2_sensor_config_1/urdf/robot_from_sdf.xacro b/submitted_models/marble_hd2_sensor_config_1/urdf/robot_from_sdf.xacro
index 081d63fc..2d061130 100644
--- a/submitted_models/marble_hd2_sensor_config_1/urdf/robot_from_sdf.xacro
+++ b/submitted_models/marble_hd2_sensor_config_1/urdf/robot_from_sdf.xacro
@@ -173,158 +173,54 @@
     <parent link='${robot_namespace}/base_link'/>
     <origin xyz='0 0 0' rpy='0 -0 0'/>
   </sensor>
-  <link name='${robot_namespace}/front_left_wheel_link'>
-    <inertial>
-      <origin xyz='0 0 0' rpy='0 -0 0'/>
-      <mass value='2.637'/>
-      <inertia ixx='0.02467' ixy='0' ixz='0' iyy='0.04411' iyz='0' izz='0.02467'/>
-    </inertial>
+  <link name='${robot_namespace}/left_track'>
     <collision name='front_left_wheel_link_collision'>
-      <origin xyz='0 0 0' rpy='1.5708 -0 0'/>
+      <origin xyz='0.36 0 0' rpy='1.5708 -0 0'/>
       <geometry>
         <cylinder radius='0.129' length='0.1'/>
       </geometry>
     </collision>
-    <visual name='front_left_wheel_link_visual'>
-      <origin xyz='0 0 0' rpy='1.5708 -0 0'/>
-      <geometry>
-        <cylinder radius='0.129' length='0.1'/>
-      </geometry>
-    </visual>
-  </link>
-  <link name='${robot_namespace}/front_middle_left_wheel_link'>
-    <inertial>
-      <origin xyz='0 0 0' rpy='0 -0 0'/>
-      <mass value='2.637'/>
-      <inertia ixx='0.02467' ixy='0' ixz='0' iyy='0.04411' iyz='0' izz='0.02467'/>
-    </inertial>
-    <collision name='front_middle_left_wheel_link_collision'>
-      <origin xyz='0 0 0' rpy='1.5708 -0 0'/>
+    <collision name='rear_left_wheel_link_collision'>
+      <origin xyz='-0.36 0 0' rpy='1.5708 -0 0'/>
       <geometry>
         <cylinder radius='0.129' length='0.1'/>
       </geometry>
     </collision>
-    <visual name='front_middle_left_wheel_link_visual'>
-      <origin xyz='0 0 0' rpy='1.5708 -0 0'/>
-      <geometry>
-        <cylinder radius='0.129' length='0.1'/>
-      </geometry>
-    </visual>
-  </link>
-  <link name='${robot_namespace}/rear_middle_left_wheel_link'>
-    <inertial>
-      <origin xyz='0 0 0' rpy='0 -0 0'/>
-      <mass value='2.637'/>
-      <inertia ixx='0.02467' ixy='0' ixz='0' iyy='0.04411' iyz='0' izz='0.02467'/>
-    </inertial>
-    <collision name='rear_middle_left_wheel_link_collision'>
-      <origin xyz='0 0 0' rpy='1.5708 -0 0'/>
+    <collision name='left_track_box_collision'>
       <geometry>
-        <cylinder radius='0.129' length='0.1'/>
+        <box size='0.72 0.1 0.258'/>
       </geometry>
     </collision>
-    <visual name='rear_middle_left_wheel_link_visual'>
-      <origin xyz='0 0 0' rpy='1.5708 -0 0'/>
-      <geometry>
-        <cylinder radius='0.129' length='0.1'/>
-      </geometry>
-    </visual>
   </link>
-  <link name='${robot_namespace}/rear_left_wheel_link'>
-    <inertial>
-      <origin xyz='0 0 0' rpy='0 -0 0'/>
-      <mass value='2.637'/>
-      <inertia ixx='0.02467' ixy='0' ixz='0' iyy='0.04411' iyz='0' izz='0.02467'/>
-    </inertial>
-    <collision name='rear_left_wheel_link_collision'>
-      <origin xyz='0 0 0' rpy='1.5708 -0 0'/>
-      <geometry>
-        <cylinder radius='0.1651' length='0.1143'/>
-      </geometry>
-    </collision>
-    <visual name='rear_left_wheel_link_visual'>
-      <origin xyz='0 0 0' rpy='1.5708 -0 0'/>
-      <geometry>
-        <cylinder radius='0.129' length='0.1'/>
-      </geometry>
-    </visual>
-  </link>
-  <link name='${robot_namespace}/front_right_wheel_link'>
-    <inertial>
-      <origin xyz='0 0 0' rpy='0 -0 0'/>
-      <mass value='2.637'/>
-      <inertia ixx='0.02467' ixy='0' ixz='0' iyy='0.04411' iyz='0' izz='0.02467'/>
-    </inertial>
+  <link name='${robot_namespace}/right_track'>
     <collision name='front_right_wheel_link_collision'>
-      <origin xyz='0 0 0' rpy='1.5708 -0 0'/>
+      <origin xyz='0.36 0 0' rpy='1.5708 -0 0'/>
       <geometry>
         <cylinder radius='0.129' length='0.1'/>
       </geometry>
     </collision>
-    <visual name='front_right_wheel_link_visual'>
-      <origin xyz='0 0 0' rpy='1.5708 -0 0'/>
-      <geometry>
-        <cylinder radius='0.129' length='0.1'/>
-      </geometry>
-    </visual>
-  </link>
-  <link name='${robot_namespace}/front_middle_right_wheel_link'>
-    <inertial>
-      <origin xyz='0 0 0' rpy='0 -0 0'/>
-      <mass value='2.637'/>
-      <inertia ixx='0.02467' ixy='0' ixz='0' iyy='0.04411' iyz='0' izz='0.02467'/>
-    </inertial>
-    <collision name='front_middle_right_wheel_link_collision'>
-      <origin xyz='0 0 0' rpy='1.5708 -0 0'/>
-      <geometry>
-        <cylinder radius='0.129' length='0.1'/>
-      </geometry>
-    </collision>
-    <visual name='front_middle_right_wheel_link_visual'>
-      <origin xyz='0 0 0' rpy='1.5708 -0 0'/>
-      <geometry>
-        <cylinder radius='0.129' length='0.1'/>
-      </geometry>
-    </visual>
-  </link>
-  <link name='${robot_namespace}/rear_middle_right_wheel_link'>
-    <inertial>
-      <origin xyz='0 0 0' rpy='0 -0 0'/>
-      <mass value='2.637'/>
-      <inertia ixx='0.02467' ixy='0' ixz='0' iyy='0.04411' iyz='0' izz='0.02467'/>
-    </inertial>
-    <collision name='rear_middle_right_wheel_link_collision'>
-      <origin xyz='0 0 0' rpy='1.5708 -0 0'/>
+    <collision name='rear_right_wheel_link_collision'>
+      <origin xyz='-0.36 0 0' rpy='1.5708 -0 0'/>
       <geometry>
         <cylinder radius='0.129' length='0.1'/>
       </geometry>
     </collision>
-    <visual name='rear_middle_right_wheel_link_visual'>
-      <origin xyz='0 0 0' rpy='1.5708 -0 0'/>
-      <geometry>
-        <cylinder radius='0.129' length='0.1'/>
-      </geometry>
-    </visual>
-  </link>
-  <link name='${robot_namespace}/rear_right_wheel_link'>
-    <inertial>
-      <origin xyz='0 0 0' rpy='0 -0 0'/>
-      <mass value='2.637'/>
-      <inertia ixx='0.02467' ixy='0' ixz='0' iyy='0.04411' iyz='0' izz='0.02467'/>
-    </inertial>
-    <collision name='rear_right_wheel_link_collision'>
-      <origin xyz='0 0 0' rpy='1.5708 -0 0'/>
+    <collision name='right_track_box_collision'>
       <geometry>
-        <cylinder radius='0.1651' length='0.1143'/>
+        <box size='0.72 0.1 0.258'/>
       </geometry>
     </collision>
-    <visual name='rear_right_wheel_link_visual'>
-      <origin xyz='0 0 0' rpy='1.5708 -0 0'/>
-      <geometry>
-        <cylinder radius='0.129' length='0.1'/>
-      </geometry>
-    </visual>
   </link>
+  <joint name='left_track_j' type='fixed'>
+    <origin xyz='0 0.26 0' rpy='0 0 0'/>
+    <parent link='${robot_namespace}/base_link'/>
+    <child link='${robot_namespace}/left_track'/>
+  </joint>
+  <joint name='right_track_j' type='fixed'>
+    <origin xyz='0 -0.26 0' rpy='0 0 0'/>
+    <parent link='${robot_namespace}/base_link'/>
+    <child link='${robot_namespace}/right_track'/>
+  </joint>
   <link name='${robot_namespace}/pan_gimbal_link'>
     <inertial>
       <origin xyz='0 0 0' rpy='0 -0 0'/>
@@ -394,70 +290,6 @@
       <image width='1280' height='720' format='R8G8B8' hfov='1.5184' near='0.01' far='300' />
     </camera>
   </sensor>
-  <joint name='front_left_wheel_joint' type='revolute'>
-    <origin xyz='0.36 0.26 0' rpy='0 -0 0'/>
-    <parent link='${robot_namespace}/base_link'/>
-    <child link='${robot_namespace}/front_left_wheel_link'/>
-    <dynamics damping='0' friction='0' />
-    <axis xyz='0 1 0'/>
-    <limit lower='-1e+16' upper='1e+16' effort='-1' velocity='-1'/>
-  </joint>
-  <joint name='front_middle_left_wheel_joint' type='revolute'>
-    <origin xyz='0.12 0.26 0' rpy='0 -0 0'/>
-    <parent link='${robot_namespace}/base_link'/>
-    <child link='${robot_namespace}/front_middle_left_wheel_link'/>
-    <dynamics damping='0' friction='0' />
-    <axis xyz='0 1 0'/>
-    <limit lower='-1e+16' upper='1e+16' effort='-1' velocity='-1'/>
-  </joint>
-  <joint name='rear_middle_left_wheel_joint' type='revolute'>
-    <origin xyz='-0.12 0.26 0' rpy='0 -0 0'/>
-    <parent link='${robot_namespace}/base_link'/>
-    <child link='${robot_namespace}/rear_middle_left_wheel_link'/>
-    <dynamics damping='0' friction='0' />
-    <axis xyz='0 1 0'/>
-    <limit lower='-1e+16' upper='1e+16' effort='-1' velocity='-1'/>
-  </joint>
-  <joint name='rear_left_wheel_joint' type='revolute'>
-    <origin xyz='-0.36 0.26 0' rpy='0 -0 0'/>
-    <parent link='${robot_namespace}/base_link'/>
-    <child link='${robot_namespace}/rear_left_wheel_link'/>
-    <dynamics damping='0' friction='0' />
-    <axis xyz='0 1 0'/>
-    <limit lower='-1e+16' upper='1e+16' effort='-1' velocity='-1'/>
-  </joint>
-  <joint name='front_right_wheel_joint' type='revolute'>
-    <origin xyz='0.36 -0.26 0' rpy='0 -0 0'/>
-    <parent link='${robot_namespace}/base_link'/>
-    <child link='${robot_namespace}/front_right_wheel_link'/>
-    <dynamics damping='0' friction='0' />
-    <axis xyz='0 1 0'/>
-    <limit lower='-1e+16' upper='1e+16' effort='-1' velocity='-1'/>
-  </joint>
-  <joint name='front_middle_right_wheel_joint' type='revolute'>
-    <origin xyz='0.12 -0.26 0' rpy='0 -0 0'/>
-    <parent link='${robot_namespace}/base_link'/>
-    <child link='${robot_namespace}/front_middle_right_wheel_link'/>
-    <dynamics damping='0' friction='0' />
-    <axis xyz='0 1 0'/>
-    <limit lower='-1e+16' upper='1e+16' effort='-1' velocity='-1'/>
-  </joint>
-  <joint name='rear_middle_right_wheel_joint' type='revolute'>
-    <origin xyz='-0.12 -0.26 0' rpy='0 -0 0'/>
-    <parent link='${robot_namespace}/base_link'/>
-    <child link='${robot_namespace}/rear_middle_right_wheel_link'/>
-    <dynamics damping='0' friction='0' />
-    <axis xyz='0 1 0'/>
-    <limit lower='-1e+16' upper='1e+16' effort='-1' velocity='-1'/>
-  </joint>
-  <joint name='rear_right_wheel_joint' type='revolute'>
-    <origin xyz='-0.36 -0.26 0' rpy='0 -0 0'/>
-    <parent link='${robot_namespace}/base_link'/>
-    <child link='${robot_namespace}/rear_right_wheel_link'/>
-    <dynamics damping='0' friction='0' />
-    <axis xyz='0 1 0'/>
-    <limit lower='-1e+16' upper='1e+16' effort='-1' velocity='-1'/>
-  </joint>
   <joint name='pan_gimbal_joint' type='revolute'>
     <origin xyz='0.354 0 0.427' rpy='0 -0 0'/>
     <parent link='${robot_namespace}/base_link'/>
diff --git a/submitted_models/marble_hd2_sensor_config_1/worlds/example.sdf b/submitted_models/marble_hd2_sensor_config_1/worlds/example.sdf
index 9ea5042c..f2712772 100644
--- a/submitted_models/marble_hd2_sensor_config_1/worlds/example.sdf
+++ b/submitted_models/marble_hd2_sensor_config_1/worlds/example.sdf
@@ -171,6 +171,12 @@
       <uri> https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier </uri>
     </include>
 
+    <include>
+      <name>pallet</name>
+      <pose>2 0 0.02 0 0 0</pose>
+      <uri> https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Euro pallet </uri>
+      <static>1</static>
+    </include>
 
     <!-- The base station -->
     <include>
diff --git a/submitted_models/marble_hd2_sensor_config_2/launch/example.ign b/submitted_models/marble_hd2_sensor_config_2/launch/example.ign
new file mode 100644
index 00000000..91249f3c
--- /dev/null
+++ b/submitted_models/marble_hd2_sensor_config_2/launch/example.ign
@@ -0,0 +1,20 @@
+<?xml version="1.0"?>
+<%
+  base_launch = `rospack find marble_hd2_sensor_config_1`.chomp + "/launch"
+  base_dir = File.realpath(File.join(File.dirname(__FILE__), ".."))
+
+  ros_param=''
+  if defined?(ros) and ros
+    ros_param='ros:=true'
+  end
+
+  headless_param=''
+  if defined?(headless) and headless
+    headless_param='headless:=true'
+  end
+%>
+<ignition version='1.0'>
+  <executable name='include'>
+    <command>ign launch -v4 <%= File.join(base_launch, "example.ign") %> base_dir:=<%= base_dir %> robotName:=<%= robotName %> <%= ros_param %> <%= headless_param %></command>
+  </executable>
+</ignition>
\ No newline at end of file
diff --git a/submitted_models/marble_hd2_sensor_config_2/launch/spawner.rb b/submitted_models/marble_hd2_sensor_config_2/launch/spawner.rb
index 7fdb5c2f..a1b483ee 100644
--- a/submitted_models/marble_hd2_sensor_config_2/launch/spawner.rb
+++ b/submitted_models/marble_hd2_sensor_config_2/launch/spawner.rb
@@ -10,24 +10,20 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
     <include>
       <name>#{_name}</name>
       <uri>#{_modelURI}</uri>
-      <!-- Diff drive -->
-      <plugin filename="libignition-gazebo-diff-drive-system.so"
-              name="ignition::gazebo::systems::DiffDrive">
-        <left_joint>front_left_wheel_joint</left_joint>
-        <left_joint>front_middle_left_wheel_joint</left_joint>
-        <left_joint>rear_middle_left_wheel_joint</left_joint>
-        <left_joint>rear_left_wheel_joint</left_joint>
-        <right_joint>front_right_wheel_joint</right_joint>
-        <right_joint>front_middle_right_wheel_joint</right_joint>
-        <right_joint>rear_middle_right_wheel_joint</right_joint>
-        <right_joint>rear_right_wheel_joint</right_joint>
-        <wheel_separation>#{0.525}</wheel_separation>
-        <wheel_radius>0.129</wheel_radius>
+      <!-- Tracked vehicle controller -->
+      <plugin name="ignition::gazebo::systems::TrackedVehicle" filename="ignition-gazebo-tracked-vehicle-system">
+        <left_track><link>left_track</link></left_track>
+        <right_track><link>right_track</link></right_track>
+        <tracks_separation>#{0.525}</tracks_separation>
+        <tracks_height>0.258</tracks_height>
+        <steering_efficiency>0.5</steering_efficiency>
         <topic>/model/#{_name}/cmd_vel_relay</topic>
-        <min_velocity>-1</min_velocity>
-        <max_velocity>1</max_velocity>
-        <min_acceleration>-3</min_acceleration>
-        <max_acceleration>3</max_acceleration>
+        <linear_velocity>
+          <min_velocity>-1</min_velocity>
+          <max_velocity>1</max_velocity>
+          <min_acceleration>-3</min_acceleration>
+          <max_acceleration>3</max_acceleration>
+        </linear_velocity>
       </plugin>
       <!-- Publish robot state information -->
       <plugin filename="libignition-gazebo-pose-publisher-system.so"
@@ -79,58 +75,6 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
          </sdf>
         </breadcrumb>
       </plugin>
-      <!-- Wheel slip -->
-      <plugin filename="libignition-gazebo-wheel-slip-system.so"
-        name="ignition::gazebo::systems::WheelSlip">
-        <wheel link_name="front_left_wheel_link">
-          <slip_compliance_lateral>0.086</slip_compliance_lateral>
-          <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-          <wheel_normal_force>41.47103925</wheel_normal_force>
-          <wheel_radius>0.129</wheel_radius>
-        </wheel>
-        <wheel link_name="front_middle_left_wheel_link">
-          <slip_compliance_lateral>0.086</slip_compliance_lateral>
-          <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-          <wheel_normal_force>41.47103925</wheel_normal_force>
-          <wheel_radius>0.129</wheel_radius>
-        </wheel>
-        <wheel link_name="rear_middle_left_wheel_link">
-          <slip_compliance_lateral>0.086</slip_compliance_lateral>
-          <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-          <wheel_normal_force>41.47103925</wheel_normal_force>
-          <wheel_radius>0.129</wheel_radius>
-        </wheel>
-        <wheel link_name="rear_left_wheel_link">
-          <slip_compliance_lateral>0.086</slip_compliance_lateral>
-          <slip_compliance_longitudinal>0.25</slip_compliance_longitudinal>
-          <wheel_normal_force>41.47103925</wheel_normal_force>
-          <wheel_radius>0.129</wheel_radius>
-        </wheel>
-        <wheel link_name="front_right_wheel_link">
-          <slip_compliance_lateral>0.086</slip_compliance_lateral>
-          <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-          <wheel_normal_force>41.47103925</wheel_normal_force>
-          <wheel_radius>0.129</wheel_radius>
-        </wheel>
-        <wheel link_name="front_middle_right_wheel_link">
-          <slip_compliance_lateral>0.086</slip_compliance_lateral>
-          <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-          <wheel_normal_force>41.47103925</wheel_normal_force>
-          <wheel_radius>0.129</wheel_radius>
-        </wheel>
-        <wheel link_name="rear_middle_right_wheel_link">
-          <slip_compliance_lateral>0.086</slip_compliance_lateral>
-          <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-          <wheel_normal_force>41.47103925</wheel_normal_force>
-          <wheel_radius>0.129</wheel_radius>
-        </wheel>
-        <wheel link_name="rear_right_wheel_link">
-          <slip_compliance_lateral>0.086</slip_compliance_lateral>
-          <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-          <wheel_normal_force>41.47103925</wheel_normal_force>
-          <wheel_radius>0.129</wheel_radius>
-        </wheel>
-      </plugin>
     </include>
     </sdf>
   </spawn>
diff --git a/submitted_models/marble_hd2_sensor_config_3/launch/example.ign b/submitted_models/marble_hd2_sensor_config_3/launch/example.ign
new file mode 100644
index 00000000..adda5933
--- /dev/null
+++ b/submitted_models/marble_hd2_sensor_config_3/launch/example.ign
@@ -0,0 +1,21 @@
+<?xml version="1.0"?>
+<%
+  base_launch = `rospack find marble_hd2_sensor_config_1`.chomp + "/launch"
+  base_dir = File.realpath(File.join(File.dirname(__FILE__), ".."))
+  model_base_dir = File.realpath(File.join(File.dirname(__FILE__), ".."))
+
+  ros_param=''
+  if defined?(ros) and ros
+    ros_param='ros:=true'
+  end
+
+  headless_param=''
+  if defined?(headless) and headless
+    headless_param='headless:=true'
+  end
+%>
+<ignition version='1.0'>
+  <executable name='include'>
+    <command>ign launch -v4 <%= File.join(base_launch, "example.ign") %> base_dir:=<%= base_dir %> model_base_dir:=<%= model_base_dir %> robotName:=<%= robotName %> <%= ros_param %> <%= headless_param %></command>
+  </executable>
+</ignition>
\ No newline at end of file
diff --git a/submitted_models/marble_hd2_sensor_config_3/launch/spawner.rb b/submitted_models/marble_hd2_sensor_config_3/launch/spawner.rb
index 9534405f..2d9b3da9 100644
--- a/submitted_models/marble_hd2_sensor_config_3/launch/spawner.rb
+++ b/submitted_models/marble_hd2_sensor_config_3/launch/spawner.rb
@@ -10,24 +10,20 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
     <include>
       <name>#{_name}</name>
       <uri>#{_modelURI}</uri>
-      <!-- Diff drive -->
-      <plugin filename="libignition-gazebo-diff-drive-system.so"
-              name="ignition::gazebo::systems::DiffDrive">
-        <left_joint>front_left_wheel_joint</left_joint>
-        <left_joint>front_middle_left_wheel_joint</left_joint>
-        <left_joint>rear_middle_left_wheel_joint</left_joint>
-        <left_joint>rear_left_wheel_joint</left_joint>
-        <right_joint>front_right_wheel_joint</right_joint>
-        <right_joint>front_middle_right_wheel_joint</right_joint>
-        <right_joint>rear_middle_right_wheel_joint</right_joint>
-        <right_joint>rear_right_wheel_joint</right_joint>
-        <wheel_separation>#{0.525}</wheel_separation>
-        <wheel_radius>0.129</wheel_radius>
+      <!-- Tracked vehicle controller -->
+      <plugin name="ignition::gazebo::systems::TrackedVehicle" filename="ignition-gazebo-tracked-vehicle-system">
+        <left_track><link>left_track</link></left_track>
+        <right_track><link>right_track</link></right_track>
+        <tracks_separation>#{0.525}</tracks_separation>
+        <tracks_height>0.258</tracks_height>
+        <steering_efficiency>0.5</steering_efficiency>
         <topic>/model/#{_name}/cmd_vel_relay</topic>
-        <min_velocity>-1</min_velocity>
-        <max_velocity>1</max_velocity>
-        <min_acceleration>-3</min_acceleration>
-        <max_acceleration>3</max_acceleration>
+        <linear_velocity>
+          <min_velocity>-1</min_velocity>
+          <max_velocity>1</max_velocity>
+          <min_acceleration>-3</min_acceleration>
+          <max_acceleration>3</max_acceleration>
+        </linear_velocity>
       </plugin>
       <!-- Publish robot state information -->
       <plugin filename="libignition-gazebo-pose-publisher-system.so"
@@ -62,75 +58,6 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
         <update_rate>10</update_rate>
         <type>gas</type>
       </plugin>
-      <plugin filename="libignition-gazebo-breadcrumbs-system.so"
-            name="ignition::gazebo::systems::Breadcrumbs">
-        <topic>/model/#{_name}/breadcrumb/deploy</topic>
-        <max_deployments>12</max_deployments>
-        <disable_physics_time>3.0</disable_physics_time>
-        <topic_statistics>true</topic_statistics>
-        <breadcrumb>
-          <sdf version="1.6">
-            <model name="#{_name}__breadcrumb__">
-              <pose>-0.45 0 0 0 0 0</pose>
-              <include>
-                <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Breadcrumb Node</uri>
-             </include>
-           </model>
-         </sdf>
-        </breadcrumb>
-      </plugin>
-      <!-- Wheel slip -->
-      <plugin filename="libignition-gazebo-wheel-slip-system.so"
-        name="ignition::gazebo::systems::WheelSlip">
-        <wheel link_name="front_left_wheel_link">
-          <slip_compliance_lateral>0.086</slip_compliance_lateral>
-          <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-          <wheel_normal_force>41.47103925</wheel_normal_force>
-          <wheel_radius>0.129</wheel_radius>
-        </wheel>
-        <wheel link_name="front_middle_left_wheel_link">
-          <slip_compliance_lateral>0.086</slip_compliance_lateral>
-          <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-          <wheel_normal_force>41.47103925</wheel_normal_force>
-          <wheel_radius>0.129</wheel_radius>
-        </wheel>
-        <wheel link_name="rear_middle_left_wheel_link">
-          <slip_compliance_lateral>0.086</slip_compliance_lateral>
-          <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-          <wheel_normal_force>41.47103925</wheel_normal_force>
-          <wheel_radius>0.129</wheel_radius>
-        </wheel>
-        <wheel link_name="rear_left_wheel_link">
-          <slip_compliance_lateral>0.086</slip_compliance_lateral>
-          <slip_compliance_longitudinal>0.25</slip_compliance_longitudinal>
-          <wheel_normal_force>41.47103925</wheel_normal_force>
-          <wheel_radius>0.129</wheel_radius>
-        </wheel>
-        <wheel link_name="front_right_wheel_link">
-          <slip_compliance_lateral>0.086</slip_compliance_lateral>
-          <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-          <wheel_normal_force>41.47103925</wheel_normal_force>
-          <wheel_radius>0.129</wheel_radius>
-        </wheel>
-        <wheel link_name="front_middle_right_wheel_link">
-          <slip_compliance_lateral>0.086</slip_compliance_lateral>
-          <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-          <wheel_normal_force>41.47103925</wheel_normal_force>
-          <wheel_radius>0.129</wheel_radius>
-        </wheel>
-        <wheel link_name="rear_middle_right_wheel_link">
-          <slip_compliance_lateral>0.086</slip_compliance_lateral>
-          <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-          <wheel_normal_force>41.47103925</wheel_normal_force>
-          <wheel_radius>0.129</wheel_radius>
-        </wheel>
-        <wheel link_name="rear_right_wheel_link">
-          <slip_compliance_lateral>0.086</slip_compliance_lateral>
-          <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-          <wheel_normal_force>41.47103925</wheel_normal_force>
-          <wheel_radius>0.129</wheel_radius>
-        </wheel>
-      </plugin>
     </include>
     </sdf>
   </spawn>
@@ -143,7 +70,7 @@ def rosExecutables(_name, _worldName)
     <command>roslaunch --wait marble_hd2_sensor_config_1 description.launch world_name:=#{_worldName} name:=#{_name}</command>
   </executable>
   <executable name='topics'>
-    <command>roslaunch --wait marble_hd2_sensor_config_1 vehicle_topics.launch world_name:=#{_worldName} name:=#{_name} breadcrumbs:=1 thermal:=1</command>
+    <command>roslaunch --wait marble_hd2_sensor_config_1 vehicle_topics.launch world_name:=#{_worldName} name:=#{_name} thermal:=1</command>
   </executable>
   HEREDOC
 end
diff --git a/submitted_models/marble_hd2_sensor_config_3/model.config b/submitted_models/marble_hd2_sensor_config_3/model.config
new file mode 100644
index 00000000..21e0a613
--- /dev/null
+++ b/submitted_models/marble_hd2_sensor_config_3/model.config
@@ -0,0 +1,14 @@
+<?xml version="1.0"?>
+<model>
+  <name>marble_hd2_sensor_config_3</name>
+  <sdf version="1.6">model.sdf</sdf>
+  <description>
+    Team Marble's hd2 robot for SubT.
+  </description>
+  <depend>
+    <model>
+      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/MARBLE_HD2_SENSOR_CONFIG_1</uri>
+    </model>
+  </depend>
+</model>
+
diff --git a/submitted_models/marble_hd2_sensor_config_3/model.sdf b/submitted_models/marble_hd2_sensor_config_3/model.sdf
index f3ae7417..6c2aeeeb 100644
--- a/submitted_models/marble_hd2_sensor_config_3/model.sdf
+++ b/submitted_models/marble_hd2_sensor_config_3/model.sdf
@@ -142,7 +142,7 @@
         <pose>0 0 -0.135 0 0 1.57</pose>
         <geometry>
           <mesh>
-            <uri>meshes/hd2.dae</uri>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/MARBLE_HD2_SENSOR_CONFIG_1/tip/files/meshes/hd2.dae</uri>
             <submesh>
               <name>Body</name>
               <center>false</center>
@@ -154,15 +154,15 @@
           <specular>1.0 1.0 1.0</specular>
           <pbr>
             <metal>
-              <albedo_map>materials/textures/HD2_Albedo.jpg</albedo_map>
-              <metalness_map>materials/textures/HD2_Metalness.jpg</metalness_map>
-              <roughness_map>materials/textures/HD2_Roughness.jpg</roughness_map>
+              <albedo_map>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/MARBLE_HD2_SENSOR_CONFIG_1/tip/files/materials/textures/HD2_Albedo.jpg</albedo_map>
+              <metalness_map>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/MARBLE_HD2_SENSOR_CONFIG_1/tip/files/materials/textures/HD2_Metalness.jpg</metalness_map>
+              <roughness_map>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/MARBLE_HD2_SENSOR_CONFIG_1/tip/files/materials/textures/HD2_Roughness.jpg</roughness_map>
             </metal>
           </pbr>
           <!-- fallback to script if no PBR support-->
           <script>
-            <uri>materials/scripts/</uri>
-            <uri>materials/textures/</uri>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/MARBLE_HD2_SENSOR_CONFIG_1/tip/files/materials/scripts/</uri>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/MARBLE_HD2_SENSOR_CONFIG_1/tip/files/materials/textures/</uri>
             <name>HD/HD2_Diffuse</name>
           </script>
         </material>
@@ -352,8 +352,8 @@
             <horizontal>
                             <samples>1024</samples>
                             <resolution>1</resolution>
-                            <min_angle>-3.1459</min_angle>
-                            <max_angle>3.1459</max_angle>
+                            <min_angle>-3.14159</min_angle>
+                            <max_angle>3.14159</max_angle>
                           </horizontal>
                           <vertical>
                             <samples>64</samples>
@@ -453,80 +453,23 @@
                 </imu>
                     </sensor>
                   </link>
-                  <!-- Left Side Wheels  -->
-                  <link name="front_left_wheel_link">
-                    <pose frame="">0.360 0.26 0.00 0 -0 0</pose>
+                  <!-- Left Track  -->
+                  <link name="left_track">
+                    <pose frame="">0 0.26 0.00 0 -0 0</pose>
                     <inertial>
                       <pose frame="">0 0 0 0 -0 0</pose>
-                      <mass>1.5</mass>
-                      <inertia>
-                        <ixx>0.02467</ixx>
+                      <mass>6.0</mass>
+                      <inertia> <!-- Inertia of a 6 kg box 0.1x0.258x0.72 m -->
+                        <ixx>0.03828</ixx>
                         <ixy>0</ixy>
                         <ixz>0</ixz>
-                        <iyy>0.04411</iyy>
+                        <iyy>0.2925</iyy>
                         <iyz>0</iyz>
-                        <izz>0.02467</izz>
+                        <izz>0.2642</izz>
                       </inertia>
                     </inertial>
                     <collision name="front_left_wheel_link_collision">
-                      <pose frame="">0 0 0 1.5707963267948966 -0 0</pose>
-                      <geometry>
-                        <cylinder>
-                          <length>0.1</length>
-                          <radius>0.129</radius>
-                        </cylinder>
-                      </geometry>
-                      <surface>
-                        <contact>
-                          <ode>
-                            <kp>1e+07</kp>
-                            <kd>1</kd>
-                          </ode>
-                        </contact>
-                        <friction>
-                          <ode>
-                            <mu>0.5</mu>
-                            <mu2>1</mu2>
-                            <slip1>0.001</slip1>
-                            <slip2>0</slip2>
-                            <fdir1>0 0 1</fdir1>
-                          </ode>
-                        </friction>
-                      </surface>
-                    </collision>
-                  </link>
-                  <joint name="front_left_wheel_joint" type="revolute">
-                    <child>front_left_wheel_link</child>
-                    <parent>base_link</parent>
-                    <axis>
-                      <xyz>0 1 0</xyz>
-                      <limit>
-                        <lower>-1e+16</lower>
-                        <upper>1e+16</upper>
-                      </limit>
-                      <dynamics>
-                        <spring_reference>0</spring_reference>
-                        <spring_stiffness>0</spring_stiffness>
-                      </dynamics>
-                      <use_parent_model_frame>1</use_parent_model_frame>
-                    </axis>
-                  </joint>
-                  <link name="front_middle_left_wheel_link">
-                    <pose frame="">0.120 0.26 0.00 0 -0 0</pose>
-                    <inertial>
-                      <pose frame="">0 0 0 0 -0 0</pose>
-                      <mass>1.5</mass>
-                      <inertia>
-                        <ixx>0.02467</ixx>
-                        <ixy>0</ixy>
-                        <ixz>0</ixz>
-                        <iyy>0.04411</iyy>
-                        <iyz>0</iyz>
-                        <izz>0.02467</izz>
-                      </inertia>
-                    </inertial>
-                    <collision name="front_middle_left_wheel_link_collision">
-                      <pose frame="">0 0 0 1.5707963267948966 -0 0</pose>
+                      <pose frame="">0.360 0 0 1.5707963267948966 -0 0</pose>
                       <geometry>
                         <cylinder>
                           <length>0.1</length>
@@ -542,8 +485,8 @@
                         </contact>
                         <friction>
                           <ode>
-                            <mu>0.5</mu>
-                            <mu2>1</mu2>
+                            <mu>1</mu>
+                            <mu2>150</mu2>
                             <slip1>0.001</slip1>
                             <slip2>0</slip2>
                             <fdir1>0 0 1</fdir1>
@@ -551,96 +494,8 @@
                         </friction>
                       </surface>
                     </collision>
-                  </link>
-                  <joint name="front_middle_left_wheel_joint" type="revolute">
-                    <child>front_middle_left_wheel_link</child>
-                    <parent>base_link</parent>
-                    <axis>
-                      <xyz>0 1 0</xyz>
-                      <limit>
-                        <lower>-1e+16</lower>
-                        <upper>1e+16</upper>
-                      </limit>
-                      <dynamics>
-                        <spring_reference>0</spring_reference>
-                        <spring_stiffness>0</spring_stiffness>
-                      </dynamics>
-                      <use_parent_model_frame>1</use_parent_model_frame>
-                    </axis>
-                  </joint>
-                  <link name="rear_middle_left_wheel_link">
-                    <pose frame="">-0.120 0.26 0.00 0 -0 0</pose>
-                    <inertial>
-                      <pose frame="">0 0 0 0 -0 0</pose>
-                      <mass>1.5</mass>
-                      <inertia>
-                        <ixx>0.02467</ixx>
-                        <ixy>0</ixy>
-                        <ixz>0</ixz>
-                        <iyy>0.04411</iyy>
-                        <iyz>0</iyz>
-                        <izz>0.02467</izz>
-                      </inertia>
-                    </inertial>
-                    <collision name="rear_middle_left_wheel_link_collision">
-                      <pose frame="">0 0 0 1.5707963267948966 -0 0</pose>
-                      <geometry>
-                        <cylinder>
-                          <length>0.1</length>
-                          <radius>0.129</radius>
-                        </cylinder>
-                      </geometry>
-                      <surface>
-                        <contact>
-                          <ode>
-                            <kp>1e+07</kp>
-                            <kd>1</kd>
-                          </ode>
-                        </contact>
-                        <friction>
-                          <ode>
-                            <mu>0.5</mu>
-                            <mu2>1</mu2>
-                            <slip1>0.001</slip1>
-                            <slip2>0</slip2>
-                            <fdir1>0 0 1</fdir1>
-                          </ode>
-                        </friction>
-                      </surface>
-                    </collision>
-                  </link>
-                  <joint name="rear_middle_left_wheel_joint" type="revolute">
-                    <child>rear_middle_left_wheel_link</child>
-                    <parent>base_link</parent>
-                    <axis>
-                      <xyz>0 1 0</xyz>
-                      <limit>
-                        <lower>-1e+16</lower>
-                        <upper>1e+16</upper>
-                      </limit>
-                      <dynamics>
-                        <spring_reference>0</spring_reference>
-                        <spring_stiffness>0</spring_stiffness>
-                      </dynamics>
-                      <use_parent_model_frame>1</use_parent_model_frame>
-                    </axis>
-                  </joint>
-                  <link name="rear_left_wheel_link">
-                    <pose frame="">-0.36 0.26 0.0 0 -0 0</pose>
-                    <inertial>
-                      <pose frame="">0 0 0 0 -0 0</pose>
-                      <mass>1.5</mass>
-                      <inertia>
-                        <ixx>0.02467</ixx>
-                        <ixy>0</ixy>
-                        <ixz>0</ixz>
-                        <iyy>0.04411</iyy>
-                        <iyz>0</iyz>
-                        <izz>0.02467</izz>
-                      </inertia>
-                    </inertial>
                     <collision name="rear_left_wheel_link_collision">
-                      <pose frame="">0 0 0 1.5707963267948966 -0 0</pose>
+                      <pose frame="">-0.36 0 0 1.5707963267948966 -0 0</pose>
                       <geometry>
                         <cylinder>
                           <length>0.1</length>
@@ -656,8 +511,8 @@
                         </contact>
                         <friction>
                           <ode>
-                            <mu>0.5</mu>
-                            <mu2>1</mu2>
+                            <mu>1</mu>
+                            <mu2>150</mu2>
                             <slip1>0.001</slip1>
                             <slip2>0</slip2>
                             <fdir1>0 0 1</fdir1>
@@ -665,45 +520,11 @@
                         </friction>
                       </surface>
                     </collision>
-                  </link>
-                  <joint name="rear_left_wheel_joint" type="revolute">
-                    <child>rear_left_wheel_link</child>
-                    <parent>base_link</parent>
-                    <axis>
-                      <xyz>0 1 0</xyz>
-                      <limit>
-                        <lower>-1e+16</lower>
-                        <upper>1e+16</upper>
-                      </limit>
-                      <dynamics>
-                        <spring_reference>0</spring_reference>
-                        <spring_stiffness>0</spring_stiffness>
-                      </dynamics>
-                      <use_parent_model_frame>1</use_parent_model_frame>
-                    </axis>
-                  </joint>
-                  <!-- Right Side Wheels -->
-                  <link name="front_right_wheel_link">
-                    <pose frame="">0.360 -0.26 0.00 0 -0 0</pose>
-                    <inertial>
-                      <pose frame="">0 0 0 0 -0 0</pose>
-                      <mass>1.5</mass>
-                      <inertia>
-                        <ixx>0.02467</ixx>
-                        <ixy>0</ixy>
-                        <ixz>0</ixz>
-                        <iyy>0.04411</iyy>
-                        <iyz>0</iyz>
-                        <izz>0.02467</izz>
-                      </inertia>
-                    </inertial>
-                    <collision name="front_right_wheel_link_collision">
-                      <pose frame="">0 0 0 1.5707963267948966 -0 0</pose>
+                    <collision name="left_track_box_collision">
                       <geometry>
-                        <cylinder>
-                          <length>0.1</length>
-                          <radius>0.129</radius>
-                        </cylinder>
+                        <box>
+                          <size>0.72 0.1 0.258</size>
+                        </box>
                       </geometry>
                       <surface>
                         <contact>
@@ -714,8 +535,8 @@
                         </contact>
                         <friction>
                           <ode>
-                            <mu>0.5</mu>
-                            <mu2>1</mu2>
+                            <mu>1</mu>
+                            <mu2>150</mu2>
                             <slip1>0.001</slip1>
                             <slip2>0</slip2>
                             <fdir1>0 0 1</fdir1>
@@ -724,38 +545,27 @@
                       </surface>
                     </collision>
                   </link>
-                  <joint name="front_right_wheel_joint" type="revolute">
-                    <child>front_right_wheel_link</child>
+                  <joint name="left_track_j" type="fixed">
+                    <child>left_track</child>
                     <parent>base_link</parent>
-                    <axis>
-                      <xyz>0 1 0</xyz>
-                      <limit>
-                        <lower>-1e+16</lower>
-                        <upper>1e+16</upper>
-                      </limit>
-                      <dynamics>
-                        <spring_reference>0</spring_reference>
-                        <spring_stiffness>0</spring_stiffness>
-                      </dynamics>
-                      <use_parent_model_frame>1</use_parent_model_frame>
-                    </axis>
                   </joint>
-                  <link name="front_middle_right_wheel_link">
-                    <pose frame="">0.120 -0.26 0.00 0 -0 0</pose>
+                  <!-- Right Track  -->
+                  <link name="right_track">
+                    <pose frame="">0 -0.26 0.00 0 -0 0</pose>
                     <inertial>
                       <pose frame="">0 0 0 0 -0 0</pose>
-                      <mass>1.5</mass>
-                      <inertia>
-                        <ixx>0.02467</ixx>
+                      <mass>6.0</mass>
+                      <inertia> <!-- Inertia of a 6 kg box 0.1x0.258x0.72 m -->
+                        <ixx>0.03828</ixx>
                         <ixy>0</ixy>
                         <ixz>0</ixz>
-                        <iyy>0.04411</iyy>
+                        <iyy>0.2925</iyy>
                         <iyz>0</iyz>
-                        <izz>0.02467</izz>
+                        <izz>0.2642</izz>
                       </inertia>
                     </inertial>
-                    <collision name="front_middle_right_wheel_link_collision">
-                      <pose frame="">0 0 0 1.5707963267948966 -0 0</pose>
+                    <collision name="front_right_wheel_link_collision">
+                      <pose frame="">0.360 0 0 1.5707963267948966 -0 0</pose>
                       <geometry>
                         <cylinder>
                           <length>0.1</length>
@@ -771,8 +581,8 @@
                         </contact>
                         <friction>
                           <ode>
-                            <mu>0.5</mu>
-                            <mu2>1</mu2>
+                            <mu>1</mu>
+                            <mu2>150</mu2>
                             <slip1>0.001</slip1>
                             <slip2>0</slip2>
                             <fdir1>0 0 1</fdir1>
@@ -780,39 +590,8 @@
                         </friction>
                       </surface>
                     </collision>
-                  </link>
-                  <joint name="front_middle_right_wheel_joint" type="revolute">
-                    <child>front_middle_right_wheel_link</child>
-                    <parent>base_link</parent>
-                    <axis>
-                      <xyz>0 1 0</xyz>
-                      <limit>
-                        <lower>-1e+16</lower>
-                        <upper>1e+16</upper>
-                      </limit>
-                      <dynamics>
-                        <spring_reference>0</spring_reference>
-                        <spring_stiffness>0</spring_stiffness>
-                      </dynamics>
-                      <use_parent_model_frame>1</use_parent_model_frame>
-                    </axis>
-                  </joint>
-                  <link name="rear_middle_right_wheel_link">
-                    <pose frame="">-0.120 -0.26 0.00 0 -0 0</pose>
-                    <inertial>
-                      <pose frame="">0 0 0 0 -0 0</pose>
-                      <mass>1.5</mass>
-                      <inertia>
-                        <ixx>0.02467</ixx>
-                        <ixy>0</ixy>
-                        <ixz>0</ixz>
-                        <iyy>0.04411</iyy>
-                        <iyz>0</iyz>
-                        <izz>0.02467</izz>
-                      </inertia>
-                    </inertial>
-                    <collision name="rear_middle_right_wheel_link_collision">
-                      <pose frame="">0 0 0 1.5707963267948966 -0 0</pose>
+                    <collision name="rear_right_wheel_link_collision">
+                      <pose frame="">-0.36 0 0 1.5707963267948966 -0 0</pose>
                       <geometry>
                         <cylinder>
                           <length>0.1</length>
@@ -828,8 +607,8 @@
                         </contact>
                         <friction>
                           <ode>
-                            <mu>0.5</mu>
-                            <mu2>1</mu2>
+                            <mu>1</mu>
+                            <mu2>150</mu2>
                             <slip1>0.001</slip1>
                             <slip2>0</slip2>
                             <fdir1>0 0 1</fdir1>
@@ -837,44 +616,11 @@
                         </friction>
                       </surface>
                     </collision>
-                  </link>
-                  <joint name="rear_middle_right_wheel_joint" type="revolute">
-                    <child>rear_middle_right_wheel_link</child>
-                    <parent>base_link</parent>
-                    <axis>
-                      <xyz>0 1 0</xyz>
-                      <limit>
-                        <lower>-1e+16</lower>
-                        <upper>1e+16</upper>
-                      </limit>
-                      <dynamics>
-                        <spring_reference>0</spring_reference>
-                        <spring_stiffness>0</spring_stiffness>
-                      </dynamics>
-                      <use_parent_model_frame>1</use_parent_model_frame>
-                    </axis>
-                  </joint>
-                  <link name="rear_right_wheel_link">
-                    <pose frame="">-0.36 -0.26 0.0 0 -0 0</pose>
-                    <inertial>
-                      <pose frame="">0 0 0 0 -0 0</pose>
-                      <mass>1.5</mass>
-                      <inertia>
-                        <ixx>0.02467</ixx>
-                        <ixy>0</ixy>
-                        <ixz>0</ixz>
-                        <iyy>0.04411</iyy>
-                        <iyz>0</iyz>
-                        <izz>0.02467</izz>
-                      </inertia>
-                    </inertial>
-                    <collision name="rear_right_wheel_link_collision">
-                      <pose frame="">0 0 0 1.5707963267948966 -0 0</pose>
+                    <collision name="right_track_box_collision">
                       <geometry>
-                        <cylinder>
-                          <length>0.1</length>
-                          <radius>0.129</radius>
-                        </cylinder>
+                        <box>
+                          <size>0.72 0.1 0.258</size>
+                        </box>
                       </geometry>
                       <surface>
                         <contact>
@@ -885,8 +631,8 @@
                         </contact>
                         <friction>
                           <ode>
-                            <mu>0.5</mu>
-                            <mu2>1</mu2>
+                            <mu>1</mu>
+                            <mu2>150</mu2>
                             <slip1>0.001</slip1>
                             <slip2>0</slip2>
                             <fdir1>0 0 1</fdir1>
@@ -895,22 +641,24 @@
                       </surface>
                     </collision>
                   </link>
-                  <joint name="rear_right_wheel_joint" type="revolute">
-                    <child>rear_right_wheel_link</child>
+                  <joint name="right_track_j" type="fixed">
+                    <child>right_track</child>
                     <parent>base_link</parent>
-                    <axis>
-                      <xyz>0 1 0</xyz>
-                      <limit>
-                        <lower>-1e+16</lower>
-                        <upper>1e+16</upper>
-                      </limit>
-                      <dynamics>
-                        <spring_reference>0</spring_reference>
-                        <spring_stiffness>0</spring_stiffness>
-                      </dynamics>
-                      <use_parent_model_frame>1</use_parent_model_frame>
-                    </axis>
                   </joint>
+                  <plugin name='ignition::gazebo::systems::TrackController' filename='libignition-gazebo-track-controller-system.so'>
+                    <link>left_track</link>
+                    <min_velocity>-1</min_velocity>
+                    <max_velocity>1</max_velocity>
+                    <min_acceleration>-3</min_acceleration>
+                    <max_acceleration>3</max_acceleration>
+                  </plugin>
+                  <plugin name='ignition::gazebo::systems::TrackController' filename='libignition-gazebo-track-controller-system.so'>
+                    <link>right_track</link>
+                    <min_velocity>-1</min_velocity>
+                    <max_velocity>1</max_velocity>
+                    <min_acceleration>-3</min_acceleration>
+                    <max_acceleration>3</max_acceleration>
+                  </plugin>
                   <!-- Gimbal Links + Joints -->
                   <link name="pan_gimbal_link">
                     <pose frame="">0.4056 -0.01122 0.4904 0 -0 0</pose>
@@ -948,7 +696,7 @@
                       <pose>0 0 0 0 0 1.57</pose>
                       <geometry>
                         <mesh>
-                          <uri>meshes/hd2.dae</uri>
+                          <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/MARBLE_HD2_SENSOR_CONFIG_1/tip/files/meshes/hd2.dae</uri>
                           <submesh>
                             <name>CameraPivot</name>
                             <center>true</center>
@@ -960,14 +708,14 @@
                         <specular>1.0 1.0 1.0</specular>
                         <pbr>
                           <metal>
-                            <albedo_map>materials/textures/HD2_Albedo.jpg</albedo_map>
-                            <metalness_map>materials/textures/HD2_Metalness.jpg</metalness_map>
-                            <roughness_map>materials/textures/HD2_Roughness.jpg</roughness_map>
+                            <albedo_map>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/MARBLE_HD2_SENSOR_CONFIG_1/tip/files/materials/textures/HD2_Albedo.jpg</albedo_map>
+                            <metalness_map>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/MARBLE_HD2_SENSOR_CONFIG_1/tip/files/materials/textures/HD2_Metalness.jpg</metalness_map>
+                            <roughness_map>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/MARBLE_HD2_SENSOR_CONFIG_1/tip/files/materials/textures/HD2_Roughness.jpg</roughness_map>
                           </metal>
                         </pbr>
                         <script>
-                          <uri>materials/scripts/</uri>
-                          <uri>materials/textures/</uri>
+                          <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/MARBLE_HD2_SENSOR_CONFIG_1/tip/files/materials/scripts/</uri>
+                          <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/MARBLE_HD2_SENSOR_CONFIG_1/tip/files/materials/textures/</uri>
                           <name>HD2/HD2_Diffuse</name>
                         </script>
                       </material>
@@ -1010,7 +758,7 @@
                       <pose>0.005 0.015 0.038 0 0 -1.570796</pose>
                       <geometry>
                         <mesh>
-                          <uri>meshes/hd2.dae</uri>
+                          <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/MARBLE_HD2_SENSOR_CONFIG_1/tip/files/meshes/hd2.dae</uri>
                           <submesh>
                             <name>CameraTilt</name>
                             <center>true</center>
@@ -1022,15 +770,15 @@
                         <specular>1.0 1.0 1.0</specular>
                         <pbr>
                           <metal>
-                            <albedo_map>materials/textures/HD2_Albedo.jpg</albedo_map>
-                            <metalness_map>materials/textures/HD2_Metalness.jpg</metalness_map>
-                            <roughness_map>materials/textures/HD2_Roughness.jpg</roughness_map>
+                            <albedo_map>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/MARBLE_HD2_SENSOR_CONFIG_1/tip/files/materials/textures/HD2_Albedo.jpg</albedo_map>
+                            <metalness_map>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/MARBLE_HD2_SENSOR_CONFIG_1/tip/files/materials/textures/HD2_Metalness.jpg</metalness_map>
+                            <roughness_map>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/MARBLE_HD2_SENSOR_CONFIG_1/tip/files/materials/textures/HD2_Roughness.jpg</roughness_map>
                           </metal>
                         </pbr>
                         <!-- fallback to script if no PBR support-->
                         <script>
-                          <uri>materials/scripts/</uri>
-                          <uri>materials/textures/</uri>
+                          <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/MARBLE_HD2_SENSOR_CONFIG_1/tip/files/materials/scripts/</uri>
+                          <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/MARBLE_HD2_SENSOR_CONFIG_1/tip/files/materials/textures/</uri>
                           <name>HD/HD2_Diffuse</name>
                         </script>
                       </material>
@@ -1084,7 +832,7 @@
                       <always_on>1</always_on>
                       <update_rate>30</update_rate>
                       <!-- <pose frame="">0.424 0 0.542 0 0.0 0</pose>  -->
-                      <pose frame="">0.0 0 0.03 0 0.0 0</pose>
+                      <pose frame="">0.02 0 0.047725 0 0.0 0</pose>
                     </sensor>
 
                     <light name="flashlight_flashlight_light_source_lamp_light" type="spot">
diff --git a/submitted_models/marble_hd2_sensor_config_4/README.md b/submitted_models/marble_hd2_sensor_config_4/README.md
index 06b65724..0cad3fc7 100644
--- a/submitted_models/marble_hd2_sensor_config_4/README.md
+++ b/submitted_models/marble_hd2_sensor_config_4/README.md
@@ -3,4 +3,4 @@ thermal camera
 
 The `model.sdf` is not used but added here as a reference to show what is on
 the SubT Tech Repo. Please keep this `model.sdf` update-to-date with
-`MARBLE_HD2_SENSOR_CONFIG_2`
+`MARBLE_HD2_SENSOR_CONFIG_3`
diff --git a/submitted_models/marble_hd2_sensor_config_4/launch/example.ign b/submitted_models/marble_hd2_sensor_config_4/launch/example.ign
new file mode 100644
index 00000000..adda5933
--- /dev/null
+++ b/submitted_models/marble_hd2_sensor_config_4/launch/example.ign
@@ -0,0 +1,21 @@
+<?xml version="1.0"?>
+<%
+  base_launch = `rospack find marble_hd2_sensor_config_1`.chomp + "/launch"
+  base_dir = File.realpath(File.join(File.dirname(__FILE__), ".."))
+  model_base_dir = File.realpath(File.join(File.dirname(__FILE__), ".."))
+
+  ros_param=''
+  if defined?(ros) and ros
+    ros_param='ros:=true'
+  end
+
+  headless_param=''
+  if defined?(headless) and headless
+    headless_param='headless:=true'
+  end
+%>
+<ignition version='1.0'>
+  <executable name='include'>
+    <command>ign launch -v4 <%= File.join(base_launch, "example.ign") %> base_dir:=<%= base_dir %> model_base_dir:=<%= model_base_dir %> robotName:=<%= robotName %> <%= ros_param %> <%= headless_param %></command>
+  </executable>
+</ignition>
\ No newline at end of file
diff --git a/submitted_models/marble_hd2_sensor_config_4/launch/spawner.rb b/submitted_models/marble_hd2_sensor_config_4/launch/spawner.rb
index 9534405f..81f055b1 100644
--- a/submitted_models/marble_hd2_sensor_config_4/launch/spawner.rb
+++ b/submitted_models/marble_hd2_sensor_config_4/launch/spawner.rb
@@ -10,24 +10,20 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
     <include>
       <name>#{_name}</name>
       <uri>#{_modelURI}</uri>
-      <!-- Diff drive -->
-      <plugin filename="libignition-gazebo-diff-drive-system.so"
-              name="ignition::gazebo::systems::DiffDrive">
-        <left_joint>front_left_wheel_joint</left_joint>
-        <left_joint>front_middle_left_wheel_joint</left_joint>
-        <left_joint>rear_middle_left_wheel_joint</left_joint>
-        <left_joint>rear_left_wheel_joint</left_joint>
-        <right_joint>front_right_wheel_joint</right_joint>
-        <right_joint>front_middle_right_wheel_joint</right_joint>
-        <right_joint>rear_middle_right_wheel_joint</right_joint>
-        <right_joint>rear_right_wheel_joint</right_joint>
-        <wheel_separation>#{0.525}</wheel_separation>
-        <wheel_radius>0.129</wheel_radius>
+      <!-- Tracked vehicle controller -->
+      <plugin name="ignition::gazebo::systems::TrackedVehicle" filename="ignition-gazebo-tracked-vehicle-system">
+        <left_track><link>left_track</link></left_track>
+        <right_track><link>right_track</link></right_track>
+        <tracks_separation>#{0.525}</tracks_separation>
+        <tracks_height>0.258</tracks_height>
+        <steering_efficiency>0.5</steering_efficiency>
         <topic>/model/#{_name}/cmd_vel_relay</topic>
-        <min_velocity>-1</min_velocity>
-        <max_velocity>1</max_velocity>
-        <min_acceleration>-3</min_acceleration>
-        <max_acceleration>3</max_acceleration>
+        <linear_velocity>
+          <min_velocity>-1</min_velocity>
+          <max_velocity>1</max_velocity>
+          <min_acceleration>-3</min_acceleration>
+          <max_acceleration>3</max_acceleration>
+        </linear_velocity>
       </plugin>
       <!-- Publish robot state information -->
       <plugin filename="libignition-gazebo-pose-publisher-system.so"
@@ -79,58 +75,6 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
          </sdf>
         </breadcrumb>
       </plugin>
-      <!-- Wheel slip -->
-      <plugin filename="libignition-gazebo-wheel-slip-system.so"
-        name="ignition::gazebo::systems::WheelSlip">
-        <wheel link_name="front_left_wheel_link">
-          <slip_compliance_lateral>0.086</slip_compliance_lateral>
-          <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-          <wheel_normal_force>41.47103925</wheel_normal_force>
-          <wheel_radius>0.129</wheel_radius>
-        </wheel>
-        <wheel link_name="front_middle_left_wheel_link">
-          <slip_compliance_lateral>0.086</slip_compliance_lateral>
-          <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-          <wheel_normal_force>41.47103925</wheel_normal_force>
-          <wheel_radius>0.129</wheel_radius>
-        </wheel>
-        <wheel link_name="rear_middle_left_wheel_link">
-          <slip_compliance_lateral>0.086</slip_compliance_lateral>
-          <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-          <wheel_normal_force>41.47103925</wheel_normal_force>
-          <wheel_radius>0.129</wheel_radius>
-        </wheel>
-        <wheel link_name="rear_left_wheel_link">
-          <slip_compliance_lateral>0.086</slip_compliance_lateral>
-          <slip_compliance_longitudinal>0.25</slip_compliance_longitudinal>
-          <wheel_normal_force>41.47103925</wheel_normal_force>
-          <wheel_radius>0.129</wheel_radius>
-        </wheel>
-        <wheel link_name="front_right_wheel_link">
-          <slip_compliance_lateral>0.086</slip_compliance_lateral>
-          <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-          <wheel_normal_force>41.47103925</wheel_normal_force>
-          <wheel_radius>0.129</wheel_radius>
-        </wheel>
-        <wheel link_name="front_middle_right_wheel_link">
-          <slip_compliance_lateral>0.086</slip_compliance_lateral>
-          <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-          <wheel_normal_force>41.47103925</wheel_normal_force>
-          <wheel_radius>0.129</wheel_radius>
-        </wheel>
-        <wheel link_name="rear_middle_right_wheel_link">
-          <slip_compliance_lateral>0.086</slip_compliance_lateral>
-          <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-          <wheel_normal_force>41.47103925</wheel_normal_force>
-          <wheel_radius>0.129</wheel_radius>
-        </wheel>
-        <wheel link_name="rear_right_wheel_link">
-          <slip_compliance_lateral>0.086</slip_compliance_lateral>
-          <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-          <wheel_normal_force>41.47103925</wheel_normal_force>
-          <wheel_radius>0.129</wheel_radius>
-        </wheel>
-      </plugin>
     </include>
     </sdf>
   </spawn>
diff --git a/submitted_models/marble_hd2_sensor_config_4/model.config b/submitted_models/marble_hd2_sensor_config_4/model.config
new file mode 100644
index 00000000..f3fdbf1f
--- /dev/null
+++ b/submitted_models/marble_hd2_sensor_config_4/model.config
@@ -0,0 +1,14 @@
+<?xml version="1.0"?>
+<model>
+  <name>marble_hd2_sensor_config_4</name>
+  <sdf version="1.6">model.sdf</sdf>
+  <description>
+    Team Marble's hd2 robot for SubT.
+  </description>
+  <depend>
+    <model>
+      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/MARBLE_HD2_SENSOR_CONFIG_1</uri>
+    </model>
+  </depend>
+</model>
+
diff --git a/submitted_models/marble_hd2_sensor_config_4/model.sdf b/submitted_models/marble_hd2_sensor_config_4/model.sdf
index f9f4bf8c..6684cceb 100644
--- a/submitted_models/marble_hd2_sensor_config_4/model.sdf
+++ b/submitted_models/marble_hd2_sensor_config_4/model.sdf
@@ -142,7 +142,7 @@
         <pose>0 0 -0.135 0 0 1.57</pose>
         <geometry>
           <mesh>
-            <uri>meshes/hd2.dae</uri>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/MARBLE_HD2_SENSOR_CONFIG_1/tip/files/meshes/hd2.dae</uri>
             <submesh>
               <name>Body</name>
               <center>false</center>
@@ -154,15 +154,15 @@
           <specular>1.0 1.0 1.0</specular>
           <pbr>
             <metal>
-              <albedo_map>materials/textures/HD2_Albedo.jpg</albedo_map>
-              <metalness_map>materials/textures/HD2_Metalness.jpg</metalness_map>
-              <roughness_map>materials/textures/HD2_Roughness.jpg</roughness_map>
+              <albedo_map>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/MARBLE_HD2_SENSOR_CONFIG_1/tip/files/materials/textures/HD2_Albedo.jpg</albedo_map>
+              <metalness_map>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/MARBLE_HD2_SENSOR_CONFIG_1/tip/files/materials/textures/HD2_Metalness.jpg</metalness_map>
+              <roughness_map>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/MARBLE_HD2_SENSOR_CONFIG_1/tip/files/materials/textures/HD2_Roughness.jpg</roughness_map>
             </metal>
           </pbr>
           <!-- fallback to script if no PBR support-->
           <script>
-            <uri>materials/scripts/</uri>
-            <uri>materials/textures/</uri>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/MARBLE_HD2_SENSOR_CONFIG_1/tip/files/materials/scripts/</uri>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/MARBLE_HD2_SENSOR_CONFIG_1/tip/files/materials/textures/</uri>
             <name>HD/HD2_Diffuse</name>
           </script>
         </material>
@@ -352,8 +352,8 @@
             <horizontal>
                             <samples>1024</samples>
                             <resolution>1</resolution>
-                            <min_angle>-3.1459</min_angle>
-                            <max_angle>3.1459</max_angle>
+                            <min_angle>-3.14159</min_angle>
+                            <max_angle>3.14159</max_angle>
                           </horizontal>
                           <vertical>
                             <samples>64</samples>
@@ -453,80 +453,23 @@
                 </imu>
                     </sensor>
                   </link>
-                  <!-- Left Side Wheels  -->
-                  <link name="front_left_wheel_link">
-                    <pose frame="">0.360 0.26 0.00 0 -0 0</pose>
+                  <!-- Left Track  -->
+                  <link name="left_track">
+                    <pose frame="">0 0.26 0.00 0 -0 0</pose>
                     <inertial>
                       <pose frame="">0 0 0 0 -0 0</pose>
-                      <mass>1.5</mass>
-                      <inertia>
-                        <ixx>0.02467</ixx>
+                      <mass>6.0</mass>
+                      <inertia> <!-- Inertia of a 6 kg box 0.1x0.258x0.72 m -->
+                        <ixx>0.03828</ixx>
                         <ixy>0</ixy>
                         <ixz>0</ixz>
-                        <iyy>0.04411</iyy>
+                        <iyy>0.2925</iyy>
                         <iyz>0</iyz>
-                        <izz>0.02467</izz>
+                        <izz>0.2642</izz>
                       </inertia>
                     </inertial>
                     <collision name="front_left_wheel_link_collision">
-                      <pose frame="">0 0 0 1.5707963267948966 -0 0</pose>
-                      <geometry>
-                        <cylinder>
-                          <length>0.1</length>
-                          <radius>0.129</radius>
-                        </cylinder>
-                      </geometry>
-                      <surface>
-                        <contact>
-                          <ode>
-                            <kp>1e+07</kp>
-                            <kd>1</kd>
-                          </ode>
-                        </contact>
-                        <friction>
-                          <ode>
-                            <mu>0.5</mu>
-                            <mu2>1</mu2>
-                            <slip1>0.001</slip1>
-                            <slip2>0</slip2>
-                            <fdir1>0 0 1</fdir1>
-                          </ode>
-                        </friction>
-                      </surface>
-                    </collision>
-                  </link>
-                  <joint name="front_left_wheel_joint" type="revolute">
-                    <child>front_left_wheel_link</child>
-                    <parent>base_link</parent>
-                    <axis>
-                      <xyz>0 1 0</xyz>
-                      <limit>
-                        <lower>-1e+16</lower>
-                        <upper>1e+16</upper>
-                      </limit>
-                      <dynamics>
-                        <spring_reference>0</spring_reference>
-                        <spring_stiffness>0</spring_stiffness>
-                      </dynamics>
-                      <use_parent_model_frame>1</use_parent_model_frame>
-                    </axis>
-                  </joint>
-                  <link name="front_middle_left_wheel_link">
-                    <pose frame="">0.120 0.26 0.00 0 -0 0</pose>
-                    <inertial>
-                      <pose frame="">0 0 0 0 -0 0</pose>
-                      <mass>1.5</mass>
-                      <inertia>
-                        <ixx>0.02467</ixx>
-                        <ixy>0</ixy>
-                        <ixz>0</ixz>
-                        <iyy>0.04411</iyy>
-                        <iyz>0</iyz>
-                        <izz>0.02467</izz>
-                      </inertia>
-                    </inertial>
-                    <collision name="front_middle_left_wheel_link_collision">
-                      <pose frame="">0 0 0 1.5707963267948966 -0 0</pose>
+                      <pose frame="">0.360 0 0 1.5707963267948966 -0 0</pose>
                       <geometry>
                         <cylinder>
                           <length>0.1</length>
@@ -542,8 +485,8 @@
                         </contact>
                         <friction>
                           <ode>
-                            <mu>0.5</mu>
-                            <mu2>1</mu2>
+                            <mu>1</mu>
+                            <mu2>150</mu2>
                             <slip1>0.001</slip1>
                             <slip2>0</slip2>
                             <fdir1>0 0 1</fdir1>
@@ -551,96 +494,8 @@
                         </friction>
                       </surface>
                     </collision>
-                  </link>
-                  <joint name="front_middle_left_wheel_joint" type="revolute">
-                    <child>front_middle_left_wheel_link</child>
-                    <parent>base_link</parent>
-                    <axis>
-                      <xyz>0 1 0</xyz>
-                      <limit>
-                        <lower>-1e+16</lower>
-                        <upper>1e+16</upper>
-                      </limit>
-                      <dynamics>
-                        <spring_reference>0</spring_reference>
-                        <spring_stiffness>0</spring_stiffness>
-                      </dynamics>
-                      <use_parent_model_frame>1</use_parent_model_frame>
-                    </axis>
-                  </joint>
-                  <link name="rear_middle_left_wheel_link">
-                    <pose frame="">-0.120 0.26 0.00 0 -0 0</pose>
-                    <inertial>
-                      <pose frame="">0 0 0 0 -0 0</pose>
-                      <mass>1.5</mass>
-                      <inertia>
-                        <ixx>0.02467</ixx>
-                        <ixy>0</ixy>
-                        <ixz>0</ixz>
-                        <iyy>0.04411</iyy>
-                        <iyz>0</iyz>
-                        <izz>0.02467</izz>
-                      </inertia>
-                    </inertial>
-                    <collision name="rear_middle_left_wheel_link_collision">
-                      <pose frame="">0 0 0 1.5707963267948966 -0 0</pose>
-                      <geometry>
-                        <cylinder>
-                          <length>0.1</length>
-                          <radius>0.129</radius>
-                        </cylinder>
-                      </geometry>
-                      <surface>
-                        <contact>
-                          <ode>
-                            <kp>1e+07</kp>
-                            <kd>1</kd>
-                          </ode>
-                        </contact>
-                        <friction>
-                          <ode>
-                            <mu>0.5</mu>
-                            <mu2>1</mu2>
-                            <slip1>0.001</slip1>
-                            <slip2>0</slip2>
-                            <fdir1>0 0 1</fdir1>
-                          </ode>
-                        </friction>
-                      </surface>
-                    </collision>
-                  </link>
-                  <joint name="rear_middle_left_wheel_joint" type="revolute">
-                    <child>rear_middle_left_wheel_link</child>
-                    <parent>base_link</parent>
-                    <axis>
-                      <xyz>0 1 0</xyz>
-                      <limit>
-                        <lower>-1e+16</lower>
-                        <upper>1e+16</upper>
-                      </limit>
-                      <dynamics>
-                        <spring_reference>0</spring_reference>
-                        <spring_stiffness>0</spring_stiffness>
-                      </dynamics>
-                      <use_parent_model_frame>1</use_parent_model_frame>
-                    </axis>
-                  </joint>
-                  <link name="rear_left_wheel_link">
-                    <pose frame="">-0.36 0.26 0.0 0 -0 0</pose>
-                    <inertial>
-                      <pose frame="">0 0 0 0 -0 0</pose>
-                      <mass>1.5</mass>
-                      <inertia>
-                        <ixx>0.02467</ixx>
-                        <ixy>0</ixy>
-                        <ixz>0</ixz>
-                        <iyy>0.04411</iyy>
-                        <iyz>0</iyz>
-                        <izz>0.02467</izz>
-                      </inertia>
-                    </inertial>
                     <collision name="rear_left_wheel_link_collision">
-                      <pose frame="">0 0 0 1.5707963267948966 -0 0</pose>
+                      <pose frame="">-0.36 0 0 1.5707963267948966 -0 0</pose>
                       <geometry>
                         <cylinder>
                           <length>0.1</length>
@@ -656,8 +511,8 @@
                         </contact>
                         <friction>
                           <ode>
-                            <mu>0.5</mu>
-                            <mu2>1</mu2>
+                            <mu>1</mu>
+                            <mu2>150</mu2>
                             <slip1>0.001</slip1>
                             <slip2>0</slip2>
                             <fdir1>0 0 1</fdir1>
@@ -665,45 +520,11 @@
                         </friction>
                       </surface>
                     </collision>
-                  </link>
-                  <joint name="rear_left_wheel_joint" type="revolute">
-                    <child>rear_left_wheel_link</child>
-                    <parent>base_link</parent>
-                    <axis>
-                      <xyz>0 1 0</xyz>
-                      <limit>
-                        <lower>-1e+16</lower>
-                        <upper>1e+16</upper>
-                      </limit>
-                      <dynamics>
-                        <spring_reference>0</spring_reference>
-                        <spring_stiffness>0</spring_stiffness>
-                      </dynamics>
-                      <use_parent_model_frame>1</use_parent_model_frame>
-                    </axis>
-                  </joint>
-                  <!-- Right Side Wheels -->
-                  <link name="front_right_wheel_link">
-                    <pose frame="">0.360 -0.26 0.00 0 -0 0</pose>
-                    <inertial>
-                      <pose frame="">0 0 0 0 -0 0</pose>
-                      <mass>1.5</mass>
-                      <inertia>
-                        <ixx>0.02467</ixx>
-                        <ixy>0</ixy>
-                        <ixz>0</ixz>
-                        <iyy>0.04411</iyy>
-                        <iyz>0</iyz>
-                        <izz>0.02467</izz>
-                      </inertia>
-                    </inertial>
-                    <collision name="front_right_wheel_link_collision">
-                      <pose frame="">0 0 0 1.5707963267948966 -0 0</pose>
+                    <collision name="left_track_box_collision">
                       <geometry>
-                        <cylinder>
-                          <length>0.1</length>
-                          <radius>0.129</radius>
-                        </cylinder>
+                        <box>
+                          <size>0.72 0.1 0.258</size>
+                        </box>
                       </geometry>
                       <surface>
                         <contact>
@@ -714,8 +535,8 @@
                         </contact>
                         <friction>
                           <ode>
-                            <mu>0.5</mu>
-                            <mu2>1</mu2>
+                            <mu>1</mu>
+                            <mu2>150</mu2>
                             <slip1>0.001</slip1>
                             <slip2>0</slip2>
                             <fdir1>0 0 1</fdir1>
@@ -724,38 +545,27 @@
                       </surface>
                     </collision>
                   </link>
-                  <joint name="front_right_wheel_joint" type="revolute">
-                    <child>front_right_wheel_link</child>
+                  <joint name="left_track_j" type="fixed">
+                    <child>left_track</child>
                     <parent>base_link</parent>
-                    <axis>
-                      <xyz>0 1 0</xyz>
-                      <limit>
-                        <lower>-1e+16</lower>
-                        <upper>1e+16</upper>
-                      </limit>
-                      <dynamics>
-                        <spring_reference>0</spring_reference>
-                        <spring_stiffness>0</spring_stiffness>
-                      </dynamics>
-                      <use_parent_model_frame>1</use_parent_model_frame>
-                    </axis>
                   </joint>
-                  <link name="front_middle_right_wheel_link">
-                    <pose frame="">0.120 -0.26 0.00 0 -0 0</pose>
+                  <!-- Right Track  -->
+                  <link name="right_track">
+                    <pose frame="">0 -0.26 0.00 0 -0 0</pose>
                     <inertial>
                       <pose frame="">0 0 0 0 -0 0</pose>
-                      <mass>1.5</mass>
-                      <inertia>
-                        <ixx>0.02467</ixx>
+                      <mass>6.0</mass>
+                      <inertia> <!-- Inertia of a 6 kg box 0.1x0.258x0.72 m -->
+                        <ixx>0.03828</ixx>
                         <ixy>0</ixy>
                         <ixz>0</ixz>
-                        <iyy>0.04411</iyy>
+                        <iyy>0.2925</iyy>
                         <iyz>0</iyz>
-                        <izz>0.02467</izz>
+                        <izz>0.2642</izz>
                       </inertia>
                     </inertial>
-                    <collision name="front_middle_right_wheel_link_collision">
-                      <pose frame="">0 0 0 1.5707963267948966 -0 0</pose>
+                    <collision name="front_right_wheel_link_collision">
+                      <pose frame="">0.360 0 0 1.5707963267948966 -0 0</pose>
                       <geometry>
                         <cylinder>
                           <length>0.1</length>
@@ -771,8 +581,8 @@
                         </contact>
                         <friction>
                           <ode>
-                            <mu>0.5</mu>
-                            <mu2>1</mu2>
+                            <mu>1</mu>
+                            <mu2>150</mu2>
                             <slip1>0.001</slip1>
                             <slip2>0</slip2>
                             <fdir1>0 0 1</fdir1>
@@ -780,39 +590,8 @@
                         </friction>
                       </surface>
                     </collision>
-                  </link>
-                  <joint name="front_middle_right_wheel_joint" type="revolute">
-                    <child>front_middle_right_wheel_link</child>
-                    <parent>base_link</parent>
-                    <axis>
-                      <xyz>0 1 0</xyz>
-                      <limit>
-                        <lower>-1e+16</lower>
-                        <upper>1e+16</upper>
-                      </limit>
-                      <dynamics>
-                        <spring_reference>0</spring_reference>
-                        <spring_stiffness>0</spring_stiffness>
-                      </dynamics>
-                      <use_parent_model_frame>1</use_parent_model_frame>
-                    </axis>
-                  </joint>
-                  <link name="rear_middle_right_wheel_link">
-                    <pose frame="">-0.120 -0.26 0.00 0 -0 0</pose>
-                    <inertial>
-                      <pose frame="">0 0 0 0 -0 0</pose>
-                      <mass>1.5</mass>
-                      <inertia>
-                        <ixx>0.02467</ixx>
-                        <ixy>0</ixy>
-                        <ixz>0</ixz>
-                        <iyy>0.04411</iyy>
-                        <iyz>0</iyz>
-                        <izz>0.02467</izz>
-                      </inertia>
-                    </inertial>
-                    <collision name="rear_middle_right_wheel_link_collision">
-                      <pose frame="">0 0 0 1.5707963267948966 -0 0</pose>
+                    <collision name="rear_right_wheel_link_collision">
+                      <pose frame="">-0.36 0 0 1.5707963267948966 -0 0</pose>
                       <geometry>
                         <cylinder>
                           <length>0.1</length>
@@ -828,8 +607,8 @@
                         </contact>
                         <friction>
                           <ode>
-                            <mu>0.5</mu>
-                            <mu2>1</mu2>
+                            <mu>1</mu>
+                            <mu2>150</mu2>
                             <slip1>0.001</slip1>
                             <slip2>0</slip2>
                             <fdir1>0 0 1</fdir1>
@@ -837,44 +616,11 @@
                         </friction>
                       </surface>
                     </collision>
-                  </link>
-                  <joint name="rear_middle_right_wheel_joint" type="revolute">
-                    <child>rear_middle_right_wheel_link</child>
-                    <parent>base_link</parent>
-                    <axis>
-                      <xyz>0 1 0</xyz>
-                      <limit>
-                        <lower>-1e+16</lower>
-                        <upper>1e+16</upper>
-                      </limit>
-                      <dynamics>
-                        <spring_reference>0</spring_reference>
-                        <spring_stiffness>0</spring_stiffness>
-                      </dynamics>
-                      <use_parent_model_frame>1</use_parent_model_frame>
-                    </axis>
-                  </joint>
-                  <link name="rear_right_wheel_link">
-                    <pose frame="">-0.36 -0.26 0.0 0 -0 0</pose>
-                    <inertial>
-                      <pose frame="">0 0 0 0 -0 0</pose>
-                      <mass>1.5</mass>
-                      <inertia>
-                        <ixx>0.02467</ixx>
-                        <ixy>0</ixy>
-                        <ixz>0</ixz>
-                        <iyy>0.04411</iyy>
-                        <iyz>0</iyz>
-                        <izz>0.02467</izz>
-                      </inertia>
-                    </inertial>
-                    <collision name="rear_right_wheel_link_collision">
-                      <pose frame="">0 0 0 1.5707963267948966 -0 0</pose>
+                    <collision name="right_track_box_collision">
                       <geometry>
-                        <cylinder>
-                          <length>0.1</length>
-                          <radius>0.129</radius>
-                        </cylinder>
+                        <box>
+                          <size>0.72 0.1 0.258</size>
+                        </box>
                       </geometry>
                       <surface>
                         <contact>
@@ -885,8 +631,8 @@
                         </contact>
                         <friction>
                           <ode>
-                            <mu>0.5</mu>
-                            <mu2>1</mu2>
+                            <mu>1</mu>
+                            <mu2>150</mu2>
                             <slip1>0.001</slip1>
                             <slip2>0</slip2>
                             <fdir1>0 0 1</fdir1>
@@ -895,22 +641,24 @@
                       </surface>
                     </collision>
                   </link>
-                  <joint name="rear_right_wheel_joint" type="revolute">
-                    <child>rear_right_wheel_link</child>
+                  <joint name="right_track_j" type="fixed">
+                    <child>right_track</child>
                     <parent>base_link</parent>
-                    <axis>
-                      <xyz>0 1 0</xyz>
-                      <limit>
-                        <lower>-1e+16</lower>
-                        <upper>1e+16</upper>
-                      </limit>
-                      <dynamics>
-                        <spring_reference>0</spring_reference>
-                        <spring_stiffness>0</spring_stiffness>
-                      </dynamics>
-                      <use_parent_model_frame>1</use_parent_model_frame>
-                    </axis>
                   </joint>
+                  <plugin name='ignition::gazebo::systems::TrackController' filename='libignition-gazebo-track-controller-system.so'>
+                    <link>left_track</link>
+                    <min_velocity>-1</min_velocity>
+                    <max_velocity>1</max_velocity>
+                    <min_acceleration>-3</min_acceleration>
+                    <max_acceleration>3</max_acceleration>
+                  </plugin>
+                  <plugin name='ignition::gazebo::systems::TrackController' filename='libignition-gazebo-track-controller-system.so'>
+                    <link>right_track</link>
+                    <min_velocity>-1</min_velocity>
+                    <max_velocity>1</max_velocity>
+                    <min_acceleration>-3</min_acceleration>
+                    <max_acceleration>3</max_acceleration>
+                  </plugin>
                   <!-- Gimbal Links + Joints -->
                   <link name="pan_gimbal_link">
                     <pose frame="">0.4056 -0.01122 0.4904 0 -0 0</pose>
@@ -948,7 +696,7 @@
                       <pose>0 0 0 0 0 1.57</pose>
                       <geometry>
                         <mesh>
-                          <uri>meshes/hd2.dae</uri>
+                          <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/MARBLE_HD2_SENSOR_CONFIG_1/tip/files/meshes/hd2.dae</uri>
                           <submesh>
                             <name>CameraPivot</name>
                             <center>true</center>
@@ -960,14 +708,14 @@
                         <specular>1.0 1.0 1.0</specular>
                         <pbr>
                           <metal>
-                            <albedo_map>materials/textures/HD2_Albedo.jpg</albedo_map>
-                            <metalness_map>materials/textures/HD2_Metalness.jpg</metalness_map>
-                            <roughness_map>materials/textures/HD2_Roughness.jpg</roughness_map>
+                            <albedo_map>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/MARBLE_HD2_SENSOR_CONFIG_1/tip/files/materials/textures/HD2_Albedo.jpg</albedo_map>
+                            <metalness_map>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/MARBLE_HD2_SENSOR_CONFIG_1/tip/files/materials/textures/HD2_Metalness.jpg</metalness_map>
+                            <roughness_map>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/MARBLE_HD2_SENSOR_CONFIG_1/tip/files/materials/textures/HD2_Roughness.jpg</roughness_map>
                           </metal>
                         </pbr>
                         <script>
-                          <uri>materials/scripts/</uri>
-                          <uri>materials/textures/</uri>
+                          <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/MARBLE_HD2_SENSOR_CONFIG_1/tip/files/materials/scripts/</uri>
+                          <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/MARBLE_HD2_SENSOR_CONFIG_1/tip/files/materials/textures/</uri>
                           <name>HD2/HD2_Diffuse</name>
                         </script>
                       </material>
@@ -1010,7 +758,7 @@
                       <pose>0.005 0.015 0.038 0 0 -1.570796</pose>
                       <geometry>
                         <mesh>
-                          <uri>meshes/hd2.dae</uri>
+                          <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/MARBLE_HD2_SENSOR_CONFIG_1/tip/files/meshes/hd2.dae</uri>
                           <submesh>
                             <name>CameraTilt</name>
                             <center>true</center>
@@ -1022,15 +770,15 @@
                         <specular>1.0 1.0 1.0</specular>
                         <pbr>
                           <metal>
-                            <albedo_map>materials/textures/HD2_Albedo.jpg</albedo_map>
-                            <metalness_map>materials/textures/HD2_Metalness.jpg</metalness_map>
-                            <roughness_map>materials/textures/HD2_Roughness.jpg</roughness_map>
+                            <albedo_map>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/MARBLE_HD2_SENSOR_CONFIG_1/tip/files/materials/textures/HD2_Albedo.jpg</albedo_map>
+                            <metalness_map>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/MARBLE_HD2_SENSOR_CONFIG_1/tip/files/materials/textures/HD2_Metalness.jpg</metalness_map>
+                            <roughness_map>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/MARBLE_HD2_SENSOR_CONFIG_1/tip/files/materials/textures/HD2_Roughness.jpg</roughness_map>
                           </metal>
                         </pbr>
                         <!-- fallback to script if no PBR support-->
                         <script>
-                          <uri>materials/scripts/</uri>
-                          <uri>materials/textures/</uri>
+                          <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/MARBLE_HD2_SENSOR_CONFIG_1/tip/files/materials/scripts/</uri>
+                          <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/MARBLE_HD2_SENSOR_CONFIG_1/tip/files/materials/textures/</uri>
                           <name>HD/HD2_Diffuse</name>
                         </script>
                       </material>
@@ -1084,7 +832,7 @@
                       <always_on>1</always_on>
                       <update_rate>30</update_rate>
                       <!-- <pose frame="">0.424 0 0.542 0 0.0 0</pose>  -->
-                      <pose frame="">0.0 0 0.03 0 0.0 0</pose>
+                      <pose frame="">0.02 0 0.047725 0 0.0 0</pose>
                     </sensor>
 
                     <light name="flashlight_flashlight_light_source_lamp_light" type="spot">

From e6387a464219a755a86a86c1bf0fc94010652a90 Mon Sep 17 00:00:00 2001
From: Martin Pecka <peckama2@fel.cvut.cz>
Date: Thu, 18 Nov 2021 16:49:42 +0100
Subject: [PATCH 09/14] CSIRO_DTR: Implemented proper tracks model.

---
 .../CMakeLists.txt                            |    2 +-
 .../launch/example.ign                        |   16 +-
 .../launch/spawner.rb                         |  167 +--
 .../model.sdf                                 | 1064 ++---------------
 .../specifications.md                         |    5 +-
 .../urdf/robot_from_sdf.xacro                 |  414 +------
 .../worlds/example.sdf                        |    6 +
 .../launch/example.ign                        |   20 +
 .../launch/spawner.rb                         |  167 +--
 9 files changed, 179 insertions(+), 1682 deletions(-)
 create mode 100644 submitted_models/csiro_data61_dtr_sensor_config_2/launch/example.ign

diff --git a/submitted_models/csiro_data61_dtr_sensor_config_1/CMakeLists.txt b/submitted_models/csiro_data61_dtr_sensor_config_1/CMakeLists.txt
index 0079c544..2c3390b9 100644
--- a/submitted_models/csiro_data61_dtr_sensor_config_1/CMakeLists.txt
+++ b/submitted_models/csiro_data61_dtr_sensor_config_1/CMakeLists.txt
@@ -5,7 +5,7 @@ find_package(catkin REQUIRED)
 
 catkin_package()
 
-install(DIRECTORY launch meshes urdf
+install(DIRECTORY launch meshes urdf worlds
   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
 
 install(FILES model.sdf model.config
diff --git a/submitted_models/csiro_data61_dtr_sensor_config_1/launch/example.ign b/submitted_models/csiro_data61_dtr_sensor_config_1/launch/example.ign
index ee2c3ced..33d5ee09 100644
--- a/submitted_models/csiro_data61_dtr_sensor_config_1/launch/example.ign
+++ b/submitted_models/csiro_data61_dtr_sensor_config_1/launch/example.ign
@@ -6,7 +6,9 @@
 -->
 
 <%
-  require_relative 'spawner'
+  #require_relative 'spawner'
+  _base_dir = defined?(base_dir) ? base_dir.tr('"', '') : File.realpath(File.join(File.dirname(__FILE__), ".."))
+  load File.join(_base_dir, "launch", "spawner.rb")
 
   # Modify these as needed
   $enableGroundTruth = true
@@ -35,9 +37,11 @@
 
   <!-- Start ROS first. This is a bit hacky for now. -->
   <!-- Make sure to source /opt/ros/melodic/setup.bash -->
-  <executable name='ros'>
-    <command>roslaunch subt_ros competition_init.launch world_name:=<%=$worldName%> vehicle_topics:=0 enable_ground_truth:=<%=($enableGroundTruth)?"1":"0"%> robot_names:=<%=robotName%></command>
-  </executable>
+  <% if local_variables.include?(:ros) and ros %>
+    <executable name='ros'>
+      <command>roslaunch subt_ros competition_init.launch world_name:=<%=$worldName%> vehicle_topics:=0 enable_ground_truth:=<%=($enableGroundTruth)?"1":"0"%> robot_names:=<%=robotName%></command>
+    </executable>
+  <% end %>
 
   <plugin name="ignition::launch::GazeboServer"
           filename="libignition-launch-gazebo.so">
@@ -168,7 +172,9 @@
 <%= spawner(robotName, modelURI, $worldName, 0, 0, 0, 0, 0, 0) %>
 </plugin>
 
-<%= rosExecutables(robotName, $worldName) %>
+<% if local_variables.include?(:ros) and ros %>
+  <%= rosExecutables(robotName, $worldName) %>
+<% end %>
 
 </ignition>
 
diff --git a/submitted_models/csiro_data61_dtr_sensor_config_1/launch/spawner.rb b/submitted_models/csiro_data61_dtr_sensor_config_1/launch/spawner.rb
index e8e43eec..4184a39b 100644
--- a/submitted_models/csiro_data61_dtr_sensor_config_1/launch/spawner.rb
+++ b/submitted_models/csiro_data61_dtr_sensor_config_1/launch/spawner.rb
@@ -11,161 +11,20 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
       <name>#{_name}</name>
       <uri>#{_modelURI}</uri>
 
-      <!-- Track drive -->
-      <plugin filename="libignition-gazebo-diff-drive-system.so"
-              name="ignition::gazebo::systems::DiffDrive">
-        <left_joint>left_00_wheel_joint</left_joint>
-        <right_joint>right_00_wheel_joint</right_joint>
-        <left_joint>left_01_wheel_joint</left_joint>
-        <right_joint>right_01_wheel_joint</right_joint>
-        <left_joint>left_02_wheel_joint</left_joint>
-        <right_joint>right_02_wheel_joint</right_joint>
-        <left_joint>left_03_wheel_joint</left_joint>
-        <right_joint>right_03_wheel_joint</right_joint>
-        <left_joint>left_04_wheel_joint</left_joint>
-        <right_joint>right_04_wheel_joint</right_joint>
-        <left_joint>left_05_wheel_joint</left_joint>
-        <right_joint>right_05_wheel_joint</right_joint>
-        <left_joint>left_11_wheel_joint</left_joint>
-        <right_joint>right_11_wheel_joint</right_joint>
-        <left_joint>left_12_wheel_joint</left_joint>
-        <right_joint>right_12_wheel_joint</right_joint>
-        <left_joint>left_13_wheel_joint</left_joint>
-        <right_joint>right_13_wheel_joint</right_joint>
-        <left_joint>left_14_wheel_joint</left_joint>
-        <right_joint>right_14_wheel_joint</right_joint>
-        <wheel_separation>0.416</wheel_separation>
-        <wheel_radius>0.064</wheel_radius>
-        <min_velocity>-3.0</min_velocity>
-        <max_velocity>3.0</max_velocity>
-        <min_acceleration>-10.0</min_acceleration>
-        <max_acceleration>10.0</max_acceleration>
+      <!-- Tracked vehicle controller -->
+      <plugin name="ignition::gazebo::systems::TrackedVehicle" filename="ignition-gazebo-tracked-vehicle-system">
+        <left_track><link>left_track</link></left_track>
+        <right_track><link>right_track</link></right_track>
+        <tracks_separation>#{0.416}</tracks_separation>
+        <tracks_height>0.128</tracks_height>
+        <steering_efficiency>0.5</steering_efficiency>
         <topic>/model/#{_name}/cmd_vel_relay</topic>
-      </plugin>
-
-      <!-- Wheel slip -->
-      <plugin filename="libignition-gazebo-wheel-slip-system.so"
-        name="ignition::gazebo::systems::WheelSlip">
-        <wheel link_name="left_00_wheel">
-          <slip_compliance_lateral>7.424569e-4</slip_compliance_lateral>
-          <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-          <wheel_normal_force>21.0</wheel_normal_force>
-          <wheel_radius>0.064</wheel_radius>
-        </wheel>
-        <wheel link_name="right_00_wheel">
-          <slip_compliance_lateral>7.424569e-4</slip_compliance_lateral>
-          <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-          <wheel_normal_force>21.0</wheel_normal_force>
-          <wheel_radius>0.064</wheel_radius>
-        </wheel>
-        <wheel link_name="left_01_wheel">
-          <slip_compliance_lateral>1.856142e-4</slip_compliance_lateral>
-          <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-          <wheel_normal_force>21.0</wheel_normal_force>
-          <wheel_radius>0.064</wheel_radius>
-        </wheel>
-        <wheel link_name="right_01_wheel">
-          <slip_compliance_lateral>1.856142e-4</slip_compliance_lateral>
-          <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-          <wheel_normal_force>21.0</wheel_normal_force>
-          <wheel_radius>0.064</wheel_radius>
-        </wheel>
-        <wheel link_name="left_02_wheel">
-          <slip_compliance_lateral>7.424569e-4</slip_compliance_lateral>
-          <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-          <wheel_normal_force>21.0</wheel_normal_force>
-          <wheel_radius>0.064</wheel_radius>
-        </wheel>
-        <wheel link_name="right_02_wheel">
-          <slip_compliance_lateral>7.424569e-4</slip_compliance_lateral>
-          <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-          <wheel_normal_force>21.0</wheel_normal_force>
-          <wheel_radius>0.064</wheel_radius>
-        </wheel>
-        <wheel link_name="left_03_wheel">
-          <slip_compliance_lateral>0.001353</slip_compliance_lateral>
-          <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-          <wheel_normal_force>21.0</wheel_normal_force>
-          <wheel_radius>0.064</wheel_radius>
-        </wheel>
-        <wheel link_name="right_03_wheel">
-          <slip_compliance_lateral>0.001353</slip_compliance_lateral>
-          <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-          <wheel_normal_force>21.0</wheel_normal_force>
-          <wheel_radius>0.064</wheel_radius>
-        </wheel>
-        <wheel link_name="left_04_wheel">
-          <slip_compliance_lateral>0.001713</slip_compliance_lateral>
-          <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-          <wheel_normal_force>21.0</wheel_normal_force>
-          <wheel_radius>0.064</wheel_radius>
-        </wheel>
-        <wheel link_name="right_04_wheel">
-          <slip_compliance_lateral>0.001713</slip_compliance_lateral>
-          <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-          <wheel_normal_force>21.0</wheel_normal_force>
-          <wheel_radius>0.064</wheel_radius>
-        </wheel>
-        <wheel link_name="left_05_wheel">
-          <slip_compliance_lateral>0.002249</slip_compliance_lateral>
-          <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-          <wheel_normal_force>21.0</wheel_normal_force>
-          <wheel_radius>0.064</wheel_radius>
-        </wheel>
-        <wheel link_name="right_05_wheel">
-          <slip_compliance_lateral>0.002249</slip_compliance_lateral>
-          <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-          <wheel_normal_force>21.0</wheel_normal_force>
-          <wheel_radius>0.064</wheel_radius>
-        </wheel>
-        <wheel link_name="left_11_wheel">
-          <slip_compliance_lateral>0.001353</slip_compliance_lateral>
-          <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-          <wheel_normal_force>21.0</wheel_normal_force>
-          <wheel_radius>0.064</wheel_radius>
-        </wheel>
-        <wheel link_name="right_11_wheel">
-          <slip_compliance_lateral>0.001353</slip_compliance_lateral>
-          <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-          <wheel_normal_force>21.0</wheel_normal_force>
-          <wheel_radius>0.064</wheel_radius>
-        </wheel>
-        <wheel link_name="left_12_wheel">
-          <slip_compliance_lateral>0.001713</slip_compliance_lateral>
-          <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-          <wheel_normal_force>21.0</wheel_normal_force>
-          <wheel_radius>0.064</wheel_radius>
-        </wheel>
-        <wheel link_name="right_12_wheel">
-          <slip_compliance_lateral>0.001713</slip_compliance_lateral>
-          <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-          <wheel_normal_force>21.0</wheel_normal_force>
-          <wheel_radius>0.064</wheel_radius>
-        </wheel>
-        <wheel link_name="left_13_wheel">
-          <slip_compliance_lateral>0.002249</slip_compliance_lateral>
-          <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-          <wheel_normal_force>21.0</wheel_normal_force>
-          <wheel_radius>0.064</wheel_radius>
-        </wheel>
-        <wheel link_name="right_13_wheel">
-          <slip_compliance_lateral>0.002249</slip_compliance_lateral>
-          <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-          <wheel_normal_force>21.0</wheel_normal_force>
-          <wheel_radius>0.064</wheel_radius>
-        </wheel>
-        <wheel link_name="left_14_wheel">
-          <slip_compliance_lateral>0.002841</slip_compliance_lateral>
-          <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-          <wheel_normal_force>21.0</wheel_normal_force>
-          <wheel_radius>0.064</wheel_radius>
-        </wheel>
-        <wheel link_name="right_14_wheel">
-          <slip_compliance_lateral>0.002841</slip_compliance_lateral>
-          <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-          <wheel_normal_force>21.0</wheel_normal_force>
-          <wheel_radius>0.064</wheel_radius>
-        </wheel>
+        <linear_velocity>
+          <min_velocity>-3.0</min_velocity>
+          <max_velocity>3.0</max_velocity>
+          <min_acceleration>-10.0</min_acceleration>
+          <max_acceleration>10.0</max_acceleration>
+        </linear_velocity>
       </plugin>
 
       <!-- Joint state for lidar gimbal -->
diff --git a/submitted_models/csiro_data61_dtr_sensor_config_1/model.sdf b/submitted_models/csiro_data61_dtr_sensor_config_1/model.sdf
index 6bd749c0..f53b1d78 100644
--- a/submitted_models/csiro_data61_dtr_sensor_config_1/model.sdf
+++ b/submitted_models/csiro_data61_dtr_sensor_config_1/model.sdf
@@ -810,1066 +810,150 @@
         <use_parent_model_frame>0</use_parent_model_frame>
       </axis>
     </joint>
-    <link name="left_00_wheel">
-      <pose>0 0.2 -0.04 0 -0 0</pose>
+    <link name="left_track">
+      <pose>0 0.2 0 0 -0 0</pose>
       <inertial>
         <pose>0 0 0 0 -0 0</pose>
-        <mass>1</mass>
-        <inertia>
-          <ixx>0.00185733</ixx>
+        <mass>10</mass>
+        <inertia> <!-- 10 kg box 0.1 x 0.2 x 0.64 m -->
+          <ixx>0.04167</ixx>
           <ixy>0</ixy>
           <ixz>0</ixz>
-          <iyy>0.00185733</iyy>
+          <iyy>0.3747</iyy>
           <iyz>0</iyz>
-          <izz>0.002048</izz>
+          <izz>0.3500</izz>
         </inertia>
       </inertial>
-      <collision name="left_00_wheel_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="left_02_wheel_collision"> <!-- middle -->
+        <pose>0.1975 0 -0.04 1.5707963267948966 -0 0</pose>
         <geometry>
           <cylinder>
             <length>0.1</length>
             <radius>0.064</radius>
           </cylinder>
         </geometry>
-        <surface>
-          <contact>
-            <ode/>
-          </contact>
-          <friction>
-            <ode/>
-          </friction>
-        </surface>
       </collision>
-      <gravity>1</gravity>
-      <velocity_decay/>
-      <self_collide>0</self_collide>
-    </link>
-    <joint name="left_00_wheel_joint" type="revolute">
-      <child>left_00_wheel</child>
-      <parent>base_link</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <damping>0.5</damping>
-          <friction>0</friction>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="left_01_wheel">
-      <pose>0.089375 0.2 -0.04 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0 0 -0 0</pose>
-        <mass>1</mass>
-        <inertia>
-          <ixx>0.00185733</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.00185733</iyy>
-          <iyz>0</iyz>
-          <izz>0.002048</izz>
-        </inertia>
-      </inertial>
-      <collision name="left_01_wheel_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="left_05_wheel_collision"> <!-- front -->
+        <pose>0.322 0 0.117 1.5707963267948966 -0 0</pose>
         <geometry>
           <cylinder>
             <length>0.1</length>
-            <radius>0.064</radius>
+            <radius>0.084</radius>
           </cylinder>
         </geometry>
-        <surface>
-          <contact>
-            <ode/>
-          </contact>
-          <friction>
-            <ode/>
-          </friction>
-        </surface>
       </collision>
-      <gravity>1</gravity>
-      <velocity_decay/>
-      <self_collide>0</self_collide>
-    </link>
-    <joint name="left_01_wheel_joint" type="revolute">
-      <child>left_01_wheel</child>
-      <parent>base_link</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <damping>0.5</damping>
-          <friction>0</friction>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="left_02_wheel">
-      <pose>0.17875 0.2 -0.04 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0 0 -0 0</pose>
-        <mass>1</mass>
-        <inertia>
-          <ixx>0.00185733</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.00185733</iyy>
-          <iyz>0</iyz>
-          <izz>0.002048</izz>
-        </inertia>
-      </inertial>
-      <collision name="left_02_wheel_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="left_14_wheel_collision"> <!-- rear -->
+        <pose>-0.32 0 -0.02 1.5707963267948966 -0 0</pose>
         <geometry>
           <cylinder>
             <length>0.1</length>
-            <radius>0.064</radius>
+            <radius>0.084</radius>
           </cylinder>
         </geometry>
-        <surface>
-          <contact>
-            <ode/>
-          </contact>
-          <friction>
-            <ode/>
-          </friction>
-        </surface>
       </collision>
-      <gravity>1</gravity>
-      <velocity_decay/>
-      <self_collide>0</self_collide>
-    </link>
-    <joint name="left_02_wheel_joint" type="revolute">
-      <child>left_02_wheel</child>
-      <parent>base_link</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <damping>0.5</damping>
-          <friction>0</friction>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="left_03_wheel">
-      <pose>0.251875 0.2 0.01 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0 0 -0 0</pose>
-        <mass>1</mass>
-        <inertia>
-          <ixx>0.00185733</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.00185733</iyy>
-          <iyz>0</iyz>
-          <izz>0.002048</izz>
-        </inertia>
-      </inertial>
-      <collision name="left_03_wheel_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="left_bottom_box_collision"> <!-- bottom box -->
+        <pose>-0.06175 0 -0.04 0 0 0</pose>
         <geometry>
-          <cylinder>
-            <length>0.1</length>
-            <radius>0.064</radius>
-          </cylinder>
+          <box>
+            <size>0.5175 0.1 0.128</size>
+          </box>
         </geometry>
-        <surface>
-          <contact>
-            <ode/>
-          </contact>
-          <friction>
-            <ode/>
-          </friction>
-        </surface>
       </collision>
-      <gravity>1</gravity>
-      <velocity_decay/>
-      <self_collide>0</self_collide>
-    </link>
-    <joint name="left_03_wheel_joint" type="revolute">
-      <child>left_03_wheel</child>
-      <parent>base_link</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <damping>0.5</damping>
-          <friction>0</friction>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="left_04_wheel">
-      <pose>0.296563 0.2 0.06 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0 0 -0 0</pose>
-        <mass>1</mass>
-        <inertia>
-          <ixx>0.00185733</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.00185733</iyy>
-          <iyz>0</iyz>
-          <izz>0.002048</izz>
-        </inertia>
-      </inertial>
-      <collision name="left_04_wheel_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="left_front_box_collision"> <!-- front box -->
+        <pose>0.267 0 0.0322 0 -0.8011 0</pose>
         <geometry>
-          <cylinder>
-            <length>0.1</length>
-            <radius>0.064</radius>
-          </cylinder>
+          <box>
+            <size>0.20 0.1 0.128</size>
+          </box>
         </geometry>
-        <surface>
-          <contact>
-            <ode/>
-          </contact>
-          <friction>
-            <ode/>
-          </friction>
-        </surface>
       </collision>
       <gravity>1</gravity>
       <velocity_decay/>
       <self_collide>0</self_collide>
     </link>
-    <joint name="left_04_wheel_joint" type="revolute">
-      <child>left_04_wheel</child>
+    <joint name="left_track_j" type="fixed">
+      <child>left_track</child>
       <parent>base_link</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <damping>0.5</damping>
-          <friction>0</friction>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
     </joint>
-    <link name="left_05_wheel">
-      <pose>0.34125 0.2 0.11 0 -0 0</pose>
+    <link name="right_track">
+      <pose>0 -0.2 0 0 -0 0</pose>
       <inertial>
         <pose>0 0 0 0 -0 0</pose>
-        <mass>1</mass>
-        <inertia>
-          <ixx>0.00185733</ixx>
+        <mass>10</mass>
+        <inertia> <!-- 10 kg box 0.1 x 0.2 x 0.64 m -->
+          <ixx>0.04167</ixx>
           <ixy>0</ixy>
           <ixz>0</ixz>
-          <iyy>0.00185733</iyy>
+          <iyy>0.3747</iyy>
           <iyz>0</iyz>
-          <izz>0.002048</izz>
+          <izz>0.3500</izz>
         </inertia>
       </inertial>
-      <collision name="left_05_wheel_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="right_02_wheel_collision"> <!-- middle -->
+        <pose>0.1975 0 -0.04 1.5707963267948966 -0 0</pose>
         <geometry>
           <cylinder>
             <length>0.1</length>
             <radius>0.064</radius>
           </cylinder>
         </geometry>
-        <surface>
-          <contact>
-            <ode/>
-          </contact>
-          <friction>
-            <ode/>
-          </friction>
-        </surface>
       </collision>
-      <gravity>1</gravity>
-      <velocity_decay/>
-      <self_collide>0</self_collide>
-    </link>
-    <joint name="left_05_wheel_joint" type="revolute">
-      <child>left_05_wheel</child>
-      <parent>base_link</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <damping>0.5</damping>
-          <friction>0</friction>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="left_11_wheel">
-      <pose>-0.08125 0.2 -0.04 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0 0 -0 0</pose>
-        <mass>1</mass>
-        <inertia>
-          <ixx>0.00185733</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.00185733</iyy>
-          <iyz>0</iyz>
-          <izz>0.002048</izz>
-        </inertia>
-      </inertial>
-      <collision name="left_11_wheel_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="right_05_wheel_collision"> <!-- front -->
+        <pose>0.322 0 0.117 1.5707963267948966 -0 0</pose>
         <geometry>
           <cylinder>
             <length>0.1</length>
-            <radius>0.064</radius>
+            <radius>0.084</radius>
           </cylinder>
         </geometry>
-        <surface>
-          <contact>
-            <ode/>
-          </contact>
-          <friction>
-            <ode/>
-          </friction>
-        </surface>
       </collision>
-      <gravity>1</gravity>
-      <velocity_decay/>
-      <self_collide>0</self_collide>
-    </link>
-    <joint name="left_11_wheel_joint" type="revolute">
-      <child>left_11_wheel</child>
-      <parent>base_link</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <damping>0.5</damping>
-          <friction>0</friction>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="left_12_wheel">
-      <pose>-0.1625 0.2 -0.04 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0 0 -0 0</pose>
-        <mass>1</mass>
-        <inertia>
-          <ixx>0.00185733</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.00185733</iyy>
-          <iyz>0</iyz>
-          <izz>0.002048</izz>
-        </inertia>
-      </inertial>
-      <collision name="left_12_wheel_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="right_14_wheel_collision"> <!-- rear -->
+        <pose>-0.32 0 -0.02 1.5707963267948966 -0 0</pose>
         <geometry>
           <cylinder>
             <length>0.1</length>
-            <radius>0.064</radius>
+            <radius>0.084</radius>
           </cylinder>
         </geometry>
-        <surface>
-          <contact>
-            <ode/>
-          </contact>
-          <friction>
-            <ode/>
-          </friction>
-        </surface>
+      </collision>
+      <collision name="right_bottom_box_collision"> <!-- bottom box -->
+        <pose>-0.06175 0 -0.04 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.5175 0.1 0.128</size>
+          </box>
+        </geometry>
+      </collision>
+      <collision name="right_front_box_collision"> <!-- front box -->
+        <pose>0.267 0 0.0322 0 -0.8011 0</pose>
+        <geometry>
+          <box>
+            <size>0.20 0.1 0.128</size>
+          </box>
+        </geometry>
       </collision>
       <gravity>1</gravity>
       <velocity_decay/>
       <self_collide>0</self_collide>
     </link>
-    <joint name="left_12_wheel_joint" type="revolute">
-      <child>left_12_wheel</child>
+    <joint name="right_track_j" type="fixed">
+      <child>right_track</child>
       <parent>base_link</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <damping>0.5</damping>
-          <friction>0</friction>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="left_13_wheel">
-      <pose>-0.24375 0.2 -0.04 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0 0 -0 0</pose>
-        <mass>1</mass>
-        <inertia>
-          <ixx>0.00185733</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.00185733</iyy>
-          <iyz>0</iyz>
-          <izz>0.002048</izz>
-        </inertia>
-      </inertial>
-      <collision name="left_13_wheel_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.1</length>
-            <radius>0.064</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode/>
-          </contact>
-          <friction>
-            <ode/>
-          </friction>
-        </surface>
-      </collision>
-      <gravity>1</gravity>
-      <velocity_decay/>
-      <self_collide>0</self_collide>
-    </link>
-    <joint name="left_13_wheel_joint" type="revolute">
-      <child>left_13_wheel</child>
-      <parent>base_link</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <damping>0.5</damping>
-          <friction>0</friction>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="left_14_wheel">
-      <pose>-0.325 0.2 -0.04 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0 0 -0 0</pose>
-        <mass>1</mass>
-        <inertia>
-          <ixx>0.00185733</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.00185733</iyy>
-          <iyz>0</iyz>
-          <izz>0.002048</izz>
-        </inertia>
-      </inertial>
-      <collision name="left_14_wheel_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.1</length>
-            <radius>0.064</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode/>
-          </contact>
-          <friction>
-            <ode/>
-          </friction>
-        </surface>
-      </collision>
-      <gravity>1</gravity>
-      <velocity_decay/>
-      <self_collide>0</self_collide>
-    </link>
-    <joint name="left_14_wheel_joint" type="revolute">
-      <child>left_14_wheel</child>
-      <parent>base_link</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <damping>0.5</damping>
-          <friction>0</friction>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="right_00_wheel">
-      <pose>0 -0.2 -0.04 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0 0 -0 0</pose>
-        <mass>1</mass>
-        <inertia>
-          <ixx>0.00185733</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.00185733</iyy>
-          <iyz>0</iyz>
-          <izz>0.002048</izz>
-        </inertia>
-      </inertial>
-      <collision name="right_00_wheel_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.1</length>
-            <radius>0.064</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode/>
-          </contact>
-          <friction>
-            <ode/>
-          </friction>
-        </surface>
-      </collision>
-      <gravity>1</gravity>
-      <velocity_decay/>
-      <self_collide>0</self_collide>
-    </link>
-    <joint name="right_00_wheel_joint" type="revolute">
-      <child>right_00_wheel</child>
-      <parent>base_link</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <damping>0.5</damping>
-          <friction>0</friction>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="right_01_wheel">
-      <pose>0.089375 -0.2 -0.04 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0 0 -0 0</pose>
-        <mass>1</mass>
-        <inertia>
-          <ixx>0.00185733</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.00185733</iyy>
-          <iyz>0</iyz>
-          <izz>0.002048</izz>
-        </inertia>
-      </inertial>
-      <collision name="right_01_wheel_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.1</length>
-            <radius>0.064</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode/>
-          </contact>
-          <friction>
-            <ode/>
-          </friction>
-        </surface>
-      </collision>
-      <gravity>1</gravity>
-      <velocity_decay/>
-      <self_collide>0</self_collide>
-    </link>
-    <joint name="right_01_wheel_joint" type="revolute">
-      <child>right_01_wheel</child>
-      <parent>base_link</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <damping>0.5</damping>
-          <friction>0</friction>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="right_02_wheel">
-      <pose>0.17875 -0.2 -0.04 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0 0 -0 0</pose>
-        <mass>1</mass>
-        <inertia>
-          <ixx>0.00185733</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.00185733</iyy>
-          <iyz>0</iyz>
-          <izz>0.002048</izz>
-        </inertia>
-      </inertial>
-      <collision name="right_02_wheel_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.1</length>
-            <radius>0.064</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode/>
-          </contact>
-          <friction>
-            <ode/>
-          </friction>
-        </surface>
-      </collision>
-      <gravity>1</gravity>
-      <velocity_decay/>
-      <self_collide>0</self_collide>
-    </link>
-    <joint name="right_02_wheel_joint" type="revolute">
-      <child>right_02_wheel</child>
-      <parent>base_link</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <damping>0.5</damping>
-          <friction>0</friction>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="right_03_wheel">
-      <pose>0.251875 -0.2 0.01 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0 0 -0 0</pose>
-        <mass>1</mass>
-        <inertia>
-          <ixx>0.00185733</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.00185733</iyy>
-          <iyz>0</iyz>
-          <izz>0.002048</izz>
-        </inertia>
-      </inertial>
-      <collision name="right_03_wheel_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.1</length>
-            <radius>0.064</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode/>
-          </contact>
-          <friction>
-            <ode/>
-          </friction>
-        </surface>
-      </collision>
-      <gravity>1</gravity>
-      <velocity_decay/>
-      <self_collide>0</self_collide>
-    </link>
-    <joint name="right_03_wheel_joint" type="revolute">
-      <child>right_03_wheel</child>
-      <parent>base_link</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <damping>0.5</damping>
-          <friction>0</friction>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="right_04_wheel">
-      <pose>0.296563 -0.2 0.06 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0 0 -0 0</pose>
-        <mass>1</mass>
-        <inertia>
-          <ixx>0.00185733</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.00185733</iyy>
-          <iyz>0</iyz>
-          <izz>0.002048</izz>
-        </inertia>
-      </inertial>
-      <collision name="right_04_wheel_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.1</length>
-            <radius>0.064</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode/>
-          </contact>
-          <friction>
-            <ode/>
-          </friction>
-        </surface>
-      </collision>
-      <gravity>1</gravity>
-      <velocity_decay/>
-      <self_collide>0</self_collide>
-    </link>
-    <joint name="right_04_wheel_joint" type="revolute">
-      <child>right_04_wheel</child>
-      <parent>base_link</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <damping>0.5</damping>
-          <friction>0</friction>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="right_05_wheel">
-      <pose>0.34125 -0.2 0.11 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0 0 -0 0</pose>
-        <mass>1</mass>
-        <inertia>
-          <ixx>0.00185733</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.00185733</iyy>
-          <iyz>0</iyz>
-          <izz>0.002048</izz>
-        </inertia>
-      </inertial>
-      <collision name="right_05_wheel_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.1</length>
-            <radius>0.064</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode/>
-          </contact>
-          <friction>
-            <ode/>
-          </friction>
-        </surface>
-      </collision>
-      <gravity>1</gravity>
-      <velocity_decay/>
-      <self_collide>0</self_collide>
-    </link>
-    <joint name="right_05_wheel_joint" type="revolute">
-      <child>right_05_wheel</child>
-      <parent>base_link</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <damping>0.5</damping>
-          <friction>0</friction>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="right_11_wheel">
-      <pose>-0.08125 -0.2 -0.04 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0 0 -0 0</pose>
-        <mass>1</mass>
-        <inertia>
-          <ixx>0.00185733</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.00185733</iyy>
-          <iyz>0</iyz>
-          <izz>0.002048</izz>
-        </inertia>
-      </inertial>
-      <collision name="right_11_wheel_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.1</length>
-            <radius>0.064</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode/>
-          </contact>
-          <friction>
-            <ode/>
-          </friction>
-        </surface>
-      </collision>
-      <gravity>1</gravity>
-      <velocity_decay/>
-      <self_collide>0</self_collide>
-    </link>
-    <joint name="right_11_wheel_joint" type="revolute">
-      <child>right_11_wheel</child>
-      <parent>base_link</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <damping>0.5</damping>
-          <friction>0</friction>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="right_12_wheel">
-      <pose>-0.1625 -0.2 -0.04 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0 0 -0 0</pose>
-        <mass>1</mass>
-        <inertia>
-          <ixx>0.00185733</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.00185733</iyy>
-          <iyz>0</iyz>
-          <izz>0.002048</izz>
-        </inertia>
-      </inertial>
-      <collision name="right_12_wheel_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.1</length>
-            <radius>0.064</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode/>
-          </contact>
-          <friction>
-            <ode/>
-          </friction>
-        </surface>
-      </collision>
-      <gravity>1</gravity>
-      <velocity_decay/>
-      <self_collide>0</self_collide>
-    </link>
-    <joint name="right_12_wheel_joint" type="revolute">
-      <child>right_12_wheel</child>
-      <parent>base_link</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <damping>0.5</damping>
-          <friction>0</friction>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="right_13_wheel">
-      <pose>-0.24375 -0.2 -0.04 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0 0 -0 0</pose>
-        <mass>1</mass>
-        <inertia>
-          <ixx>0.00185733</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.00185733</iyy>
-          <iyz>0</iyz>
-          <izz>0.002048</izz>
-        </inertia>
-      </inertial>
-      <collision name="right_13_wheel_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.1</length>
-            <radius>0.064</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode/>
-          </contact>
-          <friction>
-            <ode/>
-          </friction>
-        </surface>
-      </collision>
-      <gravity>1</gravity>
-      <velocity_decay/>
-      <self_collide>0</self_collide>
-    </link>
-    <joint name="right_13_wheel_joint" type="revolute">
-      <child>right_13_wheel</child>
-      <parent>base_link</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <damping>0.5</damping>
-          <friction>0</friction>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="right_14_wheel">
-      <pose>-0.325 -0.2 -0.04 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0 0 -0 0</pose>
-        <mass>1</mass>
-        <inertia>
-          <ixx>0.00185733</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.00185733</iyy>
-          <iyz>0</iyz>
-          <izz>0.002048</izz>
-        </inertia>
-      </inertial>
-      <collision name="right_14_wheel_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.1</length>
-            <radius>0.064</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode/>
-          </contact>
-          <friction>
-            <ode/>
-          </friction>
-        </surface>
-      </collision>
-      <gravity>1</gravity>
-      <velocity_decay/>
-      <self_collide>0</self_collide>
-    </link>
-    <joint name="right_14_wheel_joint" type="revolute">
-      <child>right_14_wheel</child>
-      <parent>base_link</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <damping>0.5</damping>
-          <friction>0</friction>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
     </joint>
+    <plugin name='ignition::gazebo::systems::TrackController' filename='libignition-gazebo-track-controller-system.so'>
+      <link>left_track</link>
+      <min_velocity>-3</min_velocity>
+      <max_velocity>3</max_velocity>
+      <min_acceleration>-10</min_acceleration>
+      <max_acceleration>10</max_acceleration>
+    </plugin>
+    <plugin name='ignition::gazebo::systems::TrackController' filename='libignition-gazebo-track-controller-system.so'>
+      <link>right_track</link>
+      <min_velocity>-3</min_velocity>
+      <max_velocity>3</max_velocity>
+      <min_acceleration>-10</min_acceleration>
+      <max_acceleration>10</max_acceleration>
+    </plugin>
     <static>0</static>
   </model>
 </sdf>
diff --git a/submitted_models/csiro_data61_dtr_sensor_config_1/specifications.md b/submitted_models/csiro_data61_dtr_sensor_config_1/specifications.md
index 12ab5d76..becc0bf2 100644
--- a/submitted_models/csiro_data61_dtr_sensor_config_1/specifications.md
+++ b/submitted_models/csiro_data61_dtr_sensor_config_1/specifications.md
@@ -12,7 +12,7 @@ This robot configuration is based on the CSIRO DTR Tracked AGV. It has a standar
 The robot accepts standard twist commands on the cmd_vel topic. The gimbal for the lidar can be controlled on the following topic:
 lidar_gimbal/pan_rate_cmd_double (std_msgs/Double)
 
-The position of the gimbal is accessed on the joint state topic. The joint state topic also contains the states of all the other joints on the robot (for the wheels used to simulate track drive), but the gimbal state is the first joint on the topic, e.g joint_states/position[0]
+The position of the gimbal is accessed on the joint state topic as joint_states/position[0]
 
 ## Usage Rights
 This software is released under a [BSD 3-Clause license](LICENSE).
@@ -30,7 +30,7 @@ The following specific sensors are declared payloads of this vehicle:
 * A Microstrain CV5-25 IMU, modeled by the standard imu plugin
 
 ### Control
-The platform is controlled by the standard diff-drive plugin for ignition gazebo, with twist inputs on "/<robotName>/cmd_vel", The robot has the following motion characteristics. Note there is also a gimbal for spinning the lidar, which is controlled on "/"<robotName>/lidar_gimbal/pan_rate_cmd_double"
+The platform is controlled by TrackedVehicle plugin for ignition gazebo, with twist inputs on `/<robotName>/cmd_vel`. The robot has the following motion characteristics. Note there is also a gimbal for spinning the lidar, which is controlled on `/<robotName>/lidar_gimbal/pan_rate_cmd_double`
 
 ### Motion Characteristics
 Based on the tests specified in the DARPA SubT Challenge [Model Preparation
@@ -49,7 +49,6 @@ this vehicle has the following motion constraint characteristics.
 Endurance of the platform is approximately 134 minutes
 
 ### Diversions from Physical Hardware of DTR
-* Currently the model does not have an accurate collision body of the track system, as diff-drive control currently requires the use of simulated multi-wheel systems. The multi-wheel system on the sim model is intended to provide a reasonable approximation of the track contact geometry for driving.
 * The physical version of the robot features a complex suspension system for the tracks, this is not feasible to model in the simulation and thus in simulation the robot is completely rigid.
 
 ## DTR Validation and Specification Links
diff --git a/submitted_models/csiro_data61_dtr_sensor_config_1/urdf/robot_from_sdf.xacro b/submitted_models/csiro_data61_dtr_sensor_config_1/urdf/robot_from_sdf.xacro
index 286cef4b..55319483 100644
--- a/submitted_models/csiro_data61_dtr_sensor_config_1/urdf/robot_from_sdf.xacro
+++ b/submitted_models/csiro_data61_dtr_sensor_config_1/urdf/robot_from_sdf.xacro
@@ -209,266 +209,90 @@
       </geometry>
     </visual>
   </link>
-  <link name='${robot_namespace}/left_00_wheel'>
+  <link name='${robot_namespace}/left_track'>
     <inertial>
       <origin xyz='0 0 0' rpy='0 -0 0'/>
-      <mass value='1'/>
-      <inertia ixx='0.00185733' ixy='0' ixz='0' iyy='0.00185733' iyz='0' izz='0.002048'/>
-    </inertial>
-    <collision name='left_00_wheel_collision'>
-      <origin xyz='0 0 0' rpy='1.5708 -0 0'/>
-      <geometry>
-        <cylinder radius='0.064' length='0.1'/>
-      </geometry>
-    </collision>
-  </link>
-  <link name='${robot_namespace}/left_01_wheel'>
-    <inertial>
-      <origin xyz='0 0 0' rpy='0 -0 0'/>
-      <mass value='1'/>
-      <inertia ixx='0.00185733' ixy='0' ixz='0' iyy='0.00185733' iyz='0' izz='0.002048'/>
-    </inertial>
-    <collision name='left_01_wheel_collision'>
-      <origin xyz='0 0 0' rpy='1.5708 -0 0'/>
-      <geometry>
-        <cylinder radius='0.064' length='0.1'/>
-      </geometry>
-    </collision>
-  </link>
-  <link name='${robot_namespace}/left_02_wheel'>
-    <inertial>
-      <origin xyz='0 0 0' rpy='0 -0 0'/>
-      <mass value='1'/>
-      <inertia ixx='0.00185733' ixy='0' ixz='0' iyy='0.00185733' iyz='0' izz='0.002048'/>
+      <mass value='10'/>
+      <inertia ixx='0.04167' ixy='0' ixz='0' iyy='0.3747' iyz='0' izz='0.3500'/>
     </inertial>
     <collision name='left_02_wheel_collision'>
-      <origin xyz='0 0 0' rpy='1.5708 -0 0'/>
-      <geometry>
-        <cylinder radius='0.064' length='0.1'/>
-      </geometry>
-    </collision>
-  </link>
-  <link name='${robot_namespace}/left_03_wheel'>
-    <inertial>
-      <origin xyz='0 0 0' rpy='0 -0 0'/>
-      <mass value='1'/>
-      <inertia ixx='0.00185733' ixy='0' ixz='0' iyy='0.00185733' iyz='0' izz='0.002048'/>
-    </inertial>
-    <collision name='left_03_wheel_collision'>
-      <origin xyz='0 0 0' rpy='1.5708 -0 0'/>
-      <geometry>
-        <cylinder radius='0.064' length='0.1'/>
-      </geometry>
-    </collision>
-  </link>
-  <link name='${robot_namespace}/left_04_wheel'>
-    <inertial>
-      <origin xyz='0 0 0' rpy='0 -0 0'/>
-      <mass value='1'/>
-      <inertia ixx='0.00185733' ixy='0' ixz='0' iyy='0.00185733' iyz='0' izz='0.002048'/>
-    </inertial>
-    <collision name='left_04_wheel_collision'>
-      <origin xyz='0 0 0' rpy='1.5708 -0 0'/>
+      <origin xyz='0.1975 0 -0.04' rpy='1.5708 -0 0'/>
       <geometry>
         <cylinder radius='0.064' length='0.1'/>
       </geometry>
     </collision>
-  </link>
-  <link name='${robot_namespace}/left_05_wheel'>
-    <inertial>
-      <origin xyz='0 0 0' rpy='0 -0 0'/>
-      <mass value='1'/>
-      <inertia ixx='0.00185733' ixy='0' ixz='0' iyy='0.00185733' iyz='0' izz='0.002048'/>
-    </inertial>
     <collision name='left_05_wheel_collision'>
-      <origin xyz='0 0 0' rpy='1.5708 -0 0'/>
+      <origin xyz='0.322 0 0.117' rpy='1.5708 -0 0'/>
       <geometry>
-        <cylinder radius='0.064' length='0.1'/>
+        <cylinder radius='0.084' length='0.1'/>
       </geometry>
     </collision>
-  </link>
-  <link name='${robot_namespace}/left_11_wheel'>
-    <inertial>
-      <origin xyz='0 0 0' rpy='0 -0 0'/>
-      <mass value='1'/>
-      <inertia ixx='0.00185733' ixy='0' ixz='0' iyy='0.00185733' iyz='0' izz='0.002048'/>
-    </inertial>
-    <collision name='left_11_wheel_collision'>
-      <origin xyz='0 0 0' rpy='1.5708 -0 0'/>
-      <geometry>
-        <cylinder radius='0.064' length='0.1'/>
-      </geometry>
-    </collision>
-  </link>
-  <link name='${robot_namespace}/left_12_wheel'>
-    <inertial>
-      <origin xyz='0 0 0' rpy='0 -0 0'/>
-      <mass value='1'/>
-      <inertia ixx='0.00185733' ixy='0' ixz='0' iyy='0.00185733' iyz='0' izz='0.002048'/>
-    </inertial>
-    <collision name='left_12_wheel_collision'>
-      <origin xyz='0 0 0' rpy='1.5708 -0 0'/>
-      <geometry>
-        <cylinder radius='0.064' length='0.1'/>
-      </geometry>
-    </collision>
-  </link>
-  <link name='${robot_namespace}/left_13_wheel'>
-    <inertial>
-      <origin xyz='0 0 0' rpy='0 -0 0'/>
-      <mass value='1'/>
-      <inertia ixx='0.00185733' ixy='0' ixz='0' iyy='0.00185733' iyz='0' izz='0.002048'/>
-    </inertial>
-    <collision name='left_13_wheel_collision'>
-      <origin xyz='0 0 0' rpy='1.5708 -0 0'/>
-      <geometry>
-        <cylinder radius='0.064' length='0.1'/>
-      </geometry>
-    </collision>
-  </link>
-  <link name='${robot_namespace}/left_14_wheel'>
-    <inertial>
-      <origin xyz='0 0 0' rpy='0 -0 0'/>
-      <mass value='1'/>
-      <inertia ixx='0.00185733' ixy='0' ixz='0' iyy='0.00185733' iyz='0' izz='0.002048'/>
-    </inertial>
     <collision name='left_14_wheel_collision'>
-      <origin xyz='0 0 0' rpy='1.5708 -0 0'/>
+      <origin xyz='-0.32 0 -0.02' rpy='1.5708 -0 0'/>
       <geometry>
-        <cylinder radius='0.064' length='0.1'/>
+        <cylinder radius='0.084' length='0.1'/>
       </geometry>
     </collision>
-  </link>
-  <link name='${robot_namespace}/right_00_wheel'>
-    <inertial>
-      <origin xyz='0 0 0' rpy='0 -0 0'/>
-      <mass value='1'/>
-      <inertia ixx='0.00185733' ixy='0' ixz='0' iyy='0.00185733' iyz='0' izz='0.002048'/>
-    </inertial>
-    <collision name='right_00_wheel_collision'>
-      <origin xyz='0 0 0' rpy='1.5708 -0 0'/>
+    <collision name='left_bottom_box_collision'>
+      <origin xyz='-0.06175 0 -0.04' rpy='0 0 0'/>
       <geometry>
-        <cylinder radius='0.064' length='0.1'/>
+        <box size='0.5175 0.1 0.128'/>
       </geometry>
     </collision>
-  </link>
-  <link name='${robot_namespace}/right_01_wheel'>
-    <inertial>
-      <origin xyz='0 0 0' rpy='0 -0 0'/>
-      <mass value='1'/>
-      <inertia ixx='0.00185733' ixy='0' ixz='0' iyy='0.00185733' iyz='0' izz='0.002048'/>
-    </inertial>
-    <collision name='right_01_wheel_collision'>
-      <origin xyz='0 0 0' rpy='1.5708 -0 0'/>
+    <collision name='left_front_box_collision'>
+      <origin xyz='0.267 0 0.0322' rpy='0 -0.8011 0'/>
       <geometry>
-        <cylinder radius='0.064' length='0.1'/>
+        <box size='0.20 0.1 0.128'/>
       </geometry>
     </collision>
   </link>
-  <link name='${robot_namespace}/right_02_wheel'>
+  <joint name='left_track_j' type='fixed'>
+    <origin xyz='0 0.2 0' rpy='0 0 0'/>
+    <parent link='${robot_namespace}/base_link'/>
+    <child link='${robot_namespace}/left_track'/>
+  </joint>
+  <link name='${robot_namespace}/right_track'>
     <inertial>
       <origin xyz='0 0 0' rpy='0 -0 0'/>
-      <mass value='1'/>
-      <inertia ixx='0.00185733' ixy='0' ixz='0' iyy='0.00185733' iyz='0' izz='0.002048'/>
+      <mass value='10'/>
+      <inertia ixx='0.04167' ixy='0' ixz='0' iyy='0.3747' iyz='0' izz='0.3500'/>
     </inertial>
     <collision name='right_02_wheel_collision'>
-      <origin xyz='0 0 0' rpy='1.5708 -0 0'/>
-      <geometry>
-        <cylinder radius='0.064' length='0.1'/>
-      </geometry>
-    </collision>
-  </link>
-  <link name='${robot_namespace}/right_03_wheel'>
-    <inertial>
-      <origin xyz='0 0 0' rpy='0 -0 0'/>
-      <mass value='1'/>
-      <inertia ixx='0.00185733' ixy='0' ixz='0' iyy='0.00185733' iyz='0' izz='0.002048'/>
-    </inertial>
-    <collision name='right_03_wheel_collision'>
-      <origin xyz='0 0 0' rpy='1.5708 -0 0'/>
-      <geometry>
-        <cylinder radius='0.064' length='0.1'/>
-      </geometry>
-    </collision>
-  </link>
-  <link name='${robot_namespace}/right_04_wheel'>
-    <inertial>
-      <origin xyz='0 0 0' rpy='0 -0 0'/>
-      <mass value='1'/>
-      <inertia ixx='0.00185733' ixy='0' ixz='0' iyy='0.00185733' iyz='0' izz='0.002048'/>
-    </inertial>
-    <collision name='right_04_wheel_collision'>
-      <origin xyz='0 0 0' rpy='1.5708 -0 0'/>
+      <origin xyz='0.1975 0 -0.04' rpy='1.5708 -0 0'/>
       <geometry>
         <cylinder radius='0.064' length='0.1'/>
       </geometry>
     </collision>
-  </link>
-  <link name='${robot_namespace}/right_05_wheel'>
-    <inertial>
-      <origin xyz='0 0 0' rpy='0 -0 0'/>
-      <mass value='1'/>
-      <inertia ixx='0.00185733' ixy='0' ixz='0' iyy='0.00185733' iyz='0' izz='0.002048'/>
-    </inertial>
     <collision name='right_05_wheel_collision'>
-      <origin xyz='0 0 0' rpy='1.5708 -0 0'/>
-      <geometry>
-        <cylinder radius='0.064' length='0.1'/>
-      </geometry>
-    </collision>
-  </link>
-  <link name='${robot_namespace}/right_11_wheel'>
-    <inertial>
-      <origin xyz='0 0 0' rpy='0 -0 0'/>
-      <mass value='1'/>
-      <inertia ixx='0.00185733' ixy='0' ixz='0' iyy='0.00185733' iyz='0' izz='0.002048'/>
-    </inertial>
-    <collision name='right_11_wheel_collision'>
-      <origin xyz='0 0 0' rpy='1.5708 -0 0'/>
+      <origin xyz='0.322 0 0.117' rpy='1.5708 -0 0'/>
       <geometry>
-        <cylinder radius='0.064' length='0.1'/>
+        <cylinder radius='0.084' length='0.1'/>
       </geometry>
     </collision>
-  </link>
-  <link name='${robot_namespace}/right_12_wheel'>
-    <inertial>
-      <origin xyz='0 0 0' rpy='0 -0 0'/>
-      <mass value='1'/>
-      <inertia ixx='0.00185733' ixy='0' ixz='0' iyy='0.00185733' iyz='0' izz='0.002048'/>
-    </inertial>
-    <collision name='right_12_wheel_collision'>
-      <origin xyz='0 0 0' rpy='1.5708 -0 0'/>
+    <collision name='right_14_wheel_collision'>
+      <origin xyz='-0.32 0 -0.02' rpy='1.5708 -0 0'/>
       <geometry>
-        <cylinder radius='0.064' length='0.1'/>
+        <cylinder radius='0.084' length='0.1'/>
       </geometry>
     </collision>
-  </link>
-  <link name='${robot_namespace}/right_13_wheel'>
-    <inertial>
-      <origin xyz='0 0 0' rpy='0 -0 0'/>
-      <mass value='1'/>
-      <inertia ixx='0.00185733' ixy='0' ixz='0' iyy='0.00185733' iyz='0' izz='0.002048'/>
-    </inertial>
-    <collision name='right_13_wheel_collision'>
-      <origin xyz='0 0 0' rpy='1.5708 -0 0'/>
+    <collision name='right_bottom_box_collision'>
+      <origin xyz='-0.06175 0 -0.04' rpy='0 0 0'/>
       <geometry>
-        <cylinder radius='0.064' length='0.1'/>
+        <box size='0.5175 0.1 0.128'/>
       </geometry>
     </collision>
-  </link>
-  <link name='${robot_namespace}/right_14_wheel'>
-    <inertial>
-      <origin xyz='0 0 0' rpy='0 -0 0'/>
-      <mass value='1'/>
-      <inertia ixx='0.00185733' ixy='0' ixz='0' iyy='0.00185733' iyz='0' izz='0.002048'/>
-    </inertial>
-    <collision name='right_14_wheel_collision'>
-      <origin xyz='0 0 0' rpy='1.5708 -0 0'/>
+    <collision name='right_front_box_collision'>
+      <origin xyz='0.267 0 0.0322' rpy='0 -0.8011 0'/>
       <geometry>
-        <cylinder radius='0.064' length='0.1'/>
+        <box size='0.20 0.1 0.128'/>
       </geometry>
     </collision>
   </link>
+  <joint name='right_track_j' type='fixed'>
+    <origin xyz='0 -0.2 0' rpy='0 0 0'/>
+    <parent link='${robot_namespace}/base_link'/>
+    <child link='${robot_namespace}/right_track'/>
+  </joint>
   <joint name='lidar_gimbal' type='revolute'>
     <origin xyz='0.25 0 0.270797' rpy='0 -0 0'/>
     <parent link='${robot_namespace}/base_link'/>
@@ -485,164 +309,4 @@
     <axis xyz='1 0 0'/>
     <limit lower='0' upper='0' effort='0' velocity='0'/>
   </joint>
-  <joint name='left_00_wheel_joint' type='revolute'>
-    <origin xyz='0 0.2 -0.04' rpy='0 -0 0'/>
-    <parent link='${robot_namespace}/base_link'/>
-    <child link='${robot_namespace}/left_00_wheel'/>
-    <dynamics damping='0.5' friction='0' />
-    <axis xyz='0 1 0'/>
-    <limit lower='-1e+16' upper='1e+16' effort='-1' velocity='-1'/>
-  </joint>
-  <joint name='left_01_wheel_joint' type='revolute'>
-    <origin xyz='0.089375 0.2 -0.04' rpy='0 -0 0'/>
-    <parent link='${robot_namespace}/base_link'/>
-    <child link='${robot_namespace}/left_01_wheel'/>
-    <dynamics damping='0.5' friction='0' />
-    <axis xyz='0 1 0'/>
-    <limit lower='-1e+16' upper='1e+16' effort='-1' velocity='-1'/>
-  </joint>
-  <joint name='left_02_wheel_joint' type='revolute'>
-    <origin xyz='0.17875 0.2 -0.04' rpy='0 -0 0'/>
-    <parent link='${robot_namespace}/base_link'/>
-    <child link='${robot_namespace}/left_02_wheel'/>
-    <dynamics damping='0.5' friction='0' />
-    <axis xyz='0 1 0'/>
-    <limit lower='-1e+16' upper='1e+16' effort='-1' velocity='-1'/>
-  </joint>
-  <joint name='left_03_wheel_joint' type='revolute'>
-    <origin xyz='0.251875 0.2 0.01' rpy='0 -0 0'/>
-    <parent link='${robot_namespace}/base_link'/>
-    <child link='${robot_namespace}/left_03_wheel'/>
-    <dynamics damping='0.5' friction='0' />
-    <axis xyz='0 1 0'/>
-    <limit lower='-1e+16' upper='1e+16' effort='-1' velocity='-1'/>
-  </joint>
-  <joint name='left_04_wheel_joint' type='revolute'>
-    <origin xyz='0.296563 0.2 0.06' rpy='0 -0 0'/>
-    <parent link='${robot_namespace}/base_link'/>
-    <child link='${robot_namespace}/left_04_wheel'/>
-    <dynamics damping='0.5' friction='0' />
-    <axis xyz='0 1 0'/>
-    <limit lower='-1e+16' upper='1e+16' effort='-1' velocity='-1'/>
-  </joint>
-  <joint name='left_05_wheel_joint' type='revolute'>
-    <origin xyz='0.34125 0.2 0.11' rpy='0 -0 0'/>
-    <parent link='${robot_namespace}/base_link'/>
-    <child link='${robot_namespace}/left_05_wheel'/>
-    <dynamics damping='0.5' friction='0' />
-    <axis xyz='0 1 0'/>
-    <limit lower='-1e+16' upper='1e+16' effort='-1' velocity='-1'/>
-  </joint>
-  <joint name='left_11_wheel_joint' type='revolute'>
-    <origin xyz='-0.08125 0.2 -0.04' rpy='0 -0 0'/>
-    <parent link='${robot_namespace}/base_link'/>
-    <child link='${robot_namespace}/left_11_wheel'/>
-    <dynamics damping='0.5' friction='0' />
-    <axis xyz='0 1 0'/>
-    <limit lower='-1e+16' upper='1e+16' effort='-1' velocity='-1'/>
-  </joint>
-  <joint name='left_12_wheel_joint' type='revolute'>
-    <origin xyz='-0.1625 0.2 -0.04' rpy='0 -0 0'/>
-    <parent link='${robot_namespace}/base_link'/>
-    <child link='${robot_namespace}/left_12_wheel'/>
-    <dynamics damping='0.5' friction='0' />
-    <axis xyz='0 1 0'/>
-    <limit lower='-1e+16' upper='1e+16' effort='-1' velocity='-1'/>
-  </joint>
-  <joint name='left_13_wheel_joint' type='revolute'>
-    <origin xyz='-0.24375 0.2 -0.04' rpy='0 -0 0'/>
-    <parent link='${robot_namespace}/base_link'/>
-    <child link='${robot_namespace}/left_13_wheel'/>
-    <dynamics damping='0.5' friction='0' />
-    <axis xyz='0 1 0'/>
-    <limit lower='-1e+16' upper='1e+16' effort='-1' velocity='-1'/>
-  </joint>
-  <joint name='left_14_wheel_joint' type='revolute'>
-    <origin xyz='-0.325 0.2 -0.04' rpy='0 -0 0'/>
-    <parent link='${robot_namespace}/base_link'/>
-    <child link='${robot_namespace}/left_14_wheel'/>
-    <dynamics damping='0.5' friction='0' />
-    <axis xyz='0 1 0'/>
-    <limit lower='-1e+16' upper='1e+16' effort='-1' velocity='-1'/>
-  </joint>
-  <joint name='right_00_wheel_joint' type='revolute'>
-    <origin xyz='0 -0.2 -0.04' rpy='0 -0 0'/>
-    <parent link='${robot_namespace}/base_link'/>
-    <child link='${robot_namespace}/right_00_wheel'/>
-    <dynamics damping='0.5' friction='0' />
-    <axis xyz='0 1 0'/>
-    <limit lower='-1e+16' upper='1e+16' effort='-1' velocity='-1'/>
-  </joint>
-  <joint name='right_01_wheel_joint' type='revolute'>
-    <origin xyz='0.089375 -0.2 -0.04' rpy='0 -0 0'/>
-    <parent link='${robot_namespace}/base_link'/>
-    <child link='${robot_namespace}/right_01_wheel'/>
-    <dynamics damping='0.5' friction='0' />
-    <axis xyz='0 1 0'/>
-    <limit lower='-1e+16' upper='1e+16' effort='-1' velocity='-1'/>
-  </joint>
-  <joint name='right_02_wheel_joint' type='revolute'>
-    <origin xyz='0.17875 -0.2 -0.04' rpy='0 -0 0'/>
-    <parent link='${robot_namespace}/base_link'/>
-    <child link='${robot_namespace}/right_02_wheel'/>
-    <dynamics damping='0.5' friction='0' />
-    <axis xyz='0 1 0'/>
-    <limit lower='-1e+16' upper='1e+16' effort='-1' velocity='-1'/>
-  </joint>
-  <joint name='right_03_wheel_joint' type='revolute'>
-    <origin xyz='0.251875 -0.2 0.01' rpy='0 -0 0'/>
-    <parent link='${robot_namespace}/base_link'/>
-    <child link='${robot_namespace}/right_03_wheel'/>
-    <dynamics damping='0.5' friction='0' />
-    <axis xyz='0 1 0'/>
-    <limit lower='-1e+16' upper='1e+16' effort='-1' velocity='-1'/>
-  </joint>
-  <joint name='right_04_wheel_joint' type='revolute'>
-    <origin xyz='0.296563 -0.2 0.06' rpy='0 -0 0'/>
-    <parent link='${robot_namespace}/base_link'/>
-    <child link='${robot_namespace}/right_04_wheel'/>
-    <dynamics damping='0.5' friction='0' />
-    <axis xyz='0 1 0'/>
-    <limit lower='-1e+16' upper='1e+16' effort='-1' velocity='-1'/>
-  </joint>
-  <joint name='right_05_wheel_joint' type='revolute'>
-    <origin xyz='0.34125 -0.2 0.11' rpy='0 -0 0'/>
-    <parent link='${robot_namespace}/base_link'/>
-    <child link='${robot_namespace}/right_05_wheel'/>
-    <dynamics damping='0.5' friction='0' />
-    <axis xyz='0 1 0'/>
-    <limit lower='-1e+16' upper='1e+16' effort='-1' velocity='-1'/>
-  </joint>
-  <joint name='right_11_wheel_joint' type='revolute'>
-    <origin xyz='-0.08125 -0.2 -0.04' rpy='0 -0 0'/>
-    <parent link='${robot_namespace}/base_link'/>
-    <child link='${robot_namespace}/right_11_wheel'/>
-    <dynamics damping='0.5' friction='0' />
-    <axis xyz='0 1 0'/>
-    <limit lower='-1e+16' upper='1e+16' effort='-1' velocity='-1'/>
-  </joint>
-  <joint name='right_12_wheel_joint' type='revolute'>
-    <origin xyz='-0.1625 -0.2 -0.04' rpy='0 -0 0'/>
-    <parent link='${robot_namespace}/base_link'/>
-    <child link='${robot_namespace}/right_12_wheel'/>
-    <dynamics damping='0.5' friction='0' />
-    <axis xyz='0 1 0'/>
-    <limit lower='-1e+16' upper='1e+16' effort='-1' velocity='-1'/>
-  </joint>
-  <joint name='right_13_wheel_joint' type='revolute'>
-    <origin xyz='-0.24375 -0.2 -0.04' rpy='0 -0 0'/>
-    <parent link='${robot_namespace}/base_link'/>
-    <child link='${robot_namespace}/right_13_wheel'/>
-    <dynamics damping='0.5' friction='0' />
-    <axis xyz='0 1 0'/>
-    <limit lower='-1e+16' upper='1e+16' effort='-1' velocity='-1'/>
-  </joint>
-  <joint name='right_14_wheel_joint' type='revolute'>
-    <origin xyz='-0.325 -0.2 -0.04' rpy='0 -0 0'/>
-    <parent link='${robot_namespace}/base_link'/>
-    <child link='${robot_namespace}/right_14_wheel'/>
-    <dynamics damping='0.5' friction='0' />
-    <axis xyz='0 1 0'/>
-    <limit lower='-1e+16' upper='1e+16' effort='-1' velocity='-1'/>
-  </joint>
 </robot>
diff --git a/submitted_models/csiro_data61_dtr_sensor_config_1/worlds/example.sdf b/submitted_models/csiro_data61_dtr_sensor_config_1/worlds/example.sdf
index a63e4a74..6b388c18 100644
--- a/submitted_models/csiro_data61_dtr_sensor_config_1/worlds/example.sdf
+++ b/submitted_models/csiro_data61_dtr_sensor_config_1/worlds/example.sdf
@@ -171,6 +171,12 @@
       <uri> https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier </uri>
     </include>
 
+    <include>
+      <name>pallet</name>
+      <pose>2 0 0.02 0 0 0</pose>
+      <uri> https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Euro pallet </uri>
+      <static>1</static>
+    </include>
 
     <!-- The base station -->
     <include>
diff --git a/submitted_models/csiro_data61_dtr_sensor_config_2/launch/example.ign b/submitted_models/csiro_data61_dtr_sensor_config_2/launch/example.ign
new file mode 100644
index 00000000..6295ad88
--- /dev/null
+++ b/submitted_models/csiro_data61_dtr_sensor_config_2/launch/example.ign
@@ -0,0 +1,20 @@
+<?xml version="1.0"?>
+<%
+  base_launch = `rospack find csiro_data61_dtr_sensor_config_1`.chomp + "/launch"
+  base_dir = File.realpath(File.join(File.dirname(__FILE__), ".."))
+
+  ros_param=''
+  if defined?(ros) and ros
+    ros_param='ros:=true'
+  end
+
+  headless_param=''
+  if defined?(headless) and headless
+    headless_param='headless:=true'
+  end
+%>
+<ignition version='1.0'>
+  <executable name='include'>
+    <command>ign launch -v4 <%= File.join(base_launch, "example.ign") %> base_dir:=<%= base_dir %> robotName:=<%= robotName %> <%= ros_param %> <%= headless_param %></command>
+  </executable>
+</ignition>
\ No newline at end of file
diff --git a/submitted_models/csiro_data61_dtr_sensor_config_2/launch/spawner.rb b/submitted_models/csiro_data61_dtr_sensor_config_2/launch/spawner.rb
index 5ef226d6..efa49068 100644
--- a/submitted_models/csiro_data61_dtr_sensor_config_2/launch/spawner.rb
+++ b/submitted_models/csiro_data61_dtr_sensor_config_2/launch/spawner.rb
@@ -11,161 +11,20 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
       <name>#{_name}</name>
       <uri>#{_modelURI}</uri>
 
-      <!-- Track drive -->
-      <plugin filename="libignition-gazebo-diff-drive-system.so"
-              name="ignition::gazebo::systems::DiffDrive">
-        <left_joint>left_00_wheel_joint</left_joint>
-        <right_joint>right_00_wheel_joint</right_joint>
-        <left_joint>left_01_wheel_joint</left_joint>
-        <right_joint>right_01_wheel_joint</right_joint>
-        <left_joint>left_02_wheel_joint</left_joint>
-        <right_joint>right_02_wheel_joint</right_joint>
-        <left_joint>left_03_wheel_joint</left_joint>
-        <right_joint>right_03_wheel_joint</right_joint>
-        <left_joint>left_04_wheel_joint</left_joint>
-        <right_joint>right_04_wheel_joint</right_joint>
-        <left_joint>left_05_wheel_joint</left_joint>
-        <right_joint>right_05_wheel_joint</right_joint>
-        <left_joint>left_11_wheel_joint</left_joint>
-        <right_joint>right_11_wheel_joint</right_joint>
-        <left_joint>left_12_wheel_joint</left_joint>
-        <right_joint>right_12_wheel_joint</right_joint>
-        <left_joint>left_13_wheel_joint</left_joint>
-        <right_joint>right_13_wheel_joint</right_joint>
-        <left_joint>left_14_wheel_joint</left_joint>
-        <right_joint>right_14_wheel_joint</right_joint>
-        <wheel_separation>0.416</wheel_separation>
-        <wheel_radius>0.064</wheel_radius>
-        <min_velocity>-3.0</min_velocity>
-        <max_velocity>3.0</max_velocity>
-        <min_acceleration>-10.0</min_acceleration>
-        <max_acceleration>10.0</max_acceleration>
+      <!-- Tracked vehicle controller -->
+      <plugin name="ignition::gazebo::systems::TrackedVehicle" filename="ignition-gazebo-tracked-vehicle-system">
+        <left_track><link>left_track</link></left_track>
+        <right_track><link>right_track</link></right_track>
+        <tracks_separation>#{0.416}</tracks_separation>
+        <tracks_height>0.128</tracks_height>
+        <steering_efficiency>0.5</steering_efficiency>
         <topic>/model/#{_name}/cmd_vel_relay</topic>
-      </plugin>
-
-      <!-- Wheel slip -->
-      <plugin filename="libignition-gazebo-wheel-slip-system.so"
-        name="ignition::gazebo::systems::WheelSlip">
-        <wheel link_name="left_00_wheel">
-          <slip_compliance_lateral>7.424569e-4</slip_compliance_lateral>
-          <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-          <wheel_normal_force>21.0</wheel_normal_force>
-          <wheel_radius>0.064</wheel_radius>
-        </wheel>
-        <wheel link_name="right_00_wheel">
-          <slip_compliance_lateral>7.424569e-4</slip_compliance_lateral>
-          <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-          <wheel_normal_force>21.0</wheel_normal_force>
-          <wheel_radius>0.064</wheel_radius>
-        </wheel>
-        <wheel link_name="left_01_wheel">
-          <slip_compliance_lateral>1.856142e-4</slip_compliance_lateral>
-          <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-          <wheel_normal_force>21.0</wheel_normal_force>
-          <wheel_radius>0.064</wheel_radius>
-        </wheel>
-        <wheel link_name="right_01_wheel">
-          <slip_compliance_lateral>1.856142e-4</slip_compliance_lateral>
-          <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-          <wheel_normal_force>21.0</wheel_normal_force>
-          <wheel_radius>0.064</wheel_radius>
-        </wheel>
-        <wheel link_name="left_02_wheel">
-          <slip_compliance_lateral>7.424569e-4</slip_compliance_lateral>
-          <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-          <wheel_normal_force>21.0</wheel_normal_force>
-          <wheel_radius>0.064</wheel_radius>
-        </wheel>
-        <wheel link_name="right_02_wheel">
-          <slip_compliance_lateral>7.424569e-4</slip_compliance_lateral>
-          <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-          <wheel_normal_force>21.0</wheel_normal_force>
-          <wheel_radius>0.064</wheel_radius>
-        </wheel>
-        <wheel link_name="left_03_wheel">
-          <slip_compliance_lateral>0.001353</slip_compliance_lateral>
-          <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-          <wheel_normal_force>21.0</wheel_normal_force>
-          <wheel_radius>0.064</wheel_radius>
-        </wheel>
-        <wheel link_name="right_03_wheel">
-          <slip_compliance_lateral>0.001353</slip_compliance_lateral>
-          <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-          <wheel_normal_force>21.0</wheel_normal_force>
-          <wheel_radius>0.064</wheel_radius>
-        </wheel>
-        <wheel link_name="left_04_wheel">
-          <slip_compliance_lateral>0.001713</slip_compliance_lateral>
-          <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-          <wheel_normal_force>21.0</wheel_normal_force>
-          <wheel_radius>0.064</wheel_radius>
-        </wheel>
-        <wheel link_name="right_04_wheel">
-          <slip_compliance_lateral>0.001713</slip_compliance_lateral>
-          <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-          <wheel_normal_force>21.0</wheel_normal_force>
-          <wheel_radius>0.064</wheel_radius>
-        </wheel>
-        <wheel link_name="left_05_wheel">
-          <slip_compliance_lateral>0.002249</slip_compliance_lateral>
-          <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-          <wheel_normal_force>21.0</wheel_normal_force>
-          <wheel_radius>0.064</wheel_radius>
-        </wheel>
-        <wheel link_name="right_05_wheel">
-          <slip_compliance_lateral>0.002249</slip_compliance_lateral>
-          <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-          <wheel_normal_force>21.0</wheel_normal_force>
-          <wheel_radius>0.064</wheel_radius>
-        </wheel>
-        <wheel link_name="left_11_wheel">
-          <slip_compliance_lateral>0.001353</slip_compliance_lateral>
-          <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-          <wheel_normal_force>21.0</wheel_normal_force>
-          <wheel_radius>0.064</wheel_radius>
-        </wheel>
-        <wheel link_name="right_11_wheel">
-          <slip_compliance_lateral>0.001353</slip_compliance_lateral>
-          <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-          <wheel_normal_force>21.0</wheel_normal_force>
-          <wheel_radius>0.064</wheel_radius>
-        </wheel>
-        <wheel link_name="left_12_wheel">
-          <slip_compliance_lateral>0.001713</slip_compliance_lateral>
-          <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-          <wheel_normal_force>21.0</wheel_normal_force>
-          <wheel_radius>0.064</wheel_radius>
-        </wheel>
-        <wheel link_name="right_12_wheel">
-          <slip_compliance_lateral>0.001713</slip_compliance_lateral>
-          <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-          <wheel_normal_force>21.0</wheel_normal_force>
-          <wheel_radius>0.064</wheel_radius>
-        </wheel>
-        <wheel link_name="left_13_wheel">
-          <slip_compliance_lateral>0.002249</slip_compliance_lateral>
-          <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-          <wheel_normal_force>21.0</wheel_normal_force>
-          <wheel_radius>0.064</wheel_radius>
-        </wheel>
-        <wheel link_name="right_13_wheel">
-          <slip_compliance_lateral>0.002249</slip_compliance_lateral>
-          <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-          <wheel_normal_force>21.0</wheel_normal_force>
-          <wheel_radius>0.064</wheel_radius>
-        </wheel>
-        <wheel link_name="left_14_wheel">
-          <slip_compliance_lateral>0.002841</slip_compliance_lateral>
-          <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-          <wheel_normal_force>21.0</wheel_normal_force>
-          <wheel_radius>0.064</wheel_radius>
-        </wheel>
-        <wheel link_name="right_14_wheel">
-          <slip_compliance_lateral>0.002841</slip_compliance_lateral>
-          <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-          <wheel_normal_force>21.0</wheel_normal_force>
-          <wheel_radius>0.064</wheel_radius>
-        </wheel>
+        <linear_velocity>
+          <min_velocity>-3.0</min_velocity>
+          <max_velocity>3.0</max_velocity>
+          <min_acceleration>-10.0</min_acceleration>
+          <max_acceleration>10.0</max_acceleration>
+        </linear_velocity>
       </plugin>
 
       <!-- Joint state for lidar gimbal -->

From ee74ae44358ff329a823e31deac5705920ab74fd Mon Sep 17 00:00:00 2001
From: Martin Pecka <peckama2@fel.cvut.cz>
Date: Thu, 18 Nov 2021 18:31:45 +0100
Subject: [PATCH 10/14] CSIRO_OZBOT_ATR: Implemented proper track model.

---
 .../CMakeLists.txt                            |    2 +-
 .../launch/example.ign                        |   17 +-
 .../launch/spawner.rb                         |  180 +--
 .../model.sdf                                 | 1156 ++---------------
 .../specifications.md                         |    5 +-
 .../urdf/robot_from_sdf.xacro                 |  560 ++------
 .../worlds/example.sdf                        |    6 +
 .../launch/example.ign                        |   20 +
 .../launch/spawner.rb                         |  180 +--
 9 files changed, 255 insertions(+), 1871 deletions(-)
 create mode 100644 submitted_models/csiro_data61_ozbot_atr_sensor_config_2/launch/example.ign

diff --git a/submitted_models/csiro_data61_ozbot_atr_sensor_config_1/CMakeLists.txt b/submitted_models/csiro_data61_ozbot_atr_sensor_config_1/CMakeLists.txt
index b5b4cffb..b732f4e9 100644
--- a/submitted_models/csiro_data61_ozbot_atr_sensor_config_1/CMakeLists.txt
+++ b/submitted_models/csiro_data61_ozbot_atr_sensor_config_1/CMakeLists.txt
@@ -5,7 +5,7 @@ find_package(catkin REQUIRED)
 
 catkin_package()
 
-install(DIRECTORY launch meshes urdf
+install(DIRECTORY launch meshes urdf worlds
   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
 
 install(FILES model.sdf model.config
diff --git a/submitted_models/csiro_data61_ozbot_atr_sensor_config_1/launch/example.ign b/submitted_models/csiro_data61_ozbot_atr_sensor_config_1/launch/example.ign
index 978ea32b..e5cbad64 100644
--- a/submitted_models/csiro_data61_ozbot_atr_sensor_config_1/launch/example.ign
+++ b/submitted_models/csiro_data61_ozbot_atr_sensor_config_1/launch/example.ign
@@ -6,7 +6,9 @@
 -->
 
 <%
-  require_relative 'spawner'
+  #require_relative 'spawner'
+  _base_dir = defined?(base_dir) ? base_dir.tr('"', '') : File.realpath(File.join(File.dirname(__FILE__), ".."))
+  load File.join(_base_dir, "launch", "spawner.rb")
 
   # Modify these as needed
   $enableGroundTruth = true
@@ -35,9 +37,11 @@
 
   <!-- Start ROS first. This is a bit hacky for now. -->
   <!-- Make sure to source /opt/ros/melodic/setup.bash -->
-  <executable name='ros'>
-    <command>roslaunch subt_ros competition_init.launch world_name:=<%=$worldName%> vehicle_topics:=0 enable_ground_truth:=<%=($enableGroundTruth)?"1":"0"%> robot_names:=<%=robotName%></command>
-  </executable>
+  <% if local_variables.include?(:ros) and ros %>
+    <executable name='ros'>
+      <command>roslaunch subt_ros competition_init.launch world_name:=<%=$worldName%> vehicle_topics:=0 enable_ground_truth:=<%=($enableGroundTruth)?"1":"0"%> robot_names:=<%=robotName%></command>
+    </executable>
+  <% end %>
 
   <plugin name="ignition::launch::GazeboServer"
           filename="libignition-launch-gazebo.so">
@@ -168,7 +172,10 @@
 <%= spawner(robotName, modelURI, $worldName, 0, 0, 0, 0, 0, 0) %>
 </plugin>
 
-<%= rosExecutables(robotName, $worldName) %>
+<% if local_variables.include?(:ros) and ros %>
+  <%= rosExecutables(robotName, $worldName) %>
+<% end %>
+
  
 </ignition>
 
diff --git a/submitted_models/csiro_data61_ozbot_atr_sensor_config_1/launch/spawner.rb b/submitted_models/csiro_data61_ozbot_atr_sensor_config_1/launch/spawner.rb
index fbf01f14..e52f638f 100644
--- a/submitted_models/csiro_data61_ozbot_atr_sensor_config_1/launch/spawner.rb
+++ b/submitted_models/csiro_data61_ozbot_atr_sensor_config_1/launch/spawner.rb
@@ -11,38 +11,20 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
       <name>#{_name}</name>
       <uri>#{_modelURI}</uri>
 
-      <!-- Track drive -->
-      <plugin filename="libignition-gazebo-diff-drive-system.so"
-              name="ignition::gazebo::systems::DiffDrive">
-        <left_joint>left_1_wheel_joint</left_joint>
-        <right_joint>right_1_wheel_joint</right_joint>
-        <left_joint>left_2_wheel_joint</left_joint>
-        <right_joint>right_2_wheel_joint</right_joint>
-        <left_joint>left_3_wheel_joint</left_joint>
-        <right_joint>right_3_wheel_joint</right_joint>
-        <left_joint>left_4_wheel_joint</left_joint>
-        <right_joint>right_4_wheel_joint</right_joint>
-        <left_joint>left_5_wheel_joint</left_joint>
-        <right_joint>right_5_wheel_joint</right_joint>
-        <left_joint>left_6_wheel_joint</left_joint>
-        <right_joint>right_6_wheel_joint</right_joint>
-        <left_joint>left_7_wheel_joint</left_joint>
-        <right_joint>right_7_wheel_joint</right_joint>
-        <left_joint>left_8_wheel_joint</left_joint>
-        <right_joint>right_8_wheel_joint</right_joint>
-        <left_joint>left_9_wheel_joint</left_joint>
-        <right_joint>right_9_wheel_joint</right_joint>
-        <left_joint>left_10_wheel_joint</left_joint>
-        <right_joint>right_10_wheel_joint</right_joint>
-        <left_joint>left_11_wheel_joint</left_joint>
-        <right_joint>right_11_wheel_joint</right_joint>
-        <wheel_separation>0.5</wheel_separation>
-        <wheel_radius>0.14</wheel_radius>
-        <min_velocity>-1.2</min_velocity>
-        <max_velocity>1.2</max_velocity>
-        <min_acceleration>-1.0</min_acceleration>
-        <max_acceleration>1.0</max_acceleration>
+      <!-- Tracked vehicle controller -->
+      <plugin name="ignition::gazebo::systems::TrackedVehicle" filename="ignition-gazebo-tracked-vehicle-system">
+        <left_track><link>left_track</link></left_track>
+        <right_track><link>right_track</link></right_track>
+        <tracks_separation>#{0.5}</tracks_separation>
+        <tracks_height>0.28</tracks_height>
+        <steering_efficiency>0.5</steering_efficiency>
         <topic>/model/#{_name}/cmd_vel_relay</topic>
+        <linear_velocity>
+          <min_velocity>-1.2</min_velocity>
+          <max_velocity>1.2</max_velocity>
+          <min_acceleration>-1.0</min_acceleration>
+          <max_acceleration>1.0</max_acceleration>
+        </linear_velocity>
       </plugin>
 
       <!-- Joint state for lidar gimbal -->
@@ -93,142 +75,6 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
         <type>gas</type>
       </plugin>
 
-      <!-- Wheel slip -->
-      <plugin filename="libignition-gazebo-wheel-slip-system.so"
-        name="ignition::gazebo::systems::WheelSlip">
-        <wheel link_name="left_10_wheel">
-          <slip_compliance_lateral>00165</slip_compliance_lateral>
-          <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-          <wheel_normal_force>65.255</wheel_normal_force>
-          <wheel_radius>0.14</wheel_radius>
-        </wheel>
-        <wheel link_name="left_11_wheel">
-          <slip_compliance_lateral>0.002249</slip_compliance_lateral>
-          <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-          <wheel_normal_force>65.255</wheel_normal_force>
-          <wheel_radius>0.14</wheel_radius>
-        </wheel>
-        <wheel link_name="left_1_wheel">
-          <slip_compliance_lateral>0.002841</slip_compliance_lateral>
-          <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-          <wheel_normal_force>65.255</wheel_normal_force>
-          <wheel_radius>0.14</wheel_radius>
-        </wheel>
-        <wheel link_name="left_2_wheel">
-          <slip_compliance_lateral>0.001713</slip_compliance_lateral>
-          <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-          <wheel_normal_force>65.255</wheel_normal_force>
-          <wheel_radius>0.14</wheel_radius>
-        </wheel>
-        <wheel link_name="left_3_wheel">
-          <slip_compliance_lateral>0.001353</slip_compliance_lateral>
-          <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-          <wheel_normal_force>65.255</wheel_normal_force>
-          <wheel_radius>0.14</wheel_radius>
-        </wheel>
-        <wheel link_name="left_4_wheel">
-          <slip_compliance_lateral>7.424569e-4</slip_compliance_lateral>
-          <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-          <wheel_normal_force>65.255</wheel_normal_force>
-          <wheel_radius>0.14</wheel_radius>
-        </wheel>
-        <wheel link_name="left_5_wheel">
-          <slip_compliance_lateral>1.856142e-4</slip_compliance_lateral>
-          <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-          <wheel_normal_force>65.255</wheel_normal_force>
-          <wheel_radius>0.14</wheel_radius>
-        </wheel>
-        <wheel link_name="left_6_wheel">
-          <slip_compliance_lateral>0.0</slip_compliance_lateral>
-          <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-          <wheel_normal_force>65.255</wheel_normal_force>
-          <wheel_radius>0.14</wheel_radius>
-        </wheel>
-        <wheel link_name="left_7_wheel">
-          <slip_compliance_lateral>1.856142e-4</slip_compliance_lateral>
-          <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-          <wheel_normal_force>65.255</wheel_normal_force>
-          <wheel_radius>0.14</wheel_radius>
-        </wheel>
-        <wheel link_name="left_8_wheel">
-          <slip_compliance_lateral>7.424569e-4</slip_compliance_lateral>
-          <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-          <wheel_normal_force>65.255</wheel_normal_force>
-          <wheel_radius>0.14</wheel_radius>
-        </wheel>
-        <wheel link_name="left_9_wheel">
-          <slip_compliance_lateral>0.00131</slip_compliance_lateral>
-          <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-          <wheel_normal_force>65.255</wheel_normal_force>
-          <wheel_radius>0.14</wheel_radius>
-        </wheel>
-        <wheel link_name="right_10_wheel">
-          <slip_compliance_lateral>0.00165</slip_compliance_lateral>
-          <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-          <wheel_normal_force>65.255</wheel_normal_force>
-          <wheel_radius>0.14</wheel_radius>
-        </wheel>
-        <wheel link_name="right_11_wheel">
-          <slip_compliance_lateral>0.002249</slip_compliance_lateral>
-          <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-          <wheel_normal_force>65.255</wheel_normal_force>
-          <wheel_radius>0.14</wheel_radius>
-        </wheel>
-        <wheel link_name="right_1_wheel">
-          <slip_compliance_lateral>0.002841</slip_compliance_lateral>
-          <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-          <wheel_normal_force>65.255</wheel_normal_force>
-          <wheel_radius>0.14</wheel_radius>
-        </wheel>
-        <wheel link_name="right_2_wheel">
-          <slip_compliance_lateral>0.001713</slip_compliance_lateral>
-          <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-          <wheel_normal_force>65.255</wheel_normal_force>
-          <wheel_radius>0.14</wheel_radius>
-        </wheel>
-        <wheel link_name="right_3_wheel">
-          <slip_compliance_lateral>0.001353</slip_compliance_lateral>
-          <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-          <wheel_normal_force>65.255</wheel_normal_force>
-          <wheel_radius>0.14</wheel_radius>
-        </wheel>
-        <wheel link_name="right_4_wheel">
-          <slip_compliance_lateral>7.424569e-4</slip_compliance_lateral>
-          <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-          <wheel_normal_force>65.255</wheel_normal_force>
-          <wheel_radius>0.14</wheel_radius>
-        </wheel>
-        <wheel link_name="right_5_wheel">
-          <slip_compliance_lateral>1.856142e-4</slip_compliance_lateral>
-          <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-          <wheel_normal_force>65.255</wheel_normal_force>
-          <wheel_radius>0.14</wheel_radius>
-        </wheel>
-        <wheel link_name="right_6_wheel">
-          <slip_compliance_lateral>0</slip_compliance_lateral>
-          <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-          <wheel_normal_force>65.255</wheel_normal_force>
-          <wheel_radius>0.14</wheel_radius>
-        </wheel>
-        <wheel link_name="right_7_wheel">
-          <slip_compliance_lateral>1.856142e-4</slip_compliance_lateral>
-          <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-          <wheel_normal_force>65.255</wheel_normal_force>
-          <wheel_radius>0.14</wheel_radius>
-        </wheel>
-        <wheel link_name="right_8_wheel">
-          <slip_compliance_lateral>7.424569e-4</slip_compliance_lateral>
-          <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-          <wheel_normal_force>65.255</wheel_normal_force>
-          <wheel_radius>0.14</wheel_radius>
-        </wheel>
-        <wheel link_name="right_9_wheel">
-          <slip_compliance_lateral>0.00131</slip_compliance_lateral>
-          <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-          <wheel_normal_force>65.255</wheel_normal_force>
-          <wheel_radius>0.14</wheel_radius>
-        </wheel>
-      </plugin>
     </include>
     </sdf>
   </spawn>
diff --git a/submitted_models/csiro_data61_ozbot_atr_sensor_config_1/model.sdf b/submitted_models/csiro_data61_ozbot_atr_sensor_config_1/model.sdf
index 1b747cf6..1e1126f8 100644
--- a/submitted_models/csiro_data61_ozbot_atr_sensor_config_1/model.sdf
+++ b/submitted_models/csiro_data61_ozbot_atr_sensor_config_1/model.sdf
@@ -746,22 +746,22 @@
         <use_parent_model_frame>0</use_parent_model_frame>
       </axis>
     </joint>
-    <link name="left_10_wheel">
-      <pose>-0.569461 0.269 0.055908 0 -0 0</pose>
+    <link name="left_track">
+      <pose>0 0.269 0 0 0 0</pose>
       <inertial>
         <pose>0 0 0 0 -0 0</pose>
-        <mass>2</mass>
-        <inertia>
-          <ixx>0.0164667</ixx>
+        <mass>22</mass>
+        <inertia> <!-- 22 kb box 1.045 x 0.2 x 0.2 m -->
+          <ixx>0.1467</ixx>
           <ixy>0</ixy>
           <ixz>0</ixz>
-          <iyy>0.0164667</iyy>
+          <iyy>2.0754</iyy>
           <iyz>0</iyz>
-          <izz>0.0196</izz>
+          <izz>2.0754</izz>
         </inertia>
       </inertial>
-      <collision name="left_10_wheel_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="left_11_wheel_collision"> <!-- rear top -->
+        <pose>-0.64 0 0.183 1.5707963267948966 -0 0</pose>
         <geometry>
           <cylinder>
             <length>0.2</length>
@@ -771,8 +771,8 @@
         <surface>
           <friction>
             <ode>
-              <mu>0.273</mu>
-              <slip1>0.00165</slip1>
+              <mu>1</mu>
+              <slip1>0.002249</slip1>
               <mu2>0.75</mu2>
               <fdir1>0 0 1</fdir1>
             </ode>
@@ -785,55 +785,19 @@
           </contact>
         </surface>
       </collision>
-      <gravity>1</gravity>
-      <velocity_decay/>
-      <self_collide>0</self_collide>
-    </link>
-    <joint name="left_10_wheel_joint" type="revolute">
-      <child>left_10_wheel</child>
-      <parent>base_link</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <damping>0</damping>
-          <friction>0</friction>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="left_11_wheel">
-      <pose>-0.60323 0.269 0.194954 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0 0 -0 0</pose>
-        <mass>2</mass>
-        <inertia>
-          <ixx>0.0164667</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.0164667</iyy>
-          <iyz>0</iyz>
-          <izz>0.0196</izz>
-        </inertia>
-      </inertial>
-      <collision name="left_11_wheel_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="left_1_wheel_collision"> <!-- front top -->
+        <pose>0.693 0 0.21 1.5707963267948966 -0 0</pose>
         <geometry>
           <cylinder>
             <length>0.2</length>
-            <radius>0.14</radius>
+            <radius>0.11</radius>
           </cylinder>
         </geometry>
         <surface>
           <friction>
             <ode>
-              <mu>0.193</mu>
-              <slip1>0.002249</slip1>
+              <mu>1</mu>
+              <slip1>0.002841</slip1>
               <mu2>0.75</mu2>
               <fdir1>0 0 1</fdir1>
             </ode>
@@ -846,44 +810,8 @@
           </contact>
         </surface>
       </collision>
-      <gravity>1</gravity>
-      <velocity_decay/>
-      <self_collide>0</self_collide>
-    </link>
-    <joint name="left_11_wheel_joint" type="revolute">
-      <child>left_11_wheel</child>
-      <parent>base_link</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <damping>0</damping>
-          <friction>0</friction>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="left_1_wheel">
-      <pose>0.668074 0.269 0.188985 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0 0 -0 0</pose>
-        <mass>2</mass>
-        <inertia>
-          <ixx>0.0164667</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.0164667</iyy>
-          <iyz>0</iyz>
-          <izz>0.0196</izz>
-        </inertia>
-      </inertial>
-      <collision name="left_1_wheel_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="left_3_wheel_collision"> <!-- front bottom -->
+        <pose>0.485 0 -0.037758 1.5707963267948966 -0 0</pose>
         <geometry>
           <cylinder>
             <length>0.2</length>
@@ -893,8 +821,8 @@
         <surface>
           <friction>
             <ode>
-              <mu>0.124</mu>
-              <slip1>0.002841</slip1>
+              <mu>1</mu>
+              <slip1>0.001353</slip1>
               <mu2>0.75</mu2>
               <fdir1>0 0 1</fdir1>
             </ode>
@@ -907,55 +835,19 @@
           </contact>
         </surface>
       </collision>
-      <gravity>1</gravity>
-      <velocity_decay/>
-      <self_collide>0</self_collide>
-    </link>
-    <joint name="left_1_wheel_joint" type="revolute">
-      <child>left_1_wheel</child>
-      <parent>base_link</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <damping>0</damping>
-          <friction>0</friction>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="left_2_wheel">
-      <pose>0.570147 0.269 0.04197 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0 0 -0 0</pose>
-        <mass>2</mass>
-        <inertia>
-          <ixx>0.0164667</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.0164667</iyy>
-          <iyz>0</iyz>
-          <izz>0.0196</izz>
-        </inertia>
-      </inertial>
-      <collision name="left_2_wheel_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="left_9_wheel_collision"> <!-- rear bottom -->
+        <pose>-0.56 0 -0.07 1.5707963267948966 -0 0</pose>
         <geometry>
           <cylinder>
             <length>0.2</length>
-            <radius>0.14</radius>
+            <radius>0.11</radius>
           </cylinder>
         </geometry>
         <surface>
           <friction>
             <ode>
-              <mu>0.264</mu>
-              <slip1>0.001713</slip1>
+              <mu>1</mu>
+              <slip1>0.00131</slip1>
               <mu2>0.75</mu2>
               <fdir1>0 0 1</fdir1>
             </ode>
@@ -968,55 +860,18 @@
           </contact>
         </surface>
       </collision>
-      <gravity>1</gravity>
-      <velocity_decay/>
-      <self_collide>0</self_collide>
-    </link>
-    <joint name="left_2_wheel_joint" type="revolute">
-      <child>left_2_wheel</child>
-      <parent>base_link</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <damping>0</damping>
-          <friction>0</friction>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="left_3_wheel">
-      <pose>0.479943 0.269 -0.037758 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0 0 -0 0</pose>
-        <mass>2</mass>
-        <inertia>
-          <ixx>0.0164667</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.0164667</iyy>
-          <iyz>0</iyz>
-          <izz>0.0196</izz>
-        </inertia>
-      </inertial>
-      <collision name="left_3_wheel_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="left_bottom_box_collision">
+        <pose>-0.0375 0 -0.068 0 0 0</pose>
         <geometry>
-          <cylinder>
-            <length>0.2</length>
-            <radius>0.14</radius>
-          </cylinder>
+          <box>
+            <size>1.045 0.2 0.22</size>
+          </box>
         </geometry>
         <surface>
           <friction>
             <ode>
-              <mu>0.318</mu>
-              <slip1>0.001353</slip1>
+              <mu>1</mu>
+              <slip1>0.00131</slip1>
               <mu2>0.75</mu2>
               <fdir1>0 0 1</fdir1>
             </ode>
@@ -1029,55 +884,18 @@
           </contact>
         </surface>
       </collision>
-      <gravity>1</gravity>
-      <velocity_decay/>
-      <self_collide>0</self_collide>
-    </link>
-    <joint name="left_3_wheel_joint" type="revolute">
-      <child>left_3_wheel</child>
-      <parent>base_link</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <damping>0</damping>
-          <friction>0</friction>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="left_4_wheel">
-      <pose>0.32 0.269 -0.05 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0 0 -0 0</pose>
-        <mass>2</mass>
-        <inertia>
-          <ixx>0.0164667</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.0164667</iyy>
-          <iyz>0</iyz>
-          <izz>0.0196</izz>
-        </inertia>
-      </inertial>
-      <collision name="left_4_wheel_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="left_rear_box_collision">
+        <pose>-0.612 0 0.05114 0 1.15017 0</pose>
         <geometry>
-          <cylinder>
-            <length>0.2</length>
-            <radius>0.14</radius>
-          </cylinder>
+          <box>
+            <size>0.285 0.2 0.22</size>
+          </box>
         </geometry>
         <surface>
           <friction>
             <ode>
-              <mu>0.43</mu>
-              <slip1>7.424569e-4</slip1>
+              <mu>1</mu>
+              <slip1>0.00131</slip1>
               <mu2>0.75</mu2>
               <fdir1>0 0 1</fdir1>
             </ode>
@@ -1090,55 +908,18 @@
           </contact>
         </surface>
       </collision>
-      <gravity>1</gravity>
-      <velocity_decay/>
-      <self_collide>0</self_collide>
-    </link>
-    <joint name="left_4_wheel_joint" type="revolute">
-      <child>left_4_wheel</child>
-      <parent>base_link</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <damping>0</damping>
-          <friction>0</friction>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="left_5_wheel">
-      <pose>0.16 0.269 -0.05 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0 0 -0 0</pose>
-        <mass>2</mass>
-        <inertia>
-          <ixx>0.0164667</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.0164667</iyy>
-          <iyz>0</iyz>
-          <izz>0.0196</izz>
-        </inertia>
-      </inertial>
-      <collision name="left_5_wheel_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="left_front_box_collision">
+        <pose>0.6 0 0.07898 0 -0.96517 0</pose>
         <geometry>
-          <cylinder>
-            <length>0.2</length>
-            <radius>0.14</radius>
-          </cylinder>
+          <box>
+            <size>0.35 0.2 0.22</size>
+          </box>
         </geometry>
         <surface>
           <friction>
             <ode>
-              <mu>0.59</mu>
-              <slip1>1.856142e-4</slip1>
+              <mu>1</mu>
+              <slip1>0.00131</slip1>
               <mu2>0.75</mu2>
               <fdir1>0 0 1</fdir1>
             </ode>
@@ -1155,40 +936,26 @@
       <velocity_decay/>
       <self_collide>0</self_collide>
     </link>
-    <joint name="left_5_wheel_joint" type="revolute">
-      <child>left_5_wheel</child>
+    <joint name="left_track_j" type="fixed">
+      <child>left_track</child>
       <parent>base_link</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <damping>0</damping>
-          <friction>0</friction>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
     </joint>
-    <link name="left_6_wheel">
-      <pose>0 0.269 -0.05 0 -0 0</pose>
+    <link name="right_track">
+      <pose>0 -0.269 0 0 0 0</pose>
       <inertial>
         <pose>0 0 0 0 -0 0</pose>
-        <mass>2</mass>
-        <inertia>
-          <ixx>0.0164667</ixx>
+        <mass>22</mass>
+        <inertia> <!-- 22 kb box 1.045 x 0.2 x 0.2 m -->
+          <ixx>0.1467</ixx>
           <ixy>0</ixy>
           <ixz>0</ixz>
-          <iyy>0.0164667</iyy>
+          <iyy>2.0754</iyy>
           <iyz>0</iyz>
-          <izz>0.0196</izz>
+          <izz>2.0754</izz>
         </inertia>
       </inertial>
-      <collision name="left_6_wheel_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="right_11_wheel_collision"> <!-- rear top -->
+        <pose>-0.64 0 0.183 1.5707963267948966 -0 0</pose>
         <geometry>
           <cylinder>
             <length>0.2</length>
@@ -1198,8 +965,8 @@
         <surface>
           <friction>
             <ode>
-              <mu>0</mu>
-              <slip1>0.0</slip1>
+              <mu>1</mu>
+              <slip1>0.002249</slip1>
               <mu2>0.75</mu2>
               <fdir1>0 0 1</fdir1>
             </ode>
@@ -1212,55 +979,19 @@
           </contact>
         </surface>
       </collision>
-      <gravity>1</gravity>
-      <velocity_decay/>
-      <self_collide>0</self_collide>
-    </link>
-    <joint name="left_6_wheel_joint" type="revolute">
-      <child>left_6_wheel</child>
-      <parent>base_link</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <damping>0</damping>
-          <friction>0</friction>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="left_7_wheel">
-      <pose>-0.16 0.269 -0.05 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0 0 -0 0</pose>
-        <mass>2</mass>
-        <inertia>
-          <ixx>0.0164667</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.0164667</iyy>
-          <iyz>0</iyz>
-          <izz>0.0196</izz>
-        </inertia>
-      </inertial>
-      <collision name="left_7_wheel_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="right_1_wheel_collision"> <!-- front top -->
+        <pose>0.693 0 0.21 1.5707963267948966 -0 0</pose>
         <geometry>
           <cylinder>
             <length>0.2</length>
-            <radius>0.14</radius>
+            <radius>0.11</radius>
           </cylinder>
         </geometry>
         <surface>
           <friction>
             <ode>
-              <mu>0.59</mu>
-              <slip1>1.856142e-4</slip1>
+              <mu>1</mu>
+              <slip1>0.002841</slip1>
               <mu2>0.75</mu2>
               <fdir1>0 0 1</fdir1>
             </ode>
@@ -1273,44 +1004,8 @@
           </contact>
         </surface>
       </collision>
-      <gravity>1</gravity>
-      <velocity_decay/>
-      <self_collide>0</self_collide>
-    </link>
-    <joint name="left_7_wheel_joint" type="revolute">
-      <child>left_7_wheel</child>
-      <parent>base_link</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <damping>0</damping>
-          <friction>0</friction>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="left_8_wheel">
-      <pose>-0.32 0.269 -0.05 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0 0 -0 0</pose>
-        <mass>2</mass>
-        <inertia>
-          <ixx>0.0164667</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.0164667</iyy>
-          <iyz>0</iyz>
-          <izz>0.0196</izz>
-        </inertia>
-      </inertial>
-      <collision name="left_8_wheel_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="right_3_wheel_collision"> <!-- front bottom -->
+        <pose>0.485 0 -0.037758 1.5707963267948966 -0 0</pose>
         <geometry>
           <cylinder>
             <length>0.2</length>
@@ -1320,8 +1015,8 @@
         <surface>
           <friction>
             <ode>
-              <mu>0.43</mu>
-              <slip1>7.424569e-4</slip1>
+              <mu>1</mu>
+              <slip1>0.001353</slip1>
               <mu2>0.75</mu2>
               <fdir1>0 0 1</fdir1>
             </ode>
@@ -1334,54 +1029,18 @@
           </contact>
         </surface>
       </collision>
-      <gravity>1</gravity>
-      <velocity_decay/>
-      <self_collide>0</self_collide>
-    </link>
-    <joint name="left_8_wheel_joint" type="revolute">
-      <child>left_8_wheel</child>
-      <parent>base_link</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <damping>0</damping>
-          <friction>0</friction>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="left_9_wheel">
-      <pose>-0.480636 0.269 -0.033094 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0 0 -0 0</pose>
-        <mass>2</mass>
-        <inertia>
-          <ixx>0.0164667</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.0164667</iyy>
-          <iyz>0</iyz>
-          <izz>0.0196</izz>
-        </inertia>
-      </inertial>
-      <collision name="left_9_wheel_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="right_9_wheel_collision"> <!-- rear bottom -->
+        <pose>-0.56 0 -0.07 1.5707963267948966 -0 0</pose>
         <geometry>
           <cylinder>
             <length>0.2</length>
-            <radius>0.14</radius>
+            <radius>0.11</radius>
           </cylinder>
         </geometry>
         <surface>
           <friction>
             <ode>
-              <mu>0.325</mu>
+              <mu>1</mu>
               <slip1>0.00131</slip1>
               <mu2>0.75</mu2>
               <fdir1>0 0 1</fdir1>
@@ -1395,482 +1054,18 @@
           </contact>
         </surface>
       </collision>
-      <gravity>1</gravity>
-      <velocity_decay/>
-      <self_collide>0</self_collide>
-    </link>
-    <joint name="left_9_wheel_joint" type="revolute">
-      <child>left_9_wheel</child>
-      <parent>base_link</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <damping>0</damping>
-          <friction>0</friction>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="right_10_wheel">
-      <pose>-0.569461 -0.269 0.055908 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0 0 -0 0</pose>
-        <mass>2</mass>
-        <inertia>
-          <ixx>0.0164667</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.0164667</iyy>
-          <iyz>0</iyz>
-          <izz>0.0196</izz>
-        </inertia>
-      </inertial>
-      <collision name="right_10_wheel_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.2</length>
-            <radius>0.14</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <friction>
-            <ode>
-              <mu>0.273</mu>
-              <slip1>0.00165</slip1>
-              <mu2>0.75</mu2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-        </surface>
-      </collision>
-      <gravity>1</gravity>
-      <velocity_decay/>
-      <self_collide>0</self_collide>
-    </link>
-    <joint name="right_10_wheel_joint" type="revolute">
-      <child>right_10_wheel</child>
-      <parent>base_link</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <damping>0</damping>
-          <friction>0</friction>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="right_11_wheel">
-      <pose>-0.60323 -0.269 0.194954 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0 0 -0 0</pose>
-        <mass>2</mass>
-        <inertia>
-          <ixx>0.0164667</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.0164667</iyy>
-          <iyz>0</iyz>
-          <izz>0.0196</izz>
-        </inertia>
-      </inertial>
-      <collision name="right_11_wheel_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.2</length>
-            <radius>0.14</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <friction>
-            <ode>
-              <mu>0.193</mu>
-              <slip1>0.002249</slip1>
-              <mu2>0.75</mu2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-        </surface>
-      </collision>
-      <gravity>1</gravity>
-      <velocity_decay/>
-      <self_collide>0</self_collide>
-    </link>
-    <joint name="right_11_wheel_joint" type="revolute">
-      <child>right_11_wheel</child>
-      <parent>base_link</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <damping>0</damping>
-          <friction>0</friction>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="right_1_wheel">
-      <pose>0.668074 -0.269 0.188985 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0 0 -0 0</pose>
-        <mass>2</mass>
-        <inertia>
-          <ixx>0.0164667</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.0164667</iyy>
-          <iyz>0</iyz>
-          <izz>0.0196</izz>
-        </inertia>
-      </inertial>
-      <collision name="right_1_wheel_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.2</length>
-            <radius>0.14</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <friction>
-            <ode>
-              <mu>0.124</mu>
-              <slip1>0.002841</slip1>
-              <mu2>0.75</mu2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-        </surface>
-      </collision>
-      <gravity>1</gravity>
-      <velocity_decay/>
-      <self_collide>0</self_collide>
-    </link>
-    <joint name="right_1_wheel_joint" type="revolute">
-      <child>right_1_wheel</child>
-      <parent>base_link</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <damping>0</damping>
-          <friction>0</friction>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="right_2_wheel">
-      <pose>0.570147 -0.269 0.04197 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0 0 -0 0</pose>
-        <mass>2</mass>
-        <inertia>
-          <ixx>0.0164667</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.0164667</iyy>
-          <iyz>0</iyz>
-          <izz>0.0196</izz>
-        </inertia>
-      </inertial>
-      <collision name="right_2_wheel_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.2</length>
-            <radius>0.14</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <friction>
-            <ode>
-              <mu>0.264</mu>
-              <slip1>0.001713</slip1>
-              <mu2>0.75</mu2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-        </surface>
-      </collision>
-      <gravity>1</gravity>
-      <velocity_decay/>
-      <self_collide>0</self_collide>
-    </link>
-    <joint name="right_2_wheel_joint" type="revolute">
-      <child>right_2_wheel</child>
-      <parent>base_link</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <damping>0</damping>
-          <friction>0</friction>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="right_3_wheel">
-      <pose>0.479943 -0.269 -0.037758 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0 0 -0 0</pose>
-        <mass>2</mass>
-        <inertia>
-          <ixx>0.0164667</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.0164667</iyy>
-          <iyz>0</iyz>
-          <izz>0.0196</izz>
-        </inertia>
-      </inertial>
-      <collision name="right_3_wheel_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.2</length>
-            <radius>0.14</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <friction>
-            <ode>
-              <mu>0.318</mu>
-              <slip1>0.001353</slip1>
-              <mu2>0.75</mu2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-        </surface>
-      </collision>
-      <gravity>1</gravity>
-      <velocity_decay/>
-      <self_collide>0</self_collide>
-    </link>
-    <joint name="right_3_wheel_joint" type="revolute">
-      <child>right_3_wheel</child>
-      <parent>base_link</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <damping>0</damping>
-          <friction>0</friction>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="right_4_wheel">
-      <pose>0.32 -0.269 -0.05 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0 0 -0 0</pose>
-        <mass>2</mass>
-        <inertia>
-          <ixx>0.0164667</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.0164667</iyy>
-          <iyz>0</iyz>
-          <izz>0.0196</izz>
-        </inertia>
-      </inertial>
-      <collision name="right_4_wheel_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.2</length>
-            <radius>0.14</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <friction>
-            <ode>
-              <mu>0.43</mu>
-              <slip1>7.424569e-4</slip1>
-              <mu2>0.75</mu2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-        </surface>
-      </collision>
-      <gravity>1</gravity>
-      <velocity_decay/>
-      <self_collide>0</self_collide>
-    </link>
-    <joint name="right_4_wheel_joint" type="revolute">
-      <child>right_4_wheel</child>
-      <parent>base_link</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <damping>0</damping>
-          <friction>0</friction>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="right_5_wheel">
-      <pose>0.16 -0.269 -0.05 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0 0 -0 0</pose>
-        <mass>2</mass>
-        <inertia>
-          <ixx>0.0164667</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.0164667</iyy>
-          <iyz>0</iyz>
-          <izz>0.0196</izz>
-        </inertia>
-      </inertial>
-      <collision name="right_5_wheel_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.2</length>
-            <radius>0.14</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <friction>
-            <ode>
-              <mu>0.59</mu>
-              <slip1>1.856142e-4</slip1>
-              <mu2>0.75</mu2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-        </surface>
-      </collision>
-      <gravity>1</gravity>
-      <velocity_decay/>
-      <self_collide>0</self_collide>
-    </link>
-    <joint name="right_5_wheel_joint" type="revolute">
-      <child>right_5_wheel</child>
-      <parent>base_link</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <damping>0</damping>
-          <friction>0</friction>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="right_6_wheel">
-      <pose>0 -0.269 -0.05 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0 0 -0 0</pose>
-        <mass>2</mass>
-        <inertia>
-          <ixx>0.0164667</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.0164667</iyy>
-          <iyz>0</iyz>
-          <izz>0.0196</izz>
-        </inertia>
-      </inertial>
-      <collision name="right_6_wheel_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="right_bottom_box_collision">
+        <pose>-0.0375 0 -0.068 0 0 0</pose>
         <geometry>
-          <cylinder>
-            <length>0.2</length>
-            <radius>0.14</radius>
-          </cylinder>
+          <box>
+            <size>1.045 0.2 0.22</size>
+          </box>
         </geometry>
         <surface>
           <friction>
             <ode>
-              <mu>0</mu>
-              <slip1>0.0</slip1>
+              <mu>1</mu>
+              <slip1>0.00131</slip1>
               <mu2>0.75</mu2>
               <fdir1>0 0 1</fdir1>
             </ode>
@@ -1883,116 +1078,18 @@
           </contact>
         </surface>
       </collision>
-      <gravity>1</gravity>
-      <velocity_decay/>
-      <self_collide>0</self_collide>
-    </link>
-    <joint name="right_6_wheel_joint" type="revolute">
-      <child>right_6_wheel</child>
-      <parent>base_link</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <damping>0</damping>
-          <friction>0</friction>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="right_7_wheel">
-      <pose>-0.16 -0.269 -0.05 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0 0 -0 0</pose>
-        <mass>2</mass>
-        <inertia>
-          <ixx>0.0164667</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.0164667</iyy>
-          <iyz>0</iyz>
-          <izz>0.0196</izz>
-        </inertia>
-      </inertial>
-      <collision name="right_7_wheel_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="right_rear_box_collision">
+        <pose>-0.612 0 0.05114 0 1.15017 0</pose>
         <geometry>
-          <cylinder>
-            <length>0.2</length>
-            <radius>0.14</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <friction>
-            <ode>
-              <mu>0.59</mu>
-              <slip1>1.856142e-4</slip1>
-              <mu2>0.75</mu2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-        </surface>
-      </collision>
-      <gravity>1</gravity>
-      <velocity_decay/>
-      <self_collide>0</self_collide>
-    </link>
-    <joint name="right_7_wheel_joint" type="revolute">
-      <child>right_7_wheel</child>
-      <parent>base_link</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <damping>0</damping>
-          <friction>0</friction>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="right_8_wheel">
-      <pose>-0.32 -0.269 -0.05 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0 0 -0 0</pose>
-        <mass>2</mass>
-        <inertia>
-          <ixx>0.0164667</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.0164667</iyy>
-          <iyz>0</iyz>
-          <izz>0.0196</izz>
-        </inertia>
-      </inertial>
-      <collision name="right_8_wheel_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.2</length>
-            <radius>0.14</radius>
-          </cylinder>
+          <box>
+            <size>0.285 0.2 0.22</size>
+          </box>
         </geometry>
         <surface>
           <friction>
             <ode>
-              <mu>0.43</mu>
-              <slip1>7.424569e-4</slip1>
+              <mu>1</mu>
+              <slip1>0.00131</slip1>
               <mu2>0.75</mu2>
               <fdir1>0 0 1</fdir1>
             </ode>
@@ -2005,54 +1102,17 @@
           </contact>
         </surface>
       </collision>
-      <gravity>1</gravity>
-      <velocity_decay/>
-      <self_collide>0</self_collide>
-    </link>
-    <joint name="right_8_wheel_joint" type="revolute">
-      <child>right_8_wheel</child>
-      <parent>base_link</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <damping>0</damping>
-          <friction>0</friction>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="right_9_wheel">
-      <pose>-0.480636 -0.269 -0.033094 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0 0 -0 0</pose>
-        <mass>2</mass>
-        <inertia>
-          <ixx>0.0164667</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.0164667</iyy>
-          <iyz>0</iyz>
-          <izz>0.0196</izz>
-        </inertia>
-      </inertial>
-      <collision name="right_9_wheel_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="right_front_box_collision">
+        <pose>0.6 0 0.07898 0 -0.96517 0</pose>
         <geometry>
-          <cylinder>
-            <length>0.2</length>
-            <radius>0.14</radius>
-          </cylinder>
+          <box>
+            <size>0.35 0.2 0.22</size>
+          </box>
         </geometry>
         <surface>
           <friction>
             <ode>
-              <mu>0.325</mu>
+              <mu>1</mu>
               <slip1>0.00131</slip1>
               <mu2>0.75</mu2>
               <fdir1>0 0 1</fdir1>
@@ -2070,24 +1130,24 @@
       <velocity_decay/>
       <self_collide>0</self_collide>
     </link>
-    <joint name="right_9_wheel_joint" type="revolute">
-      <child>right_9_wheel</child>
+    <joint name="right_track_j" type="fixed">
+      <child>right_track</child>
       <parent>base_link</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <damping>0</damping>
-          <friction>0</friction>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
     </joint>
+    <plugin name='ignition::gazebo::systems::TrackController' filename='libignition-gazebo-track-controller-system.so'>
+      <link>left_track</link>
+      <min_velocity>-1.2</min_velocity>
+      <max_velocity>1.2</max_velocity>
+      <min_acceleration>-1</min_acceleration>
+      <max_acceleration>1</max_acceleration>
+    </plugin>
+    <plugin name='ignition::gazebo::systems::TrackController' filename='libignition-gazebo-track-controller-system.so'>
+      <link>right_track</link>
+      <min_velocity>-1.2</min_velocity>
+      <max_velocity>1.2</max_velocity>
+      <min_acceleration>-1</min_acceleration>
+      <max_acceleration>1</max_acceleration>
+    </plugin>
     <static>0</static>
   </model>
 </sdf>
diff --git a/submitted_models/csiro_data61_ozbot_atr_sensor_config_1/specifications.md b/submitted_models/csiro_data61_ozbot_atr_sensor_config_1/specifications.md
index 53a20cfe..692d899d 100644
--- a/submitted_models/csiro_data61_ozbot_atr_sensor_config_1/specifications.md
+++ b/submitted_models/csiro_data61_ozbot_atr_sensor_config_1/specifications.md
@@ -12,7 +12,7 @@ This robot configuration is based on the BIA5 OZBOT-ATR Tracked AGV. It has a st
 The robot accepts standard twist commands on the cmd_vel topic. The gimbal for the lidar can be controlled on the following topic:
 lidar_gimbal/pan_rate_cmd_double (std_msgs/Double)
 
-The position of the gimbal is accessed on the joint state topic. The joint state topic also contains the states of all the other joints on the robot (for the wheels used to simulate track drive), but the gimbal state is the first joint on the topic, e.g joint_states/position[0]
+The position of the gimbal is accessed on the joint state topic joint_states/position[0]
 
 ## Usage Rights
 This software is released under a [BSD 3-Clause license](LICENSE).
@@ -31,7 +31,7 @@ The following specific sensors are declared payloads of this vehicle:
 * 12 communication breadcrumbs are also available as a payload for this robot in sensor configuration 2.
 
 ### Control
-The platform is controlled by the standard diff-drive plugin for ignition gazebo, with twist inputs on "/<robotName>/cmd_vel", The robot has the following motion characteristics. Note there is also a gimbal for spinning the lidar, which is controlled on "/"<robotName>/lidar_gimbal/pan_rate_cmd_double"
+The platform is controlled by TrackedVehicle plugin for ignition gazebo, with twist inputs on `/<robotName>/cmd_vel`, The robot has the following motion characteristics. Note there is also a gimbal for spinning the lidar, which is controlled on `/<robotName>/lidar_gimbal/pan_rate_cmd_double`
 
 ### Motion Characteristics
 Based on the tests specified in the DARPA SubT Challenge [Model Preparation
@@ -50,7 +50,6 @@ this vehicle has the following motion constraint characteristics.
 Endurance of the platform is approximately 312 minutes
 
 ### Diversions from Physical Hardware of OZBOT_ATR
-* Currently the model does not have an accurate render of the track system, as diff-drive control currently requires the use of simulated multi-wheel systems. The multi-wheel system on the sim model is intended to provide a reasonable approximation of the track contact geometry for driving.
 * The physical version of the robot features a complex suspension system for the tracks, this is not feasible to model in the simulation and thus in simulation the robot is completely rigid.
 
 ## OZBOT ATR Validation and Specification Links
diff --git a/submitted_models/csiro_data61_ozbot_atr_sensor_config_1/urdf/robot_from_sdf.xacro b/submitted_models/csiro_data61_ozbot_atr_sensor_config_1/urdf/robot_from_sdf.xacro
index 1ccf08b3..e1533cb1 100644
--- a/submitted_models/csiro_data61_ozbot_atr_sensor_config_1/urdf/robot_from_sdf.xacro
+++ b/submitted_models/csiro_data61_ozbot_atr_sensor_config_1/urdf/robot_from_sdf.xacro
@@ -227,424 +227,200 @@
     <parent link='${robot_namespace}/nav_imu'/>
     <origin xyz='0 0 0' rpy='0 -0 0'/>
   </sensor>
-  <link name='${robot_namespace}/left_10_wheel'>
+  <link name='${robot_namespace}/left_track'>
     <inertial>
       <origin xyz='0 0 0' rpy='0 -0 0'/>
       <mass value='2'/>
-      <inertia ixx='0.0164667' ixy='0' ixz='0' iyy='0.0164667' iyz='0' izz='0.0196'/>
-    </inertial>
-    <collision name='left_10_wheel_collision'>
-      <origin xyz='0 0 0' rpy='1.5708 -0 0'/>
-      <geometry>
-        <cylinder radius='0.14' length='0.2'/>
-      </geometry>
-    </collision>
-    <visual name='left_10_wheel_visual'>
-      <origin xyz='0 0 0' rpy='1.5708 -0 0'/>
-      <geometry>
-        <cylinder radius='0.14' length='0.2'/>
-      </geometry>
-    </visual>
-  </link>
-  <link name='${robot_namespace}/left_11_wheel'>
-    <inertial>
-      <origin xyz='0 0 0' rpy='0 -0 0'/>
-      <mass value='2'/>
-      <inertia ixx='0.0164667' ixy='0' ixz='0' iyy='0.0164667' iyz='0' izz='0.0196'/>
+      <inertia ixx='0.1467' ixy='0' ixz='0' iyy='2.0754' iyz='0' izz='2.0754'/>
     </inertial>
     <collision name='left_11_wheel_collision'>
-      <origin xyz='0 0 0' rpy='1.5708 -0 0'/>
+      <origin xyz='-0.64 0 0.183' rpy='1.5708 -0 0'/>
       <geometry>
         <cylinder radius='0.14' length='0.2'/>
       </geometry>
     </collision>
     <visual name='left_11_wheel_visual'>
-      <origin xyz='0 0 0' rpy='1.5708 -0 0'/>
+      <origin xyz='-0.64 0 0.183' rpy='1.5708 -0 0'/>
       <geometry>
         <cylinder radius='0.14' length='0.2'/>
       </geometry>
     </visual>
-  </link>
-  <link name='${robot_namespace}/left_1_wheel'>
-    <inertial>
-      <origin xyz='0 0 0' rpy='0 -0 0'/>
-      <mass value='2'/>
-      <inertia ixx='0.0164667' ixy='0' ixz='0' iyy='0.0164667' iyz='0' izz='0.0196'/>
-    </inertial>
     <collision name='left_1_wheel_collision'>
-      <origin xyz='0 0 0' rpy='1.5708 -0 0'/>
+      <origin xyz='0.693 0 0.21' rpy='1.5708 -0 0'/>
       <geometry>
-        <cylinder radius='0.14' length='0.2'/>
+        <cylinder radius='0.11' length='0.2'/>
       </geometry>
     </collision>
     <visual name='left_1_wheel_visual'>
-      <origin xyz='0 0 0' rpy='1.5708 -0 0'/>
-      <geometry>
-        <cylinder radius='0.14' length='0.2'/>
-      </geometry>
-    </visual>
-  </link>
-  <link name='${robot_namespace}/left_2_wheel'>
-    <inertial>
-      <origin xyz='0 0 0' rpy='0 -0 0'/>
-      <mass value='2'/>
-      <inertia ixx='0.0164667' ixy='0' ixz='0' iyy='0.0164667' iyz='0' izz='0.0196'/>
-    </inertial>
-    <collision name='left_2_wheel_collision'>
-      <origin xyz='0 0 0' rpy='1.5708 -0 0'/>
-      <geometry>
-        <cylinder radius='0.14' length='0.2'/>
-      </geometry>
-    </collision>
-    <visual name='left_2_wheel_visual'>
-      <origin xyz='0 0 0' rpy='1.5708 -0 0'/>
+      <origin xyz='0.693 0 0.21' rpy='1.5708 -0 0'/>
       <geometry>
-        <cylinder radius='0.14' length='0.2'/>
+        <cylinder radius='0.11' length='0.2'/>
       </geometry>
     </visual>
-  </link>
-  <link name='${robot_namespace}/left_3_wheel'>
-    <inertial>
-      <origin xyz='0 0 0' rpy='0 -0 0'/>
-      <mass value='2'/>
-      <inertia ixx='0.0164667' ixy='0' ixz='0' iyy='0.0164667' iyz='0' izz='0.0196'/>
-    </inertial>
     <collision name='left_3_wheel_collision'>
-      <origin xyz='0 0 0' rpy='1.5708 -0 0'/>
+      <origin xyz='0.485 0 -0.037758' rpy='1.5708 -0 0'/>
       <geometry>
         <cylinder radius='0.14' length='0.2'/>
       </geometry>
     </collision>
     <visual name='left_3_wheel_visual'>
-      <origin xyz='0 0 0' rpy='1.5708 -0 0'/>
+      <origin xyz='0.485 0 -0.037758' rpy='1.5708 -0 0'/>
       <geometry>
         <cylinder radius='0.14' length='0.2'/>
       </geometry>
     </visual>
-  </link>
-  <link name='${robot_namespace}/left_4_wheel'>
-    <inertial>
-      <origin xyz='0 0 0' rpy='0 -0 0'/>
-      <mass value='2'/>
-      <inertia ixx='0.0164667' ixy='0' ixz='0' iyy='0.0164667' iyz='0' izz='0.0196'/>
-    </inertial>
-    <collision name='left_4_wheel_collision'>
-      <origin xyz='0 0 0' rpy='1.5708 -0 0'/>
-      <geometry>
-        <cylinder radius='0.14' length='0.2'/>
-      </geometry>
-    </collision>
-    <visual name='left_4_wheel_visual'>
-      <origin xyz='0 0 0' rpy='1.5708 -0 0'/>
-      <geometry>
-        <cylinder radius='0.14' length='0.2'/>
-      </geometry>
-    </visual>
-  </link>
-  <link name='${robot_namespace}/left_5_wheel'>
-    <inertial>
-      <origin xyz='0 0 0' rpy='0 -0 0'/>
-      <mass value='2'/>
-      <inertia ixx='0.0164667' ixy='0' ixz='0' iyy='0.0164667' iyz='0' izz='0.0196'/>
-    </inertial>
-    <collision name='left_5_wheel_collision'>
-      <origin xyz='0 0 0' rpy='1.5708 -0 0'/>
-      <geometry>
-        <cylinder radius='0.14' length='0.2'/>
-      </geometry>
-    </collision>
-    <visual name='left_5_wheel_visual'>
-      <origin xyz='0 0 0' rpy='1.5708 -0 0'/>
-      <geometry>
-        <cylinder radius='0.14' length='0.2'/>
-      </geometry>
-    </visual>
-  </link>
-  <link name='${robot_namespace}/left_6_wheel'>
-    <inertial>
-      <origin xyz='0 0 0' rpy='0 -0 0'/>
-      <mass value='2'/>
-      <inertia ixx='0.0164667' ixy='0' ixz='0' iyy='0.0164667' iyz='0' izz='0.0196'/>
-    </inertial>
-    <collision name='left_6_wheel_collision'>
-      <origin xyz='0 0 0' rpy='1.5708 -0 0'/>
+    <collision name='left_9_wheel_collision'>
+      <origin xyz='-0.56 0 -0.07' rpy='1.5708 -0 0'/>
       <geometry>
-        <cylinder radius='0.14' length='0.2'/>
+        <cylinder radius='0.11' length='0.2'/>
       </geometry>
     </collision>
-    <visual name='left_6_wheel_visual'>
-      <origin xyz='0 0 0' rpy='1.5708 -0 0'/>
+    <visual name='left_9_wheel_visual'>
+      <origin xyz='-0.56 0 -0.07' rpy='1.5708 -0 0'/>
       <geometry>
-        <cylinder radius='0.14' length='0.2'/>
+        <cylinder radius='0.11' length='0.2'/>
       </geometry>
     </visual>
-  </link>
-  <link name='${robot_namespace}/left_7_wheel'>
-    <inertial>
-      <origin xyz='0 0 0' rpy='0 -0 0'/>
-      <mass value='2'/>
-      <inertia ixx='0.0164667' ixy='0' ixz='0' iyy='0.0164667' iyz='0' izz='0.0196'/>
-    </inertial>
-    <collision name='left_7_wheel_collision'>
-      <origin xyz='0 0 0' rpy='1.5708 -0 0'/>
+    <collision name='left_bottom_box_collision'>
+      <origin xyz='-0.0375 0 -0.068' rpy='0 0 0'/>
       <geometry>
-        <cylinder radius='0.14' length='0.2'/>
+        <box size='1.045 0.2 0.22' />
       </geometry>
     </collision>
-    <visual name='left_7_wheel_visual'>
-      <origin xyz='0 0 0' rpy='1.5708 -0 0'/>
+    <visual name='left_bottom_box_visual'>
+      <origin xyz='-0.0375 0 -0.068' rpy='0 0 0'/>
       <geometry>
-        <cylinder radius='0.14' length='0.2'/>
+        <box size='1.045 0.2 0.22' />
       </geometry>
     </visual>
-  </link>
-  <link name='${robot_namespace}/left_8_wheel'>
-    <inertial>
-      <origin xyz='0 0 0' rpy='0 -0 0'/>
-      <mass value='2'/>
-      <inertia ixx='0.0164667' ixy='0' ixz='0' iyy='0.0164667' iyz='0' izz='0.0196'/>
-    </inertial>
-    <collision name='left_8_wheel_collision'>
-      <origin xyz='0 0 0' rpy='1.5708 -0 0'/>
+    <collision name='left_rear_box_collision'>
+      <origin xyz='-0.612 0 0.05114' rpy='0 1.15017 0'/>
       <geometry>
-        <cylinder radius='0.14' length='0.2'/>
+        <box size='0.285 0.2 0.22' />
       </geometry>
     </collision>
-    <visual name='left_8_wheel_visual'>
-      <origin xyz='0 0 0' rpy='1.5708 -0 0'/>
+    <visual name='left_rear_box_visual'>
+      <origin xyz='-0.612 0 0.05114' rpy='0 1.15017 0'/>
       <geometry>
-        <cylinder radius='0.14' length='0.2'/>
+        <box size='0.285 0.2 0.22' />
       </geometry>
     </visual>
-  </link>
-  <link name='${robot_namespace}/left_9_wheel'>
-    <inertial>
-      <origin xyz='0 0 0' rpy='0 -0 0'/>
-      <mass value='2'/>
-      <inertia ixx='0.0164667' ixy='0' ixz='0' iyy='0.0164667' iyz='0' izz='0.0196'/>
-    </inertial>
-    <collision name='left_9_wheel_collision'>
-      <origin xyz='0 0 0' rpy='1.5708 -0 0'/>
+    <collision name='left_front_box_collision'>
+      <origin xyz='0.6 0 0.07898' rpy='0 -0.96517 0'/>
       <geometry>
-        <cylinder radius='0.14' length='0.2'/>
+        <box size='0.35 0.2 0.22' />
       </geometry>
     </collision>
-    <visual name='left_9_wheel_visual'>
-      <origin xyz='0 0 0' rpy='1.5708 -0 0'/>
+    <visual name='left_front_box_visual'>
+      <origin xyz='0.6 0 0.07898' rpy='0 -0.96517 0'/>
       <geometry>
-        <cylinder radius='0.14' length='0.2'/>
+        <box size='0.35 0.2 0.22' />
       </geometry>
     </visual>
   </link>
-  <link name='${robot_namespace}/right_10_wheel'>
-    <inertial>
-      <origin xyz='0 0 0' rpy='0 -0 0'/>
-      <mass value='2'/>
-      <inertia ixx='0.0164667' ixy='0' ixz='0' iyy='0.0164667' iyz='0' izz='0.0196'/>
-    </inertial>
-    <collision name='right_10_wheel_collision'>
-      <origin xyz='0 0 0' rpy='1.5708 -0 0'/>
-      <geometry>
-        <cylinder radius='0.14' length='0.2'/>
-      </geometry>
-    </collision>
-    <visual name='right_10_wheel_visual'>
-      <origin xyz='0 0 0' rpy='1.5708 -0 0'/>
-      <geometry>
-        <cylinder radius='0.14' length='0.2'/>
-      </geometry>
-    </visual>
-  </link>
-  <link name='${robot_namespace}/right_11_wheel'>
+  <joint name='left_track_j' type='fixed'>
+    <origin xyz='0 0.269 0' rpy='0 0 0'/>
+    <parent link='${robot_namespace}/base_link'/>
+    <child link='${robot_namespace}/left_track'/>
+  </joint>
+
+  <link name='${robot_namespace}/right_track'>
     <inertial>
       <origin xyz='0 0 0' rpy='0 -0 0'/>
       <mass value='2'/>
-      <inertia ixx='0.0164667' ixy='0' ixz='0' iyy='0.0164667' iyz='0' izz='0.0196'/>
+      <inertia ixx='0.1467' ixy='0' ixz='0' iyy='2.0754' iyz='0' izz='2.0754'/>
     </inertial>
     <collision name='right_11_wheel_collision'>
-      <origin xyz='0 0 0' rpy='1.5708 -0 0'/>
+      <origin xyz='-0.64 0 0.183' rpy='1.5708 -0 0'/>
       <geometry>
         <cylinder radius='0.14' length='0.2'/>
       </geometry>
     </collision>
     <visual name='right_11_wheel_visual'>
-      <origin xyz='0 0 0' rpy='1.5708 -0 0'/>
+      <origin xyz='-0.64 0 0.183' rpy='1.5708 -0 0'/>
       <geometry>
         <cylinder radius='0.14' length='0.2'/>
       </geometry>
     </visual>
-  </link>
-  <link name='${robot_namespace}/right_1_wheel'>
-    <inertial>
-      <origin xyz='0 0 0' rpy='0 -0 0'/>
-      <mass value='2'/>
-      <inertia ixx='0.0164667' ixy='0' ixz='0' iyy='0.0164667' iyz='0' izz='0.0196'/>
-    </inertial>
     <collision name='right_1_wheel_collision'>
-      <origin xyz='0 0 0' rpy='1.5708 -0 0'/>
+      <origin xyz='0.693 0 0.21' rpy='1.5708 -0 0'/>
       <geometry>
-        <cylinder radius='0.14' length='0.2'/>
+        <cylinder radius='0.11' length='0.2'/>
       </geometry>
     </collision>
     <visual name='right_1_wheel_visual'>
-      <origin xyz='0 0 0' rpy='1.5708 -0 0'/>
-      <geometry>
-        <cylinder radius='0.14' length='0.2'/>
-      </geometry>
-    </visual>
-  </link>
-  <link name='${robot_namespace}/right_2_wheel'>
-    <inertial>
-      <origin xyz='0 0 0' rpy='0 -0 0'/>
-      <mass value='2'/>
-      <inertia ixx='0.0164667' ixy='0' ixz='0' iyy='0.0164667' iyz='0' izz='0.0196'/>
-    </inertial>
-    <collision name='right_2_wheel_collision'>
-      <origin xyz='0 0 0' rpy='1.5708 -0 0'/>
-      <geometry>
-        <cylinder radius='0.14' length='0.2'/>
-      </geometry>
-    </collision>
-    <visual name='right_2_wheel_visual'>
-      <origin xyz='0 0 0' rpy='1.5708 -0 0'/>
+      <origin xyz='0.693 0 0.21' rpy='1.5708 -0 0'/>
       <geometry>
-        <cylinder radius='0.14' length='0.2'/>
+        <cylinder radius='0.11' length='0.2'/>
       </geometry>
     </visual>
-  </link>
-  <link name='${robot_namespace}/right_3_wheel'>
-    <inertial>
-      <origin xyz='0 0 0' rpy='0 -0 0'/>
-      <mass value='2'/>
-      <inertia ixx='0.0164667' ixy='0' ixz='0' iyy='0.0164667' iyz='0' izz='0.0196'/>
-    </inertial>
     <collision name='right_3_wheel_collision'>
-      <origin xyz='0 0 0' rpy='1.5708 -0 0'/>
+      <origin xyz='0.485 0 -0.037758' rpy='1.5708 -0 0'/>
       <geometry>
         <cylinder radius='0.14' length='0.2'/>
       </geometry>
     </collision>
     <visual name='right_3_wheel_visual'>
-      <origin xyz='0 0 0' rpy='1.5708 -0 0'/>
+      <origin xyz='0.485 0 -0.037758' rpy='1.5708 -0 0'/>
       <geometry>
         <cylinder radius='0.14' length='0.2'/>
       </geometry>
     </visual>
-  </link>
-  <link name='${robot_namespace}/right_4_wheel'>
-    <inertial>
-      <origin xyz='0 0 0' rpy='0 -0 0'/>
-      <mass value='2'/>
-      <inertia ixx='0.0164667' ixy='0' ixz='0' iyy='0.0164667' iyz='0' izz='0.0196'/>
-    </inertial>
-    <collision name='right_4_wheel_collision'>
-      <origin xyz='0 0 0' rpy='1.5708 -0 0'/>
-      <geometry>
-        <cylinder radius='0.14' length='0.2'/>
-      </geometry>
-    </collision>
-    <visual name='right_4_wheel_visual'>
-      <origin xyz='0 0 0' rpy='1.5708 -0 0'/>
-      <geometry>
-        <cylinder radius='0.14' length='0.2'/>
-      </geometry>
-    </visual>
-  </link>
-  <link name='${robot_namespace}/right_5_wheel'>
-    <inertial>
-      <origin xyz='0 0 0' rpy='0 -0 0'/>
-      <mass value='2'/>
-      <inertia ixx='0.0164667' ixy='0' ixz='0' iyy='0.0164667' iyz='0' izz='0.0196'/>
-    </inertial>
-    <collision name='right_5_wheel_collision'>
-      <origin xyz='0 0 0' rpy='1.5708 -0 0'/>
-      <geometry>
-        <cylinder radius='0.14' length='0.2'/>
-      </geometry>
-    </collision>
-    <visual name='right_5_wheel_visual'>
-      <origin xyz='0 0 0' rpy='1.5708 -0 0'/>
-      <geometry>
-        <cylinder radius='0.14' length='0.2'/>
-      </geometry>
-    </visual>
-  </link>
-  <link name='${robot_namespace}/right_6_wheel'>
-    <inertial>
-      <origin xyz='0 0 0' rpy='0 -0 0'/>
-      <mass value='2'/>
-      <inertia ixx='0.0164667' ixy='0' ixz='0' iyy='0.0164667' iyz='0' izz='0.0196'/>
-    </inertial>
-    <collision name='right_6_wheel_collision'>
-      <origin xyz='0 0 0' rpy='1.5708 -0 0'/>
+    <collision name='right_9_wheel_collision'>
+      <origin xyz='-0.56 0 -0.07' rpy='1.5708 -0 0'/>
       <geometry>
-        <cylinder radius='0.14' length='0.2'/>
+        <cylinder radius='0.11' length='0.2'/>
       </geometry>
     </collision>
-    <visual name='right_6_wheel_visual'>
-      <origin xyz='0 0 0' rpy='1.5708 -0 0'/>
+    <visual name='right_9_wheel_visual'>
+      <origin xyz='-0.56 0 -0.07' rpy='1.5708 -0 0'/>
       <geometry>
-        <cylinder radius='0.14' length='0.2'/>
+        <cylinder radius='0.11' length='0.2'/>
       </geometry>
     </visual>
-  </link>
-  <link name='${robot_namespace}/right_7_wheel'>
-    <inertial>
-      <origin xyz='0 0 0' rpy='0 -0 0'/>
-      <mass value='2'/>
-      <inertia ixx='0.0164667' ixy='0' ixz='0' iyy='0.0164667' iyz='0' izz='0.0196'/>
-    </inertial>
-    <collision name='right_7_wheel_collision'>
-      <origin xyz='0 0 0' rpy='1.5708 -0 0'/>
+    <collision name='right_bottom_box_collision'>
+      <origin xyz='-0.0375 0 -0.068' rpy='0 0 0'/>
       <geometry>
-        <cylinder radius='0.14' length='0.2'/>
+        <box size='1.045 0.2 0.22' />
       </geometry>
     </collision>
-    <visual name='right_7_wheel_visual'>
-      <origin xyz='0 0 0' rpy='1.5708 -0 0'/>
+    <visual name='right_bottom_box_visual'>
+      <origin xyz='-0.0375 0 -0.068' rpy='0 0 0'/>
       <geometry>
-        <cylinder radius='0.14' length='0.2'/>
+        <box size='1.045 0.2 0.22' />
       </geometry>
     </visual>
-  </link>
-  <link name='${robot_namespace}/right_8_wheel'>
-    <inertial>
-      <origin xyz='0 0 0' rpy='0 -0 0'/>
-      <mass value='2'/>
-      <inertia ixx='0.0164667' ixy='0' ixz='0' iyy='0.0164667' iyz='0' izz='0.0196'/>
-    </inertial>
-    <collision name='right_8_wheel_collision'>
-      <origin xyz='0 0 0' rpy='1.5708 -0 0'/>
+    <collision name='right_rear_box_collision'>
+      <origin xyz='-0.612 0 0.05114' rpy='0 1.15017 0'/>
       <geometry>
-        <cylinder radius='0.14' length='0.2'/>
+        <box size='0.285 0.2 0.22' />
       </geometry>
     </collision>
-    <visual name='right_8_wheel_visual'>
-      <origin xyz='0 0 0' rpy='1.5708 -0 0'/>
+    <visual name='right_rear_box_visual'>
+      <origin xyz='-0.612 0 0.05114' rpy='0 1.15017 0'/>
       <geometry>
-        <cylinder radius='0.14' length='0.2'/>
+        <box size='0.285 0.2 0.22' />
       </geometry>
     </visual>
-  </link>
-  <link name='${robot_namespace}/right_9_wheel'>
-    <inertial>
-      <origin xyz='0 0 0' rpy='0 -0 0'/>
-      <mass value='2'/>
-      <inertia ixx='0.0164667' ixy='0' ixz='0' iyy='0.0164667' iyz='0' izz='0.0196'/>
-    </inertial>
-    <collision name='right_9_wheel_collision'>
-      <origin xyz='0 0 0' rpy='1.5708 -0 0'/>
+    <collision name='right_front_box_collision'>
+      <origin xyz='0.6 0 0.07898' rpy='0 -0.96517 0'/>
       <geometry>
-        <cylinder radius='0.14' length='0.2'/>
+        <box size='0.35 0.2 0.22' />
       </geometry>
     </collision>
-    <visual name='right_9_wheel_visual'>
-      <origin xyz='0 0 0' rpy='1.5708 -0 0'/>
+    <visual name='right_front_box_visual'>
+      <origin xyz='0.6 0 0.07898' rpy='0 -0.96517 0'/>
       <geometry>
-        <cylinder radius='0.14' length='0.2'/>
+        <box size='0.35 0.2 0.22' />
       </geometry>
     </visual>
   </link>
+  <joint name='right_track_j' type='fixed'>
+    <origin xyz='0 -0.269 0' rpy='0 0 0'/>
+    <parent link='${robot_namespace}/base_link'/>
+    <child link='${robot_namespace}/right_track'/>
+  </joint>
+  
   <joint name='lidar_gimbal' type='revolute'>
     <origin xyz='0.433 0 0.453797' rpy='0 -0 0'/>
     <parent link='${robot_namespace}/base_link'/>
@@ -661,180 +437,4 @@
     <axis xyz='1 0 0'/>
     <limit lower='0' upper='0' effort='0' velocity='0'/>
   </joint>
-  <joint name='left_10_wheel_joint' type='revolute'>
-    <origin xyz='-0.569461 0.269 0.055908' rpy='0 -0 0'/>
-    <parent link='${robot_namespace}/base_link'/>
-    <child link='${robot_namespace}/left_10_wheel'/>
-    <dynamics damping='0' friction='0' />
-    <axis xyz='0 1 0'/>
-    <limit lower='-1e+16' upper='1e+16' effort='-1' velocity='-1'/>
-  </joint>
-  <joint name='left_11_wheel_joint' type='revolute'>
-    <origin xyz='-0.60323 0.269 0.194954' rpy='0 -0 0'/>
-    <parent link='${robot_namespace}/base_link'/>
-    <child link='${robot_namespace}/left_11_wheel'/>
-    <dynamics damping='0' friction='0' />
-    <axis xyz='0 1 0'/>
-    <limit lower='-1e+16' upper='1e+16' effort='-1' velocity='-1'/>
-  </joint>
-  <joint name='left_1_wheel_joint' type='revolute'>
-    <origin xyz='0.668074 0.269 0.188985' rpy='0 -0 0'/>
-    <parent link='${robot_namespace}/base_link'/>
-    <child link='${robot_namespace}/left_1_wheel'/>
-    <dynamics damping='0' friction='0' />
-    <axis xyz='0 1 0'/>
-    <limit lower='-1e+16' upper='1e+16' effort='-1' velocity='-1'/>
-  </joint>
-  <joint name='left_2_wheel_joint' type='revolute'>
-    <origin xyz='0.570147 0.269 0.04197' rpy='0 -0 0'/>
-    <parent link='${robot_namespace}/base_link'/>
-    <child link='${robot_namespace}/left_2_wheel'/>
-    <dynamics damping='0' friction='0' />
-    <axis xyz='0 1 0'/>
-    <limit lower='-1e+16' upper='1e+16' effort='-1' velocity='-1'/>
-  </joint>
-  <joint name='left_3_wheel_joint' type='revolute'>
-    <origin xyz='0.479943 0.269 -0.037758' rpy='0 -0 0'/>
-    <parent link='${robot_namespace}/base_link'/>
-    <child link='${robot_namespace}/left_3_wheel'/>
-    <dynamics damping='0' friction='0' />
-    <axis xyz='0 1 0'/>
-    <limit lower='-1e+16' upper='1e+16' effort='-1' velocity='-1'/>
-  </joint>
-  <joint name='left_4_wheel_joint' type='revolute'>
-    <origin xyz='0.32 0.269 -0.05' rpy='0 -0 0'/>
-    <parent link='${robot_namespace}/base_link'/>
-    <child link='${robot_namespace}/left_4_wheel'/>
-    <dynamics damping='0' friction='0' />
-    <axis xyz='0 1 0'/>
-    <limit lower='-1e+16' upper='1e+16' effort='-1' velocity='-1'/>
-  </joint>
-  <joint name='left_5_wheel_joint' type='revolute'>
-    <origin xyz='0.16 0.269 -0.05' rpy='0 -0 0'/>
-    <parent link='${robot_namespace}/base_link'/>
-    <child link='${robot_namespace}/left_5_wheel'/>
-    <dynamics damping='0' friction='0' />
-    <axis xyz='0 1 0'/>
-    <limit lower='-1e+16' upper='1e+16' effort='-1' velocity='-1'/>
-  </joint>
-  <joint name='left_6_wheel_joint' type='revolute'>
-    <origin xyz='0 0.269 -0.05' rpy='0 -0 0'/>
-    <parent link='${robot_namespace}/base_link'/>
-    <child link='${robot_namespace}/left_6_wheel'/>
-    <dynamics damping='0' friction='0' />
-    <axis xyz='0 1 0'/>
-    <limit lower='-1e+16' upper='1e+16' effort='-1' velocity='-1'/>
-  </joint>
-  <joint name='left_7_wheel_joint' type='revolute'>
-    <origin xyz='-0.16 0.269 -0.05' rpy='0 -0 0'/>
-    <parent link='${robot_namespace}/base_link'/>
-    <child link='${robot_namespace}/left_7_wheel'/>
-    <dynamics damping='0' friction='0' />
-    <axis xyz='0 1 0'/>
-    <limit lower='-1e+16' upper='1e+16' effort='-1' velocity='-1'/>
-  </joint>
-  <joint name='left_8_wheel_joint' type='revolute'>
-    <origin xyz='-0.32 0.269 -0.05' rpy='0 -0 0'/>
-    <parent link='${robot_namespace}/base_link'/>
-    <child link='${robot_namespace}/left_8_wheel'/>
-    <dynamics damping='0' friction='0' />
-    <axis xyz='0 1 0'/>
-    <limit lower='-1e+16' upper='1e+16' effort='-1' velocity='-1'/>
-  </joint>
-  <joint name='left_9_wheel_joint' type='revolute'>
-    <origin xyz='-0.480636 0.269 -0.033094' rpy='0 -0 0'/>
-    <parent link='${robot_namespace}/base_link'/>
-    <child link='${robot_namespace}/left_9_wheel'/>
-    <dynamics damping='0' friction='0' />
-    <axis xyz='0 1 0'/>
-    <limit lower='-1e+16' upper='1e+16' effort='-1' velocity='-1'/>
-  </joint>
-  <joint name='right_10_wheel_joint' type='revolute'>
-    <origin xyz='-0.569461 -0.269 0.055908' rpy='0 -0 0'/>
-    <parent link='${robot_namespace}/base_link'/>
-    <child link='${robot_namespace}/right_10_wheel'/>
-    <dynamics damping='0' friction='0' />
-    <axis xyz='0 1 0'/>
-    <limit lower='-1e+16' upper='1e+16' effort='-1' velocity='-1'/>
-  </joint>
-  <joint name='right_11_wheel_joint' type='revolute'>
-    <origin xyz='-0.60323 -0.269 0.194954' rpy='0 -0 0'/>
-    <parent link='${robot_namespace}/base_link'/>
-    <child link='${robot_namespace}/right_11_wheel'/>
-    <dynamics damping='0' friction='0' />
-    <axis xyz='0 1 0'/>
-    <limit lower='-1e+16' upper='1e+16' effort='-1' velocity='-1'/>
-  </joint>
-  <joint name='right_1_wheel_joint' type='revolute'>
-    <origin xyz='0.668074 -0.269 0.188985' rpy='0 -0 0'/>
-    <parent link='${robot_namespace}/base_link'/>
-    <child link='${robot_namespace}/right_1_wheel'/>
-    <dynamics damping='0' friction='0' />
-    <axis xyz='0 1 0'/>
-    <limit lower='-1e+16' upper='1e+16' effort='-1' velocity='-1'/>
-  </joint>
-  <joint name='right_2_wheel_joint' type='revolute'>
-    <origin xyz='0.570147 -0.269 0.04197' rpy='0 -0 0'/>
-    <parent link='${robot_namespace}/base_link'/>
-    <child link='${robot_namespace}/right_2_wheel'/>
-    <dynamics damping='0' friction='0' />
-    <axis xyz='0 1 0'/>
-    <limit lower='-1e+16' upper='1e+16' effort='-1' velocity='-1'/>
-  </joint>
-  <joint name='right_3_wheel_joint' type='revolute'>
-    <origin xyz='0.479943 -0.269 -0.037758' rpy='0 -0 0'/>
-    <parent link='${robot_namespace}/base_link'/>
-    <child link='${robot_namespace}/right_3_wheel'/>
-    <dynamics damping='0' friction='0' />
-    <axis xyz='0 1 0'/>
-    <limit lower='-1e+16' upper='1e+16' effort='-1' velocity='-1'/>
-  </joint>
-  <joint name='right_4_wheel_joint' type='revolute'>
-    <origin xyz='0.32 -0.269 -0.05' rpy='0 -0 0'/>
-    <parent link='${robot_namespace}/base_link'/>
-    <child link='${robot_namespace}/right_4_wheel'/>
-    <dynamics damping='0' friction='0' />
-    <axis xyz='0 1 0'/>
-    <limit lower='-1e+16' upper='1e+16' effort='-1' velocity='-1'/>
-  </joint>
-  <joint name='right_5_wheel_joint' type='revolute'>
-    <origin xyz='0.16 -0.269 -0.05' rpy='0 -0 0'/>
-    <parent link='${robot_namespace}/base_link'/>
-    <child link='${robot_namespace}/right_5_wheel'/>
-    <dynamics damping='0' friction='0' />
-    <axis xyz='0 1 0'/>
-    <limit lower='-1e+16' upper='1e+16' effort='-1' velocity='-1'/>
-  </joint>
-  <joint name='right_6_wheel_joint' type='revolute'>
-    <origin xyz='0 -0.269 -0.05' rpy='0 -0 0'/>
-    <parent link='${robot_namespace}/base_link'/>
-    <child link='${robot_namespace}/right_6_wheel'/>
-    <dynamics damping='0' friction='0' />
-    <axis xyz='0 1 0'/>
-    <limit lower='-1e+16' upper='1e+16' effort='-1' velocity='-1'/>
-  </joint>
-  <joint name='right_7_wheel_joint' type='revolute'>
-    <origin xyz='-0.16 -0.269 -0.05' rpy='0 -0 0'/>
-    <parent link='${robot_namespace}/base_link'/>
-    <child link='${robot_namespace}/right_7_wheel'/>
-    <dynamics damping='0' friction='0' />
-    <axis xyz='0 1 0'/>
-    <limit lower='-1e+16' upper='1e+16' effort='-1' velocity='-1'/>
-  </joint>
-  <joint name='right_8_wheel_joint' type='revolute'>
-    <origin xyz='-0.32 -0.269 -0.05' rpy='0 -0 0'/>
-    <parent link='${robot_namespace}/base_link'/>
-    <child link='${robot_namespace}/right_8_wheel'/>
-    <dynamics damping='0' friction='0' />
-    <axis xyz='0 1 0'/>
-    <limit lower='-1e+16' upper='1e+16' effort='-1' velocity='-1'/>
-  </joint>
-  <joint name='right_9_wheel_joint' type='revolute'>
-    <origin xyz='-0.480636 -0.269 -0.033094' rpy='0 -0 0'/>
-    <parent link='${robot_namespace}/base_link'/>
-    <child link='${robot_namespace}/right_9_wheel'/>
-    <dynamics damping='0' friction='0' />
-    <axis xyz='0 1 0'/>
-    <limit lower='-1e+16' upper='1e+16' effort='-1' velocity='-1'/>
-  </joint>
 </robot>
diff --git a/submitted_models/csiro_data61_ozbot_atr_sensor_config_1/worlds/example.sdf b/submitted_models/csiro_data61_ozbot_atr_sensor_config_1/worlds/example.sdf
index 9ea5042c..f2712772 100644
--- a/submitted_models/csiro_data61_ozbot_atr_sensor_config_1/worlds/example.sdf
+++ b/submitted_models/csiro_data61_ozbot_atr_sensor_config_1/worlds/example.sdf
@@ -171,6 +171,12 @@
       <uri> https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier </uri>
     </include>
 
+    <include>
+      <name>pallet</name>
+      <pose>2 0 0.02 0 0 0</pose>
+      <uri> https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Euro pallet </uri>
+      <static>1</static>
+    </include>
 
     <!-- The base station -->
     <include>
diff --git a/submitted_models/csiro_data61_ozbot_atr_sensor_config_2/launch/example.ign b/submitted_models/csiro_data61_ozbot_atr_sensor_config_2/launch/example.ign
new file mode 100644
index 00000000..23497a5c
--- /dev/null
+++ b/submitted_models/csiro_data61_ozbot_atr_sensor_config_2/launch/example.ign
@@ -0,0 +1,20 @@
+<?xml version="1.0"?>
+<%
+  base_launch = `rospack find csiro_data61_ozbot_atr_sensor_config_1`.chomp + "/launch"
+  base_dir = File.realpath(File.join(File.dirname(__FILE__), ".."))
+
+  ros_param=''
+  if defined?(ros) and ros
+    ros_param='ros:=true'
+  end
+
+  headless_param=''
+  if defined?(headless) and headless
+    headless_param='headless:=true'
+  end
+%>
+<ignition version='1.0'>
+  <executable name='include'>
+    <command>ign launch -v4 <%= File.join(base_launch, "example.ign") %> base_dir:=<%= base_dir %> robotName:=<%= robotName %> <%= ros_param %> <%= headless_param %></command>
+  </executable>
+</ignition>
\ No newline at end of file
diff --git a/submitted_models/csiro_data61_ozbot_atr_sensor_config_2/launch/spawner.rb b/submitted_models/csiro_data61_ozbot_atr_sensor_config_2/launch/spawner.rb
index 23394b59..795e8a77 100644
--- a/submitted_models/csiro_data61_ozbot_atr_sensor_config_2/launch/spawner.rb
+++ b/submitted_models/csiro_data61_ozbot_atr_sensor_config_2/launch/spawner.rb
@@ -11,38 +11,20 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
       <name>#{_name}</name>
       <uri>#{_modelURI}</uri>
 
-      <!-- Track drive -->
-      <plugin filename="libignition-gazebo-diff-drive-system.so"
-              name="ignition::gazebo::systems::DiffDrive">
-        <left_joint>left_1_wheel_joint</left_joint>
-        <right_joint>right_1_wheel_joint</right_joint>
-        <left_joint>left_2_wheel_joint</left_joint>
-        <right_joint>right_2_wheel_joint</right_joint>
-        <left_joint>left_3_wheel_joint</left_joint>
-        <right_joint>right_3_wheel_joint</right_joint>
-        <left_joint>left_4_wheel_joint</left_joint>
-        <right_joint>right_4_wheel_joint</right_joint>
-        <left_joint>left_5_wheel_joint</left_joint>
-        <right_joint>right_5_wheel_joint</right_joint>
-        <left_joint>left_6_wheel_joint</left_joint>
-        <right_joint>right_6_wheel_joint</right_joint>
-        <left_joint>left_7_wheel_joint</left_joint>
-        <right_joint>right_7_wheel_joint</right_joint>
-        <left_joint>left_8_wheel_joint</left_joint>
-        <right_joint>right_8_wheel_joint</right_joint>
-        <left_joint>left_9_wheel_joint</left_joint>
-        <right_joint>right_9_wheel_joint</right_joint>
-        <left_joint>left_10_wheel_joint</left_joint>
-        <right_joint>right_10_wheel_joint</right_joint>
-        <left_joint>left_11_wheel_joint</left_joint>
-        <right_joint>right_11_wheel_joint</right_joint>
-        <wheel_separation>0.5</wheel_separation>
-        <wheel_radius>0.14</wheel_radius>
-        <min_velocity>-1.2</min_velocity>
-        <max_velocity>1.2</max_velocity>
-        <min_acceleration>-1.0</min_acceleration>
-        <max_acceleration>1.0</max_acceleration>
+      <!-- Tracked vehicle controller -->
+      <plugin name="ignition::gazebo::systems::TrackedVehicle" filename="ignition-gazebo-tracked-vehicle-system">
+        <left_track><link>left_track</link></left_track>
+        <right_track><link>right_track</link></right_track>
+        <tracks_separation>#{0.5}</tracks_separation>
+        <tracks_height>0.28</tracks_height>
+        <steering_efficiency>0.5</steering_efficiency>
         <topic>/model/#{_name}/cmd_vel_relay</topic>
+        <linear_velocity>
+          <min_velocity>-1.2</min_velocity>
+          <max_velocity>1.2</max_velocity>
+          <min_acceleration>-1.0</min_acceleration>
+          <max_acceleration>1.0</max_acceleration>
+        </linear_velocity>
       </plugin>
 
       <!-- Joint state for lidar gimbal -->
@@ -112,142 +94,6 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
         </breadcrumb>
       </plugin>
 
-      <!-- Wheel slip -->
-      <plugin filename="libignition-gazebo-wheel-slip-system.so"
-        name="ignition::gazebo::systems::WheelSlip">
-        <wheel link_name="left_10_wheel">
-          <slip_compliance_lateral>00165</slip_compliance_lateral>
-          <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-          <wheel_normal_force>65.255</wheel_normal_force>
-          <wheel_radius>0.14</wheel_radius>
-        </wheel>
-        <wheel link_name="left_11_wheel">
-          <slip_compliance_lateral>0.002249</slip_compliance_lateral>
-          <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-          <wheel_normal_force>65.255</wheel_normal_force>
-          <wheel_radius>0.14</wheel_radius>
-        </wheel>
-        <wheel link_name="left_1_wheel">
-          <slip_compliance_lateral>0.002841</slip_compliance_lateral>
-          <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-          <wheel_normal_force>65.255</wheel_normal_force>
-          <wheel_radius>0.14</wheel_radius>
-        </wheel>
-        <wheel link_name="left_2_wheel">
-          <slip_compliance_lateral>0.001713</slip_compliance_lateral>
-          <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-          <wheel_normal_force>65.255</wheel_normal_force>
-          <wheel_radius>0.14</wheel_radius>
-        </wheel>
-        <wheel link_name="left_3_wheel">
-          <slip_compliance_lateral>0.001353</slip_compliance_lateral>
-          <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-          <wheel_normal_force>65.255</wheel_normal_force>
-          <wheel_radius>0.14</wheel_radius>
-        </wheel>
-        <wheel link_name="left_4_wheel">
-          <slip_compliance_lateral>7.424569e-4</slip_compliance_lateral>
-          <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-          <wheel_normal_force>65.255</wheel_normal_force>
-          <wheel_radius>0.14</wheel_radius>
-        </wheel>
-        <wheel link_name="left_5_wheel">
-          <slip_compliance_lateral>1.856142e-4</slip_compliance_lateral>
-          <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-          <wheel_normal_force>65.255</wheel_normal_force>
-          <wheel_radius>0.14</wheel_radius>
-        </wheel>
-        <wheel link_name="left_6_wheel">
-          <slip_compliance_lateral>0.0</slip_compliance_lateral>
-          <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-          <wheel_normal_force>65.255</wheel_normal_force>
-          <wheel_radius>0.14</wheel_radius>
-        </wheel>
-        <wheel link_name="left_7_wheel">
-          <slip_compliance_lateral>1.856142e-4</slip_compliance_lateral>
-          <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-          <wheel_normal_force>65.255</wheel_normal_force>
-          <wheel_radius>0.14</wheel_radius>
-        </wheel>
-        <wheel link_name="left_8_wheel">
-          <slip_compliance_lateral>7.424569e-4</slip_compliance_lateral>
-          <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-          <wheel_normal_force>65.255</wheel_normal_force>
-          <wheel_radius>0.14</wheel_radius>
-        </wheel>
-        <wheel link_name="left_9_wheel">
-          <slip_compliance_lateral>0.00131</slip_compliance_lateral>
-          <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-          <wheel_normal_force>65.255</wheel_normal_force>
-          <wheel_radius>0.14</wheel_radius>
-        </wheel>
-        <wheel link_name="right_10_wheel">
-          <slip_compliance_lateral>0.00165</slip_compliance_lateral>
-          <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-          <wheel_normal_force>65.255</wheel_normal_force>
-          <wheel_radius>0.14</wheel_radius>
-        </wheel>
-        <wheel link_name="right_11_wheel">
-          <slip_compliance_lateral>0.002249</slip_compliance_lateral>
-          <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-          <wheel_normal_force>65.255</wheel_normal_force>
-          <wheel_radius>0.14</wheel_radius>
-        </wheel>
-        <wheel link_name="right_1_wheel">
-          <slip_compliance_lateral>0.002841</slip_compliance_lateral>
-          <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-          <wheel_normal_force>65.255</wheel_normal_force>
-          <wheel_radius>0.14</wheel_radius>
-        </wheel>
-        <wheel link_name="right_2_wheel">
-          <slip_compliance_lateral>0.001713</slip_compliance_lateral>
-          <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-          <wheel_normal_force>65.255</wheel_normal_force>
-          <wheel_radius>0.14</wheel_radius>
-        </wheel>
-        <wheel link_name="right_3_wheel">
-          <slip_compliance_lateral>0.001353</slip_compliance_lateral>
-          <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-          <wheel_normal_force>65.255</wheel_normal_force>
-          <wheel_radius>0.14</wheel_radius>
-        </wheel>
-        <wheel link_name="right_4_wheel">
-          <slip_compliance_lateral>7.424569e-4</slip_compliance_lateral>
-          <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-          <wheel_normal_force>65.255</wheel_normal_force>
-          <wheel_radius>0.14</wheel_radius>
-        </wheel>
-        <wheel link_name="right_5_wheel">
-          <slip_compliance_lateral>1.856142e-4</slip_compliance_lateral>
-          <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-          <wheel_normal_force>65.255</wheel_normal_force>
-          <wheel_radius>0.14</wheel_radius>
-        </wheel>
-        <wheel link_name="right_6_wheel">
-          <slip_compliance_lateral>0</slip_compliance_lateral>
-          <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-          <wheel_normal_force>65.255</wheel_normal_force>
-          <wheel_radius>0.14</wheel_radius>
-        </wheel>
-        <wheel link_name="right_7_wheel">
-          <slip_compliance_lateral>1.856142e-4</slip_compliance_lateral>
-          <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-          <wheel_normal_force>65.255</wheel_normal_force>
-          <wheel_radius>0.14</wheel_radius>
-        </wheel>
-        <wheel link_name="right_8_wheel">
-          <slip_compliance_lateral>7.424569e-4</slip_compliance_lateral>
-          <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-          <wheel_normal_force>65.255</wheel_normal_force>
-          <wheel_radius>0.14</wheel_radius>
-        </wheel>
-        <wheel link_name="right_9_wheel">
-          <slip_compliance_lateral>0.00131</slip_compliance_lateral>
-          <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-          <wheel_normal_force>65.255</wheel_normal_force>
-          <wheel_radius>0.14</wheel_radius>
-        </wheel>
-      </plugin>
     </include>
     </sdf>
   </spawn>

From cf7d5231af609e5a1f60ea6fe65e6281a1bc2bd4 Mon Sep 17 00:00:00 2001
From: Martin Pecka <peckama2@fel.cvut.cz>
Date: Fri, 19 Nov 2021 22:34:05 +0100
Subject: [PATCH 11/14] CORO_HD2: Implemented proper tracks model.

---
 .../coro_hd2_sensor_config_1/CMakeLists.txt   |   2 +-
 .../launch/example.ign                        |  19 +-
 .../launch/spawner.rb                         |  82 +---
 .../coro_hd2_sensor_config_1/model.sdf        | 379 +++---------------
 .../specifications.md                         |   4 +-
 .../urdf/robot_from_sdf.xacro                 | 156 +------
 .../worlds/example.sdf                        |   7 +
 .../launch/example.ign                        |  20 +
 .../launch/spawner.rb                         |  82 +---
 9 files changed, 150 insertions(+), 601 deletions(-)
 create mode 100644 submitted_models/coro_hd2_sensor_config_2/launch/example.ign

diff --git a/submitted_models/coro_hd2_sensor_config_1/CMakeLists.txt b/submitted_models/coro_hd2_sensor_config_1/CMakeLists.txt
index 859f340f..48f705df 100644
--- a/submitted_models/coro_hd2_sensor_config_1/CMakeLists.txt
+++ b/submitted_models/coro_hd2_sensor_config_1/CMakeLists.txt
@@ -5,7 +5,7 @@ find_package(catkin REQUIRED)
 
 catkin_package()
 
-install(DIRECTORY launch meshes materials urdf
+install(DIRECTORY launch meshes materials urdf worlds
   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
 
 install(FILES model.sdf model.config
diff --git a/submitted_models/coro_hd2_sensor_config_1/launch/example.ign b/submitted_models/coro_hd2_sensor_config_1/launch/example.ign
index 183e2b73..5a950369 100644
--- a/submitted_models/coro_hd2_sensor_config_1/launch/example.ign
+++ b/submitted_models/coro_hd2_sensor_config_1/launch/example.ign
@@ -6,16 +6,17 @@
 -->
 
 <%
-  require_relative 'spawner'
+  #require_relative 'spawner'
+  _base_dir = defined?(base_dir) ? base_dir.tr('"', '') : File.realpath(File.join(File.dirname(__FILE__), ".."))
+  load File.join(_base_dir, "launch", "spawner.rb")
 
   # Modify these as needed
   $enableGroundTruth = true
-  $headless = false
+  $headless =  local_variables.include?(:headless) ? :headless : false
 
 %>
 
 <%
-
   unless local_variables.include?(:robotName)
     raise "missing parameters. robotName is a required parameter"
   end
@@ -35,9 +36,11 @@
 
   <!-- Start ROS first. This is a bit hacky for now. -->
   <!-- Make sure to source /opt/ros/melodic/setup.bash -->
+<% if local_variables.include?(:ros) and ros %>
   <executable name='ros'>
     <command>roslaunch subt_ros competition_init.launch world_name:=<%=$worldName%> vehicle_topics:=0 enable_ground_truth:=<%=($enableGroundTruth)?"1":"0"%> robot_names:=<%=robotName%></command>
   </executable>
+<% end %>
 
   <plugin name="ignition::launch::GazeboServer"
           filename="libignition-launch-gazebo.so">
@@ -163,9 +166,13 @@
   </executable_wrapper>
   <%end%>
 
-<plugin name="ignition::launch::GazeboFactory" filename="libignition-launch-gazebo-factory.so">
-<%= spawner(robotName, modelURI, $worldName, 0, 0, 0, 0, 0, 0) %>
+<plugin name="ignition::launch::GazeboFactory"
+        filename="ignition-launch-gazebo-factory">
+  <%= spawner(robotName, modelURI, $worldName, 0, 0, 0, 0, 0, 0) %>
 </plugin>
-<%= rosExecutables(robotName, $worldName) %>
+<% if local_variables.include?(:ros) and ros %>
+  <%= rosExecutables(robotName, $worldName) %>
+<% end %>
  
 </ignition>
+
diff --git a/submitted_models/coro_hd2_sensor_config_1/launch/spawner.rb b/submitted_models/coro_hd2_sensor_config_1/launch/spawner.rb
index 99404cee..3f388bc2 100644
--- a/submitted_models/coro_hd2_sensor_config_1/launch/spawner.rb
+++ b/submitted_models/coro_hd2_sensor_config_1/launch/spawner.rb
@@ -10,24 +10,20 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
     <include>
       <name>#{_name}</name>
       <uri>#{_modelURI}</uri>
-      <!-- Diff drive -->
-      <plugin filename="libignition-gazebo-diff-drive-system.so"
-              name="ignition::gazebo::systems::DiffDrive">
-        <left_joint>front_left_wheel_joint</left_joint>
-        <left_joint>front_middle_left_wheel_joint</left_joint>
-        <left_joint>rear_middle_left_wheel_joint</left_joint>
-        <left_joint>rear_left_wheel_joint</left_joint>
-        <right_joint>front_right_wheel_joint</right_joint>
-        <right_joint>front_middle_right_wheel_joint</right_joint>
-        <right_joint>rear_middle_right_wheel_joint</right_joint>
-        <right_joint>rear_right_wheel_joint</right_joint>
-        <wheel_separation>#{0.525}</wheel_separation>
-        <wheel_radius>0.129</wheel_radius>
+      <!-- Tracked vehicle controller -->
+      <plugin name="ignition::gazebo::systems::TrackedVehicle" filename="ignition-gazebo-tracked-vehicle-system">
+        <left_track><link>left_track</link></left_track>
+        <right_track><link>right_track</link></right_track>
+        <tracks_separation>#{0.525}</tracks_separation>
+        <tracks_height>0.258</tracks_height>
+        <steering_efficiency>0.5</steering_efficiency>
         <topic>/model/#{_name}/cmd_vel_relay</topic>
-        <min_velocity>-1</min_velocity>
-        <max_velocity>1</max_velocity>
-        <min_acceleration>-3</min_acceleration>
-        <max_acceleration>3</max_acceleration>
+        <linear_velocity>
+          <min_velocity>-1</min_velocity>
+          <max_velocity>1</max_velocity>
+          <min_acceleration>-3</min_acceleration>
+          <max_acceleration>3</max_acceleration>
+        </linear_velocity>
       </plugin>
       <!-- Publish robot state information -->
       <plugin filename="libignition-gazebo-pose-publisher-system.so"
@@ -62,58 +58,6 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
         <update_rate>10</update_rate>
         <type>gas</type>
       </plugin>
-      <!-- Wheel slip -->
-      <plugin filename="libignition-gazebo-wheel-slip-system.so"
-        name="ignition::gazebo::systems::WheelSlip">
-        <wheel link_name="front_left_wheel_link">
-          <slip_compliance_lateral>0.086</slip_compliance_lateral>
-          <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-          <wheel_normal_force>41.47103925</wheel_normal_force>
-          <wheel_radius>0.129</wheel_radius>
-        </wheel>
-        <wheel link_name="front_middle_left_wheel_link">
-          <slip_compliance_lateral>0.086</slip_compliance_lateral>
-          <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-          <wheel_normal_force>41.47103925</wheel_normal_force>
-          <wheel_radius>0.129</wheel_radius>
-        </wheel>
-        <wheel link_name="rear_middle_left_wheel_link">
-          <slip_compliance_lateral>0.086</slip_compliance_lateral>
-          <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-          <wheel_normal_force>41.47103925</wheel_normal_force>
-          <wheel_radius>0.129</wheel_radius>
-        </wheel>
-        <wheel link_name="rear_left_wheel_link">
-          <slip_compliance_lateral>0.086</slip_compliance_lateral>
-          <slip_compliance_longitudinal>0.25</slip_compliance_longitudinal>
-          <wheel_normal_force>41.47103925</wheel_normal_force>
-          <wheel_radius>0.129</wheel_radius>
-        </wheel>
-        <wheel link_name="front_right_wheel_link">
-          <slip_compliance_lateral>0.086</slip_compliance_lateral>
-          <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-          <wheel_normal_force>41.47103925</wheel_normal_force>
-          <wheel_radius>0.129</wheel_radius>
-        </wheel>
-        <wheel link_name="front_middle_right_wheel_link">
-          <slip_compliance_lateral>0.086</slip_compliance_lateral>
-          <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-          <wheel_normal_force>41.47103925</wheel_normal_force>
-          <wheel_radius>0.129</wheel_radius>
-        </wheel>
-        <wheel link_name="rear_middle_right_wheel_link">
-          <slip_compliance_lateral>0.086</slip_compliance_lateral>
-          <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-          <wheel_normal_force>41.47103925</wheel_normal_force>
-          <wheel_radius>0.129</wheel_radius>
-        </wheel>
-        <wheel link_name="rear_right_wheel_link">
-          <slip_compliance_lateral>0.086</slip_compliance_lateral>
-          <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-          <wheel_normal_force>41.47103925</wheel_normal_force>
-          <wheel_radius>0.129</wheel_radius>
-        </wheel>
-      </plugin>
     </include>
     </sdf>
   </spawn>
diff --git a/submitted_models/coro_hd2_sensor_config_1/model.sdf b/submitted_models/coro_hd2_sensor_config_1/model.sdf
index 9c0b67b9..fcc9c4ad 100644
--- a/submitted_models/coro_hd2_sensor_config_1/model.sdf
+++ b/submitted_models/coro_hd2_sensor_config_1/model.sdf
@@ -65,9 +65,9 @@
           <specular>1.0 1.0 1.0</specular>
           <pbr>
             <metal>
-              <albedo_map>materials/textures/HD2_Albedo.png</albedo_map>
-              <metalness_map>materials/textures/HD2_Metalness.png</metalness_map>
-              <roughness_map>materials/textures/HD2_Roughness.png</roughness_map>
+              <albedo_map>materials/textures/HD2_Albedo.jpg</albedo_map>
+              <metalness_map>materials/textures/HD2_Metalness.jpg</metalness_map>
+              <roughness_map>materials/textures/HD2_Roughness.jpg</roughness_map>
             </metal>
           </pbr>
           <script>
@@ -856,137 +856,23 @@
       
 
     </link>
-    <!-- Left Side Wheels  -->
-    <link name="front_left_wheel_link">
-      <pose frame="">0.360 0.26 0.00 0 -0 0</pose>
+    <!-- Left Track  -->
+    <link name="left_track">
+      <pose frame="">0 0.26 0.00 0 -0 0</pose>
       <inertial>
         <pose frame="">0 0 0 0 -0 0</pose>
-        <mass>1.5</mass>
-        <inertia>
-          <ixx>0.02467</ixx>
+        <mass>6.0</mass>
+        <inertia> <!-- Inertia of a 6 kg box 0.1x0.258x0.72 m -->
+          <ixx>0.03828</ixx>
           <ixy>0</ixy>
           <ixz>0</ixz>
-          <iyy>0.04411</iyy>
+          <iyy>0.2925</iyy>
           <iyz>0</iyz>
-          <izz>0.02467</izz>
+          <izz>0.2642</izz>
         </inertia>
       </inertial>
       <collision name="front_left_wheel_link_collision">
-        <pose frame="">0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.1</length>
-            <radius>0.129</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.001</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-    </link>
-    <joint name="front_left_wheel_joint" type="revolute">
-      <child>front_left_wheel_link</child>
-      <parent>base_link</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>1</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="front_middle_left_wheel_link">
-      <pose frame="">0.120 0.26 0.00 0 -0 0</pose>
-      <inertial>
-        <pose frame="">0 0 0 0 -0 0</pose>
-        <mass>1.5</mass>
-        <inertia>
-          <ixx>0.02467</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.04411</iyy>
-          <iyz>0</iyz>
-          <izz>0.02467</izz>
-        </inertia>
-      </inertial>
-      <collision name="front_middle_left_wheel_link_collision">
-        <pose frame="">0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.1</length>
-            <radius>0.129</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.001</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-    </link>
-    <joint name="front_middle_left_wheel_joint" type="revolute">
-      <child>front_middle_left_wheel_link</child>
-      <parent>base_link</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>1</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="rear_middle_left_wheel_link">
-      <pose frame="">-0.120 0.26 0.00 0 -0 0</pose>
-      <inertial>
-        <pose frame="">0 0 0 0 -0 0</pose>
-        <mass>1.5</mass>
-        <inertia>
-          <ixx>0.02467</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.04411</iyy>
-          <iyz>0</iyz>
-          <izz>0.02467</izz>
-        </inertia>
-      </inertial>
-      <collision name="rear_middle_left_wheel_link_collision">
-        <pose frame="">0 0 0 1.5707963267948966 -0 0</pose>
+        <pose frame="">0.360 0 0 1.5707963267948966 -0 0</pose>
         <geometry>
           <cylinder>
             <length>0.1</length>
@@ -1002,8 +888,8 @@
           </contact>
           <friction>
             <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
+              <mu>1</mu>
+              <mu2>150</mu2>
               <slip1>0.001</slip1>
               <slip2>0</slip2>
               <fdir1>0 0 1</fdir1>
@@ -1011,39 +897,8 @@
           </friction>
         </surface>
       </collision>
-    </link>
-    <joint name="rear_middle_left_wheel_joint" type="revolute">
-      <child>rear_middle_left_wheel_link</child>
-      <parent>base_link</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>1</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="rear_left_wheel_link">
-      <pose frame="">-0.36 0.26 0.0 0 -0 0</pose>
-      <inertial>
-        <pose frame="">0 0 0 0 -0 0</pose>
-        <mass>1.5</mass>
-        <inertia>
-          <ixx>0.02467</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.04411</iyy>
-          <iyz>0</iyz>
-          <izz>0.02467</izz>
-        </inertia>
-      </inertial>
       <collision name="rear_left_wheel_link_collision">
-        <pose frame="">0 0 0 1.5707963267948966 -0 0</pose>
+        <pose frame="">-0.36 0 0 1.5707963267948966 -0 0</pose>
         <geometry>
           <cylinder>
             <length>0.1</length>
@@ -1059,8 +914,8 @@
           </contact>
           <friction>
             <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
+              <mu>1</mu>
+              <mu2>150</mu2>
               <slip1>0.001</slip1>
               <slip2>0</slip2>
               <fdir1>0 0 1</fdir1>
@@ -1068,45 +923,11 @@
           </friction>
         </surface>
       </collision>
-    </link>
-    <joint name="rear_left_wheel_joint" type="revolute">
-      <child>rear_left_wheel_link</child>
-      <parent>base_link</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>1</use_parent_model_frame>
-      </axis>
-    </joint>
-    <!-- Right Side Wheels -->
-    <link name="front_right_wheel_link">
-      <pose frame="">0.360 -0.26 0.00 0 -0 0</pose>
-      <inertial>
-        <pose frame="">0 0 0 0 -0 0</pose>
-        <mass>1.5</mass>
-        <inertia>
-          <ixx>0.02467</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.04411</iyy>
-          <iyz>0</iyz>
-          <izz>0.02467</izz>
-        </inertia>
-      </inertial>
-      <collision name="front_right_wheel_link_collision">
-        <pose frame="">0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="left_track_box_collision">
         <geometry>
-          <cylinder>
-            <length>0.1</length>
-            <radius>0.129</radius>
-          </cylinder>
+          <box>
+            <size>0.72 0.1 0.258</size>
+          </box>
         </geometry>
         <surface>
           <contact>
@@ -1117,8 +938,8 @@
           </contact>
           <friction>
             <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
+              <mu>1</mu>
+              <mu2>150</mu2>
               <slip1>0.001</slip1>
               <slip2>0</slip2>
               <fdir1>0 0 1</fdir1>
@@ -1127,38 +948,27 @@
         </surface>
       </collision>
     </link>
-    <joint name="front_right_wheel_joint" type="revolute">
-      <child>front_right_wheel_link</child>
+    <joint name="left_track_j" type="fixed">
+      <child>left_track</child>
       <parent>base_link</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>1</use_parent_model_frame>
-      </axis>
     </joint>
-    <link name="front_middle_right_wheel_link">
-      <pose frame="">0.120 -0.26 0.00 0 -0 0</pose>
+    <!-- Right Track  -->
+    <link name="right_track">
+      <pose frame="">0 -0.26 0.00 0 -0 0</pose>
       <inertial>
         <pose frame="">0 0 0 0 -0 0</pose>
-        <mass>1.5</mass>
-        <inertia>
-          <ixx>0.02467</ixx>
+        <mass>6.0</mass>
+        <inertia> <!-- Inertia of a 6 kg box 0.1x0.258x0.72 m -->
+          <ixx>0.03828</ixx>
           <ixy>0</ixy>
           <ixz>0</ixz>
-          <iyy>0.04411</iyy>
+          <iyy>0.2925</iyy>
           <iyz>0</iyz>
-          <izz>0.02467</izz>
+          <izz>0.2642</izz>
         </inertia>
       </inertial>
-      <collision name="front_middle_right_wheel_link_collision">
-        <pose frame="">0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="front_right_wheel_link_collision">
+        <pose frame="">0.360 0 0 1.5707963267948966 -0 0</pose>
         <geometry>
           <cylinder>
             <length>0.1</length>
@@ -1174,8 +984,8 @@
           </contact>
           <friction>
             <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
+              <mu>1</mu>
+              <mu2>150</mu2>
               <slip1>0.001</slip1>
               <slip2>0</slip2>
               <fdir1>0 0 1</fdir1>
@@ -1183,39 +993,8 @@
           </friction>
         </surface>
       </collision>
-    </link>
-    <joint name="front_middle_right_wheel_joint" type="revolute">
-      <child>front_middle_right_wheel_link</child>
-      <parent>base_link</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>1</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="rear_middle_right_wheel_link">
-      <pose frame="">-0.120 -0.26 0.00 0 -0 0</pose>
-      <inertial>
-        <pose frame="">0 0 0 0 -0 0</pose>
-        <mass>1.5</mass>
-        <inertia>
-          <ixx>0.02467</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.04411</iyy>
-          <iyz>0</iyz>
-          <izz>0.02467</izz>
-        </inertia>
-      </inertial>
-      <collision name="rear_middle_right_wheel_link_collision">
-        <pose frame="">0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="rear_right_wheel_link_collision">
+        <pose frame="">-0.36 0 0 1.5707963267948966 -0 0</pose>
         <geometry>
           <cylinder>
             <length>0.1</length>
@@ -1231,8 +1010,8 @@
           </contact>
           <friction>
             <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
+              <mu>1</mu>
+              <mu2>150</mu2>
               <slip1>0.001</slip1>
               <slip2>0</slip2>
               <fdir1>0 0 1</fdir1>
@@ -1240,44 +1019,11 @@
           </friction>
         </surface>
       </collision>
-    </link>
-    <joint name="rear_middle_right_wheel_joint" type="revolute">
-      <child>rear_middle_right_wheel_link</child>
-      <parent>base_link</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>1</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="rear_right_wheel_link">
-      <pose frame="">-0.36 -0.26 0.0 0 -0 0</pose>
-      <inertial>
-        <pose frame="">0 0 0 0 -0 0</pose>
-        <mass>1.5</mass>
-        <inertia>
-          <ixx>0.02467</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.04411</iyy>
-          <iyz>0</iyz>
-          <izz>0.02467</izz>
-        </inertia>
-      </inertial>
-      <collision name="rear_right_wheel_link_collision">
-        <pose frame="">0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="right_track_box_collision">
         <geometry>
-          <cylinder>
-            <length>0.1</length>
-            <radius>0.129</radius>
-          </cylinder>
+          <box>
+            <size>0.72 0.1 0.258</size>
+          </box>
         </geometry>
         <surface>
           <contact>
@@ -1288,8 +1034,8 @@
           </contact>
           <friction>
             <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
+              <mu>1</mu>
+              <mu2>150</mu2>
               <slip1>0.001</slip1>
               <slip2>0</slip2>
               <fdir1>0 0 1</fdir1>
@@ -1298,21 +1044,24 @@
         </surface>
       </collision>
     </link>
-    <joint name="rear_right_wheel_joint" type="revolute">
-      <child>rear_right_wheel_link</child>
+    <joint name="right_track_j" type="fixed">
+      <child>right_track</child>
       <parent>base_link</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>1</use_parent_model_frame>
-      </axis>
     </joint>
+    <plugin name='ignition::gazebo::systems::TrackController' filename='libignition-gazebo-track-controller-system.so'>
+      <link>left_track</link>
+      <min_velocity>-1</min_velocity>
+      <max_velocity>1</max_velocity>
+      <min_acceleration>-3</min_acceleration>
+      <max_acceleration>3</max_acceleration>
+    </plugin>
+    <plugin name='ignition::gazebo::systems::TrackController' filename='libignition-gazebo-track-controller-system.so'>
+      <link>right_track</link>
+      <min_velocity>-1</min_velocity>
+      <max_velocity>1</max_velocity>
+      <min_acceleration>-3</min_acceleration>
+      <max_acceleration>3</max_acceleration>
+    </plugin>
+    <static>0</static>
   </model>
 </sdf>
diff --git a/submitted_models/coro_hd2_sensor_config_1/specifications.md b/submitted_models/coro_hd2_sensor_config_1/specifications.md
index a17a159f..53689e95 100644
--- a/submitted_models/coro_hd2_sensor_config_1/specifications.md
+++ b/submitted_models/coro_hd2_sensor_config_1/specifications.md
@@ -38,7 +38,7 @@ Sensor Config 2 adds 12 breadcrumbs:
 * 12 x Raspberry Pi Zero W
 
 ### Control
-This HD2 is controlled by the DiffDrive plugin and accepts a linear x velocity and a rotational z velocity.
+This HD2 is controlled by the TrackedVehicle plugin and accepts a linear x velocity and a rotational z velocity.
 Sensors are published on the standard topics.
 
 ### Motion Characteristics
@@ -61,8 +61,6 @@ Endurance set to 1 hour until validation testing is completed.
 ### Diversions from Physical Hardware
 Fisheye cameras are not modeled, so 4 cameras were used for simulation in place of the two fisheye cameras on the physical robot.
 
-Tank tracks are approximated by wheels.
-
 
 ## Validation and Specification Links
 * Superdroid HD2 - https://www.superdroidrobots.com/shop/item.aspx/configurable-hd2-treaded-atr-tank-robot-platform/789/
diff --git a/submitted_models/coro_hd2_sensor_config_1/urdf/robot_from_sdf.xacro b/submitted_models/coro_hd2_sensor_config_1/urdf/robot_from_sdf.xacro
index 8c01466f..a8b0ed20 100644
--- a/submitted_models/coro_hd2_sensor_config_1/urdf/robot_from_sdf.xacro
+++ b/submitted_models/coro_hd2_sensor_config_1/urdf/robot_from_sdf.xacro
@@ -241,172 +241,52 @@
     <parent link='${robot_namespace}/base_link'/>
     <origin xyz='0 0 0' rpy='0 -0 0'/>
   </sensor>
-  <link name='${robot_namespace}/front_left_wheel_link'>
-    <inertial>
-      <origin xyz='0 0 0' rpy='0 -0 0'/>
-      <mass value='1.5'/>
-      <inertia ixx='0.02467' ixy='0' ixz='0' iyy='0.04411' iyz='0' izz='0.02467'/>
-    </inertial>
+  <link name='${robot_namespace}/left_track'>
     <collision name='front_left_wheel_link_collision'>
-      <origin xyz='0 0 0' rpy='1.5708 -0 0'/>
-      <geometry>
-        <cylinder radius='0.129' length='0.1'/>
-      </geometry>
-    </collision>
-  </link>
-  <link name='${robot_namespace}/front_middle_left_wheel_link'>
-    <inertial>
-      <origin xyz='0 0 0' rpy='0 -0 0'/>
-      <mass value='1.5'/>
-      <inertia ixx='0.02467' ixy='0' ixz='0' iyy='0.04411' iyz='0' izz='0.02467'/>
-    </inertial>
-    <collision name='front_middle_left_wheel_link_collision'>
-      <origin xyz='0 0 0' rpy='1.5708 -0 0'/>
-      <geometry>
-        <cylinder radius='0.129' length='0.1'/>
-      </geometry>
-    </collision>
-  </link>
-  <link name='${robot_namespace}/rear_middle_left_wheel_link'>
-    <inertial>
-      <origin xyz='0 0 0' rpy='0 -0 0'/>
-      <mass value='1.5'/>
-      <inertia ixx='0.02467' ixy='0' ixz='0' iyy='0.04411' iyz='0' izz='0.02467'/>
-    </inertial>
-    <collision name='rear_middle_left_wheel_link_collision'>
-      <origin xyz='0 0 0' rpy='1.5708 -0 0'/>
+      <origin xyz='0.36 0 0' rpy='1.5708 -0 0'/>
       <geometry>
         <cylinder radius='0.129' length='0.1'/>
       </geometry>
     </collision>
-  </link>
-  <link name='${robot_namespace}/rear_left_wheel_link'>
-    <inertial>
-      <origin xyz='0 0 0' rpy='0 -0 0'/>
-      <mass value='1.5'/>
-      <inertia ixx='0.02467' ixy='0' ixz='0' iyy='0.04411' iyz='0' izz='0.02467'/>
-    </inertial>
     <collision name='rear_left_wheel_link_collision'>
-      <origin xyz='0 0 0' rpy='1.5708 -0 0'/>
+      <origin xyz='-0.36 0 0' rpy='1.5708 -0 0'/>
       <geometry>
         <cylinder radius='0.129' length='0.1'/>
       </geometry>
     </collision>
-  </link>
-  <link name='${robot_namespace}/front_right_wheel_link'>
-    <inertial>
-      <origin xyz='0 0 0' rpy='0 -0 0'/>
-      <mass value='1.5'/>
-      <inertia ixx='0.02467' ixy='0' ixz='0' iyy='0.04411' iyz='0' izz='0.02467'/>
-    </inertial>
-    <collision name='front_right_wheel_link_collision'>
-      <origin xyz='0 0 0' rpy='1.5708 -0 0'/>
+    <collision name='left_track_box_collision'>
       <geometry>
-        <cylinder radius='0.129' length='0.1'/>
+        <box size='0.72 0.1 0.258'/>
       </geometry>
     </collision>
   </link>
-  <link name='${robot_namespace}/front_middle_right_wheel_link'>
-    <inertial>
-      <origin xyz='0 0 0' rpy='0 -0 0'/>
-      <mass value='1.5'/>
-      <inertia ixx='0.02467' ixy='0' ixz='0' iyy='0.04411' iyz='0' izz='0.02467'/>
-    </inertial>
-    <collision name='front_middle_right_wheel_link_collision'>
-      <origin xyz='0 0 0' rpy='1.5708 -0 0'/>
+  <link name='${robot_namespace}/right_track'>
+    <collision name='front_right_wheel_link_collision'>
+      <origin xyz='0.36 0 0' rpy='1.5708 -0 0'/>
       <geometry>
         <cylinder radius='0.129' length='0.1'/>
       </geometry>
     </collision>
-  </link>
-  <link name='${robot_namespace}/rear_middle_right_wheel_link'>
-    <inertial>
-      <origin xyz='0 0 0' rpy='0 -0 0'/>
-      <mass value='1.5'/>
-      <inertia ixx='0.02467' ixy='0' ixz='0' iyy='0.04411' iyz='0' izz='0.02467'/>
-    </inertial>
-    <collision name='rear_middle_right_wheel_link_collision'>
-      <origin xyz='0 0 0' rpy='1.5708 -0 0'/>
+    <collision name='rear_right_wheel_link_collision'>
+      <origin xyz='-0.36 0 0' rpy='1.5708 -0 0'/>
       <geometry>
         <cylinder radius='0.129' length='0.1'/>
       </geometry>
     </collision>
-  </link>
-  <link name='${robot_namespace}/rear_right_wheel_link'>
-    <inertial>
-      <origin xyz='0 0 0' rpy='0 -0 0'/>
-      <mass value='1.5'/>
-      <inertia ixx='0.02467' ixy='0' ixz='0' iyy='0.04411' iyz='0' izz='0.02467'/>
-    </inertial>
-    <collision name='rear_right_wheel_link_collision'>
-      <origin xyz='0 0 0' rpy='1.5708 -0 0'/>
+    <collision name='right_track_box_collision'>
       <geometry>
-        <cylinder radius='0.129' length='0.1'/>
+        <box size='0.72 0.1 0.258'/>
       </geometry>
     </collision>
   </link>
-  <joint name='front_left_wheel_joint' type='revolute'>
-    <origin xyz='0.36 0.26 0' rpy='0 -0 0'/>
-    <parent link='${robot_namespace}/base_link'/>
-    <child link='${robot_namespace}/front_left_wheel_link'/>
-    <dynamics damping='0' friction='0' />
-    <axis xyz='0 1 0'/>
-    <limit lower='-1e+16' upper='1e+16' effort='-1' velocity='-1'/>
-  </joint>
-  <joint name='front_middle_left_wheel_joint' type='revolute'>
-    <origin xyz='0.12 0.26 0' rpy='0 -0 0'/>
-    <parent link='${robot_namespace}/base_link'/>
-    <child link='${robot_namespace}/front_middle_left_wheel_link'/>
-    <dynamics damping='0' friction='0' />
-    <axis xyz='0 1 0'/>
-    <limit lower='-1e+16' upper='1e+16' effort='-1' velocity='-1'/>
-  </joint>
-  <joint name='rear_middle_left_wheel_joint' type='revolute'>
-    <origin xyz='-0.12 0.26 0' rpy='0 -0 0'/>
-    <parent link='${robot_namespace}/base_link'/>
-    <child link='${robot_namespace}/rear_middle_left_wheel_link'/>
-    <dynamics damping='0' friction='0' />
-    <axis xyz='0 1 0'/>
-    <limit lower='-1e+16' upper='1e+16' effort='-1' velocity='-1'/>
-  </joint>
-  <joint name='rear_left_wheel_joint' type='revolute'>
-    <origin xyz='-0.36 0.26 0' rpy='0 -0 0'/>
-    <parent link='${robot_namespace}/base_link'/>
-    <child link='${robot_namespace}/rear_left_wheel_link'/>
-    <dynamics damping='0' friction='0' />
-    <axis xyz='0 1 0'/>
-    <limit lower='-1e+16' upper='1e+16' effort='-1' velocity='-1'/>
-  </joint>
-  <joint name='front_right_wheel_joint' type='revolute'>
-    <origin xyz='0.36 -0.26 0' rpy='0 -0 0'/>
-    <parent link='${robot_namespace}/base_link'/>
-    <child link='${robot_namespace}/front_right_wheel_link'/>
-    <dynamics damping='0' friction='0' />
-    <axis xyz='0 1 0'/>
-    <limit lower='-1e+16' upper='1e+16' effort='-1' velocity='-1'/>
-  </joint>
-  <joint name='front_middle_right_wheel_joint' type='revolute'>
-    <origin xyz='0.12 -0.26 0' rpy='0 -0 0'/>
-    <parent link='${robot_namespace}/base_link'/>
-    <child link='${robot_namespace}/front_middle_right_wheel_link'/>
-    <dynamics damping='0' friction='0' />
-    <axis xyz='0 1 0'/>
-    <limit lower='-1e+16' upper='1e+16' effort='-1' velocity='-1'/>
-  </joint>
-  <joint name='rear_middle_right_wheel_joint' type='revolute'>
-    <origin xyz='-0.12 -0.26 0' rpy='0 -0 0'/>
+  <joint name='left_track_j' type='fixed'>
+    <origin xyz='0 0.26 0' rpy='0 0 0'/>
     <parent link='${robot_namespace}/base_link'/>
-    <child link='${robot_namespace}/rear_middle_right_wheel_link'/>
-    <dynamics damping='0' friction='0' />
-    <axis xyz='0 1 0'/>
-    <limit lower='-1e+16' upper='1e+16' effort='-1' velocity='-1'/>
+    <child link='${robot_namespace}/left_track'/>
   </joint>
-  <joint name='rear_right_wheel_joint' type='revolute'>
-    <origin xyz='-0.36 -0.26 0' rpy='0 -0 0'/>
+  <joint name='right_track_j' type='fixed'>
+    <origin xyz='0 -0.26 0' rpy='0 0 0'/>
     <parent link='${robot_namespace}/base_link'/>
-    <child link='${robot_namespace}/rear_right_wheel_link'/>
-    <dynamics damping='0' friction='0' />
-    <axis xyz='0 1 0'/>
-    <limit lower='-1e+16' upper='1e+16' effort='-1' velocity='-1'/>
+    <child link='${robot_namespace}/right_track'/>
   </joint>
 </robot>
diff --git a/submitted_models/coro_hd2_sensor_config_1/worlds/example.sdf b/submitted_models/coro_hd2_sensor_config_1/worlds/example.sdf
index 9ea5042c..5c46cff1 100644
--- a/submitted_models/coro_hd2_sensor_config_1/worlds/example.sdf
+++ b/submitted_models/coro_hd2_sensor_config_1/worlds/example.sdf
@@ -171,6 +171,13 @@
       <uri> https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier </uri>
     </include>
 
+    <include>
+      <name>pallet</name>
+      <pose>2 0 0.02 0 0 0</pose>
+      <uri> https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Euro pallet </uri>
+      <static>1</static>
+    </include>
+
 
     <!-- The base station -->
     <include>
diff --git a/submitted_models/coro_hd2_sensor_config_2/launch/example.ign b/submitted_models/coro_hd2_sensor_config_2/launch/example.ign
new file mode 100644
index 00000000..1dec42e1
--- /dev/null
+++ b/submitted_models/coro_hd2_sensor_config_2/launch/example.ign
@@ -0,0 +1,20 @@
+<?xml version="1.0"?>
+<%
+  base_launch = `rospack find coro_hd2_sensor_config_1`.chomp + "/launch"
+  base_dir = File.realpath(File.join(File.dirname(__FILE__), ".."))
+
+  ros_param=''
+  if defined?(ros) and ros
+    ros_param='ros:=true'
+  end
+
+  headless_param=''
+  if defined?(headless) and headless
+    headless_param='headless:=true'
+  end
+%>
+<ignition version='1.0'>
+  <executable name='include'>
+    <command>ign launch -v4 <%= File.join(base_launch, "example.ign") %> base_dir:=<%= base_dir %> robotName:=<%= robotName %> <%= ros_param %> <%= headless_param %></command>
+  </executable>
+</ignition>
\ No newline at end of file
diff --git a/submitted_models/coro_hd2_sensor_config_2/launch/spawner.rb b/submitted_models/coro_hd2_sensor_config_2/launch/spawner.rb
index 66f4e1f5..2992b465 100644
--- a/submitted_models/coro_hd2_sensor_config_2/launch/spawner.rb
+++ b/submitted_models/coro_hd2_sensor_config_2/launch/spawner.rb
@@ -10,24 +10,20 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
     <include>
       <name>#{_name}</name>
       <uri>#{_modelURI}</uri>
-      <!-- Diff drive -->
-      <plugin filename="libignition-gazebo-diff-drive-system.so"
-              name="ignition::gazebo::systems::DiffDrive">
-        <left_joint>front_left_wheel_joint</left_joint>
-        <left_joint>front_middle_left_wheel_joint</left_joint>
-        <left_joint>rear_middle_left_wheel_joint</left_joint>
-        <left_joint>rear_left_wheel_joint</left_joint>
-        <right_joint>front_right_wheel_joint</right_joint>
-        <right_joint>front_middle_right_wheel_joint</right_joint>
-        <right_joint>rear_middle_right_wheel_joint</right_joint>
-        <right_joint>rear_right_wheel_joint</right_joint>
-        <wheel_separation>#{0.525}</wheel_separation>
-        <wheel_radius>0.129</wheel_radius>
+      <!-- Tracked vehicle controller -->
+      <plugin name="ignition::gazebo::systems::TrackedVehicle" filename="ignition-gazebo-tracked-vehicle-system">
+        <left_track><link>left_track</link></left_track>
+        <right_track><link>right_track</link></right_track>
+        <tracks_separation>#{0.525}</tracks_separation>
+        <tracks_height>0.258</tracks_height>
+        <steering_efficiency>0.5</steering_efficiency>
         <topic>/model/#{_name}/cmd_vel_relay</topic>
-        <min_velocity>-1</min_velocity>
-        <max_velocity>1</max_velocity>
-        <min_acceleration>-3</min_acceleration>
-        <max_acceleration>3</max_acceleration>
+        <linear_velocity>
+          <min_velocity>-1</min_velocity>
+          <max_velocity>1</max_velocity>
+          <min_acceleration>-3</min_acceleration>
+          <max_acceleration>3</max_acceleration>
+        </linear_velocity>
       </plugin>
       <!-- Publish robot state information -->
       <plugin filename="libignition-gazebo-pose-publisher-system.so"
@@ -79,58 +75,6 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
          </sdf>
         </breadcrumb>
       </plugin>
-      <!-- Wheel slip -->
-      <plugin filename="libignition-gazebo-wheel-slip-system.so"
-        name="ignition::gazebo::systems::WheelSlip">
-        <wheel link_name="front_left_wheel_link">
-          <slip_compliance_lateral>0.086</slip_compliance_lateral>
-          <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-          <wheel_normal_force>41.47103925</wheel_normal_force>
-          <wheel_radius>0.129</wheel_radius>
-        </wheel>
-        <wheel link_name="front_middle_left_wheel_link">
-          <slip_compliance_lateral>0.086</slip_compliance_lateral>
-          <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-          <wheel_normal_force>41.47103925</wheel_normal_force>
-          <wheel_radius>0.129</wheel_radius>
-        </wheel>
-        <wheel link_name="rear_middle_left_wheel_link">
-          <slip_compliance_lateral>0.086</slip_compliance_lateral>
-          <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-          <wheel_normal_force>41.47103925</wheel_normal_force>
-          <wheel_radius>0.129</wheel_radius>
-        </wheel>
-        <wheel link_name="rear_left_wheel_link">
-          <slip_compliance_lateral>0.086</slip_compliance_lateral>
-          <slip_compliance_longitudinal>0.25</slip_compliance_longitudinal>
-          <wheel_normal_force>41.47103925</wheel_normal_force>
-          <wheel_radius>0.129</wheel_radius>
-        </wheel>
-        <wheel link_name="front_right_wheel_link">
-          <slip_compliance_lateral>0.086</slip_compliance_lateral>
-          <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-          <wheel_normal_force>41.47103925</wheel_normal_force>
-          <wheel_radius>0.129</wheel_radius>
-        </wheel>
-        <wheel link_name="front_middle_right_wheel_link">
-          <slip_compliance_lateral>0.086</slip_compliance_lateral>
-          <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-          <wheel_normal_force>41.47103925</wheel_normal_force>
-          <wheel_radius>0.129</wheel_radius>
-        </wheel>
-        <wheel link_name="rear_middle_right_wheel_link">
-          <slip_compliance_lateral>0.086</slip_compliance_lateral>
-          <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-          <wheel_normal_force>41.47103925</wheel_normal_force>
-          <wheel_radius>0.129</wheel_radius>
-        </wheel>
-        <wheel link_name="rear_right_wheel_link">
-          <slip_compliance_lateral>0.086</slip_compliance_lateral>
-          <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-          <wheel_normal_force>41.47103925</wheel_normal_force>
-          <wheel_radius>0.129</wheel_radius>
-        </wheel>
-      </plugin>
     </include>
     </sdf>
   </spawn>

From 9946f0f7fa4f7e268899548693ed6558e1d15efd Mon Sep 17 00:00:00 2001
From: Martin Pecka <peckama2@fel.cvut.cz>
Date: Wed, 5 Jan 2022 18:20:28 +0100
Subject: [PATCH 12/14] Fixed battery drain of tracked vehicles.

---
 submitted_models/coro_hd2_sensor_config_1/launch/spawner.rb     | 2 ++
 submitted_models/coro_hd2_sensor_config_2/launch/spawner.rb     | 2 ++
 .../csiro_data61_dtr_sensor_config_1/launch/spawner.rb          | 2 ++
 .../csiro_data61_dtr_sensor_config_2/launch/spawner.rb          | 2 ++
 .../csiro_data61_ozbot_atr_sensor_config_1/launch/spawner.rb    | 2 ++
 .../csiro_data61_ozbot_atr_sensor_config_2/launch/spawner.rb    | 2 ++
 .../ctu_cras_norlab_marmotte_sensor_config_1/launch/spawner.rb  | 2 ++
 .../ctu_cras_norlab_marmotte_sensor_config_2/launch/spawner.rb  | 2 ++
 submitted_models/marble_hd2_sensor_config_1/launch/spawner.rb   | 2 ++
 submitted_models/marble_hd2_sensor_config_2/launch/spawner.rb   | 2 ++
 submitted_models/marble_hd2_sensor_config_3/launch/spawner.rb   | 2 ++
 submitted_models/marble_hd2_sensor_config_4/launch/spawner.rb   | 2 ++
 12 files changed, 24 insertions(+)

diff --git a/submitted_models/coro_hd2_sensor_config_1/launch/spawner.rb b/submitted_models/coro_hd2_sensor_config_1/launch/spawner.rb
index 3f388bc2..b1b1be52 100644
--- a/submitted_models/coro_hd2_sensor_config_1/launch/spawner.rb
+++ b/submitted_models/coro_hd2_sensor_config_1/launch/spawner.rb
@@ -50,6 +50,8 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
         <smooth_current_tau>1.9499</smooth_current_tau>
         <power_load>9.9</power_load>
         <start_on_motion>true</start_on_motion>
+        <power_draining_topic>/model/#{_name}/link/left_track/track_cmd_vel</power_draining_topic>
+        <power_draining_topic>/model/#{_name}/link/right_track/track_cmd_vel</power_draining_topic>
       </plugin>
       <!-- Gas Sensor plugin -->
       <plugin filename="libGasEmitterDetectorPlugin.so"
diff --git a/submitted_models/coro_hd2_sensor_config_2/launch/spawner.rb b/submitted_models/coro_hd2_sensor_config_2/launch/spawner.rb
index 2992b465..a6fa3915 100644
--- a/submitted_models/coro_hd2_sensor_config_2/launch/spawner.rb
+++ b/submitted_models/coro_hd2_sensor_config_2/launch/spawner.rb
@@ -50,6 +50,8 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
         <smooth_current_tau>1.9499</smooth_current_tau>
         <power_load>9.9</power_load>
         <start_on_motion>true</start_on_motion>
+        <power_draining_topic>/model/#{_name}/link/left_track/track_cmd_vel</power_draining_topic>
+        <power_draining_topic>/model/#{_name}/link/right_track/track_cmd_vel</power_draining_topic>
       </plugin>
       <!-- Gas Sensor plugin -->
       <plugin filename="libGasEmitterDetectorPlugin.so"
diff --git a/submitted_models/csiro_data61_dtr_sensor_config_1/launch/spawner.rb b/submitted_models/csiro_data61_dtr_sensor_config_1/launch/spawner.rb
index 4184a39b..7a9ca48c 100644
--- a/submitted_models/csiro_data61_dtr_sensor_config_1/launch/spawner.rb
+++ b/submitted_models/csiro_data61_dtr_sensor_config_1/launch/spawner.rb
@@ -65,6 +65,8 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
         <smooth_current_tau>1.9499</smooth_current_tau>
         <power_load>4.432835822</power_load>
         <start_on_motion>true</start_on_motion>
+        <power_draining_topic>/model/#{_name}/link/left_track/track_cmd_vel</power_draining_topic>
+        <power_draining_topic>/model/#{_name}/link/right_track/track_cmd_vel</power_draining_topic>
       </plugin>
 
       <!-- Gas Sensor plugin -->"
diff --git a/submitted_models/csiro_data61_dtr_sensor_config_2/launch/spawner.rb b/submitted_models/csiro_data61_dtr_sensor_config_2/launch/spawner.rb
index efa49068..533c1b53 100644
--- a/submitted_models/csiro_data61_dtr_sensor_config_2/launch/spawner.rb
+++ b/submitted_models/csiro_data61_dtr_sensor_config_2/launch/spawner.rb
@@ -65,6 +65,8 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
         <smooth_current_tau>1.9499</smooth_current_tau>
         <power_load>9.9</power_load>
         <start_on_motion>true</start_on_motion>
+        <power_draining_topic>/model/#{_name}/link/left_track/track_cmd_vel</power_draining_topic>
+        <power_draining_topic>/model/#{_name}/link/right_track/track_cmd_vel</power_draining_topic>
       </plugin>
 
       <!-- Gas Sensor plugin -->"
diff --git a/submitted_models/csiro_data61_ozbot_atr_sensor_config_1/launch/spawner.rb b/submitted_models/csiro_data61_ozbot_atr_sensor_config_1/launch/spawner.rb
index e52f638f..956d7f19 100644
--- a/submitted_models/csiro_data61_ozbot_atr_sensor_config_1/launch/spawner.rb
+++ b/submitted_models/csiro_data61_ozbot_atr_sensor_config_1/launch/spawner.rb
@@ -65,6 +65,8 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
         <smooth_current_tau>1.9499</smooth_current_tau>
         <power_load>1.903846154</power_load>
         <start_on_motion>true</start_on_motion>
+        <power_draining_topic>/model/#{_name}/link/left_track/track_cmd_vel</power_draining_topic>
+        <power_draining_topic>/model/#{_name}/link/right_track/track_cmd_vel</power_draining_topic>
       </plugin>
 
       <!-- Gas Sensor plugin -->"
diff --git a/submitted_models/csiro_data61_ozbot_atr_sensor_config_2/launch/spawner.rb b/submitted_models/csiro_data61_ozbot_atr_sensor_config_2/launch/spawner.rb
index 795e8a77..4df2d2da 100644
--- a/submitted_models/csiro_data61_ozbot_atr_sensor_config_2/launch/spawner.rb
+++ b/submitted_models/csiro_data61_ozbot_atr_sensor_config_2/launch/spawner.rb
@@ -65,6 +65,8 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
         <smooth_current_tau>1.9499</smooth_current_tau>
         <power_load>1.903846154</power_load>
         <start_on_motion>true</start_on_motion>
+        <power_draining_topic>/model/#{_name}/link/left_track/track_cmd_vel</power_draining_topic>
+        <power_draining_topic>/model/#{_name}/link/right_track/track_cmd_vel</power_draining_topic>
       </plugin>
 
       <!-- Gas Sensor plugin -->"
diff --git a/submitted_models/ctu_cras_norlab_marmotte_sensor_config_1/launch/spawner.rb b/submitted_models/ctu_cras_norlab_marmotte_sensor_config_1/launch/spawner.rb
index f3f01f44..6bb06c13 100644
--- a/submitted_models/ctu_cras_norlab_marmotte_sensor_config_1/launch/spawner.rb
+++ b/submitted_models/ctu_cras_norlab_marmotte_sensor_config_1/launch/spawner.rb
@@ -57,6 +57,8 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
         <smooth_current_tau>1.9499</smooth_current_tau>
         <power_load>9.9</power_load>
         <start_on_motion>true</start_on_motion>
+        <power_draining_topic>/model/#{_name}/link/left_track/track_cmd_vel</power_draining_topic>
+        <power_draining_topic>/model/#{_name}/link/right_track/track_cmd_vel</power_draining_topic>
       </plugin>
     </include>
     </sdf>
diff --git a/submitted_models/ctu_cras_norlab_marmotte_sensor_config_2/launch/spawner.rb b/submitted_models/ctu_cras_norlab_marmotte_sensor_config_2/launch/spawner.rb
index 4893112c..5c5182af 100644
--- a/submitted_models/ctu_cras_norlab_marmotte_sensor_config_2/launch/spawner.rb
+++ b/submitted_models/ctu_cras_norlab_marmotte_sensor_config_2/launch/spawner.rb
@@ -74,6 +74,8 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
         <smooth_current_tau>1.9499</smooth_current_tau>
         <power_load>9.9</power_load>
         <start_on_motion>true</start_on_motion>
+        <power_draining_topic>/model/#{_name}/link/left_track/track_cmd_vel</power_draining_topic>
+        <power_draining_topic>/model/#{_name}/link/right_track/track_cmd_vel</power_draining_topic>
       </plugin>
     </include>
     </sdf>
diff --git a/submitted_models/marble_hd2_sensor_config_1/launch/spawner.rb b/submitted_models/marble_hd2_sensor_config_1/launch/spawner.rb
index f3685430..b24a9895 100644
--- a/submitted_models/marble_hd2_sensor_config_1/launch/spawner.rb
+++ b/submitted_models/marble_hd2_sensor_config_1/launch/spawner.rb
@@ -50,6 +50,8 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
         <smooth_current_tau>1.9499</smooth_current_tau>
         <power_load>9.9</power_load>
         <start_on_motion>true</start_on_motion>
+        <power_draining_topic>/model/#{_name}/link/left_track/track_cmd_vel</power_draining_topic>
+        <power_draining_topic>/model/#{_name}/link/right_track/track_cmd_vel</power_draining_topic>
       </plugin>
       <!-- Gas Sensor plugin -->
       <plugin filename="libGasEmitterDetectorPlugin.so"
diff --git a/submitted_models/marble_hd2_sensor_config_2/launch/spawner.rb b/submitted_models/marble_hd2_sensor_config_2/launch/spawner.rb
index a1b483ee..213b4f5f 100644
--- a/submitted_models/marble_hd2_sensor_config_2/launch/spawner.rb
+++ b/submitted_models/marble_hd2_sensor_config_2/launch/spawner.rb
@@ -50,6 +50,8 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
         <smooth_current_tau>1.9499</smooth_current_tau>
         <power_load>9.9</power_load>
         <start_on_motion>true</start_on_motion>
+        <power_draining_topic>/model/#{_name}/link/left_track/track_cmd_vel</power_draining_topic>
+        <power_draining_topic>/model/#{_name}/link/right_track/track_cmd_vel</power_draining_topic>
       </plugin>
       <!-- Gas Sensor plugin -->
       <plugin filename="libGasEmitterDetectorPlugin.so"
diff --git a/submitted_models/marble_hd2_sensor_config_3/launch/spawner.rb b/submitted_models/marble_hd2_sensor_config_3/launch/spawner.rb
index 2d9b3da9..1d9efe4a 100644
--- a/submitted_models/marble_hd2_sensor_config_3/launch/spawner.rb
+++ b/submitted_models/marble_hd2_sensor_config_3/launch/spawner.rb
@@ -50,6 +50,8 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
         <smooth_current_tau>1.9499</smooth_current_tau>
         <power_load>9.9</power_load>
         <start_on_motion>true</start_on_motion>
+        <power_draining_topic>/model/#{_name}/link/left_track/track_cmd_vel</power_draining_topic>
+        <power_draining_topic>/model/#{_name}/link/right_track/track_cmd_vel</power_draining_topic>
       </plugin>
       <!-- Gas Sensor plugin -->
       <plugin filename="libGasEmitterDetectorPlugin.so"
diff --git a/submitted_models/marble_hd2_sensor_config_4/launch/spawner.rb b/submitted_models/marble_hd2_sensor_config_4/launch/spawner.rb
index 81f055b1..47501709 100644
--- a/submitted_models/marble_hd2_sensor_config_4/launch/spawner.rb
+++ b/submitted_models/marble_hd2_sensor_config_4/launch/spawner.rb
@@ -50,6 +50,8 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
         <smooth_current_tau>1.9499</smooth_current_tau>
         <power_load>9.9</power_load>
         <start_on_motion>true</start_on_motion>
+        <power_draining_topic>/model/#{_name}/link/left_track/track_cmd_vel</power_draining_topic>
+        <power_draining_topic>/model/#{_name}/link/right_track/track_cmd_vel</power_draining_topic>
       </plugin>
       <!-- Gas Sensor plugin -->
       <plugin filename="libGasEmitterDetectorPlugin.so"

From a92a3c6f25f7ec4002743344495f158e1c66c2e7 Mon Sep 17 00:00:00 2001
From: Martin Pecka <peckama2@fel.cvut.cz>
Date: Wed, 5 Jan 2022 19:34:15 +0100
Subject: [PATCH 13/14] Fixed CORO_HD2 textures in SDF.

---
 submitted_models/coro_hd2_sensor_config_1/model.sdf | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/submitted_models/coro_hd2_sensor_config_1/model.sdf b/submitted_models/coro_hd2_sensor_config_1/model.sdf
index fcc9c4ad..d4487009 100644
--- a/submitted_models/coro_hd2_sensor_config_1/model.sdf
+++ b/submitted_models/coro_hd2_sensor_config_1/model.sdf
@@ -65,9 +65,9 @@
           <specular>1.0 1.0 1.0</specular>
           <pbr>
             <metal>
-              <albedo_map>materials/textures/HD2_Albedo.jpg</albedo_map>
-              <metalness_map>materials/textures/HD2_Metalness.jpg</metalness_map>
-              <roughness_map>materials/textures/HD2_Roughness.jpg</roughness_map>
+              <albedo_map>materials/textures/HD2_Albedo.png</albedo_map>
+              <metalness_map>materials/textures/HD2_Metalness.png</metalness_map>
+              <roughness_map>materials/textures/HD2_Roughness.png</roughness_map>
             </metal>
           </pbr>
           <script>

From bb5e6d040f1b96d52d818cacab6571d02f2c075d Mon Sep 17 00:00:00 2001
From: Martin Pecka <peckama2@fel.cvut.cz>
Date: Tue, 1 Feb 2022 17:51:13 +0100
Subject: [PATCH 14/14] Changed ATR friction params.

---
 .../model.sdf                                 | 28 +++++++++----------
 1 file changed, 14 insertions(+), 14 deletions(-)

diff --git a/submitted_models/csiro_data61_ozbot_atr_sensor_config_1/model.sdf b/submitted_models/csiro_data61_ozbot_atr_sensor_config_1/model.sdf
index 1e1126f8..cda7cdab 100644
--- a/submitted_models/csiro_data61_ozbot_atr_sensor_config_1/model.sdf
+++ b/submitted_models/csiro_data61_ozbot_atr_sensor_config_1/model.sdf
@@ -773,7 +773,7 @@
             <ode>
               <mu>1</mu>
               <slip1>0.002249</slip1>
-              <mu2>0.75</mu2>
+              <mu2>150</mu2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
@@ -798,7 +798,7 @@
             <ode>
               <mu>1</mu>
               <slip1>0.002841</slip1>
-              <mu2>0.75</mu2>
+              <mu2>150</mu2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
@@ -823,7 +823,7 @@
             <ode>
               <mu>1</mu>
               <slip1>0.001353</slip1>
-              <mu2>0.75</mu2>
+              <mu2>150</mu2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
@@ -848,7 +848,7 @@
             <ode>
               <mu>1</mu>
               <slip1>0.00131</slip1>
-              <mu2>0.75</mu2>
+              <mu2>150</mu2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
@@ -872,7 +872,7 @@
             <ode>
               <mu>1</mu>
               <slip1>0.00131</slip1>
-              <mu2>0.75</mu2>
+              <mu2>150</mu2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
@@ -896,7 +896,7 @@
             <ode>
               <mu>1</mu>
               <slip1>0.00131</slip1>
-              <mu2>0.75</mu2>
+              <mu2>150</mu2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
@@ -920,7 +920,7 @@
             <ode>
               <mu>1</mu>
               <slip1>0.00131</slip1>
-              <mu2>0.75</mu2>
+              <mu2>150</mu2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
@@ -967,7 +967,7 @@
             <ode>
               <mu>1</mu>
               <slip1>0.002249</slip1>
-              <mu2>0.75</mu2>
+              <mu2>150</mu2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
@@ -992,7 +992,7 @@
             <ode>
               <mu>1</mu>
               <slip1>0.002841</slip1>
-              <mu2>0.75</mu2>
+              <mu2>150</mu2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
@@ -1017,7 +1017,7 @@
             <ode>
               <mu>1</mu>
               <slip1>0.001353</slip1>
-              <mu2>0.75</mu2>
+              <mu2>150</mu2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
@@ -1042,7 +1042,7 @@
             <ode>
               <mu>1</mu>
               <slip1>0.00131</slip1>
-              <mu2>0.75</mu2>
+              <mu2>150</mu2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
@@ -1066,7 +1066,7 @@
             <ode>
               <mu>1</mu>
               <slip1>0.00131</slip1>
-              <mu2>0.75</mu2>
+              <mu2>150</mu2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
@@ -1090,7 +1090,7 @@
             <ode>
               <mu>1</mu>
               <slip1>0.00131</slip1>
-              <mu2>0.75</mu2>
+              <mu2>150</mu2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
@@ -1114,7 +1114,7 @@
             <ode>
               <mu>1</mu>
               <slip1>0.00131</slip1>
-              <mu2>0.75</mu2>
+              <mu2>150</mu2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>