diff --git a/docker/subt_sim_entry/Dockerfile b/docker/subt_sim_entry/Dockerfile
index e642ad79..2d50c520 100644
--- a/docker/subt_sim_entry/Dockerfile
+++ b/docker/subt_sim_entry/Dockerfile
@@ -5,10 +5,13 @@ FROM osrf/subt-virtual-testbed:models_latest
 RUN sudo apt-get update -qq \
  && sudo apt-get install --no-install-recommends -y -qq \
         build-essential \
+        bwm-ng \
+        atop \
         cmake \
         cppcheck \
         gdb \
         git \
+        gnutls-bin \
         libbluetooth-dev \
         libccd-dev \
         libcwiid-dev \
@@ -30,8 +33,18 @@ RUN sudo apt-get update -qq \
         net-tools \
         iputils-ping \
         libyaml-cpp-dev \
+        xvfb \
+        g++-8 \
  && sudo apt-get clean -qq
 
+RUN sudo update-alternatives --install /usr/bin/gcc gcc /usr/bin/gcc-8 800 --slave /usr/bin/g++ g++ /usr/bin/g++-8 --slave /usr/bin/gcov gcov /usr/bin/gcov-8
+
+RUN gcc --version
+
+# Install AWS CLI. This is needed by cloudsim to capture ROS logs.
+RUN pip3 install --upgrade awscli=="1.16.220"
+VOLUME /root/.aws
+
 # install ROS and required packages
 RUN sudo /bin/sh -c 'echo "deb [trusted=yes] http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list' \
  && sudo apt-get update -qq \
@@ -50,15 +63,7 @@ RUN sudo /bin/sh -c 'echo "deb [trusted=yes] http://packages.ros.org/ros/ubuntu
     ros-melodic-rotors-control \
     ros-melodic-theora-image-transport \
  && sudo rosdep init \
- && sudo apt-get clean -qq
-
-# Make a couple folders for organizing docker volumes
-RUN mkdir ~/workspaces ~/other
-
-# When running a container start in the developer's home folder
-WORKDIR /home/$USERNAME
-
-RUN rosdep update
+ && sudo apt-get clean
 
 # sdformat8-sdf conflicts with sdformat-sdf installed from gazebo
 # so we need to workaround this using a force overwrite
@@ -68,8 +73,8 @@ RUN sudo /bin/sh -c 'echo "deb [trusted=yes] http://packages.osrfoundation.org/g
  && sudo /bin/sh -c 'apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654'
 
 # install ign-dome
-RUN sudo apt-get update -qq \
- && sudo apt-get install -y -qq \
+RUN sudo apt-get update \
+&&  sudo apt-get install -y \
     ignition-dome \
  && sudo apt-get clean
 
@@ -79,16 +84,34 @@ RUN sudo apt-get update \
     ros-melodic-ros-ign \
  && sudo apt-get clean -qq
 
-# Clone all the subt models so that you don't download them every time
-# docker is run
+# Make a couple folders for organizing docker volumes
+RUN mkdir ~/workspaces ~/other
+
+# When running a container start in the developer's home folder
+WORKDIR /home/$USERNAME
+
+# Install subt sim
 RUN mkdir -p subt_ws/src \
  && cd subt_ws/src \
+ && git config --global http.postBuffer 1048576000 \
  && git clone https://github.com/osrf/subt
 
+# Install dependencies
+RUN . /opt/ros/melodic/setup.sh \
+ && rosdep update \
+ && sudo apt-get update \
+ && rosdep install -y --from-paths . --ignore-src -r \
+    --skip-keys=ignition-transport9 \
+    --skip-keys=ignition-math6 \
+    --skip-keys=ignition-msgs6 \
+    --skip-keys=ignition-plugin1 \
+    --skip-keys=ignition-common3 \
+    --skip-keys=ignition-launch2 \
+ && sudo apt-get clean -qq
+
 WORKDIR /home/$USERNAME/subt_ws
 
 RUN /bin/bash -c 'source /opt/ros/melodic/setup.bash && catkin_make -DCMAKE_BUILD_TYPE=Release install'
-
 RUN /bin/sh -c 'echo ". /opt/ros/melodic/setup.bash" >> ~/.bashrc' \
  && /bin/sh -c 'echo ". ~/subt_ws/install/setup.sh" >> ~/.bashrc'
 
diff --git a/submitted_models/bosdyn_spot/.gitignore b/submitted_models/bosdyn_spot/.gitignore
new file mode 100644
index 00000000..5a7699cc
--- /dev/null
+++ b/submitted_models/bosdyn_spot/.gitignore
@@ -0,0 +1 @@
+model.sdf.urdf
\ No newline at end of file
diff --git a/submitted_models/bosdyn_spot/CMakeLists.txt b/submitted_models/bosdyn_spot/CMakeLists.txt
new file mode 100644
index 00000000..257cc731
--- /dev/null
+++ b/submitted_models/bosdyn_spot/CMakeLists.txt
@@ -0,0 +1,91 @@
+cmake_minimum_required(VERSION 3.10.0)
+project(bosdyn_spot)
+
+set(CMAKE_CXX_STANDARD 17)
+
+set(IGN_GAZEBO_VER 4)
+find_package(ignition-gazebo${IGN_GAZEBO_VER} REQUIRED)
+
+set(DEPS control_toolbox dynamic_reconfigure ros_ign_bridge nodelet roscpp)
+set(MSG_DEPS std_msgs geometry_msgs)
+
+find_package(catkin REQUIRED COMPONENTS ${DEPS} ${MSG_DEPS} message_generation)
+
+add_message_files(FILES Contact.msg ContactsStamped.msg LogicalContact.msg)
+generate_messages(DEPENDENCIES ${MSG_DEPS})
+
+catkin_package(CATKIN_DEPENDS ${DEPS} ${MSG_DEPS} message_runtime)
+
+add_library(multi-joint-command-system src/multi_joint_command.cpp)
+target_link_libraries(multi-joint-command-system
+  PRIVATE ignition-gazebo${IGN_GAZEBO_VER}::core
+)
+
+add_library(foot_contact_bridge src/foot_contact_bridge.cpp)
+target_include_directories(foot_contact_bridge PUBLIC ${catkin_INCLUDE_DIRS})
+target_link_libraries(foot_contact_bridge
+  PUBLIC ignition-gazebo${IGN_GAZEBO_VER}::core ${catkin_LIBRARIES}
+)
+add_dependencies(foot_contact_bridge ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+add_library(logical_contact_bridge src/logical_contact_bridge.cpp)
+target_include_directories(logical_contact_bridge PUBLIC ${catkin_INCLUDE_DIRS})
+target_link_libraries(logical_contact_bridge
+  PUBLIC ignition-gazebo${IGN_GAZEBO_VER}::core ${catkin_LIBRARIES}
+)
+add_dependencies(logical_contact_bridge ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+add_library(logical-contact-system src/logical_contact_system.cpp)
+target_link_libraries(logical-contact-system
+  PRIVATE ignition-gazebo${IGN_GAZEBO_VER}::core
+)
+
+add_library(pid_control_bridge src/pid_control_bridge.cpp)
+target_include_directories(pid_control_bridge PUBLIC ${catkin_INCLUDE_DIRS})
+target_link_libraries(pid_control_bridge
+  PUBLIC ignition-gazebo${IGN_GAZEBO_VER}::core ${catkin_LIBRARIES}
+)
+add_dependencies(pid_control_bridge ${catkin_EXPORTED_TARGETS})
+
+add_library(joint_trajectory_bridge src/joint_trajectory_bridge.cpp)
+target_include_directories(joint_trajectory_bridge PUBLIC ${catkin_INCLUDE_DIRS})
+target_link_libraries(joint_trajectory_bridge
+  PUBLIC ignition-gazebo${IGN_GAZEBO_VER}::core ${catkin_LIBRARIES}
+)
+add_dependencies(joint_trajectory_bridge ${catkin_EXPORTED_TARGETS})
+
+add_library(configurable-joint-position-controller-system src/configurable_joint_position_controller.cpp)
+target_link_libraries(configurable-joint-position-controller-system
+  PRIVATE ignition-gazebo${IGN_GAZEBO_VER}::core
+)
+
+add_library(mono-camera-system src/mono_camera_system.cpp)
+target_link_libraries(mono-camera-system
+  PRIVATE ignition-gazebo${IGN_GAZEBO_VER}::core
+)
+
+install(TARGETS
+    configurable-joint-position-controller-system
+    joint_trajectory_bridge
+    multi-joint-command-system
+    pid_control_bridge
+    foot_contact_bridge
+    logical-contact-system
+    logical_contact_bridge
+    mono-camera-system
+  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
+
+install(PROGRAMS scripts/clean_sdf scripts/high_precision_constants.py scripts/print_robot_urdf scripts/yaml_to_xacro_args
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/scripts)
+
+install(DIRECTORY config launch meshes urdf worlds
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
+
+install(FILES model.sdf model.config nodelets.xml
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
+
+catkin_install_python(PROGRAMS nodes/pid_multituner
+  DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
\ No newline at end of file
diff --git a/submitted_models/bosdyn_spot/Changelog.md b/submitted_models/bosdyn_spot/Changelog.md
new file mode 100644
index 00000000..f86ff737
--- /dev/null
+++ b/submitted_models/bosdyn_spot/Changelog.md
@@ -0,0 +1,5 @@
+# Changelog
+
+## 1.0.0
+
+- First working version.
\ No newline at end of file
diff --git a/submitted_models/bosdyn_spot/config/ekf/base_to_footprint.yaml b/submitted_models/bosdyn_spot/config/ekf/base_to_footprint.yaml
new file mode 100644
index 00000000..22ca6c56
--- /dev/null
+++ b/submitted_models/bosdyn_spot/config/ekf/base_to_footprint.yaml
@@ -0,0 +1,30 @@
+frequency: 50
+
+transform_timeout: 0.01
+transform_time_offset: 0.045
+
+two_d_mode: false
+# diagnostics_agg: true
+
+#x     , y     , z,
+#roll  , pitch , yaw,
+#vx    , vy    , vz,
+#vroll , vpitch, vyaw,
+#ax    , ay    , az
+
+pose0: base_to_footprint_pose
+pose0_config: [true,  true,  true,
+               true,  true,  true,
+               false, false, false,
+               false, false, false,
+               false, false, false]
+
+#imu0: imu/data
+#imu0_config: [false, false, false,
+#              false, false, false,
+#              true, true, true,
+#              false, false, false,
+#              false, false, false]
+
+odom_frame: base_footprint
+world_frame: base_footprint
\ No newline at end of file
diff --git a/submitted_models/bosdyn_spot/config/ekf/footprint_to_odom.yaml b/submitted_models/bosdyn_spot/config/ekf/footprint_to_odom.yaml
new file mode 100644
index 00000000..9228850f
--- /dev/null
+++ b/submitted_models/bosdyn_spot/config/ekf/footprint_to_odom.yaml
@@ -0,0 +1,31 @@
+frequency: 50
+
+transform_timeout: 0.01
+# transform_time_offset: 0.05
+
+two_d_mode: true
+# diagnostics_agg: true
+
+#x     , y     , z,
+#roll  , pitch , yaw,
+#vx    , vy    , vz,
+#vroll , vpitch, vyaw,
+#ax    , ay    , az
+
+odom0: odom/raw
+odom0_config: [false, false, false,
+               false, false, false,
+                true,  true, false,
+               false, false, true,
+               false, false, false]
+
+imu0: imu/data
+imu0_config: [false, false, false,
+              false, false, true,
+              false, false, false,
+              false, false,  true,
+              false, false, false]
+
+odom_frame: odom
+base_link_frame: base_footprint
+world_frame: odom
\ No newline at end of file
diff --git a/submitted_models/bosdyn_spot/config/gait/gait.yaml b/submitted_models/bosdyn_spot/config/gait/gait.yaml
new file mode 100644
index 00000000..1c56576f
--- /dev/null
+++ b/submitted_models/bosdyn_spot/config/gait/gait.yaml
@@ -0,0 +1,12 @@
+knee_orientation : ">>"
+pantograph_leg : false
+odom_scaler: 1.0
+max_linear_velocity_x : 1.5
+max_linear_velocity_y : 0.25
+max_angular_velocity_z : 0.5
+# the following parameters affect stability of the gait
+com_x_translation : -0.1
+swing_height : 0.08
+stance_depth : -0.01
+stance_duration : 0.3 # affects max speed and stability
+nominal_height : 0.48
\ No newline at end of file
diff --git a/submitted_models/bosdyn_spot/config/joints/joints.yaml b/submitted_models/bosdyn_spot/config/joints/joints.yaml
new file mode 100644
index 00000000..8b986fa2
--- /dev/null
+++ b/submitted_models/bosdyn_spot/config/joints/joints.yaml
@@ -0,0 +1,23 @@
+left_front:
+  - front_left_hip_x
+  - front_left_hip_y
+  - front_left_knee
+  - front_left_foot
+
+right_front:
+  - front_right_hip_x
+  - front_right_hip_y
+  - front_right_knee
+  - front_right_foot
+
+left_hind:
+  - rear_left_hip_x
+  - rear_left_hip_y
+  - rear_left_knee
+  - rear_left_foot
+
+right_hind:
+  - rear_right_hip_x
+  - rear_right_hip_y
+  - rear_right_knee
+  - rear_right_foot
\ No newline at end of file
diff --git a/submitted_models/bosdyn_spot/config/links/links.yaml b/submitted_models/bosdyn_spot/config/links/links.yaml
new file mode 100644
index 00000000..838f69d4
--- /dev/null
+++ b/submitted_models/bosdyn_spot/config/links/links.yaml
@@ -0,0 +1,24 @@
+base: body  # this should not have the namespace, it is added in state_estimation
+left_front:
+  - $(arg name)/front_left_hip
+  - $(arg name)/front_left_upper_leg
+  - $(arg name)/front_left_lower_leg
+  - $(arg name)/front_left_ee
+
+right_front:
+  - $(arg name)/front_right_hip
+  - $(arg name)/front_right_upper_leg
+  - $(arg name)/front_right_lower_leg
+  - $(arg name)/front_right_ee
+
+left_hind:
+  - $(arg name)/rear_left_hip
+  - $(arg name)/rear_left_upper_leg
+  - $(arg name)/rear_left_lower_leg
+  - $(arg name)/rear_left_ee
+
+right_hind:
+  - $(arg name)/rear_right_hip
+  - $(arg name)/rear_right_upper_leg
+  - $(arg name)/rear_right_lower_leg
+  - $(arg name)/rear_right_ee
\ No newline at end of file
diff --git a/submitted_models/bosdyn_spot/config/model/common.yaml b/submitted_models/bosdyn_spot/config/model/common.yaml
new file mode 100644
index 00000000..94452a93
--- /dev/null
+++ b/submitted_models/bosdyn_spot/config/model/common.yaml
@@ -0,0 +1,12 @@
+leg_kp: 1e+7
+leg_kd: 100.0
+leg_mu1: 0.8
+leg_mu2: 0.8
+# leg_fdir1: '0 0 1'
+
+max_knee_effort: 80
+max_knee_velocity: 15
+max_hip_x_effort: 80
+max_hip_x_velocity: 15
+max_hip_y_effort: 80
+max_hip_y_velocity: 15
\ No newline at end of file
diff --git a/submitted_models/bosdyn_spot/config/model/ign.yaml b/submitted_models/bosdyn_spot/config/model/ign.yaml
new file mode 100644
index 00000000..a040dcfb
--- /dev/null
+++ b/submitted_models/bosdyn_spot/config/model/ign.yaml
@@ -0,0 +1 @@
+rendering_target: ign
\ No newline at end of file
diff --git a/submitted_models/bosdyn_spot/config/model/urdf.yaml b/submitted_models/bosdyn_spot/config/model/urdf.yaml
new file mode 100644
index 00000000..c60a0a81
--- /dev/null
+++ b/submitted_models/bosdyn_spot/config/model/urdf.yaml
@@ -0,0 +1 @@
+rendering_target: urdf
\ No newline at end of file
diff --git a/submitted_models/bosdyn_spot/config/ros_control/ros_control.yaml b/submitted_models/bosdyn_spot/config/ros_control/ros_control.yaml
new file mode 100644
index 00000000..7e289b06
--- /dev/null
+++ b/submitted_models/bosdyn_spot/config/ros_control/ros_control.yaml
@@ -0,0 +1,15 @@
+"":
+  joint_group_position_controller:
+      gains: # also good: 380, 0.2, 5.75
+        front_left_hip_x  : {p: 250, i: 0.2, d: 5.0}
+        front_left_hip_y  : {p: 250, i: 0.2, d: 5.0}
+        front_left_knee   : {p: 250, i: 0.2, d: 5.0}
+        front_right_hip_x : {p: 250, i: 0.2, d: 5.0}
+        front_right_hip_y : {p: 250, i: 0.2, d: 5.0}
+        front_right_knee  : {p: 250, i: 0.2, d: 5.0}
+        rear_left_hip_x   : {p: 250, i: 0.2, d: 5.0}
+        rear_left_hip_y   : {p: 250, i: 0.2, d: 5.0}
+        rear_left_knee    : {p: 250, i: 0.2, d: 5.0}
+        rear_right_hip_x  : {p: 250, i: 0.2, d: 5.0}
+        rear_right_hip_y  : {p: 250, i: 0.2, d: 5.0}
+        rear_right_knee   : {p: 250, i: 0.2, d: 5.0}
\ No newline at end of file
diff --git a/submitted_models/bosdyn_spot/config/rviz.rviz b/submitted_models/bosdyn_spot/config/rviz.rviz
new file mode 100644
index 00000000..622d1e4b
--- /dev/null
+++ b/submitted_models/bosdyn_spot/config/rviz.rviz
@@ -0,0 +1,963 @@
+Panels:
+  - Class: rviz/Displays
+    Help Height: 85
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Mono1
+        - /Depth1
+        - /Points1
+      Splitter Ratio: 0.6631853580474854
+    Tree Height: 313
+  - Class: rviz/Selection
+    Name: Selection
+  - Class: rviz/Tool Properties
+    Expanded:
+      - /2D Pose Estimate1
+      - /2D Nav Goal1
+      - /Publish Point1
+    Name: Tool Properties
+    Splitter Ratio: 0.5886790156364441
+  - Class: rviz/Views
+    Expanded:
+      - /Current View1
+      - /Robot left side1/Focal Point1
+    Name: Views
+    Splitter Ratio: 0.4786096215248108
+  - Class: rviz/Time
+    Experimental: false
+    Name: Time
+    SyncMode: 0
+    SyncSource: Left
+Preferences:
+  PromptSaveOnExit: true
+Toolbars:
+  toolButtonStyle: 2
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 1
+      Class: rviz/RobotModel
+      Collision Enabled: false
+      Enabled: true
+      Links:
+        All Links Enabled: true
+        Expand Joint Details: false
+        Expand Link Details: false
+        Expand Tree: false
+        Link Tree Style: Links in Alphabetic Order
+        X1/base_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        X1/body:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        X1/camera_back:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        X1/camera_frontleft:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        X1/camera_frontright:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        X1/camera_left:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        X1/camera_right:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        X1/front_left_ee:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        X1/front_left_hip:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        X1/front_left_lower_leg:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        X1/front_left_upper_leg:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        X1/front_rail:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        X1/front_right_ee:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        X1/front_right_hip:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        X1/front_right_lower_leg:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        X1/front_right_upper_leg:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        X1/imu:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        X1/rear_left_ee:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        X1/rear_left_hip:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        X1/rear_left_lower_leg:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        X1/rear_left_upper_leg:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        X1/rear_rail:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        X1/rear_right_ee:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        X1/rear_right_hip:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        X1/rear_right_lower_leg:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        X1/rear_right_upper_leg:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+      Name: Robot model
+      Robot Description: robot_description
+      TF Prefix: ""
+      Update Interval: 0
+      Value: true
+      Visual Enabled: true
+    - Class: rviz/TF
+      Enabled: true
+      Frame Timeout: 15
+      Frames:
+        All Enabled: true
+        X1:
+          Value: true
+        X1/base_link:
+          Value: true
+        X1/body:
+          Value: true
+        X1/camera_back:
+          Value: true
+        X1/camera_back/back_depth:
+          Value: true
+        X1/camera_back/back_depth_optical:
+          Value: true
+        X1/camera_back/back_fisheye_image:
+          Value: true
+        X1/camera_back/back_fisheye_image_optical:
+          Value: true
+        X1/camera_frontleft:
+          Value: true
+        X1/camera_frontleft/frontleft_depth:
+          Value: true
+        X1/camera_frontleft/frontleft_depth_optical:
+          Value: true
+        X1/camera_frontleft/frontleft_fisheye_image:
+          Value: true
+        X1/camera_frontleft/frontleft_fisheye_image_optical:
+          Value: true
+        X1/camera_frontright:
+          Value: true
+        X1/camera_frontright/frontright_depth:
+          Value: true
+        X1/camera_frontright/frontright_depth_optical:
+          Value: true
+        X1/camera_frontright/frontright_fisheye_image:
+          Value: true
+        X1/camera_frontright/frontright_fisheye_image_optical:
+          Value: true
+        X1/camera_left:
+          Value: true
+        X1/camera_left/left_depth:
+          Value: true
+        X1/camera_left/left_depth_optical:
+          Value: true
+        X1/camera_left/left_fisheye_image:
+          Value: true
+        X1/camera_left/left_fisheye_image_optical:
+          Value: true
+        X1/camera_right:
+          Value: true
+        X1/camera_right/right_depth:
+          Value: true
+        X1/camera_right/right_depth_optical:
+          Value: true
+        X1/camera_right/right_fisheye_image:
+          Value: true
+        X1/camera_right/right_fisheye_image_optical:
+          Value: true
+        X1/front_left_ee:
+          Value: true
+        X1/front_left_hip:
+          Value: true
+        X1/front_left_lower_leg:
+          Value: true
+        X1/front_left_lower_leg/contact:
+          Value: true
+        X1/front_left_upper_leg:
+          Value: true
+        X1/front_rail:
+          Value: true
+        X1/front_right_ee:
+          Value: true
+        X1/front_right_hip:
+          Value: true
+        X1/front_right_lower_leg:
+          Value: true
+        X1/front_right_lower_leg/contact:
+          Value: true
+        X1/front_right_upper_leg:
+          Value: true
+        X1/imu:
+          Value: true
+        X1/imu/imu:
+          Value: true
+        X1/rear_left_ee:
+          Value: true
+        X1/rear_left_hip:
+          Value: true
+        X1/rear_left_lower_leg:
+          Value: true
+        X1/rear_left_lower_leg/contact:
+          Value: true
+        X1/rear_left_upper_leg:
+          Value: true
+        X1/rear_rail:
+          Value: true
+        X1/rear_right_ee:
+          Value: true
+        X1/rear_right_hip:
+          Value: true
+        X1/rear_right_lower_leg:
+          Value: true
+        X1/rear_right_lower_leg/contact:
+          Value: true
+        X1/rear_right_upper_leg:
+          Value: true
+        example:
+          Value: true
+        world:
+          Value: true
+      Marker Scale: 0.6000000238418579
+      Name: TF
+      Show Arrows: true
+      Show Axes: true
+      Show Names: true
+      Tree:
+        X1:
+          X1/base_link:
+            {}
+          X1/body:
+            {}
+          X1/camera_back:
+            X1/camera_back/back_depth:
+              X1/camera_back/back_depth_optical:
+                {}
+            X1/camera_back/back_fisheye_image:
+              X1/camera_back/back_fisheye_image_optical:
+                {}
+          X1/camera_frontleft:
+            X1/camera_frontleft/frontleft_depth:
+              X1/camera_frontleft/frontleft_depth_optical:
+                {}
+            X1/camera_frontleft/frontleft_fisheye_image:
+              X1/camera_frontleft/frontleft_fisheye_image_optical:
+                {}
+          X1/camera_frontright:
+            X1/camera_frontright/frontright_depth:
+              X1/camera_frontright/frontright_depth_optical:
+                {}
+            X1/camera_frontright/frontright_fisheye_image:
+              X1/camera_frontright/frontright_fisheye_image_optical:
+                {}
+          X1/camera_left:
+            X1/camera_left/left_depth:
+              X1/camera_left/left_depth_optical:
+                {}
+            X1/camera_left/left_fisheye_image:
+              X1/camera_left/left_fisheye_image_optical:
+                {}
+          X1/camera_right:
+            X1/camera_right/right_depth:
+              X1/camera_right/right_depth_optical:
+                {}
+            X1/camera_right/right_fisheye_image:
+              X1/camera_right/right_fisheye_image_optical:
+                {}
+          X1/front_left_ee:
+            {}
+          X1/front_left_hip:
+            {}
+          X1/front_left_lower_leg:
+            X1/front_left_lower_leg/contact:
+              {}
+          X1/front_left_upper_leg:
+            {}
+          X1/front_rail:
+            {}
+          X1/front_right_ee:
+            {}
+          X1/front_right_hip:
+            {}
+          X1/front_right_lower_leg:
+            X1/front_right_lower_leg/contact:
+              {}
+          X1/front_right_upper_leg:
+            {}
+          X1/imu:
+            X1/imu/imu:
+              {}
+          X1/rear_left_ee:
+            {}
+          X1/rear_left_hip:
+            {}
+          X1/rear_left_lower_leg:
+            X1/rear_left_lower_leg/contact:
+              {}
+          X1/rear_left_upper_leg:
+            {}
+          X1/rear_rail:
+            {}
+          X1/rear_right_ee:
+            {}
+          X1/rear_right_hip:
+            {}
+          X1/rear_right_lower_leg:
+            X1/rear_right_lower_leg/contact:
+              {}
+          X1/rear_right_upper_leg:
+            {}
+      Update Interval: 0
+      Value: true
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz/Grid
+      Color: 160; 160; 164
+      Enabled: true
+      Line Style:
+        Line Width: 0.029999999329447746
+        Value: Lines
+      Name: Base link grid (1 m)
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 10
+      Reference Frame: X1
+      Value: true
+    - Alpha: 0.5
+      Cell Size: 10
+      Class: rviz/Grid
+      Color: 160; 160; 164
+      Enabled: true
+      Line Style:
+        Line Width: 0.029999999329447746
+        Value: Lines
+      Name: Fixed frame grid (10 m)
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 10
+      Reference Frame: <Fixed Frame>
+      Value: true
+    - Class: rviz/Group
+      Displays:
+        - Class: rviz/Image
+          Enabled: true
+          Image Topic: left/image_raw
+          Max Value: 1
+          Median window: 5
+          Min Value: 0
+          Name: Left
+          Normalize Range: true
+          Queue Size: 2
+          Transport Hint: raw
+          Unreliable: false
+          Value: true
+        - Class: rviz/Image
+          Enabled: true
+          Image Topic: frontleft/image_raw
+          Max Value: 1
+          Median window: 5
+          Min Value: 0
+          Name: Front Left
+          Normalize Range: true
+          Queue Size: 2
+          Transport Hint: raw
+          Unreliable: false
+          Value: true
+        - Class: rviz/Image
+          Enabled: true
+          Image Topic: frontright/image_raw
+          Max Value: 1
+          Median window: 5
+          Min Value: 0
+          Name: Front Right
+          Normalize Range: true
+          Queue Size: 2
+          Transport Hint: raw
+          Unreliable: false
+          Value: true
+        - Class: rviz/Image
+          Enabled: true
+          Image Topic: right/image_raw
+          Max Value: 1
+          Median window: 5
+          Min Value: 0
+          Name: Right
+          Normalize Range: true
+          Queue Size: 2
+          Transport Hint: raw
+          Unreliable: false
+          Value: true
+        - Class: rviz/Image
+          Enabled: true
+          Image Topic: back/image_raw
+          Max Value: 1
+          Median window: 5
+          Min Value: 0
+          Name: Back
+          Normalize Range: true
+          Queue Size: 2
+          Transport Hint: raw
+          Unreliable: false
+          Value: true
+      Enabled: true
+      Name: Mono
+    - Class: rviz/Group
+      Displays:
+        - Class: rviz/Image
+          Enabled: true
+          Image Topic: tof_left/depth
+          Max Value: 1
+          Median window: 5
+          Min Value: 0
+          Name: Left Depth
+          Normalize Range: true
+          Queue Size: 2
+          Transport Hint: raw
+          Unreliable: false
+          Value: true
+        - Class: rviz/Image
+          Enabled: true
+          Image Topic: tof_frontleft/depth
+          Max Value: 1
+          Median window: 5
+          Min Value: 0
+          Name: Front Left Depth
+          Normalize Range: true
+          Queue Size: 2
+          Transport Hint: raw
+          Unreliable: false
+          Value: true
+        - Class: rviz/Image
+          Enabled: true
+          Image Topic: tof_frontright/depth
+          Max Value: 1
+          Median window: 5
+          Min Value: 0
+          Name: Front Right Depth
+          Normalize Range: true
+          Queue Size: 2
+          Transport Hint: raw
+          Unreliable: false
+          Value: true
+        - Class: rviz/Image
+          Enabled: true
+          Image Topic: tof_right/depth
+          Max Value: 1
+          Median window: 5
+          Min Value: 0
+          Name: Right Depth
+          Normalize Range: true
+          Queue Size: 2
+          Transport Hint: raw
+          Unreliable: false
+          Value: true
+        - Class: rviz/Image
+          Enabled: true
+          Image Topic: tof_back/depth
+          Max Value: 1
+          Median window: 5
+          Min Value: 0
+          Name: Back Depth
+          Normalize Range: true
+          Queue Size: 2
+          Transport Hint: raw
+          Unreliable: false
+          Value: true
+      Enabled: true
+      Name: Depth
+    - Class: rviz/Group
+      Displays:
+        - Alpha: 1
+          Autocompute Intensity Bounds: true
+          Autocompute Value Bounds:
+            Max Value: 1
+            Min Value: -1
+            Value: false
+          Axis: Z
+          Channel Name: intensity
+          Class: rviz/PointCloud2
+          Color: 255; 255; 255
+          Color Transformer: AxisColor
+          Decay Time: 0
+          Enabled: true
+          Invert Rainbow: false
+          Max Color: 255; 255; 255
+          Max Intensity: 4096
+          Min Color: 0; 0; 0
+          Min Intensity: 0
+          Name: Left PCL
+          Position Transformer: XYZ
+          Queue Size: 10
+          Selectable: true
+          Size (Pixels): 3
+          Size (m): 0.009999999776482582
+          Style: Flat Squares
+          Topic: tof_left/depth/points
+          Unreliable: false
+          Use Fixed Frame: true
+          Use rainbow: true
+          Value: true
+        - Alpha: 1
+          Autocompute Intensity Bounds: true
+          Autocompute Value Bounds:
+            Max Value: 1
+            Min Value: -1
+            Value: false
+          Axis: Z
+          Channel Name: intensity
+          Class: rviz/PointCloud2
+          Color: 255; 255; 255
+          Color Transformer: AxisColor
+          Decay Time: 0
+          Enabled: true
+          Invert Rainbow: false
+          Max Color: 255; 255; 255
+          Max Intensity: 4096
+          Min Color: 0; 0; 0
+          Min Intensity: 0
+          Name: Front Left PCL
+          Position Transformer: XYZ
+          Queue Size: 10
+          Selectable: true
+          Size (Pixels): 3
+          Size (m): 0.009999999776482582
+          Style: Flat Squares
+          Topic: tof_frontleft/depth/points
+          Unreliable: false
+          Use Fixed Frame: true
+          Use rainbow: true
+          Value: true
+        - Alpha: 1
+          Autocompute Intensity Bounds: true
+          Autocompute Value Bounds:
+            Max Value: 1
+            Min Value: -1
+            Value: false
+          Axis: Z
+          Channel Name: intensity
+          Class: rviz/PointCloud2
+          Color: 255; 255; 255
+          Color Transformer: AxisColor
+          Decay Time: 0
+          Enabled: true
+          Invert Rainbow: false
+          Max Color: 255; 255; 255
+          Max Intensity: 4096
+          Min Color: 0; 0; 0
+          Min Intensity: 0
+          Name: Front Right PCL
+          Position Transformer: XYZ
+          Queue Size: 10
+          Selectable: true
+          Size (Pixels): 3
+          Size (m): 0.009999999776482582
+          Style: Flat Squares
+          Topic: tof_frontright/depth/points
+          Unreliable: false
+          Use Fixed Frame: true
+          Use rainbow: true
+          Value: true
+        - Alpha: 1
+          Autocompute Intensity Bounds: true
+          Autocompute Value Bounds:
+            Max Value: 1
+            Min Value: -1
+            Value: false
+          Axis: Z
+          Channel Name: intensity
+          Class: rviz/PointCloud2
+          Color: 255; 255; 255
+          Color Transformer: AxisColor
+          Decay Time: 0
+          Enabled: true
+          Invert Rainbow: false
+          Max Color: 255; 255; 255
+          Max Intensity: 4096
+          Min Color: 0; 0; 0
+          Min Intensity: 0
+          Name: Right PCL
+          Position Transformer: XYZ
+          Queue Size: 10
+          Selectable: true
+          Size (Pixels): 3
+          Size (m): 0.009999999776482582
+          Style: Flat Squares
+          Topic: tof_right/depth/points
+          Unreliable: false
+          Use Fixed Frame: true
+          Use rainbow: true
+          Value: true
+        - Alpha: 1
+          Autocompute Intensity Bounds: true
+          Autocompute Value Bounds:
+            Max Value: 1
+            Min Value: -1
+            Value: false
+          Axis: Z
+          Channel Name: intensity
+          Class: rviz/PointCloud2
+          Color: 255; 255; 255
+          Color Transformer: AxisColor
+          Decay Time: 0
+          Enabled: true
+          Invert Rainbow: false
+          Max Color: 255; 255; 255
+          Max Intensity: 4096
+          Min Color: 0; 0; 0
+          Min Intensity: 0
+          Name: Back PCL
+          Position Transformer: XYZ
+          Queue Size: 10
+          Selectable: true
+          Size (Pixels): 3
+          Size (m): 0.009999999776482582
+          Style: Flat Squares
+          Topic: tof_back/depth/points
+          Unreliable: false
+          Use Fixed Frame: true
+          Use rainbow: true
+          Value: true
+      Enabled: true
+      Name: Points
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Default Light: true
+    Fixed Frame: X1
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz/Interact
+      Hide Inactive Objects: true
+    - Class: rviz/MoveCamera
+    - Class: rviz/Select
+    - Class: rviz/FocusCamera
+    - Class: rviz/Measure
+    - Class: rviz/SetInitialPose
+      Theta std deviation: 0.2617993950843811
+      Topic: /initialpose
+      X std deviation: 0.5
+      Y std deviation: 0.5
+    - Class: rviz/SetGoal
+      Topic: /move_base_simple/goal
+    - Class: rviz/PublishPoint
+      Single click: true
+      Topic: /clicked_point
+  Value: true
+  Views:
+    Current:
+      Class: rviz/ThirdPersonFollower
+      Distance: 3.2473340034484863
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.05999999865889549
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Focal Point:
+        X: -0.3315746784210205
+        Y: 1.0569753646850586
+        Z: 1.2227055776747875e-5
+      Focal Shape Fixed Size: false
+      Focal Shape Size: 0.05000000074505806
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.10000000149011612
+      Pitch: 0.5747964382171631
+      Target Frame: base_link
+      Value: ThirdPersonFollower (rviz)
+      Yaw: 1.7066930532455444
+    Saved:
+      - Class: rviz/Orbit
+        Distance: 5
+        Enable Stereo Rendering:
+          Stereo Eye Separation: 0.05999999865889549
+          Stereo Focal Distance: 1
+          Swap Stereo Eyes: false
+          Value: false
+        Focal Point:
+          X: 0
+          Y: 0
+          Z: 0
+        Focal Shape Fixed Size: false
+        Focal Shape Size: 0.05000000074505806
+        Invert Z Axis: false
+        Name: Robot orbit
+        Near Clip Distance: 0.009999999776482582
+        Pitch: 0.7853981852531433
+        Target Frame: base_link
+        Value: Orbit (rviz)
+        Yaw: 0.785398006439209
+      - Class: rviz/ThirdPersonFollower
+        Distance: 5
+        Enable Stereo Rendering:
+          Stereo Eye Separation: 0.05999999865889549
+          Stereo Focal Distance: 1
+          Swap Stereo Eyes: false
+          Value: false
+        Focal Point:
+          X: 0
+          Y: 0
+          Z: 0
+        Focal Shape Fixed Size: false
+        Focal Shape Size: 0.05000000074505806
+        Invert Z Axis: false
+        Name: Robot 3rd person
+        Near Clip Distance: 3
+        Pitch: 0.25
+        Target Frame: base_link
+        Value: ThirdPersonFollower (rviz)
+        Yaw: 3.141590118408203
+      - Class: rviz/ThirdPersonFollower
+        Distance: 10
+        Enable Stereo Rendering:
+          Stereo Eye Separation: 0.05999999865889549
+          Stereo Focal Distance: 1
+          Swap Stereo Eyes: false
+          Value: false
+        Focal Point:
+          X: 0
+          Y: 0
+          Z: 0
+        Focal Shape Fixed Size: false
+        Focal Shape Size: 0.05000000074505806
+        Invert Z Axis: false
+        Name: Robot top-down
+        Near Clip Distance: 8
+        Pitch: 1.5697963237762451
+        Target Frame: base_link
+        Value: ThirdPersonFollower (rviz)
+        Yaw: 3.141590118408203
+      - Class: rviz/ThirdPersonFollower
+        Distance: 5
+        Enable Stereo Rendering:
+          Stereo Eye Separation: 0.05999999865889549
+          Stereo Focal Distance: 1
+          Swap Stereo Eyes: false
+          Value: false
+        Focal Point:
+          X: 1
+          Y: 0
+          Z: 0
+        Focal Shape Fixed Size: false
+        Focal Shape Size: 0.05000000074505806
+        Invert Z Axis: false
+        Name: Robot left side
+        Near Clip Distance: 4.5
+        Pitch: 0
+        Target Frame: base_link
+        Value: ThirdPersonFollower (rviz)
+        Yaw: 1.5700000524520874
+      - Class: rviz/ThirdPersonFollower
+        Distance: 5
+        Enable Stereo Rendering:
+          Stereo Eye Separation: 0.05999999865889549
+          Stereo Focal Distance: 1
+          Swap Stereo Eyes: false
+          Value: false
+        Focal Point:
+          X: 1
+          Y: 0
+          Z: 0
+        Focal Shape Fixed Size: false
+        Focal Shape Size: 0.05000000074505806
+        Invert Z Axis: false
+        Name: Robot right side
+        Near Clip Distance: 4.5
+        Pitch: 0
+        Target Frame: base_link
+        Value: ThirdPersonFollower (rviz)
+        Yaw: -1.5700000524520874
+      - Class: rviz/FPS
+        Enable Stereo Rendering:
+          Stereo Eye Separation: 0.05999999865889549
+          Stereo Focal Distance: 1
+          Swap Stereo Eyes: false
+          Value: false
+        Invert Z Axis: false
+        Name: Robot top-down
+        Near Clip Distance: 8
+        Pitch: 1.5697963237762451
+        Position:
+          X: 0
+          Y: 0
+          Z: 10
+        Target Frame: base_link
+        Value: FPS (rviz)
+        Yaw: 0
+      - Angle: 0
+        Class: rviz/TopDownOrtho
+        Enable Stereo Rendering:
+          Stereo Eye Separation: 0.05999999865889549
+          Stereo Focal Distance: 1
+          Swap Stereo Eyes: false
+          Value: false
+        Invert Z Axis: false
+        Name: Robot top-down
+        Near Clip Distance: 0.009999999776482582
+        Scale: 100
+        Target Frame: base_link
+        Value: TopDownOrtho (rviz)
+        X: 0
+        Y: 0
+      - Angle: 0
+        Class: rviz/TopDownOrtho
+        Enable Stereo Rendering:
+          Stereo Eye Separation: 0.05999999865889549
+          Stereo Focal Distance: 1
+          Swap Stereo Eyes: false
+          Value: false
+        Invert Z Axis: false
+        Name: Fixed frame top-down
+        Near Clip Distance: 0.009999999776482582
+        Scale: 4
+        Target Frame: <Fixed Frame>
+        Value: TopDownOrtho (rviz)
+        X: 0
+        Y: 0
+      - Class: rviz/FPS
+        Enable Stereo Rendering:
+          Stereo Eye Separation: 0.05999999865889549
+          Stereo Focal Distance: 1
+          Swap Stereo Eyes: false
+          Value: false
+        Invert Z Axis: false
+        Name: Fixed frame 1st person
+        Near Clip Distance: 1
+        Pitch: 1
+        Position:
+          X: -2
+          Y: 0
+          Z: 5
+        Target Frame: <Fixed Frame>
+        Value: FPS (rviz)
+        Yaw: 0
+      - Class: rviz/ThirdPersonFollower
+        Distance: 36.92524719238281
+        Enable Stereo Rendering:
+          Stereo Eye Separation: 0.05999999865889549
+          Stereo Focal Distance: 1
+          Swap Stereo Eyes: false
+          Value: false
+        Focal Point:
+          X: 0.4568486213684082
+          Y: 0.32300829887390137
+          Z: 7.213062417577021e-6
+        Focal Shape Fixed Size: false
+        Focal Shape Size: 0.05000000074505806
+        Invert Z Axis: false
+        Name: ThirdPersonFollower
+        Near Clip Distance: 0.10000000149011612
+        Pitch: 0.5397967100143433
+        Target Frame: base_link
+        Value: ThirdPersonFollower (rviz)
+        Yaw: 6.276592254638672
+Window Geometry:
+  Back:
+    collapsed: false
+  Back Depth:
+    collapsed: false
+  Displays:
+    collapsed: false
+  Front Left:
+    collapsed: false
+  Front Left Depth:
+    collapsed: false
+  Front Right:
+    collapsed: false
+  Front Right Depth:
+    collapsed: false
+  Height: 1052
+  Hide Left Dock: false
+  Hide Right Dock: false
+  Left:
+    collapsed: false
+  Left Depth:
+    collapsed: false
+  QMainWindow State: 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
+  Right:
+    collapsed: false
+  Right Depth:
+    collapsed: false
+  Selection:
+    collapsed: false
+  Time:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: false
+  Width: 1853
+  X: 67
+  Y: 28
diff --git a/submitted_models/bosdyn_spot/launch/_clock_bridge.launch b/submitted_models/bosdyn_spot/launch/_clock_bridge.launch
new file mode 100644
index 00000000..94267feb
--- /dev/null
+++ b/submitted_models/bosdyn_spot/launch/_clock_bridge.launch
@@ -0,0 +1,5 @@
+<?xml version="1.0" encoding="UTF-8" ?>
+<!-- this is just a local testing file used from example.ign -->
+<launch>
+    <node pkg="ros_ign_bridge" type="parameter_bridge" name="$(anon ros_ign_bridge)" args="/clock@rosgraph_msgs/Clock[ignition.msgs.Clock" />
+</launch>
\ No newline at end of file
diff --git a/submitted_models/bosdyn_spot/launch/body_camera.launch b/submitted_models/bosdyn_spot/launch/body_camera.launch
new file mode 100644
index 00000000..7839f97e
--- /dev/null
+++ b/submitted_models/bosdyn_spot/launch/body_camera.launch
@@ -0,0 +1,20 @@
+<?xml version="1.0"?>
+<launch>
+  <arg name="name"/>
+  <arg name="world_name"/>
+  <arg name="camera"/>
+  <arg name="relay_points" default="1" />
+  <arg name="link_prefix" value="/world/$(arg world_name)/model/$(arg name)/link"/>
+
+  <include file="$(find subt_ros)/launch/models_common/rgb_camera.launch">
+    <arg name="node_name_suffix" value="camera_$(arg camera)" />
+    <arg name="gazebo_topic" value="$(arg link_prefix)/camera_$(arg camera)/sensor/$(arg camera)_fisheye_image/mono" />
+    <arg name="ros_topic" value="$(arg camera)" />
+  </include>
+  <include file="$(find subt_ros)/launch/models_common/depth_camera.launch">
+    <arg name="node_name_suffix" value="camera_$(arg camera)_depth" />
+    <arg name="gazebo_topic" value="$(arg link_prefix)/camera_$(arg camera)/sensor/$(arg camera)_depth" />
+    <arg name="ros_topic" value="tof_$(arg camera)" />
+    <arg name="relay_points" value="$(arg relay_points)" />
+  </include>
+</launch>
diff --git a/submitted_models/bosdyn_spot/launch/common.rb b/submitted_models/bosdyn_spot/launch/common.rb
new file mode 100644
index 00000000..97b4b47a
--- /dev/null
+++ b/submitted_models/bosdyn_spot/launch/common.rb
@@ -0,0 +1,129 @@
+def _spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw, _additionalSpawnPlugins="", _pid=[250, 0.2, 5])
+  joints = []
+  legs = ["front_left", "front_right", "rear_left", "rear_right"]
+  for leg in legs do
+    for motor in ["hip_x", "hip_y", "knee"] do
+      joints.append(leg + "_" + motor)
+    end
+  end
+
+  actuators = ""
+  state_publisher_joints = ""
+  multi_joint_command_joints = ""
+
+  # the PID values for the position controller system are taken from config/ros_control/ros_control.yaml
+  # and are used just to keep the robot standing until the user starts commanding it from the
+  # solution container; the PID gains here were verified to be able to keep the robot standing (just the bare robot);
+  # as soon as the user starts the solution code, the PID gains get reconfigured
+  # to match whatever is set by the solution code (they can even be changed dynamically)
+  for joint in joints do
+    actuator=<<-HEREDOC
+    <plugin filename="libignition-gazebo-apply-joint-force-system.so"
+        name="ignition::gazebo::systems::ApplyJointForce">
+      <joint_name>#{joint}</joint_name>
+    </plugin>
+    <plugin filename="configurable-joint-position-controller-system"
+        name="subt::ConfigurableJointPositionController">
+      <joint_name>#{joint}</joint_name>
+      <keep_initial_pos />
+      <p_gain>#{_pid[0]}</p_gain>
+      <i_gain>#{_pid[1]}</i_gain>
+      <d_gain>#{_pid[2]}</d_gain>
+    </plugin>
+    HEREDOC
+    actuators += actuator
+
+    state_publisher_joints += "<joint_name>" + joint + "</joint_name>\n"
+
+    multi_joint_command_joints += "<joint name=\"" + joint + "\" />\n"
+  end
+
+  logical_contact_collisions = ""
+
+  for leg in legs do
+    logical_contact_collisions += "<group name='" + leg + "'>\n";
+    logical_contact_collisions += "  <collision>" + leg + "_lower_leg_collision</collision>\n";
+    logical_contact_collisions += "  <collision>" + leg + "_lower_leg_collision_1</collision>\n";
+    logical_contact_collisions += "</group>\n";
+  end
+
+  <<-HEREDOC
+  <spawn name='#{_name}'>
+    <name>#{_name}</name>
+    <allow_renaming>false</allow_renaming>
+    <pose>#{_x} #{_y} #{_z + 0.7} #{_roll} #{_pitch} #{_yaw}</pose>
+    <world>#{_worldName}</world>
+    <is_performer>true</is_performer>
+    <sdf version='1.6'>
+    <include>
+      <name>#{_name}</name>
+      <uri>#{_modelURI}</uri>
+      <!-- Publish robot state information -->
+      <plugin filename="libignition-gazebo-pose-publisher-system.so"
+        name="ignition::gazebo::systems::PosePublisher">
+        <publish_link_pose>true</publish_link_pose>
+        <publish_sensor_pose>true</publish_sensor_pose>
+        <publish_collision_pose>false</publish_collision_pose>
+        <publish_visual_pose>false</publish_visual_pose>
+        <publish_nested_model_pose>false</publish_nested_model_pose>
+        <use_pose_vector_msg>true</use_pose_vector_msg>
+        <static_publisher>true</static_publisher>
+        <static_update_frequency>1</static_update_frequency>
+      </plugin>
+      <plugin filename="libignition-gazebo-pose-publisher-system.so"
+        name="ignition::gazebo::systems::PosePublisher">
+        <publish_link_pose>false</publish_link_pose>
+        <publish_sensor_pose>false</publish_sensor_pose>
+        <publish_collision_pose>false</publish_collision_pose>
+        <publish_visual_pose>false</publish_visual_pose>
+        <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
+        <use_pose_vector_msg>true</use_pose_vector_msg>
+        <static_publisher>false</static_publisher>
+      </plugin>
+      <!-- Gas Sensor plugin -->
+      <plugin filename="libGasEmitterDetectorPlugin.so"
+        name="subt::GasDetector">
+        <topic>/model/#{_name}/gas_detected</topic>
+        <update_rate>10</update_rate>
+        <type>gas</type>
+      </plugin>
+      <plugin filename="libignition-gazebo-joint-state-publisher-system.so" name="ignition::gazebo::systems::JointStatePublisher">
+        #{state_publisher_joints}
+      </plugin>
+      #{actuators}
+      <plugin filename="libmulti-joint-command-system.so" name="subt::MultiJointCommandSystem">
+        #{multi_joint_command_joints}
+      </plugin>
+      <plugin filename="logical-contact-system" name="subt::LogicalContactSystem">
+        #{logical_contact_collisions}
+        <topic>/model/#{_name}/leg_collisions</topic>
+      </plugin>
+      #{_additionalSpawnPlugins}
+      <!-- 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>
+  HEREDOC
+end
+
+def _rosExecutables(_name, _worldName)
+  # description.launch is included from vehicle_topics.launch
+  <<-HEREDOC
+  <executable name='topics'>
+    <command>roslaunch --wait --screen bosdyn_spot vehicle_topics.launch world_name:=#{_worldName} name:=#{_name}</command>
+  </executable>
+  HEREDOC
+end
diff --git a/submitted_models/bosdyn_spot/launch/description.launch b/submitted_models/bosdyn_spot/launch/description.launch
new file mode 100644
index 00000000..ba8ddc62
--- /dev/null
+++ b/submitted_models/bosdyn_spot/launch/description.launch
@@ -0,0 +1,7 @@
+<?xml version="1.0"?>
+<launch>
+  <arg name="name" doc="Name of Vehicle"/>
+  <arg name="print_command" default="$(dirname)/../scripts/print_robot_urdf" />
+
+  <param name="$(arg name)/robot_description" command="$(arg print_command) name:=$(arg name)" />
+</launch>
diff --git a/submitted_models/bosdyn_spot/launch/example.ign b/submitted_models/bosdyn_spot/launch/example.ign
new file mode 100644
index 00000000..dfacf538
--- /dev/null
+++ b/submitted_models/bosdyn_spot/launch/example.ign
@@ -0,0 +1,194 @@
+<?xml version="1.0"?>
+<!-- Usage: ign launch path/to/example.ign robotName:=<X1>
+
+   Parameters:
+    robotName: Name to be assigned to model
+-->
+
+<%
+  #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 = false
+  $headless =  local_variables.include?(:headless) ? :headless : false
+
+%>
+
+<%
+  unless local_variables.include?(:robotName)
+    raise "missing parameters. robotName is a required parameter"
+  end
+
+  # This assumes that this launch file is in a directory below the model
+  modelURI = File.expand_path(_base_dir, File.dirname(__FILE__))
+  $worldName = 'example'
+  worldFile = File.join(File.expand_path("../worlds", File.dirname(__FILE__)), "#{$worldName}.sdf")
+
+%>
+
+<ignition version='1.0'>
+  <env>
+    <name>IGN_GAZEBO_SYSTEM_PLUGIN_PATH</name>
+    <value>$LD_LIBRARY_PATH</value>
+  </env>
+  <env>
+    <name>LC_ALL</name>
+    <value>C</value>
+  </env>
+
+  <!-- Start ROS first. This is a bit hacky for now. -->
+  <!-- Make sure to source /opt/ros/melodic/setup.bash -->
+  <% if local_variables.include?(:ros) and ros %>
+    <executable name='ros'>
+      <command>roslaunch subt_ros competition_init.launch world_name:=<%=$worldName%> vehicle_topics:=0 enable_ground_truth:=<%=($enableGroundTruth)?"1":"0"%> robot_names:=<%=robotName%></command>
+    </executable>
+  <% elsif local_variables.include?(:champ) and champ %>
+    <executable name='clock'>
+      <command>roslaunch --wait bosdyn_spot _clock_bridge.launch</command>
+    </executable>
+  <% end %>
+
+  <plugin name="ignition::launch::GazeboServer" filename="ignition-launch-gazebo">
+    <world_file><%= worldFile %></world_file>
+    <run>true</run>
+    <levels>false</levels>
+    <record>
+      <enabled>false</enabled>
+    </record>
+
+    <plugin entity_name="<%= $worldName %>" entity_type="world"
+            filename="ignition-gazebo-physics-system"
+            name="ignition::gazebo::systems::Physics">
+    </plugin>
+
+    <plugin entity_name="<%= $worldName %>" entity_type="world"
+            filename="ignition-gazebo-sensors-system"
+            name="ignition::gazebo::systems::Sensors">
+            <render_engine>ogre2</render_engine>
+    </plugin>
+    <plugin entity_name="<%= $worldName %>" entity_type="world"
+            filename="ignition-gazebo-user-commands-system"
+            name="ignition::gazebo::systems::UserCommands">
+    </plugin>
+    <plugin entity_name="<%= $worldName %>" entity_type="world"
+            filename="ignition-gazebo-scene-broadcaster-system"
+            name="ignition::gazebo::systems::SceneBroadcaster">
+    </plugin>
+    <plugin entity_name="<%= $worldName %>" entity_type="world"
+            filename="ignition-gazebo-imu-system"
+            name="ignition::gazebo::systems::Imu">
+    </plugin>
+
+    <plugin entity_name="<%= $worldName %>" entity_type="world"
+            filename="ignition-gazebo-magnetometer-system"
+            name="ignition::gazebo::systems::Magnetometer">
+    </plugin>
+
+    <plugin entity_name="<%= $worldName %>" entity_type="world"
+            filename="ignition-gazebo-air-pressure-system"
+            name="ignition::gazebo::systems::AirPressure">
+    </plugin>
+
+    <plugin entity_name="<%= $worldName %>" entity_type="world"
+            filename="ignition-gazebo-contact-system"
+            name="ignition::gazebo::systems::Contact">
+    </plugin>
+  </plugin>
+
+  <%if !$headless %>
+  <executable_wrapper>
+    <plugin name="ignition::launch::GazeboGui"
+          filename="ignition-launch-gazebogui">
+      <world_name><%= $worldName %></world_name>
+      <window_title>SubT Simulator</window_title>
+      <window_icon><%= ENV['SUBT_IMAGES_PATH'] %>/SubT_logo.svg</window_icon>
+      <plugin filename="GzScene3D" name="3D View">
+        <ignition-gui>
+          <title>3D View</title>
+          <property type="bool" key="showTitleBar">false</property>
+          <property type="string" key="state">docked</property>
+        </ignition-gui>
+
+        <engine>ogre2</engine>
+        <scene>scene</scene>
+        <ambient_light>0.2 0.2 0.1</ambient_light>
+        <background_color>0.8 0.8 0.8</background_color>
+        <camera_pose>-6.3 -4.2 3.6 0 0.268 0.304</camera_pose>
+        <service>/world/<%= $worldName %>/scene/info</service>
+        <pose_topic>/world/<%= $worldName %>/pose/info</pose_topic>
+        <scene_topic>/world/<%= $worldName %>/scene/info</scene_topic>
+        <deletion_topic>/world/<%= $worldName %>/scene/deletion</deletion_topic>
+      </plugin>
+      <plugin filename="WorldControl" name="World control">
+        <ignition-gui>
+          <title>World control</title>
+          <property type="bool" key="showTitleBar">false</property>
+          <property type="bool" key="resizable">false</property>
+          <property type="double" key="height">72</property>
+          <property type="double" key="width">121</property>
+          <property type="double" key="z">1</property>
+
+          <property type="string" key="state">floating</property>
+          <anchors target="3D View">
+            <line own="left" target="left"/>
+            <line own="bottom" target="bottom"/>
+          </anchors>
+        </ignition-gui>
+
+        <play_pause>true</play_pause>
+        <step>true</step>
+        <start_paused>false</start_paused>
+        <service>/world/<%= $worldName %>/control</service>
+        <stats_topic>/world/<%= $worldName %>/stats</stats_topic>
+
+      </plugin>
+
+      <plugin filename="WorldStats" name="World stats">
+        <ignition-gui>
+          <title>World stats</title>
+          <property type="bool" key="showTitleBar">false</property>
+          <property type="bool" key="resizable">false</property>
+          <property type="double" key="height">110</property>
+          <property type="double" key="width">290</property>
+          <property type="double" key="z">1</property>
+
+          <property type="string" key="state">floating</property>
+          <anchors target="3D View">
+            <line own="right" target="right"/>
+            <line own="bottom" target="bottom"/>
+          </anchors>
+        </ignition-gui>
+
+        <sim_time>true</sim_time>
+        <real_time>true</real_time>
+        <real_time_factor>true</real_time_factor>
+        <iterations>true</iterations>
+        <topic>/world/<%= $worldName %>/stats</topic>
+      </plugin>
+    </plugin>
+  </executable_wrapper>
+  <%end%>
+
+  <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) or (local_variables.include?(:champ) and champ) %>
+    <%= rosExecutables(robotName, $worldName) %>
+  <% end %>
+
+  <!-- subt_spot package is not part of the SubT simulator. You have to download it separately from https://github.com/ctu-vras/subt_spot . -->
+  <% if local_variables.include?(:champ) and champ %>
+    <executable name='champ'>
+      <command>roslaunch --wait subt_spot champ.launch name:=<%=robotName%></command>
+    </executable>
+  <% end %>
+  <% if local_variables.include?(:teleop) and teleop %>
+    <executable name='teleop'>
+      <command>env ROS_NAMESPACE=<%=robotName%> roslaunch --wait champ_teleop teleop.launch joy:=true</command>
+    </executable>
+  <% end %>
+
+</ignition>
\ No newline at end of file
diff --git a/submitted_models/bosdyn_spot/launch/leg.launch b/submitted_models/bosdyn_spot/launch/leg.launch
new file mode 100644
index 00000000..58a36a64
--- /dev/null
+++ b/submitted_models/bosdyn_spot/launch/leg.launch
@@ -0,0 +1,22 @@
+<?xml version="1.0"?>
+<launch>
+  <arg name="name"/>
+  <arg name="world_name"/>
+  <arg name="leg"/>
+  <arg name="link_prefix" value="/world/$(arg world_name)/model/$(arg name)/link"/>
+
+  <arg name="contacts_manager_cmd" />
+  <arg name="contacts_manager_name" />
+  <arg name="control_manager_cmd" />
+  <arg name="control_manager_name" />
+
+  <!-- Contact relay -->
+  <node name="ros_ign_bridge_$(arg leg)_leg_contact" pkg="nodelet" type="nodelet" args="$(arg contacts_manager_cmd) bosdyn_spot/FootContactBridge $(arg contacts_manager_name)" respawn="true">
+    <param name="ign_topic" value="$(arg link_prefix)/$(arg leg)_lower_leg/sensor/contact/contact" />
+    <remap from="contacts" to="leg_contacts/$(arg leg)" />
+  </node>
+
+  <include file="$(dirname)/leg_joint.launch" pass_all_args="true"><arg name="joint" value="hip_x" /></include>
+  <include file="$(dirname)/leg_joint.launch" pass_all_args="true"><arg name="joint" value="hip_y" /></include>
+  <include file="$(dirname)/leg_joint.launch" pass_all_args="true"><arg name="joint" value="knee" /></include>
+</launch>
diff --git a/submitted_models/bosdyn_spot/launch/leg_joint.launch b/submitted_models/bosdyn_spot/launch/leg_joint.launch
new file mode 100644
index 00000000..017d5e77
--- /dev/null
+++ b/submitted_models/bosdyn_spot/launch/leg_joint.launch
@@ -0,0 +1,36 @@
+<?xml version="1.0"?>
+<launch>
+  <arg name="name"/>
+  <arg name="world_name"/>
+  <arg name="leg"/>
+  <arg name="joint"/>
+  <arg name="joint_prefix" value="/model/$(arg name)/joint"/>
+
+  <arg name="contacts_manager_cmd" />
+  <arg name="contacts_manager_name" />
+  <arg name="control_manager_cmd" />
+  <arg name="control_manager_name" />
+
+  <!-- Position controller (send NaN to disable it). It tries to keep the initial position by default. -->
+  <node pkg="ros_ign_bridge" type="parameter_bridge" name="ros_ign_bridge_$(arg leg)_$(arg joint)_position_controller"
+    args="$(arg joint_prefix)/$(arg leg)_$(arg joint)/0/cmd_pos@std_msgs/Float64]ignition.msgs.Double" respawn="true">
+    <remap from="$(arg joint_prefix)/$(arg leg)_$(arg joint)/0/cmd_pos" to="cmd_pos/$(arg leg)_$(arg joint)"/>
+  </node>
+
+  <!-- Effort actuator (send 0 to disable it). -->
+  <node pkg="ros_ign_bridge" type="parameter_bridge" name="ros_ign_bridge_$(arg leg)_$(arg joint)_motor"
+    args="$(arg joint_prefix)/$(arg leg)_$(arg joint)/cmd_force@std_msgs/Float64]ignition.msgs.Double" respawn="true">
+    <remap from="$(arg joint_prefix)/$(arg leg)_$(arg joint)/cmd_force" to="cmd_force/$(arg leg)_$(arg joint)"/>
+  </node>
+
+  <!-- Position controller PID parameters configuration -->
+  <group ns="joint_group_position_controller">
+    <group ns="gains">
+      <arg name="control_manager_abs_name" value="/$(arg name)/$(arg control_manager_name)" if="$(eval control_manager_name != '')" />
+      <arg name="control_manager_abs_name" value="" if="$(eval control_manager_name == '')" />
+      <node name="$(arg leg)_$(arg joint)" pkg="nodelet" type="nodelet" args="$(arg control_manager_cmd) bosdyn_spot/PidControlBridge $(arg control_manager_abs_name)" respawn="true">
+        <param name="ign_topic" value="$(arg joint_prefix)/$(arg leg)_$(arg joint)/0/set_pos_pid" />
+      </node>
+    </group>
+  </group>
+</launch>
diff --git a/submitted_models/bosdyn_spot/launch/spawner.rb b/submitted_models/bosdyn_spot/launch/spawner.rb
new file mode 100644
index 00000000..0e80fdb8
--- /dev/null
+++ b/submitted_models/bosdyn_spot/launch/spawner.rb
@@ -0,0 +1,15 @@
+require_relative 'common.rb'
+
+# look in common.rb for the actual code; the separation of the code to common.rb was done so that
+# other sensor configs can reuse the code; as they reuse it by calling `require`, if they included
+# directly this spawner script, their own spawner() and rosExecutables() functions would be overwritten
+# if they `require` the common.rb file, functions with non-colliding names _spawner and _rosExecutables
+# will be imported
+
+def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw, _additionalSpawnPlugins='')
+  _spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw, _additionalSpawnPlugins)
+end
+
+def rosExecutables(_name, _worldName)
+  _rosExecutables(_name, _worldName)
+end
diff --git a/submitted_models/bosdyn_spot/launch/vehicle_topics.launch b/submitted_models/bosdyn_spot/launch/vehicle_topics.launch
new file mode 100644
index 00000000..d4449026
--- /dev/null
+++ b/submitted_models/bosdyn_spot/launch/vehicle_topics.launch
@@ -0,0 +1,106 @@
+<?xml version="1.0"?>
+<launch>
+  <env name="IGN_TRANSPORT_TOPIC_STATISTICS" value="1"/>
+  <arg name="world_name"/>
+  <arg name="name"/>
+  <arg name="link_prefix" value="/world/$(arg world_name)/model/$(arg name)/link"/>
+  <arg name="joint_prefix" value="/model/$(arg name)/joint"/>
+  <arg name="breadcrumbs" default="0"/>
+  <arg name="description_print_command" default="" />
+  <arg name="relay_points" default="1" />
+  <arg name="nodelets" default="0" doc="Most body-related bridges can run as nodelets, but it can be problematic (spurious broken bonds)." />
+
+  <include file="$(dirname)/description.launch" pass_all_args="true">
+    <arg name="print_command" value="$(arg description_print_command)" if="$(eval description_print_command != '')" />
+  </include>
+
+  <group ns="$(arg name)">
+    <include file="$(find subt_ros)/launch/models_common/all_robots.launch">
+      <arg name="name" value="$(arg name)" />
+      <arg name="world_name" value="$(arg world_name)" />
+    </include>
+
+    <include file="$(find subt_ros)/launch/models_common/all_ugvs.launch">
+      <arg name="name" value="$(arg name)" />
+      <arg name="world_name" value="$(arg world_name)" />
+    </include>
+
+    <!-- Mapping Server -->
+    <include file="$(find subt_ros)/launch/models_common/mapping_server_relays.launch">
+      <arg name="name" value="$(arg name)"/>
+    </include>
+
+    <!-- Actuators -->
+    <node
+      pkg="ros_ign_bridge"
+      type="parameter_bridge"
+      name="ros_ign_bridge_multi_joint_command"
+      args="/model/$(arg name)/joint_commands@sensor_msgs/JointState]ignition.msgs.Model">
+      <remap from="/model/$(arg name)/joint_commands" to="joint_commands"/>
+    </node>
+    
+    <!-- Cameras -->
+    <include file="$(dirname)/body_camera.launch" pass_all_args="true">
+      <arg name="camera" value="frontleft" />
+    </include>
+    <include file="$(dirname)/body_camera.launch" pass_all_args="true">
+      <arg name="camera" value="frontright" />
+    </include>
+    <include file="$(dirname)/body_camera.launch" pass_all_args="true">
+      <arg name="camera" value="left" />
+    </include>
+    <include file="$(dirname)/body_camera.launch" pass_all_args="true">
+      <arg name="camera" value="right" />
+    </include>
+    <include file="$(dirname)/body_camera.launch" pass_all_args="true">
+      <arg name="camera" value="back" />
+    </include>
+
+    <!--IMU-->
+    <include file="$(find subt_ros)/launch/models_common/imu.launch">
+      <arg name="gazebo_topic" value="$(arg link_prefix)/imu/sensor/imu/imu" />
+    </include>
+
+    <!-- Breadcrumbs -->
+    <include if="$(eval breadcrumbs > 0)" file="$(find subt_ros)/launch/models_common/breadcrumbs.launch">
+      <arg name="name" value="$(arg name)" />
+    </include>
+
+    <!-- Control -->
+
+    <arg name="control_manager_cmd" value="load" if="$(arg nodelets)" />
+    <arg name="control_manager_name" value="control_manager" if="$(arg nodelets)" />
+    <arg name="contacts_manager_cmd" value="load" if="$(arg nodelets)" />
+    <arg name="contacts_manager_name" value="contacts_manager" if="$(arg nodelets)" />
+
+    <arg name="control_manager_cmd" value="standalone" unless="$(arg nodelets)" />
+    <arg name="control_manager_name" value="" unless="$(arg nodelets)" />
+    <arg name="contacts_manager_cmd" value="standalone" unless="$(arg nodelets)" />
+    <arg name="contacts_manager_name" value="" unless="$(arg nodelets)" />
+
+    <include file="$(dirname)/leg.launch" pass_all_args="true"><arg name="leg" value="front_left" /></include>
+    <include file="$(dirname)/leg.launch" pass_all_args="true"><arg name="leg" value="front_right" /></include>
+    <include file="$(dirname)/leg.launch" pass_all_args="true"><arg name="leg" value="rear_left" /></include>
+    <include file="$(dirname)/leg.launch" pass_all_args="true"><arg name="leg" value="rear_right" /></include>
+
+    <!-- Contact relay -->
+    <node name="contacts_manager" pkg="nodelet" type="nodelet" args="manager" respawn="true" if="$(arg nodelets)" />
+    <node name="ros_ign_bridge_leg_contact" pkg="nodelet" type="nodelet" args="$(arg contacts_manager_cmd) bosdyn_spot/LogicalContactBridge $(arg contacts_manager_name)" respawn="true">
+      <remap from="logical_contacts" to="leg_contacts" />
+      <param name="ign_topic" value="/model/$(arg name)/leg_collisions" />
+    </node>
+
+    <rosparam command="load" file="$(find bosdyn_spot)/config/ros_control/ros_control.yaml" subst_value="true" />
+    <node name="control_manager" pkg="nodelet" type="nodelet" args="manager" respawn="true" if="$(arg nodelets)"/>
+
+    <node pkg="nodelet" type="nodelet" name="ros_ign_bridge_joint_trajectory_command" args="$(arg control_manager_cmd) bosdyn_spot/JointTrajectoryBridge $(arg control_manager_name)" respawn="true">
+      <remap from="~trajectory" to="joint_group_position_controller/command"/>
+      <param name="ign_topic" value="/model/$(arg name)/joint_trajectory" />
+    </node>
+
+    <node name="pid_multituner" pkg="bosdyn_spot" type="pid_multituner" />
+
+    <!-- Launch subt_spot/launch/champ.launch to get the controller running. The controller should run in the solution container. -->
+  </group>
+  
+</launch>
diff --git a/submitted_models/bosdyn_spot/meshes/body.dae b/submitted_models/bosdyn_spot/meshes/body.dae
new file mode 100644
index 00000000..80d9abfc
--- /dev/null
+++ b/submitted_models/bosdyn_spot/meshes/body.dae
@@ -0,0 +1,119 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
+  <asset>
+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 2.82.7 commit date:2020-03-12, commit time:05:06, hash:375c7dc4caf4</authoring_tool>
+    </contributor>
+    <created>2020-04-13T15:53:56</created>
+    <modified>2020-04-13T15:53:56</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_effects>
+    <effect id="SpotMaterial-effect">
+      <profile_COMMON>
+        <newparam sid="spot_mat_png-surface">
+          <surface type="2D">
+            <init_from>spot_mat_png</init_from>
+          </surface>
+        </newparam>
+        <newparam sid="spot_mat_png-sampler">
+          <sampler2D>
+            <source>spot_mat_png-surface</source>
+          </sampler2D>
+        </newparam>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <texture texture="spot_mat_png-sampler" texcoord="UVMap"/>
+            </diffuse>
+            <index_of_refraction>
+              <float sid="ior">1.45</float>
+            </index_of_refraction>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
+  <library_images>
+    <image id="spot_mat_png" name="spot_mat_png">
+      <init_from>spot_mat.png</init_from>
+    </image>
+  </library_images>
+  <library_materials>
+    <material id="SpotMaterial-material" name="SpotMaterial">
+      <instance_effect url="#SpotMaterial-effect"/>
+    </material>
+  </library_materials>
+  <library_geometries>
+    <geometry id="_2-042137-001-A00_TOP_LEVEL_DEFEATURED_-_NOT_FOR_PRODUCTION_020-mesh" name="02-042137-001-A00 TOP LEVEL DEFEATURED - NOT FOR PRODUCTION.020">
+      <mesh>
+        <source id="_2-042137-001-A00_TOP_LEVEL_DEFEATURED_-_NOT_FOR_PRODUCTION_020-mesh-positions">
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33509 5465 11042 33510 6268 11042 33511 5451 11042 33512 5477 11043 33513 5467 11043 33514 5460 11043 33515 5467 11044 33516 6267 11044 33517 5460 11044 33518 6268 11045 33519 5468 11045 33520 5451 11045 33521 5468 11046 33522 5466 11046 33523 5451 11046 33524 6263 11047 33525 6267 11047 33526 5467 11047 33527 6268 11048 33528 6264 11048 33529 5468 11048 33530 5477 11049 33531 5469 11049 33532 5467 11049 33533 5478 11050 33534 5466 11050 33535 5468 11050 33536 5470 11051 33537 6263 11051 33538 5467 11051 33539 6264 11052 33540 5471 11052 33541 5468 11052 33542 5472 11053 33543 5470 11053 33544 5467 11053 33545 5471 11054 33546 5473 11054 33547 5468 11054 33548 5473 11055 33549 5474 11055 33550 5468 11055 33551 5474 11056 33552 5478 11056 33553 5468 11056 33554 5475 11057 33555 5472 11057 33556 5467 11057 33557 5476 11058 33558 5475 11058 33559 5467 11058 33560 5469 11059 33561 5476 11059 33562 5467 11059 33563 5446 11060 33564 5403 11060 33565 5416 11060 33566 5464 11061 33567 5493 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33685 1307 11100 33686 5485 11101 33687 5498 11101 33688 5487 11101 33689 1257 11102 33690 5499 11102 33691 1259 11102 33692 5502 11103 33693 5496 11103 33694 5494 11103 33695 5515 11104 33696 1336 11104 33697 1325 11104 33698 1328 11105 33699 1339 11105 33700 5514 11105 33701 5516 11106 33702 1314 11106 33703 1336 11106 33704 5503 11107 33705 5517 11107 33706 1261 11107 33707 1334 11108 33708 5504 11108 33709 5508 11108 33710 1331 11109 33711 1337 11109 33712 1328 11109 33713 5518 11110 33714 1172 11110 33715 5501 11110 33716 1354 11111 33717 5519 11111 33718 1338 11111 33719 1362 11112 33720 5520 11112 33721 1354 11112 33722 5521 11113 33723 5429 11113 33724 5425 11113 33725 5523 11114 33726 5435 11114 33727 5392 11114 33728 5457 11115 33729 5524 11115 33730 5480 11115 33731 1379 11116 33732 1380 11116 33733 1370 11116 33734 1391 11117 33735 1392 11117 33736 1379 11117 33737 1257 11118 33738 5555 11118 33739 5499 11118 33740 5578 11119 33741 5496 11119 33742 5502 11119 33743 5500 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11256 34155 5613 11256 34156 5428 11256 34157 5523 11257 34158 5609 11257 34159 5431 11257 34160 5584 11258 34161 5615 11258 34162 5559 11258 34163 5616 11259 34164 5770 11259 34165 5556 11259 34166 5617 11260 34167 5398 11260 34168 5437 11260 34169 5551 11261 34170 5617 11261 34171 5437 11261 34172 1491 11262 34173 1492 11262 34174 1203 11262 34175 1492 11263 34176 1493 11263 34177 1203 11263 34178 1494 11264 34179 5618 11264 34180 5492 11264 34181 5622 11265 34182 5401 11265 34183 5403 11265 34184 5607 11266 34185 5622 11266 34186 5403 11266 34187 5589 11267 34188 5564 11267 34189 5521 11267 34190 5631 11268 34191 5555 11268 34192 5582 11268 34193 5555 11269 34194 5623 11269 34195 5569 11269 34196 5678 11270 34197 5621 11270 34198 5561 11270 34199 5690 11271 34200 5678 11271 34201 5561 11271 34202 5623 11272 34203 5611 11272 34204 5569 11272 34205 5611 11273 34206 5539 11273 34207 5569 11273 34208 5540 11274 34209 5690 11274 34210 5561 11274 34211 5612 11275 34212 5690 11275 34213 5540 11275 34214 5624 11276 34215 5625 11276 34216 5510 11276 34217 5588 11277 34218 5624 11277 34219 5510 11277 34220 5625 11278 34221 5585 11278 34222 5510 11278 34223 5650 11279 34224 5631 11279 34225 5582 11279 34226 5482 11280 34227 5626 11280 34228 5522 11280 34229 5592 11281 34230 5586 11281 34231 5507 11281 34232 5524 11282 34233 5628 11282 34234 5482 11282 34235 5628 11283 34236 5626 11283 34237 5482 11283 34238 5629 11284 34239 5616 11284 34240 5556 11284 34241 5608 11285 34242 5629 11285 34243 5556 11285 34244 5615 11286 34245 5630 11286 34246 5559 11286 34247 5630 11287 34248 5583 11287 34249 5559 11287 34250 5605 11288 34251 5629 11288 34252 5608 11288 34253 5578 11289 34254 5627 11289 34255 1223 11289 34256 5541 11290 34257 5632 11290 34258 5507 11290 34259 5632 11291 34260 5592 11291 34261 5507 11291 34262 5650 11292 34263 5582 11292 34264 1222 11292 34265 5566 11293 34266 5650 11293 34267 1222 11293 34268 5541 11294 34269 5634 11294 34270 5632 11294 34271 5634 11295 34272 5592 11295 34273 5632 11295 34274 5635 11296 34275 5627 11296 34276 5578 11296 34277 1534 11297 34278 5618 11297 34279 1494 11297 34280 5583 11298 34281 5634 11298 34282 5541 11298 34283 5632 11299 34284 5639 11299 34285 5634 11299 34286 5639 11300 34287 5592 11300 34288 5634 11300 34289 5634 11301 34290 5583 11301 34291 5632 11301 34292 5583 11302 34293 5639 11302 34294 5632 11302 34295 5488 11303 34296 5604 11303 34297 5474 11303 34298 5603 11304 34299 5475 11304 34300 5476 11304 34301 5636 11305 34302 5604 11305 34303 5488 11305 34304 5637 11306 34305 5636 11306 34306 5488 11306 34307 5603 11307 34308 5638 11307 34309 5475 11307 34310 5648 11308 34311 5635 11308 34312 5578 11308 34313 5631 11309 34314 5623 11309 34315 5555 11309 34316 5642 11310 34317 5627 11310 34318 5635 11310 34319 1461 11311 34320 1536 11311 34321 5575 11311 34322 5621 11312 34323 5648 11312 34324 5578 11312 34325 5409 11313 34326 5646 11313 34327 5412 11313 34328 5391 11314 34329 5647 11314 34330 5392 11314 34331 5643 11315 34332 5617 11315 34333 5551 11315 34334 5681 11316 34335 5567 11316 34336 5553 11316 34337 5613 11317 34338 5692 11317 34339 5589 11317 34340 5648 11318 34341 5642 11318 34342 5635 11318 34343 5642 11319 34344 5649 11319 34345 5635 11319 34346 5649 11320 34347 5627 11320 34348 5642 11320 34349 5651 11321 34350 1535 11321 34351 1491 11321 34352 1535 11322 34353 1492 11322 34354 1491 11322 34355 1534 11323 34356 5652 11323 34357 5618 11323 34358 5585 11324 34359 5644 11324 34360 5605 11324 34361 5649 11325 34362 5642 11325 34363 5648 11325 34364 5523 11326 34365 5654 11326 34366 5609 11326 34367 5604 11327 34368 5568 11327 34369 5570 11327 34370 5626 11328 34371 5603 11328 34372 5571 11328 34373 5636 11329 34374 5562 11329 34375 5604 11329 34376 5562 11330 34377 5579 11330 34378 5604 11330 34379 5579 11331 34380 5568 11331 34381 5604 11331 34382 5628 11332 34383 5638 11332 34384 5603 11332 34385 5626 11333 34386 5628 11333 34387 5603 11333 34388 5568 11334 34389 5579 11334 34390 5542 11334 34391 5655 11335 34392 5651 11335 34393 1491 11335 34394 5648 11336 34395 5627 11336 34396 5649 11336 34397 5579 11337 34398 5562 11337 34399 5479 11337 34400 5644 11338 34401 5653 11338 34402 5605 11338 34403 5609 11339 34404 5681 11339 34405 5553 11339 34406 5652 11340 34407 5656 11340 34408 5618 11340 34409 5657 11341 34410 5652 11341 34411 1534 11341 34412 5631 11342 34413 5683 11342 34414 5623 11342 34415 5678 11343 34416 5684 11343 34417 5621 11343 34418 5684 11344 34419 5680 11344 34420 5621 11344 34421 5680 11345 34422 5665 11345 34423 5621 11345 34424 5638 11346 34425 5524 11346 34426 5577 11346 34427 5662 11347 34428 5523 11347 34429 5392 11347 34430 5562 11348 34431 5636 11348 34432 5454 11348 34433 5636 11349 34434 5663 11349 34435 5454 11349 34436 5664 11350 34437 5453 11350 34438 5454 11350 34439 5663 11351 34440 5664 11351 34441 5454 11351 34442 5638 11352 34443 5628 11352 34444 5524 11352 34445 5653 11353 34446 5629 11353 34447 5605 11353 34448 5665 11354 34449 5648 11354 34450 5621 11354 34451 5656 11355 34452 1548 11355 34453 5618 11355 34454 5666 11356 34455 5655 11356 34456 1491 11356 34457 5650 11357 34458 5667 11357 34459 5631 11357 34460 5564 11358 34461 5682 11358 34462 5551 11358 34463 5682 11359 34464 5643 11359 34465 5551 11359 34466 5637 11360 34467 5663 11360 34468 5636 11360 34469 5577 11361 34470 5672 11361 34471 5638 11361 34472 5672 11362 34473 5475 11362 34474 5638 11362 34475 10299 11363 34476 5673 11363 34477 5674 11363 34478 5656 11364 34479 5676 11364 34480 1548 11364 34481 5677 11365 34482 5655 11365 34483 5666 11365 34484 5630 11366 34485 5639 11366 34486 5583 11366 34487 5623 11367 34488 5691 11367 34489 1560 11367 34490 5691 11368 34491 5679 11368 34492 1560 11368 34493 5679 11369 34494 5667 11369 34495 1560 11369 34496 5648 11370 34497 5665 11370 34498 1561 11370 34499 5678 11371 34500 5680 11371 34501 5684 11371 34502 5692 11372 34503 5682 11372 34504 5589 11372 34505 5682 11373 34506 5564 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+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="body" name="body" type="NODE">
+        <matrix sid="transform">-3.37766e-7 -1.19249e-8 1 0 1 -5.07033e-15 3.37766e-7 0 1.04251e-15 1 1.19249e-8 0 0 0 0 1</matrix>
+        <instance_geometry url="#_2-042137-001-A00_TOP_LEVEL_DEFEATURED_-_NOT_FOR_PRODUCTION_020-mesh" name="body">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="SpotMaterial-material" target="#SpotMaterial-material">
+                <bind_vertex_input semantic="UVMap" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
\ No newline at end of file
diff --git a/submitted_models/bosdyn_spot/meshes/body_collision.stl b/submitted_models/bosdyn_spot/meshes/body_collision.stl
new file mode 100644
index 00000000..acec1b72
Binary files /dev/null and b/submitted_models/bosdyn_spot/meshes/body_collision.stl differ
diff --git a/submitted_models/bosdyn_spot/meshes/front_left_hip.dae b/submitted_models/bosdyn_spot/meshes/front_left_hip.dae
new file mode 100644
index 00000000..3f5e4408
--- /dev/null
+++ b/submitted_models/bosdyn_spot/meshes/front_left_hip.dae
@@ -0,0 +1,115 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
+  <asset>
+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 2.82.7 commit date:2020-03-12, commit time:05:06, hash:375c7dc4caf4</authoring_tool>
+    </contributor>
+    <created>2020-04-13T15:54:03</created>
+    <modified>2020-04-13T15:54:03</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_effects>
+    <effect id="SpotMaterial-effect">
+      <profile_COMMON>
+        <newparam sid="spot_mat_png-surface">
+          <surface type="2D">
+            <init_from>spot_mat_png</init_from>
+          </surface>
+        </newparam>
+        <newparam sid="spot_mat_png-sampler">
+          <sampler2D>
+            <source>spot_mat_png-surface</source>
+          </sampler2D>
+        </newparam>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <texture texture="spot_mat_png-sampler" texcoord="UVMap"/>
+            </diffuse>
+            <index_of_refraction>
+              <float sid="ior">1.45</float>
+            </index_of_refraction>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
+  <library_images>
+    <image id="spot_mat_png" name="spot_mat_png">
+      <init_from>spot_mat.png</init_from>
+    </image>
+  </library_images>
+  <library_materials>
+    <material id="SpotMaterial-material" name="SpotMaterial">
+      <instance_effect url="#SpotMaterial-effect"/>
+    </material>
+  </library_materials>
+  <library_geometries>
+    <geometry id="_2-042137-001-A00_TOP_LEVEL_DEFEATURED_-_NOT_FOR_PRODUCTION_008-mesh" name="02-042137-001-A00 TOP LEVEL DEFEATURED - NOT FOR PRODUCTION.008">
+      <mesh>
+        <source id="_2-042137-001-A00_TOP_LEVEL_DEFEATURED_-_NOT_FOR_PRODUCTION_008-mesh-positions">
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+</COLLADA>
\ No newline at end of file
diff --git a/submitted_models/bosdyn_spot/meshes/front_left_hip_collision.stl b/submitted_models/bosdyn_spot/meshes/front_left_hip_collision.stl
new file mode 100644
index 00000000..f82c1d0c
Binary files /dev/null and b/submitted_models/bosdyn_spot/meshes/front_left_hip_collision.stl differ
diff --git a/submitted_models/bosdyn_spot/meshes/front_left_lower_leg.dae b/submitted_models/bosdyn_spot/meshes/front_left_lower_leg.dae
new file mode 100644
index 00000000..59bc702d
--- /dev/null
+++ b/submitted_models/bosdyn_spot/meshes/front_left_lower_leg.dae
@@ -0,0 +1,115 @@
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+  <asset>
+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 2.82.7 commit date:2020-03-12, commit time:05:06, hash:375c7dc4caf4</authoring_tool>
+    </contributor>
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+    <modified>2020-04-13T15:54:00</modified>
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+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
+  <library_images>
+    <image id="spot_mat_png" name="spot_mat_png">
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+  </library_images>
+  <library_materials>
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+</COLLADA>
\ No newline at end of file
diff --git a/submitted_models/bosdyn_spot/meshes/front_left_lower_leg_collision.stl b/submitted_models/bosdyn_spot/meshes/front_left_lower_leg_collision.stl
new file mode 100644
index 00000000..ba20a5bd
Binary files /dev/null and b/submitted_models/bosdyn_spot/meshes/front_left_lower_leg_collision.stl differ
diff --git a/submitted_models/bosdyn_spot/meshes/front_left_upper_leg.dae b/submitted_models/bosdyn_spot/meshes/front_left_upper_leg.dae
new file mode 100644
index 00000000..92c94cac
--- /dev/null
+++ b/submitted_models/bosdyn_spot/meshes/front_left_upper_leg.dae
@@ -0,0 +1,115 @@
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+  <asset>
+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 2.82.7 commit date:2020-03-12, commit time:05:06, hash:375c7dc4caf4</authoring_tool>
+    </contributor>
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+    <modified>2020-04-13T15:54:04</modified>
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+        </newparam>
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+            <diffuse>
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+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
+  <library_images>
+    <image id="spot_mat_png" name="spot_mat_png">
+      <init_from>spot_mat.png</init_from>
+    </image>
+  </library_images>
+  <library_materials>
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+  </library_materials>
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3949 7989 23968 3977 7989 23969 3969 7990 23970 3981 7990 23971 3950 7990 23972 3985 7991 23973 3869 7991 23974 3987 7991 23975 3985 7992 23976 3865 7992 23977 3869 7992 23978 3981 7993 23979 3931 7993 23980 3950 7993 23981 3988 7994 23982 3884 7994 23983 3891 7994 23984 3990 7995 23985 3860 7995 23986 3861 7995 23987 3804 7996 23988 3990 7996 23989 3861 7996 23990 3985 7997 23991 3876 7997 23992 3865 7997 23993 3981 7998 23994 3971 7998 23995 3931 7998 23996 3982 7999 23997 3984 7999 23998 3977 7999 23999 3990 8000 24000 3971 8000 24001 3981 8000 24002 3972 8001 24003 3579 8001 24004 3875 8001 24005 3579 8002 24006 3932 8002 24007 3875 8002 24008 3879 8003 24009 3989 8003 24010 3890 8003 24011 3948 8004 24012 3990 8004 24013 3804 8004 24014 3991 8005 24015 3912 8005 24016 3876 8005 24017 3971 8006 24018 3989 8006 24019 3879 8006 24020 3579 8007 24021 3972 8007 24022 3965 8007 24023 3985 8008 24024 3991 8008 24025 3876 8008 24026 3989 8009 24027 3982 8009 24028 3890 8009 24029 3989 8010 24030 3984 8010 24031 3982 8010 24032 3895 8011 24033 3945 8011 24034 3896 8011 24035 3884 8012 24036 3988 8012 24037 3987 8012 24038 3911 8013 24039 3727 8013 24040 3979 8013 24041 3990 8014 24042 3985 8014 24043 3971 8014 24044 3945 8015 24045 3895 8015 24046 3949 8015 24047 3984 8016 24048 3945 8016 24049 3949 8016 24050 3985 8017 24051 3987 8017 24052 3971 8017 24053 3987 8018 24054 3989 8018 24055 3971 8018 24056 3948 8019 24057 3912 8019 24058 3990 8019 24059 3912 8020 24060 3991 8020 24061 3990 8020 24062 3991 8021 24063 3985 8021 24064 3990 8021 24065 3988 8022 24066 3989 8022 24067 3987 8022 24068 3989 8023 24069 3945 8023 24070 3984 8023 24071 3988 8024 24072 3945 8024 24073 3989 8024 24074 3983 8025 24075 3980 8025 24076 3586 8025 24077 3661 8026 24078 3993 8026 24079 3508 8026 24080 3992 8027 24081 3994 8027 24082 3966 8027 24083 3994 8028 24084 3983 8028 24085 3966 8028 24086 3973 8029 24087 3995 8029 24088 3970 8029 24089 3911 8030 24090 3951 8030 24091 3727 8030 24092 3995 8031 24093 3976 8031 24094 3970 8031 24095 3997 8032 24096 3995 8032 24097 3973 8032 24098 3993 8033 24099 3956 8033 24100 3508 8033 24101 3952 8034 24102 3986 8034 24103 3541 8034 24104 3986 8035 24105 3661 8035 24106 3541 8035 24107 3994 8036 24108 3998 8036 24109 3983 8036 24110 3946 8037 24111 3951 8037 24112 3911 8037 24113 3999 8038 24114 3986 8038 24115 3952 8038 24116 3993 8039 24117 4000 8039 24118 3956 8039 24119 3978 8040 24120 3997 8040 24121 3973 8040 24122 3956 8041 24123 4000 8041 24124 3946 8041 24125 4000 8042 24126 3951 8042 24127 3946 8042 24128 3995 8043 24129 3975 8043 24130 3976 8043 24131 3996 8044 24132 3980 8044 24133 3983 8044 24134 3788 8045 24135 3999 8045 24136 3952 8045 24137 3951 8046 24138 3999 8046 24139 3788 8046 24140 3998 8047 24141 4003 8047 24142 3983 8047 24143 4003 8048 24144 3996 8048 24145 3983 8048 24146 4001 8049 24147 4002 8049 24148 3996 8049 24149 4003 8050 24150 4001 8050 24151 3996 8050 24152 4001 8051 24153 3980 8051 24154 3996 8051 24155 3995 8052 24156 3997 8052 24157 3975 8052 24158 3992 8053 24159 3998 8053 24160 3994 8053 24161 4001 8054 24162 3978 8054 24163 3980 8054 24164 4001 8055 24165 3997 8055 24166 3978 8055 24167 4003 8056 24168 3997 8056 24169 4001 8056 24170 3661 8057 24171 4000 8057 24172 3993 8057 24173 4004 8058 24174 3661 8058 24175 3986 8058 24176 3999 8059 24177 4004 8059 24178 3986 8059 24179 3992 8060 24180 4003 8060 24181 3998 8060 24182 3661 8061 24183 4004 8061 24184 4000 8061 24185 4004 8062 24186 3951 8062 24187 4000 8062 24188 3992 8063 24189 3997 8063 24190 4003 8063 24191 3992 8064 24192 3975 8064 24193 3997 8064 24194 3951 8065 24195 4004 8065 24196 3999 8065 24197 3992 8066 24198 3961 8066 24199 3975 8066 24200 3491 8067 24201 3490 8067 24202 3207 8067 24203 3962 8068 24204 3491 8068 24205 3207 8068 24206 3959 8069 24207 3961 8069 24208 3992 8069 24209 3959 8070 24210 3960 8070 24211 3961 8070 24212 3959 8071 24213 3491 8071 24214 3962 8071 24215 3960 8072 24216 3959 8072 24217 3962 8072 24218</p>
+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="front_left_upper_leg" name="front_left_upper_leg" type="NODE">
+        <matrix sid="transform">-3.37766e-7 -0.7174854 0.6965735 0 1 -1.01496e-7 3.80354e-7 0 -2.02199e-7 0.6965735 0.7174854 0 0 0 0 1</matrix>
+        <instance_geometry url="#_2-042137-001-A00_TOP_LEVEL_DEFEATURED_-_NOT_FOR_PRODUCTION_015-mesh" name="front_left_upper_leg">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="SpotMaterial-material" target="#SpotMaterial-material">
+                <bind_vertex_input semantic="UVMap" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
\ No newline at end of file
diff --git a/submitted_models/bosdyn_spot/meshes/front_left_upper_leg_collision.stl b/submitted_models/bosdyn_spot/meshes/front_left_upper_leg_collision.stl
new file mode 100644
index 00000000..0bc64cba
Binary files /dev/null and b/submitted_models/bosdyn_spot/meshes/front_left_upper_leg_collision.stl differ
diff --git a/submitted_models/bosdyn_spot/meshes/front_right_hip.dae b/submitted_models/bosdyn_spot/meshes/front_right_hip.dae
new file mode 100644
index 00000000..4192037e
--- /dev/null
+++ b/submitted_models/bosdyn_spot/meshes/front_right_hip.dae
@@ -0,0 +1,115 @@
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+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="front_right_hip" name="front_right_hip" type="NODE">
+        <matrix sid="transform">-3.37766e-7 -1.19249e-8 1 0 1 -5.07033e-15 3.37766e-7 0 1.04251e-15 1 1.19249e-8 0 0 0 0 1</matrix>
+        <instance_geometry url="#_2-042137-001-A00_TOP_LEVEL_DEFEATURED_-_NOT_FOR_PRODUCTION_007-mesh" name="front_right_hip">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="SpotMaterial-material" target="#SpotMaterial-material">
+                <bind_vertex_input semantic="UVMap" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
\ No newline at end of file
diff --git a/submitted_models/bosdyn_spot/meshes/front_right_hip_collision.stl b/submitted_models/bosdyn_spot/meshes/front_right_hip_collision.stl
new file mode 100644
index 00000000..77c724ab
Binary files /dev/null and b/submitted_models/bosdyn_spot/meshes/front_right_hip_collision.stl differ
diff --git a/submitted_models/bosdyn_spot/meshes/front_right_lower_leg.dae b/submitted_models/bosdyn_spot/meshes/front_right_lower_leg.dae
new file mode 100644
index 00000000..32eb8b61
--- /dev/null
+++ b/submitted_models/bosdyn_spot/meshes/front_right_lower_leg.dae
@@ -0,0 +1,115 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
+  <asset>
+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 2.82.7 commit date:2020-03-12, commit time:05:06, hash:375c7dc4caf4</authoring_tool>
+    </contributor>
+    <created>2020-04-13T15:54:05</created>
+    <modified>2020-04-13T15:54:05</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_effects>
+    <effect id="SpotMaterial-effect">
+      <profile_COMMON>
+        <newparam sid="spot_mat_png-surface">
+          <surface type="2D">
+            <init_from>spot_mat_png</init_from>
+          </surface>
+        </newparam>
+        <newparam sid="spot_mat_png-sampler">
+          <sampler2D>
+            <source>spot_mat_png-surface</source>
+          </sampler2D>
+        </newparam>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <texture texture="spot_mat_png-sampler" texcoord="UVMap"/>
+            </diffuse>
+            <index_of_refraction>
+              <float sid="ior">1.45</float>
+            </index_of_refraction>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
+  <library_images>
+    <image id="spot_mat_png" name="spot_mat_png">
+      <init_from>spot_mat.png</init_from>
+    </image>
+  </library_images>
+  <library_materials>
+    <material id="SpotMaterial-material" name="SpotMaterial">
+      <instance_effect url="#SpotMaterial-effect"/>
+    </material>
+  </library_materials>
+  <library_geometries>
+    <geometry id="_2-042137-001-A00_TOP_LEVEL_DEFEATURED_-_NOT_FOR_PRODUCTION_-_0-mesh" name="02-042137-001-A00 TOP LEVEL DEFEATURED - NOT FOR PRODUCTION - 0">
+      <mesh>
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1381 2899 8700 1371 2899 8701 1365 2899 8702 1371 2900 8703 1372 2900 8704 1365 2900 8705 1377 2901 8706 1368 2901 8707 1366 2901 8708 1369 2902 8709 1360 2902 8710 1345 2902 8711 1366 2903 8712 1369 2903 8713 1345 2903 8714 1364 2904 8715 1369 2904 8716 1360 2904 8717 1349 2905 8718 1362 2905 8719 1338 2905 8720 1363 2906 8721 1386 2906 8722 1358 2906 8723 1349 2907 8724 1375 2907 8725 1348 2907 8726 1371 2908 8727 1392 2908 8728 1372 2908 8729 1392 2909 8730 1370 2909 8731 1372 2909 8732 1369 2910 8733 1373 2910 8734 1366 2910 8735 1373 2911 8736 1377 2911 8737 1366 2911 8738 1359 2912 8739 1375 2912 8740 1348 2912 8741 1374 2913 8742 1369 2913 8743 1364 2913 8744 1364 2914 8745 1375 2914 8746 1359 2914 8747 1376 2915 8748 1375 2915 8749 1349 2915 8750 1372 2916 8751 1378 2916 8752 1365 2916 8753 1378 2917 8754 1379 2917 8755 1365 2917 8756 1379 2918 8757 1381 2918 8758 1365 2918 8759 1371 2919 8760 1378 2919 8761 1372 2919 8762 1392 2920 8763 1391 2920 8764 1370 2920 8765 1374 2921 8766 1385 2921 8767 1369 2921 8768 1385 2922 8769 1373 2922 8770 1369 2922 8771 1351 2923 8772 1380 2923 8773 1352 2923 8774 1383 2924 8775 1517 2924 8776 1361 2924 8777 1369 2925 8778 1374 2925 8779 1360 2925 8780 1374 2926 8781 1364 2926 8782 1360 2926 8783 1381 2927 8784 1382 2927 8785 1371 2927 8786 1419 2928 8787 1368 2928 8788 1377 2928 8789 1373 2929 8790 1419 2929 8791 1377 2929 8792 1382 2930 8793 1392 2930 8794 1371 2930 8795 1384 2931 8796 1419 2931 8797 1373 2931 8798 1387 2932 8799 1385 2932 8800 1374 2932 8801 1370 2933 8802 1397 2933 8803 1363 2933 8804 1375 2934 8805 1374 2934 8806 1364 2934 8807 1391 2935 8808 1370 2935 8809 1363 2935 8810 1395 2936 8811 1375 2936 8812 1364 2936 8813 1374 2937 8814 1395 2937 8815 1364 2937 8816 1386 2938 8817 1367 2938 8818 1358 2938 8819 1376 2939 8820 1388 2939 8821 1349 2939 8822 1389 2940 8823 1384 2940 8824 1373 2940 8825 1368 2941 8826 1390 2941 8827 1377 2941 8828 1382 2942 8829 1391 2942 8830 1392 2942 8831 1385 2943 8832 1389 2943 8833 1373 2943 8834 1423 2944 8835 1378 2944 8836 1371 2944 8837 1386 2945 8838 1320 2945 8839 1358 2945 8840 1362 2946 8841 1376 2946 8842 1349 2946 8843 1387 2947 8844 1374 2947 8845 1369 2947 8846 1385 2948 8847 1387 2948 8848 1369 2948 8849 1392 2949 8850 1393 2949 8851 1371 2949 8852 1393 2950 8853 1423 2950 8854 1371 2950 8855 1394 2951 8856 1373 2951 8857 1377 2951 8858 1390 2952 8859 1394 2952 8860 1377 2952 8861 1367 2953 8862 1391 2953 8863 1363 2953 8864 1397 2954 8865 1402 2954 8866 1363 2954 8867 1402 2955 8868 1386 2955 8869 1363 2955 8870 1394 2956 8871 1389 2956 8872 1373 2956 8873 1382 2957 8874 1393 2957 8875 1391 2957 8876 1398 2958 8877 1389 2958 8878 1385 2958 8879 1388 2959 8880 1362 2959 8881 1349 2959 8882 1391 2960 8883 1397 2960 8884 1370 2960 8885 1375 2961 8886 1395 2961 8887 1374 2961 8888 1395 2962 8889 1387 2962 8890 1374 2962 8891 1393 2963 8892 1396 2963 8893 1391 2963 8894 1387 2964 8895 1398 2964 8896 1385 2964 8897 1386 2965 8898 1399 2965 8899 1320 2965 8900 1400 2966 8901 1376 2966 8902 1362 2966 8903 1397 2967 8904 1391 2967 8905 1367 2967 8906 1396 2968 8907 1393 2968 8908 1392 2968 8909 1391 2969 8910 1396 2969 8911 1392 2969 8912 1401 2970 8913 1395 2970 8914 1376 2970 8915 1395 2971 8916 1375 2971 8917 1376 2971 8918 1388 2972 8919 1400 2972 8920 1362 2972 8921 1391 2973 8922 1402 2973 8923 1397 2973 8924 1386 2974 8925 1402 2974 8926 1367 2974 8927 1402 2975 8928 1397 2975 8929 1367 2975 8930 1395 2976 8931 1401 2976 8932 1375 2976 8933 1401 2977 8934 1376 2977 8935 1375 2977 8936 1395 2978 8937 1398 2978 8938 1387 2978 8939 1404 2979 8940 1396 2979 8941 1391 2979 8942 1355 2980 8943 1403 2980 8944 1362 2980 8945 1403 2981 8946 1400 2981 8947 1362 2981 8948 1404 2982 8949 1402 2982 8950 1391 2982 8951 1401 2983 8952 1388 2983 8953 1376 2983 8954 1402 2984 8955 1399 2984 8956 1386 2984 8957 1400 2985 8958 1401 2985 8959 1376 2985 8960 1400 2986 8961 1355 2986 8962 1362 2986 8963 1412 2987 8964 1404 2987 8965 1391 2987 8966 1402 2988 8967 1412 2988 8968 1391 2988 8969 1404 2989 8970 1412 2989 8971 1402 2989 8972 1401 2990 8973 1398 2990 8974 1395 2990 8975 1401 2991 8976 1400 2991 8977 1388 2991 8978 1380 2992 8979 1407 2992 8980 1352 2992 8981 2747 2993 8982 2746 2993 8983 1361 2993 8984 2746 2994 8985 1383 2994 8986 1361 2994 8987 1399 2995 8988 1406 2995 8989 1320 2995 8990 1408 2996 8991 1361 2996 8992 1353 2996 8993 1413 2997 8994 1357 2997 8995 1352 2997 8996 1410 2998 8997 1403 2998 8998 1355 2998 8999 1400 2999 9000 1403 2999 9001 1355 2999 9002 1427 3000 9003 2747 3000 9004 1361 3000 9005 1424 3001 9006 1399 3001 9007 1402 3001 9008 1412 3002 9009 1424 3002 9010 1402 3002 9011 1400 3003 9012 1398 3003 9013 1401 3003 9014 1411 3004 9015 1409 3004 9016 1353 3004 9017 1414 3005 9018 1413 3005 9019 1352 3005 9020 1409 3006 9021 1408 3006 9022 1353 3006 9023 1517 3007 9024 1425 3007 9025 1353 3007 9026 1413 3008 9027 1405 3008 9028 1357 3008 9029 1425 3009 9030 1411 3009 9031 1353 3009 9032 1415 3010 9033 1839 3010 9034 744 3010 9035 1884 3011 9036 1416 3011 9037 721 3011 9038 1416 3012 9039 995 3012 9040 721 3012 9041 1417 3013 9042 734 3013 9043 1157 3013 9044 1418 3014 9045 1417 3014 9046 1157 3014 9047 1422 3015 9048 1421 3015 9049 1419 3015 9050 1381 3016 9051 1420 3016 9052 1382 3016 9053 1421 3017 9054 1368 3017 9055 1419 3017 9056 1420 3018 9057 1423 3018 9058 1382 3018 9059 1384 3019 9060 1438 3019 9061 1419 3019 9062 1438 3020 9063 1422 3020 9064 1419 3020 9065 1424 3021 9066 1435 3021 9067 1399 3021 9068 1428 3022 9069 1398 3022 9070 1400 3022 9071 1423 3023 9072 1393 3023 9073 1382 3023 9074 1394 3024 9075 1390 3024 9076 1384 3024 9077 1390 3025 9078 1438 3025 9079 1384 3025 9080 1389 3026 9081 1394 3026 9082 1384 3026 9083 2747 3027 9084 1427 3027 9085 2746 3027 9086 1427 3028 9087 1383 3028 9088 2746 3028 9089 1403 3029 9090 1428 3029 9091 1400 3029 9092 1408 3030 9093 1427 3030 9094 1361 3030 9095 1411 3031 9096 1431 3031 9097 1409 3031 9098 1431 3032 9099 1408 3032 9100 1409 3032 9101 1352 3033 9102 1407 3033 9103 1414 3033 9104 1432 3034 9105 1426 3034 9106 1413 3034 9107 1435 3035 9108 1429 3035 9109 1399 3035 9110 1429 3036 9111 1406 3036 9112 1399 3036 9113 1430 3037 9114 1428 3037 9115 1403 3037 9116 1406 3038 9117 1435 3038 9118 1399 3038 9119 1428 3039 9120 1410 3039 9121 1403 3039 9122 1410 3040 9123 1430 3040 9124 1403 3040 9125 1433 3041 9126 1431 3041 9127 1411 3041 9128 1414 3042 9129 1432 3042 9130 1413 3042 9131 1434 3043 9132 1248 3043 9133 1149 3043 9134 1431 3044 9135 1437 3044 9136 1408 3044 9137 1429 3045 9138 1435 3045 9139 1406 3045 9140 1428 3046 9141 1430 3046 9142 1410 3046 9143 1432 3047 9144 1442 3047 9145 1426 3047 9146 1423 3048 9147 1379 3048 9148 1378 3048 9149 1437 3049 9150 1436 3049 9151 1408 3049 9152 1449 3050 9153 1420 3050 9154 1423 3050 9155 1420 3051 9156 1379 3051 9157 1423 3051 9158 1390 3052 9159 1421 3052 9160 1438 3052 9161 1426 3053 9162 1405 3053 9163 1413 3053 9164 1443 3054 9165 1449 3054 9166 1423 3054 9167 1421 3055 9168 1422 3055 9169 1438 3055 9170 1422 3056 9171 1441 3056 9172 1438 3056 9173 1420 3057 9174 1443 3057 9175 1423 3057 9176 1407 3058 9177 1444 3058 9178 1414 3058 9179 1431 3059 9180 1445 3059 9181 1437 3059 9182 1381 3060 9183 1446 3060 9184 1420 3060 9185 1447 3061 9186 1368 3061 9187 1421 3061 9188 1420 3062 9189 1449 3062 9190 1443 3062 9191 1422 3063 9192 1447 3063 9193 1421 3063 9194 1517 3064 9195 1440 3064 9196 1425 3064 9197 1444 3065 9198 1432 3065 9199 1414 3065 9200 1446 3066 9201 1449 3066 9202 1420 3066 9203 1439 3067 9204 1445 3067 9205 1431 3067 9206 1426 3068 9207 1448 3068 9208 1405 3068 9209 1452 3069 9210 1425 3069 9211 1440 3069 9212 1449 3070 9213 1450 3070 9214 1420 3070 9215 1450 3071 9216 1379 3071 9217 1420 3071 9218 1451 3072 9219 1422 3072 9220 1421 3072 9221 1390 3073 9222 1451 3073 9223 1421 3073 9224 1451 3074 9225 1447 3074 9226 1422 3074 9227 1455 3075 9228 1452 3075 9229 1440 3075 9230 1462 3076 9231 1455 3076 9232 1440 3076 9233 1452 3077 9234 1462 3077 9235 1440 3077 9236 1517 3078 9237 1452 3078 9238 1440 3078 9239 1446 3079 9240 1454 3079 9241 1449 3079 9242 1454 3080 9243 1450 3080 9244 1449 3080 9245 1436 3081 9246 1427 3081 9247 1408 3081 9248 1452 3082 9249 1455 3082 9250 1425 3082 9251 1432 3083 9252 1453 3083 9253 1442 3083 9254 1436 3084 9255 1437 3084 9256 1445 3084 9257 1442 3085 9258 1457 3085 9259 1426 3085 9260 1458 3086 9261 1447 3086 9262 1451 3086 9263 1459 3087 9264 1446 3087 9265 1381 3087 9266 1379 3088 9267 1459 3088 9268 1381 3088 9269 1447 3089 9270 1460 3089 9271 1368 3089 9272 1460 3090 9273 1390 3090 9274 1368 3090 9275 1433 3091 9276 1461 3091 9277 1431 3091 9278 1461 3092 9279 1439 3092 9280 1431 3092 9281 1517 3093 9282 1462 3093 9283 1452 3093 9284 1425 3094 9285 1469 3094 9286 1411 3094 9287 1469 3095 9288 1433 3095 9289 1411 3095 9290 1160 3096 9291 1463 3096 9292 979 3096 9293 1446 3097 9294 1466 3097 9295 1454 3097 9296 1457 3098 9297 1448 3098 9298 1426 3098 9299 1839 3099 9300 1478 3099 9301 744 3099 9302 1465 3100 9303 1144 3100 9304 1214 3100 9305 1229 3101 9306 1221 3101 9307 1038 3101 9308 1468 3102 9309 1457 3102 9310 1442 3102 9311 1380 3103 9312 1444 3103 9313 1407 3103 9314 1467 3104 9315 1458 3104 9316 1451 3104 9317 1479 3105 9318 1433 3105 9319 1469 3105 9320 1471 3106 9321 1351 3106 9322 1357 3106 9323 1019 3107 9324 1884 3107 9325 721 3107 9326 1444 3108 9327 1484 3108 9328 1432 3108 9329 1472 3109 9330 1450 3109 9331 1454 3109 9332 1472 3110 9333 1379 3110 9334 1450 3110 9335 1475 3111 9336 1474 3111 9337 1467 3111 9338 1476 3112 9339 1092 3112 9340 1456 3112 9341 1292 3113 9342 1495 3113 9343 1264 3113 9344 1495 3114 9345 1258 3114 9346 1264 3114 9347 1259 3115 9348 1477 3115 9349 1456 3115 9350 1477 3116 9351 1476 3116 9352 1456 3116 9353 1258 3117 9354 1481 3117 9355 1263 3117 9356 1260 3118 9357 1477 3118 9358 1259 3118 9359 1481 3119 9360 1262 3119 9361 1263 3119 9362 1478 3120 9363 1051 3120 9364 744 3120 9365 1479 3121 9366 1469 3121 9367 1425 3121 9368 1485 3122 9369 1357 3122 9370 1405 3122 9371 1390 3123 9372 1464 3123 9373 1451 3123 9374 1500 3124 9375 1445 3124 9376 1439 3124 9377 1455 3125 9378 1488 3125 9379 1425 3125 9380 1488 3126 9381 1479 3126 9382 1425 3126 9383 1481 3127 9384 1480 3127 9385 1263 3127 9386 1480 3128 9387 1264 3128 9388 1263 3128 9389 1268 3129 9390 1481 3129 9391 1263 3129 9392 1477 3130 9393 1167 3130 9394 1259 3130 9395 1482 3131 9396 1169 3131 9397 1167 3131 9398 1464 3132 9399 1467 3132 9400 1451 3132 9401 1092 3133 9402 1483 3133 9403 1032 3133 9404 1483 3134 9405 1456 3134 9406 1032 3134 9407 1479 3135 9408 1488 3135 9409 1469 3135 9410 1480 3136 9411 1096 3136 9412 1264 3136 9413 1483 3137 9414 1477 3137 9415 1456 3137 9416 1436 3138 9417 1383 3138 9418 1427 3138 9419 1488 3139 9420 1433 3139 9421 1479 3139 9422 1432 3140 9423 1487 3140 9424 1453 3140 9425 1453 3141 9426 1513 3141 9427 1442 3141 9428 1485 3142 9429 1492 3142 9430 1357 3142 9431 1492 3143 9432 1471 3143 9433 1357 3143 9434 1486 3144 9435 1432 3144 9436 1484 3144 9437 1444 3145 9438 1486 3145 9439 1484 3145 9440 1303 3146 9441 1489 3146 9442 1209 3146 9443 1489 3147 9444 1229 3147 9445 1209 3147 9446 1490 3148 9447 1211 3148 9448 1298 3148 9449 1418 3149 9450 1157 3149 9451 1211 3149 9452 1490 3150 9453 1418 3150 9454 1211 3150 9455 1463 3151 9456 1303 3151 9457 979 3151 9458 1492 3152 9459 1485 3152 9460 1405 3152 9461 1448 3153 9462 1492 3153 9463 1405 3153 9464 1491 3154 9465 1488 3154 9466 1455 3154 9467 1486 3155 9468 1487 3155 9469 1432 3155 9470 1238 3156 9471 1019 3156 9472 1171 3156 9473 1491 3157 9474 1433 3157 9475 1488 3157 9476 1486 3158 9477 1380 3158 9478 1484 3158 9479 1380 3159 9480 1487 3159 9481 1484 3159 9482 1487 3160 9483 1486 3160 9484 1484 3160 9485 1444 3161 9486 1380 3161 9487 1486 3161 9488 1493 3162 9489 1472 3162 9490 1454 3162 9491 1494 3163 9492 1492 3163 9493 1485 3163 9494 1096 3164 9495 1495 3164 9496 1292 3164 9497 1268 3165 9498 1168 3165 9499 1239 3165 9500 1470 3166 9501 1268 3166 9502 1239 3166 9503 1482 3167 9504 1256 3167 9505 1169 3167 9506 1473 3168 9507 1496 3168 9508 1454 3168 9509 1498 3169 9510 1584 3169 9511 1467 3169 9512 1584 3170 9513 1475 3170 9514 1467 3170 9515 1496 3171 9516 1493 3171 9517 1454 3171 9518 1464 3172 9519 1498 3172 9520 1467 3172 9521 1448 3173 9522 1494 3173 9523 1492 3173 9524 1102 3174 9525 1317 3174 9526 1062 3174 9527 1494 3175 9528 1471 3175 9529 1492 3175 9530 1496 3176 9531 1590 3176 9532 1493 3176 9533 1497 3177 9534 1498 3177 9535 1464 3177 9536 1496 3178 9537 1472 3178 9538 1493 3178 9539 1448 3179 9540 1471 3179 9541 1494 3179 9542 1462 3180 9543 1491 3180 9544 1455 3180 9545 1487 3181 9546 1513 3181 9547 1453 3181 9548 1445 3182 9549 1383 3182 9550 1436 3182 9551 1457 3183 9552 1499 3183 9553 1448 3183 9554 1496 3184 9555 1501 3184 9556 1472 3184 9557 1500 3185 9558 1383 3185 9559 1445 3185 9560 1491 3186 9561 1461 3186 9562 1433 3186 9563 1501 3187 9564 1503 3187 9565 1472 3187 9566 1249 3188 9567 1504 3188 9568 1189 3188 9569 1504 3189 9570 1214 3189 9571 1189 3189 9572 1505 3190 9573 1181 3190 9574 1250 3190 9575 1506 3191 9576 1497 3191 9577 1464 3191 9578 1503 3192 9579 1379 3192 9580 1472 3192 9581 1390 3193 9582 1506 3193 9583 1464 3193 9584 1507 3194 9585 1884 3194 9586 1019 3194 9587 1448 3195 9588 1499 3195 9589 1471 3195 9590 1503 3196 9591 1508 3196 9592 1379 3196 9593 1508 3197 9594 1459 3197 9595 1379 3197 9596 1460 3198 9597 1506 3198 9598 1390 3198 9599 1508 3199 9600 1756 3199 9601 1459 3199 9602 1756 3200 9603 1509 3200 9604 1459 3200 9605 1510 3201 9606 1511 3201 9607 1460 3201 9608 1511 3202 9609 1512 3202 9610 1460 3202 9611 1512 3203 9612 1506 3203 9613 1460 3203 9614 1505 3204 9615 1514 3204 9616 1181 3204 9617 1514 3205 9618 1177 3205 9619 1181 3205 9620 1514 3206 9621 1186 3206 9622 1177 3206 9623 1380 3207 9624 1513 3207 9625 1487 3207 9626 1515 3208 9627 1473 3208 9628 1454 3208 9629 1478 3209 9630 2012 3209 9631 1051 3209 9632 1516 3210 9633 1513 3210 9634 1380 3210 9635 1521 3211 9636 1458 3211 9637 1467 3211 9638 1380 3212 9639 1518 3212 9640 1516 3212 9641 1351 3213 9642 1518 3213 9643 1380 3213 9644 1518 3214 9645 1513 3214 9646 1516 3214 9647 1500 3215 9648 1517 3215 9649 1383 3215 9650 1518 3216 9651 1519 3216 9652 1516 3216 9653 1351 3217 9654 1519 3217 9655 1518 3217 9656 1520 3218 9657 1461 3218 9658 1491 3218 9659 1519 3219 9660 1513 3219 9661 1518 3219 9662 1351 3220 9663 1513 3220 9664 1519 3220 9665 1466 3221 9666 1515 3221 9667 1454 3221 9668 1474 3222 9669 1521 3222 9670 1467 3222 9671 1544 3223 9672 1351 3223 9673 1471 3223 9674 1476 3224 9675 1483 3224 9676 1092 3224 9677 1142 3225 9678 1470 3225 9679 1239 3225 9680 1522 3226 9681 1240 3226 9682 1256 3226 9683 1523 3227 9684 1522 3227 9685 1256 3227 9686 1482 3228 9687 1523 3228 9688 1256 3228 9689 1495 3229 9690 1096 3229 9691 1480 3229 9692 1532 3230 9693 1477 3230 9694 1483 3230 9695 1575 3231 9696 1307 3231 9697 995 3231 9698 2012 3232 9699 1502 3232 9700 1051 3232 9701 1524 3233 9702 1507 3233 9703 1019 3233 9704 1238 3234 9705 1524 3234 9706 1019 3234 9707 1525 3235 9708 1446 3235 9709 1459 3235 9710 1526 3236 9711 1525 3236 9712 1459 3236 9713 1509 3237 9714 1526 3237 9715 1459 3237 9716 1527 3238 9717 1460 3238 9718 1447 3238 9719 1528 3239 9720 1142 3239 9721 1262 3239 9722 1240 3240 9723 1529 3240 9724 1260 3240 9725 1534 3241 9726 1528 3241 9727 1262 3241 9728 1481 3242 9729 1534 3242 9730 1262 3242 9731 1530 3243 9732 1527 3243 9733 1447 3243 9734 1529 3244 9735 1477 3244 9736 1260 3244 9737 1531 3245 9738 1482 3245 9739 1167 3245 9740 1495 3246 9741 1534 3246 9742 1481 3246 9743 1258 3247 9744 1495 3247 9745 1481 3247 9746 1529 3248 9747 1532 3248 9748 1477 3248 9749 1567 3249 9750 1481 3249 9751 1268 3249 9752 1532 3250 9753 1476 3250 9754 1477 3250 9755 1567 3251 9756 1534 3251 9757 1481 3251 9758 1477 3252 9759 1531 3252 9760 1167 3252 9761 1114 3253 9762 1533 3253 9763 1089 3253 9764 1533 3254 9765 1160 3254 9766 1089 3254 9767 1532 3255 9768 1531 3255 9769 1477 3255 9770 1534 3256 9771 1480 3256 9772 1481 3256 9773 1525 3257 9774 1466 3257 9775 1446 3257 9776 1458 3258 9777 1530 3258 9778 1447 3258 9779 1102 3259 9780 1535 3259 9781 1317 3259 9782 1525 3260 9783 1536 3260 9784 1466 3260 9785 1537 3261 9786 1221 3261 9787 1229 3261 9788 1538 3262 9789 1233 3262 9790 1465 3262 9791 1537 3263 9792 1539 3263 9793 1221 3263 9794 1088 3264 9795 1535 3264 9796 1102 3264 9797 1307 3265 9798 1540 3265 9799 1114 3265 9800 1540 3266 9801 1533 3266 9802 1114 3266 9803 1539 3267 9804 1215 3267 9805 1221 3267 9806 1536 3268 9807 1515 3268 9808 1466 3268 9809 1521 3269 9810 1530 3269 9811 1458 3269 9812 1517 3270 9813 1689 3270 9814 1462 3270 9815 1542 3271 9816 1468 3271 9817 1513 3271 9818 1468 3272 9819 1442 3272 9820 1513 3272 9821 1541 3273 9822 1542 3273 9823 1513 3273 9824 1607 3274 9825 1634 3274 9826 1500 3274 9827 1439 3275 9828 1607 3275 9829 1500 3275 9830 1634 3276 9831 1543 3276 9832 1500 3276 9833 1461 3277 9834 1607 3277 9835 1439 3277 9836 1543 3278 9837 1517 3278 9838 1500 3278 9839 1544 3279 9840 1541 3279 9841 1513 3279 9842 1351 3280 9843 1544 3280 9844 1513 3280 9845 1543 3281 9846 1689 3281 9847 1517 3281 9848 1545 3282 9849 1471 3282 9850 1499 3282 9851 1462 3283 9852 1546 3283 9853 1491 3283 9854 1546 3284 9855 1520 3284 9856 1491 3284 9857 1546 3285 9858 1547 3285 9859 1520 3285 9860 2012 3286 9861 2025 3286 9862 1502 3286 9863 1596 3287 9864 1535 3287 9865 1088 3287 9866 1417 3288 9867 1596 3288 9868 1088 3288 9869 1548 3289 9870 1545 3289 9871 1499 3289 9872 1457 3290 9873 1548 3290 9874 1499 3290 9875 1547 3291 9876 1461 3291 9877 1520 3291 9878 1418 3292 9879 1549 3292 9880 1417 3292 9881 1468 3293 9882 1548 3293 9883 1457 3293 9884 2025 3294 9885 1242 3294 9886 1502 3294 9887 1587 3295 9888 1544 3295 9889 1471 3295 9890 1550 3296 9891 1587 3296 9892 1471 3296 9893 1545 3297 9894 1553 3297 9895 1471 3297 9896 1553 3298 9897 1550 3298 9898 1471 3298 9899 1551 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+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="front_right_lower_leg" name="front_right_lower_leg" type="NODE">
+        <matrix sid="transform">-3.37766e-7 0.6108072 0.7917793 0 1 2.0807e-8 4.1054e-7 0 2.34286e-7 0.7917793 -0.6108072 0 0 0 0 1</matrix>
+        <instance_geometry url="#_2-042137-001-A00_TOP_LEVEL_DEFEATURED_-_NOT_FOR_PRODUCTION_-_0-mesh" name="front_right_lower_leg">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="SpotMaterial-material" target="#SpotMaterial-material">
+                <bind_vertex_input semantic="UVMap" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
\ No newline at end of file
diff --git a/submitted_models/bosdyn_spot/meshes/front_right_lower_leg_collision.stl b/submitted_models/bosdyn_spot/meshes/front_right_lower_leg_collision.stl
new file mode 100644
index 00000000..051d0093
Binary files /dev/null and b/submitted_models/bosdyn_spot/meshes/front_right_lower_leg_collision.stl differ
diff --git a/submitted_models/bosdyn_spot/meshes/front_right_upper_leg.dae b/submitted_models/bosdyn_spot/meshes/front_right_upper_leg.dae
new file mode 100644
index 00000000..b419534d
--- /dev/null
+++ b/submitted_models/bosdyn_spot/meshes/front_right_upper_leg.dae
@@ -0,0 +1,115 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
+  <asset>
+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 2.82.7 commit date:2020-03-12, commit time:05:06, hash:375c7dc4caf4</authoring_tool>
+    </contributor>
+    <created>2020-04-13T15:54:01</created>
+    <modified>2020-04-13T15:54:01</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_effects>
+    <effect id="SpotMaterial-effect">
+      <profile_COMMON>
+        <newparam sid="spot_mat_png-surface">
+          <surface type="2D">
+            <init_from>spot_mat_png</init_from>
+          </surface>
+        </newparam>
+        <newparam sid="spot_mat_png-sampler">
+          <sampler2D>
+            <source>spot_mat_png-surface</source>
+          </sampler2D>
+        </newparam>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <texture texture="spot_mat_png-sampler" texcoord="UVMap"/>
+            </diffuse>
+            <index_of_refraction>
+              <float sid="ior">1.45</float>
+            </index_of_refraction>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
+  <library_images>
+    <image id="spot_mat_png" name="spot_mat_png">
+      <init_from>spot_mat.png</init_from>
+    </image>
+  </library_images>
+  <library_materials>
+    <material id="SpotMaterial-material" name="SpotMaterial">
+      <instance_effect url="#SpotMaterial-effect"/>
+    </material>
+  </library_materials>
+  <library_geometries>
+    <geometry id="_2-042137-001-A00_TOP_LEVEL_DEFEATURED_-_NOT_FOR_PRODUCTION_003-mesh" name="02-042137-001-A00 TOP LEVEL DEFEATURED - NOT FOR PRODUCTION.003">
+      <mesh>
+        <source id="_2-042137-001-A00_TOP_LEVEL_DEFEATURED_-_NOT_FOR_PRODUCTION_003-mesh-positions">
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+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="front_right_upper_leg" name="front_right_upper_leg" type="NODE">
+        <matrix sid="transform">-3.37766e-7 -0.7174854 0.6965735 0 1 -1.01496e-7 3.80354e-7 0 -2.02199e-7 0.6965735 0.7174854 0 0 0 0 1</matrix>
+        <instance_geometry url="#_2-042137-001-A00_TOP_LEVEL_DEFEATURED_-_NOT_FOR_PRODUCTION_003-mesh" name="front_right_upper_leg">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="SpotMaterial-material" target="#SpotMaterial-material">
+                <bind_vertex_input semantic="UVMap" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
\ No newline at end of file
diff --git a/submitted_models/bosdyn_spot/meshes/front_right_upper_leg_collision.stl b/submitted_models/bosdyn_spot/meshes/front_right_upper_leg_collision.stl
new file mode 100644
index 00000000..0126bf4a
Binary files /dev/null and b/submitted_models/bosdyn_spot/meshes/front_right_upper_leg_collision.stl differ
diff --git a/submitted_models/bosdyn_spot/meshes/rear_left_hip.dae b/submitted_models/bosdyn_spot/meshes/rear_left_hip.dae
new file mode 100644
index 00000000..d5d524d4
--- /dev/null
+++ b/submitted_models/bosdyn_spot/meshes/rear_left_hip.dae
@@ -0,0 +1,115 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
+  <asset>
+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 2.82.7 commit date:2020-03-12, commit time:05:06, hash:375c7dc4caf4</authoring_tool>
+    </contributor>
+    <created>2020-04-13T15:54:05</created>
+    <modified>2020-04-13T15:54:05</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_effects>
+    <effect id="SpotMaterial-effect">
+      <profile_COMMON>
+        <newparam sid="spot_mat_png-surface">
+          <surface type="2D">
+            <init_from>spot_mat_png</init_from>
+          </surface>
+        </newparam>
+        <newparam sid="spot_mat_png-sampler">
+          <sampler2D>
+            <source>spot_mat_png-surface</source>
+          </sampler2D>
+        </newparam>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <texture texture="spot_mat_png-sampler" texcoord="UVMap"/>
+            </diffuse>
+            <index_of_refraction>
+              <float sid="ior">1.45</float>
+            </index_of_refraction>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
+  <library_images>
+    <image id="spot_mat_png" name="spot_mat_png">
+      <init_from>spot_mat.png</init_from>
+    </image>
+  </library_images>
+  <library_materials>
+    <material id="SpotMaterial-material" name="SpotMaterial">
+      <instance_effect url="#SpotMaterial-effect"/>
+    </material>
+  </library_materials>
+  <library_geometries>
+    <geometry id="_2-042137-001-A00_TOP_LEVEL_DEFEATURED_-_NOT_FOR_PRODUCTION_009-mesh" name="02-042137-001-A00 TOP LEVEL DEFEATURED - NOT FOR PRODUCTION.009">
+      <mesh>
+        <source id="_2-042137-001-A00_TOP_LEVEL_DEFEATURED_-_NOT_FOR_PRODUCTION_009-mesh-positions">
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+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="rear_left_hip" name="rear_left_hip" type="NODE">
+        <matrix sid="transform">-3.37766e-7 -1.19249e-8 1 0 1 -5.07033e-15 3.37766e-7 0 1.04251e-15 1 1.19249e-8 0 0 0 0 1</matrix>
+        <instance_geometry url="#_2-042137-001-A00_TOP_LEVEL_DEFEATURED_-_NOT_FOR_PRODUCTION_009-mesh" name="rear_left_hip">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="SpotMaterial-material" target="#SpotMaterial-material">
+                <bind_vertex_input semantic="UVMap" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
\ No newline at end of file
diff --git a/submitted_models/bosdyn_spot/meshes/rear_left_hip_collision.stl b/submitted_models/bosdyn_spot/meshes/rear_left_hip_collision.stl
new file mode 100644
index 00000000..dd85c9d5
Binary files /dev/null and b/submitted_models/bosdyn_spot/meshes/rear_left_hip_collision.stl differ
diff --git a/submitted_models/bosdyn_spot/meshes/rear_left_lower_leg.dae b/submitted_models/bosdyn_spot/meshes/rear_left_lower_leg.dae
new file mode 100644
index 00000000..21f9db61
--- /dev/null
+++ b/submitted_models/bosdyn_spot/meshes/rear_left_lower_leg.dae
@@ -0,0 +1,115 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
+  <asset>
+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 2.82.7 commit date:2020-03-12, commit time:05:06, hash:375c7dc4caf4</authoring_tool>
+    </contributor>
+    <created>2020-04-13T15:54:01</created>
+    <modified>2020-04-13T15:54:01</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_effects>
+    <effect id="SpotMaterial-effect">
+      <profile_COMMON>
+        <newparam sid="spot_mat_png-surface">
+          <surface type="2D">
+            <init_from>spot_mat_png</init_from>
+          </surface>
+        </newparam>
+        <newparam sid="spot_mat_png-sampler">
+          <sampler2D>
+            <source>spot_mat_png-surface</source>
+          </sampler2D>
+        </newparam>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <texture texture="spot_mat_png-sampler" texcoord="UVMap"/>
+            </diffuse>
+            <index_of_refraction>
+              <float sid="ior">1.45</float>
+            </index_of_refraction>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
+  <library_images>
+    <image id="spot_mat_png" name="spot_mat_png">
+      <init_from>spot_mat.png</init_from>
+    </image>
+  </library_images>
+  <library_materials>
+    <material id="SpotMaterial-material" name="SpotMaterial">
+      <instance_effect url="#SpotMaterial-effect"/>
+    </material>
+  </library_materials>
+  <library_geometries>
+    <geometry id="_2-042137-001-A00_TOP_LEVEL_DEFEATURED_-_NOT_FOR_PRODUCTION_001-mesh" name="02-042137-001-A00 TOP LEVEL DEFEATURED - NOT FOR PRODUCTION.001">
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+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="rear_left_lower_leg" name="rear_left_lower_leg" type="NODE">
+        <matrix sid="transform">-3.37766e-7 0.6739704 0.7387583 0 1 3.42541e-8 4.25958e-7 0 2.61778e-7 0.7387583 -0.6739704 0 0 0 0 1</matrix>
+        <instance_geometry url="#_2-042137-001-A00_TOP_LEVEL_DEFEATURED_-_NOT_FOR_PRODUCTION_001-mesh" name="rear_left_lower_leg">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="SpotMaterial-material" target="#SpotMaterial-material">
+                <bind_vertex_input semantic="UVMap" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
\ No newline at end of file
diff --git a/submitted_models/bosdyn_spot/meshes/rear_left_lower_leg_collision.stl b/submitted_models/bosdyn_spot/meshes/rear_left_lower_leg_collision.stl
new file mode 100644
index 00000000..752b124f
Binary files /dev/null and b/submitted_models/bosdyn_spot/meshes/rear_left_lower_leg_collision.stl differ
diff --git a/submitted_models/bosdyn_spot/meshes/rear_left_upper_leg.dae b/submitted_models/bosdyn_spot/meshes/rear_left_upper_leg.dae
new file mode 100644
index 00000000..3365d6d9
--- /dev/null
+++ b/submitted_models/bosdyn_spot/meshes/rear_left_upper_leg.dae
@@ -0,0 +1,115 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
+  <asset>
+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 2.82.7 commit date:2020-03-12, commit time:05:06, hash:375c7dc4caf4</authoring_tool>
+    </contributor>
+    <created>2020-04-13T15:54:06</created>
+    <modified>2020-04-13T15:54:06</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_effects>
+    <effect id="SpotMaterial-effect">
+      <profile_COMMON>
+        <newparam sid="spot_mat_png-surface">
+          <surface type="2D">
+            <init_from>spot_mat_png</init_from>
+          </surface>
+        </newparam>
+        <newparam sid="spot_mat_png-sampler">
+          <sampler2D>
+            <source>spot_mat_png-surface</source>
+          </sampler2D>
+        </newparam>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <texture texture="spot_mat_png-sampler" texcoord="UVMap"/>
+            </diffuse>
+            <index_of_refraction>
+              <float sid="ior">1.45</float>
+            </index_of_refraction>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
+  <library_images>
+    <image id="spot_mat_png" name="spot_mat_png">
+      <init_from>spot_mat.png</init_from>
+    </image>
+  </library_images>
+  <library_materials>
+    <material id="SpotMaterial-material" name="SpotMaterial">
+      <instance_effect url="#SpotMaterial-effect"/>
+    </material>
+  </library_materials>
+  <library_geometries>
+    <geometry id="_2-042137-001-A00_TOP_LEVEL_DEFEATURED_-_NOT_FOR_PRODUCTION_012-mesh" name="02-042137-001-A00 TOP LEVEL DEFEATURED - NOT FOR PRODUCTION.012">
+      <mesh>
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+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="rear_left_upper_leg" name="rear_left_upper_leg" type="NODE">
+        <matrix sid="transform">-3.37766e-7 -0.6410863 0.7674688 0 1 -8.99857e-8 3.64937e-7 0 -1.64895e-7 0.7674688 0.6410863 0 0 0 0 1</matrix>
+        <instance_geometry url="#_2-042137-001-A00_TOP_LEVEL_DEFEATURED_-_NOT_FOR_PRODUCTION_012-mesh" name="rear_left_upper_leg">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="SpotMaterial-material" target="#SpotMaterial-material">
+                <bind_vertex_input semantic="UVMap" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
\ No newline at end of file
diff --git a/submitted_models/bosdyn_spot/meshes/rear_left_upper_leg_collision.stl b/submitted_models/bosdyn_spot/meshes/rear_left_upper_leg_collision.stl
new file mode 100644
index 00000000..58792192
Binary files /dev/null and b/submitted_models/bosdyn_spot/meshes/rear_left_upper_leg_collision.stl differ
diff --git a/submitted_models/bosdyn_spot/meshes/rear_right_hip.dae b/submitted_models/bosdyn_spot/meshes/rear_right_hip.dae
new file mode 100644
index 00000000..a10906f9
--- /dev/null
+++ b/submitted_models/bosdyn_spot/meshes/rear_right_hip.dae
@@ -0,0 +1,115 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
+  <asset>
+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 2.82.7 commit date:2020-03-12, commit time:05:06, hash:375c7dc4caf4</authoring_tool>
+    </contributor>
+    <created>2020-04-13T15:54:02</created>
+    <modified>2020-04-13T15:54:02</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_effects>
+    <effect id="SpotMaterial-effect">
+      <profile_COMMON>
+        <newparam sid="spot_mat_png-surface">
+          <surface type="2D">
+            <init_from>spot_mat_png</init_from>
+          </surface>
+        </newparam>
+        <newparam sid="spot_mat_png-sampler">
+          <sampler2D>
+            <source>spot_mat_png-surface</source>
+          </sampler2D>
+        </newparam>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <texture texture="spot_mat_png-sampler" texcoord="UVMap"/>
+            </diffuse>
+            <index_of_refraction>
+              <float sid="ior">1.45</float>
+            </index_of_refraction>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
+  <library_images>
+    <image id="spot_mat_png" name="spot_mat_png">
+      <init_from>spot_mat.png</init_from>
+    </image>
+  </library_images>
+  <library_materials>
+    <material id="SpotMaterial-material" name="SpotMaterial">
+      <instance_effect url="#SpotMaterial-effect"/>
+    </material>
+  </library_materials>
+  <library_geometries>
+    <geometry id="_2-042137-001-A00_TOP_LEVEL_DEFEATURED_-_NOT_FOR_PRODUCTION_010-mesh" name="02-042137-001-A00 TOP LEVEL DEFEATURED - NOT FOR PRODUCTION.010">
+      <mesh>
+        <source id="_2-042137-001-A00_TOP_LEVEL_DEFEATURED_-_NOT_FOR_PRODUCTION_010-mesh-positions">
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+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
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+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
\ No newline at end of file
diff --git a/submitted_models/bosdyn_spot/meshes/rear_right_hip_collision.stl b/submitted_models/bosdyn_spot/meshes/rear_right_hip_collision.stl
new file mode 100644
index 00000000..eb6b8c1d
Binary files /dev/null and b/submitted_models/bosdyn_spot/meshes/rear_right_hip_collision.stl differ
diff --git a/submitted_models/bosdyn_spot/meshes/rear_right_lower_leg.dae b/submitted_models/bosdyn_spot/meshes/rear_right_lower_leg.dae
new file mode 100644
index 00000000..b3582f07
--- /dev/null
+++ b/submitted_models/bosdyn_spot/meshes/rear_right_lower_leg.dae
@@ -0,0 +1,115 @@
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+  <asset>
+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 2.82.7 commit date:2020-03-12, commit time:05:06, hash:375c7dc4caf4</authoring_tool>
+    </contributor>
+    <created>2020-04-13T15:54:07</created>
+    <modified>2020-04-13T15:54:07</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
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+        </newparam>
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+        </newparam>
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+            <diffuse>
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+            </index_of_refraction>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
+  <library_images>
+    <image id="spot_mat_png" name="spot_mat_png">
+      <init_from>spot_mat.png</init_from>
+    </image>
+  </library_images>
+  <library_materials>
+    <material id="SpotMaterial-material" name="SpotMaterial">
+      <instance_effect url="#SpotMaterial-effect"/>
+    </material>
+  </library_materials>
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+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="rear_right_lower_leg" name="rear_right_lower_leg" type="NODE">
+        <matrix sid="transform">-3.37766e-7 0.6739704 0.7387583 0 1 3.42541e-8 4.25958e-7 0 2.61778e-7 0.7387583 -0.6739704 0 0 0 0 1</matrix>
+        <instance_geometry url="#_2-042137-001-A00_TOP_LEVEL_DEFEATURED_-_NOT_FOR_PRODUCTION_002-mesh" name="rear_right_lower_leg">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="SpotMaterial-material" target="#SpotMaterial-material">
+                <bind_vertex_input semantic="UVMap" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
\ No newline at end of file
diff --git a/submitted_models/bosdyn_spot/meshes/rear_right_lower_leg_collision.stl b/submitted_models/bosdyn_spot/meshes/rear_right_lower_leg_collision.stl
new file mode 100644
index 00000000..6a3a8cae
Binary files /dev/null and b/submitted_models/bosdyn_spot/meshes/rear_right_lower_leg_collision.stl differ
diff --git a/submitted_models/bosdyn_spot/meshes/rear_right_upper_leg.dae b/submitted_models/bosdyn_spot/meshes/rear_right_upper_leg.dae
new file mode 100644
index 00000000..7d711559
--- /dev/null
+++ b/submitted_models/bosdyn_spot/meshes/rear_right_upper_leg.dae
@@ -0,0 +1,115 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
+  <asset>
+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 2.82.7 commit date:2020-03-12, commit time:05:06, hash:375c7dc4caf4</authoring_tool>
+    </contributor>
+    <created>2020-04-13T15:54:03</created>
+    <modified>2020-04-13T15:54:03</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_effects>
+    <effect id="SpotMaterial-effect">
+      <profile_COMMON>
+        <newparam sid="spot_mat_png-surface">
+          <surface type="2D">
+            <init_from>spot_mat_png</init_from>
+          </surface>
+        </newparam>
+        <newparam sid="spot_mat_png-sampler">
+          <sampler2D>
+            <source>spot_mat_png-surface</source>
+          </sampler2D>
+        </newparam>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <texture texture="spot_mat_png-sampler" texcoord="UVMap"/>
+            </diffuse>
+            <index_of_refraction>
+              <float sid="ior">1.45</float>
+            </index_of_refraction>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
+  <library_images>
+    <image id="spot_mat_png" name="spot_mat_png">
+      <init_from>spot_mat.png</init_from>
+    </image>
+  </library_images>
+  <library_materials>
+    <material id="SpotMaterial-material" name="SpotMaterial">
+      <instance_effect url="#SpotMaterial-effect"/>
+    </material>
+  </library_materials>
+  <library_geometries>
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3998 8069 24209 4006 8070 24210 4007 8070 24211 3999 8070 24212 4008 8071 24213 4001 8071 24214 3967 8071 24215 4003 8072 24216 4008 8072 24217 3993 8072 24218 4002 8073 24219 4009 8073 24220 3994 8073 24221 4003 8074 24222 4011 8074 24223 4008 8074 24224 4009 8075 24225 4003 8075 24226 3994 8075 24227 4011 8076 24228 4001 8076 24229 4008 8076 24230 4007 8077 24231 4010 8077 24232 4002 8077 24233 4001 8078 24234 4004 8078 24235 3976 8078 24236 4001 8079 24237 4005 8079 24238 4004 8079 24239 4006 8080 24240 4010 8080 24241 4007 8080 24242 4001 8081 24243 4006 8081 24244 4005 8081 24245 4010 8082 24246 4009 8082 24247 4002 8082 24248 4001 8083 24249 4011 8083 24250 4006 8083 24251 4010 8084 24252 4003 8084 24253 4009 8084 24254 4006 8085 24255 4011 8085 24256 4010 8085 24257 4010 8086 24258 4011 8086 24259 4003 8086 24260</p>
+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="rear_right_upper_leg" name="rear_right_upper_leg" type="NODE">
+        <matrix sid="transform">-3.37766e-7 -0.6410863 0.7674688 0 1 -8.99857e-8 3.64937e-7 0 -1.64895e-7 0.7674688 0.6410863 0 0 0 0 1</matrix>
+        <instance_geometry url="#_2-042137-001-A00_TOP_LEVEL_DEFEATURED_-_NOT_FOR_PRODUCTION_004-mesh" name="rear_right_upper_leg">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="SpotMaterial-material" target="#SpotMaterial-material">
+                <bind_vertex_input semantic="UVMap" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
\ No newline at end of file
diff --git a/submitted_models/bosdyn_spot/meshes/rear_right_upper_leg_collision.stl b/submitted_models/bosdyn_spot/meshes/rear_right_upper_leg_collision.stl
new file mode 100644
index 00000000..4bca63d1
Binary files /dev/null and b/submitted_models/bosdyn_spot/meshes/rear_right_upper_leg_collision.stl differ
diff --git a/submitted_models/bosdyn_spot/meshes/spot_mat.png b/submitted_models/bosdyn_spot/meshes/spot_mat.png
new file mode 100644
index 00000000..e5ef905e
Binary files /dev/null and b/submitted_models/bosdyn_spot/meshes/spot_mat.png differ
diff --git a/submitted_models/bosdyn_spot/model.config b/submitted_models/bosdyn_spot/model.config
new file mode 100644
index 00000000..63951ce4
--- /dev/null
+++ b/submitted_models/bosdyn_spot/model.config
@@ -0,0 +1,9 @@
+<?xml version="1.0"?>
+<model>
+  <name>bosdyn_spot</name>
+  <sdf version="1.6">model.sdf</sdf>
+  <description>
+    Base of Boston Dynamics Spot with just the builtin sensors.
+  </description>
+</model>
+
diff --git a/submitted_models/bosdyn_spot/model.sdf b/submitted_models/bosdyn_spot/model.sdf
new file mode 100644
index 00000000..e9fa02e4
--- /dev/null
+++ b/submitted_models/bosdyn_spot/model.sdf
@@ -0,0 +1,1725 @@
+<?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 and is based on urdf/spot.urdf.xacro source file.
  Do all modifications there and then run the update script to regenerate the SDF. -->
+  <model name="bosdyn_spot">
+    <link name="base_link">
+      <inertial>
+        <mass>16</mass>
+        <inertia>
+          <ixx>0.0973333</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>1.02467</iyy>
+          <iyz>0</iyz>
+          <izz>1.04493</izz>
+        </inertia>
+      </inertial>
+      <collision name="base_link_collision">
+        <geometry>
+          <mesh>
+            <uri>meshes/body_collision.stl</uri>
+          </mesh>
+        </geometry>
+      </collision>
+      <visual name="base_link_visual">
+        <geometry>
+          <mesh>
+            <uri>meshes/body.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+    </link>
+    <link name="body">
+      <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="base_link_joint" type="fixed">
+      <child>body</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_rail">
+      <pose>0.223 0 0.0805 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="front_rail_joint" type="fixed">
+      <child>front_rail</child>
+      <parent>body</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_rail">
+      <pose>-0.223 0 0.0805 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_rail_joint" type="fixed">
+      <child>rear_rail</child>
+      <parent>body</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="battery">
+      <pose>0 0 -0.03 0 -0 0</pose>
+      <inertial>
+        <mass>4</mass>
+        <inertia>
+          <ixx>0.012291</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.037875</iyy>
+          <iyz>0</iyz>
+          <izz>0.0444</izz>
+        </inertia>
+      </inertial>
+      <collision name="battery_collision">
+        <geometry>
+          <box>
+            <size>0.324 0.168 0.093</size>
+          </box>
+        </geometry>
+      </collision>
+      <visual name="battery_visual">
+        <geometry>
+          <box>
+            <size>0.324 0.168 0.093</size>
+          </box>
+        </geometry>
+        <material>
+          <ambient>0.917647 0.654902 0 1</ambient>
+          <diffuse>0.917647 0.654902 0 1</diffuse>
+          <specular>0.917647 0.654902 0 1</specular>
+          <emissive>0 0 0 0</emissive>
+        </material>
+      </visual>
+    </link>
+    <joint name="battery_joint" type="fixed">
+      <child>battery</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_back">
+      <pose>-0.425 0 0.01 -0 0.3 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>
+      <sensor name="back_fisheye_image" type="camera">
+        <pose>0 0.01 0 0 -0 0</pose>
+        <update_rate>30</update_rate>
+        <visualize>0</visualize>
+        <camera>
+          <horizontal_fov>1.78634</horizontal_fov>
+          <image>
+            <width>640</width>
+            <height>480</height>
+            <format>R8G8B8</format>
+          </image>
+          <clip>
+            <near>0.1</near>
+            <far>20</far>
+          </clip>
+          <noise>
+            <type>gaussian</type>
+            <mean>0</mean>
+            <stddev>0.007</stddev>
+          </noise>
+          <lens>
+            <intrinsics>
+              <fx>257.487</fx>
+              <fy>257.487</fy>
+              <cx>319.5</cx>
+              <cy>239.5</cy>
+              <s>0</s>
+            </intrinsics>
+            <type>stereographic</type>
+            <scale_to_hfov>1</scale_to_hfov>
+          </lens>
+        </camera>
+        <plugin name="subt::MonoCameraSystem" filename="mono-camera-system"/>
+      </sensor>
+      <sensor name="back_depth" type="depth_camera">
+        <update_rate>30</update_rate>
+        <visualize>0</visualize>
+        <camera>
+          <horizontal_fov>1.78634</horizontal_fov>
+          <image>
+            <width>424</width>
+            <height>240</height>
+            <format>R_FLOAT32</format>
+          </image>
+          <clip>
+            <near>0.1</near>
+            <far>4</far>
+          </clip>
+          <noise>
+            <type>gaussian</type>
+            <mean>0</mean>
+            <stddev>0.007</stddev>
+          </noise>
+          <lens>
+            <intrinsics>
+              <fx>170.6</fx>
+              <fy>170.6</fy>
+              <cx>211.5</cx>
+              <cy>119.5</cy>
+              <s>0</s>
+            </intrinsics>
+            <type>stereographic</type>
+            <scale_to_hfov>1</scale_to_hfov>
+          </lens>
+        </camera>
+      </sensor>
+    </link>
+    <joint name="camera_back_j" type="fixed">
+      <child>camera_back</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_frontleft">
+      <pose>0.415 0.037 -0.01 1.35556 0.353917 -0.554196</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>
+      <sensor name="frontleft_fisheye_image" type="camera">
+        <pose>0 0.01 0 0 -0 0</pose>
+        <update_rate>30</update_rate>
+        <visualize>0</visualize>
+        <camera>
+          <horizontal_fov>1.78634</horizontal_fov>
+          <image>
+            <width>640</width>
+            <height>480</height>
+            <format>R8G8B8</format>
+          </image>
+          <clip>
+            <near>0.1</near>
+            <far>20</far>
+          </clip>
+          <noise>
+            <type>gaussian</type>
+            <mean>0</mean>
+            <stddev>0.007</stddev>
+          </noise>
+          <lens>
+            <intrinsics>
+              <fx>257.487</fx>
+              <fy>257.487</fy>
+              <cx>319.5</cx>
+              <cy>239.5</cy>
+              <s>0</s>
+            </intrinsics>
+            <type>stereographic</type>
+            <scale_to_hfov>1</scale_to_hfov>
+          </lens>
+        </camera>
+        <plugin name="subt::MonoCameraSystem" filename="mono-camera-system"/>
+      </sensor>
+      <sensor name="frontleft_depth" type="depth_camera">
+        <update_rate>30</update_rate>
+        <visualize>0</visualize>
+        <camera>
+          <horizontal_fov>1.78634</horizontal_fov>
+          <image>
+            <width>424</width>
+            <height>240</height>
+            <format>R_FLOAT32</format>
+          </image>
+          <clip>
+            <near>0.1</near>
+            <far>4</far>
+          </clip>
+          <noise>
+            <type>gaussian</type>
+            <mean>0</mean>
+            <stddev>0.007</stddev>
+          </noise>
+          <lens>
+            <intrinsics>
+              <fx>170.6</fx>
+              <fy>170.6</fy>
+              <cx>211.5</cx>
+              <cy>119.5</cy>
+              <s>0</s>
+            </intrinsics>
+            <type>stereographic</type>
+            <scale_to_hfov>1</scale_to_hfov>
+          </lens>
+        </camera>
+      </sensor>
+    </link>
+    <joint name="camera_frontleft_j" type="fixed">
+      <child>camera_frontleft</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_frontright">
+      <pose>0.415 -0.037 -0.01 -1.35556 0.353917 0.554196</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>
+      <sensor name="frontright_fisheye_image" type="camera">
+        <pose>0 0.01 0 0 -0 0</pose>
+        <update_rate>30</update_rate>
+        <visualize>0</visualize>
+        <camera>
+          <horizontal_fov>1.78634</horizontal_fov>
+          <image>
+            <width>640</width>
+            <height>480</height>
+            <format>R8G8B8</format>
+          </image>
+          <clip>
+            <near>0.1</near>
+            <far>20</far>
+          </clip>
+          <noise>
+            <type>gaussian</type>
+            <mean>0</mean>
+            <stddev>0.007</stddev>
+          </noise>
+          <lens>
+            <intrinsics>
+              <fx>257.487</fx>
+              <fy>257.487</fy>
+              <cx>319.5</cx>
+              <cy>239.5</cy>
+              <s>0</s>
+            </intrinsics>
+            <type>stereographic</type>
+            <scale_to_hfov>1</scale_to_hfov>
+          </lens>
+        </camera>
+        <plugin name="subt::MonoCameraSystem" filename="mono-camera-system"/>
+      </sensor>
+      <sensor name="frontright_depth" type="depth_camera">
+        <update_rate>30</update_rate>
+        <visualize>0</visualize>
+        <camera>
+          <horizontal_fov>1.78634</horizontal_fov>
+          <image>
+            <width>424</width>
+            <height>240</height>
+            <format>R_FLOAT32</format>
+          </image>
+          <clip>
+            <near>0.1</near>
+            <far>4</far>
+          </clip>
+          <noise>
+            <type>gaussian</type>
+            <mean>0</mean>
+            <stddev>0.007</stddev>
+          </noise>
+          <lens>
+            <intrinsics>
+              <fx>170.6</fx>
+              <fy>170.6</fy>
+              <cx>211.5</cx>
+              <cy>119.5</cy>
+              <s>0</s>
+            </intrinsics>
+            <type>stereographic</type>
+            <scale_to_hfov>1</scale_to_hfov>
+          </lens>
+        </camera>
+      </sensor>
+    </link>
+    <joint name="camera_frontright_j" type="fixed">
+      <child>camera_frontright</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_left">
+      <pose>-0.125 0.12 0.035 0 0.2 1.5707963267948966</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>
+      <sensor name="left_fisheye_image" type="camera">
+        <pose>0 0.01 0 0 -0 0</pose>
+        <update_rate>30</update_rate>
+        <visualize>0</visualize>
+        <camera>
+          <horizontal_fov>1.78634</horizontal_fov>
+          <image>
+            <width>640</width>
+            <height>480</height>
+            <format>R8G8B8</format>
+          </image>
+          <clip>
+            <near>0.1</near>
+            <far>20</far>
+          </clip>
+          <noise>
+            <type>gaussian</type>
+            <mean>0</mean>
+            <stddev>0.007</stddev>
+          </noise>
+          <lens>
+            <intrinsics>
+              <fx>257.487</fx>
+              <fy>257.487</fy>
+              <cx>319.5</cx>
+              <cy>239.5</cy>
+              <s>0</s>
+            </intrinsics>
+            <type>stereographic</type>
+            <scale_to_hfov>1</scale_to_hfov>
+          </lens>
+        </camera>
+        <plugin name="subt::MonoCameraSystem" filename="mono-camera-system"/>
+      </sensor>
+      <sensor name="left_depth" type="depth_camera">
+        <update_rate>30</update_rate>
+        <visualize>0</visualize>
+        <camera>
+          <horizontal_fov>1.78634</horizontal_fov>
+          <image>
+            <width>424</width>
+            <height>240</height>
+            <format>R_FLOAT32</format>
+          </image>
+          <clip>
+            <near>0.1</near>
+            <far>4</far>
+          </clip>
+          <noise>
+            <type>gaussian</type>
+            <mean>0</mean>
+            <stddev>0.007</stddev>
+          </noise>
+          <lens>
+            <intrinsics>
+              <fx>170.6</fx>
+              <fy>170.6</fy>
+              <cx>211.5</cx>
+              <cy>119.5</cy>
+              <s>0</s>
+            </intrinsics>
+            <type>stereographic</type>
+            <scale_to_hfov>1</scale_to_hfov>
+          </lens>
+        </camera>
+      </sensor>
+    </link>
+    <joint name="camera_left_j" type="fixed">
+      <child>camera_left</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_right">
+      <pose>-0.125 -0.12 0.035 0 0.2 -1.5707963267948966</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>
+      <sensor name="right_fisheye_image" type="camera">
+        <pose>0 0.01 0 0 -0 0</pose>
+        <update_rate>30</update_rate>
+        <visualize>0</visualize>
+        <camera>
+          <horizontal_fov>1.78634</horizontal_fov>
+          <image>
+            <width>640</width>
+            <height>480</height>
+            <format>R8G8B8</format>
+          </image>
+          <clip>
+            <near>0.1</near>
+            <far>20</far>
+          </clip>
+          <noise>
+            <type>gaussian</type>
+            <mean>0</mean>
+            <stddev>0.007</stddev>
+          </noise>
+          <lens>
+            <intrinsics>
+              <fx>257.487</fx>
+              <fy>257.487</fy>
+              <cx>319.5</cx>
+              <cy>239.5</cy>
+              <s>0</s>
+            </intrinsics>
+            <type>stereographic</type>
+            <scale_to_hfov>1</scale_to_hfov>
+          </lens>
+        </camera>
+        <plugin name="subt::MonoCameraSystem" filename="mono-camera-system"/>
+      </sensor>
+      <sensor name="right_depth" type="depth_camera">
+        <update_rate>30</update_rate>
+        <visualize>0</visualize>
+        <camera>
+          <horizontal_fov>1.78634</horizontal_fov>
+          <image>
+            <width>424</width>
+            <height>240</height>
+            <format>R_FLOAT32</format>
+          </image>
+          <clip>
+            <near>0.1</near>
+            <far>4</far>
+          </clip>
+          <noise>
+            <type>gaussian</type>
+            <mean>0</mean>
+            <stddev>0.007</stddev>
+          </noise>
+          <lens>
+            <intrinsics>
+              <fx>170.6</fx>
+              <fy>170.6</fy>
+              <cx>211.5</cx>
+              <cy>119.5</cy>
+              <s>0</s>
+            </intrinsics>
+            <type>stereographic</type>
+            <scale_to_hfov>1</scale_to_hfov>
+          </lens>
+        </camera>
+      </sensor>
+    </link>
+    <joint name="camera_right_j" type="fixed">
+      <child>camera_right</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_left_hip">
+      <pose>0.29785 0.055 0 0 -0 0</pose>
+      <inertial>
+        <mass>2</mass>
+        <inertia>
+          <ixx>0.0027</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.00416667</iyy>
+          <iyz>0</iyz>
+          <izz>0.00416667</izz>
+        </inertia>
+      </inertial>
+      <collision name="front_left_hip_collision">
+        <geometry>
+          <mesh>
+            <uri>meshes/front_left_hip_collision.stl</uri>
+          </mesh>
+        </geometry>
+      </collision>
+      <visual name="front_left_hip_visual">
+        <geometry>
+          <mesh>
+            <uri>meshes/front_left_hip.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+    </link>
+    <joint name="front_left_hip_x" type="revolute">
+      <child>front_left_hip</child>
+      <parent>base_link</parent>
+      <axis>
+        <xyz>1 0 0</xyz>
+        <limit>
+          <lower>-0.785398</lower>
+          <upper>0.785398</upper>
+          <effort>80</effort>
+          <velocity>15</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_upper_leg">
+      <pose>0.29785 0.165945 0 0 -0 0</pose>
+      <inertial>
+        <pose>0 0 -0.14 0 -0 0</pose>
+        <mass>1</mass>
+        <inertia>
+          <ixx>0.0155334</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.0155334</iyy>
+          <iyz>0</iyz>
+          <izz>0.000962667</izz>
+        </inertia>
+      </inertial>
+      <collision name="front_left_upper_leg_collision">
+        <geometry>
+          <mesh>
+            <uri>meshes/front_left_upper_leg_collision.stl</uri>
+          </mesh>
+        </geometry>
+      </collision>
+      <visual name="front_left_upper_leg_visual">
+        <geometry>
+          <mesh>
+            <uri>meshes/front_left_upper_leg.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+    </link>
+    <joint name="front_left_hip_y" type="revolute">
+      <child>front_left_upper_leg</child>
+      <parent>front_left_hip</parent>
+      <axis>
+        <xyz>0 1 0</xyz>
+        <limit>
+          <lower>-0.898845</lower>
+          <upper>2.29511</upper>
+          <effort>80</effort>
+          <velocity>15</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_lower_leg">
+      <pose>0.32285 0.165945 -0.3205 0 -0 0</pose>
+      <inertial>
+        <pose>0 0 -0.16 0 -0 0</pose>
+        <mass>0.5</mass>
+        <inertia>
+          <ixx>0.00743438</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.00740104</iyy>
+          <iyz>0</iyz>
+          <izz>0.000135417</izz>
+        </inertia>
+      </inertial>
+      <collision name="front_left_lower_leg_collision">
+        <geometry>
+          <mesh>
+            <scale>0.82 0.97 0.98</scale>
+            <uri>meshes/front_left_lower_leg_collision.stl</uri>
+          </mesh>
+        </geometry>
+        <surface>
+          <contact>
+            <ode>
+              <kp>1e+07</kp>
+              <kd>100</kd>
+            </ode>
+          </contact>
+          <friction>
+            <ode>
+              <mu>0.8</mu>
+              <mu2>0.8</mu2>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="front_left_lower_leg_collision_1">
+        <pose>0 0 -0.333 0 -0 0</pose>
+        <geometry>
+          <sphere>
+            <radius>0.04</radius>
+          </sphere>
+        </geometry>
+        <surface>
+          <contact>
+            <ode>
+              <kp>1e+07</kp>
+              <kd>100</kd>
+            </ode>
+          </contact>
+          <friction>
+            <ode>
+              <mu>0.8</mu>
+              <mu2>0.8</mu2>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <visual name="front_left_lower_leg_visual">
+        <geometry>
+          <mesh>
+            <uri>meshes/front_left_lower_leg.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <sensor name="contact" type="contact">
+        <contact>
+          <collision>front_left_lower_leg_collision</collision>
+          <collision>front_left_lower_leg_collision_1</collision>
+          <topic>__default_topic__</topic>
+        </contact>
+      </sensor>
+    </link>
+    <joint name="front_left_knee" type="revolute">
+      <child>front_left_lower_leg</child>
+      <parent>front_left_upper_leg</parent>
+      <axis>
+        <xyz>0 1 0</xyz>
+        <limit>
+          <lower>-2.7929</lower>
+          <upper>-0.254801</upper>
+          <effort>80</effort>
+          <velocity>15</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_ee">
+      <pose>0.32285 0.165945 -0.6905 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="front_left_foot" type="fixed">
+      <child>front_left_ee</child>
+      <parent>front_left_lower_leg</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_hip">
+      <pose>0.29785 -0.055 0 0 -0 0</pose>
+      <inertial>
+        <mass>2</mass>
+        <inertia>
+          <ixx>0.0027</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.00416667</iyy>
+          <iyz>0</iyz>
+          <izz>0.00416667</izz>
+        </inertia>
+      </inertial>
+      <collision name="front_right_hip_collision">
+        <geometry>
+          <mesh>
+            <uri>meshes/front_right_hip_collision.stl</uri>
+          </mesh>
+        </geometry>
+      </collision>
+      <visual name="front_right_hip_visual">
+        <geometry>
+          <mesh>
+            <uri>meshes/front_right_hip.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+    </link>
+    <joint name="front_right_hip_x" type="revolute">
+      <child>front_right_hip</child>
+      <parent>base_link</parent>
+      <axis>
+        <xyz>1 0 0</xyz>
+        <limit>
+          <lower>-0.785398</lower>
+          <upper>0.785398</upper>
+          <effort>80</effort>
+          <velocity>15</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_upper_leg">
+      <pose>0.29785 -0.165945 0 0 -0 0</pose>
+      <inertial>
+        <pose>0 0 -0.14 0 -0 0</pose>
+        <mass>1</mass>
+        <inertia>
+          <ixx>0.0155334</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.0155334</iyy>
+          <iyz>0</iyz>
+          <izz>0.000962667</izz>
+        </inertia>
+      </inertial>
+      <collision name="front_right_upper_leg_collision">
+        <geometry>
+          <mesh>
+            <uri>meshes/front_right_upper_leg_collision.stl</uri>
+          </mesh>
+        </geometry>
+      </collision>
+      <visual name="front_right_upper_leg_visual">
+        <geometry>
+          <mesh>
+            <uri>meshes/front_right_upper_leg.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+    </link>
+    <joint name="front_right_hip_y" type="revolute">
+      <child>front_right_upper_leg</child>
+      <parent>front_right_hip</parent>
+      <axis>
+        <xyz>0 1 0</xyz>
+        <limit>
+          <lower>-0.898845</lower>
+          <upper>2.29511</upper>
+          <effort>80</effort>
+          <velocity>15</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_lower_leg">
+      <pose>0.32285 -0.165945 -0.3205 0 -0 0</pose>
+      <inertial>
+        <pose>0 0 -0.16 0 -0 0</pose>
+        <mass>0.5</mass>
+        <inertia>
+          <ixx>0.00743438</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.00740104</iyy>
+          <iyz>0</iyz>
+          <izz>0.000135417</izz>
+        </inertia>
+      </inertial>
+      <collision name="front_right_lower_leg_collision">
+        <geometry>
+          <mesh>
+            <scale>0.82 0.97 0.98</scale>
+            <uri>meshes/front_right_lower_leg_collision.stl</uri>
+          </mesh>
+        </geometry>
+        <surface>
+          <contact>
+            <ode>
+              <kp>1e+07</kp>
+              <kd>100</kd>
+            </ode>
+          </contact>
+          <friction>
+            <ode>
+              <mu>0.8</mu>
+              <mu2>0.8</mu2>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="front_right_lower_leg_collision_1">
+        <pose>0 0 -0.333 0 -0 0</pose>
+        <geometry>
+          <sphere>
+            <radius>0.04</radius>
+          </sphere>
+        </geometry>
+        <surface>
+          <contact>
+            <ode>
+              <kp>1e+07</kp>
+              <kd>100</kd>
+            </ode>
+          </contact>
+          <friction>
+            <ode>
+              <mu>0.8</mu>
+              <mu2>0.8</mu2>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <visual name="front_right_lower_leg_visual">
+        <geometry>
+          <mesh>
+            <uri>meshes/front_right_lower_leg.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <sensor name="contact" type="contact">
+        <contact>
+          <collision>front_right_lower_leg_collision</collision>
+          <collision>front_right_lower_leg_collision_1</collision>
+          <topic>__default_topic__</topic>
+        </contact>
+      </sensor>
+    </link>
+    <joint name="front_right_knee" type="revolute">
+      <child>front_right_lower_leg</child>
+      <parent>front_right_upper_leg</parent>
+      <axis>
+        <xyz>0 1 0</xyz>
+        <limit>
+          <lower>-2.7929</lower>
+          <upper>-0.254801</upper>
+          <effort>80</effort>
+          <velocity>15</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_ee">
+      <pose>0.32285 -0.165945 -0.6905 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="front_right_foot" type="fixed">
+      <child>front_right_ee</child>
+      <parent>front_right_lower_leg</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">
+      <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>
+      <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_left_hip">
+      <pose>-0.29785 0.055 0 0 -0 0</pose>
+      <inertial>
+        <mass>2</mass>
+        <inertia>
+          <ixx>0.0027</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.00416667</iyy>
+          <iyz>0</iyz>
+          <izz>0.00416667</izz>
+        </inertia>
+      </inertial>
+      <collision name="rear_left_hip_collision">
+        <geometry>
+          <mesh>
+            <uri>meshes/rear_left_hip_collision.stl</uri>
+          </mesh>
+        </geometry>
+      </collision>
+      <visual name="rear_left_hip_visual">
+        <geometry>
+          <mesh>
+            <uri>meshes/rear_left_hip.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+    </link>
+    <joint name="rear_left_hip_x" type="revolute">
+      <child>rear_left_hip</child>
+      <parent>base_link</parent>
+      <axis>
+        <xyz>1 0 0</xyz>
+        <limit>
+          <lower>-0.785398</lower>
+          <upper>0.785398</upper>
+          <effort>80</effort>
+          <velocity>15</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_upper_leg">
+      <pose>-0.29785 0.165945 0 0 -0 0</pose>
+      <inertial>
+        <pose>0 0 -0.14 0 -0 0</pose>
+        <mass>1</mass>
+        <inertia>
+          <ixx>0.0155334</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.0155334</iyy>
+          <iyz>0</iyz>
+          <izz>0.000962667</izz>
+        </inertia>
+      </inertial>
+      <collision name="rear_left_upper_leg_collision">
+        <geometry>
+          <mesh>
+            <uri>meshes/rear_left_upper_leg_collision.stl</uri>
+          </mesh>
+        </geometry>
+      </collision>
+      <visual name="rear_left_upper_leg_visual">
+        <geometry>
+          <mesh>
+            <uri>meshes/rear_left_upper_leg.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+    </link>
+    <joint name="rear_left_hip_y" type="revolute">
+      <child>rear_left_upper_leg</child>
+      <parent>rear_left_hip</parent>
+      <axis>
+        <xyz>0 1 0</xyz>
+        <limit>
+          <lower>-0.898845</lower>
+          <upper>2.29511</upper>
+          <effort>80</effort>
+          <velocity>15</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_lower_leg">
+      <pose>-0.27285 0.165945 -0.3205 0 -0 0</pose>
+      <inertial>
+        <pose>0 0 -0.16 0 -0 0</pose>
+        <mass>0.5</mass>
+        <inertia>
+          <ixx>0.00743438</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.00740104</iyy>
+          <iyz>0</iyz>
+          <izz>0.000135417</izz>
+        </inertia>
+      </inertial>
+      <collision name="rear_left_lower_leg_collision">
+        <geometry>
+          <mesh>
+            <scale>0.82 0.97 0.98</scale>
+            <uri>meshes/rear_left_lower_leg_collision.stl</uri>
+          </mesh>
+        </geometry>
+        <surface>
+          <contact>
+            <ode>
+              <kp>1e+07</kp>
+              <kd>100</kd>
+            </ode>
+          </contact>
+          <friction>
+            <ode>
+              <mu>0.8</mu>
+              <mu2>0.8</mu2>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="rear_left_lower_leg_collision_1">
+        <pose>0 0 -0.333 0 -0 0</pose>
+        <geometry>
+          <sphere>
+            <radius>0.04</radius>
+          </sphere>
+        </geometry>
+        <surface>
+          <contact>
+            <ode>
+              <kp>1e+07</kp>
+              <kd>100</kd>
+            </ode>
+          </contact>
+          <friction>
+            <ode>
+              <mu>0.8</mu>
+              <mu2>0.8</mu2>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <visual name="rear_left_lower_leg_visual">
+        <geometry>
+          <mesh>
+            <uri>meshes/rear_left_lower_leg.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <sensor name="contact" type="contact">
+        <contact>
+          <collision>rear_left_lower_leg_collision</collision>
+          <collision>rear_left_lower_leg_collision_1</collision>
+          <topic>__default_topic__</topic>
+        </contact>
+      </sensor>
+    </link>
+    <joint name="rear_left_knee" type="revolute">
+      <child>rear_left_lower_leg</child>
+      <parent>rear_left_upper_leg</parent>
+      <axis>
+        <xyz>0 1 0</xyz>
+        <limit>
+          <lower>-2.7929</lower>
+          <upper>-0.254801</upper>
+          <effort>80</effort>
+          <velocity>15</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_ee">
+      <pose>-0.27285 0.165945 -0.6905 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_left_foot" type="fixed">
+      <child>rear_left_ee</child>
+      <parent>rear_left_lower_leg</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_hip">
+      <pose>-0.29785 -0.055 0 0 -0 0</pose>
+      <inertial>
+        <mass>2</mass>
+        <inertia>
+          <ixx>0.0027</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.00416667</iyy>
+          <iyz>0</iyz>
+          <izz>0.00416667</izz>
+        </inertia>
+      </inertial>
+      <collision name="rear_right_hip_collision">
+        <geometry>
+          <mesh>
+            <uri>meshes/rear_right_hip_collision.stl</uri>
+          </mesh>
+        </geometry>
+      </collision>
+      <visual name="rear_right_hip_visual">
+        <geometry>
+          <mesh>
+            <uri>meshes/rear_right_hip.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+    </link>
+    <joint name="rear_right_hip_x" type="revolute">
+      <child>rear_right_hip</child>
+      <parent>base_link</parent>
+      <axis>
+        <xyz>1 0 0</xyz>
+        <limit>
+          <lower>-0.785398</lower>
+          <upper>0.785398</upper>
+          <effort>80</effort>
+          <velocity>15</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_upper_leg">
+      <pose>-0.29785 -0.165945 0 0 -0 0</pose>
+      <inertial>
+        <pose>0 0 -0.14 0 -0 0</pose>
+        <mass>1</mass>
+        <inertia>
+          <ixx>0.0155334</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.0155334</iyy>
+          <iyz>0</iyz>
+          <izz>0.000962667</izz>
+        </inertia>
+      </inertial>
+      <collision name="rear_right_upper_leg_collision">
+        <geometry>
+          <mesh>
+            <uri>meshes/rear_right_upper_leg_collision.stl</uri>
+          </mesh>
+        </geometry>
+      </collision>
+      <visual name="rear_right_upper_leg_visual">
+        <geometry>
+          <mesh>
+            <uri>meshes/rear_right_upper_leg.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+    </link>
+    <joint name="rear_right_hip_y" type="revolute">
+      <child>rear_right_upper_leg</child>
+      <parent>rear_right_hip</parent>
+      <axis>
+        <xyz>0 1 0</xyz>
+        <limit>
+          <lower>-0.898845</lower>
+          <upper>2.29511</upper>
+          <effort>80</effort>
+          <velocity>15</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_lower_leg">
+      <pose>-0.27285 -0.165945 -0.3205 0 -0 0</pose>
+      <inertial>
+        <pose>0 0 -0.16 0 -0 0</pose>
+        <mass>0.5</mass>
+        <inertia>
+          <ixx>0.00743438</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.00740104</iyy>
+          <iyz>0</iyz>
+          <izz>0.000135417</izz>
+        </inertia>
+      </inertial>
+      <collision name="rear_right_lower_leg_collision">
+        <geometry>
+          <mesh>
+            <scale>0.82 0.97 0.98</scale>
+            <uri>meshes/rear_right_lower_leg_collision.stl</uri>
+          </mesh>
+        </geometry>
+        <surface>
+          <contact>
+            <ode>
+              <kp>1e+07</kp>
+              <kd>100</kd>
+            </ode>
+          </contact>
+          <friction>
+            <ode>
+              <mu>0.8</mu>
+              <mu2>0.8</mu2>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="rear_right_lower_leg_collision_1">
+        <pose>0 0 -0.333 0 -0 0</pose>
+        <geometry>
+          <sphere>
+            <radius>0.04</radius>
+          </sphere>
+        </geometry>
+        <surface>
+          <contact>
+            <ode>
+              <kp>1e+07</kp>
+              <kd>100</kd>
+            </ode>
+          </contact>
+          <friction>
+            <ode>
+              <mu>0.8</mu>
+              <mu2>0.8</mu2>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <visual name="rear_right_lower_leg_visual">
+        <geometry>
+          <mesh>
+            <uri>meshes/rear_right_lower_leg.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <sensor name="contact" type="contact">
+        <contact>
+          <collision>rear_right_lower_leg_collision</collision>
+          <collision>rear_right_lower_leg_collision_1</collision>
+          <topic>__default_topic__</topic>
+        </contact>
+      </sensor>
+    </link>
+    <joint name="rear_right_knee" type="revolute">
+      <child>rear_right_lower_leg</child>
+      <parent>rear_right_upper_leg</parent>
+      <axis>
+        <xyz>0 1 0</xyz>
+        <limit>
+          <lower>-2.7929</lower>
+          <upper>-0.254801</upper>
+          <effort>80</effort>
+          <velocity>15</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_ee">
+      <pose>-0.27285 -0.165945 -0.6905 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_foot" type="fixed">
+      <child>rear_right_ee</child>
+      <parent>rear_right_lower_leg</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>
+  </model>
+</sdf>
+
diff --git a/submitted_models/bosdyn_spot/msg/Contact.msg b/submitted_models/bosdyn_spot/msg/Contact.msg
new file mode 100644
index 00000000..ede5a276
--- /dev/null
+++ b/submitted_models/bosdyn_spot/msg/Contact.msg
@@ -0,0 +1,10 @@
+uint64 collision1
+uint64 collision2
+
+geometry_msgs/Vector3[] position
+geometry_msgs/Vector3[] normal
+float64[] depth
+geometry_msgs/Wrench[] body1_wrench
+geometry_msgs/Wrench[] body2_wrench
+
+uint64 world
\ No newline at end of file
diff --git a/submitted_models/bosdyn_spot/msg/ContactsStamped.msg b/submitted_models/bosdyn_spot/msg/ContactsStamped.msg
new file mode 100644
index 00000000..2214c803
--- /dev/null
+++ b/submitted_models/bosdyn_spot/msg/ContactsStamped.msg
@@ -0,0 +1,2 @@
+Header header
+bosdyn_spot/Contact[] contacts
\ No newline at end of file
diff --git a/submitted_models/bosdyn_spot/msg/LogicalContact.msg b/submitted_models/bosdyn_spot/msg/LogicalContact.msg
new file mode 100644
index 00000000..bac64113
--- /dev/null
+++ b/submitted_models/bosdyn_spot/msg/LogicalContact.msg
@@ -0,0 +1,2 @@
+Header header
+bool[] contacts
\ No newline at end of file
diff --git a/submitted_models/bosdyn_spot/nodelets.xml b/submitted_models/bosdyn_spot/nodelets.xml
new file mode 100644
index 00000000..4921ff55
--- /dev/null
+++ b/submitted_models/bosdyn_spot/nodelets.xml
@@ -0,0 +1,33 @@
+<class_libraries>
+    <library path="lib/liblogical_contact_bridge">
+        <class name="bosdyn_spot/LogicalContactBridge" type="subt::LogicalContactBridge" base_class_type="nodelet::Nodelet">
+            <description>
+                Nodelet for converting Ignition Gazebo logical contact messages to bosdyn_spot/LogicalContact.
+            </description>
+        </class>
+    </library>
+
+    <library path="lib/libfoot_contact_bridge">
+        <class name="bosdyn_spot/FootContactBridge" type="subt::FootContactBridge" base_class_type="nodelet::Nodelet">
+            <description>
+                Nodelet for converting Ignition Gazebo foot contact messages to bosdyn_spot/ContactsStamped.
+            </description>
+        </class>
+    </library>
+
+    <library path="lib/libpid_control_bridge">
+        <class name="bosdyn_spot/PidControlBridge" type="subt::PidControlBridge" base_class_type="nodelet::Nodelet">
+            <description>
+                ROS Bridge for configuration of ConfigurableJointPositionControllerSystem.
+            </description>
+        </class>
+    </library>
+
+    <library path="lib/libjoint_trajectory_bridge">
+        <class name="bosdyn_spot/JointTrajectoryBridge" type="subt::JointTrajectoryBridge" base_class_type="nodelet::Nodelet">
+            <description>
+                ROS Bridge for JointTrajectory messages.
+            </description>
+        </class>
+    </library>
+</class_libraries>
\ No newline at end of file
diff --git a/submitted_models/bosdyn_spot/nodes/pid_multituner b/submitted_models/bosdyn_spot/nodes/pid_multituner
new file mode 100755
index 00000000..7ddceb4e
--- /dev/null
+++ b/submitted_models/bosdyn_spot/nodes/pid_multituner
@@ -0,0 +1,41 @@
+#!/usr/bin/env python
+
+"""
+This node is a meta-commander for tuning all PIDs on the Spot at the same time.
+Just set a value via dynamic reconfigure to this and the same change will be
+propagated to all of the position-controlled joints' PIDs.
+"""
+
+import rospy
+from control_toolbox.cfg import ParametersConfig
+from dynamic_reconfigure.server import Server
+from dynamic_reconfigure.client import Client
+
+clients = []
+
+
+def update(config, level):
+    for client in clients:
+        client.update_configuration(config)
+
+    return config
+
+
+if __name__ == '__main__':
+    rospy.init_node("pid_multituner")
+
+    for leg in ("front_left", "front_right", "rear_left", "rear_right"):
+        for motor in ("hip_x", "hip_y", "knee"):
+            clients.append(Client("joint_group_position_controller/gains/{}_{}".format(leg, motor)))
+
+    config = clients[0].get_configuration()
+    rospy.set_param("~p", config["p"])
+    rospy.set_param("~i", config["i"])
+    rospy.set_param("~d", config["d"])
+    rospy.set_param("~i_clamp_min", config["i_clamp_min"])
+    rospy.set_param("~i_clamp_max", config["i_clamp_max"])
+    rospy.set_param("~antiwindup", config["antiwindup"])
+
+    dyn_server = Server(ParametersConfig, update)
+
+    rospy.spin()
diff --git a/submitted_models/bosdyn_spot/package.xml b/submitted_models/bosdyn_spot/package.xml
new file mode 100644
index 00000000..509a68fe
--- /dev/null
+++ b/submitted_models/bosdyn_spot/package.xml
@@ -0,0 +1,40 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>bosdyn_spot</name>
+  <version>0.0.1</version>
+  <description>Base of Boston Dynamics Spot with just the builtin sensors.
+    - 5 grayscale depth cameras
+    - IMU
+    - Weight: about 30 kg
+  </description>
+  <maintainer email="peckama2@fel.cvut.cz">Martin Pecka</maintainer>
+  <author email="peckama2@fel.cvut.cz">Martin Pecka</author>
+  <license>BSD</license>
+
+  <buildtool_depend>catkin</buildtool_depend>
+
+  <build_depend>ignition-gazebo4</build_depend>
+  <exec_depend>ignition-gazebo4</exec_depend>
+
+  <build_depend>message_generation</build_depend>
+  <build_export_depend>message_runtime</build_export_depend>
+  <exec_depend>message_runtime</exec_depend>
+
+  <depend>control_toolbox</depend>
+  <depend>dynamic_reconfigure</depend>
+  <depend>geometry_msgs</depend>
+  <depend>nodelet</depend>
+  <depend>ros_ign_bridge</depend>
+  <depend>roscpp</depend>
+  <depend>std_msgs</depend>
+
+  <exec_depend>ros_ign_image</exec_depend>
+  <exec_depend>roslaunch</exec_depend>
+  <exec_depend>rospy</exec_depend>
+  <exec_depend>subt_ros</exec_depend>
+  <exec_depend>xacro</exec_depend>
+
+  <export>
+    <nodelet plugin="${prefix}/nodelets.xml" />
+  </export>
+</package>
diff --git a/submitted_models/bosdyn_spot/scripts/clean_sdf b/submitted_models/bosdyn_spot/scripts/clean_sdf
new file mode 100755
index 00000000..691f7456
--- /dev/null
+++ b/submitted_models/bosdyn_spot/scripts/clean_sdf
@@ -0,0 +1,15 @@
+#!/usr/bin/env bash
+set -e
+
+sed -i \
+  -e '/<surface>/{:a;N;/<\/surface>/!ba};/<surface>\n\s*<contact>\n\s*<ode\/>\n\s*<\/contact>\n\s*<friction>\n\s*<ode\/>\n\s*<\/friction>\n\s*<\/surface>/d' \
+  -e '/<pose>\(-\?0 \?\)\{6\}<\/pose>/d' \
+  -e '/<scale>1 1 1<\/scale>/d' \
+  -e '/<angular_velocity\/>/d' \
+  -e '/<linear_acceleration\/>/d' \
+  -e '/<velocity_decay\/>/d' \
+  -e '/<gravity>1<\/gravity>/d' \
+  -e '/<kinematic>0<\/kinematic>/d' \
+  -e '/<static>0<\/static>/d' "$1"
+sed -i '/<contact>/{:a;N;/<\/contact>/!ba};/<contact>\n\s*<ode\/>\n\s*<\/contact>/d' "$1"
+sed -i 's/\(<sdf version[^>]*>\)/\1\r  <!-- CAUTION: This is an autogenerated file, DO NOT EDIT IT!\r  It was generated by script update_robot_sdf and is based on urdf\/spot.urdf.xacro source file.\r  Do all modifications there and then run the update script to regenerate the SDF. -->/g' "$1"
\ No newline at end of file
diff --git a/submitted_models/bosdyn_spot/scripts/high_precision_constants.py b/submitted_models/bosdyn_spot/scripts/high_precision_constants.py
new file mode 100755
index 00000000..c216baf7
--- /dev/null
+++ b/submitted_models/bosdyn_spot/scripts/high_precision_constants.py
@@ -0,0 +1,79 @@
+#!/usr/bin/env python
+#
+# Copyright 2019 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from __future__ import print_function
+from lxml import etree
+import math
+import argparse
+import sys
+
+# Values of PI to check. Only put positive values.
+CONSTANTS_TO_CHECK = [math.pi, math.pi/2]
+
+def convert_to_high_precision_pi(urdf_file, tol, precision):
+    """Search all poses for values that are near PI and PI/2 and replace them
+    with their high precision counterparts.
+
+    Parameters
+    ----------
+    urdf_file : Input urdf file
+    tol: Tolerance for equality check
+
+    Returns
+    -------
+    etree.Element
+
+    """
+    inp = etree.parse(urdf_file)
+    sdf = inp.getroot()
+    poses = sdf.xpath('//pose')
+
+    for pose in poses:
+        new_pose_list = []
+        for val in pose.text.split():
+            val_fl = float(val)
+            for check_val in CONSTANTS_TO_CHECK:
+                if abs(abs(val_fl) - check_val) < tol:
+                    new_pose_list.append('{:.{precision}f}'.format(
+                        math.copysign(check_val, val_fl), precision=precision))
+                    break
+            # The else block executes if none of the values in
+            # CONSTANTS_TO_CHECK match val_fl
+            else:
+                new_pose_list.append(val)
+
+        new_pose = ' '.join(new_pose_list)
+        pose.text = new_pose
+    return inp
+
+
+if __name__ == '__main__':
+    parser = argparse.ArgumentParser(
+        formatter_class=argparse.ArgumentDefaultsHelpFormatter,
+        description='Search all <pose> elements for values that are near PI '
+        'and PI/2 and replace them with their high precision counterparts.')
+    parser.add_argument('infile', type=argparse.FileType('r'),
+                        help='Input URDF file')
+    parser.add_argument('-t', '--tolerance', type=float, default=1e-3,
+                        help='Tolerance for equality checks')
+    parser.add_argument('-p', '--precision', type=float, default=16,
+                        help='Tolerance for equality checks')
+
+    args = parser.parse_args()
+    out = convert_to_high_precision_pi(args.infile, args.tolerance,
+                                       args.precision)
+    print(etree.tostring(out, pretty_print=True, encoding='utf-8',
+                         xml_declaration=True))
diff --git a/submitted_models/bosdyn_spot/scripts/install_in_local_fuel_cache b/submitted_models/bosdyn_spot/scripts/install_in_local_fuel_cache
new file mode 100755
index 00000000..42f2d29c
--- /dev/null
+++ b/submitted_models/bosdyn_spot/scripts/install_in_local_fuel_cache
@@ -0,0 +1,26 @@
+#!/usr/bin/env bash
+set -e
+DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null 2>&1 && pwd )"
+
+# Install the model in local Ignition Fuel cache so that it is available even before being uploaded to Fuel by Open Robotics.
+
+path="${DIR}/../../../../../install/share/bosdyn_spot"
+if [ ! -d "$path" ]; then
+  path="$1"
+fi
+
+if [ ! -d "$path" ]; then
+  echo "ERROR: Provide a path to the bosdyn_spot folder in either install/share or devel/share as an argument to this script." >&2
+  exit 1
+fi
+
+path="$(realpath "$path")"
+
+cache_path="${IGN_FUEL_CACHE_PATH:-${HOME}/.ignition/fuel}/fuel.ignitionrobotics.org/openrobotics/models/bosdyn_spot/1"
+mkdir -p "$cache_path"
+
+for f in model.sdf model.config meshes textures; do
+  ln -sf "${path}/${f}" "${cache_path}/${f}"
+done
+
+echo "INFO: Done, the model was installed in ${cache_path}."
\ No newline at end of file
diff --git a/submitted_models/bosdyn_spot/scripts/print_robot_urdf b/submitted_models/bosdyn_spot/scripts/print_robot_urdf
new file mode 100755
index 00000000..7e8cbe49
--- /dev/null
+++ b/submitted_models/bosdyn_spot/scripts/print_robot_urdf
@@ -0,0 +1,13 @@
+#!/usr/bin/env bash
+set -e
+
+DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null 2>&1 && pwd )"
+MODEL_DIR="${DIR}/.."
+
+config=""
+for file in "${MODEL_DIR}/config/model/common.yaml" "${MODEL_DIR}/config/model/urdf.yaml"; do
+  config="${config} $("${DIR}/yaml_to_xacro_args" "$file")"
+done
+
+echo -e "Rendering URDF of $(basename "$(realpath "$MODEL_DIR")") with the following Xacro arguments:\n${config}" "$@" >&2
+rosrun xacro xacro "${MODEL_DIR}/urdf/spot.urdf.xacro" ${config} "$@"
\ No newline at end of file
diff --git a/submitted_models/bosdyn_spot/scripts/update_robot_sdf b/submitted_models/bosdyn_spot/scripts/update_robot_sdf
new file mode 100755
index 00000000..7e61dd83
--- /dev/null
+++ b/submitted_models/bosdyn_spot/scripts/update_robot_sdf
@@ -0,0 +1,30 @@
+#!/usr/bin/env bash
+set -e
+
+# This script re-generates the model.sdf file in the root of this package based on the Xacro files.
+# This script is only intended to be run from the source space and is intentionally not a part of
+# the installed package.
+
+# If you want to test some local changes, you can pass arguments to this script and it will relay
+# them to the Xacro call (usually the key:=value pairs for setting xacro args).
+
+DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null 2>&1 && pwd )"
+MODEL_DIR="${DIR}/.."
+[ -z "${OUTPUT_FILE}" ] && OUTPUT_FILE="${MODEL_DIR}/model.sdf"
+
+config=""
+for file in "${MODEL_DIR}/config/model/common.yaml" "${MODEL_DIR}/config/model/ign.yaml"; do
+  config="${config} $("${DIR}/yaml_to_xacro_args" "$file")"
+done
+
+sdf8_version="$(ign sdf --versions | grep '^8')" || true
+[ -z "$sdf8_version" ] && echo "libsdformat8 not found. It is required to update this robot's SDF. Please install libsdformat8-dev and try again." >&2 && exit 1
+echo "Found libsdformat ${sdf8_version}" >&2
+
+echo -e "Rendering Ignition Gazebo SDF of $(basename "$(realpath "$MODEL_DIR")") with the following Xacro arguments:\n${config}" "$@" >&2
+rosrun xacro xacro "${MODEL_DIR}/urdf/spot.urdf.xacro" ${config} "$@" > "${OUTPUT_FILE}.urdf"
+ign sdf --force-version "$sdf8_version" -p "${OUTPUT_FILE}.urdf" | "${DIR}/high_precision_constants.py" - > "${OUTPUT_FILE}"
+
+"${DIR}/clean_sdf" "${OUTPUT_FILE}"
+# fix resource paths
+sed -i -e 's#model://bosdyn_spot/##g' "${OUTPUT_FILE}"
diff --git a/submitted_models/bosdyn_spot/scripts/yaml_to_xacro_args b/submitted_models/bosdyn_spot/scripts/yaml_to_xacro_args
new file mode 100755
index 00000000..8383ada8
--- /dev/null
+++ b/submitted_models/bosdyn_spot/scripts/yaml_to_xacro_args
@@ -0,0 +1,8 @@
+#!/usr/bin/env bash
+set -e
+
+# convert the given yaml file to a list of key:=value intended to be passed to xacro
+# this script does not support nested YAML structures
+
+file="$1"
+sed 's/: \?/:=/' < "$file" | sed '/^#.*$/d' | sed 's/#.*$//' | sed 's/:=\s*True\s*$/:=1/i' | sed 's/:=\s*False\s*$/:=0/i' | tr "\n" " "
\ No newline at end of file
diff --git a/submitted_models/bosdyn_spot/specifications.md b/submitted_models/bosdyn_spot/specifications.md
new file mode 100644
index 00000000..623995ec
--- /dev/null
+++ b/submitted_models/bosdyn_spot/specifications.md
@@ -0,0 +1,238 @@
+# Boston Dynamics Spot
+This specifications.md file is a description and proof of virtual model validation for the
+Boston Dynamics Spot robot base. This robot may be launched using an ign launch command with the
+variable name `BOSDYN_SPOT`.
+
+For local testing, you can use the following command:
+
+    LC_ALL=C ign launch -v 4 ~/subt_ws/src/subt/submitted_models/bosdyn_spot/launch/example.ign robotName:=X1 ros:=true champ:=true teleop:=true
+
+This package contains just the bare robot body which is not expected to be run "standalone" as a robot
+in the SubT competition. It is expected that each team will develop their own sensor config based
+on this common model. So far, it is known that teams CTU-CRAS-Norlab, MARBLE and CoSTAR use the Spot
+robot and a sensor config from these teams can be expected. But it is not limited to these teams.
+
+Although it is not expected to run this robot "standalone", it works. But there might be some scripts
+that expect the `_sensor_config_x` suffix. We have left out this suffix intentionally in this base
+package so that it is not common that the bare robot is used.
+
+The additional sensor configs reuse a lot of files from this base package, including the meshes.
+For that to work when the model is downloaded from the Fuel database, each sensor config has to
+specify `BOSDYN_SPOT` as a dependency in their `model.config` file.
+
+As an example of how to "extend" this base robot with a custom sensor config, see
+[ctu_cras_norlab_spot_sensor_config_1](../ctu_cras_norlab_spot_sensor_config_1).
+
+## Description
+The base body of Boston Dynamics Spot robot with 5 mono fisheye cameras, 5 depth cameras and an IMU.
+The robot is a quadruped with many autonomous motion functions which are mostly not modeled in this
+simulation package.
+
+## Usage Instructions
+
+### Supporting package for cmd_vel support
+
+The robot model as it is in the SubT repo can only be controlled joint-by-joint (see further).
+To get `cmd_vel` command support via a basic open-loop gait generator, the users can download
+the support package [ctu-vras/subt_spot](https://github.com/ctu-vras/subt_spot) to their solution
+container. It is also possible to use any other gait generation package.
+
+With the support package, robot motion is controlled via standard `cmd_vel` commands. Pose of the
+body relative to ground can be controlled by `geometry_msgs/Pose` commands on topic `body_pose`.
+See the usage instructions in the package's README.md file for further instructions on how to run it.
+
+See the [Control section](#control) for more options how to control the robot.
+
+### Contacts from simulation
+
+The simulator publishes information about contact of the lower legs with terrain. There are two
+types of topics. Both depend on the presence of plugin `ignition-gazebo-contact-system` in the
+simulation world. This plugin is automatically a part of all competition worlds, but if you create
+your own worlds, you may need to add it manually.
+
+First type of contact information is the per-leg precise set of contacts. It is published on topic
+`leg_contacts/front_left` etc. of type `bosdyn_spot/ContactsStamped` and contains the exact positions
+of all contact points reported by the simulator.
+
+Second type of contact information is published on topic `leg_contacts` of type `bosdyn_spot/LogicalContact`.
+This message contains just a true/false value specifying which legs were in contact at all. The order of
+the legs is `front_left`, `front_right`, `rear_left` and `rear_right`. If you run the support package,
+this topic is further retranslated to topic `foot_contacts` of type `champ_msgs/ContactsStamped` which is
+used in state estimation.
+
+### Odometry
+
+If you run the support package, there is also a basic leg odometry for the robot. It is not very precise,
+but can be used to get at least a glimpse into how does the robot move.
+
+There are two parts the odometry consists of: base-footprint part and footprint-odom part.
+
+The base-footprint odometry is published on topic `base_to_footprint_pose` of type
+`geometry_msgs/PoseWithCovarianceStamped` and defines the pose of the body `base_link` frame
+relative to the projection of the robot to the (flat) ground. This odometry enters a Kalman filter
+which produces TF frame `base_link->base_footprint` (both prefixed by the robot name). A sample
+configuration of this filter is in `config/ekf/base_to_footprint.yaml`, but the users can use their
+own configuration.
+
+The footprint-odom part is published on topic `odom/raw` of type `nav_msgs/Odometry`. This is the
+transformation between the robot's footprint and the odom frame. This odometry enters a Kalman filter
+which produces TF frame `base_footprint->odom` (both prefixed by the robot name). A sample
+configuration of this filter is in `config/ekf/footprint_to_odom.yaml`, but the users can use their
+own configuration.
+
+## Usage Rights
+No additional restrictions have to be taken into account for this model.
+
+It is based on the BSD-licensed packages [spot_ros](https://github.com/clearpathrobotics/spot_ros)
+and CHAMP's [spot_description](https://github.com/chvmp/spot_ros/tree/gazebo/spot_description).
+
+## Cost and Scale
+* Base vehicle: $75,000
+
+Its weight is approximately 34 kg. 
+
+## Sensors
+The bare body of Spot includes the following sensors. The specifications for these instruments are not
+public, so their properties and performance was estimated from real robot data.
+
+* 5 mono fisheye cameras with resolution 640x480 px modeled by `camera` sensor and `MonoCameraSystem` plugin
+  that applies a simple transformation to the original RGB images the simulator produces.
+* 5 stereo cameras with resolution 424x240 px modeled by `depth_camera` sensor.
+* IMU modeled by the `imu` sensor (not exposed via original bosdyn API, but it has to have some).
+* Foot contact sensors publishing the contact data to topic `leg_contacts`.
+
+Additional sensor configs of Spot are expected to add a lot of payload and thus a separate `specifications.md`
+file is expected to be a part of the sensor config packages.
+
+## Control
+
+Even without the support package, the joints can be controlled separately.
+They offer both a positional and a force/effort control interface.
+
+There are several control topics that repeat for every joint and contain the joint name in their name.
+The robot has 4 legs: `front_left`, `front_right`, `rear_left` and `rear_right`. Each leg has 3 joints:
+`hip_x`, `hip_y` and `knee`. So there are 12 joints in total, and their name follows pattern `$leg_$joint`.
+All of these joints are revolute with limits.
+
+### Single-joint control
+
+#### Effort control
+
+To control each joint separately via commanded effort, there are topics `cmd_force/front_left_hip_x` etc.
+of type `std_msgs/Float64`. There might be time sync problems when commanding each joint separately, so
+it is suggested to not used this interface and use the multi-commanding topic described further.
+
+#### Position control
+
+To control each joint separately via target position, there are topics `cmd_pos/front_left_hip_x` etc.
+of type `std_msgs/Float64`. There might be time sync problems when commanding each joint separately, so
+it is suggested to not used this interface and use the multi-commanding topic described further. Each
+joint contains a PID controller that translates the positional commands into commanded effort (but for
+performance reasons, it does not republish the commanded effort to the `cmd_force/*` topics - it
+communicates directly with the simulator instead). The PID gains of all positional controllers are
+configurable during runtime via standard ROS dynamic reconfigure. You can either reconfigure each PID
+separately (e.g. `joint_group_position_controller/gains/front_left_hip_x`) or you can set all 12
+PIDs at once using namespace: `pid_multituner`.
+
+### Multi-joint control
+
+There are two interfaces that allow commanding a set of joints at the same time (synchronously in a
+single simulation step). The is the preferred option because it should make the control algorithms
+more stable. Both interfaces are equivalent in what they can do and they differ just in the type of
+the input message.
+
+First interface is `joint_commands` of type `sensor_msgs/JointState`. It expects that the `name`
+field will contain a list of joints that should be affected by this command. In addition to this field,
+it is expected to contain finite values in either `effort` or `position`. The order of these numbers
+corresponds to the order of joints in the `name` field. Both `effort` and `position` can be defined
+at the same time, which means the effort from PID will add with the commanded `effort`, but it probably
+doesn't make much sense. All the remaining fields (`velocity` and possibly `effort` or `position`) have
+to have the same length as `name` and be filled with `NaN`s. This means that these values will not be
+set. If you forget to make all the 4 arrays in the message of the same length, the `ros_ign` bridge for
+`joint_commands` topic might segfault.
+
+The alternative multi-joint control topic is `joint_group_position_controller/command` accepting
+`trajectory_msgs/JointTrajectory` messages. Their treatment is similar to `joint_commands`, but the
+structure of the message is slightly different. The command type supports passing a trajectory with
+multiple points, but this package only executes the first point in the trajectory (and it ignores the
+`time_from_start` field and executes the command immediately). The trajectory command does not need
+to have all fields of the same length. You can leave the unused fields empty.
+
+### Turning off positional control
+
+Once a joint has been commanded a positional control command, it tries to keep this position.
+To turn off this behavior (e.g. to allow for usage of force-control algorithms), send a `NaN`
+command to each separate joint. This will not work with the multi-joint command topics as they
+ignore all `NaN` values and do not pass them further to the joints.
+
+When the robot is spawned into simulation, each joint is commanded a positional control command
+that specifies that the joint should keep its initial position.
+
+## Motion characteristics
+
+Based on the tests specified in the DARPA SubT Challenge 
+[Model Preparation Guide](https://www.subtchallenge.com/resources/Simulation_Model_Preparation_Guide.pdf),
+this vehicle has the following motion constraint characteristics.
+
+The tests have not yet been conducted due to Covid restrictions and unavailability of the real hardware.
+Team CTU-CRAS-Norlab is planning to rent a Spot at the end of April or beginning of May, so that is
+when we will fill the missing validation data. But we hope that team CoSTAR or MARBLE will be able
+to do the tests earlier.
+
+Maximum forward speed is `1.6 m/s` with an almost instant acceleration to this speed from zero
+(`TODO m/s^2` from IMU, `TODO m/s^2` from odometry).
+Configuration of the maximum forward speed in simulation has no single defining value. It is a
+result of the configuration of gait and and PID controllers. There is a default velocity smoother
+in the support package that caps the _commanded_ velocity to 1.5 m/s.
+
+Maximum turning speed is `TODO 1 rad/s` with an almost instant acceleration to this speed from zero
+(`TODO rad/s^2` from both IMU and odometry).
+
+Minimum turning radius is 0, as the robot can turn in place.
+
+The real robot can climb stairs. The simulated model should be able to do it too, provided a suitable
+control algorithm.
+
+## Endurance Characteristics
+This configuration has an endurance of approximately 90 minutes (value from datasheet).
+
+## Diversions from Physical Hardware of Spot robot
+The fisheye lens does not use any fisheye projection as the simulator doesn't support that.
+
+Cameras have no distortion as the simulator doesn't support it.
+
+The simulated model offers much inferior autonomous motion capabilities than the real platform.
+
+## Changing parameters of the robot
+Most parameters affecting the simulation model performance are in the `config/model` folder,
+in files `common.yaml` and `ign.yaml`. If some parameter is not exposed to these config files,
+look into the Xacro files in `urdf/` folder and change the values there.
+
+After changing a value in these files, run script `scripts/update_robot_sdf` to write the
+changes to the `model.sdf` file. This updates the SDF just for this particular robot. If the change
+is supposed to propagate in all dependent sensor configs, `update_robot_sdf` of each of the
+respective configs must be called. After the update scripts are called, review the resulting SDF and
+commit the changes.
+
+__Do not change the SDF files directly, as the changes could be lost the next time the update scripts are run.__
+
+The URDF files are not physically present, but are generated on-the-fly by calling script
+`scripts/print_robot_urdf`.
+
+## Validation and Specification Links
+* Vehicle Links:
+  * https://www.bostondynamics.com/spot
+
+* Sensor specification links:
+  * N/A (no specification of the used sensors has been published)
+    
+* Validation Video Links:
+  * Endurance test: TODO
+  * Maximum linear speed: TODO
+  * Maximum angular speed: TODO
+  * Rotation in place: TODO
+  
+* Validation Data Links:
+  * Recordings of validation tests: TODO
+  * Total mass measurement: TODO
+
diff --git a/submitted_models/bosdyn_spot/src/configurable_joint_position_controller.cpp b/submitted_models/bosdyn_spot/src/configurable_joint_position_controller.cpp
new file mode 100644
index 00000000..59214a9b
--- /dev/null
+++ b/submitted_models/bosdyn_spot/src/configurable_joint_position_controller.cpp
@@ -0,0 +1,401 @@
+/*
+ * Copyright (C) 2020 Open Source Robotics Foundation
+ * Copyright (C) 2021 Czech Technical University in Prague
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ */
+
+#include <ignition/msgs/double.pb.h>
+#include <ignition/msgs/pid.pb.h>
+
+#include <string>
+
+#include <ignition/common/Profiler.hh>
+#include <ignition/math/PID.hh>
+#include <ignition/plugin/Register.hh>
+#include <ignition/transport/Node.hh>
+
+#include "ignition/gazebo/components/JointForceCmd.hh"
+#include "ignition/gazebo/components/JointPosition.hh"
+#include "ignition/gazebo/Model.hh"
+
+#include <memory>
+#include <ignition/gazebo/System.hh>
+
+using namespace ignition;
+using namespace gazebo;
+
+namespace subt
+{
+/// \brief Joint position controller which can be attached to a model with a
+/// reference to a single joint. This is an improved version of the standard
+/// Ignition Gazebo JointPositionController system which allows for runtime
+/// changes of the PID parameters and also allows to specify an initial target.
+///
+/// A new Ignition Transport topic is created to send target joint positions.
+/// The topic name is
+/// "/model/<model_name>/joint/<joint_name>/<joint_index>/cmd_pos"
+///
+/// This topic accepts ignition::msgs::Double values representing the target
+/// position. Sending NaN will disable the controller until another finite
+/// command is issued. Be aware that sending NaNs does not work through
+/// the MultiJointCommandSystem and you have to send the NaNs to each controller
+/// separately.
+///
+/// The following service is advertised:
+/// "/model/<model_name>/joint/<joint_name>/<joint_index>/set_pos_pid"
+///
+/// That service accepts ignition::msgs::PID messages that configure the internal PID.
+/// The system reads only the new _optional fields of the message, not the deprecated ones.
+///
+/// ## System Parameters
+///
+/// `<topic>` If set, changes the command topic. Optional parameter.
+///
+/// `<pid_topic>` If set, changes the PID configuration topic. Optional parameter.
+///
+/// `<joint_name>` The name of the joint to control. Required parameter.
+///
+/// `<joint_index>` Axis of the joint to control. Optional parameter.
+///  The default value is 0.
+///
+/// `<initial_target_pos>` Optional parameter specifying the target position of
+///  the joint before any commands arrive. If omitted, the joint will not be
+///  controlled until commanded (see <keep_initial_pos>, though).
+///
+/// `<keep_initial_pos>` Optional bool parameter specifying that the joint should
+///  be controlled to keep its initial position until commanded otherwise.
+///  If <initial_target_pos> is also set, this parameter is ignored and the
+///  joint is controlled to reach the position from <initial_target_pos>.
+///
+/// `<p_gain>` The proportional gain of the PID. Optional parameter.
+///  The default value is 1.
+///
+/// `<i_gain>` The integral gain of the PID. Optional parameter.
+///  The default value is 0.1.
+///
+/// `<d_gain>` The derivative gain of the PID. Optional parameter.
+///  The default value is 0.01
+///
+/// `<i_max>` The integral upper limit of the PID. Optional parameter.
+///  The default value is 1.
+///
+/// `<i_min>` The integral lower limit of the PID. Optional parameter.
+///  The default value is -1.
+///
+/// `<cmd_max>` Output max value of the PID. Optional parameter.
+///  The default value is 1000.
+///
+/// `<cmd_min>` Output min value of the PID. Optional parameter.
+///  The default value is -1000.
+///
+/// `<cmd_offset>` Command offset (feed-forward) of the PID. Optional
+/// parameter. The default value is 0.
+class ConfigurableJointPositionController : public System, public ISystemConfigure, public ISystemPreUpdate
+{
+  public: void Configure(
+    const Entity& _entity, const std::shared_ptr<const sdf::Element>& _sdf,
+    EntityComponentManager& _ecm, EventManager& _eventMgr) override;
+
+  public: void PreUpdate(
+    const ignition::gazebo::UpdateInfo& _info,
+    ignition::gazebo::EntityComponentManager& _ecm) override;
+
+  /// \brief Callback for position subscription
+  /// \param[in] _msg Position message
+  protected: void OnCmdPos(const ignition::msgs::Double& _msg);
+
+  /// \brief Callback for PID config
+  /// \param[in] _msg PID message
+  protected: void OnCmdPID(const ignition::msgs::PID& _msg);
+
+  protected: transport::Node node;
+  protected: Entity jointEntity{kNullEntity};
+  protected: std::string jointName;
+  protected: std::optional<double> jointPosCmd;
+  protected: std::mutex jointCmdMutex;
+  protected: Model model{kNullEntity};
+  protected: std::string modelName;
+  protected: math::PID posPid;
+  protected: unsigned int jointIndex {0u};
+  protected: bool keepInitialPos {false};
+};
+
+void ConfigurableJointPositionController::Configure(
+  const Entity& _entity, const std::shared_ptr<const sdf::Element>& _sdf,
+  EntityComponentManager& _ecm, EventManager&/*_eventMgr*/)
+{
+  this->model = Model(_entity);
+
+  if (!this->model.Valid(_ecm))
+  {
+    ignerr << "ConfigurableJointPositionController plugin should be attached to a model "
+           << "entity. Failed to initialize." << std::endl;
+    return;
+  }
+
+  this->modelName = this->model.Name(_ecm);
+
+  // Get params from SDF
+  this->jointName = _sdf->Get<std::string>("joint_name");
+
+  if (this->jointName.empty())
+  {
+    ignerr << "ConfigurableJointPositionController found an empty jointName parameter. "
+           << "Failed to initialize.";
+    return;
+  }
+
+  if (_sdf->HasElement("joint_index"))
+  {
+    this->jointIndex = _sdf->Get<unsigned int>("joint_index");
+  }
+
+  // PID parameters
+  double p = 1;
+  double i = 0.1;
+  double d = 0.01;
+  double iMax = 1;
+  double iMin = -1;
+  double cmdMax = 1000;
+  double cmdMin = -1000;
+  double cmdOffset = 0;
+
+  if (_sdf->HasElement("p_gain"))
+  {
+    p = _sdf->Get<double>("p_gain");
+  }
+  if (_sdf->HasElement("i_gain"))
+  {
+    i = _sdf->Get<double>("i_gain");
+  }
+  if (_sdf->HasElement("d_gain"))
+  {
+    d = _sdf->Get<double>("d_gain");
+  }
+  if (_sdf->HasElement("i_max"))
+  {
+    iMax = _sdf->Get<double>("i_max");
+  }
+  if (_sdf->HasElement("i_min"))
+  {
+    iMin = _sdf->Get<double>("i_min");
+  }
+  if (_sdf->HasElement("cmd_max"))
+  {
+    cmdMax = _sdf->Get<double>("cmd_max");
+  }
+  if (_sdf->HasElement("cmd_min"))
+  {
+    cmdMin = _sdf->Get<double>("cmd_min");
+  }
+  if (_sdf->HasElement("cmd_offset"))
+  {
+    cmdOffset = _sdf->Get<double>("cmd_offset");
+  }
+
+  this->posPid.Init(p, i, d, iMax, iMin, cmdMax, cmdMin, cmdOffset);
+
+  this->keepInitialPos = _sdf->HasElement("keep_initial_pos");
+
+  if (_sdf->HasElement("initial_target_pos"))
+  {
+    this->jointPosCmd = _sdf->Get<double>("initial_target_pos");
+    if (this->keepInitialPos)
+      ignwarn << "Position controller of joint [" << this->jointName << "] has "
+                 "both <initial_target_pos> and <keep_initial_pos> specified. "
+                 "In this case, <keep_initial_pos> is ignored." << std::endl;
+  }
+
+  // Subscribe to commands
+  std::string topic = transport::TopicUtils::AsValidTopic("/model/" +
+    this->model.Name(_ecm) + "/joint/" + this->jointName +
+    "/" + std::to_string(this->jointIndex) + "/cmd_pos");
+  if (topic.empty() && !_sdf->HasElement("topic"))
+  {
+    ignerr << "Failed to create topic for joint [" << this->jointName << "]" << std::endl;
+    return;
+  }
+  if (_sdf->HasElement("topic"))
+  {
+    topic = transport::TopicUtils::AsValidTopic(_sdf->Get<std::string>("topic"));
+
+    if (topic.empty())
+    {
+      ignerr << "Failed to create topic [" << _sdf->Get<std::string>("topic")
+             << "]" << " for joint [" << this->jointName << "]" << std::endl;
+      return;
+    }
+  }
+
+  std::string pidTopic = transport::TopicUtils::AsValidTopic("/model/" +
+    this->model.Name(_ecm) + "/joint/" + this->jointName +
+    "/" + std::to_string(this->jointIndex) + "/set_pos_pid");
+  if (pidTopic.empty() && !_sdf->HasElement("pid_topic"))
+  {
+    ignerr << "Failed to create PID service for joint [" << this->jointName << "]" << std::endl;
+    return;
+  }
+  if (_sdf->HasElement("pid_topic"))
+  {
+    pidTopic = transport::TopicUtils::AsValidTopic(_sdf->Get<std::string>("pid_topic"));
+
+    if (pidTopic.empty())
+    {
+      ignerr << "Failed to create PID service [" << _sdf->Get<std::string>("pid_topic")
+             << "]" << " for joint [" << this->jointName << "]" << std::endl;
+      return;
+    }
+  }
+
+  if (topic == pidTopic)
+  {
+    ignerr << "Command and PID topics are the same for joint [" << this->jointName << "]" << std::endl;
+    return;
+  }
+
+  this->node.Subscribe(topic, &ConfigurableJointPositionController::OnCmdPos, this);
+  this->node.Advertise(pidTopic, &ConfigurableJointPositionController::OnCmdPID, this);
+
+  igndbg << "[ConfigurableJointPositionController] system parameters:" << std::endl;
+  igndbg << "p_gain: [" << p << "]" << std::endl;
+  igndbg << "i_gain: [" << i << "]" << std::endl;
+  igndbg << "d_gain: [" << d << "]" << std::endl;
+  igndbg << "i_max: [" << iMax << "]" << std::endl;
+  igndbg << "i_min: [" << iMin << "]" << std::endl;
+  igndbg << "cmd_max: [" << cmdMax << "]" << std::endl;
+  igndbg << "cmd_min: [" << cmdMin << "]" << std::endl;
+  igndbg << "cmd_offset: [" << cmdOffset << "]" << std::endl;
+  if (this->jointPosCmd.has_value())
+    igndbg << "Initial target: [" << this->jointPosCmd.value() << "]" << std::endl;
+  else if (this->keepInitialPos)
+    igndbg << "Initial target: [initial position]" << std::endl;
+  else
+    igndbg << "Initial target: none" << std::endl;
+  igndbg << "Topic: [" << topic << "]" << std::endl;
+  igndbg << "PID config service: [" << pidTopic << "]" << std::endl;
+}
+
+void ConfigurableJointPositionController::PreUpdate(
+  const UpdateInfo& _info, EntityComponentManager& _ecm)
+{
+  IGN_PROFILE("ConfigurableJointPositionController::PreUpdate");
+
+  // \TODO(anyone) Support rewind
+  if (_info.dt < std::chrono::steady_clock::duration::zero())
+  {
+    ignwarn << "Detected jump back in time ["
+            << std::chrono::duration_cast<std::chrono::seconds>(_info.dt).count()
+            << "s]. System may not work properly." << std::endl;
+  }
+
+  // If the joint hasn't been identified yet, look for it
+  if (this->jointEntity == kNullEntity)
+    this->jointEntity = this->model.JointByName(_ecm, this->jointName);
+
+  if (this->jointEntity == kNullEntity)
+    return;
+
+  // Nothing left to do if paused.
+  if (_info.paused)
+    return;
+
+  // no command received yet
+  if (!this->jointPosCmd.has_value() && !this->keepInitialPos)
+    return;
+
+  auto jointPosComp = _ecm.ComponentDefault<components::JointPosition>(this->jointEntity);
+
+  // Sanity check: Make sure that the joint index is valid.
+  if (this->jointIndex >= jointPosComp->Data().size())
+  {
+    static bool invalidJointReported = false;
+    if (!invalidJointReported)
+    {
+      ignerr << "[ConfigurableJointPositionController]: Detected an invalid <joint_index> "
+             << "parameter. The index specified is [" << this->jointIndex << "] but the joint only has ["
+             << jointPosComp->Data().size() << "] index[es]. This controller will be ignored" << std::endl;
+      invalidJointReported = true;
+    }
+    return;
+  }
+
+  // read initial joint position if we should keep it
+  if (this->keepInitialPos && !this->jointPosCmd.has_value())
+    this->jointPosCmd = jointPosComp->Data().at(this->jointIndex);
+
+  // no command yet and we should not keep the initial position
+  if (!this->jointPosCmd.has_value())
+    return;
+
+  // sending NaN disables the controller
+  if (!std::isfinite(this->jointPosCmd.value()))
+    return;
+
+  // Update force command.
+  double error;
+  {
+    std::lock_guard<std::mutex> lock(this->jointCmdMutex);
+    error = jointPosComp->Data().at(this->jointIndex) - this->jointPosCmd.value();
+  }
+
+  double force = this->posPid.Update(error, _info.dt);
+
+  auto forceCmd = _ecm.ComponentDefault<components::JointForceCmd>(this->jointEntity)->Data();
+  forceCmd.resize(std::max(forceCmd.size(), static_cast<size_t>(this->jointIndex + 1)));
+  forceCmd[this->jointIndex] = force;
+
+  _ecm.SetComponentData<components::JointForceCmd>(this->jointEntity, forceCmd);
+}
+
+void ConfigurableJointPositionController::OnCmdPos(const msgs::Double& _msg)
+{
+  std::lock_guard<std::mutex> lock(this->jointCmdMutex);
+  this->jointPosCmd = _msg.data();
+}
+
+void ConfigurableJointPositionController::OnCmdPID(const msgs::PID& _msg)
+{
+  std::lock_guard<std::mutex> lock(this->jointCmdMutex);
+
+  if (_msg.has_p_gain_optional())
+    this->posPid.SetPGain(_msg.p_gain_optional().data());
+  if (_msg.has_i_gain_optional())
+    this->posPid.SetIGain(_msg.i_gain_optional().data());
+  if (_msg.has_d_gain_optional())
+    this->posPid.SetDGain(_msg.d_gain_optional().data());
+  if (_msg.has_i_max_optional())
+    this->posPid.SetIMax(_msg.i_max_optional().data());
+  if (_msg.has_i_min_optional())
+    this->posPid.SetIMin(_msg.i_min_optional().data());
+  if (_msg.has_limit_optional())
+    this->posPid.SetIMin(_msg.i_min_optional().data());
+
+  const auto& stamp = _msg.header().stamp();
+  const auto now = std::chrono::duration_cast<std::chrono::duration<float>>(
+    math::secNsecToDuration(stamp.sec(), stamp.nsec()));
+  igndbg << "[" << std::fixed << std::setprecision(3) << now.count() << "]: "
+         << "Updated PID properties of joint ["
+         << this->modelName << "/" << this->jointName << "]" << std::endl;
+}
+
+}
+
+IGNITION_ADD_PLUGIN(subt::ConfigurableJointPositionController,
+                    ignition::gazebo::System,
+                    ignition::gazebo::ISystemConfigure,
+                    ignition::gazebo::ISystemPreUpdate)
+
+IGNITION_ADD_PLUGIN_ALIAS(subt::ConfigurableJointPositionController,
+                         "subt::ConfigurableJointPositionController")
diff --git a/submitted_models/bosdyn_spot/src/foot_contact_bridge.cpp b/submitted_models/bosdyn_spot/src/foot_contact_bridge.cpp
new file mode 100644
index 00000000..24dd338d
--- /dev/null
+++ b/submitted_models/bosdyn_spot/src/foot_contact_bridge.cpp
@@ -0,0 +1,98 @@
+#include <memory>
+
+#include <ignition/msgs/contacts.pb.h>
+#include <ignition/transport/Node.hh>
+
+#include <ros/ros.h>
+#include <bosdyn_spot/ContactsStamped.h>
+#include <nodelet/nodelet.h>
+
+#include <pluginlib/class_list_macros.h>
+
+
+namespace subt
+{
+
+void ignVectorToMsg(const ignition::msgs::Vector3d& ignV, geometry_msgs::Vector3& rosV)
+{
+  rosV.x = ignV.x();
+  rosV.y = ignV.y();
+  rosV.z = ignV.z();
+}
+
+/// \brief ROS-Ign bridge for relaying bosdyn_spot::ContactsStamped for a leg.
+class FootContactBridge : public nodelet::Nodelet
+{
+
+  protected: void onInit() override
+  {
+    if (!this->getPrivateNodeHandle().getParam("ign_topic", this->ignTopic))
+    {
+      ROS_ERROR("Please, provide parameter ~ign_topic");
+      exit(1);
+    }
+
+    this->pub = this->getNodeHandle().advertise<bosdyn_spot::ContactsStamped>("contacts", 100);
+
+    ROS_INFO("Subscribing to Ignition topic %s", this->ignTopic.c_str());
+    this->node.Subscribe(this->ignTopic, &FootContactBridge::OnContacts, this);
+  }
+
+  protected: void OnContacts(const ignition::msgs::Contacts& ignMsg)
+  {
+    ROS_INFO_ONCE("Received first message on topic %s", this->ignTopic.c_str());
+
+    bosdyn_spot::ContactsStamped msg;
+    msg.header.stamp.sec = ignMsg.header().stamp().sec();
+    msg.header.stamp.nsec = ignMsg.header().stamp().nsec();
+
+    for (const auto& contact : ignMsg.contact())
+    {
+      bosdyn_spot::Contact con;
+      con.collision1 = contact.collision1().id();
+      con.collision2 = contact.collision2().id();
+      con.world = contact.world().id();
+
+      for (const auto& pos: contact.position())
+      {
+        geometry_msgs::Vector3 p;
+        ignVectorToMsg(pos, p);
+        con.position.push_back(p);
+      }
+
+      for (const auto& norm: contact.normal())
+      {
+        geometry_msgs::Vector3 n;
+        ignVectorToMsg(norm, n);
+        con.normal.push_back(n);
+      }
+
+      for (const auto& wrench: contact.wrench())
+      {
+        geometry_msgs::Wrench w;
+        if (wrench.body_1_wrench().has_force())
+          ignVectorToMsg(wrench.body_1_wrench().force(), w.force);
+        if (wrench.body_1_wrench().has_torque())
+          ignVectorToMsg(wrench.body_1_wrench().torque(), w.torque);
+        con.body1_wrench.push_back(w);
+
+        geometry_msgs::Wrench w2;
+        if (wrench.body_2_wrench().has_force())
+          ignVectorToMsg(wrench.body_2_wrench().force(), w2.force);
+        if (wrench.body_2_wrench().has_torque())
+          ignVectorToMsg(wrench.body_2_wrench().torque(), w2.torque);
+        con.body2_wrench.push_back(w2);
+      }
+      msg.contacts.push_back(con);
+    }
+    this->pub.publish(msg);
+  }
+
+  protected: ros::Publisher pub;
+  protected: ignition::transport::Node node;
+  protected: std::string ignTopic;
+};
+
+}
+
+PLUGINLIB_EXPORT_CLASS(subt::FootContactBridge, nodelet::Nodelet)
\ No newline at end of file
diff --git a/submitted_models/bosdyn_spot/src/joint_trajectory_bridge.cpp b/submitted_models/bosdyn_spot/src/joint_trajectory_bridge.cpp
new file mode 100644
index 00000000..3be54d81
--- /dev/null
+++ b/submitted_models/bosdyn_spot/src/joint_trajectory_bridge.cpp
@@ -0,0 +1,85 @@
+#include <memory>
+
+#include <ignition/msgs/joint_trajectory.pb.h>
+#include <ignition/transport/Node.hh>
+
+#include <ros/ros.h>
+#include <trajectory_msgs/JointTrajectory.h>
+#include <nodelet/nodelet.h>
+#include <ros_ign_bridge/convert.hpp>
+
+#include <pluginlib/class_list_macros.h>
+
+using namespace ros_ign_bridge;
+
+
+namespace subt
+{
+/// \brief ROS-Ign bridge for JointTrajectory messages.
+class JointTrajectoryBridge : public nodelet::Nodelet
+{
+
+  protected: void onInit() override
+  {
+    if (!this->getPrivateNodeHandle().getParam("ign_topic", this->ignTopic))
+    {
+      ROS_ERROR("Please, provide parameter ~ign_topic");
+      exit(1);
+    }
+
+    this->sub = this->getPrivateNodeHandle().subscribe("trajectory", 100, &JointTrajectoryBridge::OnTrajectory, this);
+
+    ROS_INFO("Publishing to Ignition topic %s", this->ignTopic.c_str());
+    this->pub = this->node.Advertise<ignition::msgs::JointTrajectory>(this->ignTopic);
+  }
+
+  protected: void OnTrajectory(const trajectory_msgs::JointTrajectory& msg)
+  {
+    ROS_INFO_ONCE("Publishing first message to topic %s", this->ignTopic.c_str());
+
+    ignition::msgs::JointTrajectory ignMsg;
+
+    convert_ros_to_ign(msg.header, (*ignMsg.mutable_header()));
+
+    ignMsg.mutable_points()->Reserve(msg.points.size());
+    for (const auto & name : msg.joint_names)
+      ignMsg.add_joint_names(name);
+
+    ignMsg.mutable_points()->Reserve(msg.points.size());
+    for (const auto& point : msg.points)
+    {
+      auto* ignPoint = ignMsg.add_points();
+
+      ignPoint->mutable_positions()->Reserve(point.positions.size());
+      for (const auto & ros_position : point.positions)
+        ignPoint->add_positions(ros_position);
+
+      ignPoint->mutable_velocities()->Reserve(point.velocities.size());
+      for (const auto & ros_velocity : point.velocities)
+        ignPoint->add_velocities(ros_velocity);
+
+      ignPoint->mutable_accelerations()->Reserve(point.accelerations.size());
+      for (const auto & ros_acceleration : point.accelerations)
+        ignPoint->add_accelerations(ros_acceleration);
+
+      ignPoint->mutable_effort()->Reserve(point.effort.size());
+      for (const auto & ros_effort : point.effort)
+        ignPoint->add_effort(ros_effort);
+
+      auto* ign_duration = ignPoint->mutable_time_from_start();
+      ign_duration->set_sec(point.time_from_start.sec);
+      ign_duration->set_nsec(point.time_from_start.nsec);
+    }
+
+    this->pub.Publish(ignMsg);
+  }
+
+  protected: ignition::transport::Node::Publisher pub;
+  protected: ignition::transport::Node node;
+  protected: ros::Subscriber sub;
+  protected: std::string ignTopic;
+};
+
+}
+
+PLUGINLIB_EXPORT_CLASS(subt::JointTrajectoryBridge, nodelet::Nodelet)
\ No newline at end of file
diff --git a/submitted_models/bosdyn_spot/src/logical_contact_bridge.cpp b/submitted_models/bosdyn_spot/src/logical_contact_bridge.cpp
new file mode 100644
index 00000000..6602a444
--- /dev/null
+++ b/submitted_models/bosdyn_spot/src/logical_contact_bridge.cpp
@@ -0,0 +1,56 @@
+#include <memory>
+
+#include <ignition/msgs/int32_v.pb.h>
+#include <ignition/transport/Node.hh>
+
+#include <bosdyn_spot/LogicalContact.h>
+
+#include <ros/ros.h>
+#include <nodelet/nodelet.h>
+#include <pluginlib/class_list_macros.h>
+
+namespace subt
+{
+
+class LogicalContactBridge : public nodelet::Nodelet
+{
+  private: void onInit() override
+  {
+    if (!this->getPrivateNodeHandle().getParam("ign_topic", this->ignTopic))
+    {
+      ROS_ERROR("LogicalContactBridge: Please, provide parameter ~ign_topic");
+      return;
+    }
+
+    this->pub = this->getNodeHandle().advertise<bosdyn_spot::LogicalContact>("logical_contacts", 100);
+
+    ROS_INFO("Subscribing to Ignition topic %s", this->ignTopic.c_str());
+    this->node.Subscribe(this->ignTopic, &LogicalContactBridge::OnContacts, this);
+  }
+
+  void OnContacts(const ignition::msgs::Int32_V& ignMsg)
+  {
+    ROS_INFO_ONCE("Received first message on topic %s", this->ignTopic.c_str());
+
+    bosdyn_spot::LogicalContactPtr msg(new bosdyn_spot::LogicalContact);
+    msg->header.stamp.sec = ignMsg.header().stamp().sec();
+    msg->header.stamp.nsec = ignMsg.header().stamp().nsec();
+    msg->contacts.resize(ignMsg.data_size());
+
+    size_t i = 0;
+    for (const auto& contact : ignMsg.data())
+    {
+      msg->contacts[i] = contact > 0;
+      i += 1;
+    }
+    this->pub.publish(msg);
+  }
+
+  protected: ros::Publisher pub;
+  protected: ignition::transport::Node node;
+  protected: std::string ignTopic;
+};
+
+}
+
+PLUGINLIB_EXPORT_CLASS(subt::LogicalContactBridge, nodelet::Nodelet)
\ No newline at end of file
diff --git a/submitted_models/bosdyn_spot/src/logical_contact_system.cpp b/submitted_models/bosdyn_spot/src/logical_contact_system.cpp
new file mode 100644
index 00000000..9265af8b
--- /dev/null
+++ b/submitted_models/bosdyn_spot/src/logical_contact_system.cpp
@@ -0,0 +1,133 @@
+#include <memory>
+
+#include <ignition/msgs/int32_v.pb.h>
+#include <ignition/plugin/Register.hh>
+
+#include <ignition/transport/Node.hh>
+
+#include <ignition/gazebo/Model.hh>
+#include <ignition/gazebo/System.hh>
+
+#include <ignition/gazebo/components.hh>
+
+using namespace ignition;
+using namespace gazebo;
+
+namespace subt
+{
+
+class LogicalContactSystem : public System, public ISystemConfigure, public ISystemPostUpdate
+{
+  public: void Configure(const Entity& _entity, const std::shared_ptr<const sdf::Element>& _sdf,
+                         EntityComponentManager& _ecm, EventManager& _eventMgr) override
+  {
+    const Model model(_entity);
+    if (!model.Valid(_ecm))
+    {
+      ignerr << "LogicalContactSystem should be attached to a model entity. Failed to initialize." << std::endl;
+      return;
+    }
+
+    if (!_sdf->HasElement("group"))
+    {
+      ignerr << "LogicalContactSystem doesn't have any <group> element. It will not do anything." << std::endl;
+      return;
+    }
+
+    auto sdf = _sdf->Clone();
+    for (auto group = sdf->GetElement("group"); group; group = group->GetNextElement("group"))
+    {
+      if (!group->HasAttribute("name"))
+      {
+        ignerr << "LogicalContactSystem found a group without the 'name' attribute, ignoring it." << std::endl;
+        continue;
+      }
+
+      const auto name = group->GetAttribute("name")->GetAsString();
+      this->collisionNames[name].clear();  // initialize the map key
+
+      for (auto collision = group->GetElement("collision"); collision; collision = collision->GetNextElement("collision"))
+      {
+        const auto collName = collision->GetValue()->GetAsString();
+        if (collName.empty())
+        {
+          ignerr << "LogicalContactSystem found empty <collision> tag in group [" << name << "], it will be ignored." << std::endl;
+          continue;
+        }
+        this->collisions[collName] = kNullEntity;
+        this->collisionNames[name].push_back(collName);
+      }
+    }
+
+    std::string topic {"/model/" + model.Name(_ecm) + "/logical_contacts"};
+    if (_sdf->HasElement("topic"))
+      topic = _sdf->Get<std::string>("topic");
+
+    this->pub = this->node.Advertise<ignition::msgs::Int32_V>(topic);
+
+    std::stringstream ss;
+    for (const auto& groupPair : this->collisionNames)
+    {
+      ss << " - '" << groupPair.first << "' with collisions [";
+      for (size_t i = 0;  i < groupPair.second.size(); ++i)
+      {
+        ss << "'" << groupPair.second[i] << "'";
+        if (i < groupPair.second.size() - 1)
+          ss << ", ";
+      }
+      ss << "]" << std::endl;
+    }
+    ignmsg << "LogicalContactSystem publishing on [" << topic << "] is handling the following groups:\n" << ss.str();
+  }
+
+  public: void PostUpdate(const UpdateInfo& _info, const EntityComponentManager& _ecm) override
+  {
+    ignition::msgs::Int32_V msg;
+    size_t i = 0;
+    msg.mutable_header()->mutable_stamp()->CopyFrom(convert<msgs::Time>(_info.simTime));
+    msg.mutable_data()->Resize(this->collisionNames.size(), -1);
+    for (const auto& groupPair : this->collisionNames)
+    {
+      msg.mutable_data()->Set(i, false);
+      for (const auto& name : groupPair.second)
+      {
+        auto& entity = this->collisions.at(name);
+        if (entity == kNullEntity)
+        {
+          auto collisionEntities = _ecm.EntitiesByComponents(
+            components::Collision(), components::Name(name));
+          if (!collisionEntities.empty())
+            entity = collisionEntities[0];
+        }
+
+        if (entity != kNullEntity)
+        {
+          const auto& contacts = _ecm.Component<components::ContactSensorData>(entity);
+          if (contacts != nullptr && contacts->Data().contact_size() > 0)
+          {
+            msg.mutable_data()->Set(i,true);
+            break;
+          }
+        }
+      }
+
+      i += 1;
+    }
+
+    this->pub.Publish(msg);
+  }
+
+  protected: transport::Node node;
+  protected: transport::Node::Publisher pub;
+  protected: std::map<std::string, std::vector<std::string>> collisionNames;
+  protected: std::unordered_map<std::string, Entity> collisions;
+};
+
+}
+
+IGNITION_ADD_PLUGIN(subt::LogicalContactSystem,
+                    System,
+                    ISystemConfigure,
+                    ISystemPostUpdate)
+
+IGNITION_ADD_PLUGIN_ALIAS(subt::LogicalContactSystem, "subt::LogicalContactSystem")
\ No newline at end of file
diff --git a/submitted_models/bosdyn_spot/src/mono_camera_system.cpp b/submitted_models/bosdyn_spot/src/mono_camera_system.cpp
new file mode 100644
index 00000000..49d6be92
--- /dev/null
+++ b/submitted_models/bosdyn_spot/src/mono_camera_system.cpp
@@ -0,0 +1,143 @@
+#include <memory>
+
+#include <ignition/msgs/double.pb.h>
+#include <ignition/msgs/camera_info.pb.h>
+#include <ignition/msgs/image.pb.h>
+#include <ignition/plugin/Register.hh>
+
+#include <ignition/transport/Node.hh>
+
+#include <ignition/gazebo/Model.hh>
+#include <ignition/gazebo/System.hh>
+#include <ignition/gazebo/World.hh>
+
+#include <ignition/gazebo/Util.hh>
+
+using namespace ignition;
+using namespace gazebo;
+
+namespace subt
+{
+
+/// \brief Attach this plugin inside a <sensor> tag to make it publish mono images in a sub-namespace 'mono'
+/// The conversion to mono is a simple one with perceptually good results (non-uniform linear combination of RGB).
+class MonoCameraSystem : public System, public ISystemConfigure, public ISystemPostUpdate
+{
+  public: void Configure(const Entity& _entity, const std::shared_ptr<const sdf::Element>& _sdf,
+                         EntityComponentManager& _ecm, EventManager& _eventMgr) override
+  {
+    this->sensor = _entity;
+  }
+
+  protected: void PostUpdate(const UpdateInfo& _info, const EntityComponentManager& _ecm) override
+  {
+    if (this->initialized)
+      return;
+
+    // wait until the sensor is attached to world
+
+    const World world(worldEntity(this->sensor, _ecm));
+    const auto worldName = world.Name(_ecm);
+
+    if (!worldName.has_value())
+      return;
+
+    this->initialized = true;
+
+    // sensor is attached to world, now we can get full scoped name
+
+    const auto sensorName = "/" + scopedName(this->sensor, _ecm);
+
+    std::string subTopic { sensorName + "/image" };
+    std::string subInfoTopic { sensorName + "/camera_info" };
+    std::string pubTopic { sensorName + "/mono/image" };
+    std::string pubInfoTopic { sensorName + "/mono/camera_info" };
+    this->reqSetRateTopic = subTopic + "/set_rate";
+    std::string advSetRateTopic { pubTopic + "/set_rate" };
+
+    this->pub = this->node.Advertise<ignition::msgs::Image>(pubTopic);
+    this->pubInfo = this->node.Advertise<ignition::msgs::CameraInfo>(pubInfoTopic);
+    this->node.Subscribe(subTopic, &MonoCameraSystem::OnMsg, this);
+    this->node.Subscribe(subInfoTopic, &MonoCameraSystem::OnInfoMsg, this);
+    this->node.Advertise(advSetRateTopic, &MonoCameraSystem::OnSetRate, this);
+
+    ignmsg << "MonoCameraSystem publishing on [" << pubTopic << "]" << std::endl;
+  }
+
+  protected: void OnMsg(const ignition::msgs::Image& msg)
+  {
+    ignition::msgs::Image outMsg;
+    switch (msg.pixel_format_type())
+    {
+      case ignition::msgs::PixelFormatType::BAYER_BGGR8:
+      case ignition::msgs::PixelFormatType::BAYER_GBRG8:
+      case ignition::msgs::PixelFormatType::BAYER_GRBG8:
+      case ignition::msgs::PixelFormatType::BAYER_RGGB8:
+      {
+        outMsg.CopyFrom(msg);
+        outMsg.set_pixel_format_type(ignition::msgs::PixelFormatType::L_INT8);
+        break;
+      }
+      case ignition::msgs::PixelFormatType::RGB_INT8:
+      case ignition::msgs::PixelFormatType::BGR_INT8:
+      {
+        outMsg.mutable_header()->CopyFrom(msg.header());
+        outMsg.set_pixel_format_type(ignition::msgs::PixelFormatType::L_INT8);
+        outMsg.set_width(msg.width());
+        outMsg.set_height(msg.height());
+        outMsg.set_step(msg.width());
+
+        const auto length = msg.width() * msg.height();
+        if (this->data == nullptr)
+          this->data = new char[length];
+
+        const auto& inData = msg.data();
+        for (size_t i = 0; i < length; ++i)
+          this->data[i] = static_cast<char>((30 * inData[i*3] + 59 * inData[i*3+1] + 11 * inData[i*3+2]) / 100);
+
+        outMsg.set_data(this->data, length);
+        break;
+      }
+      default:
+      {
+        static bool warned = false;
+        if (!warned)
+        {
+          ignwarn << "MonoCameraSystem: Unsupported pixel format [" << msg.pixel_format_type() << "]" << std::endl;
+          warned = true;
+          return;
+        }
+      }
+    }
+
+    this->pub.Publish(outMsg);
+  }
+
+  protected: void OnInfoMsg(const ignition::msgs::CameraInfo& msg)
+  {
+    this->pubInfo.Publish(msg);
+  }
+
+  protected: void OnSetRate(const ignition::msgs::Double &_rate)
+  {
+    this->node.Request(this->reqSetRateTopic, _rate);
+  }
+
+  public: ~MonoCameraSystem() override
+  {
+    delete[] this->data;
+    this->data = nullptr;
+  }
+
+  protected: transport::Node node;
+  protected: transport::Node::Publisher pub, pubInfo;
+  protected: Entity sensor {kNullEntity};
+  protected: bool initialized {false};
+  protected: char* data {nullptr};
+  protected: std::string reqSetRateTopic;
+};
+
+}
+
+IGNITION_ADD_PLUGIN(subt::MonoCameraSystem, System, ISystemConfigure, ISystemPostUpdate)
+IGNITION_ADD_PLUGIN_ALIAS(subt::MonoCameraSystem, "subt::MonoCameraSystem")
\ No newline at end of file
diff --git a/submitted_models/bosdyn_spot/src/multi_joint_command.cpp b/submitted_models/bosdyn_spot/src/multi_joint_command.cpp
new file mode 100644
index 00000000..9eea9f02
--- /dev/null
+++ b/submitted_models/bosdyn_spot/src/multi_joint_command.cpp
@@ -0,0 +1,312 @@
+#include <memory>
+#include <ignition/gazebo/System.hh>
+#include <ignition/common/StringUtils.hh>
+
+#include <ignition/plugin/Register.hh>
+#include <ignition/transport/Node.hh>
+
+#include "ignition/gazebo/components/JointPosition.hh"
+#include "ignition/gazebo/components/JointVelocityCmd.hh"
+#include "ignition/gazebo/components/JointForceCmd.hh"
+#include "ignition/gazebo/Model.hh"
+
+using namespace ignition;
+using namespace gazebo;
+using namespace systems;
+
+namespace subt
+{
+/// \brief Plugin for controlling multiple joints at once. This should avoid time-sync
+/// problems in control algorithms.
+///
+/// This plugin does not control the joints itself. The joints need to spawn their own
+/// positional, velocity or effort controllers that accept commands on Ignition topics.
+/// This plugin just de-multiplexes the single control command into multiple commands for the controllers.
+/// This relaying should happen during a single simulation step.
+///
+/// Only finite values will be published to the controllers. So if you e.g. only want to set
+/// the effort target for a joint, be sure to set the position and velocity targets to NaN,
+/// otherwise this plugin will set all three targets (even if the other two are zero).
+/// This might be no problem if there actually are none positional and velocity controllers
+/// for the joint - then the commands will be published, but nobody will read them.
+///
+/// Once https://github.com/ignitionrobotics/ros_ign/pull/135 gets merged, it will
+/// be possible to e.g. leave the position and velocity fields empty and only fill out
+/// name and effort.
+///
+/// The command can also be sent as a JointTrajectory type. It will do the same as the Model
+/// type message. Only the first trajectory point will be executed.
+///
+/// # Parameters
+///
+/// `<topic>`: Name of the topic on which this system receives commands. Defaults to `/model/${MODEL_NAME}/joint_commands`.
+/// `<trajectory_topic>`: Name of the topic on which this system receives trajectory commands. Defaults to `/model/${MODEL_NAME}/joint_trajectory`.
+/// `<joint name="test_joint">`: The plugin is configured by a list of <joint> tags, each of which specifies one controlled joint.
+///                              The `name` attribute is mandatory and specifies the name of the joint.
+///
+/// `<joint><position_target_topic>`: Topic for sending positional commands. Defaults to `/model/${MODEL_NAME}/joint/${JOINT_NAME}/0/cmd_pos`.
+/// `<joint><velocity_target_topic>`: Topic for sending velocity commands. Defaults to `/model/${MODEL_NAME}/joint/${JOINT_NAME}/cmd_vel`.
+/// `<joint><effort_target_topic>`: Topic for sending effort commands. Defaults to `/model/${MODEL_NAME}/joint/${JOINT_NAME}/cmd_force`.
+///
+/// # Subscriptions
+///
+/// `{topic}` (`ignition::msgs::Model`): The system receives the multi-commands on this topic. It only parses the
+/// fields that are present, and is only interested in the header and joints/axis1 fields. Ignition-ROS bridge
+/// provides a converter between sensor_msgs/JointState and ignition::msgs::Model. Make sure the ROS message
+/// has all four vectors of the same length, otherwise the Ign-ROS bridge could segfault!
+class MultiJointCommandSystem : public System, public ISystemConfigure
+{
+  public: void Configure(const Entity& _entity, const std::shared_ptr<const sdf::Element>& _sdf,
+                         EntityComponentManager& _ecm, EventManager& _eventMgr) override
+  {
+    this->model = Model(_entity);
+    if (!this->model.Valid(_ecm))
+    {
+      ignerr << "MultiJointCommandSystem should be attached to a model entity. Failed to initialize." << std::endl;
+      return;
+    }
+
+    if (!_sdf->HasElement("joint"))
+    {
+      ignerr << "MultiJointCommandSystem doesn't have any <joint> element. It will not do anything." << std::endl;
+      return;
+    }
+
+    auto sdf = _sdf->Clone();
+
+    auto joint = sdf->GetElement("joint");
+    while (joint)
+    {
+      if (!joint->HasAttribute("name"))
+      {
+        ignerr << "MultiJointCommandSystem found a <joint> element with no `name` attribute. This element will be ignored." << std::endl;
+        joint = joint->GetNextElement("joint");
+        continue;
+      }
+
+      const auto name = joint->GetAttribute("name")->GetAsString();
+
+      const auto& jointEntity = this->model.JointByName(_ecm, name);
+      if (jointEntity == kNullEntity)
+      {
+        ignerr << "MultiJointCommandSystem tried to configure for joint " << name << " but that joint does not exist in the model. It will be ignored." << std::endl;
+        joint = joint->GetNextElement("joint");
+        continue;
+      }
+
+      const auto prefix = "/model/" + this->model.Name(_ecm) + "/joint/" + name;
+
+      std::string posTopic = prefix + "/0/cmd_pos";
+      std::string velTopic = prefix + "/cmd_vel";
+      std::string forceTopic = prefix + "/cmd_force";
+
+      if (sdf->HasElement("position_target_topic"))
+        posTopic = sdf->Get<std::string>("position_target_topic");
+      if (sdf->HasElement("velocity_target_topic"))
+        velTopic = sdf->Get<std::string>("velocity_target_topic");
+      if (sdf->HasElement("effort_target_topic"))
+        forceTopic = sdf->Get<std::string>("effort_target_topic");
+
+      const auto prevPosTopic = posTopic;
+      posTopic = transport::TopicUtils::AsValidTopic(posTopic);
+      if (posTopic.empty())
+        ignwarn << "Invalid topic name " << prevPosTopic;
+      else
+      {
+        this->posPublishers[name] = this->node.Advertise<msgs::Double>(posTopic);
+        if (posTopic != prevPosTopic)
+          ignwarn << "Topic name adjusted from " << prevPosTopic << " to " << posTopic;
+      }
+      
+      const auto prevVelTopic = velTopic;
+      velTopic = transport::TopicUtils::AsValidTopic(velTopic);
+      if (velTopic.empty())
+        ignwarn << "Invalid topic name " << prevVelTopic;
+      else
+      {
+        this->velPublishers[name] = this->node.Advertise<msgs::Double>(velTopic);
+        if (velTopic != prevVelTopic)
+          ignwarn << "Topic name adjusted from " << prevVelTopic << " to " << velTopic;
+      }
+      
+      const auto prevForceTopic = forceTopic;
+      forceTopic = transport::TopicUtils::AsValidTopic(forceTopic);
+      if (forceTopic.empty())
+        ignwarn << "Invalid topic name " << prevForceTopic;
+      else
+      {
+        this->forcePublishers[name] = this->node.Advertise<msgs::Double>(forceTopic);
+        if (forceTopic != prevForceTopic)
+          ignwarn << "Topic name adjusted from " << prevForceTopic << " to " << forceTopic;
+      }
+      
+      ignmsg << "MultiJointControlSystem was configured for joint " << name << std::endl;
+
+      joint = joint->GetNextElement("joint");
+    }
+
+    std::string topic {"/model/" + this->model.Name(_ecm) + "/joint_commands"};
+    if (_sdf->HasElement("topic"))
+      topic = _sdf->Get<std::string>("topic");
+
+    this->node.Subscribe(topic, &MultiJointCommandSystem::OnCmd, this);
+
+    std::string trajectoryTopic {"/model/" + this->model.Name(_ecm) + "/joint_trajectory"};
+    if (_sdf->HasElement("trajectory_topic"))
+      trajectoryTopic = _sdf->Get<std::string>("trajectory_topic");
+
+    this->node.Subscribe(trajectoryTopic, &MultiJointCommandSystem::OnTrajectoryCmd, this);
+
+    ignmsg << "MultiJointCommandSystem subscribing to JointState commands on [" << topic
+           << "] and JointTrajectory commands on [" << trajectoryTopic << "]" << std::endl;
+
+    this->initialized = true;
+  }
+
+  protected: void OnCmd(const msgs::Model &_msg)
+  {
+    if (!this->initialized)
+      return;
+
+    for (const auto& joint : _msg.joint())
+    {
+      if (joint.name().empty())
+      {
+        ignwarn << "Received command with empty joint name." << std::endl;
+        continue;
+      }
+
+      const auto& name = joint.name();
+
+      if (!joint.has_axis1())
+      {
+        ignwarn << "Received command for joint " << name << " without axis1." << std::endl;
+        continue;
+      }
+
+      const auto& axis = joint.axis1();
+
+      if (std::isfinite(axis.position()))
+      {
+        if (this->posPublishers.find(name) != this->posPublishers.end())
+        {
+          msgs::Double msg;
+          *msg.mutable_header() = _msg.header();
+          msg.set_data(axis.position());
+          this->posPublishers[name].Publish(msg);
+        }
+        else
+          ignwarn << "Received positional command for joint " << name << " which doesn't have a valid positional target topic." << std::endl;
+      }
+
+      if (std::isfinite(axis.velocity()))
+      {
+        if (this->velPublishers.find(name) != this->velPublishers.end())
+        {
+          msgs::Double msg;
+          *msg.mutable_header() = _msg.header();
+          msg.set_data(axis.velocity());
+          this->velPublishers[name].Publish(msg);
+        }
+        else
+          ignwarn << "Received velocity command for joint " << name << " which doesn't have a valid velocity target topic." << std::endl;
+      }
+
+      if (std::isfinite(axis.force()))
+      {
+        if (this->forcePublishers.find(name) != this->forcePublishers.end())
+        {
+          msgs::Double msg;
+          *msg.mutable_header() = _msg.header();
+          msg.set_data(axis.force());
+          this->forcePublishers[name].Publish(msg);
+        }
+        else
+          ignwarn << "Received force command for joint " << name << " which doesn't have a valid effort target topic." << std::endl;
+      }
+
+      if (!std::isfinite(axis.position()) && !std::isfinite(axis.velocity()) && !std::isfinite(axis.force()))
+      {
+        ignwarn << "Received command for joint " << name << " with no values to set." << std::endl;
+      }
+    }
+  }
+
+  protected: void OnTrajectoryCmd(const msgs::JointTrajectory &_msg)
+  {
+    if (!this->initialized)
+      return;
+
+    for (size_t i = 0; i < _msg.joint_names_size(); ++i)
+    {
+      if (_msg.joint_names(i).empty())
+      {
+        ignwarn << "Received command with empty joint name." << std::endl;
+        continue;
+      }
+
+      if (_msg.points().empty())
+      {
+        ignwarn << "Received empty trajectory command." << std::endl;
+        continue;
+      }
+
+      if (_msg.points().size() > 1)
+        ignwarn << "Received trajectory command with >1 points, this is not supported. Executing only the first one." << std::endl;
+
+      const auto& name = _msg.joint_names(i);
+      const auto& point = *_msg.points().begin();
+
+      if (i < point.positions_size() && std::isfinite(point.positions(i)))
+      {
+        if (this->posPublishers.find(name) != this->posPublishers.end())
+        {
+          msgs::Double msg;
+          *msg.mutable_header() = _msg.header();
+          msg.set_data(point.positions(i));
+          this->posPublishers[name].Publish(msg);
+        }
+        else
+          ignwarn << "Received positional command for joint " << name << " which doesn't have a valid positional target topic." << std::endl;
+      }
+
+      if (i < point.velocities_size() && std::isfinite(point.velocities(i)))
+      {
+        if (this->velPublishers.find(name) != this->velPublishers.end())
+        {
+          msgs::Double msg;
+          *msg.mutable_header() = _msg.header();
+          msg.set_data(point.velocities(i));
+          this->velPublishers[name].Publish(msg);
+        }
+        else
+          ignwarn << "Received velocity command for joint " << name << " which doesn't have a valid velocity target topic." << std::endl;
+      }
+
+      if (i < point.effort_size() && std::isfinite(point.effort(i)))
+      {
+        if (this->forcePublishers.find(name) != this->forcePublishers.end())
+        {
+          msgs::Double msg;
+          *msg.mutable_header() = _msg.header();
+          msg.set_data(point.effort(i));
+          this->forcePublishers[name].Publish(msg);
+        }
+        else
+          ignwarn << "Received force command for joint " << name << " which doesn't have a valid effort target topic." << std::endl;
+      }
+    }
+  }
+
+  protected: bool initialized {false};
+  protected: transport::Node node;
+  protected: std::unordered_map<std::string, transport::Node::Publisher> posPublishers;
+  protected: std::unordered_map<std::string, transport::Node::Publisher> velPublishers;
+  protected: std::unordered_map<std::string, transport::Node::Publisher> forcePublishers;
+  protected: Model model{kNullEntity};
+};
+
+}
+
+IGNITION_ADD_PLUGIN(subt::MultiJointCommandSystem, System, ISystemConfigure)
+IGNITION_ADD_PLUGIN_ALIAS(subt::MultiJointCommandSystem, "subt::MultiJointCommandSystem")
\ No newline at end of file
diff --git a/submitted_models/bosdyn_spot/src/pid_control_bridge.cpp b/submitted_models/bosdyn_spot/src/pid_control_bridge.cpp
new file mode 100644
index 00000000..5092be8a
--- /dev/null
+++ b/submitted_models/bosdyn_spot/src/pid_control_bridge.cpp
@@ -0,0 +1,62 @@
+#include <memory>
+
+#include <ignition/msgs/pid.pb.h>
+#include <ignition/transport/Node.hh>
+
+#include <ros/ros.h>
+#include <nodelet/nodelet.h>
+#include <dynamic_reconfigure/server.h>
+#include <control_toolbox/ParametersConfig.h>
+
+#include <pluginlib/class_list_macros.h>
+
+
+namespace subt
+{
+
+/// \brief ROS-Ign bridge for dynamic reconfiguration of a PID.
+class PidControlBridge : public nodelet::Nodelet
+{
+
+  protected: void onInit() override
+  {
+    if (!this->getPrivateNodeHandle().getParam("ign_topic", this->ignTopic))
+    {
+      ROS_ERROR("Please, provide parameter ~ign_topic");
+      exit(1);
+    }
+
+    ROS_INFO("Connected to Ignition topic %s", this->ignTopic.c_str());
+
+    ROS_DEBUG_STREAM_NAMED("pid","Initializing dynamic reconfigure in namespace "
+      << this->getPrivateNodeHandle().getNamespace());
+
+    this->reconfServer = std::make_unique<dynamic_reconfigure::Server<control_toolbox::ParametersConfig>>(
+      this->getPrivateNodeHandle());
+    this->reconfServer->setCallback(boost::bind(&PidControlBridge::dynamicReconfigCallback, this, _1, _2));
+  }
+
+  protected: void dynamicReconfigCallback(control_toolbox::ParametersConfig &config, uint32_t /*level*/)
+  {
+    const auto now = ros::Time::now();
+    ignition::msgs::PID msg;
+    msg.mutable_header()->mutable_stamp()->set_sec(now.sec);
+    msg.mutable_header()->mutable_stamp()->set_nsec(now.nsec);
+
+    msg.mutable_p_gain_optional()->set_data(config.p);
+    msg.mutable_i_gain_optional()->set_data(config.i);
+    msg.mutable_d_gain_optional()->set_data(config.d);
+    msg.mutable_i_max_optional()->set_data(config.i_clamp_max);
+    msg.mutable_i_min_optional()->set_data(config.i_clamp_min);
+
+    this->node.Request(this->ignTopic, msg);
+  }
+
+  protected: ignition::transport::Node node;
+  protected: std::string ignTopic;
+  protected: std::unique_ptr<dynamic_reconfigure::Server<control_toolbox::ParametersConfig>> reconfServer;
+};
+
+}
+
+PLUGINLIB_EXPORT_CLASS(subt::PidControlBridge, nodelet::Nodelet)
\ No newline at end of file
diff --git a/submitted_models/bosdyn_spot/thumbnails/1.png b/submitted_models/bosdyn_spot/thumbnails/1.png
new file mode 100644
index 00000000..fee60003
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diff --git a/submitted_models/bosdyn_spot/thumbnails/2.png b/submitted_models/bosdyn_spot/thumbnails/2.png
new file mode 100644
index 00000000..ce92b1c1
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diff --git a/submitted_models/bosdyn_spot/thumbnails/3.png b/submitted_models/bosdyn_spot/thumbnails/3.png
new file mode 100644
index 00000000..f764e2fd
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diff --git a/submitted_models/bosdyn_spot/thumbnails/4.png b/submitted_models/bosdyn_spot/thumbnails/4.png
new file mode 100644
index 00000000..401017c4
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diff --git a/submitted_models/bosdyn_spot/thumbnails/5.png b/submitted_models/bosdyn_spot/thumbnails/5.png
new file mode 100644
index 00000000..6d2a562a
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diff --git a/submitted_models/bosdyn_spot/urdf/camera.xacro b/submitted_models/bosdyn_spot/urdf/camera.xacro
new file mode 100644
index 00000000..2469a68d
--- /dev/null
+++ b/submitted_models/bosdyn_spot/urdf/camera.xacro
@@ -0,0 +1,85 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://ros.org/wiki/xacro">
+    <xacro:macro name="spot_camera" params="prefix name simulate:=1 visualize:=0" >
+        <link name="${prefix}camera_${name}">
+            <xacro:default_inertial />
+            <xacro:if value="${visualize}">
+                <visual>
+                    <geometry>
+                        <box size="0.02 0.1 0.04" />
+                    </geometry>
+                </visual>
+            </xacro:if>
+        </link>
+        <xacro:if value="${simulate and '$(arg rendering_target)' == 'ign'}">
+            <gazebo reference="${prefix}camera_${name}">
+                <!-- Fisheye grayscale camera -->
+                <!-- Ignition Gazebo doesn't yet have wideanglecamera https://github.com/ignitionrobotics/ign-sensors/issues/24 -->
+                <sensor name="${name}_fisheye_image" type="camera">
+                    <pose>0 0.01 0 0 0 0</pose>
+                    <update_rate>30</update_rate>
+                    <visualize>${visualize}</visualize>
+                    <camera>
+                        <horizontal_fov>${radians(102.35)}</horizontal_fov> <!-- computed from real fx -->
+                        <image>
+                            <width>640</width>
+                            <height>480</height>
+                            <format>R8G8B8</format>
+                        </image>
+                        <clip>
+                            <near>0.1</near>
+                            <far>20.0</far>
+                        </clip>
+                        <noise>
+                            <type>gaussian</type>
+                            <mean>0.0</mean>
+                            <stddev>0.007</stddev>
+                        </noise>
+                        <lens>
+                            <intrinsics>
+                                <fx>257.4866</fx> <!-- from real Spot of CoSTAR -->
+                                <fy>257.4866</fy> <!-- =fx; real Spot has 256.9733 -->
+                                <cx>319.5</cx> <!-- ideal value -->
+                                <cy>239.5</cy> <!-- ideal value -->
+                                <s>0</s>
+                            </intrinsics>
+                        </lens>
+                    </camera>
+                    <plugin filename="mono-camera-system" name="subt::MonoCameraSystem" />
+                </sensor>
+
+                <sensor name="${name}_depth" type="depth_camera">
+                    <pose>0 0 0 0 0 0</pose>
+                    <update_rate>30</update_rate>
+                    <visualize>${visualize}</visualize>
+                    <camera>
+                        <horizontal_fov>${radians(102.35)}</horizontal_fov> <!-- put here equal to mono cam -->
+                        <image>
+                            <width>424</width>
+                            <height>240</height>
+                            <format>R_FLOAT32</format>
+                        </image>
+                        <clip>
+                            <near>0.1</near>
+                            <far>4.0</far>
+                        </clip>
+                        <noise>
+                            <type>gaussian</type>
+                            <mean>0.0</mean>
+                            <stddev>0.007</stddev>
+                        </noise>
+                        <lens>
+                            <intrinsics>
+                                <fx>170.6</fx> <!-- computed from FOV -->
+                                <fy>170.6</fy> <!-- computed from FOV -->
+                                <cx>211.5</cx> <!-- ideal value -->
+                                <cy>119.5</cy> <!-- ideal value -->
+                                <s>0</s>
+                            </intrinsics>
+                        </lens>
+                    </camera>
+                </sensor>
+            </gazebo>
+        </xacro:if>
+    </xacro:macro>
+</robot>
\ No newline at end of file
diff --git a/submitted_models/bosdyn_spot/urdf/constants.urdf.xacro b/submitted_models/bosdyn_spot/urdf/constants.urdf.xacro
new file mode 100644
index 00000000..c296ffcc
--- /dev/null
+++ b/submitted_models/bosdyn_spot/urdf/constants.urdf.xacro
@@ -0,0 +1,29 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://ros.org/wiki/xacro">
+    <xacro:property name="base_to_hip_x" value="0.29785" />
+    <xacro:property name="base_to_hip_y" value="0.05500" />
+    <xacro:property name="hip_to_upper_leg_y" value="0.110945" />
+    <xacro:property name="upper_leg_to_lower_leg_x" value="0.025" />
+    <xacro:property name="upper_leg_to_lower_leg_z" value="0.3205" />
+    <xacro:property name="lower_leg_to_foot_z" value="0.37" />
+
+    <xacro:property name="base_mass" value="16.0" />
+    <xacro:property name="base_length" value="0.86" />
+    <xacro:property name="base_width" value="0.21" />
+    <xacro:property name="base_height" value="0.17" />
+
+    <xacro:property name="hip_mass" value="2.0" />
+    <xacro:property name="hip_length" value="0.13" />
+    <xacro:property name="hip_width" value="0.09" />
+    <xacro:property name="hip_height" value="0.09" />
+
+    <xacro:property name="upper_leg_mass" value="1.0" />
+    <xacro:property name="upper_leg_length" value="0.076" />
+    <xacro:property name="upper_leg_width" value="0.076" />
+    <xacro:property name="upper_leg_height" value="0.425" />
+
+    <xacro:property name="lower_leg_mass" value="0.5" />
+    <xacro:property name="lower_leg_length" value="0.035" />
+    <xacro:property name="lower_leg_width" value="0.045" />
+    <xacro:property name="lower_leg_height" value="0.42" />
+</robot>
diff --git a/submitted_models/bosdyn_spot/urdf/empty.urdf b/submitted_models/bosdyn_spot/urdf/empty.urdf
new file mode 100644
index 00000000..239c6e02
--- /dev/null
+++ b/submitted_models/bosdyn_spot/urdf/empty.urdf
@@ -0,0 +1,6 @@
+<robot>
+  <!-- This file is a placeholder which is included by default from
+       spot.urdf.xacro. If a robot is being customized and requires
+       additional URDF, set the SPOT_URDF_EXTRAS environment variable
+       to the full path of the file you would like included. -->
+</robot>
diff --git a/submitted_models/bosdyn_spot/urdf/spot.urdf.xacro b/submitted_models/bosdyn_spot/urdf/spot.urdf.xacro
new file mode 100644
index 00000000..427b326a
--- /dev/null
+++ b/submitted_models/bosdyn_spot/urdf/spot.urdf.xacro
@@ -0,0 +1,149 @@
+<?xml version="1.0" ?>
+<robot name="bosdyn_spot" 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:if>
+    <xacro:unless value="${len('$(arg name)') == 0}">
+        <xacro:arg name="prefix" default="$(arg name)/"/>
+    </xacro:unless>
+
+    <!-- Pass either "urdf" or "ign" to tell the parser what is the desired target format. -->
+    <xacro:arg name="rendering_target" default="urdf"/>
+    <xacro:arg name="simulate_cameras" default="True"/>
+    <xacro:arg name="simulate_imu" default="True"/>
+
+    <xacro:arg name="body_color_r" default="${str(234/255.0)}" />
+    <xacro:arg name="body_color_g" default="${str(167/255.0)}" />
+    <xacro:arg name="body_color_b" default="0" />
+
+    <xacro:include filename="utils.xacro"/>
+    <xacro:include filename="constants.urdf.xacro" />
+    <xacro:include filename="spot_leg.urdf.xacro" />
+    <xacro:include filename="camera.xacro" />
+
+    <link name="$(arg prefix)base_link">
+        <visual>
+            <geometry>
+                <mesh filename="package://bosdyn_spot/meshes/body.dae" />
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="package://bosdyn_spot/meshes/body_collision.stl" />
+            </geometry>
+        </collision>
+        <inertial>
+            <mass value="${base_mass}"/>
+            <inertia ixx="${(1/12) * base_mass * (base_width * base_width + base_height * base_height)}" ixy="0.0" ixz="0.0"
+                     iyy="${(1/12) * base_mass * (base_length * base_length + base_height * base_height)}" iyz="0.0"
+                     izz="${(1/12) * base_mass * (base_length * base_length + base_width * base_width)}" />
+        </inertial>
+    </link>
+
+    <link name="$(arg prefix)battery">
+        <visual>
+            <geometry>
+                <box size="0.324 0.168 0.093" />
+            </geometry>
+            <material name="spot_color">
+                <color rgba="$(arg body_color_r) $(arg body_color_g) $(arg body_color_b) 1.0"/>
+            </material>
+        </visual>
+        <collision>
+            <geometry>
+                <box size="0.324 0.168 0.093" />
+            </geometry>
+        </collision>
+        <xacro:box_inertial mass="4.0" depth="0.324" width="0.168" height="0.093" />
+    </link>
+    <xacro:solid_color_link_material link="$(arg prefix)battery" r="$(arg body_color_r)" g="$(arg body_color_g)" b="$(arg body_color_b)" />
+    <xacro:fixed_joint name="battery_joint" parent="$(arg prefix)base_link" child="$(arg prefix)battery" xyz="0 0 -0.03" />
+
+    <xacro:empty_link name="$(arg prefix)body"/>
+    <xacro:fixed_joint name="base_link_joint" parent="$(arg prefix)base_link" child="$(arg prefix)body" />
+
+    <xacro:empty_link name="$(arg prefix)front_rail"/>
+    <xacro:fixed_joint name="front_rail_joint" parent="$(arg prefix)body" child="$(arg prefix)front_rail" xyz="0.223 0 0.0805" />
+
+    <xacro:empty_link name="$(arg prefix)rear_rail"/>
+    <xacro:fixed_joint name="rear_rail_joint" parent="$(arg prefix)body" child="$(arg prefix)rear_rail" xyz="-0.223 0 0.0805" />
+
+    <xacro:spot_leg leg_name="front_left" prefix="$(arg prefix)" />
+    <xacro:spot_leg leg_name="front_right" prefix="$(arg prefix)" />
+    <xacro:spot_leg leg_name="rear_left" prefix="$(arg prefix)" />
+    <xacro:spot_leg leg_name="rear_right" prefix="$(arg prefix)" />
+
+    <!-- virtual link to specify IMU position -->
+    <xacro:empty_link name="$(arg prefix)imu"/>
+    <xacro:fixed_joint name="imu_j" parent="$(arg prefix)base_link" child="$(arg prefix)imu" />
+
+    <gazebo reference="$(arg prefix)imu">
+        <xacro:if value="$(arg simulate_imu)">
+            <sensor name="imu" type="imu">
+                <always_on>1</always_on>
+                <update_rate>50</update_rate>
+                <imu>
+                    <angular_velocity>
+                        <xacro:macro name="angular_imu_noise">
+                            <noise type="gaussian">
+                                <mean>0</mean>
+                                <stddev>0.009</stddev>
+                                <bias_mean>0.00075</bias_mean>
+                                <bias_stddev>0.005</bias_stddev>
+                                <xacro:if value="${'$(arg rendering_target)' == 'ign'}">
+                                    <dynamic_bias_stddev>0.00002</dynamic_bias_stddev>
+                                    <dynamic_bias_correlation_time>400.0</dynamic_bias_correlation_time>
+                                    <precision>0.00025</precision>
+                                </xacro:if>
+                            </noise>
+                        </xacro:macro>
+                        <x><xacro:angular_imu_noise/></x>
+                        <y><xacro:angular_imu_noise/></y>
+                        <z><xacro:angular_imu_noise/></z>
+                    </angular_velocity>
+                    <linear_acceleration>
+                        <xacro:macro name="linear_imu_noise">
+                            <noise type="gaussian">
+                                <mean>0</mean>
+                                <stddev>0.021</stddev>
+                                <bias_mean>0.05</bias_mean>
+                                <bias_stddev>0.0075</bias_stddev>
+                                <xacro:if value="${'$(arg rendering_target)' == 'ign'}">
+                                    <dynamic_bias_stddev>0.000375</dynamic_bias_stddev>
+                                    <dynamic_bias_correlation_time>175.0</dynamic_bias_correlation_time>
+                                    <precision>0.005</precision>
+                                </xacro:if>
+                            </noise>
+                        </xacro:macro>
+                        <x><xacro:linear_imu_noise /></x>
+                        <y><xacro:linear_imu_noise /></y>
+                        <z><xacro:linear_imu_noise /></z>
+                    </linear_acceleration>
+                </imu>
+            </sensor>
+        </xacro:if>
+    </gazebo>
+
+    <!-- Body cameras -->
+
+    <xacro:spot_camera prefix="$(arg prefix)" name="frontleft" simulate="$(arg simulate_cameras)" />
+    <xacro:fixed_joint name="camera_frontleft_j" parent="$(arg prefix)base_link" child="$(arg prefix)camera_frontleft"
+        xyz="0.415 0.037 -0.01" rpy="1.355558 0.353917 -0.554196" />
+
+    <xacro:spot_camera prefix="$(arg prefix)" name="frontright" simulate="$(arg simulate_cameras)" />
+    <xacro:fixed_joint name="camera_frontright_j" parent="$(arg prefix)base_link" child="$(arg prefix)camera_frontright"
+        xyz="0.415 -0.037 -0.01" rpy="-1.355558 0.353917 0.554196" />
+
+    <xacro:spot_camera prefix="$(arg prefix)" name="left" simulate="$(arg simulate_cameras)" />
+    <xacro:fixed_joint name="camera_left_j" parent="$(arg prefix)base_link" child="$(arg prefix)camera_left"
+        xyz="-0.125 0.12 0.035" rpy="0 0.2 ${pi/2}" />
+
+    <xacro:spot_camera prefix="$(arg prefix)" name="right" simulate="$(arg simulate_cameras)" />
+    <xacro:fixed_joint name="camera_right_j" parent="$(arg prefix)base_link" child="$(arg prefix)camera_right"
+        xyz="-0.125 -0.12 0.035" rpy="0 0.2 ${-pi/2}" />
+
+    <xacro:spot_camera prefix="$(arg prefix)" name="back" simulate="$(arg simulate_cameras)" />
+    <xacro:fixed_joint name="camera_back_j" parent="$(arg prefix)base_link" child="$(arg prefix)camera_back"
+        xyz="-0.425 0 0.01" rpy="0 0.3 ${-pi}" />
+</robot>
diff --git a/submitted_models/bosdyn_spot/urdf/spot_leg.urdf.xacro b/submitted_models/bosdyn_spot/urdf/spot_leg.urdf.xacro
new file mode 100644
index 00000000..9da4d7d2
--- /dev/null
+++ b/submitted_models/bosdyn_spot/urdf/spot_leg.urdf.xacro
@@ -0,0 +1,169 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://ros.org/wiki/xacro">
+    <xacro:arg name="leg_kp" default="1e+07" />
+    <xacro:arg name="leg_kd" default="100.0" />
+    <xacro:arg name="leg_mu1" default="0.8" />
+    <xacro:arg name="leg_mu2" default="0.8" />
+    <xacro:arg name="leg_fdir1" default="" />
+
+    <xacro:arg name="max_knee_effort" default="80" />
+    <xacro:arg name="max_knee_velocity" default="15" />
+    <xacro:arg name="max_hip_x_effort" default="80" />
+    <xacro:arg name="max_hip_x_velocity" default="15" />
+    <xacro:arg name="max_hip_y_effort" default="80" />
+    <xacro:arg name="max_hip_y_velocity" default="15" />
+
+    <xacro:macro name="spot_leg" params="leg_name prefix" >
+
+        <xacro:if value="${leg_name == 'front_left'}">
+            <xacro:property name="base_to_hip_xyz"            value="${base_to_hip_x} ${base_to_hip_y} 0" />
+            <xacro:property name="hip_to_upper_leg_xyz"       value="0 ${hip_to_upper_leg_y} 0" />
+        </xacro:if>
+        <xacro:if value="${leg_name == 'front_right'}">
+            <xacro:property name="base_to_hip_xyz"            value="${base_to_hip_x} -${base_to_hip_y} 0" />
+            <xacro:property name="hip_to_upper_leg_xyz"       value="0 -${hip_to_upper_leg_y} 0" />
+        </xacro:if>
+        <xacro:if value="${leg_name == 'rear_left'}">
+            <xacro:property name="base_to_hip_xyz"            value="-${base_to_hip_x} ${base_to_hip_y} 0" />
+            <xacro:property name="hip_to_upper_leg_xyz"       value="0 ${hip_to_upper_leg_y} 0" />
+        </xacro:if>
+        <xacro:if value="${leg_name == 'rear_right'}">
+            <xacro:property name="base_to_hip_xyz"            value="-${base_to_hip_x} -${base_to_hip_y} 0" />
+            <xacro:property name="hip_to_upper_leg_xyz"       value="0 -${hip_to_upper_leg_y} 0" />
+        </xacro:if>
+
+        <link name="${prefix}${leg_name}_hip">
+            <visual>
+                <geometry>
+                    <mesh filename="package://bosdyn_spot/meshes/${leg_name}_hip.dae" />
+                </geometry>
+            </visual>
+            <collision>
+                <geometry>
+                    <mesh filename="package://bosdyn_spot/meshes/${leg_name}_hip_collision.stl" />
+                </geometry>
+            </collision>
+            <inertial>
+                <mass value="${hip_mass}"/>
+                <inertia ixx="${(1/12) * hip_mass * (hip_width * hip_width + hip_height * hip_height)}" ixy="0.0" ixz="0.0"
+                            iyy="${(1/12) * hip_mass * (hip_length * hip_length + hip_height * hip_height)}" iyz="0.0"
+                            izz="${(1/12) * hip_mass * (hip_length * hip_length + hip_width * hip_width)}" />     
+            </inertial>
+        </link>
+        <joint name="${leg_name}_hip_x" type="revolute">
+            <origin xyz="${base_to_hip_xyz}" rpy="0 0 0" />
+            <axis xyz="1 0 0" />
+            <parent link="${prefix}base_link" />
+            <child link="${prefix}${leg_name}_hip" />
+            <limit effort="$(arg max_hip_x_effort)" velocity="$(arg max_hip_x_velocity)" lower="-0.78539816339744827899" upper="0.78539816339744827899" />
+        </joint>
+        <link name="${prefix}${leg_name}_upper_leg">
+            <visual>
+                <geometry>
+                    <mesh filename="package://bosdyn_spot/meshes/${leg_name}_upper_leg.dae" />
+                </geometry>
+            </visual>
+            <collision>
+                <geometry>
+                    <mesh filename="package://bosdyn_spot/meshes/${leg_name}_upper_leg_collision.stl" />
+                </geometry>
+            </collision>
+            <inertial>
+                <origin xyz="0 0 -0.14" rpy="0 0 0" />
+                <mass value="${upper_leg_mass}"/>
+                <inertia ixx="${(1/12) * upper_leg_mass * (upper_leg_width * upper_leg_width + upper_leg_height * upper_leg_height)}" ixy="0.0" ixz="0.0"
+                            iyy="${(1/12) * upper_leg_mass * (upper_leg_length * upper_leg_length + upper_leg_height * upper_leg_height)}" iyz="0.0"
+                            izz="${(1/12) * upper_leg_mass * (upper_leg_length * upper_leg_length + upper_leg_width * upper_leg_width)}" />     
+            </inertial>
+        </link>
+        <joint name="${leg_name}_hip_y" type="revolute">
+            <origin xyz="${hip_to_upper_leg_xyz}" rpy="0 0 0" />
+            <axis xyz="0 1 0" />
+            <parent link="${prefix}${leg_name}_hip" />
+            <child link="${prefix}${leg_name}_upper_leg" />
+            <limit effort="$(arg max_hip_y_effort)" velocity="$(arg max_hip_y_velocity)" lower="-0.89884456477707963539" upper="2.2951079663725435509" />
+        </joint>
+        <link name="${prefix}${leg_name}_lower_leg">
+            <visual>
+                <geometry>
+                    <mesh filename="package://bosdyn_spot/meshes/${leg_name}_lower_leg.dae" />
+                </geometry>
+            </visual>
+            <collision>
+                <geometry>
+                    <mesh filename="package://bosdyn_spot/meshes/${leg_name}_lower_leg_collision.stl" scale="0.82 0.97 0.98"/>
+                </geometry>
+            </collision>
+            <collision>
+                <origin xyz="0 0 -${lower_leg_to_foot_z - 0.04 + 0.003}" />
+                <geometry>
+                    <sphere radius="0.04" />
+                </geometry>
+            </collision>
+            <inertial>
+                <origin xyz="0 0 -0.16" rpy="0 0 0" />
+                <mass value="${lower_leg_mass}"/>
+                <inertia ixx="${(1/12) * lower_leg_mass * (lower_leg_width * lower_leg_width + lower_leg_height * lower_leg_height)}" ixy="0.0" ixz="0.0"
+                            iyy="${(1/12) * lower_leg_mass * (lower_leg_length * lower_leg_length + lower_leg_height * lower_leg_height)}" iyz="0.0"
+                            izz="${(1/12) * lower_leg_mass * (lower_leg_length * lower_leg_length + lower_leg_width * lower_leg_width)}" />     
+            </inertial>
+        </link>
+         <gazebo reference="${prefix}${leg_name}_lower_leg">
+            <kp>$(arg leg_kp)</kp>
+            <kd>$(arg leg_kd)</kd>
+            <mu1>$(arg leg_mu1)</mu1>
+            <mu2>$(arg leg_mu2)</mu2>
+             <xacro:if value="${'$(arg leg_fdir1)' != ''}">
+                 <fdir1>$(arg leg_fdir1)</fdir1>
+             </xacro:if>
+             <sensor name="contact" type="contact">
+                <contact>
+                    <collision>${leg_name}_lower_leg_collision</collision>
+                    <collision>${leg_name}_lower_leg_collision_1</collision>
+                </contact>
+             </sensor>
+        </gazebo>
+        <joint name="${leg_name}_knee" type="revolute">
+            <origin xyz="${upper_leg_to_lower_leg_x} 0 -${upper_leg_to_lower_leg_z}" rpy="0 0 0" />
+            <axis xyz="0 1 0" />
+            <parent link="${prefix}${leg_name}_upper_leg" />
+            <child link="${prefix}${leg_name}_lower_leg" />
+            <limit effort="$(arg max_knee_effort)" velocity="$(arg max_knee_velocity)" lower="-2.7929" upper="-0.254801" />
+        </joint>
+        <xacro:empty_link name="${prefix}${leg_name}_ee" />
+        <xacro:fixed_joint name="${leg_name}_foot" parent="${prefix}${leg_name}_lower_leg" child="${prefix}${leg_name}_ee" xyz="0 0 -${lower_leg_to_foot_z}" />
+
+        <!-- Not actually used now, but doesn't hurt to have it here ready for future use with ros_ign_control. -->
+        <transmission name="${leg_name}_hip_x_trans">
+            <type>transmission_interface/SimpleTransmission</type>
+            <joint name="${leg_name}_hip_x">
+                <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+            </joint>
+            <actuator name="${leg_name}_hip_x_actuator">
+                <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+                <mechanicalReduction>1</mechanicalReduction>
+            </actuator>
+        </transmission>
+        <transmission name="${leg_name}_hip_y_trans">
+            <type>transmission_interface/SimpleTransmission</type>
+            <joint name="${leg_name}_hip_y">
+                <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+            </joint>
+            <actuator name="${leg_name}_hip_y_actuator">
+                <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+                <mechanicalReduction>1</mechanicalReduction>
+            </actuator>
+        </transmission>
+        <transmission name="${leg_name}_knee_trans">
+            <type>transmission_interface/SimpleTransmission</type>
+            <joint name="${leg_name}_knee">
+                <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+            </joint>
+            <actuator name="${leg_name}_knee_actuator">
+                <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+                <mechanicalReduction>1</mechanicalReduction>
+            </actuator>
+        </transmission>
+
+    </xacro:macro>
+</robot>
\ No newline at end of file
diff --git a/submitted_models/bosdyn_spot/urdf/utils.xacro b/submitted_models/bosdyn_spot/urdf/utils.xacro
new file mode 100644
index 00000000..0a955041
--- /dev/null
+++ b/submitted_models/bosdyn_spot/urdf/utils.xacro
@@ -0,0 +1,85 @@
+<?xml version="1.0"?>
+<root xmlns:xacro="http://www.ros.org/wiki/xacro">
+    <xacro:macro name="inertia_meshlab" params="ixx ixy ixz iyy iyz izz scale mass">
+        <inertia
+                ixx="${ixx*scale*scale}" ixy="${ixy*scale*scale}" ixz="${ixz*scale*scale}"
+                iyy="${iyy*scale*scale}" iyz="${iyz*scale*scale}"
+                izz="${izz*scale*scale}"/>
+    </xacro:macro>
+
+    <xacro:macro name="sphere_inertial" params="radius mass xyz:='0 0 0'">
+        <inertial>
+            <mass value="${mass}" />
+            <origin xyz="${xyz}" rpy="0 0 0"/>
+            <inertia ixx="${2.0/5 * mass * radius * radius}" ixy="0.0" ixz="0.0"
+                     iyy="${2.0/5 * mass * radius * radius}" iyz="0.0"
+                     izz="${2.0/5 * mass * radius * radius}" />
+        </inertial>
+    </xacro:macro>
+
+    <xacro:macro name="box_inertial" params="width height depth mass xyz:='0 0 0' rpy:='0 0 0'">
+        <inertial>
+            <mass value="${mass}" />
+            <origin xyz="${xyz}" rpy="${rpy}"/>
+            <inertia ixx="${1.0/12 * mass * (width * width + height * height)}" ixy="0.0" ixz="0.0"
+                     iyy="${1.0/12 * mass * (height * height + depth * depth)}" iyz="0.0"
+                     izz="${1.0/12 * mass * (width * width + depth * depth)}" />
+        </inertial>
+    </xacro:macro>
+
+    <xacro:macro name="cylinder_inertial" params="radius length mass xyz:='0 0 0' rpy:='0 0 0'">
+        <inertial>
+            <mass value="${mass}" />
+            <origin xyz="${xyz}" rpy="${rpy}"/>
+            <inertia ixx="${1.0/12 * mass * (3 * radius * radius + length * length)}" ixy="0.0" ixz="0.0"
+                     iyy="${1.0/12 * mass * (3 * radius * radius + length * length)}" iyz="0.0"
+                     izz="${0.5 * mass * radius * radius}" />
+        </inertial>
+    </xacro:macro>
+
+    <xacro:macro name="default_inertial">
+        <inertial>
+            <origin xyz="0 0 0" rpy="0 0 0"/>
+            <mass value="1e-5" />
+            <inertia ixx="1e-3" ixy="1e-6" ixz="1e-6"
+                     iyy="1e-3" iyz="1e-6"
+                     izz="1e-3" />
+        </inertial>
+    </xacro:macro>
+
+    <xacro:macro name="empty_link" params="name">
+        <link name="${name}">
+            <xacro:default_inertial />
+            <selfCollide>false</selfCollide>
+        </link>
+    </xacro:macro>
+
+    <xacro:macro name="fixed_joint" params="name parent child xyz:='0 0 0' rpy:='0 0 0' lump:=0">
+        <joint name="${name}" type="fixed">
+            <parent link="${parent}"/>
+            <child link="${child}"/>
+            <origin xyz="${xyz}" rpy="${rpy}"/>
+        </joint>
+        <xacro:if value="${lump == 0}">
+            <!-- workaround for https://github.com/osrf/sdformat/issues/378 -->
+            <gazebo reference="${name}">
+                <preserveFixedJoint>true</preserveFixedJoint>
+            </gazebo>
+        </xacro:if>
+    </xacro:macro>
+
+    <xacro:macro name="solid_color_link_material" params="link r g b">
+        <xacro:unless value="${'$(arg rendering_target)' == 'urdf'}">
+            <gazebo reference="${link}">
+                <visual>
+                    <material>
+                        <ambient>${r} ${g} ${b} 1</ambient>
+                        <diffuse>${r} ${g} ${b} 1</diffuse>
+                        <specular>${r} ${g} ${b} 1</specular>
+                        <emissive>0 0 0 0</emissive>
+                    </material>
+                </visual>
+            </gazebo>
+        </xacro:unless>
+    </xacro:macro>
+</root>
\ No newline at end of file
diff --git a/submitted_models/bosdyn_spot/worlds/example.sdf b/submitted_models/bosdyn_spot/worlds/example.sdf
new file mode 100644
index 00000000..9eb5c0f8
--- /dev/null
+++ b/submitted_models/bosdyn_spot/worlds/example.sdf
@@ -0,0 +1,192 @@
+<?xml version="1.0" ?>
+<sdf version="1.6">
+  <world name="example">
+    <physics name="4ms" type="dart">
+      <max_step_size>0.004</max_step_size>
+      <real_time_factor>1.0</real_time_factor>
+    </physics>
+
+    <scene>
+      <ambient>0.2 0.2 0.2</ambient>
+      <background>0.8 0.8 0.8</background>
+    </scene>
+
+
+    <light type="directional" name="sun">
+      <cast_shadows>true</cast_shadows>
+      <pose>0 0 10 0 0 0</pose>
+      <diffuse>0.8 0.8 0.8 1</diffuse>
+      <specular>0.8 0.8 0.8 1</specular>
+      <attenuation>
+        <range>1</range>
+        <constant>0.9</constant>
+        <linear>1</linear>
+        <quadratic>0.001</quadratic>
+      </attenuation>
+      <direction>0.0 0.0 -1.0</direction>
+    </light>
+
+  <light name="light1" type="point">
+      <pose>0 0 4 0 0 0</pose>
+      <attenuation>
+        <range>1000</range>
+        <linear>0</linear>
+        <constant>0.1</constant>
+        <quadratic>0.005</quadratic>
+      </attenuation>
+      <diffuse>0.8 0.8 0.8 1</diffuse>
+      <specular>0.8 0.8 0.8 1</specular>
+      <spot>
+        <inner_angle>5</inner_angle>
+        <outer_angle>10.1</outer_angle>
+        <falloff>.1</falloff>
+      </spot>
+      <direction>0 0 -1</direction>
+    </light>
+    <light name="light2" type="spot">
+      <pose>0 0 4 0 0 0</pose>
+      <attenuation>
+        <range>1000</range>
+        <linear>0.1</linear>
+        <constant>0.2</constant>
+        <quadratic>0.005</quadratic>
+      </attenuation>
+      <diffuse>0.8 0.8 0.5 1</diffuse>
+      <specular>0.8 0.8 0.5 1</specular>
+      <spot>
+        <inner_angle>5</inner_angle>
+        <outer_angle>10.1</outer_angle>
+        <falloff>.1</falloff>
+      </spot>
+      <direction>0 0 -1</direction>
+    </light>
+    <!-- The staging area -->
+    <include>
+      <static>true</static>
+      <name>staging_area</name>
+      <pose>0 0 0 0 0 0</pose>
+      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/subt_tunnel_staging_area</uri>
+    </include>
+
+    <!-- Barriers -->
+    <include>
+      <name>barrier_0_-1</name>
+      <pose>8.0 -11 0 0 0 0</pose>
+      <uri> https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier </uri>
+    </include>
+  
+    <include>
+      <name>barrier_0_1</name>
+      <pose>8.0 11 0 0 0 0 </pose>
+      <uri> https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier </uri>
+    </include>
+  
+    <include>
+      <name>barrier_1_-1</name>
+      <pose>3.7 -11 0 0 0 0</pose>
+      <uri> https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier </uri>
+    </include>
+  
+    <include>
+      <name>barrier_1_1</name>
+      <pose>3.7 11 0 0 0 0</pose>
+      <uri> https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier </uri>
+    </include>
+  
+    <include>
+      <name>barrier_2_-1</name>
+      <pose>-0.5999999999999996 -11 0 0 0 0</pose>
+      <uri> https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier </uri>
+    </include>
+  
+    <include>
+      <name>barrier_2_1</name>
+      <pose>-0.5999999999999996 11 0 0 0 0</pose>
+      <uri> https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier </uri>
+    </include>
+  
+    <include>
+      <name>barrier_3_-1</name>
+      <pose>-4.899999999999999 -11 0 0 0 0</pose>
+      <uri> https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier </uri>
+    </include>
+  
+    <include>
+      <name>barrier_3_1</name>
+      <pose>-4.899999999999999 11 0 0 0 0</pose>
+      <uri> https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier </uri>
+    </include>
+  
+    <include>
+      <name>barrier_4_-1</name>
+      <pose>-9.2 -11 0 0 0 0</pose>
+      <uri> https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier </uri>
+    </include>
+  
+    <include>
+      <name>barrier_4_1</name>
+      <pose>-9.2 11 0 0 0 0</pose>
+      <uri> https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier </uri>
+    </include>
+  
+    <include>
+      <name>barrier_-9.5_-2</name>
+      <pose>10.5 -8.6 0 0 0 1.5707963267948966</pose>
+      <uri> https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier </uri>
+    </include>
+  
+    <include>
+      <name>barrier_-9.5_2</name>
+      <pose>10.5 8.6 0 0 0 1.5707963267948966</pose>
+      <uri> https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier </uri>
+    </include>
+  
+    <include>
+      <name>barrier_-32_-2</name>
+      <pose>-12 -8.6 0 0 0 1.5707963267948966</pose>
+      <uri> https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier </uri>
+    </include>
+  
+    <include>
+      <name>barrier_-32_-1</name>
+      <pose>-12 -4.3 0 0 0 1.5707963267948966</pose>
+      <uri> https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier </uri>
+    </include>
+  
+    <include>
+      <name>barrier_-32_0</name>
+      <pose>-12 0.0 0 0 0 1.5707963267948966</pose>
+      <uri> https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier </uri>
+    </include>
+  
+    <include>
+      <name>barrier_-32_1</name>
+      <pose>-12 4.3 0 0 0 1.5707963267948966</pose>
+      <uri> https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier </uri>
+    </include>
+
+    <include>
+      <name>barrier_-32_2</name>
+      <pose>-12 8.6 0 0 0 1.5707963267948966</pose>
+      <uri> https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier </uri>
+    </include>
+
+    
+<!--    <include>-->
+<!--      <name>pallet</name>-->
+<!--      <pose>2 0 0.1 0 0 0</pose>-->
+<!--      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Euro pallet</uri>-->
+<!--    </include>-->
+
+    
+    
+
+    <!-- The base station -->
+    <include>
+      <static>true</static>
+      <name>base_station</name>
+      <pose>-8 0 0 0 0 -1.5708</pose>
+      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Base Station</uri>
+    </include>
+  </world>
+</sdf>
diff --git a/submitted_models/cerberus_rmf_sensor_config_1/launch/spawner.rb b/submitted_models/cerberus_rmf_sensor_config_1/launch/spawner.rb
index f36589ca..5c4d9da2 100755
--- a/submitted_models/cerberus_rmf_sensor_config_1/launch/spawner.rb
+++ b/submitted_models/cerberus_rmf_sensor_config_1/launch/spawner.rb
@@ -3,7 +3,7 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
     <spawn name="#{_name}">
       <name>#{_name}</name>
       <allow_renaming>false</allow_renaming>
-      <pose>#{_x} #{_y} #{_z + -0.03} #{_roll} #{_pitch} #{_yaw}</pose>
+      <pose>#{_x} #{_y} #{_z + -0.02} #{_roll} #{_pitch} #{_yaw}</pose>
       <world>#{_worldName}</world>
       <is_performer>true</is_performer>
       <sdf version='1.6'>
diff --git a/submitted_models/coro_crystal_sensor_config_1/CMakeLists.txt b/submitted_models/coro_crystal_sensor_config_1/CMakeLists.txt
new file mode 100644
index 00000000..becf1452
--- /dev/null
+++ b/submitted_models/coro_crystal_sensor_config_1/CMakeLists.txt
@@ -0,0 +1,13 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(coro_crystal_sensor_config_1)
+
+find_package(catkin REQUIRED)
+
+catkin_package()
+
+install(DIRECTORY launch meshes urdf 
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
+
+install(FILES model.sdf model.config
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
+
diff --git a/submitted_models/coro_crystal_sensor_config_1/launch/description.launch b/submitted_models/coro_crystal_sensor_config_1/launch/description.launch
new file mode 100644
index 00000000..b1e0fb1d
--- /dev/null
+++ b/submitted_models/coro_crystal_sensor_config_1/launch/description.launch
@@ -0,0 +1,5 @@
+<?xml version="1.0"?>
+<launch>
+  <arg name="name" doc="Name of Vehicle"/>
+  <param name="$(arg name)/robot_description" command="$(find xacro)/xacro '$(find coro_crystal_sensor_config_1)/urdf/model.xacro' name:=$(arg name)"/>
+</launch>
diff --git a/submitted_models/coro_crystal_sensor_config_1/launch/example.ign b/submitted_models/coro_crystal_sensor_config_1/launch/example.ign
new file mode 100644
index 00000000..183e2b73
--- /dev/null
+++ b/submitted_models/coro_crystal_sensor_config_1/launch/example.ign
@@ -0,0 +1,171 @@
+<?xml version="1.0"?>
+<!-- Usage: ign launch path/to/example.ign robotName:=<X1>
+
+   Parameters:
+    robotName: Name to be assigned to model
+-->
+
+<%
+  require_relative 'spawner'
+
+  # Modify these as needed
+  $enableGroundTruth = true
+  $headless = false
+
+%>
+
+<%
+
+  unless local_variables.include?(:robotName)
+    raise "missing parameters. robotName is a required parameter"
+  end
+
+  # This assumes that this launch file is in a directory below the model
+  modelURI = File.expand_path("../", File.dirname(__FILE__))
+  $worldName = 'example'
+  worldFile = File.join(File.expand_path("../worlds", File.dirname(__FILE__)), "#{$worldName}.sdf")
+
+%>
+
+<ignition version='1.0'>
+  <env>
+    <name>IGN_GAZEBO_SYSTEM_PLUGIN_PATH</name>
+    <value>$LD_LIBRARY_PATH</value>
+  </env>
+
+  <!-- Start ROS first. This is a bit hacky for now. -->
+  <!-- Make sure to source /opt/ros/melodic/setup.bash -->
+  <executable name='ros'>
+    <command>roslaunch subt_ros competition_init.launch world_name:=<%=$worldName%> vehicle_topics:=0 enable_ground_truth:=<%=($enableGroundTruth)?"1":"0"%> robot_names:=<%=robotName%></command>
+  </executable>
+
+  <plugin name="ignition::launch::GazeboServer"
+          filename="libignition-launch-gazebo.so">
+    <world_file><%= worldFile %></world_file>
+    <run>true</run>
+    <levels>false</levels>
+    <record>
+      <enabled>false</enabled>
+    </record>
+
+    <plugin entity_name="<%= $worldName %>"
+            entity_type="world"
+            filename="libignition-gazebo-physics-system.so"
+            name="ignition::gazebo::systems::Physics">
+    </plugin>
+
+    <plugin entity_name="<%= $worldName %>"
+            entity_type="world"
+            filename="libignition-gazebo-sensors-system.so"
+            name="ignition::gazebo::systems::Sensors">
+            <render_engine>ogre2</render_engine>
+    </plugin>
+    <plugin entity_name="<%= $worldName %>"
+            entity_type="world"
+            filename="libignition-gazebo-user-commands-system.so"
+            name="ignition::gazebo::systems::UserCommands">
+    </plugin>
+    <plugin entity_name="<%= $worldName %>"
+            entity_type="world"
+            filename="libignition-gazebo-scene-broadcaster-system.so"
+            name="ignition::gazebo::systems::SceneBroadcaster">
+    </plugin>
+    <plugin entity_name="<%= $worldName %>"
+            entity_type="world"
+            filename="libignition-gazebo-imu-system.so"
+            name="ignition::gazebo::systems::Imu">
+    </plugin>
+
+    <plugin entity_name="<%= $worldName %>"
+            entity_type="world"
+            filename="libignition-gazebo-magnetometer-system.so"
+            name="ignition::gazebo::systems::Magnetometer">
+    </plugin>
+
+    <plugin entity_name="<%= $worldName %>"
+            entity_type="world"
+            filename="libignition-gazebo-air-pressure-system.so"
+            name="ignition::gazebo::systems::AirPressure">
+    </plugin>
+  </plugin>
+
+  <%if !$headless %>
+  <executable_wrapper>
+    <plugin name="ignition::launch::GazeboGui"
+          filename="libignition-launch-gazebogui.so">
+      <world_name><%= $worldName %></world_name>
+      <window_title>SubT Simulator</window_title>
+      <window_icon><%= ENV['SUBT_IMAGES_PATH'] %>/SubT_logo.svg</window_icon>
+      <plugin filename="GzScene3D" name="3D View">
+        <ignition-gui>
+          <title>3D View</title>
+          <property type="bool" key="showTitleBar">false</property>
+          <property type="string" key="state">docked</property>
+        </ignition-gui>
+
+        <engine>ogre2</engine>
+        <scene>scene</scene>
+        <ambient_light>0.2 0.2 0.1</ambient_light>
+        <background_color>0.8 0.8 0.8</background_color>
+        <camera_pose>-6.3 -4.2 3.6 0 0.268 0.304</camera_pose>
+        <service>/world/<%= $worldName %>/scene/info</service>
+        <pose_topic>/world/<%= $worldName %>/pose/info</pose_topic>
+        <scene_topic>/world/<%= $worldName %>/scene/info</scene_topic>
+        <deletion_topic>/world/<%= $worldName %>/scene/deletion</deletion_topic>
+      </plugin>
+      <plugin filename="WorldControl" name="World control">
+        <ignition-gui>
+          <title>World control</title>
+          <property type="bool" key="showTitleBar">false</property>
+          <property type="bool" key="resizable">false</property>
+          <property type="double" key="height">72</property>
+          <property type="double" key="width">121</property>
+          <property type="double" key="z">1</property>
+
+          <property type="string" key="state">floating</property>
+          <anchors target="3D View">
+            <line own="left" target="left"/>
+            <line own="bottom" target="bottom"/>
+          </anchors>
+        </ignition-gui>
+
+        <play_pause>true</play_pause>
+        <step>true</step>
+        <start_paused>true</start_paused>
+        <service>/world/<%= $worldName %>/control</service>
+        <stats_topic>/world/<%= $worldName %>/stats</stats_topic>
+
+      </plugin>
+
+      <plugin filename="WorldStats" name="World stats">
+        <ignition-gui>
+          <title>World stats</title>
+          <property type="bool" key="showTitleBar">false</property>
+          <property type="bool" key="resizable">false</property>
+          <property type="double" key="height">110</property>
+          <property type="double" key="width">290</property>
+          <property type="double" key="z">1</property>
+
+          <property type="string" key="state">floating</property>
+          <anchors target="3D View">
+            <line own="right" target="right"/>
+            <line own="bottom" target="bottom"/>
+          </anchors>
+        </ignition-gui>
+
+        <sim_time>true</sim_time>
+        <real_time>true</real_time>
+        <real_time_factor>true</real_time_factor>
+        <iterations>true</iterations>
+        <topic>/world/<%= $worldName %>/stats</topic>
+      </plugin>
+    </plugin>
+  </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>
+<%= rosExecutables(robotName, $worldName) %>
+ 
+</ignition>
diff --git a/submitted_models/coro_crystal_sensor_config_1/launch/spawner.rb b/submitted_models/coro_crystal_sensor_config_1/launch/spawner.rb
new file mode 100644
index 00000000..d71c2d87
--- /dev/null
+++ b/submitted_models/coro_crystal_sensor_config_1/launch/spawner.rb
@@ -0,0 +1,189 @@
+def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
+  <<-HEREDOC
+  <spawn name='#{_name}'>
+      <name>#{_name}</name>
+      <allow_renaming>false</allow_renaming>
+      <pose>#{_x} #{_y} #{_z + 0.061} #{_roll} #{_pitch} #{_yaw}</pose>
+      <world>#{_worldName}</world>
+      <is_performer>true</is_performer>
+      <sdf version='1.6'>
+      <include>
+      <name>#{_name}</name>
+      <uri>#{_modelURI}</uri>
+      <!-- Publish robot state information -->
+      <plugin filename="libignition-gazebo-pose-publisher-system.so"
+        name="ignition::gazebo::systems::PosePublisher">
+        <publish_link_pose>true</publish_link_pose>
+        <publish_sensor_pose>true</publish_sensor_pose>
+        <publish_collision_pose>false</publish_collision_pose>
+        <publish_visual_pose>false</publish_visual_pose>
+        <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
+        <use_pose_vector_msg>true</use_pose_vector_msg>
+        <static_publisher>true</static_publisher>
+        <static_update_frequency>1</static_update_frequency>
+      </plugin>
+      <plugin filename="libignition-gazebo-multicopter-motor-model-system.so"
+        name="ignition::gazebo::systems::MulticopterMotorModel">
+        <robotNamespace>model/#{_name}</robotNamespace>
+        <jointName>rotor_0_joint</jointName>
+        <linkName>rotor_0</linkName>
+        <turningDirection>ccw</turningDirection>
+        <timeConstantUp>0.0125</timeConstantUp>
+        <timeConstantDown>0.025</timeConstantDown>
+        <maxRotVelocity>972.0</maxRotVelocity>
+        <motorConstant>3.41e-05</motorConstant>
+        <momentConstant>0.016</momentConstant>
+        <commandSubTopic>command/motor_speed</commandSubTopic>
+        <motorNumber>0</motorNumber>
+        <rotorDragCoefficient>8.06428e-05</rotorDragCoefficient>
+        <rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
+        <motorSpeedPubTopic>motor_speed/0</motorSpeedPubTopic>
+        <rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
+        <motorType>velocity</motorType>
+      </plugin>
+      <plugin filename="libignition-gazebo-multicopter-motor-model-system.so"
+        name="ignition::gazebo::systems::MulticopterMotorModel">
+        <robotNamespace>model/#{_name}</robotNamespace>
+        <jointName>rotor_1_joint</jointName>
+        <linkName>rotor_1</linkName>
+        <turningDirection>ccw</turningDirection>
+        <timeConstantUp>0.0125</timeConstantUp>
+        <timeConstantDown>0.025</timeConstantDown>
+        <maxRotVelocity>972.0</maxRotVelocity>
+        <motorConstant>3.41e-05</motorConstant>
+        <momentConstant>0.016</momentConstant>
+        <commandSubTopic>command/motor_speed</commandSubTopic>
+        <motorNumber>1</motorNumber>
+        <rotorDragCoefficient>8.06428e-05</rotorDragCoefficient>
+        <rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
+        <motorSpeedPubTopic>motor_speed/1</motorSpeedPubTopic>
+        <rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
+        <motorType>velocity</motorType>
+      </plugin>
+      <plugin filename="libignition-gazebo-multicopter-motor-model-system.so"
+        name="ignition::gazebo::systems::MulticopterMotorModel">
+        <robotNamespace>model/#{_name}</robotNamespace>
+        <jointName>rotor_2_joint</jointName>
+        <linkName>rotor_2</linkName>
+        <turningDirection>cw</turningDirection>
+        <timeConstantUp>0.0125</timeConstantUp>
+        <timeConstantDown>0.025</timeConstantDown>
+        <maxRotVelocity>972.0</maxRotVelocity>
+        <motorConstant>3.41e-05</motorConstant>
+        <momentConstant>0.016</momentConstant>
+        <commandSubTopic>command/motor_speed</commandSubTopic>
+        <motorNumber>2</motorNumber>
+        <rotorDragCoefficient>8.06428e-05</rotorDragCoefficient>
+        <rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
+        <motorSpeedPubTopic>motor_speed/2</motorSpeedPubTopic>
+        <rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
+        <motorType>velocity</motorType>
+      </plugin>
+      <plugin filename="libignition-gazebo-multicopter-motor-model-system.so"
+        name="ignition::gazebo::systems::MulticopterMotorModel">
+        <robotNamespace>model/#{_name}</robotNamespace>
+        <jointName>rotor_3_joint</jointName>
+        <linkName>rotor_3</linkName>
+        <turningDirection>cw</turningDirection>
+        <timeConstantUp>0.0125</timeConstantUp>
+        <timeConstantDown>0.025</timeConstantDown>
+        <maxRotVelocity>972.0</maxRotVelocity>
+        <motorConstant>3.41e-05</motorConstant>
+        <momentConstant>0.016</momentConstant>
+        <commandSubTopic>command/motor_speed</commandSubTopic>
+        <motorNumber>3</motorNumber>
+        <rotorDragCoefficient>8.06428e-05</rotorDragCoefficient>
+        <rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
+        <motorSpeedPubTopic>motor_speed/3</motorSpeedPubTopic>
+        <rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
+        <motorType>velocity</motorType>
+      </plugin>
+      <!-- MulticopterVelocityControl plugin -->
+      <plugin
+        filename="libignition-gazebo-multicopter-control-system.so"
+        name="ignition::gazebo::systems::MulticopterVelocityControl">
+        <robotNamespace>model/#{_name}</robotNamespace>
+        <commandSubTopic>cmd_vel</commandSubTopic>
+        <motorControlPubTopic>command/motor_speed</motorControlPubTopic>
+        <enableSubTopic>velocity_controller/enable</enableSubTopic>
+        <comLinkName>base_link</comLinkName>
+        <velocityGain>3.2 3.2 2.7</velocityGain>
+        <attitudeGain>2 3 0.2</attitudeGain>
+        <angularRateGain>0.4 0.52 0.2</angularRateGain>
+        <maximumLinearAcceleration>3 3 3</maximumLinearAcceleration>
+        <maximumLinearVelocity>4 4 4</maximumLinearVelocity>
+        <maximumAngularVelocity>3 3 3</maximumAngularVelocity>
+        <linearVelocityNoiseMean>0 0 0.05</linearVelocityNoiseMean>
+        <!-- linearVelocityNoiseStdDev based on error values reported in the paper Shen et. al., -->
+        <!-- Vision-Based State Estimation and Trajectory Control Towards High-Speed Flight with a Quadrotor -->
+        <!-- http://citeseerx.ist.psu.edu/viewdoc/download?doi=10.1.1.490.7958&rep=rep1&type=pdf -->
+        <linearVelocityNoiseStdDev>0.1105 0.1261 0.00947</linearVelocityNoiseStdDev>
+        <angularVelocityNoiseMean>0 0 0</angularVelocityNoiseMean>
+        <!-- angularVelocityNoiseStdDev values based on ADIS16448's Rate Noise Density with a sample  -->
+        <!-- time of 0.004 ms. -->
+        <angularVelocityNoiseStdDev>0.004 0.004 0.004</angularVelocityNoiseStdDev>
+
+        <rotorConfiguration>
+          <rotor>
+            <jointName>rotor_0_joint</jointName>
+            <forceConstant>3.41e-05</forceConstant>
+            <momentConstant>0.016</momentConstant>
+            <direction>1</direction>
+          </rotor>
+          <rotor>
+            <jointName>rotor_1_joint</jointName>
+            <forceConstant>3.41e-05</forceConstant>
+            <momentConstant>0.016</momentConstant>
+            <direction>1</direction>
+          </rotor>
+          <rotor>
+            <jointName>rotor_2_joint</jointName>
+            <forceConstant>3.41e-05</forceConstant>
+            <momentConstant>0.016</momentConstant>
+            <direction>-1</direction>
+          </rotor>
+          <rotor>
+            <jointName>rotor_3_joint</jointName>
+            <forceConstant>3.41e-05</forceConstant>
+            <momentConstant>0.016</momentConstant>
+            <direction>-1</direction>
+          </rotor>
+        </rotorConfiguration>
+      </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>9.0</initial_charge>
+        <capacity>9.0</capacity>
+        <resistance>0.061523</resistance>
+        <smooth_current_tau>1.9499</smooth_current_tau>
+        <power_load>6.6</power_load>
+        <start_on_motion>true</start_on_motion>
+      </plugin>
+      <!-- Gas Sensor plugin -->
+      <plugin filename="libGasEmitterDetectorPlugin.so"
+        name="subt::GasDetector">
+        <topic>/model/#{_name}/gas_detected</topic>
+        <update_rate>10</update_rate>
+        <type>gas</type>
+      </plugin>
+    </include>
+    </sdf>
+  </spawn>
+  HEREDOC
+end
+
+def rosExecutables(_name, _worldName)
+  <<-HEREDOC
+    <executable name='crystal_description'>
+      <command>roslaunch --wait coro_crystal_sensor_config_1 description.launch world_name:=#{_worldName} name:=#{_name}</command>
+    </executable>
+    <executable name='crystal_ros_ign_bridge'>
+      <command>roslaunch --wait coro_crystal_sensor_config_1 vehicle_topics.launch world_name:=#{_worldName} name:=#{_name} uav:=1 laser_scan:=0 top_scan:=0 bottom_scan:=1 rgbd_cam:=1    </command>
+  </executable>
+  HEREDOC
+end
diff --git a/submitted_models/coro_crystal_sensor_config_1/launch/vehicle_topics.launch b/submitted_models/coro_crystal_sensor_config_1/launch/vehicle_topics.launch
new file mode 100644
index 00000000..4910ea7d
--- /dev/null
+++ b/submitted_models/coro_crystal_sensor_config_1/launch/vehicle_topics.launch
@@ -0,0 +1,219 @@
+<?xml version="1.0"?>
+<launch>
+  <env name="IGN_TRANSPORT_TOPIC_STATISTICS" value="1"/>
+  <arg name="world_name"/>
+  <arg name="name"/>
+  <arg name="link_name" value="base_link"/>
+  <arg name="sensor_prefix" value="/world/$(arg world_name)/model/$(arg name)/link/$(arg link_name)/sensor"/>
+  <arg name="uav" default="0"/>
+  <arg name="stereo_cam" default="0"/>
+  <arg name="laser_scan" default="1"/>
+  <arg name="top_scan" default="0"/>
+  <arg name="bottom_scan" default="0"/>
+  <arg name="rgbd_cam" default="0"/>
+  <arg name="lidar_3d" default="0"/>
+  <group ns="$(arg name)">
+    <!--Create multipe bridges so that it can run in parallel-->
+    <node
+      pkg="ros_ign_bridge"
+      type="parameter_bridge"
+      name="ros_ign_bridge_imu"
+      args="$(arg sensor_prefix)/imu_sensor/imu@sensor_msgs/Imu[ignition.msgs.IMU">
+      <remap from="$(arg sensor_prefix)/imu_sensor/imu" to="imu/data"/>
+    </node>
+    <node
+      pkg="ros_ign_bridge"
+      type="parameter_bridge"
+      name="ros_ign_bridge_pose"
+      args="/model/$(arg name)/pose@tf2_msgs/TFMessage[ignition.msgs.Pose_V">
+      <remap from="/model/$(arg name)/pose" to="pose"/>
+    </node>
+    <node
+      pkg="ros_ign_bridge"
+      type="parameter_bridge"
+      name="ros_ign_bridge_pose_static"
+      args="/model/$(arg name)/pose_static@tf2_msgs/TFMessage[ignition.msgs.Pose_V">
+      <remap from="/model/$(arg name)/pose_static" to="pose_static"/>
+    </node>
+    <node
+      pkg="ros_ign_bridge"
+      type="parameter_bridge"
+      name="ros_ign_bridge_twist"
+      args="/model/$(arg name)/cmd_vel@geometry_msgs/Twist]ignition.msgs.Twist">
+      <remap from="/model/$(arg name)/cmd_vel" to="cmd_vel"/>
+    </node>
+    <node
+      pkg="ros_ign_bridge"
+      type="parameter_bridge"
+      name="ros_ign_bridge_velocity_control_enable"
+      args="/model/$(arg name)/velocity_controller/enable@std_msgs/Bool]ignition.msgs.Boolean">
+      <remap from="/model/$(arg name)/velocity_controller/enable" to="velocity_controller/enable"/>
+    </node>
+
+
+    <!-- Front RGBD -->
+    <group ns="rgbd_front">
+      <node
+        pkg="ros_ign_bridge"
+        type="parameter_bridge"
+        name="ros_ign_bridge_camera"
+        args="$(arg sensor_prefix)/rgbd_front/camera_info@sensor_msgs/CameraInfo[ignition.msgs.CameraInfo">
+        <remap from="$(arg sensor_prefix)/rgbd_front/camera_info" to="camera_info"/>
+      </node>
+      <node
+        pkg="ros_ign_image"
+        type="image_bridge"
+        name="ros_ign_image_camera"
+        args="$(arg sensor_prefix)/rgbd_front/image">
+        <remap from="$(arg sensor_prefix)/rgbd_front/image" to="image_raw"/>
+      </node>
+      <node
+        pkg="ros_ign_bridge"
+        type="parameter_bridge"
+        name="ros_ign_bridge_rgbd"
+        args="$(arg sensor_prefix)/rgbd_front/points@sensor_msgs/PointCloud2[ignition.msgs.PointCloudPacked">
+        <remap from="$(arg sensor_prefix)/rgbd_front/points" to="points"/>
+      </node>
+      <node
+        pkg="ros_ign_bridge"
+        type="parameter_bridge"
+        name="ros_ign_bridge_depth_info"
+        args="$(arg sensor_prefix)/rgbd_front/camera_info@sensor_msgs/CameraInfo[ignition.msgs.CameraInfo">
+        <remap from="$(arg sensor_prefix)/rgbd_front/camera_info" to="depth/camera_info"/>
+      </node>
+      <node
+        pkg="ros_ign_image"
+        type="image_bridge"
+        name="ros_ign_image_depth"
+        args="$(arg sensor_prefix)/rgbd_front/depth_image">
+        <remap from="$(arg sensor_prefix)/rgbd_front/depth_image" to="depth/image_raw"/>
+      </node>
+      <node
+        pkg="subt_ros"
+        type="optical_frame_publisher"
+        name="optical_frame_publisher_rgbd_image_front">
+        <remap from="input/image" to="image_raw" />
+        <remap from="output/image" to="optical/image_raw" />
+        <remap from="input/camera_info" to="camera_info" />
+        <remap from="output/camera_info" to="optical/camera_info" />
+      </node>
+      <node
+        pkg="subt_ros"
+        type="optical_frame_publisher"
+        name="optical_frame_publisher_rgbd_depth_front">
+        <remap from="input/image" to="depth/image_raw" />
+        <remap from="output/image" to="optical/depth/image_raw" />
+        <remap from="input/camera_info" to="depth/camera_info" />
+        <remap from="output/camera_info" to="optical/depth/camera_info" />
+      </node>
+      <include file="$(find subt_ros)/launch/models_common/set_rate_relay.launch">
+        <arg name="name" value="ros_ign_bridge_camera_set_rate" />
+        <arg name="ign_service" value="$(arg sensor_prefix)/rgbd_front/set_rate" />
+        <arg name="ros_service" value="set_rate" />
+      </include>
+    </group>
+
+
+    <!-- Left monocular camera -->
+    <node
+      pkg="ros_ign_bridge"
+      type="parameter_bridge"
+      name="ros_ign_bridge_camera_left"
+      args="$(arg sensor_prefix)/camera_left/camera_info@sensor_msgs/CameraInfo[ignition.msgs.CameraInfo">
+      <remap from="$(arg sensor_prefix)/camera_left/camera_info" to="camera_left/camera_info"/>
+    </node>
+    <node
+      pkg="ros_ign_image"
+      type="image_bridge"
+      name="ros_ign_image_camera_left"
+      args="$(arg sensor_prefix)/camera_left/image">
+      <remap from="$(arg sensor_prefix)/camera_left/image" to="camera_left/image_raw"/>
+    </node>
+    <node
+      pkg="subt_ros"
+      type="optical_frame_publisher"
+      name="optical_frame_publisher_left">
+      <remap from="input/image" to="camera_left/image_raw" />
+      <remap from="output/image" to="camera_left/optical/image_raw" />
+      <remap from="input/camera_info" to="camera_left/camera_info" />
+      <remap from="output/camera_info" to="camera_left/optical/camera_info" />
+    </node>
+
+    <!-- Right monocular camera -->
+    <node
+      pkg="ros_ign_bridge"
+      type="parameter_bridge"
+      name="ros_ign_bridge_camera_right"
+      args="$(arg sensor_prefix)/camera_right/camera_info@sensor_msgs/CameraInfo[ignition.msgs.CameraInfo">
+      <remap from="$(arg sensor_prefix)/camera_right/camera_info" to="camera_right/camera_info"/>
+    </node>
+    <node
+      pkg="ros_ign_image"
+      type="image_bridge"
+      name="ros_ign_image_camera_right"
+      args="$(arg sensor_prefix)/camera_right/image">
+      <remap from="$(arg sensor_prefix)/camera_right/image" to="camera_right/image_raw"/>
+    </node>
+    <node
+      pkg="subt_ros"
+      type="optical_frame_publisher"
+      name="optical_frame_publisher_right">
+      <remap from="input/image" to="camera_right/image_raw" />
+      <remap from="output/image" to="camera_right/optical/image_raw" />
+      <remap from="input/camera_info" to="camera_right/camera_info" />
+      <remap from="output/camera_info" to="camera_right/optical/camera_info" />
+    </node>
+
+
+    <!-- bottom scan -->
+    <group if="$(arg bottom_scan)">
+      <node
+        pkg="ros_ign_bridge"
+        type="parameter_bridge"
+        name="ros_ign_bridge_gpu_lidar_bottom"
+        args="$(arg sensor_prefix)/bottom_laser/scan@sensor_msgs/LaserScan[ignition.msgs.LaserScan">
+        <remap from="$(arg sensor_prefix)/bottom_laser/scan" to="bottom_scan"/>
+      </node>
+    </group>
+
+    <!-- UAV -->
+    <group if="$(arg uav)">
+      <node
+        pkg="ros_ign_bridge"
+        type="parameter_bridge"
+        name="ros_ign_bridge_magnetometer"
+        args="$(arg sensor_prefix)/magnetometer/magnetometer@sensor_msgs/MagneticField[ignition.msgs.Magnetometer">
+        <remap from="$(arg sensor_prefix)/magnetometer/magnetometer" to="magnetic_field"/>
+      </node>
+      <node
+        pkg="ros_ign_bridge"
+        type="parameter_bridge"
+        name="ros_ign_bridge_fluid_pressure"
+        args="$(arg sensor_prefix)/air_pressure/air_pressure@sensor_msgs/FluidPressure[ignition.msgs.FluidPressure">
+        <remap from="$(arg sensor_prefix)/air_pressure/air_pressure" to="air_pressure"/>
+      </node>
+    </group>
+
+
+    <node
+      pkg="ros_ign_bridge"
+      type="parameter_bridge"
+      name="ros_ign_bridge_battery_state"
+      args="/model/$(arg name)/battery/linear_battery/state@sensor_msgs/BatteryState[ignition.msgs.BatteryState">
+      <remap from="/model/$(arg name)/battery/linear_battery/state" to="battery_state"/>
+    </node>
+    
+    <node
+      pkg="ros_ign_bridge"
+      type="parameter_bridge"
+      name="ros_ign_bridge_gas"
+      args="/model/$(arg name)/gas_detected@std_msgs/Bool[ignition.msgs.Boolean">
+      <remap from="/model/$(arg name)/gas_detected" to="gas_detected"/>
+    </node>
+    
+    <node
+      pkg="subt_ros"
+      type="pose_tf_broadcaster"
+      name="pose_tf_broadcaster"/>
+  </group>
+</launch>
diff --git a/submitted_models/coro_crystal_sensor_config_1/meshes/propeller_ccw.dae b/submitted_models/coro_crystal_sensor_config_1/meshes/propeller_ccw.dae
new file mode 100644
index 00000000..1f2679e4
--- /dev/null
+++ b/submitted_models/coro_crystal_sensor_config_1/meshes/propeller_ccw.dae
@@ -0,0 +1,63 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+    <asset>
+        <contributor>
+            <author>VCGLab</author>
+            <authoring_tool>VCGLib | MeshLab</authoring_tool>
+        </contributor>
+        <up_axis>Y_UP</up_axis>
+        <created>Fr. Dez 19 16:06:25 2014</created>
+        <modified>Fr. Dez 19 16:06:25 2014</modified>
+    </asset>
+    <library_images/>
+    <library_materials/>
+    <library_effects/>
+    <library_geometries>
+        <geometry id="shape0-lib" name="shape0">
+            <mesh>
+                <source id="shape0-lib-positions" name="position">
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+        </geometry>
+    </library_geometries>
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+                    <bind_material>
+                        <technique_common/>
+                    </bind_material>
+                </instance_geometry>
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+        <instance_visual_scene url="#VisualSceneNode"/>
+    </scene>
+</COLLADA>
diff --git a/submitted_models/coro_crystal_sensor_config_1/meshes/propeller_cw.dae b/submitted_models/coro_crystal_sensor_config_1/meshes/propeller_cw.dae
new file mode 100644
index 00000000..04044f34
--- /dev/null
+++ b/submitted_models/coro_crystal_sensor_config_1/meshes/propeller_cw.dae
@@ -0,0 +1,63 @@
+<?xml version="1.0" encoding="UTF-8"?>
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+            <authoring_tool>VCGLib | MeshLab</authoring_tool>
+        </contributor>
+        <up_axis>Y_UP</up_axis>
+        <created>Fr. Dez 19 16:04:46 2014</created>
+        <modified>Fr. Dez 19 16:04:46 2014</modified>
+    </asset>
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diff --git a/submitted_models/coro_crystal_sensor_config_1/meshes/realsense_d435.dae b/submitted_models/coro_crystal_sensor_config_1/meshes/realsense_d435.dae
new file mode 100644
index 00000000..0fac7a99
--- /dev/null
+++ b/submitted_models/coro_crystal_sensor_config_1/meshes/realsense_d435.dae
@@ -0,0 +1,134 @@
+<?xml version="1.0" encoding="utf-8"?>
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+    </contributor>
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+    <modified>2018-08-15T10:38:07</modified>
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95 19 89 19 93 19 82 19 85 19 84 19 94 20 96 20 79 20 115 21 119 21 118 21 74 86 87 86 90 86 70 87 72 87 83 87 121 88 103 88 131 88 105 89 104 89 12 89 131 90 103 90 105 90 139 91 26 91 25 91 106 92 107 92 14 92 72 93 75 93 84 93 71 94 88 94 87 94 121 95 120 95 102 95 138 96 137 96 28 96 78 97 79 97 96 97 126 98 31 98 30 98 137 99 147 99 21 99 129 100 123 100 20 100 66 101 67 101 85 101 112 102 1 102 0 102 29 103 22 103 143 103 130 104 23 104 29 104 111 105 0 105 3 105 136 106 8 106 7 106 127 107 141 107 15 107 144 108 114 108 98 108 68 109 93 109 88 109 76 110 95 110 94 110 77 111 90 111 89 111 81 112 86 112 95 112 69 113 70 113 97 113 120 114 128 114 101 114 4 49 5 49 13 49 7 49 8 49 10 49 17 49 32 49 30 49 20 49 18 49 25 49 19 49 28 49 27 49 21 49 22 49 29 49 29 49 23 49 21 49 24 49 28 49 21 49 25 49 26 49 20 49 30 49 31 49 17 49 9 49 10 49 8 49 31 49 33 49 17 49 27 49 28 49 24 49 21 49 23 49 24 49 18 49 19 49 25 49 8 49 17 49 9 49 6 49 4 49 11 49 0 49 1 49 16 49 2 49 3 49 0 49 16 49 14 49 0 49 11 49 12 49 6 49 15 49 13 49 5 49 33 49 9 49 17 49 27 49 25 49 19 49 32 49 20 49 30 49 1 49 6 49 12 49 14 49 2 49 0 49 13 49 11 49 4 49 26 49 30 49 20 49 5 49 7 49 15 49 12 49 16 49 1 49 75 115 78 115 91 115 150 116 7 116 5 116 134 117 5 117 4 117 151 118 132 118 11 118 66 119 33 119 31 119 127 120 10 120 68 120 10 119 9 119 68 119 66 121 31 121 126 121 67 122 66 122 126 122 127 123 68 123 71 123 127 124 71 124 74 124 69 125 67 125 126 125 70 126 69 126 126 126 127 127 74 127 77 127 127 128 77 128 80 128 72 129 70 129 126 129 75 130 72 130 126 130 127 131 80 131 81 131 127 132 81 132 76 132 78 133 75 133 126 133 79 134 78 134 126 134 126 135 127 135 73 135 73 136 79 136 126 136 116 19 117 19 104 19 116 55 100 55 108 55 118 55 119 55 108 55 108 55 117 55 116 55 114 20 113 20 118 20 118 20 100 20 99 20 98 137 114 137 118 137 106 49 104 49 117 49 117 138 108 138 109 138 107 139 106 139 117 139 101 20 100 20 116 20 116 20 105 20 103 20 102 20 101 20 116 20 50 140 121 140 55 140 46 20 123 20 47 20 39 20 124 20 125 20 65 20 126 20 35 20 54 141 120 141 50 141 48 20 123 20 129 20 40 20 125 20 130 20 55 142 131 142 56 142 56 20 132 20 58 20 63 20 134 20 133 20 49 20 136 20 59 20 44 20 138 20 45 20 36 20 140 20 37 20 62 20 127 20 65 20 42 20 142 20 143 20 53 20 145 20 144 20 51 20 144 20 146 20 42 143 147 143 43 143 34 20 126 20 148 20 43 144 137 144 44 144 52 145 128 145 54 145 52 146 146 146 149 146 60 20 136 20 150 20 57 20 133 20 145 20 61 20 132 20 151 20 41 20 130 20 142 20 48 20 135 20 49 20 45 20 122 20 46 20 34 147 139 147 36 147 38 20 140 20 124 20 60 20 134 20 64 20 62 20 151 20 141 20 50 20 120 20 121 20 46 20 122 20 123 20 39 158 38 158 124 158 65 20 127 20 126 20 54 20 128 20 120 20 48 20 47 20 123 20 40 159 39 159 125 159 55 20 121 20 131 20 56 20 131 20 132 20 63 20 64 20 134 20 49 20 135 20 136 20 44 20 137 20 138 20 36 20 139 20 140 20 62 20 141 20 127 20 42 160 41 160 142 160 53 20 57 20 145 20 51 161 53 161 144 161 42 162 143 162 147 162 34 20 35 20 126 20 43 20 147 20 137 20 52 20 149 20 128 20 52 163 51 163 146 163 60 20 59 20 136 20 57 20 63 20 133 20 61 20 58 20 132 20 41 164 40 164 130 164 48 20 129 20 135 20 45 20 138 20 122 20 34 20 148 20 139 20 38 20 37 20 140 20 60 20 150 20 134 20 62 165 61 165 151 165</p>
+        </triangles>
+        <triangles material="alu_eloxiert-material" count="30">
+          <input semantic="VERTEX" source="#_62222_00-Moveable_Parts_Realsense_001-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#_62222_00-Moveable_Parts_Realsense_001-mesh-normals" offset="1"/>
+          <p>49 20 59 20 35 20 54 20 50 20 51 20 55 148 56 148 57 148 58 149 61 149 64 149 62 150 65 150 59 150 35 151 34 151 48 151 36 152 37 152 46 152 38 20 39 20 44 20 40 20 41 20 42 20 42 20 43 20 40 20 44 153 45 153 38 153 46 154 47 154 36 154 48 20 49 20 35 20 59 20 60 20 62 20 64 20 63 20 58 20 57 20 53 20 55 20 51 20 52 20 54 20 50 20 55 20 51 20 61 20 62 20 60 20 34 20 36 20 47 20 39 20 40 20 44 20 43 155 44 155 40 155 47 20 48 20 34 20 60 20 64 20 61 20 53 156 51 156 55 156 56 20 58 20 57 20 37 157 38 157 46 157 45 20 46 20 38 20 63 20 57 20 58 20 65 20 35 20 59 20</p>
+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_controllers/>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="_62222_00-Moveable_Parts_Realsense_0012" name="_62222_00-Moveable_Parts_Realsense_0012" type="NODE">
+        <matrix sid="transform">1 0 0 -9.53674e-7 0 1 0 0 0 0 1 1.90735e-6 0 0 0 1</matrix>
+        <instance_geometry url="#_62222_00-Moveable_Parts_Realsense_001-mesh" name="_62222_00-Moveable_Parts_Realsense_0012">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="Material_001-material" target="#Material_001-material"/>
+              <instance_material symbol="alu_eloxiert-material" target="#alu_eloxiert-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
\ No newline at end of file
diff --git a/submitted_models/coro_crystal_sensor_config_1/model.config b/submitted_models/coro_crystal_sensor_config_1/model.config
new file mode 100644
index 00000000..008fc8ac
--- /dev/null
+++ b/submitted_models/coro_crystal_sensor_config_1/model.config
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+
+<model>
+  <name>Coordinated Robotics Crystal Config 1</name>
+  <version>1.0</version>
+  <sdf version="1.6">model.sdf</sdf>
+
+  <author>
+    <name>Kevin Knoedler</name>
+    <email>ak619@lafn.org</email>
+  </author>
+
+  <description>
+    Coordinated Robotics Crystal UAV with sensor configuration #1: D435i, camera, IMU, pressure sensor, floor point sensor.
+  </description>
+</model>
diff --git a/submitted_models/coro_crystal_sensor_config_1/model.sdf b/submitted_models/coro_crystal_sensor_config_1/model.sdf
new file mode 100644
index 00000000..666fdd82
--- /dev/null
+++ b/submitted_models/coro_crystal_sensor_config_1/model.sdf
@@ -0,0 +1,908 @@
+<?xml version="1.0"?>
+<sdf version="1.6">
+  <model name="coro_crystal_sensor_config_1">
+    <pose>0 0 0 0 0 0</pose>
+    <link name="base_link">
+      <pose frame="">0 0 0 0 -0 0</pose>
+      <inertial>
+        <pose frame="">0 0 0.037 0 -0 0</pose>
+        <mass>1.5</mass>
+        <inertia>
+          <ixx>0.0120</ixx>
+          <iyy>0.0089</iyy>
+          <izz>0.0113</izz>
+        </inertia>
+      </inertial>
+      <collision name="base_link_inertia_collision">
+        <pose frame="">0 0 0.037 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.18 0.24 0.196</size>
+          </box>
+        </geometry>
+      </collision>
+      
+      
+      <visual name="body_visual">
+        <pose>0.0 0.0 0.014 0 0 0</pose>
+        <geometry>
+	  <box>
+	    <size>0.15 0.03 0.04</size>
+	  </box>
+        </geometry>
+        <material>
+	  <ambient>0.08 0.08 0.08 1</ambient>
+	  <diffuse>0.08 0.08 0.08 1</diffuse>
+        </material>
+      </visual>
+
+      <visual name="jetson_nano_visual">
+        <pose>-0.02 0.0 -0.016 0 0 0</pose>
+        <geometry>
+	  <box>
+	    <size>0.1 0.1 0.02</size>
+	  </box>
+        </geometry>
+        <material>
+	  <ambient>0.01 0.01 0.01 1</ambient>
+	  <diffuse>0.01 0.01 0.01 1</diffuse>
+        </material>
+      </visual>
+      <visual name="battery_visual">
+        <pose>0.0 0.0 0.06 0 0 0</pose>
+        <geometry>
+	  <box>
+	    <size>0.15 0.03 0.05</size>
+	  </box>
+        </geometry>
+        <material>
+	  <ambient>0.01 0.01 0.8 1</ambient>
+	  <diffuse>0.01 0.01 0.8 1</diffuse>
+        </material>
+      </visual>
+      
+      
+      <visual name="antenna1_visual">
+        <pose>0.03 -0.02 0.085 0 0 0</pose>
+        <geometry>
+	  <cylinder>
+            <length>0.1</length>
+            <radius>0.005</radius>
+	  </cylinder>
+        </geometry>
+      </visual>
+      <visual name="antenna2_visual">
+        <pose>-0.06 -0.02 0.085 0 0 0</pose>
+        <geometry>
+	  <cylinder>
+            <length>0.1</length>
+            <radius>0.005</radius>
+	  </cylinder>
+        </geometry>
+        <material>
+	  <ambient>0.06 0.06 0.06 1</ambient>
+	  <diffuse>0.06 0.06 0.06 1</diffuse>
+        </material>
+      </visual>
+
+
+      <visual name="landing_gear1_visual">
+        <pose>0.09 0.12 -0.033 0 0 0</pose>
+        <geometry>
+	  <cylinder>
+            <length>0.055</length>
+            <radius>0.004</radius>
+	  </cylinder>
+        </geometry>
+        <material>
+	  <ambient>0.06 0.06 0.06 1</ambient>
+	  <diffuse>0.06 0.06 0.06 1</diffuse>
+        </material>
+      </visual>
+      <visual name="landing_gear2_visual">
+        <pose>0.09 -0.12 -0.033 0 0 0</pose>
+        <geometry>
+	  <cylinder>
+            <length>0.055</length>
+            <radius>0.004</radius>
+	  </cylinder>
+        </geometry>
+        <material>
+	  <ambient>0.06 0.06 0.06 1</ambient>
+	  <diffuse>0.06 0.06 0.06 1</diffuse>
+        </material>
+      </visual>
+      <visual name="landing_gear3_visual">
+        <pose>-0.09 0.12 -0.033 0 0 0</pose>
+        <geometry>
+	  <cylinder>
+            <length>0.055</length>
+            <radius>0.004</radius>
+	  </cylinder>
+        </geometry>
+        <material>
+	  <ambient>0.06 0.06 0.06 1</ambient>
+	  <diffuse>0.06 0.06 0.06 1</diffuse>
+        </material>
+      </visual>
+      <visual name="landing_gear4_visual">
+        <pose>-0.09 -0.12 -0.033 0 0 0</pose>
+        <geometry>
+	  <cylinder>
+            <length>0.055</length>
+            <radius>0.004</radius>
+	  </cylinder>
+        </geometry>
+        <material>
+	  <ambient>0.06 0.06 0.06 1</ambient>
+	  <diffuse>0.06 0.06 0.06 1</diffuse>
+        </material>
+      </visual>
+
+
+
+      <visual name="arm1_visual">
+        <pose>0.057 0.067 -0.003 0 0 1</pose>
+        <geometry>
+	  <box>
+	    <size>0.15 0.015 0.006</size>
+	  </box>
+        </geometry>
+        <material>
+	  <ambient>0.06 0.06 0.06 1</ambient>
+	  <diffuse>0.06 0.06 0.06 1</diffuse>
+        </material>
+      </visual>
+      <visual name="arm2_visual">
+        <pose>0.057 -0.067 -0.003 0 0 -1</pose>
+        <geometry>
+	  <box>
+	    <size>0.15 0.015 0.006</size>
+	  </box>
+        </geometry>
+        <material>
+	  <ambient>0.06 0.06 0.06 1</ambient>
+	  <diffuse>0.06 0.06 0.06 1</diffuse>
+        </material>
+      </visual>
+      <visual name="arm3_visual">
+        <pose>-0.057 0.067 -0.003 0 0 -1</pose>
+        <geometry>
+	  <box>
+	    <size>0.15 0.015 0.006</size>
+	  </box>
+        </geometry>
+        <material>
+	  <ambient>0.06 0.06 0.06 1</ambient>
+	  <diffuse>0.06 0.06 0.06 1</diffuse>
+        </material>
+      </visual>
+      <visual name="arm4_visual">
+        <pose>-0.057 -0.067 -0.003 0 0 1</pose>
+        <geometry>
+	  <box>
+	    <size>0.15 0.015 0.006</size>
+	  </box>
+        </geometry>
+        <material>
+	  <ambient>0.06 0.06 0.06 1</ambient>
+	  <diffuse>0.06 0.06 0.06 1</diffuse>
+        </material>
+      </visual>
+
+
+      <visual name="motor1_visual">
+        <pose>0.09 0.12 0.01 0 0 0</pose>
+        <geometry>
+	  <cylinder>
+            <length>0.02</length>
+            <radius>0.015</radius>
+	  </cylinder>
+        </geometry>
+        <material>
+	  <ambient>0.08 0.08 0.08 1</ambient>
+	  <diffuse>0.08 0.08 0.08 1</diffuse>
+        </material>
+      </visual>
+      <visual name="motor2_visual">
+        <pose>-0.09 0.12 0.01 0 0 0</pose>
+        <geometry>
+	  <cylinder>
+            <length>0.02</length>
+            <radius>0.015</radius>
+	  </cylinder>
+        </geometry>
+        <material>
+	  <ambient>0.08 0.08 0.08 1</ambient>
+	  <diffuse>0.08 0.08 0.08 1</diffuse>
+        </material>
+      </visual>
+      <visual name="motor3_visual">
+        <pose>0.09 -0.12 0.01 0 0 0</pose>
+        <geometry>
+	  <cylinder>
+            <length>0.02</length>
+            <radius>0.015</radius>
+	  </cylinder>
+        </geometry>
+        <material>
+	  <ambient>0.08 0.08 0.08 1</ambient>
+	  <diffuse>0.08 0.08 0.08 1</diffuse>
+        </material>
+      </visual>
+      <visual name="motor4_visual">
+        <pose>-0.09 -0.12 0.01 0 0 0</pose>
+        <geometry>
+	  <cylinder>
+            <length>0.02</length>
+            <radius>0.015</radius>
+	  </cylinder>
+        </geometry>
+        <material>
+	  <ambient>0.08 0.08 0.08 1</ambient>
+	  <diffuse>0.08 0.08 0.08 1</diffuse>
+        </material>
+      </visual>
+
+
+      <visual name="lightbar_visual">
+        <pose>0.076 0.0 0.065 0 0 0</pose>
+        <geometry>
+	  <box>
+	    <size>0.001 0.02 0.04</size>
+	  </box>
+        </geometry>
+        <material>
+	  <ambient>0.8 0.8 0.8 1</ambient>
+	  <diffuse>0.8 0.8 0.8 1</diffuse>
+        </material>
+      </visual>
+
+	    
+      <light name="light_source1" type="spot">
+        <pose frame="">0.09 0.01 0.065 -0.01 -1.570796327 0.75</pose>
+        <attenuation>
+          <range>15</range>
+          <linear>0</linear>
+          <constant>0.1</constant>
+          <quadratic>0.01</quadratic>
+        </attenuation>
+        <diffuse>0.8 0.8 0.5 1</diffuse>
+        <specular>0.8 0.8 0.5 1</specular>
+        <spot>
+          <inner_angle>1.5</inner_angle>
+          <outer_angle>2.5</outer_angle>
+          <falloff>1</falloff>
+        </spot>
+        <direction>0 0 -1</direction>
+        <cast_shadows>1</cast_shadows>
+      </light>
+      <light name="light_source2" type="spot">
+        <pose frame="">0.09 -0.01 0.065 -0.01 -1.570796327 -0.750</pose>
+        <attenuation>
+          <range>15</range>
+          <linear>0</linear>
+          <constant>0.1</constant>
+          <quadratic>0.01</quadratic>
+        </attenuation>
+        <diffuse>0.8 0.8 0.5 1</diffuse>
+        <specular>0.8 0.8 0.5 1</specular>
+        <spot>
+          <inner_angle>1.5</inner_angle>
+          <outer_angle>2.5</outer_angle>
+          <falloff>1</falloff>
+        </spot>
+        <direction>0 0 -1</direction>
+        <cast_shadows>1</cast_shadows>
+      </light>
+
+      <sensor name="imu_sensor" type="imu">
+        <always_on>1</always_on>
+        <update_rate>250</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>0.00002</dynamic_bias_stddev>
+                <dynamic_bias_correlation_time>400.0</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>0.00002</dynamic_bias_stddev>
+                <dynamic_bias_correlation_time>400.0</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>0.00002</dynamic_bias_stddev>
+                <dynamic_bias_correlation_time>400.0</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>175.0</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>175.0</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>175.0</dynamic_bias_correlation_time>
+                <precision>0.005</precision>
+              </noise>
+            </z>
+          </linear_acceleration>
+        </imu>
+      </sensor>
+      <sensor name="air_pressure" type="air_pressure">
+        <always_on>1</always_on>
+        <update_rate>20</update_rate>
+        <air_pressure>
+          <reference_altitude>0</reference_altitude>
+          <noise type="gaussian">
+            <mean>0.00000008</mean>
+          </noise>
+        </air_pressure>
+      </sensor>
+      <sensor name="magnetometer" type="magnetometer">
+        <always_on>1</always_on>
+        <update_rate>20</update_rate>
+        <magnetometer>
+          <x>
+            <noise type="gaussian">
+              <mean>0.000000080</mean>
+              <bias_mean>0.000000400</bias_mean>
+            </noise>
+          </x>
+          <y>
+            <noise type="gaussian">
+              <mean>0.000000080</mean>
+              <bias_mean>0.000000400</bias_mean>
+            </noise>
+          </y>
+          <z>
+            <noise type="gaussian">
+              <mean>0.000000080</mean>
+              <bias_mean>0.000000400</bias_mean>
+            </noise>
+          </z>
+        </magnetometer>
+      </sensor>
+
+
+      <visual name="d435_dae_front_visual">
+        <pose>0.075 0 -0.03 0 0 0</pose>
+        <geometry>
+	  <mesh>
+	    <scale>0.001 0.001 0.001</scale>
+	    <uri>meshes/realsense_d435.dae</uri>
+	  </mesh>
+        </geometry>
+      </visual>
+	    
+      <sensor name="rgbd_front" type="rgbd_camera">
+        <pose>0.102 0 -0.018 0 0 0</pose>
+        <always_on>1</always_on>
+        <update_rate>30</update_rate>
+        <camera name="rgbd_front">
+          <horizontal_fov>1.50098</horizontal_fov>
+          <lens>
+            <intrinsics>
+              <!-- fx = fy = width / ( 2 * tan (hfov / 2 ) ) -->
+              <fx>343.159</fx>
+              <fy>343.159</fy>
+              <!-- cx = ( width - 1 ) / 2 -->
+              <cx>319.5</cx>
+              <!-- cy = ( height - 1 ) / 2 -->
+              <cy>179.5</cy>
+              <s>0</s>
+            </intrinsics>
+          </lens>
+          <distortion>
+            <k1>0.0</k1>
+            <k2>0.0</k2>
+            <k3>0.0</k3>
+            <p1>0.0</p1>
+            <p2>0.0</p2>
+            <center>0.5 0.5</center>
+          </distortion>
+          <image>
+            <width>640</width>
+            <height>360</height>
+            <format>R8G8B8</format>
+          </image>
+          <clip>
+            <near>0.01</near>
+            <far>300</far>
+          </clip>
+          <depth_camera>
+            <clip>
+              <near>0.1</near>
+              <far>10</far>
+            </clip>
+          </depth_camera>
+          <noise>
+            <type>gaussian</type>
+            <mean>0</mean>
+            <stddev>0.007</stddev>
+          </noise>
+        </camera>
+      </sensor>
+
+
+      <visual name="camera_left_visual">
+        <pose>0.085 -0.015 0.03 0 0 0.785398163</pose>
+        <geometry>
+          <box>
+            <size>0.01 0.02 0.02</size>
+          </box>
+        </geometry>
+        <material>
+          <ambient>0.0 0.2 0.0 1.0</ambient>
+          <diffuse>0.0 0.2 0.0 1.0</diffuse>
+        </material>
+      </visual>
+      <visual name="camera_lens_left_visual">
+        <pose>0.092 -0.008 0.03 0 1.5707963267948966 0.785398163</pose>
+        <geometry>
+          <cylinder>
+            <length>0.011</length>
+            <radius>0.005</radius>
+          </cylinder>
+        </geometry>
+        <material>
+          <ambient>0.0 0.0 0.0 1.0</ambient>
+          <diffuse>0.0 0.0 0.0 1.0</diffuse>
+        </material>
+      </visual>
+
+      <visual name="camera_right_visual">
+        <pose>0.085 0.015 0.03 0 0 -0.785398163</pose>
+        <geometry>
+          <box>
+            <size>0.01 0.02 0.02</size>
+          </box>
+        </geometry>
+        <material>
+          <ambient>0.0 0.2 0.0 1.0</ambient>
+          <diffuse>0.0 0.2 0.0 1.0</diffuse>
+        </material>
+      </visual>
+      <visual name="camera_lens_right_visual">
+        <pose>0.092 0.008 0.03 0 1.5707963267948966 -0.785398163</pose>
+        <geometry>
+          <cylinder>
+            <length>0.011</length>
+            <radius>0.005</radius>
+          </cylinder>
+        </geometry>
+        <material>
+          <ambient>0.0 0.0 0.0 1.0</ambient>
+          <diffuse>0.0 0.0 0.0 1.0</diffuse>
+        </material>
+      </visual>
+
+
+      <!-- Physical robot has B0247 with LN008 with a 180 deg hor x 130 deg vert FOV
+           Since fisheye cameras are not modeled, two cameras are used in the model -->
+      <sensor name="camera_left" type="camera">
+        <pose>0.098 -0.002 0.03 0 0 0.785398163</pose>
+        <always_on>1</always_on>
+        <update_rate>25</update_rate>
+        <camera name="camera_left">
+          <horizontal_fov>1.658</horizontal_fov>
+          <lens>
+            <intrinsics>
+              <!-- fx = fy = width / ( 2 * tan (hfov / 2 ) ) -->
+              <fx>329.9</fx>
+              <fy>329.9</fy>
+              <!-- cx = ( width - 1 ) / 2 -->
+              <cx>359.5</cx>
+              <!-- cy = ( height - 1 ) / 2 -->
+              <cy>539.5</cy>
+              <s>0</s>
+            </intrinsics>
+          </lens>
+          <distortion>
+            <k1>0.0</k1>
+            <k2>0.0</k2>
+            <k3>0.0</k3>
+            <p1>0.0</p1>
+            <p2>0.0</p2>
+            <center>0.5 0.5</center>
+          </distortion>
+          <image>
+            <width>720</width>
+            <height>1080</height>
+            <format>R8G8B8</format>
+          </image>
+          <clip>
+            <near>0.01</near>
+            <far>300</far>
+          </clip>
+          <noise>
+            <type>gaussian</type>
+            <mean>0</mean>
+            <stddev>0.007</stddev>
+          </noise>
+        </camera>
+      </sensor>
+
+      <sensor name="camera_right" type="camera">
+        <pose>0.098 0.002 0.03 0 0 -0.785398163</pose>
+        <always_on>1</always_on>
+        <update_rate>25</update_rate>
+        <camera name="camera_right">
+          <horizontal_fov>1.658</horizontal_fov>
+          <lens>
+            <intrinsics>
+              <!-- fx = fy = width / ( 2 * tan (hfov / 2 ) ) -->
+              <fx>329.9</fx>
+              <fy>329.9</fy>
+              <!-- cx = ( width - 1 ) / 2 -->
+              <cx>359.5</cx>
+              <!-- cy = ( height - 1 ) / 2 -->
+              <cy>539.5</cy>
+              <s>0</s>
+            </intrinsics>
+          </lens>
+          <distortion>
+            <k1>0.0</k1>
+            <k2>0.0</k2>
+            <k3>0.0</k3>
+            <p1>0.0</p1>
+            <p2>0.0</p2>
+            <center>0.5 0.5</center>
+          </distortion>
+          <image>
+            <width>720</width>
+            <height>1080</height>
+            <format>R8G8B8</format>
+          </image>
+          <clip>
+            <near>0.01</near>
+            <far>300</far>
+          </clip>
+          <noise>
+            <type>gaussian</type>
+            <mean>0</mean>
+            <stddev>0.007</stddev>
+          </noise>
+        </camera>
+      </sensor>
+
+
+      <sensor name="bottom_laser" type="gpu_ray">
+        <pose>-0.065 -0.08 -0.01 0 -1.57 0</pose>
+        <update_rate>50</update_rate>
+        <lidar>
+          <scan>
+            <horizontal>
+              <samples>1</samples>
+              <resolution>1</resolution>
+              <min_angle>3.141592654</min_angle>
+              <max_angle>3.141592654</max_angle>
+            </horizontal>
+          </scan>
+          <range>
+            <min>0.05</min>
+            <max>40</max>
+            <resolution>0.01</resolution>
+          </range>
+          <noise>
+            <type>gaussian</type>
+            <mean>0</mean>
+            <stddev>0.01</stddev>
+          </noise>
+        </lidar>
+      </sensor>
+    </link>
+	  
+    <link name="rotor_0">
+      <pose frame="">0.09 -0.12 0.03 0 -0 0</pose>
+      <inertial>
+        <pose frame="">0 0 0 0 -0 0</pose>
+        <mass>0.008</mass>
+        <inertia>
+          <ixx>1e-07</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>5e-06</iyy>
+          <iyz>0</iyz>
+          <izz>5e-06</izz>
+        </inertia>
+      </inertial>
+      <collision name="rotor_0_collision">
+        <pose frame="">0 0 0 0 -0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.01</length>
+            <radius>0.09</radius>
+          </cylinder>
+        </geometry>
+        <surface>
+          <contact>
+            <ode/>
+          </contact>
+          <friction>
+            <ode/>
+          </friction>
+        </surface>
+      </collision>
+      <visual name="rotor_0_visual">
+        <pose frame="">0 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>0.09 0.09 0.09</scale>
+            <uri>meshes/propeller_ccw.dae</uri>
+          </mesh>
+        </geometry>
+        <material>
+          <diffuse>0.5 0.5 0.5 1</diffuse>
+          <script>
+            <name>Gazebo/Grey</name>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+          </script>
+        </material>
+        <cast_shadows>0</cast_shadows>
+      </visual>
+      <gravity>1</gravity>
+      <velocity_decay/>
+    </link>
+    <joint name="rotor_0_joint" type="revolute">
+      <child>rotor_0</child>
+      <parent>base_link</parent>
+      <axis>
+        <xyz>0 0 1</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="rotor_1">
+      <pose frame="">-0.09 0.12 0.03 0 -0 0</pose>
+      <inertial>
+        <pose frame="">0 0 0 0 -0 0</pose>
+        <mass>0.008</mass>
+        <inertia>
+          <ixx>1e-07</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>5e-06</iyy>
+          <iyz>0</iyz>
+          <izz>5e-06</izz>
+        </inertia>
+      </inertial>
+      <collision name="rotor_1_collision">
+        <pose frame="">0 0 0 0 -0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.01</length>
+            <radius>0.09</radius>
+          </cylinder>
+        </geometry>
+        <surface>
+          <contact>
+            <ode/>
+          </contact>
+          <friction>
+            <ode/>
+          </friction>
+        </surface>
+      </collision>
+      <visual name="rotor_1_visual">
+        <pose frame="">0 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>0.09 0.09 0.09</scale>
+            <uri>meshes/propeller_ccw.dae</uri>
+          </mesh>
+        </geometry>
+        <material>
+          <diffuse>0.5 0.5 0.5 1</diffuse>
+          <script>
+            <name>Gazebo/Grey</name>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+          </script>
+        </material>
+        <cast_shadows>0</cast_shadows>
+      </visual>
+      <gravity>1</gravity>
+      <velocity_decay/>
+    </link>
+    <joint name="rotor_1_joint" type="revolute">
+      <child>rotor_1</child>
+      <parent>base_link</parent>
+      <axis>
+        <xyz>0 0 1</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="rotor_2">
+      <pose frame="">0.09 0.12 0.03 0 -0 0</pose>
+      <inertial>
+        <pose frame="">0 0 0 0 -0 0</pose>
+        <mass>0.008</mass>
+        <inertia>
+          <ixx>1e-07</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>5e-06</iyy>
+          <iyz>0</iyz>
+          <izz>5e-06</izz>
+        </inertia>
+      </inertial>
+      <collision name="rotor_2_collision">
+        <pose frame="">0 0 0 0 -0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.01</length>
+            <radius>0.09</radius>
+          </cylinder>
+        </geometry>
+        <surface>
+          <contact>
+            <ode/>
+          </contact>
+          <friction>
+            <ode/>
+          </friction>
+        </surface>
+      </collision>
+      <visual name="rotor_2_visual">
+        <pose frame="">0 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>0.09 0.09 0.09</scale>
+            <uri>meshes/propeller_cw.dae</uri>
+          </mesh>
+        </geometry>
+        <material>
+          <diffuse>0.5 0.5 0.5 1</diffuse>
+          <script>
+            <name>Gazebo/Grey</name>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+          </script>
+        </material>
+        <cast_shadows>0</cast_shadows>
+      </visual>
+      <gravity>1</gravity>
+      <velocity_decay/>
+    </link>
+    <joint name="rotor_2_joint" type="revolute">
+      <child>rotor_2</child>
+      <parent>base_link</parent>
+      <axis>
+        <xyz>0 0 1</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="rotor_3">
+      <pose frame="">-0.09 -0.12 0.03 0 -0 0</pose>
+      <inertial>
+        <pose frame="">0 0 0 0 -0 0</pose>
+        <mass>0.008</mass>
+        <inertia>
+          <ixx>1e-07</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>5e-06</iyy>
+          <iyz>0</iyz>
+          <izz>5e-06</izz>
+        </inertia>
+      </inertial>
+      <collision name="rotor_3_collision">
+        <pose frame="">0 0 0 0 -0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.01</length>
+            <radius>0.09</radius>
+          </cylinder>
+        </geometry>
+        <surface>
+          <contact>
+            <ode/>
+          </contact>
+          <friction>
+            <ode/>
+          </friction>
+        </surface>
+      </collision>
+      <visual name="rotor_3_visual">
+        <pose frame="">0 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>0.09 0.09 0.09</scale>
+            <uri>meshes/propeller_cw.dae</uri>
+          </mesh>
+        </geometry>
+        <material>
+          <diffuse>0.5 0.5 0.5 1</diffuse>
+          <script>
+            <name>Gazebo/Grey</name>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+          </script>
+        </material>
+        <cast_shadows>0</cast_shadows>
+      </visual>
+      <gravity>1</gravity>
+      <velocity_decay/>
+    </link>
+    <joint name="rotor_3_joint" type="revolute">
+      <child>rotor_3</child>
+      <parent>base_link</parent>
+      <axis>
+        <xyz>0 0 1</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>
+  </model>
+</sdf>
diff --git a/submitted_models/coro_crystal_sensor_config_1/package.xml b/submitted_models/coro_crystal_sensor_config_1/package.xml
new file mode 100644
index 00000000..6e391163
--- /dev/null
+++ b/submitted_models/coro_crystal_sensor_config_1/package.xml
@@ -0,0 +1,18 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>coro_crystal_sensor_config_1</name>
+  <version>0.1.0</version>
+  <description>
+    The coro_crystal_sensor_config_1 is a small quadrotor Coordinated Robotics will be bringing to the finals.
+  </description>
+  <maintainer email="ak619@lafn.org">Kevin Knoedler</maintainer>
+  <author email="ak619@lafn.org">Kevin Knoedler</author>
+
+  <license>BSD</license>
+
+  <buildtool_depend>catkin</buildtool_depend>
+  <buildtool_depend>roslaunch</buildtool_depend>
+  <buildtool_depend>urdf</buildtool_depend>
+  <buildtool_depend>xacro</buildtool_depend>
+
+</package>
diff --git a/submitted_models/coro_crystal_sensor_config_1/specifications.md b/submitted_models/coro_crystal_sensor_config_1/specifications.md
new file mode 100644
index 00000000..69302961
--- /dev/null
+++ b/submitted_models/coro_crystal_sensor_config_1/specifications.md
@@ -0,0 +1,69 @@
+<!--- This is a Markdown description of a robot model submitted for inclusion in the
+DARPA Subterranean Challenge Technology Repository -->
+# Coordinated Robotics - Crystal
+This specifications.md file is a description and proof of virtual model validation for
+Coordinated Robotics Crystal with Sensor Configuration 1. This robot may be launched using
+a `ign launch` command with the variable name `coro_crystal_sensor_config_1`.
+
+## Description
+Crystal is a quadrotor UAV with 3 D435 cameras.  Crystal weighs 1.5KG.
+
+## Usage Instructions
+The robot can be used in the same by sending Twist commands to the vehicle_name/cmd_vel ROS topic.
+
+
+## Usage Rights
+
+
+## Cost and Scale
+Crystal has an estimated duplication cost of USD 935. It weighs 1.5KG.
+Cost breakdown:
+$200 - D435i
+$150 - lights / connectors / DC-DC / propellors / misc
+$130 - LIDAR-Lite v3
+$120 - Jetson Nano
+$100 - motors - https://www.getfpv.com/t-motor-f40-pro-iii-motor.html
+$65  - ESC - https://www.getfpv.com/t-motor-f45a-v2-3-6s-blheli-32-4-in-1-esc.html
+$50  - Wide camera / lens
+$50  - flight controller - https://www.getfpv.com/holybro-kakute-f7-v1-5-flight-controller.html
+$40  - Battery - https://hobbyking.com/en_us/turnigy-battery-4000mah-4s-30c-lipo-pack-xt-60.html
+$30  - frame - https://www.racedayquads.com/collections/rdq-source-one-frames-spare-parts/products/rdq-source-one-v3-7-long-range-frame-6mm-v0-2-arms
+
+
+## Sensors
+Crystal Sensor Config 1 uses:
+* 1 x D435i modeled by rgbd_camera plugin
+* 1 x Arducam B0247 with LN008 - modeled by camera plugin
+* 1 x Kakute F7 - modeled by air_pressure plugin, imu_sensor
+* 1 x SCD30 - modeled by GasEmitterDetector plugin
+* 1 x Garmin LIDAR-Lite v3 modeled by gpu_ray
+* 1 x magnetometer - The real vehicle doesn't have a magnetometer, but is in place to be consistent with all the other drones.
+
+## Control
+Crystal is controlled by by the Twist ROS topic cmd_vel.  Sensors are published on the standard topics.
+
+
+## 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:
+
+Limited to default 4m/s as tests are not completed.
+
+
+The constraints can be found in the following locations within the simulation model package:
+* Velocity and acceleration limits applied to the `MulticopterVelocityControl` plugin in the `spawner.rb` file, lines 113-115
+
+
+## Endurance Characteristics
+Limited to default 10 minutes as tests are not completed.
+
+## Diversions from Physical Hardware of Crystal
+
+
+## Crystal Validation and Specification Links
+* D435i RGBD Camera - https://www.intelrealsense.com/depth-camera-d435i/
+* Kakute F7 - http://www.holybro.com/product/kakute-f7-v1-5/
+* Arducam B0247 - https://www.arducam.com/product/arducam-2mp-ar0230-obisp-mipi-camera-module-for-raspberry-pi-jetson-nano/
+* Arducam LN008 - https://www.arducam.com/product/m25156h14/
+* Garmin LIDAR-Lite v3 - https://buy.garmin.com/en-US/US/p/557294
diff --git a/submitted_models/coro_crystal_sensor_config_1/urdf/model.xacro b/submitted_models/coro_crystal_sensor_config_1/urdf/model.xacro
new file mode 100644
index 00000000..d1415f8c
--- /dev/null
+++ b/submitted_models/coro_crystal_sensor_config_1/urdf/model.xacro
@@ -0,0 +1,301 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name='coro_crystal_sensor_config_1' xmlns:xacro="http://ros.org/wiki/xacro">
+  <xacro:arg name="name" default="Pam"/>
+  <xacro:property name="robot_namespace" value="$(arg name)"/>
+  <link name='${robot_namespace}/base_link'>
+    <inertial>
+      <origin xyz='0 0 0.037' rpy='0 -0 0'/>
+      <mass value='1.5'/>
+      <inertia ixx='0.012' ixy='0' ixz='0' iyy='0.0089' iyz='0' izz='0.0113'/>
+    </inertial>
+    <collision name='base_link_inertia_collision'>
+      <origin xyz='0 0 0.037' rpy='0 -0 0'/>
+      <geometry>
+        <box size='0.18 0.24 0.196'/>
+      </geometry>
+    </collision>
+    <visual name='body_visual'>
+      <origin xyz='0 0 0.014' rpy='0 -0 0'/>
+      <geometry>
+        <box size='0.15 0.03 0.04'/>
+      </geometry>
+    </visual>
+    <visual name='jetson_nano_visual'>
+      <origin xyz='-0.02 0 -0.016' rpy='0 -0 0'/>
+      <geometry>
+        <box size='0.1 0.1 0.02'/>
+      </geometry>
+    </visual>
+    <visual name='battery_visual'>
+      <origin xyz='0 0 0.06' rpy='0 -0 0'/>
+      <geometry>
+        <box size='0.15 0.03 0.05'/>
+      </geometry>
+    </visual>
+    <visual name='antenna1_visual'>
+      <origin xyz='0.03 -0.02 0.085' rpy='0 -0 0'/>
+      <geometry>
+        <cylinder radius='0.005' length='0.1'/>
+      </geometry>
+    </visual>
+    <visual name='antenna2_visual'>
+      <origin xyz='-0.06 -0.02 0.085' rpy='0 -0 0'/>
+      <geometry>
+        <cylinder radius='0.005' length='0.1'/>
+      </geometry>
+    </visual>
+    <visual name='landing_gear1_visual'>
+      <origin xyz='0.09 0.12 -0.033' rpy='0 -0 0'/>
+      <geometry>
+        <cylinder radius='0.004' length='0.055'/>
+      </geometry>
+    </visual>
+    <visual name='landing_gear2_visual'>
+      <origin xyz='0.09 -0.12 -0.033' rpy='0 -0 0'/>
+      <geometry>
+        <cylinder radius='0.004' length='0.055'/>
+      </geometry>
+    </visual>
+    <visual name='landing_gear3_visual'>
+      <origin xyz='-0.09 0.12 -0.033' rpy='0 -0 0'/>
+      <geometry>
+        <cylinder radius='0.004' length='0.055'/>
+      </geometry>
+    </visual>
+    <visual name='landing_gear4_visual'>
+      <origin xyz='-0.09 -0.12 -0.033' rpy='0 -0 0'/>
+      <geometry>
+        <cylinder radius='0.004' length='0.055'/>
+      </geometry>
+    </visual>
+    <visual name='arm1_visual'>
+      <origin xyz='0.057 0.067 -0.003' rpy='0 -0 1'/>
+      <geometry>
+        <box size='0.15 0.015 0.006'/>
+      </geometry>
+    </visual>
+    <visual name='arm2_visual'>
+      <origin xyz='0.057 -0.067 -0.003' rpy='0 0 -1'/>
+      <geometry>
+        <box size='0.15 0.015 0.006'/>
+      </geometry>
+    </visual>
+    <visual name='arm3_visual'>
+      <origin xyz='-0.057 0.067 -0.003' rpy='0 0 -1'/>
+      <geometry>
+        <box size='0.15 0.015 0.006'/>
+      </geometry>
+    </visual>
+    <visual name='arm4_visual'>
+      <origin xyz='-0.057 -0.067 -0.003' rpy='0 -0 1'/>
+      <geometry>
+        <box size='0.15 0.015 0.006'/>
+      </geometry>
+    </visual>
+    <visual name='motor1_visual'>
+      <origin xyz='0.09 0.12 0.01' rpy='0 -0 0'/>
+      <geometry>
+        <cylinder radius='0.015' length='0.02'/>
+      </geometry>
+    </visual>
+    <visual name='motor2_visual'>
+      <origin xyz='-0.09 0.12 0.01' rpy='0 -0 0'/>
+      <geometry>
+        <cylinder radius='0.015' length='0.02'/>
+      </geometry>
+    </visual>
+    <visual name='motor3_visual'>
+      <origin xyz='0.09 -0.12 0.01' rpy='0 -0 0'/>
+      <geometry>
+        <cylinder radius='0.015' length='0.02'/>
+      </geometry>
+    </visual>
+    <visual name='motor4_visual'>
+      <origin xyz='-0.09 -0.12 0.01' rpy='0 -0 0'/>
+      <geometry>
+        <cylinder radius='0.015' length='0.02'/>
+      </geometry>
+    </visual>
+    <visual name='lightbar_visual'>
+      <origin xyz='0.076 0 0.065' rpy='0 -0 0'/>
+      <geometry>
+        <box size='0.001 0.02 0.04'/>
+      </geometry>
+    </visual>
+    <visual name='d435_dae_front_visual'>
+      <origin xyz='0.075 0 -0.03' rpy='0 -0 0'/>
+      <geometry>
+        <mesh filename='package://coro_crystal_sensor_config_1/meshes/realsense_d435.dae' scale='0.001 0.001 0.001'/>
+      </geometry>
+    </visual>
+    <visual name='camera_left_visual'>
+      <origin xyz='0.085 -0.015 0.03' rpy='0 -0 0.785398'/>
+      <geometry>
+        <box size='0.01 0.02 0.02'/>
+      </geometry>
+    </visual>
+    <visual name='camera_lens_left_visual'>
+      <origin xyz='0.092 -0.008 0.03' rpy='-0.785398 1.5708 0'/>
+      <geometry>
+        <cylinder radius='0.005' length='0.011'/>
+      </geometry>
+    </visual>
+    <visual name='camera_right_visual'>
+      <origin xyz='0.085 0.015 0.03' rpy='0 0 -0.785398'/>
+      <geometry>
+        <box size='0.01 0.02 0.02'/>
+      </geometry>
+    </visual>
+    <visual name='camera_lens_right_visual'>
+      <origin xyz='0.092 0.008 0.03' rpy='0.785398 1.5708 0'/>
+      <geometry>
+        <cylinder radius='0.005' length='0.011'/>
+      </geometry>
+    </visual>
+  </link>
+  <sensor name='imu_sensor' update_rate='250'>
+    <parent link='${robot_namespace}/base_link'/>
+    <origin xyz='0 0 0' rpy='0 -0 0'/>
+  </sensor>
+  <sensor name='air_pressure' update_rate='20'>
+    <parent link='${robot_namespace}/base_link'/>
+    <origin xyz='0 0 0' rpy='0 -0 0'/>
+  </sensor>
+  <sensor name='magnetometer' update_rate='20'>
+    <parent link='${robot_namespace}/base_link'/>
+    <origin xyz='0 0 0' rpy='0 -0 0'/>
+  </sensor>
+  <sensor name='rgbd_front' update_rate='30'>
+    <parent link='${robot_namespace}/base_link'/>
+    <origin xyz='0.102 0 -0.018' rpy='0 -0 0'/>
+    <camera>
+      <image width='640' height='360' format='R8G8B8' hfov='1.50098' near='0.01' far='300' />
+    </camera>
+  </sensor>
+  <sensor name='camera_left' update_rate='25'>
+    <parent link='${robot_namespace}/base_link'/>
+    <origin xyz='0.098 -0.002 0.03' rpy='0 -0 0.785398'/>
+    <camera>
+      <image width='720' height='1080' format='R8G8B8' hfov='1.658' near='0.01' far='300' />
+    </camera>
+  </sensor>
+  <sensor name='camera_right' update_rate='25'>
+    <parent link='${robot_namespace}/base_link'/>
+    <origin xyz='0.098 0.002 0.03' rpy='0 0 -0.785398'/>
+    <camera>
+      <image width='720' height='1080' format='R8G8B8' hfov='1.658' near='0.01' far='300' />
+    </camera>
+  </sensor>
+  <sensor name='bottom_laser' update_rate='50'>
+    <parent link='${robot_namespace}/base_link'/>
+    <origin xyz='0 0 -0.14' rpy='0 -1.57 0'/>
+  </sensor>
+  <link name='${robot_namespace}/rotor_0'>
+    <inertial>
+      <origin xyz='0 0 0' rpy='0 -0 0'/>
+      <mass value='0.008'/>
+      <inertia ixx='1e-07' ixy='0' ixz='0' iyy='5e-06' iyz='0' izz='5e-06'/>
+    </inertial>
+    <collision name='rotor_0_collision'>
+      <origin xyz='0 0 0' rpy='0 -0 0'/>
+      <geometry>
+        <cylinder radius='0.09' length='0.01'/>
+      </geometry>
+    </collision>
+    <visual name='rotor_0_visual'>
+      <origin xyz='0 0 0' rpy='0 -0 0'/>
+      <geometry>
+        <mesh filename='package://coro_crystal_sensor_config_1/meshes/propeller_ccw.dae' scale='0.09 0.09 0.09'/>
+      </geometry>
+    </visual>
+  </link>
+  <link name='${robot_namespace}/rotor_1'>
+    <inertial>
+      <origin xyz='0 0 0' rpy='0 -0 0'/>
+      <mass value='0.008'/>
+      <inertia ixx='1e-07' ixy='0' ixz='0' iyy='5e-06' iyz='0' izz='5e-06'/>
+    </inertial>
+    <collision name='rotor_1_collision'>
+      <origin xyz='0 0 0' rpy='0 -0 0'/>
+      <geometry>
+        <cylinder radius='0.09' length='0.01'/>
+      </geometry>
+    </collision>
+    <visual name='rotor_1_visual'>
+      <origin xyz='0 0 0' rpy='0 -0 0'/>
+      <geometry>
+        <mesh filename='package://coro_crystal_sensor_config_1/meshes/propeller_ccw.dae' scale='0.09 0.09 0.09'/>
+      </geometry>
+    </visual>
+  </link>
+  <link name='${robot_namespace}/rotor_2'>
+    <inertial>
+      <origin xyz='0 0 0' rpy='0 -0 0'/>
+      <mass value='0.008'/>
+      <inertia ixx='1e-07' ixy='0' ixz='0' iyy='5e-06' iyz='0' izz='5e-06'/>
+    </inertial>
+    <collision name='rotor_2_collision'>
+      <origin xyz='0 0 0' rpy='0 -0 0'/>
+      <geometry>
+        <cylinder radius='0.09' length='0.01'/>
+      </geometry>
+    </collision>
+    <visual name='rotor_2_visual'>
+      <origin xyz='0 0 0' rpy='0 -0 0'/>
+      <geometry>
+        <mesh filename='package://coro_crystal_sensor_config_1/meshes/propeller_cw.dae' scale='0.09 0.09 0.09'/>
+      </geometry>
+    </visual>
+  </link>
+  <link name='${robot_namespace}/rotor_3'>
+    <inertial>
+      <origin xyz='0 0 0' rpy='0 -0 0'/>
+      <mass value='0.008'/>
+      <inertia ixx='1e-07' ixy='0' ixz='0' iyy='5e-06' iyz='0' izz='5e-06'/>
+    </inertial>
+    <collision name='rotor_3_collision'>
+      <origin xyz='0 0 0' rpy='0 -0 0'/>
+      <geometry>
+        <cylinder radius='0.09' length='0.01'/>
+      </geometry>
+    </collision>
+    <visual name='rotor_3_visual'>
+      <origin xyz='0 0 0' rpy='0 -0 0'/>
+      <geometry>
+        <mesh filename='package://coro_crystal_sensor_config_1/meshes/propeller_cw.dae' scale='0.09 0.09 0.09'/>
+      </geometry>
+    </visual>
+  </link>
+  <joint name='rotor_0_joint' type='revolute'>
+    <origin xyz='0.09 -0.12 0.03' rpy='0 -0 0'/>
+    <parent link='${robot_namespace}/base_link'/>
+    <child link='${robot_namespace}/rotor_0'/>
+    <dynamics damping='0' friction='0' />
+    <axis xyz='0 0 1'/>
+    <limit lower='-1e+16' upper='1e+16' effort='-1' velocity='-1'/>
+  </joint>
+  <joint name='rotor_1_joint' type='revolute'>
+    <origin xyz='-0.09 0.12 0.03' rpy='0 -0 0'/>
+    <parent link='${robot_namespace}/base_link'/>
+    <child link='${robot_namespace}/rotor_1'/>
+    <dynamics damping='0' friction='0' />
+    <axis xyz='0 0 1'/>
+    <limit lower='-1e+16' upper='1e+16' effort='-1' velocity='-1'/>
+  </joint>
+  <joint name='rotor_2_joint' type='revolute'>
+    <origin xyz='0.09 0.12 0.03' rpy='0 -0 0'/>
+    <parent link='${robot_namespace}/base_link'/>
+    <child link='${robot_namespace}/rotor_2'/>
+    <dynamics damping='0' friction='0' />
+    <axis xyz='0 0 1'/>
+    <limit lower='-1e+16' upper='1e+16' effort='-1' velocity='-1'/>
+  </joint>
+  <joint name='rotor_3_joint' type='revolute'>
+    <origin xyz='-0.09 -0.12 0.03' rpy='0 -0 0'/>
+    <parent link='${robot_namespace}/base_link'/>
+    <child link='${robot_namespace}/rotor_3'/>
+    <dynamics damping='0' friction='0' />
+    <axis xyz='0 0 1'/>
+    <limit lower='-1e+16' upper='1e+16' effort='-1' velocity='-1'/>
+  </joint>
+</robot>
diff --git a/submitted_models/coro_crystal_sensor_config_1/worlds/example.sdf b/submitted_models/coro_crystal_sensor_config_1/worlds/example.sdf
new file mode 100644
index 00000000..73451cc9
--- /dev/null
+++ b/submitted_models/coro_crystal_sensor_config_1/worlds/example.sdf
@@ -0,0 +1,183 @@
+<?xml version="1.0" ?>
+<sdf version="1.6">
+  <world name="example">
+    <physics name="4ms" type="dart">
+      <max_step_size>0.004</max_step_size>
+      <real_time_factor>1.0</real_time_factor>
+    </physics>
+
+    <scene>
+      <ambient>0.2 0.2 0.2</ambient>
+      <background>0.8 0.8 0.8</background>
+    </scene>
+
+
+    <light type="directional" name="sun">
+      <cast_shadows>true</cast_shadows>
+      <pose>0 0 10 0 0 0</pose>
+      <diffuse>0.8 0.8 0.8 1</diffuse>
+      <specular>0.8 0.8 0.8 1</specular>
+      <attenuation>
+        <range>1</range>
+        <constant>0.9</constant>
+        <linear>1</linear>
+        <quadratic>0.001</quadratic>
+      </attenuation>
+      <direction>0.0 0.0 -1.0</direction>
+    </light>
+
+  <light name="light1" type="point">
+      <pose>0 0 4 0 0 0</pose>
+      <attenuation>
+        <range>1000</range>
+        <linear>0</linear>
+        <constant>0.1</constant>
+        <quadratic>0.005</quadratic>
+      </attenuation>
+      <diffuse>0.8 0.8 0.8 1</diffuse>
+      <specular>0.8 0.8 0.8 1</specular>
+      <spot>
+        <inner_angle>5</inner_angle>
+        <outer_angle>10.1</outer_angle>
+        <falloff>.1</falloff>
+      </spot>
+      <direction>0 0 -1</direction>
+    </light>
+    <light name="light2" type="spot">
+      <pose>0 0 4 0 0 0</pose>
+      <attenuation>
+        <range>1000</range>
+        <linear>0.1</linear>
+        <constant>0.2</constant>
+        <quadratic>0.005</quadratic>
+      </attenuation>
+      <diffuse>0.8 0.8 0.5 1</diffuse>
+      <specular>0.8 0.8 0.5 1</specular>
+      <spot>
+        <inner_angle>5</inner_angle>
+        <outer_angle>10.1</outer_angle>
+        <falloff>.1</falloff>
+      </spot>
+      <direction>0 0 -1</direction>
+    </light>
+    <!-- The staging area -->
+    <include>
+      <static>true</static>
+      <name>staging_area</name>
+      <pose>0 0 0 0 0 0</pose>
+      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/subt_tunnel_staging_area</uri>
+    </include>
+
+    <!-- Barriers -->
+    <include>
+      <name>barrier_0_-1</name>
+      <pose>8.0 -11 0 0 0 0</pose>
+      <uri> https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Jersey Barrier </uri>
+    </include>
+  
+    <include>
+      <name>barrier_0_1</name>
+      <pose>8.0 11 0 0 0 0 </pose>
+      <uri> https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Jersey Barrier </uri>
+    </include>
+  
+    <include>
+      <name>barrier_1_-1</name>
+      <pose>3.7 -11 0 0 0 0</pose>
+      <uri> https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Jersey Barrier </uri>
+    </include>
+  
+    <include>
+      <name>barrier_1_1</name>
+      <pose>3.7 11 0 0 0 0</pose>
+      <uri> https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Jersey Barrier </uri>
+    </include>
+  
+    <include>
+      <name>barrier_2_-1</name>
+      <pose>-0.5999999999999996 -11 0 0 0 0</pose>
+      <uri> https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Jersey Barrier </uri>
+    </include>
+  
+    <include>
+      <name>barrier_2_1</name>
+      <pose>-0.5999999999999996 11 0 0 0 0</pose>
+      <uri> https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Jersey Barrier </uri>
+    </include>
+  
+    <include>
+      <name>barrier_3_-1</name>
+      <pose>-4.899999999999999 -11 0 0 0 0</pose>
+      <uri> https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Jersey Barrier </uri>
+    </include>
+  
+    <include>
+      <name>barrier_3_1</name>
+      <pose>-4.899999999999999 11 0 0 0 0</pose>
+      <uri> https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Jersey Barrier </uri>
+    </include>
+  
+    <include>
+      <name>barrier_4_-1</name>
+      <pose>-9.2 -11 0 0 0 0</pose>
+      <uri> https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Jersey Barrier </uri>
+    </include>
+  
+    <include>
+      <name>barrier_4_1</name>
+      <pose>-9.2 11 0 0 0 0</pose>
+      <uri> https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Jersey Barrier </uri>
+    </include>
+  
+    <include>
+      <name>barrier_-9.5_-2</name>
+      <pose>10.5 -8.6 0 0 0 1.5707963267948966</pose>
+      <uri> https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Jersey Barrier </uri>
+    </include>
+  
+    <include>
+      <name>barrier_-9.5_2</name>
+      <pose>10.5 8.6 0 0 0 1.5707963267948966</pose>
+      <uri> https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Jersey Barrier </uri>
+    </include>
+  
+    <include>
+      <name>barrier_-32_-2</name>
+      <pose>-12 -8.6 0 0 0 1.5707963267948966</pose>
+      <uri> https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Jersey Barrier </uri>
+    </include>
+  
+    <include>
+      <name>barrier_-32_-1</name>
+      <pose>-12 -4.3 0 0 0 1.5707963267948966</pose>
+      <uri> https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Jersey Barrier </uri>
+    </include>
+  
+    <include>
+      <name>barrier_-32_0</name>
+      <pose>-12 0.0 0 0 0 1.5707963267948966</pose>
+      <uri> https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Jersey Barrier </uri>
+    </include>
+  
+    <include>
+      <name>barrier_-32_1</name>
+      <pose>-12 4.3 0 0 0 1.5707963267948966</pose>
+      <uri> https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Jersey Barrier </uri>
+    </include>
+
+    <include>
+      <name>barrier_-32_2</name>
+      <pose>-12 8.6 0 0 0 1.5707963267948966</pose>
+      <uri> https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Jersey Barrier </uri>
+    </include>
+
+
+    <!-- The base station -->
+    <include>
+      <static>true</static>
+      <name>base_station</name>
+      <pose>-8 0 0 0 0 -1.5708</pose>
+      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Base Station</uri>
+    </include>
+  </world>
+</sdf>
diff --git a/submitted_models/coro_karen_sensor_config_1/model.sdf b/submitted_models/coro_karen_sensor_config_1/model.sdf
index 68004b03..c0bfb9a7 100644
--- a/submitted_models/coro_karen_sensor_config_1/model.sdf
+++ b/submitted_models/coro_karen_sensor_config_1/model.sdf
@@ -14,21 +14,19 @@
           <izz>9.733</izz>
         </inertia>
       </inertial>
-
-      <collision name="chassis_collision">
-        <pose>0 0 0.25 0 0 0</pose>
+      <collision name="tower_collision">
+        <pose>0.37 0 0.45625 0 0 0</pose>
         <geometry>
           <box>
-            <size>1.1 0.7 0.4</size>
+            <size>0.2 0.2 0.4125</size>
           </box>
         </geometry>
       </collision>
-
-      <collision name="tower_collision">
-        <pose>0.13 0 0.27 0 0 0</pose>
+      <collision name="chassis_main_collision">
+        <pose>0 0 0.15 0 0 0</pose>
         <geometry>
           <box>
-            <size>0.2 0.2 0.34</size>
+            <size>1.0 0.45 0.2</size>
           </box>
         </geometry>
       </collision>
@@ -47,6 +45,15 @@
           <diffuse>0.9411764705882353 0.9411764705882353 0.9411764705882353 1</diffuse>
         </material>
       </visual>
+      <collision name="front_side_collision">
+        <pose>0.5 0 0.3 1.5707 0 0</pose>
+        <geometry>
+          <cylinder>
+            <radius>0.07</radius>
+            <length>0.55</length>
+          </cylinder>
+        </geometry>
+      </collision>
 
       <visual name="front_side">
         <pose>0.5 0 0.3 1.5707 0 0</pose>
@@ -61,7 +68,15 @@
           <diffuse>0.39215686274509803 0.39215686274509803 0.9215686274509803 1</diffuse>
         </material>
       </visual>
-
+      <collision name="back_side_collision">
+        <pose>-0.5 0 0.3 1.5707 0 0</pose>
+        <geometry>
+          <cylinder>
+            <radius>0.07</radius>
+            <length>0.55</length>
+          </cylinder>
+        </geometry>
+      </collision>
       <visual name="back_side">
         <pose>-0.5 0 0.3 1.5707 0 0</pose>
         <geometry>
@@ -75,7 +90,15 @@
           <diffuse>0.39215686274509803 0.39215686274509803 0.9215686274509803 1</diffuse>
         </material>
       </visual>
-
+      <collision name="left_side_collision">
+        <pose>0 0.25 0.3 0 1.5707 0</pose>
+        <geometry>
+          <cylinder>
+            <radius>0.07</radius>
+            <length>1.0</length>
+          </cylinder>
+        </geometry>
+      </collision>
       <visual name="left_side">
         <pose>0 0.25 0.3 0 1.5707 0</pose>
         <geometry>
@@ -89,7 +112,15 @@
           <diffuse>0.39215686274509803 0.39215686274509803 0.9215686274509803 1</diffuse>
         </material>
       </visual>
-
+      <collision name="right_side_collision">
+        <pose>0 -0.25 0.3 0 1.5707 0</pose>
+        <geometry>
+          <cylinder>
+            <radius>0.07</radius>
+            <length>1.0</length>
+          </cylinder>
+        </geometry>
+      </collision>
       <visual name="right_side">
         <pose>0 -0.25 0.3 0 1.5707 0</pose>
         <geometry>
@@ -103,8 +134,15 @@
           <diffuse>0.39215686274509803 0.39215686274509803 0.9215686274509803 1</diffuse>
         </material>
       </visual>
-
-
+      <collision name="differential_collision">
+        <pose>-0.5 0 0.0 1.5707 0 0</pose>
+        <geometry>
+          <cylinder>
+            <radius>0.06</radius>
+            <length>0.44</length>
+          </cylinder>
+        </geometry>
+      </collision>
       <visual name="differential_visual">
         <pose>-0.5 0 0.0 1.5707 0 0</pose>
         <geometry>
@@ -880,7 +918,14 @@
         <direction>0 -1 0</direction>
         <cast_shadows>1</cast_shadows>
       </light>
-
+      <collision name="light_front_left_collision">
+        <pose>0.44 0.23 0.41 0 0 0.75</pose>
+        <geometry>
+          <box>
+            <size>0.01 0.12 0.08</size>
+          </box>
+        </geometry>
+      </collision>
       <visual name="light_front_left_visual">
         <pose>0.44 0.23 0.41 0 0 0.75</pose>
         <geometry>
@@ -893,6 +938,14 @@
           <diffuse>1.0 1.0 1.0 1.0</diffuse>
         </material>
       </visual>
+      <collision name="light_front_right_collision">
+        <pose>0.44 -0.23 0.41 0 0 -0.75</pose>
+        <geometry>
+          <box>
+            <size>0.01 0.12 0.08</size>
+          </box>
+        </geometry>
+      </collision>
       <visual name="light_front_right_visual">
         <pose>0.44 -0.23 0.41 0 0 -0.75</pose>
         <geometry>
@@ -905,6 +958,14 @@
           <diffuse>1.0 1.0 1.0 1.0</diffuse>
         </material>
       </visual>
+      <collision name="light_rear_left_collision">
+        <pose>-0.3 0.25 0.41 0 0 -0.75</pose>
+        <geometry>
+          <box>
+            <size>0.01 0.12 0.08</size>
+          </box>
+        </geometry>
+      </collision>
       <visual name="light_rear_left_visual">
         <pose>-0.3 0.25 0.41 0 0 -0.75</pose>
         <geometry>
@@ -917,6 +978,14 @@
           <diffuse>1.0 1.0 1.0 1.0</diffuse>
         </material>
       </visual>
+      <collision name="light_rear_right_collision">
+        <pose>-0.3 -0.25 0.41 0 0 0.75</pose>
+        <geometry>
+          <box>
+            <size>0.01 0.12 0.08</size>
+          </box>
+        </geometry>
+      </collision>
       <visual name="light_rear_right_visual">
         <pose>-0.3 -0.25 0.41 0 0 0.75</pose>
         <geometry>
diff --git a/submitted_models/coro_mike_sensor_config_1/CMakeLists.txt b/submitted_models/coro_mike_sensor_config_1/CMakeLists.txt
new file mode 100644
index 00000000..caed97ab
--- /dev/null
+++ b/submitted_models/coro_mike_sensor_config_1/CMakeLists.txt
@@ -0,0 +1,13 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(coro_mike_sensor_config_1)
+
+find_package(catkin REQUIRED)
+
+catkin_package()
+
+install(DIRECTORY launch meshes urdf
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
+
+install(FILES model.sdf model.config
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
+
diff --git a/submitted_models/coro_mike_sensor_config_1/launch/description.launch b/submitted_models/coro_mike_sensor_config_1/launch/description.launch
new file mode 100644
index 00000000..ac6debda
--- /dev/null
+++ b/submitted_models/coro_mike_sensor_config_1/launch/description.launch
@@ -0,0 +1,5 @@
+<?xml version="1.0"?>
+<launch>
+  <arg name="name" doc="Name of Vehicle"/>
+  <param name="$(arg name)/robot_description" command="$(find xacro)/xacro '$(find coro_mike_sensor_config_1)/urdf/model.xacro' name:=$(arg name)"/>
+</launch>
diff --git a/submitted_models/coro_mike_sensor_config_1/launch/example.ign b/submitted_models/coro_mike_sensor_config_1/launch/example.ign
new file mode 100644
index 00000000..183e2b73
--- /dev/null
+++ b/submitted_models/coro_mike_sensor_config_1/launch/example.ign
@@ -0,0 +1,171 @@
+<?xml version="1.0"?>
+<!-- Usage: ign launch path/to/example.ign robotName:=<X1>
+
+   Parameters:
+    robotName: Name to be assigned to model
+-->
+
+<%
+  require_relative 'spawner'
+
+  # Modify these as needed
+  $enableGroundTruth = true
+  $headless = false
+
+%>
+
+<%
+
+  unless local_variables.include?(:robotName)
+    raise "missing parameters. robotName is a required parameter"
+  end
+
+  # This assumes that this launch file is in a directory below the model
+  modelURI = File.expand_path("../", File.dirname(__FILE__))
+  $worldName = 'example'
+  worldFile = File.join(File.expand_path("../worlds", File.dirname(__FILE__)), "#{$worldName}.sdf")
+
+%>
+
+<ignition version='1.0'>
+  <env>
+    <name>IGN_GAZEBO_SYSTEM_PLUGIN_PATH</name>
+    <value>$LD_LIBRARY_PATH</value>
+  </env>
+
+  <!-- Start ROS first. This is a bit hacky for now. -->
+  <!-- Make sure to source /opt/ros/melodic/setup.bash -->
+  <executable name='ros'>
+    <command>roslaunch subt_ros competition_init.launch world_name:=<%=$worldName%> vehicle_topics:=0 enable_ground_truth:=<%=($enableGroundTruth)?"1":"0"%> robot_names:=<%=robotName%></command>
+  </executable>
+
+  <plugin name="ignition::launch::GazeboServer"
+          filename="libignition-launch-gazebo.so">
+    <world_file><%= worldFile %></world_file>
+    <run>true</run>
+    <levels>false</levels>
+    <record>
+      <enabled>false</enabled>
+    </record>
+
+    <plugin entity_name="<%= $worldName %>"
+            entity_type="world"
+            filename="libignition-gazebo-physics-system.so"
+            name="ignition::gazebo::systems::Physics">
+    </plugin>
+
+    <plugin entity_name="<%= $worldName %>"
+            entity_type="world"
+            filename="libignition-gazebo-sensors-system.so"
+            name="ignition::gazebo::systems::Sensors">
+            <render_engine>ogre2</render_engine>
+    </plugin>
+    <plugin entity_name="<%= $worldName %>"
+            entity_type="world"
+            filename="libignition-gazebo-user-commands-system.so"
+            name="ignition::gazebo::systems::UserCommands">
+    </plugin>
+    <plugin entity_name="<%= $worldName %>"
+            entity_type="world"
+            filename="libignition-gazebo-scene-broadcaster-system.so"
+            name="ignition::gazebo::systems::SceneBroadcaster">
+    </plugin>
+    <plugin entity_name="<%= $worldName %>"
+            entity_type="world"
+            filename="libignition-gazebo-imu-system.so"
+            name="ignition::gazebo::systems::Imu">
+    </plugin>
+
+    <plugin entity_name="<%= $worldName %>"
+            entity_type="world"
+            filename="libignition-gazebo-magnetometer-system.so"
+            name="ignition::gazebo::systems::Magnetometer">
+    </plugin>
+
+    <plugin entity_name="<%= $worldName %>"
+            entity_type="world"
+            filename="libignition-gazebo-air-pressure-system.so"
+            name="ignition::gazebo::systems::AirPressure">
+    </plugin>
+  </plugin>
+
+  <%if !$headless %>
+  <executable_wrapper>
+    <plugin name="ignition::launch::GazeboGui"
+          filename="libignition-launch-gazebogui.so">
+      <world_name><%= $worldName %></world_name>
+      <window_title>SubT Simulator</window_title>
+      <window_icon><%= ENV['SUBT_IMAGES_PATH'] %>/SubT_logo.svg</window_icon>
+      <plugin filename="GzScene3D" name="3D View">
+        <ignition-gui>
+          <title>3D View</title>
+          <property type="bool" key="showTitleBar">false</property>
+          <property type="string" key="state">docked</property>
+        </ignition-gui>
+
+        <engine>ogre2</engine>
+        <scene>scene</scene>
+        <ambient_light>0.2 0.2 0.1</ambient_light>
+        <background_color>0.8 0.8 0.8</background_color>
+        <camera_pose>-6.3 -4.2 3.6 0 0.268 0.304</camera_pose>
+        <service>/world/<%= $worldName %>/scene/info</service>
+        <pose_topic>/world/<%= $worldName %>/pose/info</pose_topic>
+        <scene_topic>/world/<%= $worldName %>/scene/info</scene_topic>
+        <deletion_topic>/world/<%= $worldName %>/scene/deletion</deletion_topic>
+      </plugin>
+      <plugin filename="WorldControl" name="World control">
+        <ignition-gui>
+          <title>World control</title>
+          <property type="bool" key="showTitleBar">false</property>
+          <property type="bool" key="resizable">false</property>
+          <property type="double" key="height">72</property>
+          <property type="double" key="width">121</property>
+          <property type="double" key="z">1</property>
+
+          <property type="string" key="state">floating</property>
+          <anchors target="3D View">
+            <line own="left" target="left"/>
+            <line own="bottom" target="bottom"/>
+          </anchors>
+        </ignition-gui>
+
+        <play_pause>true</play_pause>
+        <step>true</step>
+        <start_paused>true</start_paused>
+        <service>/world/<%= $worldName %>/control</service>
+        <stats_topic>/world/<%= $worldName %>/stats</stats_topic>
+
+      </plugin>
+
+      <plugin filename="WorldStats" name="World stats">
+        <ignition-gui>
+          <title>World stats</title>
+          <property type="bool" key="showTitleBar">false</property>
+          <property type="bool" key="resizable">false</property>
+          <property type="double" key="height">110</property>
+          <property type="double" key="width">290</property>
+          <property type="double" key="z">1</property>
+
+          <property type="string" key="state">floating</property>
+          <anchors target="3D View">
+            <line own="right" target="right"/>
+            <line own="bottom" target="bottom"/>
+          </anchors>
+        </ignition-gui>
+
+        <sim_time>true</sim_time>
+        <real_time>true</real_time>
+        <real_time_factor>true</real_time_factor>
+        <iterations>true</iterations>
+        <topic>/world/<%= $worldName %>/stats</topic>
+      </plugin>
+    </plugin>
+  </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>
+<%= rosExecutables(robotName, $worldName) %>
+ 
+</ignition>
diff --git a/submitted_models/coro_mike_sensor_config_1/launch/spawner.rb b/submitted_models/coro_mike_sensor_config_1/launch/spawner.rb
new file mode 100644
index 00000000..54919275
--- /dev/null
+++ b/submitted_models/coro_mike_sensor_config_1/launch/spawner.rb
@@ -0,0 +1,104 @@
+def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
+  <<-HEREDOC
+  <spawn name='#{_name}'>
+    <name>#{_name}</name>
+    <allow_renaming>false</allow_renaming>
+    <pose>#{_x} #{_y} #{_z + 0.34} #{_roll} #{_pitch} #{_yaw}</pose>
+    <world>#{_worldName}</world>
+    <is_performer>true</is_performer>
+    <sdf version='1.6'>
+      <include>
+        <name>#{_name}</name>
+        <uri>#{_modelURI}</uri>
+        <!-- Diff drive -->
+        <plugin filename=\"libignition-gazebo-diff-drive-system.so\"
+                name=\"ignition::gazebo::systems::DiffDrive\">
+          <left_joint>front_left_wheel_joint</left_joint>
+          <left_joint>rear_left_wheel_joint</left_joint>
+          <right_joint>front_right_wheel_joint</right_joint>
+          <right_joint>rear_right_wheel_joint</right_joint>
+          <wheel_separation>0.72</wheel_separation>
+          <wheel_radius>0.33</wheel_radius>
+          <topic>/model/#{_name}/cmd_vel_relay</topic>
+          <min_velocity>-1.0</min_velocity>
+          <max_velocity>1.0</max_velocity>
+          <min_acceleration>-3.0</min_acceleration>
+          <max_acceleration>3.0</max_acceleration>
+        </plugin>
+        <!-- Publish robot state information -->
+        <plugin filename=\"libignition-gazebo-pose-publisher-system.so\"
+          name=\"ignition::gazebo::systems::PosePublisher\">
+          <publish_link_pose>true</publish_link_pose>
+          <publish_sensor_pose>true</publish_sensor_pose>
+          <publish_collision_pose>false</publish_collision_pose>
+          <publish_visual_pose>false</publish_visual_pose>
+          <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
+          <use_pose_vector_msg>true</use_pose_vector_msg>
+          <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">
+         <topic>/model/#{_name}/gas_detected</topic>
+         <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">
+           <slip_compliance_lateral>0.172</slip_compliance_lateral>
+           <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
+           <wheel_normal_force>122.6</wheel_normal_force>
+           <wheel_radius>0.33</wheel_radius>
+         </wheel>
+         <wheel link_name="rear_left_wheel">
+           <slip_compliance_lateral>0.172</slip_compliance_lateral>
+           <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
+           <wheel_normal_force>122.6</wheel_normal_force>
+           <wheel_radius>0.33</wheel_radius>
+         </wheel>
+         <wheel link_name="front_right_wheel">
+           <slip_compliance_lateral>0.172</slip_compliance_lateral>
+           <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
+           <wheel_normal_force>122.6</wheel_normal_force>
+           <wheel_radius>0.33</wheel_radius>
+         </wheel>
+         <wheel link_name="rear_right_wheel">
+           <slip_compliance_lateral>0.172</slip_compliance_lateral>
+           <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
+           <wheel_normal_force>122.6</wheel_normal_force>
+           <wheel_radius>0.33</wheel_radius>
+         </wheel>
+       </plugin>
+      </include>
+    </sdf>
+  </spawn>
+  HEREDOC
+end
+
+def rosExecutables(_name, _worldName)
+  <<-HEREDOC
+  <executable name='robot_description'>
+      <command>roslaunch --wait coro_mike_sensor_config_1 description.launch world_name:=#{_worldName} name:=#{_name}</command>
+    </executable>
+    <executable name='topics'>
+      <command>roslaunch --wait coro_mike_sensor_config_1 vehicle_topics.launch world_name:=#{_worldName} name:=#{_name} breadcrumbs:=0 thermal:=1</command>
+    </executable>
+  HEREDOC
+end
diff --git a/submitted_models/coro_mike_sensor_config_1/launch/vehicle_topics.launch b/submitted_models/coro_mike_sensor_config_1/launch/vehicle_topics.launch
new file mode 100644
index 00000000..610feff6
--- /dev/null
+++ b/submitted_models/coro_mike_sensor_config_1/launch/vehicle_topics.launch
@@ -0,0 +1,305 @@
+<?xml version="1.0"?>
+<launch>
+  <arg name="world_name"/>
+  <arg name="name"/>
+  <arg name="link_name" value="base_link"/>
+  <arg name="sensor_prefix" value="/world/$(arg world_name)/model/$(arg name)/link/$(arg link_name)/sensor"/>
+  <arg name="breadcrumbs" default="0"/>
+  <group ns="$(arg name)">
+    <!--Create multipe bridges so that it can run in parallel-->
+
+    <!-- Compass with IMU -->
+    <node
+      pkg="ros_ign_bridge"
+      type="parameter_bridge"
+      name="ros_ign_bridge_imu"
+      args="$(arg sensor_prefix)/imu_sensor/imu@sensor_msgs/Imu[ignition.msgs.IMU">
+      <remap from="$(arg sensor_prefix)/imu_sensor/imu" to="imu/data"/>
+    </node>
+    <node
+      pkg="ros_ign_bridge"
+      type="parameter_bridge"
+      name="ros_ign_bridge_magnetometer"
+      args="$(arg sensor_prefix)/magnetometer/magnetometer@sensor_msgs/MagneticField[ignition.msgs.Magnetometer">
+      <remap from="$(arg sensor_prefix)/magnetometer/magnetometer" to="magnetic_field"/>
+    </node>
+
+    <!-- Altimeter -->
+    <node
+      pkg="ros_ign_bridge"
+      type="parameter_bridge"
+      name="ros_ign_bridge_fluid_pressure"
+      args="$(arg sensor_prefix)/air_pressure/air_pressure@sensor_msgs/FluidPressure[ignition.msgs.FluidPressure">
+      <remap from="$(arg sensor_prefix)/air_pressure/air_pressure" to="air_pressure"/>
+    </node>
+
+    <!-- Gas sensor -->
+    <node
+      pkg="ros_ign_bridge"
+      type="parameter_bridge"
+      name="ros_ign_bridge_gas"
+      args="/model/$(arg name)/gas_detected@std_msgs/Bool[ignition.msgs.Boolean">
+      <remap from="/model/$(arg name)/gas_detected" to="gas_detected"/>
+    </node>
+
+    <node
+      pkg="ros_ign_bridge"
+      type="parameter_bridge"
+      name="ros_ign_bridge_pose"
+      args="/model/$(arg name)/pose@tf2_msgs/TFMessage[ignition.msgs.Pose_V">
+      <remap from="/model/$(arg name)/pose" to="pose"/>
+    </node>
+    <node
+      pkg="ros_ign_bridge"
+      type="parameter_bridge"
+      name="ros_ign_bridge_pose_static"
+      args="/model/$(arg name)/pose_static@tf2_msgs/TFMessage[ignition.msgs.Pose_V">
+      <remap from="/model/$(arg name)/pose_static" to="pose_static"/>
+    </node>
+
+    <node
+      pkg="ros_ign_bridge"
+      type="parameter_bridge"
+      name="ros_ign_bridge_twist"
+      args="/model/$(arg name)/cmd_vel_relay@geometry_msgs/Twist]ignition.msgs.Twist">
+      <remap from="/model/$(arg name)/cmd_vel_relay" to="cmd_vel"/>
+    </node>
+
+    <!-- Front RGBD -->
+    <group ns="rgbd_front">
+      <node
+        pkg="ros_ign_bridge"
+        type="parameter_bridge"
+        name="ros_ign_bridge_camera"
+        args="$(arg sensor_prefix)/rgbd_front/camera_info@sensor_msgs/CameraInfo[ignition.msgs.CameraInfo">
+        <remap from="$(arg sensor_prefix)/rgbd_front/camera_info" to="camera_info"/>
+      </node>
+      <node
+        pkg="ros_ign_image"
+        type="image_bridge"
+        name="ros_ign_image_camera"
+        args="$(arg sensor_prefix)/rgbd_front/image">
+        <remap from="$(arg sensor_prefix)/rgbd_front/image" to="image_raw"/>
+      </node>
+      <node
+        pkg="ros_ign_bridge"
+        type="parameter_bridge"
+        name="ros_ign_bridge_rgbd"
+        args="$(arg sensor_prefix)/rgbd_front/points@sensor_msgs/PointCloud2[ignition.msgs.PointCloudPacked">
+        <remap from="$(arg sensor_prefix)/rgbd_front/points" to="points"/>
+      </node>
+      <node
+        pkg="ros_ign_bridge"
+        type="parameter_bridge"
+        name="ros_ign_bridge_depth_info"
+        args="$(arg sensor_prefix)/rgbd_front/camera_info@sensor_msgs/CameraInfo[ignition.msgs.CameraInfo">
+        <remap from="$(arg sensor_prefix)/rgbd_front/camera_info" to="depth/camera_info"/>
+      </node>
+      <node
+        pkg="ros_ign_image"
+        type="image_bridge"
+        name="ros_ign_image_depth"
+        args="$(arg sensor_prefix)/rgbd_front/depth_image">
+        <remap from="$(arg sensor_prefix)/rgbd_front/depth_image" to="depth/image_raw"/>
+      </node>
+      <node
+        pkg="subt_ros"
+        type="optical_frame_publisher"
+        name="optical_frame_publisher_rgbd_image_front">
+        <remap from="input/image" to="image_raw" />
+        <remap from="output/image" to="optical/image_raw" />
+        <remap from="input/camera_info" to="camera_info" />
+        <remap from="output/camera_info" to="optical/camera_info" />
+      </node>
+      <node
+        pkg="subt_ros"
+        type="optical_frame_publisher"
+        name="optical_frame_publisher_rgbd_depth_front">
+        <remap from="input/image" to="depth/image_raw" />
+        <remap from="output/image" to="optical/depth/image_raw" />
+        <remap from="input/camera_info" to="depth/camera_info" />
+        <remap from="output/camera_info" to="optical/depth/camera_info" />
+      </node>
+      <include file="$(find subt_ros)/launch/models_common/set_rate_relay.launch">
+        <arg name="name" value="ros_ign_bridge_camera_set_rate" />
+        <arg name="ign_service" value="$(arg sensor_prefix)/rgbd_front/set_rate" />
+        <arg name="ros_service" value="set_rate" />
+      </include>
+    </group>
+
+
+    <!-- Front monocular camera -->
+    <node
+      pkg="ros_ign_bridge"
+      type="parameter_bridge"
+      name="ros_ign_bridge_camera_front"
+      args="$(arg sensor_prefix)/camera_front/camera_info@sensor_msgs/CameraInfo[ignition.msgs.CameraInfo">
+      <remap from="$(arg sensor_prefix)/camera_front/camera_info" to="camera_front/camera_info"/>
+    </node>
+    <node
+      pkg="ros_ign_image"
+      type="image_bridge"
+      name="ros_ign_image_camera_front"
+      args="$(arg sensor_prefix)/camera_front/image">
+      <remap from="$(arg sensor_prefix)/camera_front/image" to="camera_front/image_raw"/>
+    </node>
+    <node
+      pkg="subt_ros"
+      type="optical_frame_publisher"
+      name="optical_frame_publisher_front">
+      <remap from="input/image" to="camera_front/image_raw" />
+      <remap from="output/image" to="camera_front/optical/image_raw" />
+      <remap from="input/camera_info" to="camera_front/camera_info" />
+      <remap from="output/camera_info" to="camera_front/optical/camera_info" />
+    </node>
+
+
+    <!-- Rear monocular camera -->
+    <node
+      pkg="ros_ign_bridge"
+      type="parameter_bridge"
+      name="ros_ign_bridge_camera_rear"
+      args="$(arg sensor_prefix)/camera_rear/camera_info@sensor_msgs/CameraInfo[ignition.msgs.CameraInfo">
+      <remap from="$(arg sensor_prefix)/camera_rear/camera_info" to="camera_rear/camera_info"/>
+    </node>
+    <node
+      pkg="ros_ign_image"
+      type="image_bridge"
+      name="ros_ign_image_camera_rear"
+      args="$(arg sensor_prefix)/camera_rear/image">
+      <remap from="$(arg sensor_prefix)/camera_rear/image" to="camera_rear/image_raw"/>
+    </node>
+    <node
+      pkg="subt_ros"
+      type="optical_frame_publisher"
+      name="optical_frame_publisher_rear">
+      <remap from="input/image" to="camera_rear/image_raw" />
+      <remap from="output/image" to="camera_rear/optical/image_raw" />
+      <remap from="input/camera_info" to="camera_rear/camera_info" />
+      <remap from="output/camera_info" to="camera_rear/optical/camera_info" />
+    </node>
+
+
+    <!-- Left monocular camera -->
+    <node
+      pkg="ros_ign_bridge"
+      type="parameter_bridge"
+      name="ros_ign_bridge_camera_left"
+      args="$(arg sensor_prefix)/camera_left/camera_info@sensor_msgs/CameraInfo[ignition.msgs.CameraInfo">
+      <remap from="$(arg sensor_prefix)/camera_left/camera_info" to="camera_left/camera_info"/>
+    </node>
+    <node
+      pkg="ros_ign_image"
+      type="image_bridge"
+      name="ros_ign_image_camera_left"
+      args="$(arg sensor_prefix)/camera_left/image">
+      <remap from="$(arg sensor_prefix)/camera_left/image" to="camera_left/image_raw"/>
+    </node>
+    <node
+      pkg="subt_ros"
+      type="optical_frame_publisher"
+      name="optical_frame_publisher_left">
+      <remap from="input/image" to="camera_left/image_raw" />
+      <remap from="output/image" to="camera_left/optical/image_raw" />
+      <remap from="input/camera_info" to="camera_left/camera_info" />
+      <remap from="output/camera_info" to="camera_left/optical/camera_info" />
+    </node>
+
+    <!-- Right monocular camera -->
+    <node
+      pkg="ros_ign_bridge"
+      type="parameter_bridge"
+      name="ros_ign_bridge_camera_right"
+      args="$(arg sensor_prefix)/camera_right/camera_info@sensor_msgs/CameraInfo[ignition.msgs.CameraInfo">
+      <remap from="$(arg sensor_prefix)/camera_right/camera_info" to="camera_right/camera_info"/>
+    </node>
+    <node
+      pkg="ros_ign_image"
+      type="image_bridge"
+      name="ros_ign_image_camera_right"
+      args="$(arg sensor_prefix)/camera_right/image">
+      <remap from="$(arg sensor_prefix)/camera_right/image" to="camera_right/image_raw"/>
+    </node>
+    <node
+      pkg="subt_ros"
+      type="optical_frame_publisher"
+      name="optical_frame_publisher_right">
+      <remap from="input/image" to="camera_right/image_raw" />
+      <remap from="output/image" to="camera_right/optical/image_raw" />
+      <remap from="input/camera_info" to="camera_right/camera_info" />
+      <remap from="output/camera_info" to="camera_right/optical/camera_info" />
+    </node>
+
+    <!--Front Laser-->
+    <node
+      pkg="ros_ign_bridge"
+      type="parameter_bridge"
+      name="ros_ign_bridge_lidar3d"
+      args="$(arg sensor_prefix)/front_laser/scan/points@sensor_msgs/PointCloud2[ignition.msgs.PointCloudPacked">
+      <remap from="$(arg sensor_prefix)/front_laser/scan/points" to="front_laser/points"/>
+    </node>
+
+
+    <group if="$(arg thermal)">
+      <!-- Note camera_info topic generated by ign-gazebo incorrectly removes
+           sensor name in topic string -->
+      <node
+        pkg="ros_ign_bridge"
+        type="parameter_bridge"
+        name="ros_ign_bridge_thermal_camera"
+        args="$(arg sensor_prefix)/camera_info@sensor_msgs/CameraInfo[ignition.msgs.CameraInfo">
+        <remap from="$(arg sensor_prefix)/camera_info" to="thermal_camera/camera_info"/>
+      </node>
+      <node
+        pkg="ros_ign_image"
+        type="image_bridge"
+        name="ros_ign_image_thermal_camera"
+        args="$(arg sensor_prefix)/thermal_camera">
+        <remap from="$(arg sensor_prefix)/thermal_camera" to="thermal_camera/image_raw"/>
+      </node>
+      <node
+        pkg="subt_ros"
+        type="optical_frame_publisher"
+        name="optical_frame_publisher_image_thermal_camera">
+        <remap from="input/image" to="thermal_camera/image_raw" />
+        <remap from="output/image" to="thermal_camera/optical/image_raw" />
+        <remap from="input/camera_info" to="thermal_camera/camera_info" />
+        <remap from="output/camera_info" to="thermal_camera/optical/camera_info" />
+      </node>
+    </group>
+    
+
+    
+
+    <!-- UGV -->
+    <node
+      pkg="ros_ign_bridge"
+      type="parameter_bridge"
+      name="ros_ign_bridge_odom"
+      args="/model/$(arg name)/odometry@nav_msgs/Odometry[ignition.msgs.Odometry">
+      <remap from="/model/$(arg name)/odometry" to="odom"/>
+    </node>
+
+    <node
+      pkg="ros_ign_bridge"
+      type="parameter_bridge"
+      name="ros_ign_bridge_battery_state"
+      args="/model/$(arg name)/battery/linear_battery/state@sensor_msgs/BatteryState[ignition.msgs.BatteryState">
+      <remap from="/model/$(arg name)/battery/linear_battery/state" to="battery_state"/>
+    </node>
+    <node
+      pkg="subt_ros"
+      type="pose_tf_broadcaster"
+      name="pose_tf_broadcaster"/>
+
+    <group if="$(arg breadcrumbs)">
+      <node
+        pkg="ros_ign_bridge"
+        type="parameter_bridge"
+        name="ros_ign_bridge_breadcrumbs"
+        args="/model/$(arg name)/breadcrumb/deploy@std_msgs/Empty]ignition.msgs.Empty">
+        <remap from="/model/$(arg name)/breadcrumb/deploy" to="breadcrumb/deploy"/>
+      </node>
+    </group>
+  </group>
+</launch>
diff --git a/submitted_models/coro_mike_sensor_config_1/meshes/VLP16_base_1.dae b/submitted_models/coro_mike_sensor_config_1/meshes/VLP16_base_1.dae
new file mode 100644
index 00000000..d033ef37
--- /dev/null
+++ b/submitted_models/coro_mike_sensor_config_1/meshes/VLP16_base_1.dae
@@ -0,0 +1,89 @@
+<?xml version="1.0" encoding="UTF-8" standalone="no" ?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+  <asset>
+    <contributor>
+      <author>Assimp</author>
+      <authoring_tool>Assimp Exporter</authoring_tool>
+    </contributor>
+    <created>2015-11-30T17:42:06</created>
+    <modified>2015-11-30T17:42:06</modified>
+    <unit name="meter" meter="1" />
+    <up_axis>Y_UP</up_axis>
+  </asset>
+  <library_effects>
+    <effect id="m0DefaultMaterial-fx" name="m0DefaultMaterial">
+      <profile_COMMON>
+        <technique sid="standard">
+          <phong>
+            <ambient>
+              <color sid="ambient">0.55 0.55 0.55 1</color>
+            </ambient>
+            <diffuse>
+              <color sid="diffuse">0.55 0.55 0.55 1</color>
+            </diffuse>
+            <specular>
+              <color sid="specular">0.55 0.55 0.55 1</color>
+            </specular>
+          </phong>
+        </technique>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
+  <library_materials>
+    <material id="m0DefaultMaterial" name="m0DefaultMaterial">
+      <instance_effect url="#m0DefaultMaterial-fx"/>
+    </material>
+  </library_materials>
+  <library_geometries>
+    <geometry id="meshId0" name="meshId0_name" >
+      <mesh>
+        <source id="meshId0-positions" name="meshId0-positions">
+          <float_array id="meshId0-positions-array" count="11511"> -0.051054 0.00539008 0.00996997 -0.051054 0.00474779 0.0108824 -0.051054 2.99773e-10 0.006858 -0.051054 0.00585912 0.00895752 -0.051054 0.00610659 0.00565519 -0.051054 0.00622323 0.0067649 -0.051054 0.00613984 0.00787759 -0.051054 0.00462528 0.00269339 -0.051054 0.00529457 0.00358619 -0.051054 0.00579369 0.00458415 -0.051054 0.00183453 0.000910592 -0.051054 0.002867 0.00133374 -0.051054 0.00380733 0.00193444 -0.051054 -0.00147557 0.000811525 -0.051054 -0.000372217 0.000645221 -0.051054 0.000743101 0.000678601 -0.051054 -0.00436794 0.00242423 -0.051054 -0.00350606 0.00171556 -0.051054 -0.0025315 0.00117217 -0.051054 -0.00602373 0.00529215 -0.051054 -0.00564733 0.00424173 -0.051054 -0.00508942 0.00327541 -0.051054 -0.00597419 0.00860336 -0.051054 -0.00618983 0.00750858 -0.051054 -0.00620652 0.00639289 -0.051054 -0.00423334 0.0114205 -0.051054 -0.00497997 0.0105913 -0.051054 -0.00556654 0.00964205 -0.051054 -0.00129403 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+        </polylist>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="<STL_BINARY>" name="<STL_BINARY>">
+        <matrix>1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
+        <instance_geometry url="#meshId0">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="defaultMaterial" target="#m0DefaultMaterial" />
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene" />
+  </scene>
+</COLLADA>
diff --git a/submitted_models/coro_mike_sensor_config_1/meshes/VLP16_base_2.dae b/submitted_models/coro_mike_sensor_config_1/meshes/VLP16_base_2.dae
new file mode 100644
index 00000000..5ae0343c
--- /dev/null
+++ b/submitted_models/coro_mike_sensor_config_1/meshes/VLP16_base_2.dae
@@ -0,0 +1,89 @@
+<?xml version="1.0" encoding="UTF-8" standalone="no" ?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+  <asset>
+    <contributor>
+      <author>Assimp</author>
+      <authoring_tool>Assimp Exporter</authoring_tool>
+    </contributor>
+    <created>2015-11-30T17:42:06</created>
+    <modified>2015-11-30T17:42:06</modified>
+    <unit name="meter" meter="1" />
+    <up_axis>Y_UP</up_axis>
+  </asset>
+  <library_effects>
+    <effect id="m0DefaultMaterial-fx" name="m0DefaultMaterial">
+      <profile_COMMON>
+        <technique sid="standard">
+          <phong>
+            <ambient>
+              <color sid="ambient">0.55 0.55 0.55 1</color>
+            </ambient>
+            <diffuse>
+              <color sid="diffuse">0.55 0.55 0.55 1</color>
+            </diffuse>
+            <specular>
+              <color sid="specular">0.55 0.55 0.55 1</color>
+            </specular>
+          </phong>
+        </technique>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
+  <library_materials>
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2734 2735 2736 2734 2736 2737 2738 2739 2740 2738 2740 2741 </p>
+        </polylist>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="<STL_BINARY>" name="<STL_BINARY>">
+        <matrix>1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
+        <instance_geometry url="#meshId0">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="defaultMaterial" target="#m0DefaultMaterial" />
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene" />
+  </scene>
+</COLLADA>
diff --git a/submitted_models/coro_mike_sensor_config_1/meshes/VLP16_scan.dae b/submitted_models/coro_mike_sensor_config_1/meshes/VLP16_scan.dae
new file mode 100644
index 00000000..56963288
--- /dev/null
+++ b/submitted_models/coro_mike_sensor_config_1/meshes/VLP16_scan.dae
@@ -0,0 +1,89 @@
+<?xml version="1.0" encoding="UTF-8" standalone="no" ?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+  <asset>
+    <contributor>
+      <author>Assimp</author>
+      <authoring_tool>Assimp Exporter</authoring_tool>
+    </contributor>
+    <created>2015-11-30T17:42:06</created>
+    <modified>2015-11-30T17:42:06</modified>
+    <unit name="meter" meter="1" />
+    <up_axis>Y_UP</up_axis>
+  </asset>
+  <library_effects>
+    <effect id="m0DefaultMaterial-fx" name="m0DefaultMaterial">
+      <profile_COMMON>
+        <technique sid="standard">
+          <phong>
+            <ambient>
+              <color sid="ambient">0.1 0.1 0.1 1</color>
+            </ambient>
+            <diffuse>
+              <color sid="diffuse">0.1 0.1 0.1 1</color>
+            </diffuse>
+            <specular>
+              <color sid="specular">0.2 0.2 0.2 1</color>
+            </specular>
+          </phong>
+        </technique>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
+  <library_materials>
+    <material id="m0DefaultMaterial" name="m0DefaultMaterial">
+      <instance_effect url="#m0DefaultMaterial-fx"/>
+    </material>
+  </library_materials>
+  <library_geometries>
+    <geometry id="meshId0" name="meshId0_name" >
+      <mesh>
+        <source id="meshId0-positions" name="meshId0-positions">
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diff --git a/submitted_models/coro_mike_sensor_config_1/meshes/realsense_d435.dae b/submitted_models/coro_mike_sensor_config_1/meshes/realsense_d435.dae
new file mode 100644
index 00000000..0fac7a99
--- /dev/null
+++ b/submitted_models/coro_mike_sensor_config_1/meshes/realsense_d435.dae
@@ -0,0 +1,134 @@
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+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_controllers/>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="_62222_00-Moveable_Parts_Realsense_0012" name="_62222_00-Moveable_Parts_Realsense_0012" type="NODE">
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+        <instance_geometry url="#_62222_00-Moveable_Parts_Realsense_001-mesh" name="_62222_00-Moveable_Parts_Realsense_0012">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="Material_001-material" target="#Material_001-material"/>
+              <instance_material symbol="alu_eloxiert-material" target="#alu_eloxiert-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
\ No newline at end of file
diff --git a/submitted_models/coro_mike_sensor_config_1/meshes/rl_wheel.STL b/submitted_models/coro_mike_sensor_config_1/meshes/rl_wheel.STL
new file mode 100644
index 00000000..26251d96
Binary files /dev/null and b/submitted_models/coro_mike_sensor_config_1/meshes/rl_wheel.STL differ
diff --git a/submitted_models/coro_mike_sensor_config_1/meshes/wheel.dae b/submitted_models/coro_mike_sensor_config_1/meshes/wheel.dae
new file mode 100644
index 00000000..c76f842c
--- /dev/null
+++ b/submitted_models/coro_mike_sensor_config_1/meshes/wheel.dae
@@ -0,0 +1,49570 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+  <asset><contributor><author></author><authoring_tool>FBX COLLADA exporter</authoring_tool><comments></comments></contributor><created>2018-08-21T20:36:46Z</created><keywords></keywords><modified>2018-08-21T20:36:46Z</modified><revision></revision><subject></subject><title></title><unit meter="1.000000" name="centimeter"></unit><up_axis>Z_UP</up_axis></asset>
+  <library_materials>
+    <material id="Tire" name="Tire">
+      <instance_effect url="#Tire-fx"/>
+    </material>
+    <material id="Rim" name="Rim">
+      <instance_effect url="#Rim-fx"/>
+    </material>
+  </library_materials>
+  <library_effects>
+    <effect id="Tire-fx" name="Tire">
+      <profile_COMMON>
+        <technique sid="standard">
+          <phong>
+            <emission>
+              <color sid="emission">0.000000  0.000000 0.000000 1.000000</color>
+            </emission>
+            <ambient>
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+            </ambient>
+            <diffuse>
+              <color sid="diffuse">0.039216  0.039216 0.039216 1.000000</color>
+            </diffuse>
+            <specular>
+              <color sid="specular">0.297000  0.297000 0.297000 1.000000</color>
+            </specular>
+            <shininess>
+              <float sid="shininess">6.062866</float>
+            </shininess>
+            <reflective>
+              <color sid="reflective">0.000000  0.000000 0.000000 1.000000</color>
+            </reflective>
+            <reflectivity>
+              <float sid="reflectivity">1.000000</float>
+            </reflectivity>
+            <transparent opaque="RGB_ZERO">
+              <color sid="transparent">1.000000  1.000000 1.000000 1.000000</color>
+            </transparent>
+            <transparency>
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+            </transparency>
+          </phong>
+        </technique>
+      </profile_COMMON>
+    </effect>
+    <effect id="Rim-fx" name="Rim">
+      <profile_COMMON>
+        <technique sid="standard">
+          <phong>
+            <emission>
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+            </emission>
+            <ambient>
+              <color sid="ambient">0.458824  0.458824 0.458824 1.000000</color>
+            </ambient>
+            <diffuse>
+              <color sid="diffuse">0.458824  0.458824 0.458824 1.000000</color>
+            </diffuse>
+            <specular>
+              <color sid="specular">0.342000  0.342000 0.342000 1.000000</color>
+            </specular>
+            <shininess>
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+            </shininess>
+            <reflective>
+              <color sid="reflective">0.000000  0.000000 0.000000 1.000000</color>
+            </reflective>
+            <reflectivity>
+              <float sid="reflectivity">1.000000</float>
+            </reflectivity>
+            <transparent opaque="RGB_ZERO">
+              <color sid="transparent">1.000000  1.000000 1.000000 1.000000</color>
+            </transparent>
+            <transparency>
+              <float sid="transparency">0.000000</float>
+            </transparency>
+          </phong>
+        </technique>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
+  <library_geometries>
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+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="X1_Wheel" name="X1_Wheel">
+      <node name="X1_Wheel" id="X1_Wheel" sid="X1_Wheel"><matrix sid="matrix">1.000000 0.000000 0.000000 0.000000 0.000000 1.000000 0.000000 0.000000 0.000000 0.000000 1.000000 0.000000 0.000000 0.000000 0.000000 1.000000</matrix><instance_geometry url="#X1_Wheel-lib"><bind_material><technique_common><instance_material symbol="Tire" target="#Tire"/><instance_material symbol="Rim" target="#Rim"/></technique_common></bind_material></instance_geometry><extra><technique profile="FCOLLADA"><visibility>1.000000</visibility></technique></extra></node>
+      <extra><technique profile="MAX3D"><frame_rate>30.000000</frame_rate></technique><technique profile="FCOLLADA"><start_time>0.000000</start_time><end_time>3.333333</end_time></technique></extra>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#X1_Wheel"></instance_visual_scene>
+  </scene>
+</COLLADA>
diff --git a/submitted_models/coro_mike_sensor_config_1/meshes/wheel_left.dae b/submitted_models/coro_mike_sensor_config_1/meshes/wheel_left.dae
new file mode 100644
index 00000000..77fd2726
--- /dev/null
+++ b/submitted_models/coro_mike_sensor_config_1/meshes/wheel_left.dae
@@ -0,0 +1,10346 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+  <asset><contributor><author></author><authoring_tool>FBX COLLADA exporter</authoring_tool><comments></comments></contributor><created>2018-08-23T18:07:37Z</created><keywords></keywords><modified>2018-08-23T18:07:37Z</modified><revision></revision><subject></subject><title></title><unit meter="1.000000" name="centimeter"></unit><up_axis>Z_UP</up_axis></asset>
+  <library_materials>
+    <material id="FBXASC0486FBXASC032-FBXASC032Default" name="FBXASC0486FBXASC032-FBXASC032Default">
+      <instance_effect url="#FBXASC0486FBXASC032-FBXASC032Default-fx"/>
+    </material>
+    <material id="FBXASC0485FBXASC032-FBXASC032Default" name="FBXASC0485FBXASC032-FBXASC032Default">
+      <instance_effect url="#FBXASC0485FBXASC032-FBXASC032Default-fx"/>
+    </material>
+  </library_materials>
+  <library_effects>
+    <effect id="FBXASC0486FBXASC032-FBXASC032Default-fx" name="FBXASC0486FBXASC032-FBXASC032Default">
+      <profile_COMMON>
+        <technique sid="standard">
+          <phong>
+            <emission>
+              <color sid="emission">0.000000  0.000000 0.000000 1.000000</color>
+            </emission>
+            <ambient>
+              <color sid="ambient">0.388235  0.388235 0.388235 1.000000</color>
+            </ambient>
+            <diffuse>
+              <color sid="diffuse">0.388235  0.388235 0.388235 1.000000</color>
+            </diffuse>
+            <specular>
+              <color sid="specular">0.612000  0.612000 0.612000 1.000000</color>
+            </specular>
+            <shininess>
+              <float sid="shininess">2.000000</float>
+            </shininess>
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+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="X2_Wheel_Left" name="X2_Wheel_Left">
+      <node name="X2_Wheel_Left" id="X2_Wheel_Left" sid="X2_Wheel_Left"><matrix sid="matrix">1.000000 0.000000 0.000000 0.000000 0.000000 1.000000 0.000000 0.000000 0.000000 0.000000 1.000000 0.000000 0.000000 0.000000 0.000000 1.000000</matrix><instance_geometry url="#X2_Wheel_Left-lib"><bind_material><technique_common><instance_material symbol="FBXASC0486FBXASC032-FBXASC032Default" target="#FBXASC0486FBXASC032-FBXASC032Default"/><instance_material symbol="FBXASC0485FBXASC032-FBXASC032Default" target="#FBXASC0485FBXASC032-FBXASC032Default"/></technique_common></bind_material></instance_geometry><extra><technique profile="FCOLLADA"><visibility>1.000000</visibility></technique></extra></node>
+      <extra><technique profile="MAX3D"><frame_rate>30.000000</frame_rate></technique><technique profile="FCOLLADA"><start_time>0.000000</start_time><end_time>3.333333</end_time></technique></extra>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#X2_Wheel_Left"></instance_visual_scene>
+  </scene>
+</COLLADA>
diff --git a/submitted_models/coro_mike_sensor_config_1/meshes/wheel_right.dae b/submitted_models/coro_mike_sensor_config_1/meshes/wheel_right.dae
new file mode 100644
index 00000000..6c8bc12f
--- /dev/null
+++ b/submitted_models/coro_mike_sensor_config_1/meshes/wheel_right.dae
@@ -0,0 +1,10346 @@
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+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="X2_Wheel_Right" name="X2_Wheel_Right">
+      <node name="X2_Wheel_Right" id="X2_Wheel_Right" sid="X2_Wheel_Right"><matrix sid="matrix">1.000000 0.000000 0.000000 0.000000 0.000000 1.000000 0.000000 0.000000 0.000000 0.000000 1.000000 0.000000 0.000000 0.000000 0.000000 1.000000</matrix><instance_geometry url="#X2_Wheel_Right-lib"><bind_material><technique_common><instance_material symbol="FBXASC0486FBXASC032-FBXASC032Default" target="#FBXASC0486FBXASC032-FBXASC032Default"/><instance_material symbol="FBXASC0485FBXASC032-FBXASC032Default" target="#FBXASC0485FBXASC032-FBXASC032Default"/></technique_common></bind_material></instance_geometry><extra><technique profile="FCOLLADA"><visibility>1.000000</visibility></technique></extra></node>
+      <extra><technique profile="MAX3D"><frame_rate>30.000000</frame_rate></technique><technique profile="FCOLLADA"><start_time>0.000000</start_time><end_time>3.333333</end_time></technique></extra>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#X2_Wheel_Right"></instance_visual_scene>
+  </scene>
+</COLLADA>
diff --git a/submitted_models/coro_mike_sensor_config_1/model.config b/submitted_models/coro_mike_sensor_config_1/model.config
new file mode 100644
index 00000000..91e70a3f
--- /dev/null
+++ b/submitted_models/coro_mike_sensor_config_1/model.config
@@ -0,0 +1,17 @@
+
+<?xml version='1.0'?>
+<model>
+  <name>Coordinated Robotics Mike Sensor Config 1</name>
+  <version>1.0</version>
+  <sdf version='1.6'>model.sdf</sdf>
+
+  <author>
+    <name>Kevin Knoedler</name>
+    <email>ak619@lafn.org</email>
+  </author>
+
+  <description>
+    Mike is a bicycle skid steer robot with 3d lidar, cameras and other sensors.
+  </description>
+</model>
+
diff --git a/submitted_models/coro_mike_sensor_config_1/model.sdf b/submitted_models/coro_mike_sensor_config_1/model.sdf
new file mode 100644
index 00000000..921eb1a0
--- /dev/null
+++ b/submitted_models/coro_mike_sensor_config_1/model.sdf
@@ -0,0 +1,1261 @@
+<?xml version="1.0"?>
+<sdf version="1.6">
+  <model name="coro_mike_sensor_config_1">
+    <pose>0 0 0.1275 0 0 0</pose>
+    <enable_wind>1</enable_wind>
+
+    <link name="base_link">
+      <inertial>
+        <pose>0 -0.14 0.11 0 0 0</pose>
+        <mass>15</mass>
+        <inertia>
+          <ixx>0.147</ixx>
+          <iyy>1.056</iyy>
+          <izz>1.071</izz>
+        </inertia>
+      </inertial>
+      
+      <collision name="chassis_collision">
+        <pose>0 -0.14 0.11 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.89 0.23 0.255</size>
+          </box>
+        </geometry>
+      </collision>
+      <collision name="chassis_collision2">
+        <pose>0 -0.41 0 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.8 0.03 0.03</size>
+          </box>
+        </geometry>
+      </collision>
+      <collision name="tower_collision">
+        <pose>0.345 -0.125 0.39 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.2 0.2 0.34</size>
+          </box>
+        </geometry>
+      </collision>
+  
+      <visual name="chassis_main_visual">
+        <pose>0 -0.14 0.11 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.89 0.23 0.255</size>
+          </box>
+        </geometry>
+        <material>
+          <ambient>0.6 0.6 0.6 1.0</ambient>
+          <diffuse>0.6 0.6 0.6 1.0</diffuse>
+        </material>
+      </visual>
+
+      <visual name="chassis_main_outside_visual1">
+        <pose>0 -0.41 0 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.8 0.03 0.03</size>
+          </box>
+        </geometry>
+        <material>
+          <ambient>0.6 0.6 0.6 1.0</ambient>
+          <diffuse>0.6 0.6 0.6 1.0</diffuse>
+        </material>
+      </visual>
+      <visual name="chassis_main_outside_visual2">
+        <pose>0 -0.33 0 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.06 0.16 0.03</size>
+          </box>
+        </geometry>
+        <material>
+          <ambient>0.6 0.6 0.6 1.0</ambient>
+          <diffuse>0.6 0.6 0.6 1.0</diffuse>
+        </material>
+      </visual>
+
+      <visual name="chassis_joint_visual">
+        <pose>0 0 0.04 1.5707963267948966 0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.05</length>
+            <radius>0.05</radius>
+          </cylinder>
+        </geometry>
+        <material>
+          <ambient>0.0 0.0 0.0 1.0</ambient>
+          <diffuse>0.0 0.0 0.0 1.0</diffuse>
+        </material>
+      </visual>
+      
+
+
+      
+
+      <visual name="plate1_visual">
+        <pose>0.345 -0.125 0.54 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.2 0.2 0.005</size>
+          </box>
+        </geometry>
+        <material>
+          <ambient>0.8 0.8 0.8 1</ambient>
+          <diffuse>0.8 0.8 0.8 1</diffuse>
+        </material>
+      </visual>
+      <visual name="plate2_visual">
+        <pose>0.345 -0.125 0.43 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.2 0.2 0.005</size>
+          </box>
+        </geometry>
+        <material>
+          <ambient>0.8 0.8 0.8 1</ambient>
+          <diffuse>0.8 0.8 0.8 1</diffuse>
+        </material>
+      </visual>
+      <visual name="plate3_visual_was35_11_29">
+        <pose>0.345 -0.125 0.24 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.2 0.2 0.005</size>
+          </box>
+        </geometry>
+        <material>
+          <ambient>0.8 0.8 0.8 1</ambient>
+          <diffuse>0.8 0.8 0.8 1</diffuse>
+        </material>
+      </visual>
+
+      <visual name="beam1_visual">
+        <pose>0.436 -0.034 0.39 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.02 0.02 0.3</size>
+          </box>
+        </geometry>
+        <material>
+          <ambient>0.8 0.8 0.8 1</ambient>
+          <diffuse>0.8 0.8 0.8 1</diffuse>
+        </material>
+      </visual>
+      <visual name="beam2_visual">
+        <pose>0.436 -0.216 0.39 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.02 0.02 0.3</size>
+          </box>
+        </geometry>
+        <material>
+          <ambient>0.8 0.8 0.8 1</ambient>
+          <diffuse>0.8 0.8 0.8 1</diffuse>
+        </material>
+      </visual>
+      <visual name="beam3_visual">
+        <pose>0.254 -0.034 0.39 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.02 0.02 0.3</size>
+          </box>
+        </geometry>
+        <material>
+          <ambient>0.8 0.8 0.8 1</ambient>
+          <diffuse>0.8 0.8 0.8 1</diffuse>
+        </material>
+      </visual>
+      <visual name="beam4_visual">
+        <pose>0.254 -0.216 0.39 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.02 0.02 0.3</size>
+          </box>
+        </geometry>
+        <material>
+          <ambient>0.8 0.8 0.8 1</ambient>
+          <diffuse>0.8 0.8 0.8 1</diffuse>
+        </material>
+      </visual>
+
+
+      <visual name="emergency_stop_bottom_visual">
+        <pose>0.2 -0.15 0.245 0 0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.015</length>
+            <radius>0.015</radius>
+          </cylinder>
+        </geometry>
+        <material>
+          <ambient>0.7059 0.7059 0.7059 1.0</ambient>
+          <diffuse>0.7059 0.7059 0.7059 1.0</diffuse>
+        </material>
+      </visual>
+      <visual name="emergency_stop_top_visual">
+        <pose>0.2 -0.15 0.255 0 0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.005</length>
+            <radius>0.02</radius>
+          </cylinder>
+        </geometry>
+        <material>
+          <ambient>1.0 0.0 0.0 1.0</ambient>
+          <diffuse>1.0 0.0 0.0 1.0</diffuse>
+        </material>
+      </visual>
+      
+
+      <visual name="d435i_realsense_camera_visual">
+        <pose>0.405 -0.125 0.513 0 0.46 0</pose>
+        <geometry>
+          <mesh>
+            <scale>0.001 0.001 0.001</scale>
+            <uri>meshes/realsense_d435.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+
+      <visual name="vlp16_visual1">
+        <pose>0.345 -0.125 0.432 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>meshes/VLP16_base_1.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <visual name="vlp_visual2">
+        <pose>0.345 -0.125 0.432 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>meshes/VLP16_base_2.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <visual name="vlp_visual3">
+        <pose>0.345 -0.125 0.432 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>meshes/VLP16_scan.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+
+      <visual name="camera_front_visual">
+        <pose>0.435 -0.065 0.525 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.01 0.03 0.03</size>
+          </box>
+        </geometry>
+        <material>
+          <ambient>0.0 0.0 0.0 1.0</ambient>
+          <diffuse>0.0 0.0 0.0 1.0</diffuse>
+        </material>
+      </visual>
+      <visual name="camera_lens_front_visual">
+        <pose>0.445 -0.065 0.525 0 1.5707963267948966 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.011</length>
+            <radius>0.005</radius>
+          </cylinder>
+        </geometry>
+        <material>
+          <ambient>0.0 0.0 0.0 1.0</ambient>
+          <diffuse>0.0 0.0 0.0 1.0</diffuse>
+        </material>
+      </visual>
+
+      <visual name="camera_rear_visual">
+        <pose>0.255 -0.125 0.525 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.01 0.03 0.03</size>
+          </box>
+        </geometry>
+        <material>
+          <ambient>0.0 0.0 0.0 1.0</ambient>
+          <diffuse>0.0 0.0 0.0 1.0</diffuse>
+        </material>
+      </visual>
+      <visual name="camera_lens_rear_visual">
+        <pose>0.245 -0.125 0.525 0 1.5707963267948966 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.011</length>
+            <radius>0.005</radius>
+          </cylinder>
+        </geometry>
+        <material>
+          <ambient>0.0 0.0 0.0 1.0</ambient>
+          <diffuse>0.0 0.0 0.0 1.0</diffuse>
+        </material>
+      </visual>
+
+      <visual name="camera_left_visual">
+        <pose>0.345 -0.035 0.525 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.03 0.01 0.03</size>
+          </box>
+        </geometry>
+        <material>
+          <ambient>0.0 0.0 0.0 1.0</ambient>
+          <diffuse>0.0 0.0 0.0 1.0</diffuse>
+        </material>
+      </visual>
+      <visual name="camera_lens_left_visual">
+        <pose>0.345 -0.025 0.525 1.5707963267948966 0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.011</length>
+            <radius>0.005</radius>
+          </cylinder>
+        </geometry>
+        <material>
+          <ambient>0.0 0.0 0.0 1.0</ambient>
+          <diffuse>0.0 0.0 0.0 1.0</diffuse>
+        </material>
+      </visual>
+
+      <visual name="camera_right_visual">
+        <pose>0.345 -0.215 0.525 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.03 0.01 0.03</size>
+          </box>
+        </geometry>
+        <material>
+          <ambient>0.0 0.0 0.0 1.0</ambient>
+          <diffuse>0.0 0.0 0.0 1.0</diffuse>
+        </material>
+      </visual>
+      <visual name="camera_lens_right_visual">
+        <pose>0.345 -0.225 0.525 1.5707963267948966 0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.011</length>
+            <radius>0.005</radius>
+          </cylinder>
+        </geometry>
+        <material>
+          <ambient>0.0 0.0 0.0 1.0</ambient>
+          <diffuse>0.0 0.0 0.0 1.0</diffuse>
+        </material>
+      </visual>
+
+      <visual name="light_front_visual">
+        <pose>0.435 -0.125 0.562 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.04 0.13 0.04</size>
+          </box>
+        </geometry>
+        <material>
+          <ambient>0.0 0.0 0.0 1.0</ambient>
+          <diffuse>0.0 0.0 0.0 1.0</diffuse>
+        </material>
+      </visual>
+      <light name="light_front" type="spot">
+        <pose>0.465 -0.125 0.562 0 -1.5707963267948966 0</pose>
+        <attenuation>
+          <range>25</range>
+          <linear>0</linear>
+          <constant>0.1</constant>
+          <quadratic>0.005</quadratic>
+        </attenuation>
+        <diffuse>0.8 0.8 0.5 1.0</diffuse>
+        <specular>0.8 0.8 0.5 1</specular>
+        <spot>
+          <inner_angle>1.571</inner_angle>
+          <outer_angle>2.1</outer_angle>
+          <falloff>1</falloff>
+        </spot>
+        <direction>1 0 0</direction>
+        <cast_shadows>1</cast_shadows>
+      </light>
+      
+      <visual name="light_rear_visual">
+        <pose>0.255 -0.125 0.562 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.04 0.12 0.04</size>
+          </box>
+        </geometry>
+        <material>
+          <ambient>0.0 0.0 0.0 1.0</ambient>
+          <diffuse>0.0 0.0 0.0 1.0</diffuse>
+        </material>
+      </visual>
+      <light name="light_rear" type="spot">
+        <pose>0.225 -0.125 0.562 0 1.5707963267948966 0</pose>
+        <attenuation>
+          <range>25</range>
+          <linear>0</linear>
+          <constant>0.1</constant>
+          <quadratic>0.005</quadratic>
+        </attenuation>
+        <diffuse>0.8 0.8 0.5 1.0</diffuse>
+        <specular>0.8 0.8 0.5 1</specular>
+        <spot>
+          <inner_angle>1.571</inner_angle>
+          <outer_angle>2.1</outer_angle>
+          <falloff>1</falloff>
+        </spot>
+        <direction>1 0 0</direction>
+        <cast_shadows>1</cast_shadows>
+      </light>
+      
+      <visual name="light_left_visual">
+        <pose>0.345 -0.035 0.562 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.12 0.04 0.04</size>
+          </box>
+        </geometry>
+        <material>
+          <ambient>0.0 0.0 0.0 1.0</ambient>
+          <diffuse>0.0 0.0 0.0 1.0</diffuse>
+        </material>
+      </visual>
+      <light name="light_left" type="spot">
+        <pose>0.345 0.025 0.562 1.5707963267948966 0 0</pose>
+        <attenuation>
+          <range>25</range>
+          <linear>0</linear>
+          <constant>0.1</constant>
+          <quadratic>0.005</quadratic>
+        </attenuation>
+        <diffuse>0.8 0.8 0.5 1.0</diffuse>
+        <specular>0.8 0.8 0.5 1</specular>
+        <spot>
+          <inner_angle>1.571</inner_angle>
+          <outer_angle>2.1</outer_angle>
+          <falloff>1</falloff>
+        </spot>
+        <direction>1 0 0</direction>
+        <cast_shadows>1</cast_shadows>
+      </light>
+      
+      <visual name="light_right_visual">
+        <pose>0.345 -0.215 0.562 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.12 0.04 0.04</size>
+          </box>
+        </geometry>
+        <material>
+          <ambient>0.0 0.0 0.0 1.0</ambient>
+          <diffuse>0.0 0.0 0.0 1.0</diffuse>
+        </material>
+      </visual>
+      <light name="light_right" type="spot">
+        <pose>0.345 -0.245 0.562 -1.5707963267948966 0 0</pose>
+        <attenuation>
+          <range>25</range>
+          <linear>0</linear>
+          <constant>0.1</constant>
+          <quadratic>0.005</quadratic>
+        </attenuation>
+        <diffuse>0.8 0.8 0.5 1.0</diffuse>
+        <specular>0.8 0.8 0.5 1</specular>
+        <spot>
+          <inner_angle>1.571</inner_angle>
+          <outer_angle>2.1</outer_angle>
+          <falloff>1</falloff>
+        </spot>
+        <direction>1 0 0</direction>
+        <cast_shadows>1</cast_shadows>
+      </light>
+
+
+      <!-- thermal camera -->
+      <visual name="thermal_camera_visual">
+        <pose> 0.425 -0.185 0.524 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.02 0.03 0.03</size>
+          </box>
+        </geometry>
+      </visual>
+      <sensor name="thermal_camera" type="thermal">
+        <pose> 0.44 -0.17 0.574 0 0 0</pose>
+        <camera name="thermal_camera">
+          <horizontal_fov>0.628</horizontal_fov>
+          <lens>
+            <intrinsics>
+              <!-- fx = fy = width / ( 2 * tan (hfov / 2 ) ) -->
+              <fx>317.173</fx>
+              <fy>317.173</fy>
+              <!-- cx = ( width - 1 ) / 2 -->
+              <cx>102.5</cx>
+              <!-- cy = ( height - 1 ) / 2 -->
+              <cy>77.5</cy>
+              <s>0</s>
+            </intrinsics>
+          </lens>
+          <image>
+            <width>206</width>
+            <height>156</height>
+          </image>
+          <clip>
+            <near>0.1</near>
+            <far>300</far>
+          </clip>
+        </camera>
+        <always_on>1</always_on>
+        <update_rate>9</update_rate>
+      </sensor>
+
+
+
+      <!-- Real robot has 2 x B0203 with LN008 each with a 180 deg hor x 130 deg vert FOV
+           Since fisheye cameras are not modeled, four cameras are used in the model -->
+      <sensor name="camera_front" type="camera">
+        <pose>0.455 -0.065 0.525 0 0 0</pose>
+        <always_on>1</always_on>
+        <update_rate>25</update_rate>
+        <camera name="camera_front">
+          <horizontal_fov>1.658</horizontal_fov>
+          <lens>
+            <intrinsics>
+              <!-- fx = fy = width / ( 2 * tan (hfov / 2 ) ) -->
+              <fx>329.9</fx>
+              <fy>329.9</fy>
+              <!-- cx = ( width - 1 ) / 2 -->
+              <cx>359.5</cx>
+              <!-- cy = ( height - 1 ) / 2 -->
+              <cy>539.5</cy>
+              <s>0</s>
+            </intrinsics>
+          </lens>
+          <distortion>
+            <k1>0.0</k1>
+            <k2>0.0</k2>
+            <k3>0.0</k3>
+            <p1>0.0</p1>
+            <p2>0.0</p2>
+            <center>0.5 0.5</center>
+          </distortion>
+          <image>
+            <width>720</width>
+            <height>1080</height>
+            <format>R8G8B8</format>
+          </image>
+          <clip>
+            <near>0.01</near>
+            <far>300</far>
+          </clip>
+          <noise>
+            <type>gaussian</type>
+            <mean>0</mean>
+            <stddev>0.007</stddev>
+          </noise>
+        </camera>
+      </sensor>
+
+      <sensor name="camera_rear" type="camera">
+        <pose>0.235 -0.125 0.525 0 0 3.141592653589793</pose>
+        <always_on>1</always_on>
+        <update_rate>25</update_rate>
+        <camera name="camera_front">
+          <horizontal_fov>1.658</horizontal_fov>
+          <lens>
+            <intrinsics>
+              <!-- fx = fy = width / ( 2 * tan (hfov / 2 ) ) -->
+              <fx>329.9</fx>
+              <fy>329.9</fy>
+              <!-- cx = ( width - 1 ) / 2 -->
+              <cx>359.5</cx>
+              <!-- cy = ( height - 1 ) / 2 -->
+              <cy>539.5</cy>
+              <s>0</s>
+            </intrinsics>
+          </lens>
+          <distortion>
+            <k1>0.0</k1>
+            <k2>0.0</k2>
+            <k3>0.0</k3>
+            <p1>0.0</p1>
+            <p2>0.0</p2>
+            <center>0.5 0.5</center>
+          </distortion>
+          <image>
+            <width>720</width>
+            <height>1080</height>
+            <format>R8G8B8</format>
+          </image>
+          <clip>
+            <near>0.01</near>
+            <far>300</far>
+          </clip>
+          <noise>
+            <type>gaussian</type>
+            <mean>0</mean>
+            <stddev>0.007</stddev>
+          </noise>
+        </camera>
+      </sensor>
+
+      <sensor name="camera_left" type="camera">
+        <pose>0.345 -0.015 0.525 0 0 1.5707963267948966</pose>
+        <always_on>1</always_on>
+        <update_rate>25</update_rate>
+        <camera name="camera_front">
+          <horizontal_fov>1.658</horizontal_fov>
+          <lens>
+            <intrinsics>
+              <!-- fx = fy = width / ( 2 * tan (hfov / 2 ) ) -->
+              <fx>329.9</fx>
+              <fy>329.9</fy>
+              <!-- cx = ( width - 1 ) / 2 -->
+              <cx>359.5</cx>
+              <!-- cy = ( height - 1 ) / 2 -->
+              <cy>539.5</cy>
+              <s>0</s>
+            </intrinsics>
+          </lens>
+          <distortion>
+            <k1>0.0</k1>
+            <k2>0.0</k2>
+            <k3>0.0</k3>
+            <p1>0.0</p1>
+            <p2>0.0</p2>
+            <center>0.5 0.5</center>
+          </distortion>
+          <image>
+            <width>720</width>
+            <height>1080</height>
+            <format>R8G8B8</format>
+          </image>
+          <clip>
+            <near>0.01</near>
+            <far>300</far>
+          </clip>
+          <noise>
+            <type>gaussian</type>
+            <mean>0</mean>
+            <stddev>0.007</stddev>
+          </noise>
+        </camera>
+      </sensor>
+
+      <sensor name="camera_right" type="camera">
+        <pose>0.345 -0.235 0.525 0 0 -1.5707963267948966</pose>
+        <always_on>1</always_on>
+        <update_rate>25</update_rate>
+        <camera name="camera_front">
+          <horizontal_fov>1.658</horizontal_fov>
+          <lens>
+            <intrinsics>
+              <!-- fx = fy = width / ( 2 * tan (hfov / 2 ) ) -->
+              <fx>329.9</fx>
+              <fy>329.9</fy>
+              <!-- cx = ( width - 1 ) / 2 -->
+              <cx>359.5</cx>
+              <!-- cy = ( height - 1 ) / 2 -->
+              <cy>539.5</cy>
+              <s>0</s>
+            </intrinsics>
+          </lens>
+          <distortion>
+            <k1>0.0</k1>
+            <k2>0.0</k2>
+            <k3>0.0</k3>
+            <p1>0.0</p1>
+            <p2>0.0</p2>
+            <center>0.5 0.5</center>
+          </distortion>
+          <image>
+            <width>720</width>
+            <height>1080</height>
+            <format>R8G8B8</format>
+          </image>
+          <clip>
+            <near>0.01</near>
+            <far>300</far>
+          </clip>
+          <noise>
+            <type>gaussian</type>
+            <mean>0</mean>
+            <stddev>0.007</stddev>
+          </noise>
+        </camera>
+      </sensor>
+
+
+
+      <sensor name="front_laser" type="gpu_lidar">
+        <visualize>0</visualize>
+        <update_rate>10</update_rate>
+        <lidar>
+          <scan>
+            <horizontal>
+              <samples>1800</samples>
+              <resolution>1</resolution>
+              <min_angle>-3.1459</min_angle>
+              <max_angle>3.1459</max_angle>
+            </horizontal>
+            <vertical>
+              <samples>16</samples>
+              <resolution>1</resolution>
+              <min_angle>-0.261799</min_angle>
+              <max_angle>0.261799</max_angle>
+            </vertical>
+          </scan>
+          <range>
+            <min>0.05</min>
+            <max>100</max>
+            <resolution>0.01</resolution>
+          </range>
+          <noise>
+            <type>gaussian</type>
+            <mean>0</mean>
+            <stddev>0.01</stddev>
+          </noise>
+        </lidar>
+        <pose frame="">0.345 -0.125 0.47 0 -0 0</pose>
+      </sensor>
+
+      
+      <!-- Based on Intel realsense D435 (intrinsics and distortion not modeled)-->
+      <sensor name="rgbd_front" type="rgbd_camera">
+        <pose>0.435 -0.125 0.513 0 0.46 0</pose>
+        <always_on>1</always_on>
+        <update_rate>30</update_rate>
+        <camera name="rgbd_front">
+          <horizontal_fov>1.50098</horizontal_fov>
+          <lens>
+            <intrinsics>
+              <!-- fx = fy = width / ( 2 * tan (hfov / 2 ) ) -->
+              <fx>343.159</fx>
+              <fy>343.159</fy>
+              <!-- cx = ( width - 1 ) / 2 -->
+              <cx>319.5</cx>
+              <!-- cy = ( height - 1 ) / 2 -->
+              <cy>179.5</cy>
+              <s>0</s>
+            </intrinsics>
+          </lens>
+          <distortion>
+            <k1>0.0</k1>
+            <k2>0.0</k2>
+            <k3>0.0</k3>
+            <p1>0.0</p1>
+            <p2>0.0</p2>
+            <center>0.5 0.5</center>
+          </distortion>
+          <image>
+            <width>640</width>
+            <height>360</height>
+            <format>R8G8B8</format>
+          </image>
+          <clip>
+            <near>0.01</near>
+            <far>300</far>
+          </clip>
+          <depth_camera>
+            <clip>
+              <near>0.1</near>
+              <far>10</far>
+            </clip>
+          </depth_camera>
+          <noise>
+            <type>gaussian</type>
+            <mean>0</mean>
+            <stddev>0.007</stddev>
+          </noise>
+        </camera>
+      </sensor>
+
+      
+  
+      <!-- MS-IMU3025 -->
+      <sensor name="imu_sensor" type="imu">
+        <pose>0 -0.125 0 0 0 0</pose>
+        <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>0.00002</dynamic_bias_stddev>
+                <dynamic_bias_correlation_time>400.0</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>0.00002</dynamic_bias_stddev>
+                <dynamic_bias_correlation_time>400.0</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>0.00002</dynamic_bias_stddev>
+                <dynamic_bias_correlation_time>400.0</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>175.0</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>175.0</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>175.0</dynamic_bias_correlation_time>
+                <precision>0.005</precision>
+              </noise>
+            </z>
+          </linear_acceleration>
+        </imu>
+      </sensor>
+      <sensor name="air_pressure" type="air_pressure">
+        <always_on>1</always_on>
+        <update_rate>20</update_rate>
+        <air_pressure>
+          <reference_altitude>0</reference_altitude>
+          <noise type="gaussian">
+            <mean>0.00000008</mean>
+          </noise>
+        </air_pressure>
+      </sensor>
+      <sensor name="magnetometer" type="magnetometer">
+        <always_on>1</always_on>
+        <update_rate>50</update_rate>
+        <magnetometer>
+          <x>
+            <noise type="gaussian">
+              <mean>0.000000080</mean>
+              <bias_mean>0.000000400</bias_mean>
+            </noise>
+          </x>
+          <y>
+            <noise type="gaussian">
+              <mean>0.000000080</mean>
+              <bias_mean>0.000000400</bias_mean>
+            </noise>
+          </y>
+          <z>
+            <noise type="gaussian">
+              <mean>0.000000080</mean>
+              <bias_mean>0.000000400</bias_mean>
+            </noise>
+          </z>
+        </magnetometer>
+      </sensor>
+    </link>
+
+    <link name="body_left">
+      <inertial>
+        <pose>0 0.14 0.11 0 0 0</pose>
+        <mass>15</mass>
+        <inertia>
+          <ixx>0.147</ixx>
+          <iyy>1.056</iyy>
+          <izz>1.071</izz>
+        </inertia>
+      </inertial>
+      
+      <collision name="body_left_collision">
+        <pose>0 0.14 0.11 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.89 0.23 0.255</size>
+          </box>
+        </geometry>
+      </collision>
+      <collision name="chassis_left_collision2">
+        <pose>0 0.41 0 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.8 0.03 0.03</size>
+          </box>
+        </geometry>
+      </collision>
+      
+
+      <visual name="chassis_left_visual">
+        <pose>0 0.14 0.11 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.89 0.23 0.255</size>
+          </box>
+        </geometry>
+        <material>
+          <ambient>0.6 0.6 0.6 1.0</ambient>
+          <diffuse>0.6 0.6 0.6 1.0</diffuse>
+        </material>
+      </visual>
+      <visual name="chassis_left_outside_visual1">
+        <pose>0 0.41 0 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.8 0.03 0.03</size>
+          </box>
+        </geometry>
+        <material>
+          <ambient>0.6 0.6 0.6 1.0</ambient>
+          <diffuse>0.6 0.6 0.6 1.0</diffuse>
+        </material>
+      </visual>
+      <visual name="chassis_left_outside_visual2">
+        <pose>0 0.33 0 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.06 0.16 0.03</size>
+          </box>
+        </geometry>
+        <material>
+          <ambient>0.6 0.6 0.6 1.0</ambient>
+          <diffuse>0.6 0.6 0.6 1.0</diffuse>
+        </material>
+      </visual>
+
+    </link>
+
+    <link name="front_left_wheel">
+      <pose>0.375 0.34 0 0 0 0</pose>
+      <inertial>
+        <mass>5.0</mass>
+        <inertia>
+          <ixx>0.030</ixx>
+          <iyy>0.056</iyy>
+          <izz>0.030</izz>
+        </inertia>
+      </inertial>
+      <collision name="front_left_wheel_collision">
+        <pose>0 0 0 -1.5707963267948966 0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.06</length>
+            <radius>0.33</radius>
+          </cylinder>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>0.5</mu>
+              <mu2>1</mu2>
+              <slip1>0.0016</slip1>
+              <slip2>0</slip2>
+              <fdir1>0 0 1</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <visual name="front_left_wheel_visual">
+        <pose>0 0 0 1.5707963267948966 0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>meshes/wheel_left.dae</uri>
+            <scale>3.25 3.25 1.3</scale>
+          </mesh>
+        </geometry>
+      </visual>
+      <visual name="front_left_axle">
+        <pose>0 -0.02 0 -1.5707963267948966 0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.16</length>
+            <radius>0.01</radius>
+          </cylinder>
+        </geometry>
+        <material>
+          <ambient>0.1 0.1 0.1 1.0</ambient>
+          <diffuse>0.1 0.1 0.1 1.0</diffuse>
+        </material>
+      </visual>
+    </link>
+
+    <link name="front_right_wheel">
+      <pose>0.375 -0.34 0 0 0 0</pose>
+      <inertial>
+        <mass>5</mass>
+        <inertia>
+          <ixx>0.030</ixx>
+          <iyy>0.056</iyy>
+          <izz>0.030</izz>
+        </inertia>
+      </inertial>
+      <collision name="front_right_wheel_collision">
+        <pose>0 0 0 1.5707963267948966 0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.06</length>
+            <radius>0.33</radius>
+          </cylinder>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>0.5</mu>
+              <mu2>1</mu2>
+              <slip1>0.0016</slip1>
+              <slip2>0</slip2>
+              <fdir1>0 0 1</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <visual name="front_right_wheel_visual">
+        <pose>0 0 0 1.5707963267948966 0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>meshes/wheel_right.dae</uri>
+            <scale>3.25 3.25 1.3</scale>
+          </mesh>
+        </geometry>
+      </visual>
+      <visual name="front_right_axle">
+        <pose>0 0.02 0 -1.5707963267948966 0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.16</length>
+            <radius>0.01</radius>
+          </cylinder>
+        </geometry>
+        <material>
+          <ambient>0.1 0.1 0.1 1.0</ambient>
+          <diffuse>0.1 0.1 0.1 1.0</diffuse>
+        </material>
+      </visual>
+    </link>
+
+    <link name="rear_left_wheel">
+      <pose>-0.375 0.34 0 0 0 0</pose>
+      <inertial>
+        <mass>5</mass>
+        <inertia>
+          <ixx>0.030</ixx>
+          <iyy>0.056</iyy>
+          <izz>0.030</izz>
+        </inertia>
+      </inertial>
+      <collision name="rear_left_wheel_collision">
+        <pose>0 0 0 -1.5707963267948966 0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.06</length>
+            <radius>0.33</radius>
+          </cylinder>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>0.5</mu>
+              <mu2>1</mu2>
+              <slip1>0.0016</slip1>
+              <slip2>0</slip2>
+              <fdir1>0 0 1</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <visual name="rear_left_wheel_visual">
+        <pose>0 0 0 1.5707963267948966 0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>meshes/wheel_left.dae</uri>
+            <scale>3.25 3.25 1.3</scale>
+          </mesh>
+        </geometry>
+      </visual>
+      <visual name="rear_left_axle">
+        <pose>0 -0.02 0 -1.5707963267948966 0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.16</length>
+            <radius>0.01</radius>
+          </cylinder>
+        </geometry>
+        <material>
+          <ambient>0.1 0.1 0.1 1.0</ambient>
+          <diffuse>0.1 0.1 0.1 1.0</diffuse>
+        </material>
+      </visual>
+    </link>
+
+    <link name="rear_right_wheel">
+      <pose>-0.375 -0.34 0 0 0 0</pose>
+      <inertial>
+        <mass>5</mass>
+        <inertia>
+          <ixx>0.030</ixx>
+          <iyy>0.056</iyy>
+          <izz>0.030</izz>
+        </inertia>
+      </inertial>
+      <collision name="rear_right_wheel_collision">
+        <pose>0 0 0 1.5707963267948966 0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.06</length>
+            <radius>0.33</radius>
+          </cylinder>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>0.5</mu>
+              <mu2>1</mu2>
+              <slip1>0.0016</slip1>
+              <slip2>0</slip2>
+              <fdir1>0 0 1</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <visual name="rear_right_wheel_visual">
+        <pose>0 0 0 1.5707963267948966 0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>meshes/wheel_right.dae</uri>
+            <scale>3.25 3.25 1.3</scale>
+          </mesh>
+        </geometry>
+      </visual>
+      <visual name="front_right_axle">
+        <pose>0 0.02 0 -1.5707963267948966 0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.16</length>
+            <radius>0.01</radius>
+          </cylinder>
+        </geometry>
+        <material>
+          <ambient>0.1 0.1 0.1 1.0</ambient>
+          <diffuse>0.1 0.1 0.1 1.0</diffuse>
+        </material>
+      </visual>
+    </link>
+
+
+    <joint name="Center Pivot" type="revolute">
+      <child>body_left</child>
+      <parent>base_link</parent>
+      <axis>
+        <xyz>0 -1 0</xyz>
+        <limit>
+          <lower>-0.5585</lower>
+          <upper>0.5585</upper>
+          <effort>30</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>
+    </joint>
+
+
+    <joint name="front_left_wheel_joint" type="revolute">
+      <child>front_left_wheel</child>
+      <parent>body_left</parent>
+      <axis>
+        <xyz>0 1 0</xyz>
+        <limit>
+          <lower>-1.79769e+308</lower>
+          <upper>+1.79769e+308</upper>
+          <velocity>14</velocity>
+          <!-- Torque in NM. -->
+          <effort>60</effort>
+        </limit>
+        <use_parent_model_frame>1</use_parent_model_frame>
+      </axis>
+    </joint>
+
+    <joint name="rear_left_wheel_joint" type="revolute">
+      <parent>body_left</parent>
+      <child>rear_left_wheel</child>
+      <axis>
+        <xyz>0 1 0</xyz>
+        <limit>
+          <lower>-1.79769e+308</lower>
+          <upper>+1.79769e+308</upper>
+          <velocity>14</velocity>
+          <effort>60</effort>
+        </limit>
+      </axis>
+    </joint>
+
+    <joint name="rear_right_wheel_joint" type="revolute">
+      <parent>base_link</parent>
+      <child>rear_right_wheel</child>
+      <axis>
+        <xyz>0 1 0</xyz>
+        <limit>
+          <lower>-1.79769e+308</lower>
+          <upper>+1.79769e+308</upper>
+          <velocity>14</velocity>
+          <!-- Torque in NM. -->
+          <effort>60</effort>
+        </limit>
+      </axis>
+    </joint>
+
+    <joint name="front_right_wheel_joint" type="revolute">
+      <parent>base_link</parent>
+      <child>front_right_wheel</child>
+      <axis>
+        <xyz>0 1 0</xyz>
+        <limit>
+          <lower>-1.79769e+308</lower>
+          <upper>+1.79769e+308</upper>
+          <velocity>14</velocity>
+          <!-- Torque in NM. -->
+          <effort>60</effort>
+        </limit>
+      </axis>
+    </joint>
+  </model>
+</sdf>
diff --git a/submitted_models/coro_mike_sensor_config_1/package.xml b/submitted_models/coro_mike_sensor_config_1/package.xml
new file mode 100644
index 00000000..441dc4c3
--- /dev/null
+++ b/submitted_models/coro_mike_sensor_config_1/package.xml
@@ -0,0 +1,19 @@
+<?xml version="1.0"?>
+<package>
+  <name>coro_mike_sensor_config_1</name>
+  <version>0.0.1</version>
+  <description>Coordinated Robotics Mike - bicycle skid steer robot.</description>
+
+  <author email="ak619@lafn.org">Kevin Knoedler</author>
+  <maintainer email="ak619@lafn.org">Kevin Knoedler</maintainer>
+
+  <license>BSD</license>
+
+  <buildtool_depend>catkin</buildtool_depend>
+  <build_depend>roslaunch</build_depend>
+  <run_depend>urdf</run_depend>
+  <run_depend>xacro</run_depend>
+
+  <export>
+  </export>
+</package>
diff --git a/submitted_models/coro_mike_sensor_config_1/specifications.md b/submitted_models/coro_mike_sensor_config_1/specifications.md
new file mode 100644
index 00000000..f97ae575
--- /dev/null
+++ b/submitted_models/coro_mike_sensor_config_1/specifications.md
@@ -0,0 +1,73 @@
+<!--- This is a Markdown description of a robot model submitted for inclusion in the
+DARPA Subterranean Challenge Technology Repository -->
+# Coordinated Robotics - Mike
+This specifications.md file is a description and proof of virtual model validation for
+Coordinated Robotics Mike with Sensor Configuration 1. This robot may be launched using
+a `ign launch` command with the variable name `coro_mike_sensor_config_1`.
+
+## Description
+Mike is a four-wheel skid steer ground vehicle using bicycle wheels and with a central joint
+splitting the robot into left and right. Mike weighs ~50 kg and uses a motor for each wheel.
+Mike can carry and launch a drone from atop the sensor platform.
+
+## Usage Instructions
+The robot is controlled by the skid steer plugin and accepts a linear x velocity and a rotational z velocity.
+Sensors are published on the standard topics.
+
+## Usage Rights
+
+
+## Cost and Scale
+Mike has an estimated duplication cost of USD 8,600.
+Cost breakdown:
+$2500 - Velodyne VLP-16 https://www.ebay.com/sch/i.html?_nkw=velodyne+vlp-16&_sacat=0
+$1800 - Frame / motors / wheels / batteries / controllers
+$1300 - MS-IMU3025
+$800  - lights / connectors /switches / DC-DC / misc
+$800  - Computer
+$225  - Seek Thermal Compact
+$200  - D435
+
+## Sensors
+Mike Sensor Config 1 uses:
+* 1 x Velodyne VLP-16, modeled by gpu_lidar plugin
+* 1 x D435i modeled by rgbd_camera plugin
+* 1 x Seek Thermal Compact modeled by thermal sensor system
+* 1 x Memsense MS-IMU3025 modeled by imu_sensor and magnetometer plugin
+* 1 x Kakute F7 - modeled by air_pressure plugin
+* 1 x SCD30 - modeled by GasEmitterDetector plugin
+* 2 x Arducam B0203 with LN008 - modeled by 4 camera plugins
+* 4 x Wheel odometry - wheel encoders modeled by pose-publisher plugin
+
+Mike Sensor Config 2 adds 12 breadcrumbs:
+* 12 x Raspberry Pi Zero W
+
+## Control
+Mike is controlled by the DiffDrive plugin and accepts a linear x velocity and a rotational z velocity.
+Sensors are published on the standard topics.
+
+
+## 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:
+
+Limited to 1.0 m/s until validation is complete.
+
+
+## Endurance Characteristics
+Limited to 1 hour until validation is complete.
+
+
+## Diversions from Physical Hardware of Mike
+Fisheye cameras are not modeled, so 4 cameras were used for simulation in place of the two fisheye cameras on the physical robot.
+
+## Mike Validation and Specification Links
+
+* VLP-16 LIDAR -  https://www.mapix.com/wp-content/uploads/2018/07/63-9229_Rev-H_Puck-_Datasheet_Web-1.pdf
+* Memsense MS-IMU3025 - https://www.memsense.com/products/ms-imu3025
+* Kakute F7 - http://www.holybro.com/product/kakute-f7-v1-5/
+* Arducam B0203 - https://www.arducam.com/product/arducam-1080p-hd-wide-angle-wdr-usb-camera-module-for-computer-2mp-1-2-7-cmos-ar0230-100-degree-mini-uvc-usb2-0-spy-webcam-board-with-3-3ft-1m-cable-for-windows-linux-mac-os-android/
+* Arducam LN008 - https://www.arducam.com/product/m25156h14/
+* D435 RGBD Camera - https://www.intelrealsense.com/depth-camera-d435
+* Seek Thermal Compact - https://www.thermal.com/uploads/1/0/1/3/101388544/compact-sellsheet-usa_web.pdf
diff --git a/submitted_models/coro_mike_sensor_config_1/urdf/model.urdf b/submitted_models/coro_mike_sensor_config_1/urdf/model.urdf
new file mode 100644
index 00000000..e69de29b
diff --git a/submitted_models/coro_mike_sensor_config_1/urdf/model.xacro b/submitted_models/coro_mike_sensor_config_1/urdf/model.xacro
new file mode 100644
index 00000000..1e1ca727
--- /dev/null
+++ b/submitted_models/coro_mike_sensor_config_1/urdf/model.xacro
@@ -0,0 +1,441 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name='coro_mike_sensor_config_1' xmlns:xacro="http://ros.org/wiki/xacro">
+  <xacro:arg name="name" default="coro_mike_sensor_config_1"/>
+  <xacro:property name="robot_namespace" value="$(arg name)"/>
+  <link name='${robot_namespace}/base_link'>
+    <inertial>
+      <origin xyz='0 -0.14 0.11' rpy='0 -0 0'/>
+      <mass value='15'/>
+      <inertia ixx='0.147' ixy='0' ixz='0' iyy='1.056' iyz='0' izz='1.071'/>
+    </inertial>
+    <collision name='chassis_collision'>
+      <origin xyz='0 -0.14 0.11' rpy='0 -0 0'/>
+      <geometry>
+        <box size='0.89 0.23 0.255'/>
+      </geometry>
+    </collision>
+    <collision name='chassis_collision2'>
+      <origin xyz='0 -0.41 0' rpy='0 -0 0'/>
+      <geometry>
+        <box size='0.8 0.03 0.03'/>
+      </geometry>
+    </collision>
+    <collision name='tower_collision'>
+      <origin xyz='0.345 -0.125 0.39' rpy='0 -0 0'/>
+      <geometry>
+        <box size='0.2 0.2 0.34'/>
+      </geometry>
+    </collision>
+    <visual name='chassis_main_visual'>
+      <origin xyz='0 -0.14 0.11' rpy='0 -0 0'/>
+      <geometry>
+        <box size='0.89 0.23 0.255'/>
+      </geometry>
+    </visual>
+    <visual name='chassis_main_outside_visual1'>
+      <origin xyz='0 -0.41 0' rpy='0 -0 0'/>
+      <geometry>
+        <box size='0.8 0.03 0.03'/>
+      </geometry>
+    </visual>
+    <visual name='chassis_main_outside_visual2'>
+      <origin xyz='0 -0.33 0' rpy='0 -0 0'/>
+      <geometry>
+        <box size='0.06 0.16 0.03'/>
+      </geometry>
+    </visual>
+    <visual name='chassis_joint_visual'>
+      <origin xyz='0 0 0.04' rpy='1.5708 -0 0'/>
+      <geometry>
+        <cylinder radius='0.05' length='0.05'/>
+      </geometry>
+    </visual>
+    <visual name='plate1_visual'>
+      <origin xyz='0.345 -0.125 0.54' rpy='0 -0 0'/>
+      <geometry>
+        <box size='0.2 0.2 0.005'/>
+      </geometry>
+    </visual>
+    <visual name='plate2_visual'>
+      <origin xyz='0.345 -0.125 0.43' rpy='0 -0 0'/>
+      <geometry>
+        <box size='0.2 0.2 0.005'/>
+      </geometry>
+    </visual>
+    <visual name='plate3_visual_was35_11_29'>
+      <origin xyz='0.345 -0.125 0.24' rpy='0 -0 0'/>
+      <geometry>
+        <box size='0.2 0.2 0.005'/>
+      </geometry>
+    </visual>
+    <visual name='beam1_visual'>
+      <origin xyz='0.436 -0.034 0.39' rpy='0 -0 0'/>
+      <geometry>
+        <box size='0.02 0.02 0.3'/>
+      </geometry>
+    </visual>
+    <visual name='beam2_visual'>
+      <origin xyz='0.436 -0.216 0.39' rpy='0 -0 0'/>
+      <geometry>
+        <box size='0.02 0.02 0.3'/>
+      </geometry>
+    </visual>
+    <visual name='beam3_visual'>
+      <origin xyz='0.254 -0.034 0.39' rpy='0 -0 0'/>
+      <geometry>
+        <box size='0.02 0.02 0.3'/>
+      </geometry>
+    </visual>
+    <visual name='beam4_visual'>
+      <origin xyz='0.254 -0.216 0.39' rpy='0 -0 0'/>
+      <geometry>
+        <box size='0.02 0.02 0.3'/>
+      </geometry>
+    </visual>
+    <visual name='emergency_stop_bottom_visual'>
+      <origin xyz='0.2 -0.15 0.245' rpy='0 -0 0'/>
+      <geometry>
+        <cylinder radius='0.015' length='0.015'/>
+      </geometry>
+    </visual>
+    <visual name='emergency_stop_top_visual'>
+      <origin xyz='0.2 -0.15 0.255' rpy='0 -0 0'/>
+      <geometry>
+        <cylinder radius='0.02' length='0.005'/>
+      </geometry>
+    </visual>
+    <visual name='d435i_realsense_camera_visual'>
+      <origin xyz='0.405 -0.125 0.513' rpy='0 0.46 0'/>
+      <geometry>
+        <mesh filename='package://coro_mike_sensor_config_1/meshes/realsense_d435.dae' scale='0.001 0.001 0.001'/>
+      </geometry>
+    </visual>
+    <visual name='vlp16_visual1'>
+      <origin xyz='0.345 -0.125 0.432' rpy='0 -0 0'/>
+      <geometry>
+        <mesh filename='package://coro_mike_sensor_config_1/meshes/VLP16_base_1.dae' scale='1 1 1'/>
+      </geometry>
+    </visual>
+    <visual name='vlp_visual2'>
+      <origin xyz='0.345 -0.125 0.432' rpy='0 -0 0'/>
+      <geometry>
+        <mesh filename='package://coro_mike_sensor_config_1/meshes/VLP16_base_2.dae' scale='1 1 1'/>
+      </geometry>
+    </visual>
+    <visual name='vlp_visual3'>
+      <origin xyz='0.345 -0.125 0.432' rpy='0 -0 0'/>
+      <geometry>
+        <mesh filename='package://coro_mike_sensor_config_1/meshes/VLP16_scan.dae' scale='1 1 1'/>
+      </geometry>
+    </visual>
+    <visual name='camera_front_visual'>
+      <origin xyz='0.435 -0.065 0.525' rpy='0 -0 0'/>
+      <geometry>
+        <box size='0.01 0.03 0.03'/>
+      </geometry>
+    </visual>
+    <visual name='camera_lens_front_visual'>
+      <origin xyz='0.445 -0.065 0.525' rpy='0 1.5708 0'/>
+      <geometry>
+        <cylinder radius='0.005' length='0.011'/>
+      </geometry>
+    </visual>
+    <visual name='camera_rear_visual'>
+      <origin xyz='0.255 -0.125 0.525' rpy='0 -0 0'/>
+      <geometry>
+        <box size='0.01 0.03 0.03'/>
+      </geometry>
+    </visual>
+    <visual name='camera_lens_rear_visual'>
+      <origin xyz='0.245 -0.125 0.525' rpy='0 1.5708 0'/>
+      <geometry>
+        <cylinder radius='0.005' length='0.011'/>
+      </geometry>
+    </visual>
+    <visual name='camera_left_visual'>
+      <origin xyz='0.345 -0.035 0.525' rpy='0 -0 0'/>
+      <geometry>
+        <box size='0.03 0.01 0.03'/>
+      </geometry>
+    </visual>
+    <visual name='camera_lens_left_visual'>
+      <origin xyz='0.345 -0.025 0.525' rpy='1.5708 -0 0'/>
+      <geometry>
+        <cylinder radius='0.005' length='0.011'/>
+      </geometry>
+    </visual>
+    <visual name='camera_right_visual'>
+      <origin xyz='0.345 -0.215 0.525' rpy='0 -0 0'/>
+      <geometry>
+        <box size='0.03 0.01 0.03'/>
+      </geometry>
+    </visual>
+    <visual name='camera_lens_right_visual'>
+      <origin xyz='0.345 -0.225 0.525' rpy='1.5708 -0 0'/>
+      <geometry>
+        <cylinder radius='0.005' length='0.011'/>
+      </geometry>
+    </visual>
+    <visual name='light_front_visual'>
+      <origin xyz='0.435 -0.125 0.562' rpy='0 -0 0'/>
+      <geometry>
+        <box size='0.04 0.13 0.04'/>
+      </geometry>
+    </visual>
+    <visual name='light_rear_visual'>
+      <origin xyz='0.255 -0.125 0.562' rpy='0 -0 0'/>
+      <geometry>
+        <box size='0.04 0.12 0.04'/>
+      </geometry>
+    </visual>
+    <visual name='light_left_visual'>
+      <origin xyz='0.345 -0.035 0.562' rpy='0 -0 0'/>
+      <geometry>
+        <box size='0.12 0.04 0.04'/>
+      </geometry>
+    </visual>
+    <visual name='light_right_visual'>
+      <origin xyz='0.345 -0.215 0.562' rpy='0 -0 0'/>
+      <geometry>
+        <box size='0.12 0.04 0.04'/>
+      </geometry>
+    </visual>
+    <visual name='thermal_camera_visual'>
+      <origin xyz='0.425 -0.185 0.524' rpy='0 -0 0'/>
+      <geometry>
+        <box size='0.02 0.03 0.03'/>
+      </geometry>
+    </visual>
+  </link>
+  <sensor name='thermal_camera' update_rate='9'>
+    <parent link='${robot_namespace}/base_link'/>
+    <origin xyz='0.44 -0.17 0.574' rpy='0 -0 0'/>
+    <camera>
+      <image width='206' height='156' format='R8G8B8' hfov='0.628' near='0.1' far='300' />
+    </camera>
+  </sensor>
+  <sensor name='camera_front' update_rate='25'>
+    <parent link='${robot_namespace}/base_link'/>
+    <origin xyz='0.455 -0.065 0.525' rpy='0 -0 0'/>
+    <camera>
+      <image width='720' height='1080' format='R8G8B8' hfov='1.658' near='0.01' far='300' />
+    </camera>
+  </sensor>
+  <sensor name='camera_rear' update_rate='25'>
+    <parent link='${robot_namespace}/base_link'/>
+    <origin xyz='0.235 -0.125 0.525' rpy='0 -0 3.14159'/>
+    <camera>
+      <image width='720' height='1080' format='R8G8B8' hfov='1.658' near='0.01' far='300' />
+    </camera>
+  </sensor>
+  <sensor name='camera_left' update_rate='25'>
+    <parent link='${robot_namespace}/base_link'/>
+    <origin xyz='0.345 -0.015 0.525' rpy='0 -0 1.5708'/>
+    <camera>
+      <image width='720' height='1080' format='R8G8B8' hfov='1.658' near='0.01' far='300' />
+    </camera>
+  </sensor>
+  <sensor name='camera_right' update_rate='25'>
+    <parent link='${robot_namespace}/base_link'/>
+    <origin xyz='0.345 -0.235 0.525' rpy='0 0 -1.5708'/>
+    <camera>
+      <image width='720' height='1080' format='R8G8B8' hfov='1.658' near='0.01' far='300' />
+    </camera>
+  </sensor>
+  <sensor name='front_laser' update_rate='10'>
+    <parent link='${robot_namespace}/base_link'/>
+    <origin xyz='0.345 -0.125 0.47' rpy='0 -0 0'/>
+  </sensor>
+  <sensor name='rgbd_front' update_rate='30'>
+    <parent link='${robot_namespace}/base_link'/>
+    <origin xyz='0.435 -0.125 0.513' rpy='0 0.46 0'/>
+    <camera>
+      <image width='640' height='360' format='R8G8B8' hfov='1.50098' near='0.01' far='300' />
+    </camera>
+  </sensor>
+  <sensor name='imu_sensor' update_rate='50'>
+    <parent link='${robot_namespace}/base_link'/>
+    <origin xyz='0 -0.125 0' rpy='0 -0 0'/>
+  </sensor>
+  <sensor name='air_pressure' update_rate='20'>
+    <parent link='${robot_namespace}/base_link'/>
+    <origin xyz='0 0 0' rpy='0 -0 0'/>
+  </sensor>
+  <sensor name='magnetometer' update_rate='50'>
+    <parent link='${robot_namespace}/base_link'/>
+    <origin xyz='0 0 0' rpy='0 -0 0'/>
+  </sensor>
+  <link name='${robot_namespace}/body_left'>
+    <inertial>
+      <origin xyz='0 0.14 0.11' rpy='0 -0 0'/>
+      <mass value='15'/>
+      <inertia ixx='0.147' ixy='0' ixz='0' iyy='1.056' iyz='0' izz='1.071'/>
+    </inertial>
+    <collision name='body_left_collision'>
+      <origin xyz='0 0.14 0.11' rpy='0 -0 0'/>
+      <geometry>
+        <box size='0.89 0.23 0.255'/>
+      </geometry>
+    </collision>
+    <collision name='chassis_left_collision2'>
+      <origin xyz='0 0.41 0' rpy='0 -0 0'/>
+      <geometry>
+        <box size='0.8 0.03 0.03'/>
+      </geometry>
+    </collision>
+    <visual name='chassis_left_visual'>
+      <origin xyz='0 0.14 0.11' rpy='0 -0 0'/>
+      <geometry>
+        <box size='0.89 0.23 0.255'/>
+      </geometry>
+    </visual>
+    <visual name='chassis_left_outside_visual1'>
+      <origin xyz='0 0.41 0' rpy='0 -0 0'/>
+      <geometry>
+        <box size='0.8 0.03 0.03'/>
+      </geometry>
+    </visual>
+    <visual name='chassis_left_outside_visual2'>
+      <origin xyz='0 0.33 0' rpy='0 -0 0'/>
+      <geometry>
+        <box size='0.06 0.16 0.03'/>
+      </geometry>
+    </visual>
+  </link>
+  <link name='${robot_namespace}/front_left_wheel'>
+    <inertial>
+      <origin xyz='0 0 0' rpy='0 -0 0'/>
+      <mass value='5'/>
+      <inertia ixx='0.03' ixy='0' ixz='0' iyy='0.056' iyz='0' izz='0.03'/>
+    </inertial>
+    <collision name='front_left_wheel_collision'>
+      <origin xyz='0 0 0' rpy='-1.5708 0 0'/>
+      <geometry>
+        <cylinder radius='0.33' length='0.06'/>
+      </geometry>
+    </collision>
+    <visual name='front_left_wheel_visual'>
+      <origin xyz='0 0 0' rpy='1.5708 -0 0'/>
+      <geometry>
+        <mesh filename='package://coro_mike_sensor_config_1/meshes/wheel_left.dae' scale='3.25 3.25 1.3'/>
+      </geometry>
+    </visual>
+    <visual name='front_left_axle'>
+      <origin xyz='0 -0.02 0' rpy='-1.5708 0 0'/>
+      <geometry>
+        <cylinder radius='0.01' length='0.16'/>
+      </geometry>
+    </visual>
+  </link>
+  <link name='${robot_namespace}/front_right_wheel'>
+    <inertial>
+      <origin xyz='0 0 0' rpy='0 -0 0'/>
+      <mass value='5'/>
+      <inertia ixx='0.03' ixy='0' ixz='0' iyy='0.056' iyz='0' izz='0.03'/>
+    </inertial>
+    <collision name='front_right_wheel_collision'>
+      <origin xyz='0 0 0' rpy='1.5708 -0 0'/>
+      <geometry>
+        <cylinder radius='0.33' length='0.06'/>
+      </geometry>
+    </collision>
+    <visual name='front_right_wheel_visual'>
+      <origin xyz='0 0 0' rpy='1.5708 -0 0'/>
+      <geometry>
+        <mesh filename='package://coro_mike_sensor_config_1/meshes/wheel_right.dae' scale='3.25 3.25 1.3'/>
+      </geometry>
+    </visual>
+    <visual name='front_right_axle'>
+      <origin xyz='0 0.02 0' rpy='-1.5708 0 0'/>
+      <geometry>
+        <cylinder radius='0.01' length='0.16'/>
+      </geometry>
+    </visual>
+  </link>
+  <link name='${robot_namespace}/rear_left_wheel'>
+    <inertial>
+      <origin xyz='0 0 0' rpy='0 -0 0'/>
+      <mass value='5'/>
+      <inertia ixx='0.03' ixy='0' ixz='0' iyy='0.056' iyz='0' izz='0.03'/>
+    </inertial>
+    <collision name='rear_left_wheel_collision'>
+      <origin xyz='0 0 0' rpy='-1.5708 0 0'/>
+      <geometry>
+        <cylinder radius='0.33' length='0.06'/>
+      </geometry>
+    </collision>
+    <visual name='rear_left_wheel_visual'>
+      <origin xyz='0 0 0' rpy='1.5708 -0 0'/>
+      <geometry>
+        <mesh filename='package://coro_mike_sensor_config_1/meshes/wheel_left.dae' scale='3.25 3.25 1.3'/>
+      </geometry>
+    </visual>
+    <visual name='rear_left_axle'>
+      <origin xyz='0 -0.02 0' rpy='-1.5708 0 0'/>
+      <geometry>
+        <cylinder radius='0.01' length='0.16'/>
+      </geometry>
+    </visual>
+  </link>
+  <link name='${robot_namespace}/rear_right_wheel'>
+    <inertial>
+      <origin xyz='0 0 0' rpy='0 -0 0'/>
+      <mass value='5'/>
+      <inertia ixx='0.03' ixy='0' ixz='0' iyy='0.056' iyz='0' izz='0.03'/>
+    </inertial>
+    <collision name='rear_right_wheel_collision'>
+      <origin xyz='0 0 0' rpy='1.5708 -0 0'/>
+      <geometry>
+        <cylinder radius='0.33' length='0.06'/>
+      </geometry>
+    </collision>
+    <visual name='rear_right_wheel_visual'>
+      <origin xyz='0 0 0' rpy='1.5708 -0 0'/>
+      <geometry>
+        <mesh filename='package://coro_mike_sensor_config_1/meshes/wheel_right.dae' scale='3.25 3.25 1.3'/>
+      </geometry>
+    </visual>
+    <visual name='front_right_axle'>
+      <origin xyz='0 0.02 0' rpy='-1.5708 0 0'/>
+      <geometry>
+        <cylinder radius='0.01' length='0.16'/>
+      </geometry>
+    </visual>
+  </link>
+  <joint name='Center Pivot' type='revolute'>
+    <origin xyz='0 0 0' rpy='0 -0 0'/>
+    <parent link='${robot_namespace}/base_link'/>
+    <child link='${robot_namespace}/body_left'/>
+    <dynamics damping='0' friction='0' />
+    <axis xyz='0 -1 0'/>
+    <limit lower='-0.5585' upper='0.5585' effort='30' velocity='1'/>
+  </joint>
+  <joint name='front_left_wheel_joint' type='revolute'>
+    <origin xyz='0.375 0.34 0' rpy='0 -0 0'/>
+    <parent link='${robot_namespace}/body_left'/>
+    <child link='${robot_namespace}/front_left_wheel'/>
+    <axis xyz='0 1 0'/>
+    <limit lower='-1.79769e+308' upper='1.79769e+308' effort='60' velocity='4'/>
+  </joint>
+  <joint name='rear_left_wheel_joint' type='revolute'>
+    <origin xyz='-0.375 0.34 0' rpy='0 -0 0'/>
+    <parent link='${robot_namespace}/body_left'/>
+    <child link='${robot_namespace}/rear_left_wheel'/>
+    <axis xyz='0 1 0'/>
+    <limit lower='-1.79769e+308' upper='1.79769e+308' effort='60' velocity='4'/>
+  </joint>
+  <joint name='rear_right_wheel_joint' type='revolute'>
+    <origin xyz='-0.375 -0.34 0' rpy='0 -0 0'/>
+    <parent link='${robot_namespace}/base_link'/>
+    <child link='${robot_namespace}/rear_right_wheel'/>
+    <axis xyz='0 1 0'/>
+    <limit lower='-1.79769e+308' upper='1.79769e+308' effort='60' velocity='4'/>
+  </joint>
+  <joint name='front_right_wheel_joint' type='revolute'>
+    <origin xyz='0.375 -0.34 0' rpy='0 -0 0'/>
+    <parent link='${robot_namespace}/base_link'/>
+    <child link='${robot_namespace}/front_right_wheel'/>
+    <axis xyz='0 1 0'/>
+    <limit lower='-1.79769e+308' upper='1.79769e+308' effort='60' velocity='4'/>
+  </joint>
+</robot>
diff --git a/submitted_models/coro_mike_sensor_config_1/worlds/example.sdf b/submitted_models/coro_mike_sensor_config_1/worlds/example.sdf
new file mode 100644
index 00000000..9ea5042c
--- /dev/null
+++ b/submitted_models/coro_mike_sensor_config_1/worlds/example.sdf
@@ -0,0 +1,183 @@
+<?xml version="1.0" ?>
+<sdf version="1.6">
+  <world name="example">
+    <physics name="4ms" type="dart">
+      <max_step_size>0.004</max_step_size>
+      <real_time_factor>1.0</real_time_factor>
+    </physics>
+
+    <scene>
+      <ambient>0.2 0.2 0.2</ambient>
+      <background>0.8 0.8 0.8</background>
+    </scene>
+
+
+    <light type="directional" name="sun">
+      <cast_shadows>true</cast_shadows>
+      <pose>0 0 10 0 0 0</pose>
+      <diffuse>0.8 0.8 0.8 1</diffuse>
+      <specular>0.8 0.8 0.8 1</specular>
+      <attenuation>
+        <range>1</range>
+        <constant>0.9</constant>
+        <linear>1</linear>
+        <quadratic>0.001</quadratic>
+      </attenuation>
+      <direction>0.0 0.0 -1.0</direction>
+    </light>
+
+  <light name="light1" type="point">
+      <pose>0 0 4 0 0 0</pose>
+      <attenuation>
+        <range>1000</range>
+        <linear>0</linear>
+        <constant>0.1</constant>
+        <quadratic>0.005</quadratic>
+      </attenuation>
+      <diffuse>0.8 0.8 0.8 1</diffuse>
+      <specular>0.8 0.8 0.8 1</specular>
+      <spot>
+        <inner_angle>5</inner_angle>
+        <outer_angle>10.1</outer_angle>
+        <falloff>.1</falloff>
+      </spot>
+      <direction>0 0 -1</direction>
+    </light>
+    <light name="light2" type="spot">
+      <pose>0 0 4 0 0 0</pose>
+      <attenuation>
+        <range>1000</range>
+        <linear>0.1</linear>
+        <constant>0.2</constant>
+        <quadratic>0.005</quadratic>
+      </attenuation>
+      <diffuse>0.8 0.8 0.5 1</diffuse>
+      <specular>0.8 0.8 0.5 1</specular>
+      <spot>
+        <inner_angle>5</inner_angle>
+        <outer_angle>10.1</outer_angle>
+        <falloff>.1</falloff>
+      </spot>
+      <direction>0 0 -1</direction>
+    </light>
+    <!-- The staging area -->
+    <include>
+      <static>true</static>
+      <name>staging_area</name>
+      <pose>0 0 0 0 0 0</pose>
+      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/subt_tunnel_staging_area</uri>
+    </include>
+
+    <!-- Barriers -->
+    <include>
+      <name>barrier_0_-1</name>
+      <pose>8.0 -11 0 0 0 0</pose>
+      <uri> https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier </uri>
+    </include>
+  
+    <include>
+      <name>barrier_0_1</name>
+      <pose>8.0 11 0 0 0 0 </pose>
+      <uri> https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier </uri>
+    </include>
+  
+    <include>
+      <name>barrier_1_-1</name>
+      <pose>3.7 -11 0 0 0 0</pose>
+      <uri> https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier </uri>
+    </include>
+  
+    <include>
+      <name>barrier_1_1</name>
+      <pose>3.7 11 0 0 0 0</pose>
+      <uri> https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier </uri>
+    </include>
+  
+    <include>
+      <name>barrier_2_-1</name>
+      <pose>-0.5999999999999996 -11 0 0 0 0</pose>
+      <uri> https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier </uri>
+    </include>
+  
+    <include>
+      <name>barrier_2_1</name>
+      <pose>-0.5999999999999996 11 0 0 0 0</pose>
+      <uri> https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier </uri>
+    </include>
+  
+    <include>
+      <name>barrier_3_-1</name>
+      <pose>-4.899999999999999 -11 0 0 0 0</pose>
+      <uri> https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier </uri>
+    </include>
+  
+    <include>
+      <name>barrier_3_1</name>
+      <pose>-4.899999999999999 11 0 0 0 0</pose>
+      <uri> https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier </uri>
+    </include>
+  
+    <include>
+      <name>barrier_4_-1</name>
+      <pose>-9.2 -11 0 0 0 0</pose>
+      <uri> https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier </uri>
+    </include>
+  
+    <include>
+      <name>barrier_4_1</name>
+      <pose>-9.2 11 0 0 0 0</pose>
+      <uri> https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier </uri>
+    </include>
+  
+    <include>
+      <name>barrier_-9.5_-2</name>
+      <pose>10.5 -8.6 0 0 0 1.5707963267948966</pose>
+      <uri> https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier </uri>
+    </include>
+  
+    <include>
+      <name>barrier_-9.5_2</name>
+      <pose>10.5 8.6 0 0 0 1.5707963267948966</pose>
+      <uri> https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier </uri>
+    </include>
+  
+    <include>
+      <name>barrier_-32_-2</name>
+      <pose>-12 -8.6 0 0 0 1.5707963267948966</pose>
+      <uri> https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier </uri>
+    </include>
+  
+    <include>
+      <name>barrier_-32_-1</name>
+      <pose>-12 -4.3 0 0 0 1.5707963267948966</pose>
+      <uri> https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier </uri>
+    </include>
+  
+    <include>
+      <name>barrier_-32_0</name>
+      <pose>-12 0.0 0 0 0 1.5707963267948966</pose>
+      <uri> https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier </uri>
+    </include>
+  
+    <include>
+      <name>barrier_-32_1</name>
+      <pose>-12 4.3 0 0 0 1.5707963267948966</pose>
+      <uri> https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier </uri>
+    </include>
+
+    <include>
+      <name>barrier_-32_2</name>
+      <pose>-12 8.6 0 0 0 1.5707963267948966</pose>
+      <uri> https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier </uri>
+    </include>
+
+
+    <!-- The base station -->
+    <include>
+      <static>true</static>
+      <name>base_station</name>
+      <pose>-8 0 0 0 0 -1.5708</pose>
+      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Base Station</uri>
+    </include>
+  </world>
+</sdf>
diff --git a/submitted_models/coro_mike_sensor_config_2/CMakeLists.txt b/submitted_models/coro_mike_sensor_config_2/CMakeLists.txt
new file mode 100644
index 00000000..522ecf9a
--- /dev/null
+++ b/submitted_models/coro_mike_sensor_config_2/CMakeLists.txt
@@ -0,0 +1,8 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(coro_mike_sensor_config_2)
+
+find_package(catkin REQUIRED)
+
+catkin_package()
+
+install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
diff --git a/submitted_models/coro_mike_sensor_config_2/launch/spawner.rb b/submitted_models/coro_mike_sensor_config_2/launch/spawner.rb
new file mode 100644
index 00000000..3cf777e4
--- /dev/null
+++ b/submitted_models/coro_mike_sensor_config_2/launch/spawner.rb
@@ -0,0 +1,122 @@
+def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
+  <<-HEREDOC
+  <spawn name='#{_name}'>
+    <name>#{_name}</name>
+    <allow_renaming>false</allow_renaming>
+    <pose>#{_x} #{_y} #{_z + 0.34} #{_roll} #{_pitch} #{_yaw}</pose>
+    <world>#{_worldName}</world>
+    <is_performer>true</is_performer>
+    <sdf version='1.6'>
+      <include>
+        <name>#{_name}</name>
+        <uri>#{_modelURI}</uri>
+        <!-- Diff drive -->
+        <plugin filename=\"libignition-gazebo-diff-drive-system.so\"
+                name=\"ignition::gazebo::systems::DiffDrive\">
+          <left_joint>front_left_wheel_joint</left_joint>
+          <left_joint>rear_left_wheel_joint</left_joint>
+          <right_joint>front_right_wheel_joint</right_joint>
+          <right_joint>rear_right_wheel_joint</right_joint>
+          <wheel_separation>0.72</wheel_separation>
+          <wheel_radius>0.33</wheel_radius>
+          <topic>/model/#{_name}/cmd_vel_relay</topic>
+          <min_velocity>-1.0</min_velocity>
+          <max_velocity>1.0</max_velocity>
+          <min_acceleration>-3.0</min_acceleration>
+          <max_acceleration>3.0</max_acceleration>
+        </plugin>
+        <!-- Publish robot state information -->
+        <plugin filename=\"libignition-gazebo-pose-publisher-system.so\"
+          name=\"ignition::gazebo::systems::PosePublisher\">
+          <publish_link_pose>true</publish_link_pose>
+          <publish_sensor_pose>true</publish_sensor_pose>
+          <publish_collision_pose>false</publish_collision_pose>
+          <publish_visual_pose>false</publish_visual_pose>
+          <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
+          <use_pose_vector_msg>true</use_pose_vector_msg>
+          <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">
+         <topic>/model/#{_name}/gas_detected</topic>
+         <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">
+           <slip_compliance_lateral>0.172</slip_compliance_lateral>
+           <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
+           <wheel_normal_force>123.6</wheel_normal_force>
+           <wheel_radius>0.205</wheel_radius>
+         </wheel>
+         <wheel link_name="rear_left_wheel">
+           <slip_compliance_lateral>0.172</slip_compliance_lateral>
+           <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
+           <wheel_normal_force>123.6</wheel_normal_force>
+           <wheel_radius>0.205</wheel_radius>
+         </wheel>
+         <wheel link_name="front_right_wheel">
+           <slip_compliance_lateral>0.172</slip_compliance_lateral>
+           <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
+           <wheel_normal_force>123.6</wheel_normal_force>
+           <wheel_radius>0.205</wheel_radius>
+         </wheel>
+         <wheel link_name="rear_right_wheel">
+           <slip_compliance_lateral>0.172</slip_compliance_lateral>
+           <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
+           <wheel_normal_force>123.6</wheel_normal_force>
+           <wheel_radius>0.205</wheel_radius>
+         </wheel>
+       </plugin>
+       <!-- breadcrumb -->
+       <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>-0.35 0 0 0 0 0</pose>
+               <include>
+                 <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Breadcrumb Node</uri>
+              </include>
+            </model>
+          </sdf>
+         </breadcrumb>
+       </plugin>
+      </include>
+    </sdf>
+  </spawn>
+  HEREDOC
+end
+
+def rosExecutables(_name, _worldName)
+  <<-HEREDOC
+  <executable name='robot_description'>
+      <command>roslaunch --wait coro_mike_sensor_config_1 description.launch world_name:=#{_worldName} name:=#{_name}</command>
+    </executable>
+    <executable name='topics'>
+      <command>roslaunch --wait coro_mike_sensor_config_1 vehicle_topics.launch world_name:=#{_worldName} name:=#{_name} breadcrumbs:=1 thermal:=1</command>
+    </executable>
+  HEREDOC
+end
diff --git a/submitted_models/coro_mike_sensor_config_2/package.xml b/submitted_models/coro_mike_sensor_config_2/package.xml
new file mode 100644
index 00000000..6594527a
--- /dev/null
+++ b/submitted_models/coro_mike_sensor_config_2/package.xml
@@ -0,0 +1,19 @@
+<?xml version="1.0"?>
+<package>
+  <name>coro_mike_sensor_config_2</name>
+  <version>0.0.1</version>
+  <description>Coordinated Robotics Mike - bicycle skid steer robot.</description>
+
+  <author email="ak619@lafn.org">Kevin Knoedler</author>
+  <maintainer email="ak619@lafn.org">Kevin Knoedler</maintainer>
+
+  <license>BSD</license>
+
+  <buildtool_depend>catkin</buildtool_depend>
+  <build_depend>roslaunch</build_depend>
+  <run_depend>urdf</run_depend>
+  <run_depend>xacro</run_depend>
+
+  <export>
+  </export>
+</package>
diff --git a/submitted_models/coro_pam_sensor_config_1/launch/spawner.rb b/submitted_models/coro_pam_sensor_config_1/launch/spawner.rb
index fab7448d..5eb53e2c 100644
--- a/submitted_models/coro_pam_sensor_config_1/launch/spawner.rb
+++ b/submitted_models/coro_pam_sensor_config_1/launch/spawner.rb
@@ -3,7 +3,7 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
   <spawn name='#{_name}'>
       <name>#{_name}</name>
       <allow_renaming>false</allow_renaming>
-      <pose>#{_x} #{_y} #{_z + 0.21} #{_roll} #{_pitch} #{_yaw}</pose>
+      <pose>#{_x} #{_y} #{_z + 0.187} #{_roll} #{_pitch} #{_yaw}</pose>
       <world>#{_worldName}</world>
       <is_performer>true</is_performer>
       <sdf version='1.6'>
diff --git a/submitted_models/coro_rocky_sensor_config_1/CMakeLists.txt b/submitted_models/coro_rocky_sensor_config_1/CMakeLists.txt
new file mode 100644
index 00000000..4b233545
--- /dev/null
+++ b/submitted_models/coro_rocky_sensor_config_1/CMakeLists.txt
@@ -0,0 +1,57 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(coro_rocky_sensor_config_1)
+
+find_package(catkin REQUIRED COMPONENTS
+  roscpp
+  message_runtime
+  std_msgs
+  geometry_msgs
+)
+
+
+find_package(ignition-gazebo4 REQUIRED)
+find_package(ignition-transport9 REQUIRED)
+find_package(ignition-common3 REQUIRED)
+find_package(Eigen3 REQUIRED)
+
+set(CMAKE_CXX_STANDARD 17)
+set(CMAKE_CXX_STANDARD_REQUIRED ON)
+set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
+
+catkin_package(
+  CATKIN_DEPENDS message_runtime roscpp std_msgs geometry_msgs
+)
+
+
+include_directories(
+  include
+  ${catkin_INCLUDE_DIRS}
+)
+
+add_library(ackermannrocky SHARED
+  src/AckermannSteering.cc
+  src/SpeedLimiter.cc
+)
+
+target_link_libraries(ackermannrocky
+  PUBLIC ${catkin_LIBRARIES}
+  PRIVATE ignition-plugin1::ignition-plugin1
+  PRIVATE ignition-gazebo4::ignition-gazebo4
+  PRIVATE ignition-common3::ignition-common3
+  PRIVATE ignition-transport9::ignition-transport9
+  PRIVATE Eigen3::Eigen
+)
+
+
+install(TARGETS ackermannrocky
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+  RUNTIME DESTINATION bin
+  )
+
+install(DIRECTORY launch meshes urdf worlds
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
+
+install(FILES model.sdf model.config
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
+
diff --git a/submitted_models/coro_rocky_sensor_config_1/launch/description.launch b/submitted_models/coro_rocky_sensor_config_1/launch/description.launch
new file mode 100644
index 00000000..6e5ecd9b
--- /dev/null
+++ b/submitted_models/coro_rocky_sensor_config_1/launch/description.launch
@@ -0,0 +1,5 @@
+<?xml version="1.0"?>
+<launch>
+  <arg name="name" doc="Name of Vehicle"/>
+  <param name="$(arg name)/robot_description" command="$(find xacro)/xacro '$(find coro_rocky_sensor_config_1)/urdf/rocky.xacro' name:=$(arg name)"/>
+</launch>
diff --git a/submitted_models/coro_rocky_sensor_config_1/launch/example.ign b/submitted_models/coro_rocky_sensor_config_1/launch/example.ign
new file mode 100644
index 00000000..183e2b73
--- /dev/null
+++ b/submitted_models/coro_rocky_sensor_config_1/launch/example.ign
@@ -0,0 +1,171 @@
+<?xml version="1.0"?>
+<!-- Usage: ign launch path/to/example.ign robotName:=<X1>
+
+   Parameters:
+    robotName: Name to be assigned to model
+-->
+
+<%
+  require_relative 'spawner'
+
+  # Modify these as needed
+  $enableGroundTruth = true
+  $headless = false
+
+%>
+
+<%
+
+  unless local_variables.include?(:robotName)
+    raise "missing parameters. robotName is a required parameter"
+  end
+
+  # This assumes that this launch file is in a directory below the model
+  modelURI = File.expand_path("../", File.dirname(__FILE__))
+  $worldName = 'example'
+  worldFile = File.join(File.expand_path("../worlds", File.dirname(__FILE__)), "#{$worldName}.sdf")
+
+%>
+
+<ignition version='1.0'>
+  <env>
+    <name>IGN_GAZEBO_SYSTEM_PLUGIN_PATH</name>
+    <value>$LD_LIBRARY_PATH</value>
+  </env>
+
+  <!-- Start ROS first. This is a bit hacky for now. -->
+  <!-- Make sure to source /opt/ros/melodic/setup.bash -->
+  <executable name='ros'>
+    <command>roslaunch subt_ros competition_init.launch world_name:=<%=$worldName%> vehicle_topics:=0 enable_ground_truth:=<%=($enableGroundTruth)?"1":"0"%> robot_names:=<%=robotName%></command>
+  </executable>
+
+  <plugin name="ignition::launch::GazeboServer"
+          filename="libignition-launch-gazebo.so">
+    <world_file><%= worldFile %></world_file>
+    <run>true</run>
+    <levels>false</levels>
+    <record>
+      <enabled>false</enabled>
+    </record>
+
+    <plugin entity_name="<%= $worldName %>"
+            entity_type="world"
+            filename="libignition-gazebo-physics-system.so"
+            name="ignition::gazebo::systems::Physics">
+    </plugin>
+
+    <plugin entity_name="<%= $worldName %>"
+            entity_type="world"
+            filename="libignition-gazebo-sensors-system.so"
+            name="ignition::gazebo::systems::Sensors">
+            <render_engine>ogre2</render_engine>
+    </plugin>
+    <plugin entity_name="<%= $worldName %>"
+            entity_type="world"
+            filename="libignition-gazebo-user-commands-system.so"
+            name="ignition::gazebo::systems::UserCommands">
+    </plugin>
+    <plugin entity_name="<%= $worldName %>"
+            entity_type="world"
+            filename="libignition-gazebo-scene-broadcaster-system.so"
+            name="ignition::gazebo::systems::SceneBroadcaster">
+    </plugin>
+    <plugin entity_name="<%= $worldName %>"
+            entity_type="world"
+            filename="libignition-gazebo-imu-system.so"
+            name="ignition::gazebo::systems::Imu">
+    </plugin>
+
+    <plugin entity_name="<%= $worldName %>"
+            entity_type="world"
+            filename="libignition-gazebo-magnetometer-system.so"
+            name="ignition::gazebo::systems::Magnetometer">
+    </plugin>
+
+    <plugin entity_name="<%= $worldName %>"
+            entity_type="world"
+            filename="libignition-gazebo-air-pressure-system.so"
+            name="ignition::gazebo::systems::AirPressure">
+    </plugin>
+  </plugin>
+
+  <%if !$headless %>
+  <executable_wrapper>
+    <plugin name="ignition::launch::GazeboGui"
+          filename="libignition-launch-gazebogui.so">
+      <world_name><%= $worldName %></world_name>
+      <window_title>SubT Simulator</window_title>
+      <window_icon><%= ENV['SUBT_IMAGES_PATH'] %>/SubT_logo.svg</window_icon>
+      <plugin filename="GzScene3D" name="3D View">
+        <ignition-gui>
+          <title>3D View</title>
+          <property type="bool" key="showTitleBar">false</property>
+          <property type="string" key="state">docked</property>
+        </ignition-gui>
+
+        <engine>ogre2</engine>
+        <scene>scene</scene>
+        <ambient_light>0.2 0.2 0.1</ambient_light>
+        <background_color>0.8 0.8 0.8</background_color>
+        <camera_pose>-6.3 -4.2 3.6 0 0.268 0.304</camera_pose>
+        <service>/world/<%= $worldName %>/scene/info</service>
+        <pose_topic>/world/<%= $worldName %>/pose/info</pose_topic>
+        <scene_topic>/world/<%= $worldName %>/scene/info</scene_topic>
+        <deletion_topic>/world/<%= $worldName %>/scene/deletion</deletion_topic>
+      </plugin>
+      <plugin filename="WorldControl" name="World control">
+        <ignition-gui>
+          <title>World control</title>
+          <property type="bool" key="showTitleBar">false</property>
+          <property type="bool" key="resizable">false</property>
+          <property type="double" key="height">72</property>
+          <property type="double" key="width">121</property>
+          <property type="double" key="z">1</property>
+
+          <property type="string" key="state">floating</property>
+          <anchors target="3D View">
+            <line own="left" target="left"/>
+            <line own="bottom" target="bottom"/>
+          </anchors>
+        </ignition-gui>
+
+        <play_pause>true</play_pause>
+        <step>true</step>
+        <start_paused>true</start_paused>
+        <service>/world/<%= $worldName %>/control</service>
+        <stats_topic>/world/<%= $worldName %>/stats</stats_topic>
+
+      </plugin>
+
+      <plugin filename="WorldStats" name="World stats">
+        <ignition-gui>
+          <title>World stats</title>
+          <property type="bool" key="showTitleBar">false</property>
+          <property type="bool" key="resizable">false</property>
+          <property type="double" key="height">110</property>
+          <property type="double" key="width">290</property>
+          <property type="double" key="z">1</property>
+
+          <property type="string" key="state">floating</property>
+          <anchors target="3D View">
+            <line own="right" target="right"/>
+            <line own="bottom" target="bottom"/>
+          </anchors>
+        </ignition-gui>
+
+        <sim_time>true</sim_time>
+        <real_time>true</real_time>
+        <real_time_factor>true</real_time_factor>
+        <iterations>true</iterations>
+        <topic>/world/<%= $worldName %>/stats</topic>
+      </plugin>
+    </plugin>
+  </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>
+<%= rosExecutables(robotName, $worldName) %>
+ 
+</ignition>
diff --git a/submitted_models/coro_rocky_sensor_config_1/launch/spawner.rb b/submitted_models/coro_rocky_sensor_config_1/launch/spawner.rb
new file mode 100644
index 00000000..5698972e
--- /dev/null
+++ b/submitted_models/coro_rocky_sensor_config_1/launch/spawner.rb
@@ -0,0 +1,81 @@
+def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
+  <<-HEREDOC
+  <spawn name='#{_name}'>
+    <name>#{_name}</name>
+    <allow_renaming>false</allow_renaming>
+    <pose>#{_x} #{_y} #{_z + 0.1} #{_roll} #{_pitch} #{_yaw}</pose>
+    <world>#{_worldName}</world>
+    <is_performer>true</is_performer>
+    <sdf version='1.6'>
+    <include>
+      <name>#{_name}</name>
+      <uri>#{_modelURI}</uri>
+      <!-- Ackermann Steering -->
+      <plugin filename="libackermannrocky.so"
+              name="ignition::gazebo::systems::AckermannSteering">
+        <left_joint>front_left_wheel_joint</left_joint>
+        <left_joint>rear_left_wheel_joint</left_joint>
+        <right_joint>front_right_wheel_joint</right_joint>
+        <right_joint>rear_right_wheel_joint</right_joint>
+        <left_steering_joint>front_left_wheel_steering_joint</left_steering_joint>
+        <right_steering_joint>front_right_wheel_steering_joint</right_steering_joint>
+        <wheel_separation>0.285</wheel_separation>
+        <kingpin_width>0.22</kingpin_width>
+        <steering_limit>0.266</steering_limit>
+        <wheel_base>0.42</wheel_base>
+        <wheel_radius>0.075</wheel_radius>
+        <topic>/model/#{_name}/cmd_vel_relay</topic>
+        <min_velocity>-3.0</min_velocity>
+        <max_velocity>3.0</max_velocity>
+        <min_acceleration>-4</min_acceleration>
+        <max_acceleration>4</max_acceleration>
+      </plugin>
+      <!-- Publish robot state information -->
+      <plugin filename="libignition-gazebo-pose-publisher-system.so"
+        name="ignition::gazebo::systems::PosePublisher">
+        <publish_link_pose>true</publish_link_pose>
+        <publish_sensor_pose>true</publish_sensor_pose>
+        <publish_collision_pose>false</publish_collision_pose>
+        <publish_visual_pose>false</publish_visual_pose>
+        <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
+        <use_pose_vector_msg>true</use_pose_vector_msg>
+        <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>3.4</power_load>
+        <start_on_motion>true</start_on_motion>
+      </plugin>
+      <!-- Gas Sensor plugin -->"
+      <plugin filename="libGasEmitterDetectorPlugin.so"
+        name="subt::GasDetector">
+        <topic>/model/#{_name}/gas_detected</topic>
+        <update_rate>10</update_rate>
+        <type>gas</type>
+      </plugin>
+    </include>
+    </sdf>
+  </spawn>
+  HEREDOC
+end
+
+def rosExecutables(_name, _worldName)
+  <<-HEREDOC
+  <executable name='robot_description'>
+    <command>roslaunch --wait coro_rocky_sensor_config_1 description.launch world_name:=#{_worldName} name:=#{_name}</command>
+  </executable>
+  <executable name='topics'>
+    <command>roslaunch --wait coro_rocky_sensor_config_1 vehicle_topics.launch world_name:=#{_worldName} name:=#{_name}</command>
+  </executable>
+  HEREDOC
+end
diff --git a/submitted_models/coro_rocky_sensor_config_1/launch/vehicle_topics.launch b/submitted_models/coro_rocky_sensor_config_1/launch/vehicle_topics.launch
new file mode 100644
index 00000000..005f1c7e
--- /dev/null
+++ b/submitted_models/coro_rocky_sensor_config_1/launch/vehicle_topics.launch
@@ -0,0 +1,243 @@
+<?xml version="1.0"?>
+<launch>
+  <env name="IGN_TRANSPORT_TOPIC_STATISTICS" value="1"/>
+  <arg name="world_name"/>
+  <arg name="name"/>
+  <arg name="link_name" value="base_link"/>
+  <arg name="sensor_prefix" value="/world/$(arg world_name)/model/$(arg name)/link/$(arg link_name)/sensor"/>
+  <group ns="$(arg name)">
+    <!--Create multipe bridges so that it can run in parallel-->
+    <node
+      pkg="ros_ign_bridge"
+      type="parameter_bridge"
+      name="ros_ign_bridge_imu"
+      args="$(arg sensor_prefix)/imu_sensor/imu@sensor_msgs/Imu[ignition.msgs.IMU">
+      <remap from="$(arg sensor_prefix)/imu_sensor/imu" to="imu/data"/>
+    </node>
+
+    <!--Front RGBD camera -->
+    <group ns="front_rgbd">
+      <node
+        pkg="ros_ign_bridge"
+        type="parameter_bridge"
+        name="ros_ign_bridge_camera"
+        args="$(arg sensor_prefix)/rs_front/camera_info@sensor_msgs/CameraInfo[ignition.msgs.CameraInfo">
+        <remap from="$(arg sensor_prefix)/rs_front/camera_info" to="camera_info"/>
+      </node>
+      <node
+        pkg="ros_ign_image"
+        type="image_bridge"
+        name="ros_ign_image_camera"
+        args="$(arg sensor_prefix)/rs_front/image">
+        <remap from="$(arg sensor_prefix)/rs_front/image" to="image_raw"/>
+      </node>
+      <node
+        pkg="ros_ign_bridge"
+        type="parameter_bridge"
+        name="ros_ign_bridge_rgbd"
+        args="$(arg sensor_prefix)/rs_front/points@sensor_msgs/PointCloud2[ignition.msgs.PointCloudPacked">
+        <remap from="$(arg sensor_prefix)/rs_front/points" to="points"/>
+      </node>
+      <node
+        pkg="ros_ign_bridge"
+        type="parameter_bridge"
+        name="ros_ign_bridge_depth_info"
+        args="$(arg sensor_prefix)/rs_front/camera_info@sensor_msgs/CameraInfo[ignition.msgs.CameraInfo">
+        <remap from="$(arg sensor_prefix)/rs_front/camera_info" to="depth/camera_info"/>
+      </node>
+      <node
+        pkg="ros_ign_image"
+        type="image_bridge"
+        name="ros_ign_image_depth"
+        args="$(arg sensor_prefix)/rs_front/depth_image">
+        <remap from="$(arg sensor_prefix)/rs_front/depth_image" to="depth/image_raw"/>
+      </node>
+      <node
+        pkg="subt_ros"
+        type="optical_frame_publisher"
+        name="optical_frame_publisher_rgbd_image_front">
+        <remap from="input/image" to="image_raw" />
+        <remap from="output/image" to="optical/image_raw" />
+        <remap from="input/camera_info" to="camera_info" />
+        <remap from="output/camera_info" to="optical/camera_info" />
+      </node>
+      <node
+        pkg="subt_ros"
+        type="optical_frame_publisher"
+        name="optical_frame_publisher_rgbd_depth_front">
+        <remap from="input/image" to="depth/image_raw" />
+        <remap from="output/image" to="optical/depth/image_raw" />
+        <remap from="input/camera_info" to="depth/camera_info" />
+        <remap from="output/camera_info" to="optical/depth/camera_info" />
+      </node>
+      <include file="$(find subt_ros)/launch/models_common/set_rate_relay.launch">
+        <arg name="name" value="ros_ign_bridge_camera_set_rate" />
+        <arg name="ign_service" value="$(arg sensor_prefix)/rs_front/set_rate" />
+        <arg name="ros_service" value="set_rate" />
+      </include>
+    </group>
+
+
+
+    <!-- Front monocular camera -->
+    <node
+	pkg="ros_ign_bridge"
+	type="parameter_bridge"
+	name="ros_ign_bridge_camera_front"
+	args="$(arg sensor_prefix)/camera_front/camera_info@sensor_msgs/CameraInfo[ignition.msgs.CameraInfo">
+      <remap from="$(arg sensor_prefix)/camera_front/camera_info" to="camera_front/camera_info"/>
+    </node>
+    <node
+	pkg="ros_ign_image"
+	type="image_bridge"
+	name="ros_ign_image_camera_front"
+	args="$(arg sensor_prefix)/camera_front/image">
+      <remap from="$(arg sensor_prefix)/camera_front/image" to="camera_front/image_raw"/>
+    </node>
+    <node
+      pkg="subt_ros"
+      type="optical_frame_publisher"
+      name="optical_frame_publisher_front">
+      <remap from="input/image" to="camera_front/image_raw" />
+      <remap from="output/image" to="camera_front/optical/image_raw" />
+      <remap from="input/camera_info" to="camera_front/camera_info" />
+      <remap from="output/camera_info" to="camera_front/optical/camera_info" />
+    </node>
+    
+    <!-- Rear monocular camera -->
+    <node
+	pkg="ros_ign_bridge"
+	type="parameter_bridge"
+	name="ros_ign_bridge_camera_rear"
+	args="$(arg sensor_prefix)/camera_rear/camera_info@sensor_msgs/CameraInfo[ignition.msgs.CameraInfo">
+      <remap from="$(arg sensor_prefix)/camera_rear/camera_info" to="camera_rear/camera_info"/>
+    </node>
+    <node
+	pkg="ros_ign_image"
+	type="image_bridge"
+	name="ros_ign_image_camera_rear"
+	args="$(arg sensor_prefix)/camera_rear/image">
+      <remap from="$(arg sensor_prefix)/camera_rear/image" to="camera_rear/image_raw"/>
+    </node>
+    <node
+      pkg="subt_ros"
+      type="optical_frame_publisher"
+      name="optical_frame_publisher_rear">
+      <remap from="input/image" to="camera_rear/image_raw" />
+      <remap from="output/image" to="camera_rear/optical/image_raw" />
+      <remap from="input/camera_info" to="camera_rear/camera_info" />
+      <remap from="output/camera_info" to="camera_rear/optical/camera_info" />
+    </node>
+
+    <!-- Left monocular camera -->
+    <node
+      pkg="ros_ign_bridge"
+      type="parameter_bridge"
+      name="ros_ign_bridge_camera_left"
+      args="$(arg sensor_prefix)/camera_left/camera_info@sensor_msgs/CameraInfo[ignition.msgs.CameraInfo">
+      <remap from="$(arg sensor_prefix)/camera_left/camera_info" to="camera_left/camera_info"/>
+    </node>
+    <node
+      pkg="ros_ign_image"
+      type="image_bridge"
+      name="ros_ign_image_camera_left"
+      args="$(arg sensor_prefix)/camera_left/image">
+      <remap from="$(arg sensor_prefix)/camera_left/image" to="camera_left/image_raw"/>
+    </node>
+    <node
+      pkg="subt_ros"
+      type="optical_frame_publisher"
+      name="optical_frame_publisher_left">
+      <remap from="input/image" to="camera_left/image_raw" />
+      <remap from="output/image" to="camera_left/optical/image_raw" />
+      <remap from="input/camera_info" to="camera_left/camera_info" />
+      <remap from="output/camera_info" to="camera_left/optical/camera_info" />
+    </node>
+
+    <!-- Right monocular camera -->
+    <node
+      pkg="ros_ign_bridge"
+      type="parameter_bridge"
+      name="ros_ign_bridge_camera_right"
+      args="$(arg sensor_prefix)/camera_right/camera_info@sensor_msgs/CameraInfo[ignition.msgs.CameraInfo">
+      <remap from="$(arg sensor_prefix)/camera_right/camera_info" to="camera_right/camera_info"/>
+    </node>
+    <node
+      pkg="ros_ign_image"
+      type="image_bridge"
+      name="ros_ign_image_camera_right"
+      args="$(arg sensor_prefix)/camera_right/image">
+      <remap from="$(arg sensor_prefix)/camera_right/image" to="camera_right/image_raw"/>
+    </node>
+    <node
+      pkg="subt_ros"
+      type="optical_frame_publisher"
+      name="optical_frame_publisher_right">
+      <remap from="input/image" to="camera_right/image_raw" />
+      <remap from="output/image" to="camera_right/optical/image_raw" />
+      <remap from="input/camera_info" to="camera_right/camera_info" />
+      <remap from="output/camera_info" to="camera_right/optical/camera_info" />
+    </node>
+
+    <!-- Altimeter -->
+    <node
+      pkg="ros_ign_bridge"
+      type="parameter_bridge"
+      name="ros_ign_bridge_fluid_pressure"
+      args="$(arg sensor_prefix)/air_pressure/air_pressure@sensor_msgs/FluidPressure[ignition.msgs.FluidPressure">
+      <remap from="$(arg sensor_prefix)/air_pressure/air_pressure" to="air_pressure"/>
+    </node>
+
+    <node
+      pkg="ros_ign_bridge"
+      type="parameter_bridge"
+      name="ros_ign_bridge_pose"
+      args="/model/$(arg name)/pose@tf2_msgs/TFMessage[ignition.msgs.Pose_V">
+      <remap from="/model/$(arg name)/pose" to="pose"/>
+    </node>
+    <node
+      pkg="ros_ign_bridge"
+      type="parameter_bridge"
+      name="ros_ign_bridge_pose_static"
+      args="/model/$(arg name)/pose_static@tf2_msgs/TFMessage[ignition.msgs.Pose_V">
+      <remap from="/model/$(arg name)/pose_static" to="pose_static"/>
+    </node>
+    <node
+      pkg="ros_ign_bridge"
+      type="parameter_bridge"
+      name="ros_ign_bridge_twist"
+      args="/model/$(arg name)/cmd_vel_relay@geometry_msgs/Twist]ignition.msgs.Twist">
+      <remap from="/model/$(arg name)/cmd_vel_relay" to="cmd_vel"/>
+    </node>
+
+    <node
+      pkg="ros_ign_bridge"
+      type="parameter_bridge"
+      name="ros_ign_bridge_odom"
+      args="/model/$(arg name)/odometry@nav_msgs/Odometry[ignition.msgs.Odometry">
+      <remap from="/model/$(arg name)/odometry" to="odom"/>
+    </node>
+
+    <node
+      pkg="ros_ign_bridge"
+      type="parameter_bridge"
+      name="ros_ign_bridge_battery_state"
+      args="/model/$(arg name)/battery/linear_battery/state@sensor_msgs/BatteryState[ignition.msgs.BatteryState">
+      <remap from="/model/$(arg name)/battery/linear_battery/state" to="battery_state"/>
+    </node>
+
+    <node
+      pkg="ros_ign_bridge"
+      type="parameter_bridge"
+      name="ros_ign_bridge_gas"
+      args="/model/$(arg name)/gas_detected@std_msgs/Bool[ignition.msgs.Boolean">
+      <remap from="/model/$(arg name)/gas_detected" to="gas_detected"/>
+    </node>
+
+    <node
+      pkg="subt_ros"
+      type="pose_tf_broadcaster"
+      name="pose_tf_broadcaster"/>
+
+  </group>
+</launch>
diff --git a/submitted_models/coro_rocky_sensor_config_1/meshes/realsense_d435.dae b/submitted_models/coro_rocky_sensor_config_1/meshes/realsense_d435.dae
new file mode 100644
index 00000000..0fac7a99
--- /dev/null
+++ b/submitted_models/coro_rocky_sensor_config_1/meshes/realsense_d435.dae
@@ -0,0 +1,134 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
+  <asset>
+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 2.79.0 commit date:2017-09-11, commit time:10:43, hash:5bd8ac9abfa</authoring_tool>
+    </contributor>
+    <created>2018-08-15T10:38:07</created>
+    <modified>2018-08-15T10:38:07</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_images/>
+  <library_effects>
+    <effect id="Material_001-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <phong>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <ambient>
+              <color sid="ambient">0 0 0 1</color>
+            </ambient>
+            <diffuse>
+              <color sid="diffuse">0.64 0.64 0.64 1</color>
+            </diffuse>
+            <specular>
+              <color sid="specular">0.125 0.125 0.125 1</color>
+            </specular>
+            <shininess>
+              <float sid="shininess">50</float>
+            </shininess>
+            <index_of_refraction>
+              <float sid="index_of_refraction">1</float>
+            </index_of_refraction>
+          </phong>
+        </technique>
+      </profile_COMMON>
+    </effect>
+    <effect id="alu_eloxiert-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <phong>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <ambient>
+              <color sid="ambient">0 0 0 1</color>
+            </ambient>
+            <diffuse>
+              <color sid="diffuse">0.1139201 0.1139201 0.1139201 1</color>
+            </diffuse>
+            <specular>
+              <color sid="specular">0.015625 0.015625 0.015625 1</color>
+            </specular>
+            <shininess>
+              <float sid="shininess">50</float>
+            </shininess>
+            <index_of_refraction>
+              <float sid="index_of_refraction">1</float>
+            </index_of_refraction>
+          </phong>
+        </technique>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
+  <library_materials>
+    <material id="Material_001-material" name="Material_001">
+      <instance_effect url="#Material_001-effect"/>
+    </material>
+    <material id="alu_eloxiert-material" name="alu_eloxiert">
+      <instance_effect url="#alu_eloxiert-effect"/>
+    </material>
+  </library_materials>
+  <library_geometries>
+    <geometry id="_62222_00-Moveable_Parts_Realsense_001-mesh" name="062222 00-Moveable Parts Realsense.001">
+      <mesh>
+        <source id="_62222_00-Moveable_Parts_Realsense_001-mesh-positions">
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+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_controllers/>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="_62222_00-Moveable_Parts_Realsense_0012" name="_62222_00-Moveable_Parts_Realsense_0012" type="NODE">
+        <matrix sid="transform">1 0 0 -9.53674e-7 0 1 0 0 0 0 1 1.90735e-6 0 0 0 1</matrix>
+        <instance_geometry url="#_62222_00-Moveable_Parts_Realsense_001-mesh" name="_62222_00-Moveable_Parts_Realsense_0012">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="Material_001-material" target="#Material_001-material"/>
+              <instance_material symbol="alu_eloxiert-material" target="#alu_eloxiert-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
\ No newline at end of file
diff --git a/submitted_models/coro_rocky_sensor_config_1/meshes/wheel.dae b/submitted_models/coro_rocky_sensor_config_1/meshes/wheel.dae
new file mode 100644
index 00000000..c76f842c
--- /dev/null
+++ b/submitted_models/coro_rocky_sensor_config_1/meshes/wheel.dae
@@ -0,0 +1,49570 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+  <asset><contributor><author></author><authoring_tool>FBX COLLADA exporter</authoring_tool><comments></comments></contributor><created>2018-08-21T20:36:46Z</created><keywords></keywords><modified>2018-08-21T20:36:46Z</modified><revision></revision><subject></subject><title></title><unit meter="1.000000" name="centimeter"></unit><up_axis>Z_UP</up_axis></asset>
+  <library_materials>
+    <material id="Tire" name="Tire">
+      <instance_effect url="#Tire-fx"/>
+    </material>
+    <material id="Rim" name="Rim">
+      <instance_effect url="#Rim-fx"/>
+    </material>
+  </library_materials>
+  <library_effects>
+    <effect id="Tire-fx" name="Tire">
+      <profile_COMMON>
+        <technique sid="standard">
+          <phong>
+            <emission>
+              <color sid="emission">0.000000  0.000000 0.000000 1.000000</color>
+            </emission>
+            <ambient>
+              <color sid="ambient">0.039216  0.039216 0.039216 1.000000</color>
+            </ambient>
+            <diffuse>
+              <color sid="diffuse">0.039216  0.039216 0.039216 1.000000</color>
+            </diffuse>
+            <specular>
+              <color sid="specular">0.297000  0.297000 0.297000 1.000000</color>
+            </specular>
+            <shininess>
+              <float sid="shininess">6.062866</float>
+            </shininess>
+            <reflective>
+              <color sid="reflective">0.000000  0.000000 0.000000 1.000000</color>
+            </reflective>
+            <reflectivity>
+              <float sid="reflectivity">1.000000</float>
+            </reflectivity>
+            <transparent opaque="RGB_ZERO">
+              <color sid="transparent">1.000000  1.000000 1.000000 1.000000</color>
+            </transparent>
+            <transparency>
+              <float sid="transparency">0.000000</float>
+            </transparency>
+          </phong>
+        </technique>
+      </profile_COMMON>
+    </effect>
+    <effect id="Rim-fx" name="Rim">
+      <profile_COMMON>
+        <technique sid="standard">
+          <phong>
+            <emission>
+              <color sid="emission">0.000000  0.000000 0.000000 1.000000</color>
+            </emission>
+            <ambient>
+              <color sid="ambient">0.458824  0.458824 0.458824 1.000000</color>
+            </ambient>
+            <diffuse>
+              <color sid="diffuse">0.458824  0.458824 0.458824 1.000000</color>
+            </diffuse>
+            <specular>
+              <color sid="specular">0.342000  0.342000 0.342000 1.000000</color>
+            </specular>
+            <shininess>
+              <float sid="shininess">2.000000</float>
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+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="X1_Wheel" name="X1_Wheel">
+      <node name="X1_Wheel" id="X1_Wheel" sid="X1_Wheel"><matrix sid="matrix">1.000000 0.000000 0.000000 0.000000 0.000000 1.000000 0.000000 0.000000 0.000000 0.000000 1.000000 0.000000 0.000000 0.000000 0.000000 1.000000</matrix><instance_geometry url="#X1_Wheel-lib"><bind_material><technique_common><instance_material symbol="Tire" target="#Tire"/><instance_material symbol="Rim" target="#Rim"/></technique_common></bind_material></instance_geometry><extra><technique profile="FCOLLADA"><visibility>1.000000</visibility></technique></extra></node>
+      <extra><technique profile="MAX3D"><frame_rate>30.000000</frame_rate></technique><technique profile="FCOLLADA"><start_time>0.000000</start_time><end_time>3.333333</end_time></technique></extra>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#X1_Wheel"></instance_visual_scene>
+  </scene>
+</COLLADA>
diff --git a/submitted_models/coro_rocky_sensor_config_1/model.config b/submitted_models/coro_rocky_sensor_config_1/model.config
new file mode 100644
index 00000000..4b3e4a2c
--- /dev/null
+++ b/submitted_models/coro_rocky_sensor_config_1/model.config
@@ -0,0 +1,12 @@
+
+<?xml version='1.0'?>
+<model>
+  <name>Cooordinated Robotics Rocky Config 1</name>
+  <version>1.0</version>
+  <sdf version='1.6'>model.sdf</sdf>
+
+  <description>
+    The Rocky robot for SubT.
+  </description>
+</model>
+
diff --git a/submitted_models/coro_rocky_sensor_config_1/model.sdf b/submitted_models/coro_rocky_sensor_config_1/model.sdf
new file mode 100644
index 00000000..4afa204b
--- /dev/null
+++ b/submitted_models/coro_rocky_sensor_config_1/model.sdf
@@ -0,0 +1,1042 @@
+<?xml version="1.0"?>
+<sdf version="1.6">
+  <model name="coro_rocky_sensor_config_1">
+    <enable_wind>1</enable_wind>
+    <static>0</static>
+    <pose>0 0 0.075 0 0 0</pose>
+    <link name="base_link">
+      <inertial>
+        <pose>0 0 0.07 0 0 0</pose>
+        <mass>3.176</mass>
+	<inertia>
+	  <ixx>0.0070</ixx>
+	  <iyy>0.0483</iyy>
+	  <izz>0.0477</izz>
+	</inertia>
+      </inertial>
+      
+      <collision name="chassis_collision">
+        <pose>0 0 0.05 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.44 0.11 0.12</size>
+          </box>
+        </geometry>
+      </collision>
+
+      <collision name="tower_collision">
+        <pose>0.085 0 0.2 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.04 0.24 0.25</size>
+          </box>
+        </geometry>
+      </collision>
+
+      
+      
+      <visual name="chassis_main_visual">
+        <pose>0 0 0.03 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.44 0.11 0.06</size>
+          </box>
+        </geometry>
+        <material>
+          <ambient>0.06 0.06 0.06 1</ambient>
+          <diffuse>0.06 0.06 0.06 1</diffuse>
+        </material>
+      </visual>
+      <visual name="chassis_top_visual">
+        <pose>0 0 0.08 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.22 0.11 0.04</size>
+          </box>
+        </geometry>
+        <material>
+          <ambient>0.55 0.95 0.55 1</ambient>
+          <diffuse>0.55 0.95 0.55 1</diffuse>
+        </material>
+      </visual>
+
+      <visual name="sensor_mount_1">
+        <pose>0.09 0 0.25 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.002 0.13 0.06</size>
+          </box>
+        </geometry>
+        <material>
+          <ambient>0.55 0.55 0.55 1</ambient>
+          <diffuse>0.55 0.55 0.55 1</diffuse>
+        </material>
+      </visual>
+      <visual name="sensor_mount_2">
+        <pose>0.084 -0.076 0.24 0 0 -0.5</pose>
+        <geometry>
+          <box>
+            <size>0.002 0.025 0.04</size>
+          </box>
+        </geometry>
+        <material>
+          <ambient>0.55 0.55 0.55 1</ambient>
+          <diffuse>0.55 0.55 0.55 1</diffuse>
+        </material>
+      </visual>
+      <visual name="sensor_mount_3">
+        <pose>0.084 0.076 0.24 0 0 0.5</pose>
+        <geometry>
+          <box>
+            <size>0.002 0.025 0.04</size>
+          </box>
+        </geometry>
+        <material>
+          <ambient>0.55 0.55 0.55 1</ambient>
+          <diffuse>0.55 0.55 0.55 1</diffuse>
+        </material>
+      </visual>
+      <visual name="sensor_mount_4">
+        <pose>0.085 -0.06 0.18 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.01 0.01 0.2</size>
+          </box>
+        </geometry>
+        <material>
+          <ambient>0.55 0.55 0.55 1</ambient>
+          <diffuse>0.55 0.55 0.55 1</diffuse>
+        </material>
+      </visual>
+      <visual name="sensor_mount_5">
+        <pose>0.085 0.06 0.18 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.01 0.01 0.2</size>
+          </box>
+        </geometry>
+        <material>
+          <ambient>0.55 0.55 0.55 1</ambient>
+          <diffuse>0.55 0.55 0.55 1</diffuse>
+        </material>
+      </visual>
+      
+      <visual name="antenna_visual_1">
+        <pose>0.098 0.06 0.3 0 0.4 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.05</length>
+            <radius>0.005</radius>
+          </cylinder>
+        </geometry>
+        <material>
+          <ambient>0.06 0.06 0.06 1</ambient>
+          <diffuse>0.06 0.06 0.06 1</diffuse>
+        </material>
+      </visual>
+      <visual name="antenna_visual_2">
+        <pose>0.072 0.06 0.3 0 -0.4 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.05</length>
+            <radius>0.005</radius>
+          </cylinder>
+        </geometry>
+        <material>
+          <ambient>0.06 0.06 0.06 1</ambient>
+          <diffuse>0.06 0.06 0.06 1</diffuse>
+        </material>
+      </visual>
+
+
+      <visual name="axle_visual_front">
+        <pose>0.21 0 0 1.5707963267948966 0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.21</length>
+            <radius>0.01</radius>
+          </cylinder>
+        </geometry>
+        <material>
+          <ambient>0.06 0.06 0.06 1</ambient>
+          <diffuse>0.06 0.06 0.06 1</diffuse>
+        </material>
+      </visual>
+      <visual name="axle_visual_rear">
+        <pose>-0.21 0 0 1.5707963267948966 0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.21</length>
+            <radius>0.01</radius>
+          </cylinder>
+        </geometry>
+        <material>
+          <ambient>0.06 0.06 0.06 1</ambient>
+          <diffuse>0.06 0.06 0.06 1</diffuse>
+        </material>
+      </visual>
+
+
+
+      
+      
+      <!-- IMU  -->
+      <sensor name="imu_sensor" 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>0.00002</dynamic_bias_stddev>
+                <dynamic_bias_correlation_time>400.0</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>0.00002</dynamic_bias_stddev>
+                <dynamic_bias_correlation_time>400.0</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>0.00002</dynamic_bias_stddev>
+                <dynamic_bias_correlation_time>400.0</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>175.0</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>175.0</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>175.0</dynamic_bias_correlation_time>
+                <precision>0.005</precision>
+              </noise>
+            </z>
+          </linear_acceleration>
+        </imu>
+      </sensor>
+      
+      
+      <sensor name="air_pressure" type="air_pressure">
+        <always_on>1</always_on>
+        <update_rate>20</update_rate>
+        <air_pressure>
+          <reference_altitude>0</reference_altitude>
+          <noise type="gaussian">
+            <mean>0.00000008</mean>
+          </noise>
+        </air_pressure>
+      </sensor>
+
+
+      <visual name="d435_realsense_camera_visual">
+        <pose>0.09 0 0.26 0 0.46 0</pose>
+        <geometry>
+          <mesh>
+            <scale>0.001 0.001 0.001</scale>
+            <uri>meshes/realsense_d435.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+
+      <!-- Based on Intel realsense D435 (intrinsics and distortion not modeled)-->
+      <sensor name="rs_front" type="rgbd_camera">
+        <pose>0.122 0 0.257 0 0.46 0</pose>
+        <always_on>1</always_on>
+        <update_rate>30</update_rate>
+        <camera name="rs_front">
+          <horizontal_fov>1.50098</horizontal_fov>
+          <lens>
+            <intrinsics>
+              <!-- fx = fy = width / ( 2 * tan (hfov / 2 ) ) -->
+              <fx>343.159</fx>
+              <fy>343.159</fy>
+              <!-- cx = ( width - 1 ) / 2 -->
+              <cx>319.5</cx>
+              <!-- cy = ( height - 1 ) / 2 -->
+              <cy>179.5</cy>
+              <s>0</s>
+            </intrinsics>
+          </lens>
+          <distortion>
+            <k1>0.0</k1>
+            <k2>0.0</k2>
+            <k3>0.0</k3>
+            <p1>0.0</p1>
+            <p2>0.0</p2>
+            <center>0.5 0.5</center>
+          </distortion>
+          <image>
+            <width>640</width>
+            <height>360</height>
+            <format>R8G8B8</format>
+          </image>
+          <clip>
+            <near>0.01</near>
+            <far>300</far>
+          </clip>
+          <depth_camera>
+            <clip>
+              <near>0.1</near>
+              <far>10</far>
+            </clip>
+          </depth_camera>
+          <noise>
+            <type>gaussian</type>
+            <mean>0</mean>
+            <stddev>0.007</stddev>
+          </noise>
+        </camera>
+      </sensor>
+
+		 
+
+
+
+      <visual name="camera_front_visual">
+        <pose>0.095 0.03 0.235 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.01 0.03 0.03</size>
+          </box>
+        </geometry>
+        <material>
+          <ambient>0.0 0.0 0.0 1.0</ambient>
+          <diffuse>0.0 0.0 0.0 1.0</diffuse>
+        </material>
+      </visual>
+      <visual name="camera_lens_front_visual">
+        <pose>0.105 0.03 0.235 0 1.5707963267948966 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.011</length>
+            <radius>0.005</radius>
+          </cylinder>
+        </geometry>
+        <material>
+          <ambient>0.0 0.0 0.0 1.0</ambient>
+          <diffuse>0.0 0.0 0.0 1.0</diffuse>
+        </material>
+      </visual>
+
+      <visual name="camera_rear_visual">
+        <pose>0.085 -0.03 0.235 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.01 0.03 0.03</size>
+          </box>
+        </geometry>
+        <material>
+          <ambient>0.0 0.0 0.0 1.0</ambient>
+          <diffuse>0.0 0.0 0.0 1.0</diffuse>
+        </material>
+      </visual>
+      <visual name="camera_lens_rear_visual">
+        <pose>0.075 -0.03 0.235 0 1.5707963267948966 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.011</length>
+            <radius>0.005</radius>
+          </cylinder>
+        </geometry>
+        <material>
+          <ambient>0.0 0.0 0.0 1.0</ambient>
+          <diffuse>0.0 0.0 0.0 1.0</diffuse>
+        </material>
+      </visual>
+      <visual name="camera_left_visual">
+        <pose>0.085 0.07 0.27 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.015 0.01 0.015</size>
+          </box>
+        </geometry>
+        <material>
+          <ambient>0.0 0.0 0.0 1.0</ambient>
+          <diffuse>0.0 0.0 0.0 1.0</diffuse>
+        </material>
+      </visual>
+      <visual name="camera_lens_left_visual">
+        <pose>0.085 0.08 0.27 1.5707963267948966 0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.011</length>
+            <radius>0.005</radius>
+          </cylinder>
+        </geometry>
+        <material>
+          <ambient>0.0 0.0 0.0 1.0</ambient>
+          <diffuse>0.0 0.0 0.0 1.0</diffuse>
+        </material>
+      </visual>
+      <visual name="camera_right_visual">
+        <pose>0.085 -0.07 0.27 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.015 0.01 0.015</size>
+          </box>
+        </geometry>
+        <material>
+          <ambient>0.0 0.0 0.0 1.0</ambient>
+          <diffuse>0.0 0.0 0.0 1.0</diffuse>
+        </material>
+      </visual>
+      <visual name="camera_lens_right_visual">
+        <pose>0.085 -0.08 0.27 1.5707963267948966 0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.011</length>
+            <radius>0.005</radius>
+          </cylinder>
+        </geometry>
+        <material>
+          <ambient>0.0 0.0 0.0 1.0</ambient>
+          <diffuse>0.0 0.0 0.0 1.0</diffuse>
+        </material>
+      </visual>
+
+      
+      <!-- Real robot has 2 x B0247 with LN008 each with a 180 deg hor x 130 deg vert FOV
+           Since fisheye cameras are not modeled, four cameras are used in the model -->
+       <sensor name="camera_front" type="camera">
+        <pose>0.111 0.03 0.235 0 0 0</pose>
+        <always_on>1</always_on>
+        <update_rate>25</update_rate>
+        <camera name="camera_front">
+          <horizontal_fov>1.658</horizontal_fov>
+          <lens>
+            <intrinsics>
+              <!-- fx = fy = width / ( 2 * tan (hfov / 2 ) ) -->
+              <fx>329.9</fx>
+              <fy>329.9</fy>
+              <!-- cx = ( width - 1 ) / 2 -->
+              <cx>359.5</cx>
+              <!-- cy = ( height - 1 ) / 2 -->
+              <cy>539.5</cy>
+              <s>0</s>
+            </intrinsics>
+          </lens>
+          <distortion>
+            <k1>0.0</k1>
+            <k2>0.0</k2>
+            <k3>0.0</k3>
+            <p1>0.0</p1>
+            <p2>0.0</p2>
+            <center>0.5 0.5</center>
+          </distortion>
+          <image>
+            <width>720</width>
+            <height>1080</height>
+            <format>R8G8B8</format>
+          </image>
+          <clip>
+            <near>0.01</near>
+            <far>300</far>
+          </clip>
+          <noise>
+            <type>gaussian</type>
+            <mean>0</mean>
+            <stddev>0.007</stddev>
+          </noise>
+        </camera>
+      </sensor>
+
+      <sensor name="camera_rear" type="camera">
+        <pose>0.069 -0.03 0.235 0 0 3.141592653589793</pose>
+        <always_on>1</always_on>
+        <update_rate>25</update_rate>
+        <camera name="camera_rear">
+          <horizontal_fov>1.658</horizontal_fov>
+          <lens>
+            <intrinsics>
+              <!-- fx = fy = width / ( 2 * tan (hfov / 2 ) ) -->
+              <fx>329.9</fx>
+              <fy>329.9</fy>
+              <!-- cx = ( width - 1 ) / 2 -->
+              <cx>359.5</cx>
+              <!-- cy = ( height - 1 ) / 2 -->
+              <cy>539.5</cy>
+              <s>0</s>
+            </intrinsics>
+          </lens>
+          <distortion>
+            <k1>0.0</k1>
+            <k2>0.0</k2>
+            <k3>0.0</k3>
+            <p1>0.0</p1>
+            <p2>0.0</p2>
+            <center>0.5 0.5</center>
+          </distortion>
+          <image>
+            <width>720</width>
+            <height>1080</height>
+            <format>R8G8B8</format>
+          </image>
+          <clip>
+            <near>0.01</near>
+            <far>300</far>
+          </clip>
+          <noise>
+            <type>gaussian</type>
+            <mean>0</mean>
+            <stddev>0.007</stddev>
+          </noise>
+        </camera>
+      </sensor>
+
+      <sensor name="camera_left" type="camera">
+        <pose>0.085 0.09 0.27 0 0 1.5707963267948966</pose>
+        <always_on>1</always_on>
+        <update_rate>25</update_rate>
+        <camera name="camera_left">
+          <horizontal_fov>1.658</horizontal_fov>
+          <lens>
+            <intrinsics>
+              <!-- fx = fy = width / ( 2 * tan (hfov / 2 ) ) -->
+              <fx>329.9</fx>
+              <fy>329.9</fy>
+              <!-- cx = ( width - 1 ) / 2 -->
+              <cx>359.5</cx>
+              <!-- cy = ( height - 1 ) / 2 -->
+              <cy>539.5</cy>
+              <s>0</s>
+            </intrinsics>
+          </lens>
+          <distortion>
+            <k1>0.0</k1>
+            <k2>0.0</k2>
+            <k3>0.0</k3>
+            <p1>0.0</p1>
+            <p2>0.0</p2>
+            <center>0.5 0.5</center>
+          </distortion>
+          <image>
+            <width>720</width>
+            <height>1080</height>
+            <format>R8G8B8</format>
+          </image>
+          <clip>
+            <near>0.01</near>
+            <far>300</far>
+          </clip>
+          <noise>
+            <type>gaussian</type>
+            <mean>0</mean>
+            <stddev>0.007</stddev>
+          </noise>
+        </camera>
+      </sensor>
+
+      <sensor name="camera_right" type="camera">
+        <pose>0.085 -0.09 0.27 0 0 -1.5707963267948966</pose>
+        <always_on>1</always_on>
+        <update_rate>25</update_rate>
+        <camera name="camera_right">
+          <horizontal_fov>1.658</horizontal_fov>
+          <lens>
+            <intrinsics>
+              <!-- fx = fy = width / ( 2 * tan (hfov / 2 ) ) -->
+              <fx>329.9</fx>
+              <fy>329.9</fy>
+              <!-- cx = ( width - 1 ) / 2 -->
+              <cx>359.5</cx>
+              <!-- cy = ( height - 1 ) / 2 -->
+              <cy>539.5</cy>
+              <s>0</s>
+            </intrinsics>
+          </lens>
+          <distortion>
+            <k1>0.0</k1>
+            <k2>0.0</k2>
+            <k3>0.0</k3>
+            <p1>0.0</p1>
+            <p2>0.0</p2>
+            <center>0.5 0.5</center>
+          </distortion>
+          <image>
+            <width>720</width>
+            <height>1080</height>
+            <format>R8G8B8</format>
+          </image>
+          <clip>
+            <near>0.01</near>
+            <far>300</far>
+          </clip>
+          <noise>
+            <type>gaussian</type>
+            <mean>0</mean>
+            <stddev>0.007</stddev>
+          </noise>
+        </camera>
+      </sensor>
+
+
+      <light name="light_front_left" type="spot">
+        <pose>0.11 0.08 0.235 1.5 0 0</pose>
+        <attenuation>
+          <range>25</range>
+          <linear>0</linear>
+          <constant>0.1</constant>
+          <quadratic>0.005</quadratic>
+        </attenuation>
+        <diffuse>0.8 0.8 0.5 1</diffuse>
+        <specular>0.8 0.8 0.5 1</specular>
+        <spot>
+          <inner_angle>1.571</inner_angle>
+          <outer_angle>2.1</outer_angle>
+          <falloff>1</falloff>
+        </spot>
+        <direction>1 0 0</direction>
+        <cast_shadows>1</cast_shadows>
+      </light>
+      <light name="light_front_right" type="spot">
+        <pose>0.11 -0.08 0.235 1.5 0 3.14</pose>
+        <attenuation>
+          <range>25</range>
+          <linear>0</linear>
+          <constant>0.1</constant>
+          <quadratic>0.005</quadratic>
+        </attenuation>
+        <diffuse>0.8 0.8 0.5 1</diffuse>
+        <specular>0.8 0.8 0.5 1</specular>
+        <spot>
+          <inner_angle>1.571</inner_angle>
+          <outer_angle>2.1</outer_angle>
+          <falloff>1</falloff>
+        </spot>
+        <direction>-1 0 0</direction>
+        <cast_shadows>1</cast_shadows>
+      </light>
+      <light name="light_rear" type="spot">
+        <pose>0.07 0.03 0.235 1.5 0 1.5</pose>
+        <attenuation>
+          <range>25</range>
+          <linear>0</linear>
+          <constant>0.1</constant>
+          <quadratic>0.005</quadratic>
+        </attenuation>
+        <diffuse>0.8 0.8 0.5 1</diffuse>
+        <specular>0.8 0.8 0.5 1</specular>
+        <spot>
+          <inner_angle>2.2</inner_angle>
+          <outer_angle>2.8</outer_angle>
+          <falloff>1</falloff>
+        </spot>
+        <direction>0 1 0</direction>
+        <cast_shadows>1</cast_shadows>
+      </light>
+      <light name="light_front_center" type="spot">
+        <pose>0.11 -0.03 0.235 1.5 0 -1.5</pose>
+        <attenuation>
+          <range>25</range>
+          <linear>0</linear>
+          <constant>0.1</constant>
+          <quadratic>0.005</quadratic>
+        </attenuation>
+        <diffuse>0.8 0.8 0.5 1</diffuse>
+        <specular>0.8 0.8 0.5 1</specular>
+        <spot>
+          <inner_angle>1.571</inner_angle>
+          <outer_angle>2.1</outer_angle>
+          <falloff>1</falloff>
+        </spot>
+        <direction>0 -1 0</direction>
+        <cast_shadows>1</cast_shadows>
+      </light>
+      
+      
+    </link>
+
+
+
+    <link name="front_left_wheel_steering_link">
+      <pose>0.21 0.11 0 0 0 0</pose>
+      <inertial>
+        <mass>0.05</mass>
+        <inertia>
+          <ixx>0.000153</ixx>
+          <iyy>0.00025</iyy>
+          <izz>0.000153</izz>
+        </inertia>
+      </inertial>
+      <visual name="steering_link_visual">
+        <pose>0 0 0 0 0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.01</length>
+            <radius>0.003</radius>
+          </cylinder>
+        </geometry>
+        <material>
+          <ambient>0.04 0.04 0.04 1</ambient>
+          <diffuse>0.04 0.04 0.04 1</diffuse>
+        </material>
+      </visual>
+    </link>
+    
+    <link name="front_right_wheel_steering_link">
+      <pose>0.21 -0.11 0 0 0 0</pose>
+      <inertial>
+        <mass>0.05</mass>
+        <inertia>
+          <ixx>0.000153</ixx>
+          <iyy>0.00025</iyy>
+          <izz>0.000153</izz>
+        </inertia>
+      </inertial>
+      <visual name="steering_link_visual">
+        <pose>0 0 0 0 0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.01</length>
+            <radius>0.003</radius>
+          </cylinder>
+        </geometry>
+        <material>
+          <ambient>0.04 0.04 0.04 1</ambient>
+          <diffuse>0.04 0.04 0.04 1</diffuse>
+        </material>
+      </visual>
+    </link>
+    
+    <link name="front_left_wheel">
+      <pose>0.21 0.1425 0 0 0 0</pose>
+      <!-- Inertia and size need adjusted -->
+      <inertial>
+        <mass>0.2</mass>
+        <inertia>
+          <ixx>0.000358</ixx>
+          <iyy>0.0005625</iyy>
+          <izz>0.000358</izz>
+        </inertia>
+      </inertial>
+      <collision name="collision">
+        <pose>0 0 0 -1.5707963267948966 0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.068</length>
+            <radius>0.075</radius>
+          </cylinder>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>1</mu>
+              <mu2>1</mu2>
+              <fdir1>0 0 1</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <visual name="tire_visual">
+        <pose>0 0 0 0 0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>meshes/wheel.dae</uri>
+	    <scale>0.433 0.618 0.433</scale>
+          </mesh>
+        </geometry>
+      </visual>
+      <visual name="axis_visual">
+        <pose>0 -0.02 0 1.5707963267948966 0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.04</length>
+            <radius>0.008</radius>
+          </cylinder>
+        </geometry>
+        <material>
+          <ambient>0 0 0 1</ambient>
+          <diffuse>0 0 0 1</diffuse>
+        </material>
+      </visual>
+    </link>
+    
+    <link name="front_right_wheel">
+      <pose>0.21 -0.1425 0 0 0 0</pose>
+      <inertial>
+        <mass>0.2</mass>
+        <inertia>
+          <ixx>0.000358</ixx>
+          <iyy>0.0005625</iyy>
+          <izz>0.000358</izz>
+        </inertia>
+      </inertial>
+      <collision name="collision">
+        <pose>0 0 0 1.5707963267948966 0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.068</length>
+            <radius>0.075</radius>
+          </cylinder>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>1</mu>
+              <mu2>1</mu2>
+              <fdir1>0 0 1</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <visual name="tire_visual">
+        <pose>0 0 0 0 0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>meshes/wheel.dae</uri>
+	    <scale>0.433 0.618 0.433</scale>
+          </mesh>
+        </geometry>
+      </visual>
+      <visual name="axis_visual">
+        <pose>0 0.02 0 1.5707963267948966 0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.04</length>
+            <radius>0.008</radius>
+          </cylinder>
+        </geometry>
+        <material>
+          <ambient>0 0 0 1</ambient>
+          <diffuse>0 0 0 1</diffuse>
+        </material>
+      </visual>
+    </link>
+
+    <link name="rear_left_wheel">
+      <pose>-0.21 0.1425 0 0 0 0</pose>
+      <inertial>
+        <mass>0.2</mass>
+        <inertia>
+          <ixx>0.000358</ixx>
+          <iyy>0.0005625</iyy>
+          <izz>0.000358</izz>
+        </inertia>
+      </inertial>
+      <collision name="collision">
+        <pose>0 0 0 -1.5707963267948966 0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.068</length>
+            <radius>0.075</radius>
+          </cylinder>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>1</mu>
+              <mu2>1</mu2>
+              <fdir1>0 0 1</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <visual name="tire_visual">
+        <pose>0 0 0 0 0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>meshes/wheel.dae</uri>
+	    <scale>0.433 0.618 0.433</scale>
+          </mesh>
+        </geometry>
+      </visual>
+      <visual name="axis_visual">
+        <pose>0 -0.02 0 1.5707963267948966 0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.04</length>
+            <radius>0.008</radius>
+          </cylinder>
+        </geometry>
+        <material>
+          <ambient>0 0 0 1</ambient>
+          <diffuse>0 0 0 1</diffuse>
+        </material>
+      </visual>
+    </link>
+    
+    <link name="rear_right_wheel">
+      <pose>-0.21 -0.1425 0 0 0 0</pose>
+      <inertial>
+        <mass>0.2</mass>
+        <inertia>
+          <ixx>0.000358</ixx>
+          <iyy>0.0005625</iyy>
+          <izz>0.000358</izz>
+        </inertia>
+      </inertial>
+      <collision name="collision">
+        <pose>0 0 0 1.5707963267948966 0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.068</length>
+            <radius>0.075</radius>
+          </cylinder>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>1</mu>
+              <mu2>1</mu2>
+              <fdir1>0 0 1</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <visual name="tire_visual">
+        <pose>0 0 0 0 0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>meshes/wheel.dae</uri>
+	    <scale>0.433 0.618 0.433</scale>
+          </mesh>
+        </geometry>
+      </visual>
+      <visual name="axis_visual">
+        <pose>0 0.02 0 1.5707963267948966 0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.04</length>
+            <radius>0.008</radius>
+          </cylinder>
+        </geometry>
+        <material>
+          <ambient>0 0 0 1</ambient>
+          <diffuse>0 0 0 1</diffuse>
+        </material>
+      </visual>
+    </link>
+
+
+    <joint name="front_left_wheel_steering_joint" type="revolute">
+      <child>front_left_wheel_steering_link</child>
+      <parent>base_link</parent>
+      <axis>
+        <xyz>0 0 1</xyz>
+        <limit>
+          <lower>-0.6</lower>
+          <upper>+0.6</upper>
+          <velocity>6.0</velocity>
+          <effort>3</effort>
+        </limit>
+        <use_parent_model_frame>1</use_parent_model_frame>
+      </axis>
+    </joint>
+    
+    <joint name="front_right_wheel_steering_joint" type="revolute">
+      <parent>base_link</parent>
+      <child>front_right_wheel_steering_link</child>
+      <axis>
+        <xyz>0 0 1</xyz>
+        <limit>
+          <lower>-0.6</lower>
+          <upper>+0.6</upper>
+          <velocity>6.0</velocity>
+          <effort>3</effort>
+        </limit>
+      </axis>
+    </joint>
+    
+    
+    <joint name="front_left_wheel_joint" type="revolute">
+      <child>front_left_wheel</child>
+      <parent>front_left_wheel_steering_link</parent>
+      <axis>
+        <xyz>0 1 0</xyz>
+        <limit>
+          <lower>-1.79769e+308</lower>
+          <upper>+1.79769e+308</upper>
+          <velocity>40</velocity>
+          <effort>9</effort>
+        </limit>
+        <use_parent_model_frame>1</use_parent_model_frame>
+      </axis>
+    </joint>
+    
+    <joint name="front_right_wheel_joint" type="revolute">
+      <parent>front_right_wheel_steering_link</parent>
+      <child>front_right_wheel</child>
+      <axis>
+        <xyz>0 1 0</xyz>
+        <limit>
+          <lower>-1.79769e+308</lower>
+          <upper>+1.79769e+308</upper>
+          <velocity>40</velocity>
+          <effort>9</effort>
+        </limit>
+      </axis>
+    </joint>
+    
+    <joint name="rear_left_wheel_joint" type="revolute">
+      <parent>base_link</parent>
+      <child>rear_left_wheel</child>
+      <axis>
+        <xyz>0 1 0</xyz>
+        <limit>
+          <lower>-1.79769e+308</lower>
+          <upper>+1.79769e+308</upper>
+          <velocity>40</velocity>
+          <effort>9</effort>
+        </limit>
+      </axis>
+    </joint>
+    
+    <joint name="rear_right_wheel_joint" type="revolute">
+      <parent>base_link</parent>
+      <child>rear_right_wheel</child>
+      <axis>
+        <xyz>0 1 0</xyz>
+        <limit>
+          <lower>-1.79769e+308</lower>
+          <upper>+1.79769e+308</upper>
+          <velocity>40</velocity>
+          <effort>9</effort>
+        </limit>
+      </axis>
+    </joint>
+    
+  </model>
+</sdf>
diff --git a/submitted_models/coro_rocky_sensor_config_1/package.xml b/submitted_models/coro_rocky_sensor_config_1/package.xml
new file mode 100644
index 00000000..f30bf26f
--- /dev/null
+++ b/submitted_models/coro_rocky_sensor_config_1/package.xml
@@ -0,0 +1,24 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>coro_rocky_sensor_config_1</name>
+  <version>0.0.1</version>
+  <description>Rocky is a Coordinated Robotics robot based on a rock crawler</description>
+
+  <author email="ak619@lafn.org">Kevin Knoedler</author>
+  <maintainer email="ak619@lafn.org">Kevin Knoedler</maintainer>
+
+  <license>BSD</license>
+
+  <buildtool_depend>catkin</buildtool_depend>
+  <buildtool_depend>roslaunch</buildtool_depend>
+  <buildtool_depend>urdf</buildtool_depend>
+  <buildtool_depend>xacro</buildtool_depend>
+
+  <depend>roscpp</depend>
+  <depend>message_runtime</depend>
+  <depend>std_msgs</depend>
+  <depend>geometry_msgs</depend>
+  
+  <export>
+  </export>
+</package>
diff --git a/submitted_models/coro_rocky_sensor_config_1/specifications.md b/submitted_models/coro_rocky_sensor_config_1/specifications.md
new file mode 100644
index 00000000..1097a249
--- /dev/null
+++ b/submitted_models/coro_rocky_sensor_config_1/specifications.md
@@ -0,0 +1,91 @@
+
+<!--- This is a Markdown description of a robot model submitted for inclusion in the
+DARPA Subterranean Challenge Technology Repository -->
+# Coordinated Robotics - Rocky
+This specifications.md file is a description of Coordinated Robotics Rocky with Sensor
+Configuration 1. This robot may be launched using a `ign launch` command with the
+variable name `coro_rocky_sensor_config_1`.
+
+## Description
+Rocky is a four-wheel Ackermann type steering ground vehicle. Rocky weighs ~4 kg.
+
+## Usage Instructions
+The robot is controlled by the included Ackermann steering plugin and accepts a
+linear x velocity and a rotational z velocity. Sensors are published on the standard
+topics.
+
+## Usage Rights
+
+
+## Cost and Scale
+Rocky has an estimated duplication cost of USD 1470. It weighs 4.076 kg.
+Cost breakdown:
+$400  - computer
+$280  - Frame
+$270  - Motors / controller
+$250  - D435i
+$170  - misc
+$100  - Wide cameras / lenses
+
+
+## Sensors
+Rocky Sensor Config 1 uses:
+* 1 x D435i modeled by rgbd_camera plugin
+* 1 x Kakute F7 - modeled by imu and air_pressure plugin
+* 1 x SCD30 - modeled by GasEmitterDetector plugin
+* 2 x Arducam B0247 with LN008 - modeled by camera plugins
+* 4 x Wheel odometry - wheel encoders modeled by pose-publisher plugin
+
+Rocky Sensor Config 2 adds 6 breadcrumbs
+Rocky Sensor Config 3 has a 2D lidar (RPLidar S1), but there is not space for breadcrumbs with the lidar, so no Sensor Config 4
+
+
+
+## Control
+Rocky is controlled by the AckermannSteering plugin and accepts a linear x velocity
+and a rotational z velocity.  Sensors are published on the standard topics.
+
+
+## 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:
+
+* _x_ velocity range from -3.0 m/s to 3.0 m/s
+* _x_ acceleration range from -3.60 m/s<sup>2</sup> to 6.61 m/s<sup>2</sup> (modeled as +- 4m/s/s)
+* Turning radius of 1.60 m
+
+
+The constraints can be found in the following locations within the simulation model package:
+
+* Turning radius is modeled by the `AckermannSteering` plugin in the `spawner.rb` file, line 24
+* Velocity and acceleration limits applied to the `AckermannSteering` plugin in the `spawner.rb` file, lines 28-31
+
+
+## Endurance Characteristics
+This vehicle has a battery life of 10482 seconds.  The 4 cell 16.8V 6.6AH battery started at 16.57V and finished at 16.23V after driving in a circle for 20 minutes.
+10482 seconds = 1200 seconds * (16.57V - 13.6V) / (16.57V / 16.23V)
+
+
+## Diversions from Physical Hardware of Rocky
+Fisheye cameras are not modeled.  The two fisheye cameras are modeled as two 1280x720 wide field of view cameras.  They could have been modeled as 4 cameras,
+but this robot's sensor platform didn't have four sided symmetry so it seemed to make more sense to just have two cameras on this model.
+
+The differentials are modeled as two separate motors rather than one motor driving two wheels.
+
+Suspension is not modeled.
+
+
+## Rocky Validation and Specification Links
+
+* Vehicle - https://www.nitrorcx.com/-03c09-madtorque-green-artr.html
+* Kakute F7 - http://www.holybro.com/product/kakute-f7-v1-5/
+* Arducam B0247 - https://www.arducam.com/product/arducam-2mp-ar0230-obisp-mipi-camera-module-for-raspberry-pi-jetson-nano/
+* Arducam LN008 - https://www.arducam.com/product/m25156h14/
+* D435i RGBD Camera - https://www.intelrealsense.com/depth-camera-d435i/
+* 2D lidar - RPLidar S1 - https://www.slamtec.com/en/Lidar/S1
+
+* Turning Circle -  https://youtu.be/H15Kpvpepv4
+* Endurance - https://youtu.be/2A16jvbZ4UI
+* Speed / Acceleration Test -  https://youtu.be/XBhK73EbVq4
+* Datalogs / datasheets / etc - https://drive.google.com/drive/folders/1y_q9G3xNFaG_KOAiWuYeCj1hfao2BsOg?usp=sharing
diff --git a/submitted_models/coro_rocky_sensor_config_1/src/AckermannSteering.cc b/submitted_models/coro_rocky_sensor_config_1/src/AckermannSteering.cc
new file mode 100644
index 00000000..74b19a3e
--- /dev/null
+++ b/submitted_models/coro_rocky_sensor_config_1/src/AckermannSteering.cc
@@ -0,0 +1,778 @@
+/*
+ * Copyright (C) 2021 Open Source Robotics Foundation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ */
+
+#include "AckermannSteering.hh"
+
+#include <ignition/msgs/odometry.pb.h>
+
+#include <limits>
+#include <mutex>
+#include <set>
+#include <string>
+#include <vector>
+
+#include <ignition/common/Profiler.hh>
+#include <ignition/math/Quaternion.hh>
+#include <ignition/math/Angle.hh>
+#include <ignition/plugin/Register.hh>
+#include <ignition/transport/Node.hh>
+
+#include "ignition/gazebo/components/CanonicalLink.hh"
+#include "ignition/gazebo/components/JointPosition.hh"
+#include "ignition/gazebo/components/JointVelocityCmd.hh"
+#include "ignition/gazebo/Link.hh"
+#include "ignition/gazebo/Model.hh"
+#include "ignition/gazebo/Util.hh"
+
+#include "SpeedLimiter.hh"
+
+using namespace ignition;
+using namespace gazebo;
+using namespace systems;
+
+/// \brief Velocity command.
+struct Commands
+{
+  /// \brief Linear velocity.
+  double lin;
+
+  /// \brief Angular velocity.
+  double ang;
+
+  Commands() : lin(0.0), ang(0.0) {}
+};
+
+class ignition::gazebo::systems::AckermannSteeringPrivate
+{
+  /// \brief Callback for velocity subscription
+  /// \param[in] _msg Velocity message
+  public: void OnCmdVel(const ignition::msgs::Twist &_msg);
+
+  /// \brief Update odometry and publish an odometry message.
+  /// \param[in] _info System update information.
+  /// \param[in] _ecm The EntityComponentManager of the given simulation
+  /// instance.
+  public: void UpdateOdometry(const ignition::gazebo::UpdateInfo &_info,
+    const ignition::gazebo::EntityComponentManager &_ecm);
+
+  /// \brief Update the linear and angular velocities.
+  /// \param[in] _info System update information.
+  /// \param[in] _ecm The EntityComponentManager of the given simulation
+  /// instance.
+  public: void UpdateVelocity(const ignition::gazebo::UpdateInfo &_info,
+    const ignition::gazebo::EntityComponentManager &_ecm);
+
+  /// \brief Ignition communication node.
+  public: transport::Node node;
+
+  /// \brief Entity of the left joint
+  public: std::vector<Entity> leftJoints;
+
+  /// \brief Entity of the right joint
+  public: std::vector<Entity> rightJoints;
+
+  /// \brief Entity of the left steering joint
+  public: std::vector<Entity> leftSteeringJoints;
+
+  /// \brief Entity of the right steering joint
+  public: std::vector<Entity> rightSteeringJoints;
+
+  /// \brief Name of left joint
+  public: std::vector<std::string> leftJointNames;
+
+  /// \brief Name of right joint
+  public: std::vector<std::string> rightJointNames;
+
+  /// \brief Name of left steering joint
+  public: std::vector<std::string> leftSteeringJointNames;
+
+  /// \brief Name of right steering joint
+  public: std::vector<std::string> rightSteeringJointNames;
+
+  /// \brief Calculated speed of left wheel joint(s)
+  public: double leftJointSpeed{0};
+
+  /// \brief Calculated speed of right wheel joint(s)
+  public: double rightJointSpeed{0};
+
+  /// \brief Calculated speed of left joint
+  public: double leftSteeringJointSpeed{0};
+
+  /// \brief Calculated speed of right joint
+  public: double rightSteeringJointSpeed{0};
+
+  /// \brief Distance between left and right wheels
+  public: double wheelSeparation{1.0};
+
+  /// \brief Distance between left and right wheel kingpins
+  public: double kingpinWidth{0.8};
+
+  /// \brief Distance between front and back wheels
+  public: double wheelBase{1.0};
+
+  /// \brief Maximum turning angle to limit steering to
+  public: double steeringLimit{0.5};
+
+  /// \brief Wheel radius
+  public: double wheelRadius{0.2};
+
+  /// \brief Model interface
+  public: Model model{kNullEntity};
+
+  /// \brief The model's canonical link.
+  public: Link canonicalLink{kNullEntity};
+
+  /// \brief Update period calculated from <odom__publish_frequency>.
+  public: std::chrono::steady_clock::duration odomPubPeriod{0};
+
+  /// \brief Last sim time odom was published.
+  public: std::chrono::steady_clock::duration lastOdomPubTime{0};
+
+  /// \brief Ackermann steering odometry message publisher.
+  public: transport::Node::Publisher odomPub;
+
+  /// \brief Odometry X value
+  public: double odomX{0.0};
+
+  /// \brief Odometry Y value
+  public: double odomY{0.0};
+
+  /// \brief Odometry yaw value
+  public: double odomYaw{0.0};
+
+  /// \brief Odometry old left value
+  public: double odomOldLeft{0.0};
+
+  /// \brief Odometry old right value
+  public: double odomOldRight{0.0};
+
+  /// \brief Odometry last time value
+  public: std::chrono::steady_clock::duration lastOdomTime{0};
+
+  /// \brief Linear velocity limiter.
+  public: std::unique_ptr<SpeedLimiter> limiterLin;
+
+  /// \brief Angular velocity limiter.
+  public: std::unique_ptr<SpeedLimiter> limiterAng;
+
+  /// \brief Previous control command.
+  public: Commands last0Cmd;
+
+  /// \brief Previous control command to last0Cmd.
+  public: Commands last1Cmd;
+
+  /// \brief Last target velocity requested.
+  public: msgs::Twist targetVel;
+
+  /// \brief A mutex to protect the target velocity command.
+  public: std::mutex mutex;
+
+  /// \brief frame_id from sdf.
+  public: std::string sdfFrameId;
+
+  /// \brief child_frame_id from sdf.
+  public: std::string sdfChildFrameId;
+};
+
+//////////////////////////////////////////////////
+AckermannSteering::AckermannSteering()
+  : dataPtr(std::make_unique<AckermannSteeringPrivate>())
+{
+}
+
+//////////////////////////////////////////////////
+void AckermannSteering::Configure(const Entity &_entity,
+    const std::shared_ptr<const sdf::Element> &_sdf,
+    EntityComponentManager &_ecm,
+    EventManager &/*_eventMgr*/)
+{
+  this->dataPtr->model = Model(_entity);
+
+  if (!this->dataPtr->model.Valid(_ecm))
+  {
+    ignerr << "AckermannSteering plugin should be attached to a model entity. "
+           << "Failed to initialize." << std::endl;
+    return;
+  }
+
+  // Get the canonical link
+  std::vector<Entity> links = _ecm.ChildrenByComponents(
+      this->dataPtr->model.Entity(), components::CanonicalLink());
+  if (!links.empty())
+    this->dataPtr->canonicalLink = Link(links[0]);
+
+  // Ugly, but needed because the sdf::Element::GetElement is not a const
+  // function and _sdf is a const shared pointer to a const sdf::Element.
+  auto ptr = const_cast<sdf::Element *>(_sdf.get());
+
+  // Get params from SDF
+  sdf::ElementPtr sdfElem = ptr->GetElement("left_joint");
+  while (sdfElem)
+  {
+    this->dataPtr->leftJointNames.push_back(sdfElem->Get<std::string>());
+    sdfElem = sdfElem->GetNextElement("left_joint");
+  }
+  sdfElem = ptr->GetElement("right_joint");
+  while (sdfElem)
+  {
+    this->dataPtr->rightJointNames.push_back(sdfElem->Get<std::string>());
+    sdfElem = sdfElem->GetNextElement("right_joint");
+  }
+  sdfElem = ptr->GetElement("left_steering_joint");
+  while (sdfElem)
+  {
+    this->dataPtr->leftSteeringJointNames.push_back(
+                          sdfElem->Get<std::string>());
+    sdfElem = sdfElem->GetNextElement("left_steering_joint");
+  }
+  sdfElem = ptr->GetElement("right_steering_joint");
+  while (sdfElem)
+  {
+    this->dataPtr->rightSteeringJointNames.push_back(
+                           sdfElem->Get<std::string>());
+    sdfElem = sdfElem->GetNextElement("right_steering_joint");
+  }
+
+  this->dataPtr->wheelSeparation = _sdf->Get<double>("wheel_separation",
+      this->dataPtr->wheelSeparation).first;
+  this->dataPtr->kingpinWidth = _sdf->Get<double>("kingpin_width",
+      this->dataPtr->kingpinWidth).first;
+  this->dataPtr->wheelBase = _sdf->Get<double>("wheel_base",
+      this->dataPtr->wheelBase).first;
+  this->dataPtr->steeringLimit = _sdf->Get<double>("steering_limit",
+      this->dataPtr->steeringLimit).first;
+  this->dataPtr->wheelRadius = _sdf->Get<double>("wheel_radius",
+      this->dataPtr->wheelRadius).first;
+
+  // Parse speed limiter parameters.
+  bool hasVelocityLimits     = false;
+  bool hasAccelerationLimits = false;
+  bool hasJerkLimits         = false;
+  double minVel              = std::numeric_limits<double>::lowest();
+  double maxVel              = std::numeric_limits<double>::max();
+  double minAccel            = std::numeric_limits<double>::lowest();
+  double maxAccel            = std::numeric_limits<double>::max();
+  double minJerk             = std::numeric_limits<double>::lowest();
+  double maxJerk             = std::numeric_limits<double>::max();
+
+  if (_sdf->HasElement("min_velocity"))
+  {
+    minVel = _sdf->Get<double>("min_velocity");
+    hasVelocityLimits = true;
+  }
+  if (_sdf->HasElement("max_velocity"))
+  {
+    maxVel = _sdf->Get<double>("max_velocity");
+    hasVelocityLimits = true;
+  }
+  if (_sdf->HasElement("min_acceleration"))
+  {
+    minAccel = _sdf->Get<double>("min_acceleration");
+    hasAccelerationLimits = true;
+  }
+  if (_sdf->HasElement("max_acceleration"))
+  {
+    maxAccel = _sdf->Get<double>("max_acceleration");
+    hasAccelerationLimits = true;
+  }
+  if (_sdf->HasElement("min_jerk"))
+  {
+    minJerk = _sdf->Get<double>("min_jerk");
+    hasJerkLimits = true;
+  }
+  if (_sdf->HasElement("max_jerk"))
+  {
+    maxJerk = _sdf->Get<double>("max_jerk");
+    hasJerkLimits = true;
+  }
+
+  // Instantiate the speed limiters.
+  this->dataPtr->limiterLin = std::make_unique<SpeedLimiter>(
+    hasVelocityLimits, hasAccelerationLimits, hasJerkLimits,
+    minVel, maxVel, minAccel, maxAccel, minJerk, maxJerk);
+
+  this->dataPtr->limiterAng = std::make_unique<SpeedLimiter>(
+    hasVelocityLimits, hasAccelerationLimits, hasJerkLimits,
+    minVel, maxVel, minAccel, maxAccel, minJerk, maxJerk);
+
+  double odomFreq = _sdf->Get<double>("odom_publish_frequency", 50).first;
+  if (odomFreq > 0)
+  {
+    std::chrono::duration<double> odomPer{1 / odomFreq};
+    this->dataPtr->odomPubPeriod =
+      std::chrono::duration_cast<std::chrono::steady_clock::duration>(odomPer);
+  }
+
+  // Subscribe to commands
+  std::vector<std::string> topics;
+  if (_sdf->HasElement("topic"))
+  {
+    topics.push_back(_sdf->Get<std::string>("topic"));
+  }
+  topics.push_back("/model/" + this->dataPtr->model.Name(_ecm) + "/cmd_vel");
+  auto topic = validTopic(topics);
+  if (topic.empty())
+  {
+    ignerr << "AckermannSteering plugin received invalid model name "
+           << "Failed to initialize." << std::endl;
+    return;
+  }
+
+  this->dataPtr->node.Subscribe(topic, &AckermannSteeringPrivate::OnCmdVel,
+      this->dataPtr.get());
+
+  std::vector<std::string> odomTopics;
+  if (_sdf->HasElement("odom_topic"))
+  {
+    odomTopics.push_back(_sdf->Get<std::string>("odom_topic"));
+  }
+  odomTopics.push_back("/model/" + this->dataPtr->model.Name(_ecm) +
+      "/odometry");
+  auto odomTopic = validTopic(odomTopics);
+  if (topic.empty())
+  {
+    ignerr << "AckermannSteering plugin received invalid model name "
+           << "Failed to initialize." << std::endl;
+    return;
+  }
+
+  this->dataPtr->odomPub = this->dataPtr->node.Advertise<msgs::Odometry>(
+      odomTopic);
+
+  if (_sdf->HasElement("frame_id"))
+    this->dataPtr->sdfFrameId = _sdf->Get<std::string>("frame_id");
+
+  if (_sdf->HasElement("child_frame_id"))
+    this->dataPtr->sdfChildFrameId = _sdf->Get<std::string>("child_frame_id");
+
+  ignmsg << "AckermannSteering subscribing to twist messages on [" <<
+      topic << "]" << std::endl;
+}
+
+//////////////////////////////////////////////////
+void AckermannSteering::PreUpdate(const ignition::gazebo::UpdateInfo &_info,
+    ignition::gazebo::EntityComponentManager &_ecm)
+{
+  IGN_PROFILE("AckermannSteering::PreUpdate");
+
+  // \TODO(anyone) Support rewind
+  if (_info.dt < std::chrono::steady_clock::duration::zero())
+  {
+    ignwarn << "Detected jump back in time ["
+        << std::chrono::duration_cast<std::chrono::seconds>(_info.dt).count()
+        << "s]. System may not work properly." << std::endl;
+  }
+
+  // If the joints haven't been identified yet, look for them
+  static std::set<std::string> warnedModels;
+  auto modelName = this->dataPtr->model.Name(_ecm);
+  if (this->dataPtr->leftJoints.empty() ||
+      this->dataPtr->rightJoints.empty() ||
+      this->dataPtr->leftSteeringJoints.empty() ||
+      this->dataPtr->rightSteeringJoints.empty())
+  {
+    bool warned{false};
+    for (const std::string &name : this->dataPtr->leftJointNames)
+    {
+      Entity joint = this->dataPtr->model.JointByName(_ecm, name);
+      if (joint != kNullEntity)
+        this->dataPtr->leftJoints.push_back(joint);
+      else if (warnedModels.find(modelName) == warnedModels.end())
+      {
+        ignwarn << "Failed to find left joint [" << name << "] for model ["
+                << modelName << "]" << std::endl;
+        warned = true;
+      }
+    }
+
+    for (const std::string &name : this->dataPtr->rightJointNames)
+    {
+      Entity joint = this->dataPtr->model.JointByName(_ecm, name);
+      if (joint != kNullEntity)
+        this->dataPtr->rightJoints.push_back(joint);
+      else if (warnedModels.find(modelName) == warnedModels.end())
+      {
+        ignwarn << "Failed to find right joint [" << name << "] for model ["
+                << modelName << "]" << std::endl;
+        warned = true;
+      }
+    }
+    for (const std::string &name : this->dataPtr->leftSteeringJointNames)
+    {
+      Entity joint = this->dataPtr->model.JointByName(_ecm, name);
+      if (joint != kNullEntity)
+        this->dataPtr->leftSteeringJoints.push_back(joint);
+      else if (warnedModels.find(modelName) == warnedModels.end())
+      {
+        ignwarn << "Failed to find left steering joint ["
+                << name << "] for model ["
+                << modelName << "]" << std::endl;
+        warned = true;
+      }
+    }
+
+    for (const std::string &name : this->dataPtr->rightSteeringJointNames)
+    {
+      Entity joint = this->dataPtr->model.JointByName(_ecm, name);
+      if (joint != kNullEntity)
+        this->dataPtr->rightSteeringJoints.push_back(joint);
+      else if (warnedModels.find(modelName) == warnedModels.end())
+      {
+        ignwarn << "Failed to find right steering joint [" <<
+            name << "] for model [" << modelName << "]" << std::endl;
+        warned = true;
+      }
+    }
+    if (warned)
+    {
+      warnedModels.insert(modelName);
+    }
+  }
+
+  if (this->dataPtr->leftJoints.empty() || this->dataPtr->rightJoints.empty() ||
+      this->dataPtr->leftSteeringJoints.empty() ||
+      this->dataPtr->rightSteeringJoints.empty())
+    return;
+
+  if (warnedModels.find(modelName) != warnedModels.end())
+  {
+    ignmsg << "Found joints for model [" << modelName
+           << "], plugin will start working." << std::endl;
+    warnedModels.erase(modelName);
+  }
+
+  // Nothing left to do if paused.
+  if (_info.paused)
+    return;
+
+  for (Entity joint : this->dataPtr->leftJoints)
+  {
+    // Update wheel velocity
+    auto vel = _ecm.Component<components::JointVelocityCmd>(joint);
+
+    if (vel == nullptr)
+    {
+      _ecm.CreateComponent(
+          joint, components::JointVelocityCmd({this->dataPtr->leftJointSpeed}));
+    }
+    else
+    {
+      *vel = components::JointVelocityCmd({this->dataPtr->leftJointSpeed});
+    }
+  }
+
+  for (Entity joint : this->dataPtr->rightJoints)
+  {
+    // Update wheel velocity
+    auto vel = _ecm.Component<components::JointVelocityCmd>(joint);
+
+    if (vel == nullptr)
+    {
+      _ecm.CreateComponent(joint,
+          components::JointVelocityCmd({this->dataPtr->rightJointSpeed}));
+    }
+    else
+    {
+      *vel = components::JointVelocityCmd({this->dataPtr->rightJointSpeed});
+    }
+  }
+
+  // Update steering
+  for (Entity joint : this->dataPtr->leftSteeringJoints)
+  {
+    auto vel = _ecm.Component<components::JointVelocityCmd>(joint);
+
+    if (vel == nullptr)
+    {
+      _ecm.CreateComponent(
+          joint, components::JointVelocityCmd(
+                             {this->dataPtr->leftSteeringJointSpeed}));
+    }
+    else
+    {
+      *vel = components::JointVelocityCmd(
+                         {this->dataPtr->leftSteeringJointSpeed});
+    }
+  }
+
+  for (Entity joint : this->dataPtr->rightSteeringJoints)
+  {
+    auto vel = _ecm.Component<components::JointVelocityCmd>(joint);
+
+    if (vel == nullptr)
+    {
+      _ecm.CreateComponent(joint,
+          components::JointVelocityCmd(
+                  {this->dataPtr->rightSteeringJointSpeed}));
+    }
+    else
+    {
+      *vel = components::JointVelocityCmd(
+                     {this->dataPtr->rightSteeringJointSpeed});
+    }
+  }
+
+  // Create the left and right side joint position components if they
+  // don't exist.
+  auto leftPos = _ecm.Component<components::JointPosition>(
+      this->dataPtr->leftJoints[0]);
+  if (!leftPos)
+  {
+    _ecm.CreateComponent(this->dataPtr->leftJoints[0],
+        components::JointPosition());
+  }
+
+  auto rightPos = _ecm.Component<components::JointPosition>(
+      this->dataPtr->rightJoints[0]);
+  if (!rightPos)
+  {
+    _ecm.CreateComponent(this->dataPtr->rightJoints[0],
+        components::JointPosition());
+  }
+
+  auto leftSteeringPos = _ecm.Component<components::JointPosition>(
+      this->dataPtr->leftSteeringJoints[0]);
+  if (!leftSteeringPos)
+  {
+    _ecm.CreateComponent(this->dataPtr->leftSteeringJoints[0],
+        components::JointPosition());
+  }
+
+  auto rightSteeringPos = _ecm.Component<components::JointPosition>(
+      this->dataPtr->rightSteeringJoints[0]);
+  if (!rightSteeringPos)
+  {
+    _ecm.CreateComponent(this->dataPtr->rightSteeringJoints[0],
+        components::JointPosition());
+  }
+}
+
+//////////////////////////////////////////////////
+void AckermannSteering::PostUpdate(const UpdateInfo &_info,
+    const EntityComponentManager &_ecm)
+{
+  IGN_PROFILE("AckermannSteering::PostUpdate");
+  // Nothing left to do if paused.
+  if (_info.paused)
+    return;
+
+  this->dataPtr->UpdateVelocity(_info, _ecm);
+  this->dataPtr->UpdateOdometry(_info, _ecm);
+}
+
+//////////////////////////////////////////////////
+void AckermannSteeringPrivate::UpdateOdometry(
+    const ignition::gazebo::UpdateInfo &_info,
+    const ignition::gazebo::EntityComponentManager &_ecm)
+{
+  IGN_PROFILE("AckermannSteering::UpdateOdometry");
+  // Initialize, if not already initialized.
+
+  if (this->leftJoints.empty() || this->rightJoints.empty() ||
+      this->leftSteeringJoints.empty() || this->rightSteeringJoints.empty())
+    return;
+
+  // Get the first joint positions for the left and right side.
+  auto leftPos = _ecm.Component<components::JointPosition>(this->leftJoints[0]);
+  auto rightPos = _ecm.Component<components::JointPosition>(
+      this->rightJoints[0]);
+  auto leftSteeringPos = _ecm.Component<components::JointPosition>(
+      this->leftSteeringJoints[0]);
+  auto rightSteeringPos = _ecm.Component<components::JointPosition>(
+      this->rightSteeringJoints[0]);
+
+  // Abort if the joints were not found or just created.
+  if (!leftPos || !rightPos || leftPos->Data().empty() ||
+      rightPos->Data().empty() ||
+      !leftSteeringPos || !rightSteeringPos ||
+      leftSteeringPos->Data().empty() ||
+      rightSteeringPos->Data().empty())
+  {
+    return;
+  }
+
+  // Calculate the odometry
+  double phi = 0.5 * (leftSteeringPos->Data()[0] + rightSteeringPos->Data()[0]);
+  double radius = this->wheelBase / tan(phi);
+  double dist = 0.5 * this->wheelRadius *
+      ((leftPos->Data()[0] - this->odomOldLeft) +
+       (rightPos->Data()[0] - this->odomOldRight));
+  double deltaAngle = dist / radius;
+  this->odomYaw += deltaAngle;
+  this->odomYaw = math::Angle(this->odomYaw).Normalized().Radian();
+  this->odomX += dist * cos(this->odomYaw);
+  this->odomY += dist * sin(this->odomYaw);
+  auto odomTimeDiff = _info.simTime - this->lastOdomTime;
+  double tdiff = std::chrono::duration<double>(odomTimeDiff).count();
+  double odomLinearVelocity = dist / tdiff;
+  double odomAngularVelocity = deltaAngle / tdiff;
+  this->lastOdomTime = _info.simTime;
+  this->odomOldLeft = leftPos->Data()[0];
+  this->odomOldRight = rightPos->Data()[0];
+
+  // Throttle odometry publishing
+  auto diff = _info.simTime - this->lastOdomPubTime;
+  if (diff > std::chrono::steady_clock::duration::zero() &&
+      diff < this->odomPubPeriod)
+  {
+    return;
+  }
+  this->lastOdomPubTime = _info.simTime;
+
+  // Construct the odometry message and publish it.
+  msgs::Odometry msg;
+  msg.mutable_pose()->mutable_position()->set_x(this->odomX);
+  msg.mutable_pose()->mutable_position()->set_y(this->odomY);
+
+  math::Quaterniond orientation(0, 0, this->odomYaw);
+  msgs::Set(msg.mutable_pose()->mutable_orientation(), orientation);
+
+  msg.mutable_twist()->mutable_linear()->set_x(odomLinearVelocity);
+  msg.mutable_twist()->mutable_angular()->set_z(odomAngularVelocity);
+
+  // Set the time stamp in the header
+  msg.mutable_header()->mutable_stamp()->CopyFrom(
+      convert<msgs::Time>(_info.simTime));
+
+  // Set the frame id.
+  auto frame = msg.mutable_header()->add_data();
+  frame->set_key("frame_id");
+  if (this->sdfFrameId.empty())
+  {
+    frame->add_value(this->model.Name(_ecm) + "/odom");
+  }
+  else
+  {
+    frame->add_value(this->sdfFrameId);
+  }
+
+  std::optional<std::string> linkName = this->canonicalLink.Name(_ecm);
+  if (this->sdfChildFrameId.empty())
+  {
+    if (linkName)
+    {
+      auto childFrame = msg.mutable_header()->add_data();
+      childFrame->set_key("child_frame_id");
+      childFrame->add_value(this->model.Name(_ecm) + "/" + *linkName);
+    }
+  }
+  else
+  {
+    auto childFrame = msg.mutable_header()->add_data();
+    childFrame->set_key("child_frame_id");
+    childFrame->add_value(this->sdfChildFrameId);
+  }
+
+  // Publish the message
+  this->odomPub.Publish(msg);
+}
+
+//////////////////////////////////////////////////
+void AckermannSteeringPrivate::UpdateVelocity(
+    const ignition::gazebo::UpdateInfo &_info,
+    const ignition::gazebo::EntityComponentManager &_ecm)
+{
+  IGN_PROFILE("AckermannSteering::UpdateVelocity");
+
+  double linVel;
+  double angVel;
+  {
+    std::lock_guard<std::mutex> lock(this->mutex);
+    linVel = this->targetVel.linear().x();
+    angVel = this->targetVel.angular().z();
+  }
+
+  const double dt = std::chrono::duration<double>(_info.dt).count();
+
+  // Limit the target velocity if needed.
+  this->limiterLin->Limit(linVel, this->last0Cmd.lin, this->last1Cmd.lin, dt);
+  this->limiterAng->Limit(angVel, this->last0Cmd.ang, this->last1Cmd.ang, dt);
+
+  // Update history of commands.
+  this->last1Cmd = last0Cmd;
+  this->last0Cmd.lin = linVel;
+  this->last0Cmd.ang = angVel;
+
+  // Convert the target velocities to joint velocities and angles
+  double turningRadius = linVel / angVel;
+  double minimumTurningRadius = this->wheelBase / sin(this->steeringLimit);
+  if ((turningRadius >= 0.0) && (turningRadius < minimumTurningRadius))
+  {
+    turningRadius = minimumTurningRadius;
+  }
+  if ((turningRadius <= 0.0) && (turningRadius > -minimumTurningRadius))
+  {
+    turningRadius = -minimumTurningRadius;
+  }
+  // special case for angVel of zero
+  if (fabs(angVel) < 0.001)
+  {
+    turningRadius = 1000000000.0;
+  }
+
+  double leftSteeringJointAngle =
+      atan(this->wheelBase / (turningRadius - (this->kingpinWidth / 2.0)));
+  double rightSteeringJointAngle =
+      atan(this->wheelBase / (turningRadius + (this->kingpinWidth / 2.0)));
+  double phi = atan(this->wheelBase / turningRadius);
+
+  // Partially simulate a simple differential
+  this->rightJointSpeed =
+      (linVel * (1.0 + (this->wheelSeparation * tan(phi)) /
+                 (2.0 * this->wheelBase))) / this->wheelRadius;
+  this->leftJointSpeed =
+      (linVel * (1.0 - (this->wheelSeparation * tan(phi)) /
+                 (2.0 * this->wheelBase))) / this->wheelRadius;
+
+  auto leftSteeringPos = _ecm.Component<components::JointPosition>(
+      this->leftSteeringJoints[0]);
+  auto rightSteeringPos = _ecm.Component<components::JointPosition>(
+      this->rightSteeringJoints[0]);
+
+  // Abort if the joints were not found or just created.
+  if (!leftSteeringPos || !rightSteeringPos ||
+      leftSteeringPos->Data().empty() ||
+      rightSteeringPos->Data().empty())
+  {
+    return;
+  }
+
+  double leftDelta = leftSteeringJointAngle - leftSteeringPos->Data()[0];
+  double rightDelta = rightSteeringJointAngle - rightSteeringPos->Data()[0];
+
+  // Simple proportional control with a gain of 1
+  // Adding programmable PID values might be a future feature.
+  // Works as is for tested cases
+  this->leftSteeringJointSpeed = leftDelta;
+  this->rightSteeringJointSpeed = rightDelta;
+}
+
+//////////////////////////////////////////////////
+void AckermannSteeringPrivate::OnCmdVel(const msgs::Twist &_msg)
+{
+  std::lock_guard<std::mutex> lock(this->mutex);
+  this->targetVel = _msg;
+}
+
+IGNITION_ADD_PLUGIN(AckermannSteering,
+                    ignition::gazebo::System,
+                    AckermannSteering::ISystemConfigure,
+                    AckermannSteering::ISystemPreUpdate,
+                    AckermannSteering::ISystemPostUpdate)
+
+IGNITION_ADD_PLUGIN_ALIAS(AckermannSteering,
+                          "ignition::gazebo::systems::AckermannSteering")
diff --git a/submitted_models/coro_rocky_sensor_config_1/src/AckermannSteering.hh b/submitted_models/coro_rocky_sensor_config_1/src/AckermannSteering.hh
new file mode 100644
index 00000000..c2a7d2d4
--- /dev/null
+++ b/submitted_models/coro_rocky_sensor_config_1/src/AckermannSteering.hh
@@ -0,0 +1,139 @@
+/*
+ * Copyright (C) 2021 Open Source Robotics Foundation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ */
+#ifndef IGNITION_GAZEBO_SYSTEMS_ACKERMANNSTEERING_HH_
+#define IGNITION_GAZEBO_SYSTEMS_ACKERMANNSTEERING_HH_
+
+#include <memory>
+
+#include <ignition/gazebo/System.hh>
+
+namespace ignition
+{
+namespace gazebo
+{
+// Inline bracket to help doxygen filtering.
+inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE {
+namespace systems
+{
+  // Forward declaration
+  class AckermannSteeringPrivate;
+
+  /// \brief Ackermann steering controller which can be attached to a model
+  /// with any number of left and right wheels.
+  ///
+  /// # System Parameters
+  ///
+  /// `<left_joint>`: Name of a joint that controls a left wheel. This
+  /// element can appear multiple times, and must appear at least once.
+  ///
+  /// `<right_joint>`: Name of a joint that controls a right wheel. This
+  /// element can appear multiple times, and must appear at least once.
+  ///
+  /// `<left_steering_joint>`: Name of a joint that controls steering for
+  ///  left wheel. This element must appear once.  Vehicles that steer
+  ///  rear wheels are not currently correctly supported.
+  ///
+  /// `<right_steering_joint>`: Name of a joint that controls steering for
+  ///  right wheel. This element must appear once.
+  ///
+  /// `<wheel_separation>`: Distance between wheels, in meters. This element
+  /// is optional, although it is recommended to be included with an
+  /// appropriate value. The default value is 1.0m.
+  ///
+  /// `<kingpin_width>`: Distance between wheel kingpins, in meters. This
+  /// element is optional, although it is recommended to be included with an
+  /// appropriate value. The default value is 0.8m.  Generally a bit smaller
+  /// than the wheel_separation.
+  ///
+  /// `<wheel_base>`: Distance between front and rear wheels, in meters. This
+  /// element is optional, although it is recommended to be included with an
+  /// appropriate value. The default value is 1.0m.
+  ///
+  /// `<steering_limit>`: Value to limit steering to.  Can be calculated by
+  /// measuring the turning radius and wheel_base of the real vehicle.
+  /// steering_limit = asin(wheel_base / turning_radius)
+  /// The default value is 0.5 radians.
+  ///
+  /// `<wheel_radius>`: Wheel radius in meters. This element is optional,
+  /// although it is recommended to be included with an appropriate value. The
+  /// default value is 0.2m.
+  ///
+  /// `<odom_publish_frequency>`: Odometry publication frequency. This
+  /// element is optional, and the default value is 50Hz.
+  ///
+  /// '<min_velocity>': Minimum velocity [m/s], usually <= 0.
+  /// '<max_velocity>': Maximum velocity [m/s], usually >= 0.
+  /// '<min_acceleration>': Minimum acceleration [m/s^2], usually <= 0.
+  /// '<max_acceleration>': Maximum acceleration [m/s^2], usually >= 0.
+  /// '<min_jerk Minimum>': jerk [m/s^3], usually <= 0.
+  /// '<max_jerk Maximum>': jerk [m/s^3], usually >= 0.
+  ///
+  /// `<topic>`: Custom topic that this system will subscribe to in order to
+  /// receive command velocity messages. This element if optional, and the
+  /// default value is `/model/{name_of_model}/cmd_vel`.
+  ///
+  /// `<odom_topic>`: Custom topic on which this system will publish odometry
+  /// messages. This element if optional, and the default value is
+  /// `/model/{name_of_model}/odometry`.
+  ///
+  /// A robot with rear drive and front steering would have one each
+  /// of left_joint, right_joint, left_steering_joint and
+  /// right_steering_joint
+  ///
+  /// References:
+  /// https://github.com/ignitionrobotics/ign-gazebo/tree/ign-gazebo4/src/systems/diff_drive
+  /// https://www.auto.tuwien.ac.at/bib/pdf_TR/TR0183.pdf
+  /// https://github.com/froohoo/ackermansteer/blob/master/ackermansteer/
+
+
+  class IGNITION_GAZEBO_VISIBLE AckermannSteering
+      : public System,
+        public ISystemConfigure,
+        public ISystemPreUpdate,
+        public ISystemPostUpdate
+  {
+    /// \brief Constructor
+    public: AckermannSteering();
+
+    /// \brief Destructor
+    public: ~AckermannSteering() override = default;
+
+    // Documentation inherited
+    public: void Configure(const Entity &_entity,
+                           const std::shared_ptr<const sdf::Element> &_sdf,
+                           EntityComponentManager &_ecm,
+                           EventManager &_eventMgr) override;
+
+    // Documentation inherited
+    public: void PreUpdate(
+                const ignition::gazebo::UpdateInfo &_info,
+                ignition::gazebo::EntityComponentManager &_ecm) override;
+
+    // Documentation inherited
+    public: void PostUpdate(
+                const UpdateInfo &_info,
+                const EntityComponentManager &_ecm) override;
+
+    /// \brief Private data pointer
+    private: std::unique_ptr<AckermannSteeringPrivate> dataPtr;
+  };
+  }
+}
+}
+}
+
+#endif
diff --git a/submitted_models/coro_rocky_sensor_config_1/src/SpeedLimiter.cc b/submitted_models/coro_rocky_sensor_config_1/src/SpeedLimiter.cc
new file mode 100644
index 00000000..ebae2b5b
--- /dev/null
+++ b/submitted_models/coro_rocky_sensor_config_1/src/SpeedLimiter.cc
@@ -0,0 +1,209 @@
+/*********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2013, PAL Robotics, S.L.
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of the PAL Robotics nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
+
+/*
+ * Author: Enrique Fernández
+ * Modified: Carlos Agüero
+ */
+
+#include <ignition/math/Helpers.hh>
+
+#include "SpeedLimiter.hh"
+
+using namespace ignition;
+using namespace gazebo;
+using namespace systems;
+
+/// \brief Private SpeedLimiter data class.
+class ignition::gazebo::systems::SpeedLimiterPrivate
+{
+  /// \brief Class constructor.
+  /// \param [in] _hasVelocityLimits     if true, applies velocity limits.
+  /// \param [in] _hasAccelerationLimits if true, applies acceleration limits.
+  /// \param [in] _hasJerkLimits         if true, applies jerk limits.
+  /// \param [in] _minVelocity Minimum velocity [m/s], usually <= 0.
+  /// \param [in] _maxVelocity Maximum velocity [m/s], usually >= 0.
+  /// \param [in] _minAcceleration Minimum acceleration [m/s^2], usually <= 0.
+  /// \param [in] _maxAcceleration Maximum acceleration [m/s^2], usually >= 0.
+  /// \param [in] _minJerk Minimum jerk [m/s^3], usually <= 0.
+  /// \param [in] _maxJerk Maximum jerk [m/s^3], usually >= 0.
+  public: SpeedLimiterPrivate(bool _hasVelocityLimits,
+                              bool _hasAccelerationLimits,
+                              bool _hasJerkLimits,
+                              double _minVelocity,
+                              double _maxVelocity,
+                              double _minAcceleration,
+                              double _maxAcceleration,
+                              double _minJerk,
+                              double _maxJerk)
+    : hasVelocityLimits(_hasVelocityLimits),
+      hasAccelerationLimits(_hasAccelerationLimits),
+      hasJerkLimits(_hasJerkLimits),
+      minVelocity(_minVelocity),
+      maxVelocity(_maxVelocity),
+      minAcceleration(_minAcceleration),
+      maxAcceleration(_maxAcceleration),
+      minJerk(_minJerk),
+      maxJerk(_maxJerk)
+  {
+  }
+
+  /// \brief Enable/Disable velocity.
+  public: bool hasVelocityLimits;
+
+  /// \brief Enable/Disable acceleration.
+  public: bool hasAccelerationLimits;
+
+  /// \brief Enable/Disable jerk.
+  public: bool hasJerkLimits;
+
+  /// \brief Minimum velocity limit.
+  public: double minVelocity;
+
+  /// \brief Maximum velocity limit.
+  public: double maxVelocity;
+
+  /// \brief Minimum acceleration limit.
+  public: double minAcceleration;
+
+  /// \brief Maximum acceleration limit.
+  public: double maxAcceleration;
+
+  /// \brief Minimum jerk limit.
+  public: double minJerk;
+
+  /// \brief Maximum jerk limit.
+  public: double maxJerk;
+};
+
+//////////////////////////////////////////////////
+SpeedLimiter::SpeedLimiter(bool   _hasVelocityLimits,
+                           bool   _hasAccelerationLimits,
+                           bool   _hasJerkLimits,
+                           double _minVelocity,
+                           double _maxVelocity,
+                           double _minAcceleration,
+                           double _maxAcceleration,
+                           double _minJerk,
+                           double _maxJerk)
+  : dataPtr(std::make_unique<SpeedLimiterPrivate>(_hasVelocityLimits,
+      _hasAccelerationLimits, _hasJerkLimits, _minVelocity, _maxVelocity,
+      _minAcceleration, _maxAcceleration, _minJerk, _maxJerk))
+{
+}
+
+//////////////////////////////////////////////////
+SpeedLimiter::~SpeedLimiter()
+{
+}
+
+//////////////////////////////////////////////////
+double SpeedLimiter::Limit(double &_v, double _v0, double _v1, double _dt) const
+{
+  const double tmp = _v;
+
+  this->LimitJerk(_v, _v0, _v1, _dt);
+  this->LimitAcceleration(_v, _v0, _dt);
+  this->LimitVelocity(_v);
+
+  if (ignition::math::equal(tmp, 0.0))
+    return 1.0;
+  else
+    return _v / tmp;
+}
+
+//////////////////////////////////////////////////
+double SpeedLimiter::LimitVelocity(double &_v) const
+{
+  const double tmp = _v;
+
+  if (this->dataPtr->hasVelocityLimits)
+  {
+    _v = ignition::math::clamp(
+      _v, this->dataPtr->minVelocity, this->dataPtr->maxVelocity);
+  }
+
+  if (ignition::math::equal(tmp, 0.0))
+    return 1.0;
+  else
+    return _v / tmp;
+}
+
+//////////////////////////////////////////////////
+double SpeedLimiter::LimitAcceleration(double &_v, double _v0, double _dt) const
+{
+  const double tmp = _v;
+
+  if (this->dataPtr->hasAccelerationLimits)
+  {
+    const double dvMin = this->dataPtr->minAcceleration * _dt;
+    const double dvMax = this->dataPtr->maxAcceleration * _dt;
+
+    const double dv = ignition::math::clamp(_v - _v0, dvMin, dvMax);
+
+    _v = _v0 + dv;
+  }
+
+  if (ignition::math::equal(tmp, 0.0))
+    return 1.0;
+  else
+    return _v / tmp;
+}
+
+//////////////////////////////////////////////////
+double SpeedLimiter::LimitJerk(double &_v, double _v0, double _v1, double _dt)
+  const
+{
+  const double tmp = _v;
+
+  if (this->dataPtr->hasJerkLimits)
+  {
+    const double dv  = _v  - _v0;
+    const double dv0 = _v0 - _v1;
+
+    const double dt2 = 2. * _dt * _dt;
+
+    const double daMin = this->dataPtr->minJerk * dt2;
+    const double daMax = this->dataPtr->maxJerk * dt2;
+
+    const double da = ignition::math::clamp(dv - dv0, daMin, daMax);
+
+    _v = _v0 + dv0 + da;
+  }
+
+  if (ignition::math::equal(tmp, 0.0))
+    return 1.0;
+  else
+    return _v / tmp;
+}
diff --git a/submitted_models/coro_rocky_sensor_config_1/src/SpeedLimiter.hh b/submitted_models/coro_rocky_sensor_config_1/src/SpeedLimiter.hh
new file mode 100644
index 00000000..5a86ac2b
--- /dev/null
+++ b/submitted_models/coro_rocky_sensor_config_1/src/SpeedLimiter.hh
@@ -0,0 +1,130 @@
+/*********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2013, PAL Robotics, S.L.
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of the PAL Robotics nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
+
+/*
+ * Author: Enrique Fernández
+ * Modified: Carlos Agüero
+ */
+
+#ifndef IGNITION_GAZEBO_SYSTEMS_SPEEDLIMITER_HH_
+#define IGNITION_GAZEBO_SYSTEMS_SPEEDLIMITER_HH_
+
+#include <memory>
+
+#include <ignition/gazebo/System.hh>
+
+namespace ignition
+{
+namespace gazebo
+{
+// Inline bracket to help doxygen filtering.
+inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE {
+namespace systems
+{
+  // Forward declaration.
+  class SpeedLimiterPrivate;
+
+  /// \brief Class to limit velocity, acceleration and jerk.
+  /// \ref https://github.com/ros-controls/ros_controllers/tree/melodic-devel/diff_drive_controller
+  class IGNITION_GAZEBO_VISIBLE SpeedLimiter
+  {
+    /// \brief Constructor.
+    /// \param [in] _hasVelocityLimits     if true, applies velocity limits.
+    /// \param [in] _hasAccelerationLimits if true, applies acceleration limits.
+    /// \param [in] _hasJerkLimits         if true, applies jerk limits.
+    /// \param [in] _minVelocity Minimum velocity [m/s], usually <= 0.
+    /// \param [in] _maxVelocity Maximum velocity [m/s], usually >= 0.
+    /// \param [in] _minAcceleration Minimum acceleration [m/s^2], usually <= 0.
+    /// \param [in] _maxAcceleration Maximum acceleration [m/s^2], usually >= 0.
+    /// \param [in] _minJerk Minimum jerk [m/s^3], usually <= 0.
+    /// \param [in] _maxJerk Maximum jerk [m/s^3], usually >= 0.
+    public: SpeedLimiter(bool   _hasVelocityLimits     = false,
+                         bool   _hasAccelerationLimits = false,
+                         bool   _hasJerkLimits         = false,
+                         double _minVelocity           = 0.0,
+                         double _maxVelocity           = 0.0,
+                         double _minAcceleration       = 0.0,
+                         double _maxAcceleration       = 0.0,
+                         double _minJerk               = 0.0,
+                         double _maxJerk               = 0.0);
+
+    /// \brief Destructor.
+    public: ~SpeedLimiter();
+
+    /// \brief Limit the velocity and acceleration.
+    /// \param [in, out] _v  Velocity [m/s].
+    /// \param [in]      _v0 Previous velocity to v  [m/s].
+    /// \param [in]      _v1 Previous velocity to v0 [m/s].
+    /// \param [in]      _dt Time step [s].
+    /// \return Limiting factor (1.0 if none).
+    public: double Limit(double &_v,
+                         double _v0,
+                         double _v1,
+                         double _dt) const;
+
+    /// \brief Limit the velocity.
+    /// \param [in, out] _v Velocity [m/s].
+    /// \return Limiting factor (1.0 if none).
+    public: double LimitVelocity(double &_v) const;
+
+    /// \brief Limit the acceleration.
+    /// \param [in, out] _v  Velocity [m/s].
+    /// \param [in]      _v0 Previous velocity [m/s].
+    /// \param [in]      _dt Time step [s].
+    /// \return Limiting factor (1.0 if none).
+    public: double LimitAcceleration(double &_v,
+                                     double _v0,
+                                     double _dt) const;
+
+    /// \brief Limit the jerk.
+    /// \param [in, out] _v  Velocity [m/s].
+    /// \param [in]      _v0 Previous velocity to v  [m/s].
+    /// \param [in]      _v1 Previous velocity to v0 [m/s].
+    /// \param [in]      _dt Time step [s].
+    /// \return Limiting factor (1.0 if none).
+    /// \see http://en.wikipedia.org/wiki/Jerk_%28physics%29#Motion_control.
+    public: double LimitJerk(double &_v,
+                             double _v0,
+                             double _v1,
+                             double _dt) const;
+
+    /// \brief Private data pointer.
+    private: std::unique_ptr<SpeedLimiterPrivate> dataPtr;
+  };
+  }
+}
+}
+}
+
+#endif
diff --git a/submitted_models/coro_rocky_sensor_config_1/urdf/rocky.xacro b/submitted_models/coro_rocky_sensor_config_1/urdf/rocky.xacro
new file mode 100644
index 00000000..f7186749
--- /dev/null
+++ b/submitted_models/coro_rocky_sensor_config_1/urdf/rocky.xacro
@@ -0,0 +1,317 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name='coro_rocky_sensor_config_1' xmlns:xacro="http://ros.org/wiki/xacro">
+  <xacro:arg name="name" default="coro_rocky_sensor_config_1"/>
+  <xacro:property name="robot_namespace" value="$(arg name)"/>
+  <link name='${robot_namespace}/base_link'>
+    <inertial>
+      <origin xyz='0 0 0.07' rpy='0 -0 0'/>
+      <mass value='3.176'/>
+      <inertia ixx='0.007' ixy='0' ixz='0' iyy='0.0483' iyz='0' izz='0.0477'/>
+    </inertial>
+    <collision name='chassis_collision'>
+      <origin xyz='0 0 0.05' rpy='0 -0 0'/>
+      <geometry>
+        <box size='0.44 0.11 0.12'/>
+      </geometry>
+    </collision>
+    <collision name='tower_collision'>
+      <origin xyz='0.085 0 0.2' rpy='0 -0 0'/>
+      <geometry>
+        <box size='0.04 0.24 0.25'/>
+      </geometry>
+    </collision>
+    <visual name='chassis_main_visual'>
+      <origin xyz='0 0 0.03' rpy='0 -0 0'/>
+      <geometry>
+        <box size='0.44 0.11 0.06'/>
+      </geometry>
+    </visual>
+    <visual name='chassis_top_visual'>
+      <origin xyz='0 0 0.08' rpy='0 -0 0'/>
+      <geometry>
+        <box size='0.22 0.11 0.04'/>
+      </geometry>
+    </visual>
+    <visual name='sensor_mount_1'>
+      <origin xyz='0.09 0 0.25' rpy='0 -0 0'/>
+      <geometry>
+        <box size='0.002 0.13 0.06'/>
+      </geometry>
+    </visual>
+    <visual name='sensor_mount_2'>
+      <origin xyz='0.084 -0.076 0.24' rpy='0 0 -0.5'/>
+      <geometry>
+        <box size='0.002 0.025 0.04'/>
+      </geometry>
+    </visual>
+    <visual name='sensor_mount_3'>
+      <origin xyz='0.084 0.076 0.24' rpy='0 -0 0.5'/>
+      <geometry>
+        <box size='0.002 0.025 0.04'/>
+      </geometry>
+    </visual>
+    <visual name='sensor_mount_4'>
+      <origin xyz='0.085 -0.06 0.18' rpy='0 -0 0'/>
+      <geometry>
+        <box size='0.01 0.01 0.2'/>
+      </geometry>
+    </visual>
+    <visual name='sensor_mount_5'>
+      <origin xyz='0.085 0.06 0.18' rpy='0 -0 0'/>
+      <geometry>
+        <box size='0.01 0.01 0.2'/>
+      </geometry>
+    </visual>
+    <visual name='antenna_visual_1'>
+      <origin xyz='0.098 0.06 0.3' rpy='0 0.4 0'/>
+      <geometry>
+        <cylinder radius='0.005' length='0.05'/>
+      </geometry>
+    </visual>
+    <visual name='antenna_visual_2'>
+      <origin xyz='0.072 0.06 0.3' rpy='0 -0.4 0'/>
+      <geometry>
+        <cylinder radius='0.005' length='0.05'/>
+      </geometry>
+    </visual>
+    <visual name='axle_visual_front'>
+      <origin xyz='0.21 0 0' rpy='1.5708 -0 0'/>
+      <geometry>
+        <cylinder radius='0.01' length='0.21'/>
+      </geometry>
+    </visual>
+    <visual name='axle_visual_rear'>
+      <origin xyz='-0.21 0 0' rpy='1.5708 -0 0'/>
+      <geometry>
+        <cylinder radius='0.01' length='0.21'/>
+      </geometry>
+    </visual>
+    <visual name='d435_realsense_camera_visual'>
+      <origin xyz='0.09 0 0.26' rpy='0 0.46 0'/>
+      <geometry>
+        <mesh filename='package://coro_rocky_sensor_config_1/meshes/realsense_d435.dae' scale='0.001 0.001 0.001'/>
+      </geometry>
+    </visual>
+    <visual name='camera_front_visual'>
+      <origin xyz='0.095 0.03 0.235' rpy='0 -0 0'/>
+      <geometry>
+        <box size='0.01 0.03 0.03'/>
+      </geometry>
+    </visual>
+    <visual name='camera_lens_front_visual'>
+      <origin xyz='0.105 0.03 0.235' rpy='0 1.5708 0'/>
+      <geometry>
+        <cylinder radius='0.005' length='0.011'/>
+      </geometry>
+    </visual>
+    <visual name='camera_rear_visual'>
+      <origin xyz='0.085 -0.03 0.235' rpy='0 -0 0'/>
+      <geometry>
+        <box size='0.01 0.03 0.03'/>
+      </geometry>
+    </visual>
+    <visual name='camera_lens_rear_visual'>
+      <origin xyz='0.075 -0.03 0.235' rpy='0 1.5708 0'/>
+      <geometry>
+        <cylinder radius='0.005' length='0.011'/>
+      </geometry>
+    </visual>
+  </link>
+  <sensor name='imu_sensor' update_rate='50'>
+    <parent link='${robot_namespace}/base_link'/>
+    <origin xyz='0 0 0' rpy='0 -0 0'/>
+  </sensor>
+  <sensor name='air_pressure' update_rate='20'>
+    <parent link='${robot_namespace}/base_link'/>
+    <origin xyz='0 0 0' rpy='0 -0 0'/>
+  </sensor>
+  <sensor name='rs_front' update_rate='30'>
+    <parent link='${robot_namespace}/base_link'/>
+    <origin xyz='0.122 0 0.257' rpy='0 0.46 0'/>
+    <camera>
+      <image width='640' height='360' format='R8G8B8' hfov='1.50098' near='0.01' far='300' />
+    </camera>
+  </sensor>
+  <sensor name='camera_front' update_rate='30'>
+    <parent link='${robot_namespace}/base_link'/>
+    <origin xyz='0.111 0.03 0.235' rpy='0 -0 0'/>
+    <camera>
+      <image width='1280' height='720' format='R8G8B8' hfov='2.4' near='0.01' far='300' />
+    </camera>
+  </sensor>
+  <sensor name='camera_rear' update_rate='30'>
+    <parent link='${robot_namespace}/base_link'/>
+    <origin xyz='0.069 -0.03 0.235' rpy='0 -0 3.14159'/>
+    <camera>
+      <image width='1280' height='720' format='R8G8B8' hfov='2.4' near='0.01' far='300' />
+    </camera>
+  </sensor>
+  <link name='${robot_namespace}/front_left_wheel_steering_link'>
+    <inertial>
+      <origin xyz='0 0 0' rpy='0 -0 0'/>
+      <mass value='0.05'/>
+      <inertia ixx='0.000153' ixy='0' ixz='0' iyy='0.00025' iyz='0' izz='0.000153'/>
+    </inertial>
+    <visual name='steering_link_visual'>
+      <origin xyz='0 0 0' rpy='0 -0 0'/>
+      <geometry>
+        <cylinder radius='0.003' length='0.01'/>
+      </geometry>
+    </visual>
+  </link>
+  <link name='${robot_namespace}/front_right_wheel_steering_link'>
+    <inertial>
+      <origin xyz='0 0 0' rpy='0 -0 0'/>
+      <mass value='0.05'/>
+      <inertia ixx='0.000153' ixy='0' ixz='0' iyy='0.00025' iyz='0' izz='0.000153'/>
+    </inertial>
+    <visual name='steering_link_visual'>
+      <origin xyz='0 0 0' rpy='0 -0 0'/>
+      <geometry>
+        <cylinder radius='0.003' length='0.01'/>
+      </geometry>
+    </visual>
+  </link>
+  <link name='${robot_namespace}/front_left_wheel'>
+    <inertial>
+      <origin xyz='0 0 0' rpy='0 -0 0'/>
+      <mass value='0.2'/>
+      <inertia ixx='0.000358' ixy='0' ixz='0' iyy='0.0005625' iyz='0' izz='0.000358'/>
+    </inertial>
+    <collision name='collision'>
+      <origin xyz='0 0 0' rpy='-1.5708 0 0'/>
+      <geometry>
+        <cylinder radius='0.075' length='0.068'/>
+      </geometry>
+    </collision>
+    <visual name='tire_visual'>
+      <origin xyz='0 0 0' rpy='0 -0 0'/>
+      <geometry>
+        <mesh filename='package://coro_rocky_sensor_config_1/meshes/wheel.dae' scale='0.433 0.618 0.433'/>
+      </geometry>
+    </visual>
+    <visual name='axis_visual'>
+      <origin xyz='0 -0.02 0' rpy='1.5708 -0 0'/>
+      <geometry>
+        <cylinder radius='0.008' length='0.04'/>
+      </geometry>
+    </visual>
+  </link>
+  <link name='${robot_namespace}/front_right_wheel'>
+    <inertial>
+      <origin xyz='0 0 0' rpy='0 -0 0'/>
+      <mass value='0.2'/>
+      <inertia ixx='0.000358' ixy='0' ixz='0' iyy='0.0005625' iyz='0' izz='0.000358'/>
+    </inertial>
+    <collision name='collision'>
+      <origin xyz='0 0 0' rpy='1.5708 -0 0'/>
+      <geometry>
+        <cylinder radius='0.075' length='0.068'/>
+      </geometry>
+    </collision>
+    <visual name='tire_visual'>
+      <origin xyz='0 0 0' rpy='0 -0 0'/>
+      <geometry>
+        <mesh filename='package://coro_rocky_sensor_config_1/meshes/wheel.dae' scale='0.433 0.618 0.433'/>
+      </geometry>
+    </visual>
+    <visual name='axis_visual'>
+      <origin xyz='0 0.02 0' rpy='1.5708 -0 0'/>
+      <geometry>
+        <cylinder radius='0.008' length='0.04'/>
+      </geometry>
+    </visual>
+  </link>
+  <link name='${robot_namespace}/rear_left_wheel'>
+    <inertial>
+      <origin xyz='0 0 0' rpy='0 -0 0'/>
+      <mass value='0.2'/>
+      <inertia ixx='0.000358' ixy='0' ixz='0' iyy='0.0005625' iyz='0' izz='0.000358'/>
+    </inertial>
+    <collision name='collision'>
+      <origin xyz='0 0 0' rpy='-1.5708 0 0'/>
+      <geometry>
+        <cylinder radius='0.075' length='0.068'/>
+      </geometry>
+    </collision>
+    <visual name='tire_visual'>
+      <origin xyz='0 0 0' rpy='0 -0 0'/>
+      <geometry>
+        <mesh filename='package://coro_rocky_sensor_config_1/meshes/wheel.dae' scale='0.433 0.618 0.433'/>
+      </geometry>
+    </visual>
+    <visual name='axis_visual'>
+      <origin xyz='0 -0.02 0' rpy='1.5708 -0 0'/>
+      <geometry>
+        <cylinder radius='0.008' length='0.04'/>
+      </geometry>
+    </visual>
+  </link>
+  <link name='${robot_namespace}/rear_right_wheel'>
+    <inertial>
+      <origin xyz='0 0 0' rpy='0 -0 0'/>
+      <mass value='0.2'/>
+      <inertia ixx='0.000358' ixy='0' ixz='0' iyy='0.0005625' iyz='0' izz='0.000358'/>
+    </inertial>
+    <collision name='collision'>
+      <origin xyz='0 0 0' rpy='1.5708 -0 0'/>
+      <geometry>
+        <cylinder radius='0.075' length='0.068'/>
+      </geometry>
+    </collision>
+    <visual name='tire_visual'>
+      <origin xyz='0 0 0' rpy='0 -0 0'/>
+      <geometry>
+        <mesh filename='package://coro_rocky_sensor_config_1/meshes/wheel.dae' scale='0.433 0.618 0.433'/>
+      </geometry>
+    </visual>
+    <visual name='axis_visual'>
+      <origin xyz='0 0.02 0' rpy='1.5708 -0 0'/>
+      <geometry>
+        <cylinder radius='0.008' length='0.04'/>
+      </geometry>
+    </visual>
+  </link>
+  <joint name='front_left_wheel_steering_joint' type='revolute'>
+    <origin xyz='0.21 0.11 0' rpy='0 -0 0'/>
+    <parent link='${robot_namespace}/base_link'/>
+    <child link='${robot_namespace}/front_left_wheel_steering_link'/>
+    <axis xyz='0 0 1'/>
+    <limit lower='-0.6' upper='0.6' effort='3' velocity='6'/>
+  </joint>
+  <joint name='front_right_wheel_steering_joint' type='revolute'>
+    <origin xyz='0.21 -0.11 0' rpy='0 -0 0'/>
+    <parent link='${robot_namespace}/base_link'/>
+    <child link='${robot_namespace}/front_right_wheel_steering_link'/>
+    <axis xyz='0 0 1'/>
+    <limit lower='-0.6' upper='0.6' effort='3' velocity='6'/>
+  </joint>
+  <joint name='front_left_wheel_joint' type='revolute'>
+    <origin xyz='0.21 0.1425 0' rpy='0 -0 0'/>
+    <parent link='${robot_namespace}/front_left_wheel_steering_link'/>
+    <child link='${robot_namespace}/front_left_wheel'/>
+    <axis xyz='0 1 0'/>
+    <limit lower='-1.79769e+308' upper='1.79769e+308' effort='9' velocity='40'/>
+  </joint>
+  <joint name='front_right_wheel_joint' type='revolute'>
+    <origin xyz='0.21 -0.1425 0' rpy='0 -0 0'/>
+    <parent link='${robot_namespace}/front_right_wheel_steering_link'/>
+    <child link='${robot_namespace}/front_right_wheel'/>
+    <axis xyz='0 1 0'/>
+    <limit lower='-1.79769e+308' upper='1.79769e+308' effort='9' velocity='40'/>
+  </joint>
+  <joint name='rear_left_wheel_joint' type='revolute'>
+    <origin xyz='-0.21 0.1425 0' rpy='0 -0 0'/>
+    <parent link='${robot_namespace}/base_link'/>
+    <child link='${robot_namespace}/rear_left_wheel'/>
+    <axis xyz='0 1 0'/>
+    <limit lower='-1.79769e+308' upper='1.79769e+308' effort='9' velocity='40'/>
+  </joint>
+  <joint name='rear_right_wheel_joint' type='revolute'>
+    <origin xyz='-0.21 -0.1425 0' rpy='0 -0 0'/>
+    <parent link='${robot_namespace}/base_link'/>
+    <child link='${robot_namespace}/rear_right_wheel'/>
+    <axis xyz='0 1 0'/>
+    <limit lower='-1.79769e+308' upper='1.79769e+308' effort='9' velocity='40'/>
+  </joint>
+</robot>
diff --git a/submitted_models/coro_rocky_sensor_config_1/worlds/example.sdf b/submitted_models/coro_rocky_sensor_config_1/worlds/example.sdf
new file mode 100644
index 00000000..73451cc9
--- /dev/null
+++ b/submitted_models/coro_rocky_sensor_config_1/worlds/example.sdf
@@ -0,0 +1,183 @@
+<?xml version="1.0" ?>
+<sdf version="1.6">
+  <world name="example">
+    <physics name="4ms" type="dart">
+      <max_step_size>0.004</max_step_size>
+      <real_time_factor>1.0</real_time_factor>
+    </physics>
+
+    <scene>
+      <ambient>0.2 0.2 0.2</ambient>
+      <background>0.8 0.8 0.8</background>
+    </scene>
+
+
+    <light type="directional" name="sun">
+      <cast_shadows>true</cast_shadows>
+      <pose>0 0 10 0 0 0</pose>
+      <diffuse>0.8 0.8 0.8 1</diffuse>
+      <specular>0.8 0.8 0.8 1</specular>
+      <attenuation>
+        <range>1</range>
+        <constant>0.9</constant>
+        <linear>1</linear>
+        <quadratic>0.001</quadratic>
+      </attenuation>
+      <direction>0.0 0.0 -1.0</direction>
+    </light>
+
+  <light name="light1" type="point">
+      <pose>0 0 4 0 0 0</pose>
+      <attenuation>
+        <range>1000</range>
+        <linear>0</linear>
+        <constant>0.1</constant>
+        <quadratic>0.005</quadratic>
+      </attenuation>
+      <diffuse>0.8 0.8 0.8 1</diffuse>
+      <specular>0.8 0.8 0.8 1</specular>
+      <spot>
+        <inner_angle>5</inner_angle>
+        <outer_angle>10.1</outer_angle>
+        <falloff>.1</falloff>
+      </spot>
+      <direction>0 0 -1</direction>
+    </light>
+    <light name="light2" type="spot">
+      <pose>0 0 4 0 0 0</pose>
+      <attenuation>
+        <range>1000</range>
+        <linear>0.1</linear>
+        <constant>0.2</constant>
+        <quadratic>0.005</quadratic>
+      </attenuation>
+      <diffuse>0.8 0.8 0.5 1</diffuse>
+      <specular>0.8 0.8 0.5 1</specular>
+      <spot>
+        <inner_angle>5</inner_angle>
+        <outer_angle>10.1</outer_angle>
+        <falloff>.1</falloff>
+      </spot>
+      <direction>0 0 -1</direction>
+    </light>
+    <!-- The staging area -->
+    <include>
+      <static>true</static>
+      <name>staging_area</name>
+      <pose>0 0 0 0 0 0</pose>
+      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/subt_tunnel_staging_area</uri>
+    </include>
+
+    <!-- Barriers -->
+    <include>
+      <name>barrier_0_-1</name>
+      <pose>8.0 -11 0 0 0 0</pose>
+      <uri> https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Jersey Barrier </uri>
+    </include>
+  
+    <include>
+      <name>barrier_0_1</name>
+      <pose>8.0 11 0 0 0 0 </pose>
+      <uri> https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Jersey Barrier </uri>
+    </include>
+  
+    <include>
+      <name>barrier_1_-1</name>
+      <pose>3.7 -11 0 0 0 0</pose>
+      <uri> https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Jersey Barrier </uri>
+    </include>
+  
+    <include>
+      <name>barrier_1_1</name>
+      <pose>3.7 11 0 0 0 0</pose>
+      <uri> https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Jersey Barrier </uri>
+    </include>
+  
+    <include>
+      <name>barrier_2_-1</name>
+      <pose>-0.5999999999999996 -11 0 0 0 0</pose>
+      <uri> https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Jersey Barrier </uri>
+    </include>
+  
+    <include>
+      <name>barrier_2_1</name>
+      <pose>-0.5999999999999996 11 0 0 0 0</pose>
+      <uri> https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Jersey Barrier </uri>
+    </include>
+  
+    <include>
+      <name>barrier_3_-1</name>
+      <pose>-4.899999999999999 -11 0 0 0 0</pose>
+      <uri> https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Jersey Barrier </uri>
+    </include>
+  
+    <include>
+      <name>barrier_3_1</name>
+      <pose>-4.899999999999999 11 0 0 0 0</pose>
+      <uri> https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Jersey Barrier </uri>
+    </include>
+  
+    <include>
+      <name>barrier_4_-1</name>
+      <pose>-9.2 -11 0 0 0 0</pose>
+      <uri> https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Jersey Barrier </uri>
+    </include>
+  
+    <include>
+      <name>barrier_4_1</name>
+      <pose>-9.2 11 0 0 0 0</pose>
+      <uri> https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Jersey Barrier </uri>
+    </include>
+  
+    <include>
+      <name>barrier_-9.5_-2</name>
+      <pose>10.5 -8.6 0 0 0 1.5707963267948966</pose>
+      <uri> https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Jersey Barrier </uri>
+    </include>
+  
+    <include>
+      <name>barrier_-9.5_2</name>
+      <pose>10.5 8.6 0 0 0 1.5707963267948966</pose>
+      <uri> https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Jersey Barrier </uri>
+    </include>
+  
+    <include>
+      <name>barrier_-32_-2</name>
+      <pose>-12 -8.6 0 0 0 1.5707963267948966</pose>
+      <uri> https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Jersey Barrier </uri>
+    </include>
+  
+    <include>
+      <name>barrier_-32_-1</name>
+      <pose>-12 -4.3 0 0 0 1.5707963267948966</pose>
+      <uri> https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Jersey Barrier </uri>
+    </include>
+  
+    <include>
+      <name>barrier_-32_0</name>
+      <pose>-12 0.0 0 0 0 1.5707963267948966</pose>
+      <uri> https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Jersey Barrier </uri>
+    </include>
+  
+    <include>
+      <name>barrier_-32_1</name>
+      <pose>-12 4.3 0 0 0 1.5707963267948966</pose>
+      <uri> https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Jersey Barrier </uri>
+    </include>
+
+    <include>
+      <name>barrier_-32_2</name>
+      <pose>-12 8.6 0 0 0 1.5707963267948966</pose>
+      <uri> https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Jersey Barrier </uri>
+    </include>
+
+
+    <!-- The base station -->
+    <include>
+      <static>true</static>
+      <name>base_station</name>
+      <pose>-8 0 0 0 0 -1.5708</pose>
+      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Base Station</uri>
+    </include>
+  </world>
+</sdf>
diff --git a/submitted_models/coro_rocky_sensor_config_2/CMakeLists.txt b/submitted_models/coro_rocky_sensor_config_2/CMakeLists.txt
new file mode 100644
index 00000000..84658334
--- /dev/null
+++ b/submitted_models/coro_rocky_sensor_config_2/CMakeLists.txt
@@ -0,0 +1,8 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(coro_rocky_sensor_config_2)
+
+find_package(catkin REQUIRED)
+
+catkin_package()
+
+install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
diff --git a/submitted_models/coro_rocky_sensor_config_2/launch/spawner.rb b/submitted_models/coro_rocky_sensor_config_2/launch/spawner.rb
new file mode 100644
index 00000000..8e34412b
--- /dev/null
+++ b/submitted_models/coro_rocky_sensor_config_2/launch/spawner.rb
@@ -0,0 +1,99 @@
+def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
+  <<-HEREDOC
+  <spawn name='#{_name}'>
+    <name>#{_name}</name>
+    <allow_renaming>false</allow_renaming>
+    <pose>#{_x} #{_y} #{_z + 0.1} #{_roll} #{_pitch} #{_yaw}</pose>
+    <world>#{_worldName}</world>
+    <is_performer>true</is_performer>
+    <sdf version='1.6'>
+      <include>
+        <name>#{_name}</name>
+        <uri>#{_modelURI}</uri>
+      <!-- Ackermann Steering -->
+      <plugin filename="libackermannrocky.so"
+              name="ignition::gazebo::systems::AckermannSteering">
+        <left_joint>front_left_wheel_joint</left_joint>
+        <left_joint>rear_left_wheel_joint</left_joint>
+        <right_joint>front_right_wheel_joint</right_joint>
+        <right_joint>rear_right_wheel_joint</right_joint>
+        <left_steering_joint>front_left_wheel_steering_joint</left_steering_joint>
+        <right_steering_joint>front_right_wheel_steering_joint</right_steering_joint>
+        <wheel_separation>0.285</wheel_separation>
+        <kingpin_width>0.22</kingpin_width>
+        <steering_limit>0.266</steering_limit>
+        <wheel_base>0.42</wheel_base>
+        <wheel_radius>0.075</wheel_radius>
+        <topic>/model/#{_name}/cmd_vel_relay</topic>
+        <min_velocity>-3.0</min_velocity>
+        <max_velocity>3.0</max_velocity>
+        <min_acceleration>-4</min_acceleration>
+        <max_acceleration>4</max_acceleration>
+      </plugin>
+      <!-- Publish robot state information -->
+      <plugin filename="libignition-gazebo-pose-publisher-system.so"
+        name="ignition::gazebo::systems::PosePublisher">
+        <publish_link_pose>true</publish_link_pose>
+        <publish_sensor_pose>true</publish_sensor_pose>
+        <publish_collision_pose>false</publish_collision_pose>
+        <publish_visual_pose>false</publish_visual_pose>
+        <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
+        <use_pose_vector_msg>true</use_pose_vector_msg>
+        <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>3.4</power_load>
+        <start_on_motion>true</start_on_motion>
+      </plugin>
+      <!-- Gas Sensor plugin -->"
+      <plugin filename="libGasEmitterDetectorPlugin.so"
+        name="subt::GasDetector">
+        <topic>/model/#{_name}/gas_detected</topic>
+        <update_rate>10</update_rate>
+        <type>gas</type>
+      </plugin>
+       <!-- breadcrumb -->
+       <plugin filename="libignition-gazebo-breadcrumbs-system.so"
+             name="ignition::gazebo::systems::Breadcrumbs">
+         <topic>/model/#{_name}/breadcrumb/deploy</topic>
+         <max_deployments>6</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>-0.2 0 0 0 0 0</pose>
+               <include>
+                 <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Breadcrumb Node</uri>
+              </include>
+            </model>
+          </sdf>
+         </breadcrumb>
+       </plugin>
+    </include>
+    </sdf>
+  </spawn>
+  HEREDOC
+end
+
+def rosExecutables(_name, _worldName)
+  <<-HEREDOC
+  <executable name='robot_description'>
+      <command>roslaunch --wait coro_rocky_sensor_config_1 description.launch world_name:=#{_worldName} name:=#{_name}</command>
+    </executable>
+    <executable name='topics'>
+      <command>roslaunch --wait coro_rocky_sensor_config_1 vehicle_topics.launch world_name:=#{_worldName} name:=#{_name} breadcrumbs:=1</command>
+    </executable>
+  HEREDOC
+end
diff --git a/submitted_models/coro_rocky_sensor_config_2/package.xml b/submitted_models/coro_rocky_sensor_config_2/package.xml
new file mode 100644
index 00000000..8eb9f9d5
--- /dev/null
+++ b/submitted_models/coro_rocky_sensor_config_2/package.xml
@@ -0,0 +1,19 @@
+<?xml version="1.0"?>
+<package>
+  <name>coro_rocky_sensor_config_2</name>
+  <version>0.0.1</version>
+  <description>Coordinated Robotics Rocky - small Ackermann type steering robot.</description>
+
+  <author email="ak619@lafn.org">Kevin Knoedler</author>
+  <maintainer email="ak619@lafn.org">Kevin Knoedler</maintainer>
+
+  <license>BSD</license>
+
+  <buildtool_depend>catkin</buildtool_depend>
+  <build_depend>roslaunch</build_depend>
+  <run_depend>urdf</run_depend>
+  <run_depend>xacro</run_depend>
+
+  <export>
+  </export>
+</package>
diff --git a/submitted_models/coro_rocky_sensor_config_3/CMakeLists.txt b/submitted_models/coro_rocky_sensor_config_3/CMakeLists.txt
new file mode 100644
index 00000000..79416349
--- /dev/null
+++ b/submitted_models/coro_rocky_sensor_config_3/CMakeLists.txt
@@ -0,0 +1,13 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(coro_rocky_sensor_config_3)
+
+find_package(catkin REQUIRED)
+
+catkin_package()
+
+install(DIRECTORY launch meshes urdf
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
+
+install(FILES model.sdf model.config
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
+
diff --git a/submitted_models/coro_rocky_sensor_config_3/launch/description.launch b/submitted_models/coro_rocky_sensor_config_3/launch/description.launch
new file mode 100644
index 00000000..6cfd17cd
--- /dev/null
+++ b/submitted_models/coro_rocky_sensor_config_3/launch/description.launch
@@ -0,0 +1,6 @@
+<?xml version="1.0"?>
+<launch>
+  <arg name="name" doc="Name of Vehicle"/>
+  <param name="$(arg name)/robot_description" command="$(find xacro)/xacro '$(find coro_rocky_sensor_config_3)/urdf/rocky.xacro' name:=$(arg name)"/>
+</launch>
+
diff --git a/submitted_models/coro_rocky_sensor_config_3/launch/example.ign b/submitted_models/coro_rocky_sensor_config_3/launch/example.ign
new file mode 100644
index 00000000..183e2b73
--- /dev/null
+++ b/submitted_models/coro_rocky_sensor_config_3/launch/example.ign
@@ -0,0 +1,171 @@
+<?xml version="1.0"?>
+<!-- Usage: ign launch path/to/example.ign robotName:=<X1>
+
+   Parameters:
+    robotName: Name to be assigned to model
+-->
+
+<%
+  require_relative 'spawner'
+
+  # Modify these as needed
+  $enableGroundTruth = true
+  $headless = false
+
+%>
+
+<%
+
+  unless local_variables.include?(:robotName)
+    raise "missing parameters. robotName is a required parameter"
+  end
+
+  # This assumes that this launch file is in a directory below the model
+  modelURI = File.expand_path("../", File.dirname(__FILE__))
+  $worldName = 'example'
+  worldFile = File.join(File.expand_path("../worlds", File.dirname(__FILE__)), "#{$worldName}.sdf")
+
+%>
+
+<ignition version='1.0'>
+  <env>
+    <name>IGN_GAZEBO_SYSTEM_PLUGIN_PATH</name>
+    <value>$LD_LIBRARY_PATH</value>
+  </env>
+
+  <!-- Start ROS first. This is a bit hacky for now. -->
+  <!-- Make sure to source /opt/ros/melodic/setup.bash -->
+  <executable name='ros'>
+    <command>roslaunch subt_ros competition_init.launch world_name:=<%=$worldName%> vehicle_topics:=0 enable_ground_truth:=<%=($enableGroundTruth)?"1":"0"%> robot_names:=<%=robotName%></command>
+  </executable>
+
+  <plugin name="ignition::launch::GazeboServer"
+          filename="libignition-launch-gazebo.so">
+    <world_file><%= worldFile %></world_file>
+    <run>true</run>
+    <levels>false</levels>
+    <record>
+      <enabled>false</enabled>
+    </record>
+
+    <plugin entity_name="<%= $worldName %>"
+            entity_type="world"
+            filename="libignition-gazebo-physics-system.so"
+            name="ignition::gazebo::systems::Physics">
+    </plugin>
+
+    <plugin entity_name="<%= $worldName %>"
+            entity_type="world"
+            filename="libignition-gazebo-sensors-system.so"
+            name="ignition::gazebo::systems::Sensors">
+            <render_engine>ogre2</render_engine>
+    </plugin>
+    <plugin entity_name="<%= $worldName %>"
+            entity_type="world"
+            filename="libignition-gazebo-user-commands-system.so"
+            name="ignition::gazebo::systems::UserCommands">
+    </plugin>
+    <plugin entity_name="<%= $worldName %>"
+            entity_type="world"
+            filename="libignition-gazebo-scene-broadcaster-system.so"
+            name="ignition::gazebo::systems::SceneBroadcaster">
+    </plugin>
+    <plugin entity_name="<%= $worldName %>"
+            entity_type="world"
+            filename="libignition-gazebo-imu-system.so"
+            name="ignition::gazebo::systems::Imu">
+    </plugin>
+
+    <plugin entity_name="<%= $worldName %>"
+            entity_type="world"
+            filename="libignition-gazebo-magnetometer-system.so"
+            name="ignition::gazebo::systems::Magnetometer">
+    </plugin>
+
+    <plugin entity_name="<%= $worldName %>"
+            entity_type="world"
+            filename="libignition-gazebo-air-pressure-system.so"
+            name="ignition::gazebo::systems::AirPressure">
+    </plugin>
+  </plugin>
+
+  <%if !$headless %>
+  <executable_wrapper>
+    <plugin name="ignition::launch::GazeboGui"
+          filename="libignition-launch-gazebogui.so">
+      <world_name><%= $worldName %></world_name>
+      <window_title>SubT Simulator</window_title>
+      <window_icon><%= ENV['SUBT_IMAGES_PATH'] %>/SubT_logo.svg</window_icon>
+      <plugin filename="GzScene3D" name="3D View">
+        <ignition-gui>
+          <title>3D View</title>
+          <property type="bool" key="showTitleBar">false</property>
+          <property type="string" key="state">docked</property>
+        </ignition-gui>
+
+        <engine>ogre2</engine>
+        <scene>scene</scene>
+        <ambient_light>0.2 0.2 0.1</ambient_light>
+        <background_color>0.8 0.8 0.8</background_color>
+        <camera_pose>-6.3 -4.2 3.6 0 0.268 0.304</camera_pose>
+        <service>/world/<%= $worldName %>/scene/info</service>
+        <pose_topic>/world/<%= $worldName %>/pose/info</pose_topic>
+        <scene_topic>/world/<%= $worldName %>/scene/info</scene_topic>
+        <deletion_topic>/world/<%= $worldName %>/scene/deletion</deletion_topic>
+      </plugin>
+      <plugin filename="WorldControl" name="World control">
+        <ignition-gui>
+          <title>World control</title>
+          <property type="bool" key="showTitleBar">false</property>
+          <property type="bool" key="resizable">false</property>
+          <property type="double" key="height">72</property>
+          <property type="double" key="width">121</property>
+          <property type="double" key="z">1</property>
+
+          <property type="string" key="state">floating</property>
+          <anchors target="3D View">
+            <line own="left" target="left"/>
+            <line own="bottom" target="bottom"/>
+          </anchors>
+        </ignition-gui>
+
+        <play_pause>true</play_pause>
+        <step>true</step>
+        <start_paused>true</start_paused>
+        <service>/world/<%= $worldName %>/control</service>
+        <stats_topic>/world/<%= $worldName %>/stats</stats_topic>
+
+      </plugin>
+
+      <plugin filename="WorldStats" name="World stats">
+        <ignition-gui>
+          <title>World stats</title>
+          <property type="bool" key="showTitleBar">false</property>
+          <property type="bool" key="resizable">false</property>
+          <property type="double" key="height">110</property>
+          <property type="double" key="width">290</property>
+          <property type="double" key="z">1</property>
+
+          <property type="string" key="state">floating</property>
+          <anchors target="3D View">
+            <line own="right" target="right"/>
+            <line own="bottom" target="bottom"/>
+          </anchors>
+        </ignition-gui>
+
+        <sim_time>true</sim_time>
+        <real_time>true</real_time>
+        <real_time_factor>true</real_time_factor>
+        <iterations>true</iterations>
+        <topic>/world/<%= $worldName %>/stats</topic>
+      </plugin>
+    </plugin>
+  </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>
+<%= rosExecutables(robotName, $worldName) %>
+ 
+</ignition>
diff --git a/submitted_models/coro_rocky_sensor_config_3/launch/spawner.rb b/submitted_models/coro_rocky_sensor_config_3/launch/spawner.rb
new file mode 100644
index 00000000..6619199e
--- /dev/null
+++ b/submitted_models/coro_rocky_sensor_config_3/launch/spawner.rb
@@ -0,0 +1,81 @@
+def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
+  <<-HEREDOC
+  <spawn name='#{_name}'>
+    <name>#{_name}</name>
+    <allow_renaming>false</allow_renaming>
+    <pose>#{_x} #{_y} #{_z + 0.1} #{_roll} #{_pitch} #{_yaw}</pose>
+    <world>#{_worldName}</world>
+    <is_performer>true</is_performer>
+    <sdf version='1.6'>
+    <include>
+      <name>#{_name}</name>
+      <uri>#{_modelURI}</uri>
+      <!-- Ackermann Steering -->
+      <plugin filename="libackermannrocky.so"
+              name="ignition::gazebo::systems::AckermannSteering">
+        <left_joint>front_left_wheel_joint</left_joint>
+        <left_joint>rear_left_wheel_joint</left_joint>
+        <right_joint>front_right_wheel_joint</right_joint>
+        <right_joint>rear_right_wheel_joint</right_joint>
+        <left_steering_joint>front_left_wheel_steering_joint</left_steering_joint>
+        <right_steering_joint>front_right_wheel_steering_joint</right_steering_joint>
+        <wheel_separation>0.285</wheel_separation>
+        <kingpin_width>0.22</kingpin_width>
+        <steering_limit>0.266</steering_limit>
+        <wheel_base>0.42</wheel_base>
+        <wheel_radius>0.075</wheel_radius>
+        <topic>/model/#{_name}/cmd_vel_relay</topic>
+        <min_velocity>-3.0</min_velocity>
+        <max_velocity>3.0</max_velocity>
+        <min_acceleration>-4</min_acceleration>
+        <max_acceleration>4</max_acceleration>
+      </plugin>
+      <!-- Publish robot state information -->
+      <plugin filename="libignition-gazebo-pose-publisher-system.so"
+        name="ignition::gazebo::systems::PosePublisher">
+        <publish_link_pose>true</publish_link_pose>
+        <publish_sensor_pose>true</publish_sensor_pose>
+        <publish_collision_pose>false</publish_collision_pose>
+        <publish_visual_pose>false</publish_visual_pose>
+        <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
+        <use_pose_vector_msg>true</use_pose_vector_msg>
+        <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>3.4</power_load>
+        <start_on_motion>true</start_on_motion>
+      </plugin>
+      <!-- Gas Sensor plugin -->"
+      <plugin filename="libGasEmitterDetectorPlugin.so"
+        name="subt::GasDetector">
+        <topic>/model/#{_name}/gas_detected</topic>
+        <update_rate>10</update_rate>
+        <type>gas</type>
+      </plugin>
+    </include>
+    </sdf>
+  </spawn>
+  HEREDOC
+end
+
+def rosExecutables(_name, _worldName)
+  <<-HEREDOC
+  <executable name='robot_description'>
+    <command>roslaunch --wait coro_rocky_sensor_config_3 description.launch world_name:=#{_worldName} name:=#{_name}</command>
+  </executable>
+  <executable name='topics'>
+    <command>roslaunch --wait coro_rocky_sensor_config_3 vehicle_topics.launch world_name:=#{_worldName} name:=#{_name}</command>
+  </executable>
+  HEREDOC
+end
diff --git a/submitted_models/coro_rocky_sensor_config_3/launch/vehicle_topics.launch b/submitted_models/coro_rocky_sensor_config_3/launch/vehicle_topics.launch
new file mode 100644
index 00000000..7e98e626
--- /dev/null
+++ b/submitted_models/coro_rocky_sensor_config_3/launch/vehicle_topics.launch
@@ -0,0 +1,252 @@
+<?xml version="1.0"?>
+<launch>
+  <env name="IGN_TRANSPORT_TOPIC_STATISTICS" value="1"/>
+  <arg name="world_name"/>
+  <arg name="name"/>
+  <arg name="link_name" value="base_link"/>
+  <arg name="sensor_prefix" value="/world/$(arg world_name)/model/$(arg name)/link/$(arg link_name)/sensor"/>
+  <group ns="$(arg name)">
+    <!--Create multipe bridges so that it can run in parallel-->
+    <node
+      pkg="ros_ign_bridge"
+      type="parameter_bridge"
+      name="ros_ign_bridge_imu"
+      args="$(arg sensor_prefix)/imu_sensor/imu@sensor_msgs/Imu[ignition.msgs.IMU">
+      <remap from="$(arg sensor_prefix)/imu_sensor/imu" to="imu/data"/>
+    </node>
+
+    <!-- Planar Laser -->
+    <node
+        pkg="ros_ign_bridge"
+        type="parameter_bridge"
+        name="ros_ign_bridge_gpu_lidar_planar_laser"
+        args="$(arg sensor_prefix)/planar_laser/scan@sensor_msgs/LaserScan[ignition.msgs.LaserScan">
+      <remap from="$(arg sensor_prefix)/planar_laser/scan" to="planar_laser_scan"/>
+    </node>
+
+    <!--Front RGBD camera -->
+    <group ns="front_rgbd">
+      <node
+        pkg="ros_ign_bridge"
+        type="parameter_bridge"
+        name="ros_ign_bridge_camera"
+        args="$(arg sensor_prefix)/rs_front/camera_info@sensor_msgs/CameraInfo[ignition.msgs.CameraInfo">
+        <remap from="$(arg sensor_prefix)/rs_front/camera_info" to="camera_info"/>
+      </node>
+      <node
+        pkg="ros_ign_image"
+        type="image_bridge"
+        name="ros_ign_image_camera"
+        args="$(arg sensor_prefix)/rs_front/image">
+        <remap from="$(arg sensor_prefix)/rs_front/image" to="image_raw"/>
+      </node>
+      <node
+        pkg="ros_ign_bridge"
+        type="parameter_bridge"
+        name="ros_ign_bridge_rgbd"
+        args="$(arg sensor_prefix)/rs_front/points@sensor_msgs/PointCloud2[ignition.msgs.PointCloudPacked">
+        <remap from="$(arg sensor_prefix)/rs_front/points" to="points"/>
+      </node>
+      <node
+        pkg="ros_ign_bridge"
+        type="parameter_bridge"
+        name="ros_ign_bridge_depth_info"
+        args="$(arg sensor_prefix)/rs_front/camera_info@sensor_msgs/CameraInfo[ignition.msgs.CameraInfo">
+        <remap from="$(arg sensor_prefix)/rs_front/camera_info" to="depth/camera_info"/>
+      </node>
+      <node
+        pkg="ros_ign_image"
+        type="image_bridge"
+        name="ros_ign_image_depth"
+        args="$(arg sensor_prefix)/rs_front/depth_image">
+        <remap from="$(arg sensor_prefix)/rs_front/depth_image" to="depth/image_raw"/>
+      </node>
+      <node
+        pkg="subt_ros"
+        type="optical_frame_publisher"
+        name="optical_frame_publisher_rgbd_image_front">
+        <remap from="input/image" to="image_raw" />
+        <remap from="output/image" to="optical/image_raw" />
+        <remap from="input/camera_info" to="camera_info" />
+        <remap from="output/camera_info" to="optical/camera_info" />
+      </node>
+      <node
+        pkg="subt_ros"
+        type="optical_frame_publisher"
+        name="optical_frame_publisher_rgbd_depth_front">
+        <remap from="input/image" to="depth/image_raw" />
+        <remap from="output/image" to="optical/depth/image_raw" />
+        <remap from="input/camera_info" to="depth/camera_info" />
+        <remap from="output/camera_info" to="optical/depth/camera_info" />
+      </node>
+      <include file="$(find subt_ros)/launch/models_common/set_rate_relay.launch">
+        <arg name="name" value="ros_ign_bridge_camera_set_rate" />
+        <arg name="ign_service" value="$(arg sensor_prefix)/rs_front/set_rate" />
+        <arg name="ros_service" value="set_rate" />
+      </include>
+    </group>
+
+
+
+    <!-- Front monocular camera -->
+    <node
+	pkg="ros_ign_bridge"
+	type="parameter_bridge"
+	name="ros_ign_bridge_camera_front"
+	args="$(arg sensor_prefix)/camera_front/camera_info@sensor_msgs/CameraInfo[ignition.msgs.CameraInfo">
+      <remap from="$(arg sensor_prefix)/camera_front/camera_info" to="camera_front/camera_info"/>
+    </node>
+    <node
+	pkg="ros_ign_image"
+	type="image_bridge"
+	name="ros_ign_image_camera_front"
+	args="$(arg sensor_prefix)/camera_front/image">
+      <remap from="$(arg sensor_prefix)/camera_front/image" to="camera_front/image_raw"/>
+    </node>
+    <node
+      pkg="subt_ros"
+      type="optical_frame_publisher"
+      name="optical_frame_publisher_front">
+      <remap from="input/image" to="camera_front/image_raw" />
+      <remap from="output/image" to="camera_front/optical/image_raw" />
+      <remap from="input/camera_info" to="camera_front/camera_info" />
+      <remap from="output/camera_info" to="camera_front/optical/camera_info" />
+    </node>
+    
+    <!-- Rear monocular camera -->
+    <node
+	pkg="ros_ign_bridge"
+	type="parameter_bridge"
+	name="ros_ign_bridge_camera_rear"
+	args="$(arg sensor_prefix)/camera_rear/camera_info@sensor_msgs/CameraInfo[ignition.msgs.CameraInfo">
+      <remap from="$(arg sensor_prefix)/camera_rear/camera_info" to="camera_rear/camera_info"/>
+    </node>
+    <node
+	pkg="ros_ign_image"
+	type="image_bridge"
+	name="ros_ign_image_camera_rear"
+	args="$(arg sensor_prefix)/camera_rear/image">
+      <remap from="$(arg sensor_prefix)/camera_rear/image" to="camera_rear/image_raw"/>
+    </node>
+    <node
+      pkg="subt_ros"
+      type="optical_frame_publisher"
+      name="optical_frame_publisher_rear">
+      <remap from="input/image" to="camera_rear/image_raw" />
+      <remap from="output/image" to="camera_rear/optical/image_raw" />
+      <remap from="input/camera_info" to="camera_rear/camera_info" />
+      <remap from="output/camera_info" to="camera_rear/optical/camera_info" />
+    </node>
+
+    <!-- Left monocular camera -->
+    <node
+      pkg="ros_ign_bridge"
+      type="parameter_bridge"
+      name="ros_ign_bridge_camera_left"
+      args="$(arg sensor_prefix)/camera_left/camera_info@sensor_msgs/CameraInfo[ignition.msgs.CameraInfo">
+      <remap from="$(arg sensor_prefix)/camera_left/camera_info" to="camera_left/camera_info"/>
+    </node>
+    <node
+      pkg="ros_ign_image"
+      type="image_bridge"
+      name="ros_ign_image_camera_left"
+      args="$(arg sensor_prefix)/camera_left/image">
+      <remap from="$(arg sensor_prefix)/camera_left/image" to="camera_left/image_raw"/>
+    </node>
+    <node
+      pkg="subt_ros"
+      type="optical_frame_publisher"
+      name="optical_frame_publisher_left">
+      <remap from="input/image" to="camera_left/image_raw" />
+      <remap from="output/image" to="camera_left/optical/image_raw" />
+      <remap from="input/camera_info" to="camera_left/camera_info" />
+      <remap from="output/camera_info" to="camera_left/optical/camera_info" />
+    </node>
+
+    <!-- Right monocular camera -->
+    <node
+      pkg="ros_ign_bridge"
+      type="parameter_bridge"
+      name="ros_ign_bridge_camera_right"
+      args="$(arg sensor_prefix)/camera_right/camera_info@sensor_msgs/CameraInfo[ignition.msgs.CameraInfo">
+      <remap from="$(arg sensor_prefix)/camera_right/camera_info" to="camera_right/camera_info"/>
+    </node>
+    <node
+      pkg="ros_ign_image"
+      type="image_bridge"
+      name="ros_ign_image_camera_right"
+      args="$(arg sensor_prefix)/camera_right/image">
+      <remap from="$(arg sensor_prefix)/camera_right/image" to="camera_right/image_raw"/>
+    </node>
+    <node
+      pkg="subt_ros"
+      type="optical_frame_publisher"
+      name="optical_frame_publisher_right">
+      <remap from="input/image" to="camera_right/image_raw" />
+      <remap from="output/image" to="camera_right/optical/image_raw" />
+      <remap from="input/camera_info" to="camera_right/camera_info" />
+      <remap from="output/camera_info" to="camera_right/optical/camera_info" />
+    </node>
+
+    <!-- Altimeter -->
+    <node
+      pkg="ros_ign_bridge"
+      type="parameter_bridge"
+      name="ros_ign_bridge_fluid_pressure"
+      args="$(arg sensor_prefix)/air_pressure/air_pressure@sensor_msgs/FluidPressure[ignition.msgs.FluidPressure">
+      <remap from="$(arg sensor_prefix)/air_pressure/air_pressure" to="air_pressure"/>
+    </node>
+
+    <node
+      pkg="ros_ign_bridge"
+      type="parameter_bridge"
+      name="ros_ign_bridge_pose"
+      args="/model/$(arg name)/pose@tf2_msgs/TFMessage[ignition.msgs.Pose_V">
+      <remap from="/model/$(arg name)/pose" to="pose"/>
+    </node>
+    <node
+      pkg="ros_ign_bridge"
+      type="parameter_bridge"
+      name="ros_ign_bridge_pose_static"
+      args="/model/$(arg name)/pose_static@tf2_msgs/TFMessage[ignition.msgs.Pose_V">
+      <remap from="/model/$(arg name)/pose_static" to="pose_static"/>
+    </node>
+    <node
+      pkg="ros_ign_bridge"
+      type="parameter_bridge"
+      name="ros_ign_bridge_twist"
+      args="/model/$(arg name)/cmd_vel_relay@geometry_msgs/Twist]ignition.msgs.Twist">
+      <remap from="/model/$(arg name)/cmd_vel_relay" to="cmd_vel"/>
+    </node>
+
+    <node
+      pkg="ros_ign_bridge"
+      type="parameter_bridge"
+      name="ros_ign_bridge_odom"
+      args="/model/$(arg name)/odometry@nav_msgs/Odometry[ignition.msgs.Odometry">
+      <remap from="/model/$(arg name)/odometry" to="odom"/>
+    </node>
+
+    <node
+      pkg="ros_ign_bridge"
+      type="parameter_bridge"
+      name="ros_ign_bridge_battery_state"
+      args="/model/$(arg name)/battery/linear_battery/state@sensor_msgs/BatteryState[ignition.msgs.BatteryState">
+      <remap from="/model/$(arg name)/battery/linear_battery/state" to="battery_state"/>
+    </node>
+
+    <node
+      pkg="ros_ign_bridge"
+      type="parameter_bridge"
+      name="ros_ign_bridge_gas"
+      args="/model/$(arg name)/gas_detected@std_msgs/Bool[ignition.msgs.Boolean">
+      <remap from="/model/$(arg name)/gas_detected" to="gas_detected"/>
+    </node>
+
+    <node
+      pkg="subt_ros"
+      type="pose_tf_broadcaster"
+      name="pose_tf_broadcaster"/>
+
+  </group>
+</launch>
diff --git a/submitted_models/coro_rocky_sensor_config_3/meshes/realsense_d435.dae b/submitted_models/coro_rocky_sensor_config_3/meshes/realsense_d435.dae
new file mode 100644
index 00000000..0fac7a99
--- /dev/null
+++ b/submitted_models/coro_rocky_sensor_config_3/meshes/realsense_d435.dae
@@ -0,0 +1,134 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
+  <asset>
+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 2.79.0 commit date:2017-09-11, commit time:10:43, hash:5bd8ac9abfa</authoring_tool>
+    </contributor>
+    <created>2018-08-15T10:38:07</created>
+    <modified>2018-08-15T10:38:07</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_images/>
+  <library_effects>
+    <effect id="Material_001-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <phong>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <ambient>
+              <color sid="ambient">0 0 0 1</color>
+            </ambient>
+            <diffuse>
+              <color sid="diffuse">0.64 0.64 0.64 1</color>
+            </diffuse>
+            <specular>
+              <color sid="specular">0.125 0.125 0.125 1</color>
+            </specular>
+            <shininess>
+              <float sid="shininess">50</float>
+            </shininess>
+            <index_of_refraction>
+              <float sid="index_of_refraction">1</float>
+            </index_of_refraction>
+          </phong>
+        </technique>
+      </profile_COMMON>
+    </effect>
+    <effect id="alu_eloxiert-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <phong>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <ambient>
+              <color sid="ambient">0 0 0 1</color>
+            </ambient>
+            <diffuse>
+              <color sid="diffuse">0.1139201 0.1139201 0.1139201 1</color>
+            </diffuse>
+            <specular>
+              <color sid="specular">0.015625 0.015625 0.015625 1</color>
+            </specular>
+            <shininess>
+              <float sid="shininess">50</float>
+            </shininess>
+            <index_of_refraction>
+              <float sid="index_of_refraction">1</float>
+            </index_of_refraction>
+          </phong>
+        </technique>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
+  <library_materials>
+    <material id="Material_001-material" name="Material_001">
+      <instance_effect url="#Material_001-effect"/>
+    </material>
+    <material id="alu_eloxiert-material" name="alu_eloxiert">
+      <instance_effect url="#alu_eloxiert-effect"/>
+    </material>
+  </library_materials>
+  <library_geometries>
+    <geometry id="_62222_00-Moveable_Parts_Realsense_001-mesh" name="062222 00-Moveable Parts Realsense.001">
+      <mesh>
+        <source id="_62222_00-Moveable_Parts_Realsense_001-mesh-positions">
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+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_controllers/>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="_62222_00-Moveable_Parts_Realsense_0012" name="_62222_00-Moveable_Parts_Realsense_0012" type="NODE">
+        <matrix sid="transform">1 0 0 -9.53674e-7 0 1 0 0 0 0 1 1.90735e-6 0 0 0 1</matrix>
+        <instance_geometry url="#_62222_00-Moveable_Parts_Realsense_001-mesh" name="_62222_00-Moveable_Parts_Realsense_0012">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="Material_001-material" target="#Material_001-material"/>
+              <instance_material symbol="alu_eloxiert-material" target="#alu_eloxiert-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
\ No newline at end of file
diff --git a/submitted_models/coro_rocky_sensor_config_3/meshes/wheel.dae b/submitted_models/coro_rocky_sensor_config_3/meshes/wheel.dae
new file mode 100644
index 00000000..c76f842c
--- /dev/null
+++ b/submitted_models/coro_rocky_sensor_config_3/meshes/wheel.dae
@@ -0,0 +1,49570 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+  <asset><contributor><author></author><authoring_tool>FBX COLLADA exporter</authoring_tool><comments></comments></contributor><created>2018-08-21T20:36:46Z</created><keywords></keywords><modified>2018-08-21T20:36:46Z</modified><revision></revision><subject></subject><title></title><unit meter="1.000000" name="centimeter"></unit><up_axis>Z_UP</up_axis></asset>
+  <library_materials>
+    <material id="Tire" name="Tire">
+      <instance_effect url="#Tire-fx"/>
+    </material>
+    <material id="Rim" name="Rim">
+      <instance_effect url="#Rim-fx"/>
+    </material>
+  </library_materials>
+  <library_effects>
+    <effect id="Tire-fx" name="Tire">
+      <profile_COMMON>
+        <technique sid="standard">
+          <phong>
+            <emission>
+              <color sid="emission">0.000000  0.000000 0.000000 1.000000</color>
+            </emission>
+            <ambient>
+              <color sid="ambient">0.039216  0.039216 0.039216 1.000000</color>
+            </ambient>
+            <diffuse>
+              <color sid="diffuse">0.039216  0.039216 0.039216 1.000000</color>
+            </diffuse>
+            <specular>
+              <color sid="specular">0.297000  0.297000 0.297000 1.000000</color>
+            </specular>
+            <shininess>
+              <float sid="shininess">6.062866</float>
+            </shininess>
+            <reflective>
+              <color sid="reflective">0.000000  0.000000 0.000000 1.000000</color>
+            </reflective>
+            <reflectivity>
+              <float sid="reflectivity">1.000000</float>
+            </reflectivity>
+            <transparent opaque="RGB_ZERO">
+              <color sid="transparent">1.000000  1.000000 1.000000 1.000000</color>
+            </transparent>
+            <transparency>
+              <float sid="transparency">0.000000</float>
+            </transparency>
+          </phong>
+        </technique>
+      </profile_COMMON>
+    </effect>
+    <effect id="Rim-fx" name="Rim">
+      <profile_COMMON>
+        <technique sid="standard">
+          <phong>
+            <emission>
+              <color sid="emission">0.000000  0.000000 0.000000 1.000000</color>
+            </emission>
+            <ambient>
+              <color sid="ambient">0.458824  0.458824 0.458824 1.000000</color>
+            </ambient>
+            <diffuse>
+              <color sid="diffuse">0.458824  0.458824 0.458824 1.000000</color>
+            </diffuse>
+            <specular>
+              <color sid="specular">0.342000  0.342000 0.342000 1.000000</color>
+            </specular>
+            <shininess>
+              <float sid="shininess">2.000000</float>
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+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="X1_Wheel" name="X1_Wheel">
+      <node name="X1_Wheel" id="X1_Wheel" sid="X1_Wheel"><matrix sid="matrix">1.000000 0.000000 0.000000 0.000000 0.000000 1.000000 0.000000 0.000000 0.000000 0.000000 1.000000 0.000000 0.000000 0.000000 0.000000 1.000000</matrix><instance_geometry url="#X1_Wheel-lib"><bind_material><technique_common><instance_material symbol="Tire" target="#Tire"/><instance_material symbol="Rim" target="#Rim"/></technique_common></bind_material></instance_geometry><extra><technique profile="FCOLLADA"><visibility>1.000000</visibility></technique></extra></node>
+      <extra><technique profile="MAX3D"><frame_rate>30.000000</frame_rate></technique><technique profile="FCOLLADA"><start_time>0.000000</start_time><end_time>3.333333</end_time></technique></extra>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#X1_Wheel"></instance_visual_scene>
+  </scene>
+</COLLADA>
diff --git a/submitted_models/coro_rocky_sensor_config_3/model.config b/submitted_models/coro_rocky_sensor_config_3/model.config
new file mode 100644
index 00000000..24e29274
--- /dev/null
+++ b/submitted_models/coro_rocky_sensor_config_3/model.config
@@ -0,0 +1,12 @@
+
+<?xml version='1.0'?>
+<model>
+  <name>Cooordinated Robotics Rocky Config 3</name>
+  <version>1.0</version>
+  <sdf version='1.6'>model.sdf</sdf>
+
+  <description>
+    The Rocky robot for SubT.
+  </description>
+</model>
+
diff --git a/submitted_models/coro_rocky_sensor_config_3/model.sdf b/submitted_models/coro_rocky_sensor_config_3/model.sdf
new file mode 100644
index 00000000..a32e7ef8
--- /dev/null
+++ b/submitted_models/coro_rocky_sensor_config_3/model.sdf
@@ -0,0 +1,1077 @@
+<?xml version="1.0"?>
+<sdf version="1.6">
+  <model name="coro_rocky_sensor_config_3">
+    <enable_wind>1</enable_wind>
+    <static>0</static>
+    <pose>0 0 0.075 0 0 0</pose>
+    <link name="base_link">
+      <inertial>
+        <pose>0 0 0.07 0 0 0</pose>
+        <mass>3.281</mass>
+	<inertia>
+	  <ixx>0.0079</ixx>
+	  <iyy>0.0506</iyy>
+	  <izz>0.0493</izz>
+	</inertia>
+      </inertial>
+      
+      <collision name="chassis_collision">
+        <pose>0 0 0.05 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.44 0.11 0.12</size>
+          </box>
+        </geometry>
+      </collision>
+
+      <collision name="tower_collision">
+        <pose>0.085 0 0.2 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.04 0.24 0.25</size>
+          </box>
+        </geometry>
+      </collision>
+
+      
+      
+      <visual name="chassis_main_visual">
+        <pose>0 0 0.03 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.44 0.11 0.06</size>
+          </box>
+        </geometry>
+        <material>
+          <ambient>0.06 0.06 0.06 1</ambient>
+          <diffuse>0.06 0.06 0.06 1</diffuse>
+        </material>
+      </visual>
+      <visual name="chassis_top_visual">
+        <pose>0 0 0.08 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.22 0.11 0.04</size>
+          </box>
+        </geometry>
+        <material>
+          <ambient>0.55 0.95 0.55 1</ambient>
+          <diffuse>0.55 0.95 0.55 1</diffuse>
+        </material>
+      </visual>
+
+      <visual name="sensor_mount_1">
+        <pose>0.09 0 0.25 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.002 0.13 0.06</size>
+          </box>
+        </geometry>
+        <material>
+          <ambient>0.55 0.55 0.55 1</ambient>
+          <diffuse>0.55 0.55 0.55 1</diffuse>
+        </material>
+      </visual>
+      <visual name="sensor_mount_2">
+        <pose>0.084 -0.076 0.24 0 0 -0.5</pose>
+        <geometry>
+          <box>
+            <size>0.002 0.025 0.04</size>
+          </box>
+        </geometry>
+        <material>
+          <ambient>0.55 0.55 0.55 1</ambient>
+          <diffuse>0.55 0.55 0.55 1</diffuse>
+        </material>
+      </visual>
+      <visual name="sensor_mount_3">
+        <pose>0.084 0.076 0.24 0 0 0.5</pose>
+        <geometry>
+          <box>
+            <size>0.002 0.025 0.04</size>
+          </box>
+        </geometry>
+        <material>
+          <ambient>0.55 0.55 0.55 1</ambient>
+          <diffuse>0.55 0.55 0.55 1</diffuse>
+        </material>
+      </visual>
+      <visual name="sensor_mount_4">
+        <pose>0.085 -0.06 0.18 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.01 0.01 0.2</size>
+          </box>
+        </geometry>
+        <material>
+          <ambient>0.55 0.55 0.55 1</ambient>
+          <diffuse>0.55 0.55 0.55 1</diffuse>
+        </material>
+      </visual>
+      <visual name="sensor_mount_5">
+        <pose>0.085 0.06 0.18 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.01 0.01 0.2</size>
+          </box>
+        </geometry>
+        <material>
+          <ambient>0.55 0.55 0.55 1</ambient>
+          <diffuse>0.55 0.55 0.55 1</diffuse>
+        </material>
+      </visual>
+      
+      <visual name="antenna_visual_1">
+        <pose>0.098 0.06 0.3 0 0.4 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.05</length>
+            <radius>0.005</radius>
+          </cylinder>
+        </geometry>
+        <material>
+          <ambient>0.06 0.06 0.06 1</ambient>
+          <diffuse>0.06 0.06 0.06 1</diffuse>
+        </material>
+      </visual>
+      <visual name="antenna_visual_2">
+        <pose>0.072 0.06 0.3 0 -0.4 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.05</length>
+            <radius>0.005</radius>
+          </cylinder>
+        </geometry>
+        <material>
+          <ambient>0.06 0.06 0.06 1</ambient>
+          <diffuse>0.06 0.06 0.06 1</diffuse>
+        </material>
+      </visual>
+
+
+      <visual name="axle_visual_front">
+        <pose>0.21 0 0 1.5707963267948966 0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.21</length>
+            <radius>0.01</radius>
+          </cylinder>
+        </geometry>
+        <material>
+          <ambient>0.06 0.06 0.06 1</ambient>
+          <diffuse>0.06 0.06 0.06 1</diffuse>
+        </material>
+      </visual>
+      <visual name="axle_visual_rear">
+        <pose>-0.21 0 0 1.5707963267948966 0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.21</length>
+            <radius>0.01</radius>
+          </cylinder>
+        </geometry>
+        <material>
+          <ambient>0.06 0.06 0.06 1</ambient>
+          <diffuse>0.06 0.06 0.06 1</diffuse>
+        </material>
+      </visual>
+
+
+
+      
+      
+      <!-- IMU  -->
+      <sensor name="imu_sensor" 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>0.00002</dynamic_bias_stddev>
+                <dynamic_bias_correlation_time>400.0</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>0.00002</dynamic_bias_stddev>
+                <dynamic_bias_correlation_time>400.0</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>0.00002</dynamic_bias_stddev>
+                <dynamic_bias_correlation_time>400.0</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>175.0</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>175.0</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>175.0</dynamic_bias_correlation_time>
+                <precision>0.005</precision>
+              </noise>
+            </z>
+          </linear_acceleration>
+        </imu>
+      </sensor>
+      
+      
+      <sensor name="air_pressure" type="air_pressure">
+        <always_on>1</always_on>
+        <update_rate>20</update_rate>
+        <air_pressure>
+          <reference_altitude>0</reference_altitude>
+          <noise type="gaussian">
+            <mean>0.00000008</mean>
+          </noise>
+        </air_pressure>
+      </sensor>
+
+
+      <visual name="d435_realsense_camera_visual">
+        <pose>0.09 0 0.26 0 0.46 0</pose>
+        <geometry>
+          <mesh>
+            <scale>0.001 0.001 0.001</scale>
+            <uri>meshes/realsense_d435.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+
+      <!-- Based on Intel realsense D435 (intrinsics and distortion not modeled)-->
+      <sensor name="rs_front" type="rgbd_camera">
+        <pose>0.122 0 0.257 0 0.46 0</pose>
+        <always_on>1</always_on>
+        <update_rate>30</update_rate>
+        <camera name="rs_front">
+          <horizontal_fov>1.50098</horizontal_fov>
+          <lens>
+            <intrinsics>
+              <!-- fx = fy = width / ( 2 * tan (hfov / 2 ) ) -->
+              <fx>343.159</fx>
+              <fy>343.159</fy>
+              <!-- cx = ( width - 1 ) / 2 -->
+              <cx>319.5</cx>
+              <!-- cy = ( height - 1 ) / 2 -->
+              <cy>179.5</cy>
+              <s>0</s>
+            </intrinsics>
+          </lens>
+          <distortion>
+            <k1>0.0</k1>
+            <k2>0.0</k2>
+            <k3>0.0</k3>
+            <p1>0.0</p1>
+            <p2>0.0</p2>
+            <center>0.5 0.5</center>
+          </distortion>
+          <image>
+            <width>640</width>
+            <height>360</height>
+            <format>R8G8B8</format>
+          </image>
+          <clip>
+            <near>0.01</near>
+            <far>300</far>
+          </clip>
+          <depth_camera>
+            <clip>
+              <near>0.1</near>
+              <far>10</far>
+            </clip>
+          </depth_camera>
+          <noise>
+            <type>gaussian</type>
+            <mean>0</mean>
+            <stddev>0.007</stddev>
+          </noise>
+        </camera>
+      </sensor>
+
+		 
+      <visual name="camera_front_visual">
+        <pose>0.095 0.03 0.235 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.01 0.03 0.03</size>
+          </box>
+        </geometry>
+        <material>
+          <ambient>0.0 0.0 0.0 1.0</ambient>
+          <diffuse>0.0 0.0 0.0 1.0</diffuse>
+        </material>
+      </visual>
+      <visual name="camera_lens_front_visual">
+        <pose>0.105 0.03 0.235 0 1.5707963267948966 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.011</length>
+            <radius>0.005</radius>
+          </cylinder>
+        </geometry>
+        <material>
+          <ambient>0.0 0.0 0.0 1.0</ambient>
+          <diffuse>0.0 0.0 0.0 1.0</diffuse>
+        </material>
+      </visual>
+
+      <visual name="camera_rear_visual">
+        <pose>0.085 -0.03 0.235 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.01 0.03 0.03</size>
+          </box>
+        </geometry>
+        <material>
+          <ambient>0.0 0.0 0.0 1.0</ambient>
+          <diffuse>0.0 0.0 0.0 1.0</diffuse>
+        </material>
+      </visual>
+      <visual name="camera_lens_rear_visual">
+        <pose>0.075 -0.03 0.235 0 1.5707963267948966 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.011</length>
+            <radius>0.005</radius>
+          </cylinder>
+        </geometry>
+        <material>
+          <ambient>0.0 0.0 0.0 1.0</ambient>
+          <diffuse>0.0 0.0 0.0 1.0</diffuse>
+        </material>
+      </visual>
+      <visual name="camera_left_visual">
+        <pose>0.085 0.07 0.27 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.015 0.01 0.015</size>
+          </box>
+        </geometry>
+        <material>
+          <ambient>0.0 0.0 0.0 1.0</ambient>
+          <diffuse>0.0 0.0 0.0 1.0</diffuse>
+        </material>
+      </visual>
+      <visual name="camera_lens_left_visual">
+        <pose>0.085 0.08 0.27 1.5707963267948966 0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.011</length>
+            <radius>0.005</radius>
+          </cylinder>
+        </geometry>
+        <material>
+          <ambient>0.0 0.0 0.0 1.0</ambient>
+          <diffuse>0.0 0.0 0.0 1.0</diffuse>
+        </material>
+      </visual>
+      <visual name="camera_right_visual">
+        <pose>0.085 -0.07 0.27 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.015 0.01 0.015</size>
+          </box>
+        </geometry>
+        <material>
+          <ambient>0.0 0.0 0.0 1.0</ambient>
+          <diffuse>0.0 0.0 0.0 1.0</diffuse>
+        </material>
+      </visual>
+      <visual name="camera_lens_right_visual">
+        <pose>0.085 -0.08 0.27 1.5707963267948966 0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.011</length>
+            <radius>0.005</radius>
+          </cylinder>
+        </geometry>
+        <material>
+          <ambient>0.0 0.0 0.0 1.0</ambient>
+          <diffuse>0.0 0.0 0.0 1.0</diffuse>
+        </material>
+      </visual>
+
+      
+      <!-- Real robot has 2 x B0247 with LN008 each with a 180 deg hor x 130 deg vert FOV
+           Since fisheye cameras are not modeled, four cameras are used in the model -->
+       <sensor name="camera_front" type="camera">
+        <pose>0.111 0.03 0.235 0 0 0</pose>
+        <always_on>1</always_on>
+        <update_rate>25</update_rate>
+        <camera name="camera_front">
+          <horizontal_fov>1.658</horizontal_fov>
+          <lens>
+            <intrinsics>
+              <!-- fx = fy = width / ( 2 * tan (hfov / 2 ) ) -->
+              <fx>329.9</fx>
+              <fy>329.9</fy>
+              <!-- cx = ( width - 1 ) / 2 -->
+              <cx>359.5</cx>
+              <!-- cy = ( height - 1 ) / 2 -->
+              <cy>539.5</cy>
+              <s>0</s>
+            </intrinsics>
+          </lens>
+          <distortion>
+            <k1>0.0</k1>
+            <k2>0.0</k2>
+            <k3>0.0</k3>
+            <p1>0.0</p1>
+            <p2>0.0</p2>
+            <center>0.5 0.5</center>
+          </distortion>
+          <image>
+            <width>720</width>
+            <height>1080</height>
+            <format>R8G8B8</format>
+          </image>
+          <clip>
+            <near>0.01</near>
+            <far>300</far>
+          </clip>
+          <noise>
+            <type>gaussian</type>
+            <mean>0</mean>
+            <stddev>0.007</stddev>
+          </noise>
+        </camera>
+      </sensor>
+
+      <sensor name="camera_rear" type="camera">
+        <pose>0.069 -0.03 0.235 0 0 3.141592653589793</pose>
+        <always_on>1</always_on>
+        <update_rate>25</update_rate>
+        <camera name="camera_rear">
+          <horizontal_fov>1.658</horizontal_fov>
+          <lens>
+            <intrinsics>
+              <!-- fx = fy = width / ( 2 * tan (hfov / 2 ) ) -->
+              <fx>329.9</fx>
+              <fy>329.9</fy>
+              <!-- cx = ( width - 1 ) / 2 -->
+              <cx>359.5</cx>
+              <!-- cy = ( height - 1 ) / 2 -->
+              <cy>539.5</cy>
+              <s>0</s>
+            </intrinsics>
+          </lens>
+          <distortion>
+            <k1>0.0</k1>
+            <k2>0.0</k2>
+            <k3>0.0</k3>
+            <p1>0.0</p1>
+            <p2>0.0</p2>
+            <center>0.5 0.5</center>
+          </distortion>
+          <image>
+            <width>720</width>
+            <height>1080</height>
+            <format>R8G8B8</format>
+          </image>
+          <clip>
+            <near>0.01</near>
+            <far>300</far>
+          </clip>
+          <noise>
+            <type>gaussian</type>
+            <mean>0</mean>
+            <stddev>0.007</stddev>
+          </noise>
+        </camera>
+      </sensor>
+
+      <sensor name="camera_left" type="camera">
+        <pose>0.085 0.09 0.27 0 0 1.5707963267948966</pose>
+        <always_on>1</always_on>
+        <update_rate>25</update_rate>
+        <camera name="camera_left">
+          <horizontal_fov>1.658</horizontal_fov>
+          <lens>
+            <intrinsics>
+              <!-- fx = fy = width / ( 2 * tan (hfov / 2 ) ) -->
+              <fx>329.9</fx>
+              <fy>329.9</fy>
+              <!-- cx = ( width - 1 ) / 2 -->
+              <cx>359.5</cx>
+              <!-- cy = ( height - 1 ) / 2 -->
+              <cy>539.5</cy>
+              <s>0</s>
+            </intrinsics>
+          </lens>
+          <distortion>
+            <k1>0.0</k1>
+            <k2>0.0</k2>
+            <k3>0.0</k3>
+            <p1>0.0</p1>
+            <p2>0.0</p2>
+            <center>0.5 0.5</center>
+          </distortion>
+          <image>
+            <width>720</width>
+            <height>1080</height>
+            <format>R8G8B8</format>
+          </image>
+          <clip>
+            <near>0.01</near>
+            <far>300</far>
+          </clip>
+          <noise>
+            <type>gaussian</type>
+            <mean>0</mean>
+            <stddev>0.007</stddev>
+          </noise>
+        </camera>
+      </sensor>
+
+      <sensor name="camera_right" type="camera">
+        <pose>0.085 -0.09 0.27 0 0 -1.5707963267948966</pose>
+        <always_on>1</always_on>
+        <update_rate>25</update_rate>
+        <camera name="camera_right">
+          <horizontal_fov>1.658</horizontal_fov>
+          <lens>
+            <intrinsics>
+              <!-- fx = fy = width / ( 2 * tan (hfov / 2 ) ) -->
+              <fx>329.9</fx>
+              <fy>329.9</fy>
+              <!-- cx = ( width - 1 ) / 2 -->
+              <cx>359.5</cx>
+              <!-- cy = ( height - 1 ) / 2 -->
+              <cy>539.5</cy>
+              <s>0</s>
+            </intrinsics>
+          </lens>
+          <distortion>
+            <k1>0.0</k1>
+            <k2>0.0</k2>
+            <k3>0.0</k3>
+            <p1>0.0</p1>
+            <p2>0.0</p2>
+            <center>0.5 0.5</center>
+          </distortion>
+          <image>
+            <width>720</width>
+            <height>1080</height>
+            <format>R8G8B8</format>
+          </image>
+          <clip>
+            <near>0.01</near>
+            <far>300</far>
+          </clip>
+          <noise>
+            <type>gaussian</type>
+            <mean>0</mean>
+            <stddev>0.007</stddev>
+          </noise>
+        </camera>
+      </sensor>
+
+      
+
+      <light name="light_front_left" type="spot">
+        <pose>0.11 0.08 0.235 1.5 0 0</pose>
+        <attenuation>
+          <range>25</range>
+          <linear>0</linear>
+          <constant>0.1</constant>
+          <quadratic>0.005</quadratic>
+        </attenuation>
+        <diffuse>0.8 0.8 0.5 1</diffuse>
+        <specular>0.8 0.8 0.5 1</specular>
+        <spot>
+          <inner_angle>1.571</inner_angle>
+          <outer_angle>2.1</outer_angle>
+          <falloff>1</falloff>
+        </spot>
+        <direction>1 0 0</direction>
+        <cast_shadows>1</cast_shadows>
+      </light>
+      <light name="light_front_right" type="spot">
+        <pose>0.11 -0.08 0.235 1.5 0 3.14</pose>
+        <attenuation>
+          <range>25</range>
+          <linear>0</linear>
+          <constant>0.1</constant>
+          <quadratic>0.005</quadratic>
+        </attenuation>
+        <diffuse>0.8 0.8 0.5 1</diffuse>
+        <specular>0.8 0.8 0.5 1</specular>
+        <spot>
+          <inner_angle>1.571</inner_angle>
+          <outer_angle>2.1</outer_angle>
+          <falloff>1</falloff>
+        </spot>
+        <direction>-1 0 0</direction>
+        <cast_shadows>1</cast_shadows>
+      </light>
+      <light name="light_rear" type="spot">
+        <pose>0.07 0.03 0.235 1.5 0 1.5</pose>
+        <attenuation>
+          <range>25</range>
+          <linear>0</linear>
+          <constant>0.1</constant>
+          <quadratic>0.005</quadratic>
+        </attenuation>
+        <diffuse>0.8 0.8 0.5 1</diffuse>
+        <specular>0.8 0.8 0.5 1</specular>
+        <spot>
+          <inner_angle>2.2</inner_angle>
+          <outer_angle>2.8</outer_angle>
+          <falloff>1</falloff>
+        </spot>
+        <direction>0 1 0</direction>
+        <cast_shadows>1</cast_shadows>
+      </light>
+      <light name="light_front_center" type="spot">
+        <pose>0.11 -0.03 0.235 1.5 0 -1.5</pose>
+        <attenuation>
+          <range>25</range>
+          <linear>0</linear>
+          <constant>0.1</constant>
+          <quadratic>0.005</quadratic>
+        </attenuation>
+        <diffuse>0.8 0.8 0.5 1</diffuse>
+        <specular>0.8 0.8 0.5 1</specular>
+        <spot>
+          <inner_angle>1.571</inner_angle>
+          <outer_angle>2.1</outer_angle>
+          <falloff>1</falloff>
+        </spot>
+        <direction>0 -1 0</direction>
+        <cast_shadows>1</cast_shadows>
+      </light>
+
+      <!-- Based on RPLidar S1 -->
+      <visual name="lidar_visual">
+        <pose>-0.06 0 0.125 0 0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.051</length>
+            <radius>0.028</radius>
+          </cylinder>
+        </geometry>
+        <material>
+          <ambient>0.06 0.06 0.06 1</ambient>
+          <diffuse>0.06 0.06 0.06 1</diffuse>
+        </material>
+      </visual>
+      <sensor name="planar_laser" type="gpu_ray">
+        <pose>-0.06 0 0.125 0 0 0</pose>
+        <update_rate>10</update_rate>
+        <lidar>
+          <scan>
+            <horizontal>
+              <samples>920</samples>
+              <resolution>1</resolution>
+              <min_angle>-3.14159</min_angle>
+              <max_angle>3.14159</max_angle>
+            </horizontal>
+          </scan>
+          <range>
+            <min>0.04</min>
+            <max>25</max>
+            <resolution>0.03</resolution>
+          </range>
+          <noise>
+            <type>gaussian</type>
+            <mean>0</mean>
+            <stddev>0.01</stddev>
+          </noise>
+        </lidar>
+      </sensor>
+    </link>
+
+
+
+    <link name="front_left_wheel_steering_link">
+      <pose>0.21 0.11 0 0 0 0</pose>
+      <inertial>
+        <mass>0.05</mass>
+        <inertia>
+          <ixx>0.000153</ixx>
+          <iyy>0.00025</iyy>
+          <izz>0.000153</izz>
+        </inertia>
+      </inertial>
+      <visual name="steering_link_visual">
+        <pose>0 0 0 0 0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.01</length>
+            <radius>0.003</radius>
+          </cylinder>
+        </geometry>
+        <material>
+          <ambient>0.04 0.04 0.04 1</ambient>
+          <diffuse>0.04 0.04 0.04 1</diffuse>
+        </material>
+      </visual>
+    </link>
+    
+    <link name="front_right_wheel_steering_link">
+      <pose>0.21 -0.11 0 0 0 0</pose>
+      <inertial>
+        <mass>0.05</mass>
+        <inertia>
+          <ixx>0.000153</ixx>
+          <iyy>0.00025</iyy>
+          <izz>0.000153</izz>
+        </inertia>
+      </inertial>
+      <visual name="steering_link_visual">
+        <pose>0 0 0 0 0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.01</length>
+            <radius>0.003</radius>
+          </cylinder>
+        </geometry>
+        <material>
+          <ambient>0.04 0.04 0.04 1</ambient>
+          <diffuse>0.04 0.04 0.04 1</diffuse>
+        </material>
+      </visual>
+    </link>
+    
+    <link name="front_left_wheel">
+      <pose>0.21 0.1425 0 0 0 0</pose>
+      <!-- Inertia and size need adjusted -->
+      <inertial>
+        <mass>0.2</mass>
+        <inertia>
+          <ixx>0.000358</ixx>
+          <iyy>0.0005625</iyy>
+          <izz>0.000358</izz>
+        </inertia>
+      </inertial>
+      <collision name="collision">
+        <pose>0 0 0 -1.5707963267948966 0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.068</length>
+            <radius>0.075</radius>
+          </cylinder>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>1</mu>
+              <mu2>1</mu2>
+              <fdir1>0 0 1</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <visual name="tire_visual">
+        <pose>0 0 0 0 0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>meshes/wheel.dae</uri>
+	    <scale>0.433 0.618 0.433</scale>
+          </mesh>
+        </geometry>
+      </visual>
+      <visual name="axis_visual">
+        <pose>0 -0.02 0 1.5707963267948966 0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.04</length>
+            <radius>0.008</radius>
+          </cylinder>
+        </geometry>
+        <material>
+          <ambient>0 0 0 1</ambient>
+          <diffuse>0 0 0 1</diffuse>
+        </material>
+      </visual>
+    </link>
+    
+    <link name="front_right_wheel">
+      <pose>0.21 -0.1425 0 0 0 0</pose>
+      <inertial>
+        <mass>0.2</mass>
+        <inertia>
+          <ixx>0.000358</ixx>
+          <iyy>0.0005625</iyy>
+          <izz>0.000358</izz>
+        </inertia>
+      </inertial>
+      <collision name="collision">
+        <pose>0 0 0 1.5707963267948966 0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.068</length>
+            <radius>0.075</radius>
+          </cylinder>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>1</mu>
+              <mu2>1</mu2>
+              <fdir1>0 0 1</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <visual name="tire_visual">
+        <pose>0 0 0 0 0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>meshes/wheel.dae</uri>
+	    <scale>0.433 0.618 0.433</scale>
+          </mesh>
+        </geometry>
+      </visual>
+      <visual name="axis_visual">
+        <pose>0 0.02 0 1.5707963267948966 0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.04</length>
+            <radius>0.008</radius>
+          </cylinder>
+        </geometry>
+        <material>
+          <ambient>0 0 0 1</ambient>
+          <diffuse>0 0 0 1</diffuse>
+        </material>
+      </visual>
+    </link>
+
+    <link name="rear_left_wheel">
+      <pose>-0.21 0.1425 0 0 0 0</pose>
+      <inertial>
+        <mass>0.2</mass>
+        <inertia>
+          <ixx>0.000358</ixx>
+          <iyy>0.0005625</iyy>
+          <izz>0.000358</izz>
+        </inertia>
+      </inertial>
+      <collision name="collision">
+        <pose>0 0 0 -1.5707963267948966 0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.068</length>
+            <radius>0.075</radius>
+          </cylinder>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>1</mu>
+              <mu2>1</mu2>
+              <fdir1>0 0 1</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <visual name="tire_visual">
+        <pose>0 0 0 0 0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>meshes/wheel.dae</uri>
+	    <scale>0.433 0.618 0.433</scale>
+          </mesh>
+        </geometry>
+      </visual>
+      <visual name="axis_visual">
+        <pose>0 -0.02 0 1.5707963267948966 0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.04</length>
+            <radius>0.008</radius>
+          </cylinder>
+        </geometry>
+        <material>
+          <ambient>0 0 0 1</ambient>
+          <diffuse>0 0 0 1</diffuse>
+        </material>
+      </visual>
+    </link>
+    
+    <link name="rear_right_wheel">
+      <pose>-0.21 -0.1425 0 0 0 0</pose>
+      <inertial>
+        <mass>0.2</mass>
+        <inertia>
+          <ixx>0.000358</ixx>
+          <iyy>0.0005625</iyy>
+          <izz>0.000358</izz>
+        </inertia>
+      </inertial>
+      <collision name="collision">
+        <pose>0 0 0 1.5707963267948966 0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.068</length>
+            <radius>0.075</radius>
+          </cylinder>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>1</mu>
+              <mu2>1</mu2>
+              <fdir1>0 0 1</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <visual name="tire_visual">
+        <pose>0 0 0 0 0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>meshes/wheel.dae</uri>
+	    <scale>0.433 0.618 0.433</scale>
+          </mesh>
+        </geometry>
+      </visual>
+      <visual name="axis_visual">
+        <pose>0 0.02 0 1.5707963267948966 0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.04</length>
+            <radius>0.008</radius>
+          </cylinder>
+        </geometry>
+        <material>
+          <ambient>0 0 0 1</ambient>
+          <diffuse>0 0 0 1</diffuse>
+        </material>
+      </visual>
+    </link>
+
+
+    <joint name="front_left_wheel_steering_joint" type="revolute">
+      <child>front_left_wheel_steering_link</child>
+      <parent>base_link</parent>
+      <axis>
+        <xyz>0 0 1</xyz>
+        <limit>
+          <lower>-0.6</lower>
+          <upper>+0.6</upper>
+          <velocity>6.0</velocity>
+          <effort>3</effort>
+        </limit>
+        <use_parent_model_frame>1</use_parent_model_frame>
+      </axis>
+    </joint>
+    
+    <joint name="front_right_wheel_steering_joint" type="revolute">
+      <parent>base_link</parent>
+      <child>front_right_wheel_steering_link</child>
+      <axis>
+        <xyz>0 0 1</xyz>
+        <limit>
+          <lower>-0.6</lower>
+          <upper>+0.6</upper>
+          <velocity>6.0</velocity>
+          <effort>3</effort>
+        </limit>
+      </axis>
+    </joint>
+    
+    
+    <joint name="front_left_wheel_joint" type="revolute">
+      <child>front_left_wheel</child>
+      <parent>front_left_wheel_steering_link</parent>
+      <axis>
+        <xyz>0 1 0</xyz>
+        <limit>
+          <lower>-1.79769e+308</lower>
+          <upper>+1.79769e+308</upper>
+          <velocity>40</velocity>
+          <effort>9</effort>
+        </limit>
+        <use_parent_model_frame>1</use_parent_model_frame>
+      </axis>
+    </joint>
+    
+    <joint name="front_right_wheel_joint" type="revolute">
+      <parent>front_right_wheel_steering_link</parent>
+      <child>front_right_wheel</child>
+      <axis>
+        <xyz>0 1 0</xyz>
+        <limit>
+          <lower>-1.79769e+308</lower>
+          <upper>+1.79769e+308</upper>
+          <velocity>40</velocity>
+          <effort>9</effort>
+        </limit>
+      </axis>
+    </joint>
+    
+    <joint name="rear_left_wheel_joint" type="revolute">
+      <parent>base_link</parent>
+      <child>rear_left_wheel</child>
+      <axis>
+        <xyz>0 1 0</xyz>
+        <limit>
+          <lower>-1.79769e+308</lower>
+          <upper>+1.79769e+308</upper>
+          <velocity>40</velocity>
+          <effort>9</effort>
+        </limit>
+      </axis>
+    </joint>
+    
+    <joint name="rear_right_wheel_joint" type="revolute">
+      <parent>base_link</parent>
+      <child>rear_right_wheel</child>
+      <axis>
+        <xyz>0 1 0</xyz>
+        <limit>
+          <lower>-1.79769e+308</lower>
+          <upper>+1.79769e+308</upper>
+          <velocity>40</velocity>
+          <effort>9</effort>
+        </limit>
+      </axis>
+    </joint>
+    
+  </model>
+</sdf>
diff --git a/submitted_models/coro_rocky_sensor_config_3/package.xml b/submitted_models/coro_rocky_sensor_config_3/package.xml
new file mode 100644
index 00000000..39aa6ea3
--- /dev/null
+++ b/submitted_models/coro_rocky_sensor_config_3/package.xml
@@ -0,0 +1,24 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>coro_rocky_sensor_config_3</name>
+  <version>0.0.1</version>
+  <description>Rocky is a Coordinated Robotics robot based on a rock crawler</description>
+
+  <author email="ak619@lafn.org">Kevin Knoedler</author>
+  <maintainer email="ak619@lafn.org">Kevin Knoedler</maintainer>
+
+  <license>BSD</license>
+
+  <buildtool_depend>catkin</buildtool_depend>
+  <buildtool_depend>roslaunch</buildtool_depend>
+  <buildtool_depend>urdf</buildtool_depend>
+  <buildtool_depend>xacro</buildtool_depend>
+
+  <depend>roscpp</depend>
+  <depend>message_runtime</depend>
+  <depend>std_msgs</depend>
+  <depend>geometry_msgs</depend>
+  
+  <export>
+  </export>
+</package>
diff --git a/submitted_models/coro_rocky_sensor_config_3/urdf/rocky.xacro b/submitted_models/coro_rocky_sensor_config_3/urdf/rocky.xacro
new file mode 100644
index 00000000..e067d465
--- /dev/null
+++ b/submitted_models/coro_rocky_sensor_config_3/urdf/rocky.xacro
@@ -0,0 +1,327 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name='coro_rocky_sensor_config_3' xmlns:xacro="http://ros.org/wiki/xacro">
+  <xacro:arg name="name" default="coro_rocky_sensor_config_3"/>
+  <xacro:property name="robot_namespace" value="$(arg name)"/>
+  <link name='${robot_namespace}/base_link'>
+    <inertial>
+      <origin xyz='0 0 0.07' rpy='0 -0 0'/>
+      <mass value='3.281'/>
+      <inertia ixx='0.0079' ixy='0' ixz='0' iyy='0.0506' iyz='0' izz='0.0493'/>
+    </inertial>
+    <collision name='chassis_collision'>
+      <origin xyz='0 0 0.05' rpy='0 -0 0'/>
+      <geometry>
+        <box size='0.44 0.11 0.12'/>
+      </geometry>
+    </collision>
+    <collision name='tower_collision'>
+      <origin xyz='0.085 0 0.2' rpy='0 -0 0'/>
+      <geometry>
+        <box size='0.04 0.24 0.25'/>
+      </geometry>
+    </collision>
+    <visual name='chassis_main_visual'>
+      <origin xyz='0 0 0.03' rpy='0 -0 0'/>
+      <geometry>
+        <box size='0.44 0.11 0.06'/>
+      </geometry>
+    </visual>
+    <visual name='chassis_top_visual'>
+      <origin xyz='0 0 0.08' rpy='0 -0 0'/>
+      <geometry>
+        <box size='0.22 0.11 0.04'/>
+      </geometry>
+    </visual>
+    <visual name='sensor_mount_1'>
+      <origin xyz='0.09 0 0.25' rpy='0 -0 0'/>
+      <geometry>
+        <box size='0.002 0.13 0.06'/>
+      </geometry>
+    </visual>
+    <visual name='sensor_mount_2'>
+      <origin xyz='0.084 -0.076 0.24' rpy='0 0 -0.5'/>
+      <geometry>
+        <box size='0.002 0.025 0.04'/>
+      </geometry>
+    </visual>
+    <visual name='sensor_mount_3'>
+      <origin xyz='0.084 0.076 0.24' rpy='0 -0 0.5'/>
+      <geometry>
+        <box size='0.002 0.025 0.04'/>
+      </geometry>
+    </visual>
+    <visual name='sensor_mount_4'>
+      <origin xyz='0.085 -0.06 0.18' rpy='0 -0 0'/>
+      <geometry>
+        <box size='0.01 0.01 0.2'/>
+      </geometry>
+    </visual>
+    <visual name='sensor_mount_5'>
+      <origin xyz='0.085 0.06 0.18' rpy='0 -0 0'/>
+      <geometry>
+        <box size='0.01 0.01 0.2'/>
+      </geometry>
+    </visual>
+    <visual name='antenna_visual_1'>
+      <origin xyz='0.098 0.06 0.3' rpy='0 0.4 0'/>
+      <geometry>
+        <cylinder radius='0.005' length='0.05'/>
+      </geometry>
+    </visual>
+    <visual name='antenna_visual_2'>
+      <origin xyz='0.072 0.06 0.3' rpy='0 -0.4 0'/>
+      <geometry>
+        <cylinder radius='0.005' length='0.05'/>
+      </geometry>
+    </visual>
+    <visual name='axle_visual_front'>
+      <origin xyz='0.21 0 0' rpy='1.5708 -0 0'/>
+      <geometry>
+        <cylinder radius='0.01' length='0.21'/>
+      </geometry>
+    </visual>
+    <visual name='axle_visual_rear'>
+      <origin xyz='-0.21 0 0' rpy='1.5708 -0 0'/>
+      <geometry>
+        <cylinder radius='0.01' length='0.21'/>
+      </geometry>
+    </visual>
+    <visual name='d435_realsense_camera_visual'>
+      <origin xyz='0.09 0 0.26' rpy='0 0.46 0'/>
+      <geometry>
+        <mesh filename='package://coro_rocky_sensor_config_3/meshes/realsense_d435.dae' scale='0.001 0.001 0.001'/>
+      </geometry>
+    </visual>
+    <visual name='camera_front_visual'>
+      <origin xyz='0.095 0.03 0.235' rpy='0 -0 0'/>
+      <geometry>
+        <box size='0.01 0.03 0.03'/>
+      </geometry>
+    </visual>
+    <visual name='camera_lens_front_visual'>
+      <origin xyz='0.105 0.03 0.235' rpy='0 1.5708 0'/>
+      <geometry>
+        <cylinder radius='0.005' length='0.011'/>
+      </geometry>
+    </visual>
+    <visual name='camera_rear_visual'>
+      <origin xyz='0.085 -0.03 0.235' rpy='0 -0 0'/>
+      <geometry>
+        <box size='0.01 0.03 0.03'/>
+      </geometry>
+    </visual>
+    <visual name='camera_lens_rear_visual'>
+      <origin xyz='0.075 -0.03 0.235' rpy='0 1.5708 0'/>
+      <geometry>
+        <cylinder radius='0.005' length='0.011'/>
+      </geometry>
+    </visual>
+    <visual name='lidar_visual'>
+      <origin xyz='-0.06 0 0.125' rpy='0 -0 0'/>
+      <geometry>
+        <cylinder radius='0.028' length='0.051'/>
+      </geometry>
+    </visual>
+  </link>
+  <sensor name='imu_sensor' update_rate='50'>
+    <parent link='${robot_namespace}/base_link'/>
+    <origin xyz='0 0 0' rpy='0 -0 0'/>
+  </sensor>
+  <sensor name='air_pressure' update_rate='20'>
+    <parent link='${robot_namespace}/base_link'/>
+    <origin xyz='0 0 0' rpy='0 -0 0'/>
+  </sensor>
+  <sensor name='rs_front' update_rate='30'>
+    <parent link='${robot_namespace}/base_link'/>
+    <origin xyz='0.122 0 0.257' rpy='0 0.46 0'/>
+    <camera>
+      <image width='640' height='360' format='R8G8B8' hfov='1.50098' near='0.01' far='300' />
+    </camera>
+  </sensor>
+  <sensor name='camera_front' update_rate='30'>
+    <parent link='${robot_namespace}/base_link'/>
+    <origin xyz='0.111 0.03 0.235' rpy='0 -0 0'/>
+    <camera>
+      <image width='1280' height='720' format='R8G8B8' hfov='2.4' near='0.01' far='300' />
+    </camera>
+  </sensor>
+  <sensor name='camera_rear' update_rate='30'>
+    <parent link='${robot_namespace}/base_link'/>
+    <origin xyz='0.069 -0.03 0.235' rpy='0 -0 3.14159'/>
+    <camera>
+      <image width='1280' height='720' format='R8G8B8' hfov='2.4' near='0.01' far='300' />
+    </camera>
+  </sensor>
+  <sensor name='planar_laser' update_rate='10'>
+    <parent link='${robot_namespace}/base_link'/>
+    <origin xyz='-0.06 0 0.125' rpy='0 -0 0'/>
+  </sensor>
+  <link name='${robot_namespace}/front_left_wheel_steering_link'>
+    <inertial>
+      <origin xyz='0 0 0' rpy='0 -0 0'/>
+      <mass value='0.05'/>
+      <inertia ixx='0.000153' ixy='0' ixz='0' iyy='0.00025' iyz='0' izz='0.000153'/>
+    </inertial>
+    <visual name='steering_link_visual'>
+      <origin xyz='0 0 0' rpy='0 -0 0'/>
+      <geometry>
+        <cylinder radius='0.003' length='0.01'/>
+      </geometry>
+    </visual>
+  </link>
+  <link name='${robot_namespace}/front_right_wheel_steering_link'>
+    <inertial>
+      <origin xyz='0 0 0' rpy='0 -0 0'/>
+      <mass value='0.05'/>
+      <inertia ixx='0.000153' ixy='0' ixz='0' iyy='0.00025' iyz='0' izz='0.000153'/>
+    </inertial>
+    <visual name='steering_link_visual'>
+      <origin xyz='0 0 0' rpy='0 -0 0'/>
+      <geometry>
+        <cylinder radius='0.003' length='0.01'/>
+      </geometry>
+    </visual>
+  </link>
+  <link name='${robot_namespace}/front_left_wheel'>
+    <inertial>
+      <origin xyz='0 0 0' rpy='0 -0 0'/>
+      <mass value='0.2'/>
+      <inertia ixx='0.000358' ixy='0' ixz='0' iyy='0.0005625' iyz='0' izz='0.000358'/>
+    </inertial>
+    <collision name='collision'>
+      <origin xyz='0 0 0' rpy='-1.5708 0 0'/>
+      <geometry>
+        <cylinder radius='0.075' length='0.068'/>
+      </geometry>
+    </collision>
+    <visual name='tire_visual'>
+      <origin xyz='0 0 0' rpy='0 -0 0'/>
+      <geometry>
+        <mesh filename='package://coro_rocky_sensor_config_3/meshes/wheel.dae' scale='0.433 0.618 0.433'/>
+      </geometry>
+    </visual>
+    <visual name='axis_visual'>
+      <origin xyz='0 -0.02 0' rpy='1.5708 -0 0'/>
+      <geometry>
+        <cylinder radius='0.008' length='0.04'/>
+      </geometry>
+    </visual>
+  </link>
+  <link name='${robot_namespace}/front_right_wheel'>
+    <inertial>
+      <origin xyz='0 0 0' rpy='0 -0 0'/>
+      <mass value='0.2'/>
+      <inertia ixx='0.000358' ixy='0' ixz='0' iyy='0.0005625' iyz='0' izz='0.000358'/>
+    </inertial>
+    <collision name='collision'>
+      <origin xyz='0 0 0' rpy='1.5708 -0 0'/>
+      <geometry>
+        <cylinder radius='0.075' length='0.068'/>
+      </geometry>
+    </collision>
+    <visual name='tire_visual'>
+      <origin xyz='0 0 0' rpy='0 -0 0'/>
+      <geometry>
+        <mesh filename='package://coro_rocky_sensor_config_3/meshes/wheel.dae' scale='0.433 0.618 0.433'/>
+      </geometry>
+    </visual>
+    <visual name='axis_visual'>
+      <origin xyz='0 0.02 0' rpy='1.5708 -0 0'/>
+      <geometry>
+        <cylinder radius='0.008' length='0.04'/>
+      </geometry>
+    </visual>
+  </link>
+  <link name='${robot_namespace}/rear_left_wheel'>
+    <inertial>
+      <origin xyz='0 0 0' rpy='0 -0 0'/>
+      <mass value='0.2'/>
+      <inertia ixx='0.000358' ixy='0' ixz='0' iyy='0.0005625' iyz='0' izz='0.000358'/>
+    </inertial>
+    <collision name='collision'>
+      <origin xyz='0 0 0' rpy='-1.5708 0 0'/>
+      <geometry>
+        <cylinder radius='0.075' length='0.068'/>
+      </geometry>
+    </collision>
+    <visual name='tire_visual'>
+      <origin xyz='0 0 0' rpy='0 -0 0'/>
+      <geometry>
+        <mesh filename='package://coro_rocky_sensor_config_3/meshes/wheel.dae' scale='0.433 0.618 0.433'/>
+      </geometry>
+    </visual>
+    <visual name='axis_visual'>
+      <origin xyz='0 -0.02 0' rpy='1.5708 -0 0'/>
+      <geometry>
+        <cylinder radius='0.008' length='0.04'/>
+      </geometry>
+    </visual>
+  </link>
+  <link name='${robot_namespace}/rear_right_wheel'>
+    <inertial>
+      <origin xyz='0 0 0' rpy='0 -0 0'/>
+      <mass value='0.2'/>
+      <inertia ixx='0.000358' ixy='0' ixz='0' iyy='0.0005625' iyz='0' izz='0.000358'/>
+    </inertial>
+    <collision name='collision'>
+      <origin xyz='0 0 0' rpy='1.5708 -0 0'/>
+      <geometry>
+        <cylinder radius='0.075' length='0.068'/>
+      </geometry>
+    </collision>
+    <visual name='tire_visual'>
+      <origin xyz='0 0 0' rpy='0 -0 0'/>
+      <geometry>
+        <mesh filename='package://coro_rocky_sensor_config_3/meshes/wheel.dae' scale='0.433 0.618 0.433'/>
+      </geometry>
+    </visual>
+    <visual name='axis_visual'>
+      <origin xyz='0 0.02 0' rpy='1.5708 -0 0'/>
+      <geometry>
+        <cylinder radius='0.008' length='0.04'/>
+      </geometry>
+    </visual>
+  </link>
+  <joint name='front_left_wheel_steering_joint' type='revolute'>
+    <origin xyz='0.21 0.11 0' rpy='0 -0 0'/>
+    <parent link='${robot_namespace}/base_link'/>
+    <child link='${robot_namespace}/front_left_wheel_steering_link'/>
+    <axis xyz='0 0 1'/>
+    <limit lower='-0.6' upper='0.6' effort='3' velocity='6'/>
+  </joint>
+  <joint name='front_right_wheel_steering_joint' type='revolute'>
+    <origin xyz='0.21 -0.11 0' rpy='0 -0 0'/>
+    <parent link='${robot_namespace}/base_link'/>
+    <child link='${robot_namespace}/front_right_wheel_steering_link'/>
+    <axis xyz='0 0 1'/>
+    <limit lower='-0.6' upper='0.6' effort='3' velocity='6'/>
+  </joint>
+  <joint name='front_left_wheel_joint' type='revolute'>
+    <origin xyz='0.21 0.1425 0' rpy='0 -0 0'/>
+    <parent link='${robot_namespace}/front_left_wheel_steering_link'/>
+    <child link='${robot_namespace}/front_left_wheel'/>
+    <axis xyz='0 1 0'/>
+    <limit lower='-1.79769e+308' upper='1.79769e+308' effort='9' velocity='40'/>
+  </joint>
+  <joint name='front_right_wheel_joint' type='revolute'>
+    <origin xyz='0.21 -0.1425 0' rpy='0 -0 0'/>
+    <parent link='${robot_namespace}/front_right_wheel_steering_link'/>
+    <child link='${robot_namespace}/front_right_wheel'/>
+    <axis xyz='0 1 0'/>
+    <limit lower='-1.79769e+308' upper='1.79769e+308' effort='9' velocity='40'/>
+  </joint>
+  <joint name='rear_left_wheel_joint' type='revolute'>
+    <origin xyz='-0.21 0.1425 0' rpy='0 -0 0'/>
+    <parent link='${robot_namespace}/base_link'/>
+    <child link='${robot_namespace}/rear_left_wheel'/>
+    <axis xyz='0 1 0'/>
+    <limit lower='-1.79769e+308' upper='1.79769e+308' effort='9' velocity='40'/>
+  </joint>
+  <joint name='rear_right_wheel_joint' type='revolute'>
+    <origin xyz='-0.21 -0.1425 0' rpy='0 -0 0'/>
+    <parent link='${robot_namespace}/base_link'/>
+    <child link='${robot_namespace}/rear_right_wheel'/>
+    <axis xyz='0 1 0'/>
+    <limit lower='-1.79769e+308' upper='1.79769e+308' effort='9' velocity='40'/>
+  </joint>
+</robot>
diff --git a/submitted_models/coro_rocky_sensor_config_3/worlds/example.sdf b/submitted_models/coro_rocky_sensor_config_3/worlds/example.sdf
new file mode 100644
index 00000000..73451cc9
--- /dev/null
+++ b/submitted_models/coro_rocky_sensor_config_3/worlds/example.sdf
@@ -0,0 +1,183 @@
+<?xml version="1.0" ?>
+<sdf version="1.6">
+  <world name="example">
+    <physics name="4ms" type="dart">
+      <max_step_size>0.004</max_step_size>
+      <real_time_factor>1.0</real_time_factor>
+    </physics>
+
+    <scene>
+      <ambient>0.2 0.2 0.2</ambient>
+      <background>0.8 0.8 0.8</background>
+    </scene>
+
+
+    <light type="directional" name="sun">
+      <cast_shadows>true</cast_shadows>
+      <pose>0 0 10 0 0 0</pose>
+      <diffuse>0.8 0.8 0.8 1</diffuse>
+      <specular>0.8 0.8 0.8 1</specular>
+      <attenuation>
+        <range>1</range>
+        <constant>0.9</constant>
+        <linear>1</linear>
+        <quadratic>0.001</quadratic>
+      </attenuation>
+      <direction>0.0 0.0 -1.0</direction>
+    </light>
+
+  <light name="light1" type="point">
+      <pose>0 0 4 0 0 0</pose>
+      <attenuation>
+        <range>1000</range>
+        <linear>0</linear>
+        <constant>0.1</constant>
+        <quadratic>0.005</quadratic>
+      </attenuation>
+      <diffuse>0.8 0.8 0.8 1</diffuse>
+      <specular>0.8 0.8 0.8 1</specular>
+      <spot>
+        <inner_angle>5</inner_angle>
+        <outer_angle>10.1</outer_angle>
+        <falloff>.1</falloff>
+      </spot>
+      <direction>0 0 -1</direction>
+    </light>
+    <light name="light2" type="spot">
+      <pose>0 0 4 0 0 0</pose>
+      <attenuation>
+        <range>1000</range>
+        <linear>0.1</linear>
+        <constant>0.2</constant>
+        <quadratic>0.005</quadratic>
+      </attenuation>
+      <diffuse>0.8 0.8 0.5 1</diffuse>
+      <specular>0.8 0.8 0.5 1</specular>
+      <spot>
+        <inner_angle>5</inner_angle>
+        <outer_angle>10.1</outer_angle>
+        <falloff>.1</falloff>
+      </spot>
+      <direction>0 0 -1</direction>
+    </light>
+    <!-- The staging area -->
+    <include>
+      <static>true</static>
+      <name>staging_area</name>
+      <pose>0 0 0 0 0 0</pose>
+      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/subt_tunnel_staging_area</uri>
+    </include>
+
+    <!-- Barriers -->
+    <include>
+      <name>barrier_0_-1</name>
+      <pose>8.0 -11 0 0 0 0</pose>
+      <uri> https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Jersey Barrier </uri>
+    </include>
+  
+    <include>
+      <name>barrier_0_1</name>
+      <pose>8.0 11 0 0 0 0 </pose>
+      <uri> https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Jersey Barrier </uri>
+    </include>
+  
+    <include>
+      <name>barrier_1_-1</name>
+      <pose>3.7 -11 0 0 0 0</pose>
+      <uri> https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Jersey Barrier </uri>
+    </include>
+  
+    <include>
+      <name>barrier_1_1</name>
+      <pose>3.7 11 0 0 0 0</pose>
+      <uri> https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Jersey Barrier </uri>
+    </include>
+  
+    <include>
+      <name>barrier_2_-1</name>
+      <pose>-0.5999999999999996 -11 0 0 0 0</pose>
+      <uri> https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Jersey Barrier </uri>
+    </include>
+  
+    <include>
+      <name>barrier_2_1</name>
+      <pose>-0.5999999999999996 11 0 0 0 0</pose>
+      <uri> https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Jersey Barrier </uri>
+    </include>
+  
+    <include>
+      <name>barrier_3_-1</name>
+      <pose>-4.899999999999999 -11 0 0 0 0</pose>
+      <uri> https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Jersey Barrier </uri>
+    </include>
+  
+    <include>
+      <name>barrier_3_1</name>
+      <pose>-4.899999999999999 11 0 0 0 0</pose>
+      <uri> https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Jersey Barrier </uri>
+    </include>
+  
+    <include>
+      <name>barrier_4_-1</name>
+      <pose>-9.2 -11 0 0 0 0</pose>
+      <uri> https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Jersey Barrier </uri>
+    </include>
+  
+    <include>
+      <name>barrier_4_1</name>
+      <pose>-9.2 11 0 0 0 0</pose>
+      <uri> https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Jersey Barrier </uri>
+    </include>
+  
+    <include>
+      <name>barrier_-9.5_-2</name>
+      <pose>10.5 -8.6 0 0 0 1.5707963267948966</pose>
+      <uri> https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Jersey Barrier </uri>
+    </include>
+  
+    <include>
+      <name>barrier_-9.5_2</name>
+      <pose>10.5 8.6 0 0 0 1.5707963267948966</pose>
+      <uri> https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Jersey Barrier </uri>
+    </include>
+  
+    <include>
+      <name>barrier_-32_-2</name>
+      <pose>-12 -8.6 0 0 0 1.5707963267948966</pose>
+      <uri> https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Jersey Barrier </uri>
+    </include>
+  
+    <include>
+      <name>barrier_-32_-1</name>
+      <pose>-12 -4.3 0 0 0 1.5707963267948966</pose>
+      <uri> https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Jersey Barrier </uri>
+    </include>
+  
+    <include>
+      <name>barrier_-32_0</name>
+      <pose>-12 0.0 0 0 0 1.5707963267948966</pose>
+      <uri> https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Jersey Barrier </uri>
+    </include>
+  
+    <include>
+      <name>barrier_-32_1</name>
+      <pose>-12 4.3 0 0 0 1.5707963267948966</pose>
+      <uri> https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Jersey Barrier </uri>
+    </include>
+
+    <include>
+      <name>barrier_-32_2</name>
+      <pose>-12 8.6 0 0 0 1.5707963267948966</pose>
+      <uri> https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Jersey Barrier </uri>
+    </include>
+
+
+    <!-- The base station -->
+    <include>
+      <static>true</static>
+      <name>base_station</name>
+      <pose>-8 0 0 0 0 -1.5708</pose>
+      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Base Station</uri>
+    </include>
+  </world>
+</sdf>
diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/launch/vehicle_topics.launch b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/launch/vehicle_topics.launch
index a20ed6ad..d23fd9bd 100644
--- a/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/launch/vehicle_topics.launch
+++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/launch/vehicle_topics.launch
@@ -9,6 +9,8 @@
   <arg name="revision" default="2014" />
   <arg name="has_cliff_sensors" default="0" />
   <arg name="has_thermal_camera" default="0" />
+  <arg name="has_omnicam" default="1" />
+  <arg name="has_omnicam_vras" default="0" />
 
   <include file="$(dirname)/description.launch" pass_all_args="true">
     <arg name="print_command" value="$(arg description_print_command)" if="$(eval description_print_command != '')" />
@@ -111,41 +113,75 @@
 
     <!-- Omnicamera -->
 
-    <include file="$(find subt_ros)/launch/models_common/rgb_camera.launch">
-      <arg name="node_name_suffix" value="omnicam_0" />
-      <arg name="gazebo_topic" value="$(arg link_prefix)/base_link/sensor/omnicam_sensor0" />
-      <arg name="ros_topic" value="omni/camera_0" />
-    </include>
+    <group if="$(arg has_omnicam)">
+      <include file="$(find subt_ros)/launch/models_common/rgb_camera.launch">
+        <arg name="node_name_suffix" value="omnicam_0" />
+        <arg name="gazebo_topic" value="$(arg link_prefix)/base_link/sensor/omnicam_sensor0" />
+        <arg name="ros_topic" value="omni/camera_0" />
+      </include>
 
-    <include file="$(find subt_ros)/launch/models_common/rgb_camera.launch">
-      <arg name="node_name_suffix" value="omnicam_1" />
-      <arg name="gazebo_topic" value="$(arg link_prefix)/base_link/sensor/omnicam_sensor1" />
-      <arg name="ros_topic" value="omni/camera_1" />
-    </include>
+      <include file="$(find subt_ros)/launch/models_common/rgb_camera.launch">
+        <arg name="node_name_suffix" value="omnicam_1" />
+        <arg name="gazebo_topic" value="$(arg link_prefix)/base_link/sensor/omnicam_sensor1" />
+        <arg name="ros_topic" value="omni/camera_1" />
+      </include>
 
-    <include file="$(find subt_ros)/launch/models_common/rgb_camera.launch">
-      <arg name="node_name_suffix" value="omnicam_2" />
-      <arg name="gazebo_topic" value="$(arg link_prefix)/base_link/sensor/omnicam_sensor2" />
-      <arg name="ros_topic" value="omni/camera_2" />
-    </include>
+      <include file="$(find subt_ros)/launch/models_common/rgb_camera.launch">
+        <arg name="node_name_suffix" value="omnicam_2" />
+        <arg name="gazebo_topic" value="$(arg link_prefix)/base_link/sensor/omnicam_sensor2" />
+        <arg name="ros_topic" value="omni/camera_2" />
+      </include>
 
-    <include file="$(find subt_ros)/launch/models_common/rgb_camera.launch">
-      <arg name="node_name_suffix" value="omnicam_3" />
-      <arg name="gazebo_topic" value="$(arg link_prefix)/base_link/sensor/omnicam_sensor3" />
-      <arg name="ros_topic" value="omni/camera_3" />
-    </include>
+      <include file="$(find subt_ros)/launch/models_common/rgb_camera.launch">
+        <arg name="node_name_suffix" value="omnicam_3" />
+        <arg name="gazebo_topic" value="$(arg link_prefix)/base_link/sensor/omnicam_sensor3" />
+        <arg name="ros_topic" value="omni/camera_3" />
+      </include>
 
-    <include file="$(find subt_ros)/launch/models_common/rgb_camera.launch">
-      <arg name="node_name_suffix" value="omnicam_4" />
-      <arg name="gazebo_topic" value="$(arg link_prefix)/base_link/sensor/omnicam_sensor4" />
-      <arg name="ros_topic" value="omni/camera_4" />
-    </include>
+      <include file="$(find subt_ros)/launch/models_common/rgb_camera.launch">
+        <arg name="node_name_suffix" value="omnicam_4" />
+        <arg name="gazebo_topic" value="$(arg link_prefix)/base_link/sensor/omnicam_sensor4" />
+        <arg name="ros_topic" value="omni/camera_4" />
+      </include>
 
-    <include file="$(find subt_ros)/launch/models_common/rgb_camera.launch">
-      <arg name="node_name_suffix" value="omnicam_5" />
-      <arg name="gazebo_topic" value="$(arg link_prefix)/base_link/sensor/omnicam_sensor5" />
-      <arg name="ros_topic" value="omni/camera_5" />
-    </include>
+      <include file="$(find subt_ros)/launch/models_common/rgb_camera.launch">
+        <arg name="node_name_suffix" value="omnicam_5" />
+        <arg name="gazebo_topic" value="$(arg link_prefix)/base_link/sensor/omnicam_sensor5" />
+        <arg name="ros_topic" value="omni/camera_5" />
+      </include>
+    </group>
+
+    <group if="$(arg has_omnicam_vras)">
+      <include file="$(find subt_ros)/launch/models_common/rgb_camera.launch">
+        <arg name="node_name_suffix" value="omnicam_vras_front" />
+        <arg name="gazebo_topic" value="$(arg link_prefix)/camera_0/sensor/camera_0" />
+        <arg name="ros_topic" value="omni/camera_0" />
+      </include>
+
+      <include file="$(find subt_ros)/launch/models_common/rgb_camera.launch">
+        <arg name="node_name_suffix" value="omnicam_vras_right" />
+        <arg name="gazebo_topic" value="$(arg link_prefix)/camera_1/sensor/camera_1" />
+        <arg name="ros_topic" value="omni/camera_1" />
+      </include>
+
+      <include file="$(find subt_ros)/launch/models_common/rgb_camera.launch">
+        <arg name="node_name_suffix" value="omnicam_vras_rear" />
+        <arg name="gazebo_topic" value="$(arg link_prefix)/camera_2/sensor/camera_2" />
+        <arg name="ros_topic" value="omni/camera_2" />
+      </include>
+
+      <include file="$(find subt_ros)/launch/models_common/rgb_camera.launch">
+        <arg name="node_name_suffix" value="omnicam_vras_left" />
+        <arg name="gazebo_topic" value="$(arg link_prefix)/camera_3/sensor/camera_3" />
+        <arg name="ros_topic" value="omni/camera_3" />
+      </include>
+
+      <include file="$(find subt_ros)/launch/models_common/rgb_camera.launch">
+        <arg name="node_name_suffix" value="omnicam_vras_up" />
+        <arg name="gazebo_topic" value="$(arg link_prefix)/camera_4/sensor/camera_4" />
+        <arg name="ros_topic" value="omni/camera_4" />
+      </include>
+    </group>
 
     <!-- Thermal camera (if used) -->
     <include if="$(arg has_thermal_camera)" file="$(find subt_ros)/launch/models_common/thermal_camera.launch">
@@ -170,4 +206,11 @@
       <arg name="name" value="$(arg name)"/>
     </include>
   </group>
+
+  <!-- As URDF->SDF conversion "swallows" all fixed joints (and thus static transforms), we need to re-create them from the URDF  -->
+  <!-- Due to an internal limitation of robot_state_publisher, it has to be created in the global namespace. -->
+  <node name="$(anon robot_state_publisher)" pkg="robot_state_publisher" type="robot_state_publisher">
+    <remap from="/tf" to="/nonexistent" /> <!-- published by ign_ros bridge -->
+    <remap from="robot_description" to="/$(arg name)/robot_description" />
+  </node>
 </launch>
diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/meshes/basler_ace2_pro.dae b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/meshes/basler_ace2_pro.dae
new file mode 100644
index 00000000..4b757cfb
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/meshes/basler_ace2_pro.dae
@@ -0,0 +1,96 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
+  <asset>
+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 2.92.0 commit date:2021-02-24, commit time:16:25, hash:02948a2cab44</authoring_tool>
+    </contributor>
+    <created>2021-03-17T17:12:57</created>
+    <modified>2021-03-17T17:12:57</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_effects>
+    <effect id="Part__Feature-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <color sid="diffuse">0.4200244 0.4200244 0.4200244 1</color>
+            </diffuse>
+            <reflectivity>
+              <float sid="specular">0.3</float>
+            </reflectivity>
+            <index_of_refraction>
+              <float sid="ior">1.45</float>
+            </index_of_refraction>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
+  <library_images/>
+  <library_materials>
+    <material id="Part__Feature-material" name="Part__Feature">
+      <instance_effect url="#Part__Feature-effect"/>
+    </material>
+  </library_materials>
+  <library_geometries>
+    <geometry id="Part__Feature-mesh" name="Part__Feature">
+      <mesh>
+        <source id="Part__Feature-mesh-positions">
+          <float_array id="Part__Feature-mesh-positions-array" count="2382">-0.003227829 0.01257497 0.04974997 -0.003227829 0.01298332 0.05374991 0.001222074 0.01263332 0.04974997 0.001222074 0.01295989 0.05379992 0.006645739 0.001103401 0.05391985 0.006702721 0.01334881 0.05396968 -0.00871104 0.001250267 0.05397421 -0.008710563 0.01334744 0.05397039 -0.008691966 0.009985148 0.05349975 0.002406775 -0.00930798 0.05408799 0.006038725 -0.01247304 0.05403375 -0.01231014 0.005672216 0.05417197 -0.01031124 0.004796445 0.05407649 0.00170809 -0.004738569 0.05408686 0.01008266 -0.01245737 0.05403107 -0.01282829 0.007392168 0.05406463 -0.01385486 0.01413369 0.0539453 0.01436972 -0.01417726 0.05392915 0.01292175 -0.01061767 0.05406457 0.003801405 -0.001203775 0.05406635 -0.01075333 0.008755087 0.05407989 0.01124882 -2.28244e-4 0.05409055 0.007511138 0.005383551 0.05406934 0.009824991 0.004859507 0.05406111 0.01095968 0.007283568 0.05407977 0.00875765 0.008671879 0.05406832 0.0143938 0.01413351 0.05394345 0.00717169 0.007392168 0.05406463 -0.009039461 0.006786406 0.05407196 -0.009939491 0.005830883 0.05407488 -0.01080429 0.007688522 0.05396193 -0.01189273 0.007132232 0.0539487 -0.01014077 0.006733596 0.05367028 -0.0111801 0.005835533 0.05365806 0.01014918 0.005904734 0.0540564 0.008230984 0.006042659 0.05396759 0.009369015 0.007629632 0.05395996 0.00810796 0.007076919 0.05393171 0.009709417 0.006194293 0.05365025 0.008719265 0.00743252 0.05368793 -0.01413899 0.01375466 0.04900789 -0.01362395 0.01438939 0.04900664 0.01408088 0.01439779 0.04900264 0.01465368 0.01387727 0.04901009 0.01463353 -0.01029407 0.04898977 -0.01410794 -0.01022261 0.04898905 -0.01411104 0.006192386 0.04899799 -0.01410722 0.01170009 0.04899859 0.01464217 0.006192386 0.04899799 0.01459795 0.01151996 0.0489977 0.00272721 -0.01443308 0.04900246 0.01454704 -0.01434677 0.04900038 0.002463579 -0.01414251 0.05156713 9.08933e-4 -0.01413667 0.05314946 -0.01126641 -0.01409637 0.05313509 -0.01284158 -0.01412612 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\ No newline at end of file
diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/meshes/evetar_lens.dae b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/meshes/evetar_lens.dae
new file mode 100644
index 00000000..d9ce005b
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/meshes/evetar_lens.dae
@@ -0,0 +1,155 @@
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2206 1096 2206 1092 2206 1096 2207 1093 2207 1092 2207 1092 2208 1093 2208 1095 2208 1084 2209 1095 2209 1093 2209 1084 2210 1093 2210 1092 2210 1098 2211 1027 2211 928 2211 1099 2212 1027 2212 1098 2212 1100 2213 1079 2213 1028 2213 1100 2214 1028 2214 1081 2214 1156 2215 1098 2215 928 2215 1156 2216 1099 2216 1098 2216 1083 2217 1100 2217 1099 2217 1155 2218 1079 2218 1100 2218 1155 2219 1100 2219 1083 2219 1155 2220 1083 2220 1156 2220 1083 2221 1081 2221 1156 2221 1081 2222 1099 2222 1156 2222 1081 2223 1028 2223 1099 2223 1028 2224 1027 2224 1099 2224 1098 2225 1080 2225 1099 2225 1099 2226 1080 2226 1081 2226 1083 2227 1099 2227 1081 2227 1081 2228 1099 2228 1100 2228 1101 2229 964 2229 943 2229 1101 2230 965 2230 964 2230 452 2231 396 2231 965 2231 452 2232 965 2232 1101 2232 1065 2233 943 2233 964 2233 1065 2234 1102 2234 943 2234 1105 2235 1103 2235 1106 2235 1104 2236 1105 2236 1107 2236 1105 2237 1106 2237 1108 2237 1109 2238 1110 2238 1112 2238 1108 2239 1111 2239 1113 2239 1114 2240 1112 2240 1115 2240 1116 2241 1115 2241 1117 2241 1118 2242 1117 2242 1119 2242 1117 2243 1115 2243 1119 2243 1120 2244 1119 2244 1121 2244 1122 2245 1121 2245 1123 2245 1124 2246 1123 2246 1125 2246 1126 2247 1125 2247 1127 2247 943 2248 1102 2248 452 2248 1102 2249 1127 2249 452 2249 943 2250 452 2250 1101 2250 1127 2251 592 2251 452 2251 1127 2252 1128 2252 592 2252 1125 2253 1128 2253 1127 2253 1123 2254 686 2254 1129 2254 1123 2255 1129 2255 1128 2255 1123 2256 1128 2256 1125 2256 1121 2257 686 2257 1123 2257 1119 2258 681 2258 686 2258 1119 2259 686 2259 1121 2259 1115 2260 681 2260 1119 2260 1112 2261 682 2261 681 2261 1112 2262 681 2262 1115 2262 1110 2263 1130 2263 682 2263 1110 2264 682 2264 1112 2264 1107 2265 1130 2265 1110 2265 1105 2266 1131 2266 1130 2266 1105 2267 1130 2267 1107 2267 1108 2268 1132 2268 1131 2268 1108 2269 1131 2269 1105 2269 1113 2270 1133 2270 1132 2270 1113 2271 1132 2271 1108 2271 12 2272 8 2272 1133 2272 12 2273 1133 2273 1113 2273 687 2274 1129 2274 686 2274 1128 2275 1129 2275 687 2275 23 2276 592 2276 1128 2276 1130 2277 1131 2277 1135 2277 682 2278 1130 2278 1134 2278 681 2279 682 2279 1134 2279 666 2280 686 2280 681 2280 680 2281 686 2281 666 2281 1129 2282 680 2282 666 2282 679 2283 680 2283 1129 2283 678 2284 679 2284 1136 2284 591 2285 678 2285 1136 2285 23 2286 678 2286 591 2286 1133 2287 8 2287 7 2287 1132 2288 1133 2288 661 2288 663 2289 1130 2289 1135 2289 1134 2290 1130 2290 663 2290 681 2291 1134 2291 665 2291 666 2292 681 2292 665 2292 679 2293 667 2293 668 2293 1136 2294 679 2294 668 2294 591 2295 1136 2295 22 2295 661 2296 1131 2296 1132 2296 1135 2297 1131 2297 661 2297 667 2298 1129 2298 666 2298 679 2299 1129 2299 667 2299 1137 2300 651 2300 650 2300 649 2301 1137 2301 650 2301 648 2302 1137 2302 649 2302 643 2303 645 2303 644 2303 643 2304 1139 2304 1138 2304 643 2305 641 2305 1140 2305 1139 2306 643 2306 1140 2306 643 2307 1138 2307 645 2307 645 2308 1138 2308 646 2308 641 2309 0 2309 1 2309 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1066 2344 1087 2344 1125 2345 1086 2345 1089 2345 1125 2346 1089 2346 1067 2346 1126 2347 1086 2347 1125 2347 1126 2348 1085 2348 1086 2348 1127 2349 1084 2349 1085 2349 1127 2350 1085 2350 1126 2350 1127 2351 1066 2351 1084 2351 1066 2352 1127 2352 1102 2352 1066 2353 1102 2353 1065 2353 1067 2354 1124 2354 1125 2354 1122 2355 1069 2355 1147 2355 1121 2356 1148 2356 1070 2356 1121 2357 1069 2357 1148 2357 1122 2358 1069 2358 1121 2358 1119 2359 1071 2359 1056 2359 1120 2360 1071 2360 1119 2360 1121 2361 1070 2361 1071 2361 1121 2362 1071 2362 1120 2362 1056 2363 1118 2363 1119 2363 1072 2364 1118 2364 1056 2364 1072 2365 1117 2365 1118 2365 1073 2366 1117 2366 1072 2366 1116 2367 1074 2367 1149 2367 1117 2368 1074 2368 1116 2368 1117 2369 1150 2369 1074 2369 1117 2370 1073 2370 1150 2370 1150 2371 1073 2371 1074 2371 1075 2372 1116 2372 1074 2372 1075 2373 1115 2373 1116 2373 1112 2374 1059 2374 1076 2374 1114 2375 1059 2375 1112 2375 1114 2376 1075 2376 1059 2376 1115 2377 1075 2377 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+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="node0_001" name="node0.001" type="NODE">
+        <matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
+        <instance_geometry url="#Part__Feature_001-mesh" name="node0.001">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="Material_001-material" target="#Material_001-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+      <node id="node0" name="node0" type="NODE">
+        <matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
+        <instance_geometry url="#Part__Feature-mesh" name="node0">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="Part__Feature-material" target="#Part__Feature-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
\ No newline at end of file
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..ee7a21bc
--- /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/boson_thermocam.xacro b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/urdf/boson_thermocam.xacro
index 452e4cdb..ac9ab951 100644
--- a/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/urdf/boson_thermocam.xacro
+++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/urdf/boson_thermocam.xacro
@@ -27,11 +27,24 @@
                     <update_rate>8.6</update_rate>
                     <visualize>${visualize}</visualize>
                     <camera name="thermal_camera">
-                        <horizontal_fov>${92 * pi/180}</horizontal_fov>
+                        <xacro:property name="hfov" value="${radians(92)}" />
+                        <xacro:property name="width" value="320" />
+                        <xacro:property name="height" value="256" />
+                        <horizontal_fov>${hfov}</horizontal_fov>
+                        <lens>
+                            <intrinsics>
+                                <xacro:property name="focal_length" value="${320 / (2 * tan(radians(92) / 2))}" />
+                                <fx>${focal_length}</fx>
+                                <fy>${focal_length}</fy>
+                                <cx>${(width + 1) / 2.0}</cx>
+                                <cy>${(height + 1) / 2.0}</cy>
+                                <s>0</s>
+                            </intrinsics>
+                        </lens>
                         <image>
-                            <width>320</width>
-                            <height>256</height>
-                            <format>L16</format>
+                            <width>${width}</width>
+                            <height>${height}</height>
+                            <format>L8</format>
                         </image>
                         <clip>
                             <near>0.6</near>
@@ -39,12 +52,12 @@
                         </clip>
                     </camera>
                     <plugin filename="ignition-gazebo-thermal-sensor-system" name="ignition::gazebo::systems::ThermalSensor">
-                        <min_temp>233.15</min_temp>
-                        <max_temp>453.15</max_temp>
-                        <resolution>0.06</resolution>
+                        <min_temp>253.15</min_temp>
+                        <max_temp>673.15</max_temp>
+                        <resolution>1.6</resolution>
                     </plugin>
                 </sensor>
             </gazebo>
         </xacro:if>
     </xacro:macro>
-</root>
\ No newline at end of file
+</root>
diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/urdf/nifti_robot.xacro b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/urdf/nifti_robot.xacro
index 30fccaec..afcca838 100644
--- a/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/urdf/nifti_robot.xacro
+++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/urdf/nifti_robot.xacro
@@ -440,6 +440,9 @@
 	<xacro:if value="$(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 -->
@@ -1644,8 +1717,14 @@
 	<!-- 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 ${pi}" />
+		<xacro:if value="$(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/ouster_lidar.xacro b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/urdf/ouster_lidar.xacro
index 7c35a627..5fb4303f 100644
--- a/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/urdf/ouster_lidar.xacro
+++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/urdf/ouster_lidar.xacro
@@ -42,12 +42,12 @@
                         <range>
                             <min>0.1</min>
                             <max>50</max>
-                            <resolution>0.003</resolution>
+                            <resolution>0.01</resolution>
                         </range>
                         <noise>
                             <type>gaussian</type>
                             <mean>0</mean>
-                            <stddev>0.03</stddev>
+                            <stddev>0.01</stddev>
                         </noise>
                     </lidar>
                 </sensor>
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
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 6990e43c..baf05902 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
@@ -2286,12 +2286,12 @@
           <range>
             <min>0.1</min>
             <max>50</max>
-            <resolution>0.003</resolution>
+            <resolution>0.01</resolution>
           </range>
           <noise>
             <type>gaussian</type>
             <mean>0</mean>
-            <stddev>0.03</stddev>
+            <stddev>0.01</stddev>
           </noise>
         </lidar>
       </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 4fb70391..607c2aa4 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
@@ -2302,12 +2302,12 @@
           <range>
             <min>0.1</min>
             <max>50</max>
-            <resolution>0.003</resolution>
+            <resolution>0.01</resolution>
           </range>
           <noise>
             <type>gaussian</type>
             <mean>0</mean>
-            <stddev>0.03</stddev>
+            <stddev>0.01</stddev>
           </noise>
         </lidar>
       </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 88288a74..9ca0eaf3 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
@@ -2286,10 +2286,21 @@
         <visualize>0</visualize>
         <camera name="thermal_camera">
           <horizontal_fov>1.6057</horizontal_fov>
+          <lens>
+            <intrinsics>
+              <fx>154.51</fx>
+              <fy>154.51</fy>
+              <cx>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>L16</format>
+            <format>L8</format>
           </image>
           <clip>
             <near>0.6</near>
@@ -2297,9 +2308,9 @@
           </clip>
         </camera>
         <plugin name="ignition::gazebo::systems::ThermalSensor" filename="ignition-gazebo-thermal-sensor-system">
-          <min_temp>233.15</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>
@@ -2380,12 +2391,12 @@
           <range>
             <min>0.1</min>
             <max>50</max>
-            <resolution>0.003</resolution>
+            <resolution>0.01</resolution>
           </range>
           <noise>
             <type>gaussian</type>
             <mean>0</mean>
-            <stddev>0.03</stddev>
+            <stddev>0.01</stddev>
           </noise>
         </lidar>
       </sensor>
diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_6/.gitignore b/submitted_models/ctu_cras_norlab_absolem_sensor_config_6/.gitignore
new file mode 100644
index 00000000..5a7699cc
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_6/.gitignore
@@ -0,0 +1 @@
+model.sdf.urdf
\ No newline at end of file
diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_6/CMakeLists.txt b/submitted_models/ctu_cras_norlab_absolem_sensor_config_6/CMakeLists.txt
new file mode 100644
index 00000000..1f1bc31d
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_6/CMakeLists.txt
@@ -0,0 +1,16 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(ctu_cras_norlab_absolem_sensor_config_6)
+
+find_package(catkin REQUIRED)
+
+catkin_package()
+
+install(DIRECTORY launch config DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
+
+install(FILES model.sdf model.config
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
+
+install(PROGRAMS
+  scripts/print_robot_urdf
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/scripts)
+
diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_6/README.md b/submitted_models/ctu_cras_norlab_absolem_sensor_config_6/README.md
new file mode 100644
index 00000000..ddbf1a3e
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_6/README.md
@@ -0,0 +1,25 @@
+# CTU\_CRAS\_NORLAB\_ABSOLEM\_SENSOR\_CONFIG\_6
+
+This package contains sensor config 6 of CTU-CRAS-Norlab Absolem robot. The robot has:
+
+- 5x Basler ACE Pro 2 RGB camera
+- Ouster OS0-128 lidar
+- 4 TFMini plus point lidars
+- IMU Xsens MTI-30
+- Gas sensor
+- Weight: about 38 kg
+- It is 50% faster than sensor configs 1 and 2 due to a fixed mechanical issue in the tracks
+
+## Model files management
+
+This package follows a different workflow for managing SDF and URDF models of the robot than the suggested one. The only and main source of model data is `urdf/nifti_robot.xacro` file in [`ctu_cras_norlab_absolem_sensor_config_1`](../ctu_cras_norlab_absolem_sensor_config_1) package and the files it includes.
+
+To get the URDF model of the robot, call `scripts/print_robot_urdf` script which prints the robot URDF on stdout. This script is used in `launch/description.launch`.
+
+The SDF model is a regular file committed to this package, but its updates are not
+to be done manually. To change the robot model, make changes in the Xacro, and then run script `scripts/update_robot_sdf`, which updates the `model.sdf` file in this repo. The change can then be commited.
+
+The model is also configured by a set of shared config files located in `config/` directory of this package and sensor config 1. It contains YAML files which are loaded in the following order:
+
+- URDF: `sensor_config_1/config/common.yaml`, `sensor_config_1/config/urdf.yaml`, `sensor_config_3/config/common.yaml`, `sensor_config_3/config/urdf.yaml`, `common.yaml`, `urdf.yaml`
+- SDF for Ignition Gazebo: `sensor_config_1/config/common.yaml`, `sensor_config_1/config/sdf.yaml`, `sensor_config_3/config/common.yaml`, `sensor_config_3/config/sdf.yaml`, `common.yaml`, `sdf.yaml`
\ No newline at end of file
diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_6/config/common.yaml b/submitted_models/ctu_cras_norlab_absolem_sensor_config_6/config/common.yaml
new file mode 100644
index 00000000..fb5be2b8
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_6/config/common.yaml
@@ -0,0 +1,8 @@
+has_omnicam: False
+has_omnicam_vras: True
+
+top_box_j_x: 0.45
+
+ouster_pos_x: 0.05
+ouster_pos_z: 0.18
+ouster_rpy_p: 0.18
\ No newline at end of file
diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_6/config/rviz.rviz b/submitted_models/ctu_cras_norlab_absolem_sensor_config_6/config/rviz.rviz
new file mode 100644
index 00000000..eeb1e1e2
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_6/config/rviz.rviz
@@ -0,0 +1,1229 @@
+Panels:
+  - Class: rviz/Displays
+    Help Height: 0
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Global Options1
+        - /TF1/Frames1
+        - /Omnicam1
+        - /Ouster lidar1/Autocompute Value Bounds1
+        - /Cliff sensors1
+      Splitter Ratio: 0.6437346339225769
+    Tree Height: 310
+  - Class: rviz/Selection
+    Name: Selection
+  - Class: rviz/Tool Properties
+    Expanded:
+      - /2D Pose Estimate1
+      - /2D Nav Goal1
+      - /Publish Point1
+    Name: Tool Properties
+    Splitter Ratio: 0.5886790156364441
+  - Class: rviz/Views
+    Expanded:
+      - /Current View1
+      - /Robot left side1/Focal Point1
+    Name: Views
+    Splitter Ratio: 0.4786096215248108
+  - Class: rviz/Time
+    Experimental: false
+    Name: Time
+    SyncMode: 0
+    SyncSource: Omnicam 4
+Preferences:
+  PromptSaveOnExit: true
+Toolbars:
+  toolButtonStyle: 2
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 1
+      Class: rviz/RobotModel
+      Collision Enabled: false
+      Enabled: true
+      Links:
+        All Links Enabled: true
+        Expand Joint Details: false
+        Expand Link Details: false
+        Expand Tree: false
+        Link Tree Style: Links in Alphabetic Order
+        X1/antenna:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        X1/base_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        X1/battery:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        X1/camera_0:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        X1/camera_1:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        X1/camera_2:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        X1/camera_3:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        X1/camera_4:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        X1/cliff_sensor_0:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        X1/cliff_sensor_1:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        X1/cliff_sensor_2:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        X1/cliff_sensor_3:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        X1/front_left_flipper:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        X1/front_left_flipper_end_point:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        X1/front_left_flipper_wheel1:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        X1/front_left_flipper_wheel2:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        X1/front_left_flipper_wheel3:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        X1/front_left_flipper_wheel4:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        X1/front_left_flipper_wheel5:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        X1/front_right_flipper:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        X1/front_right_flipper_end_point:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        X1/front_right_flipper_wheel1:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        X1/front_right_flipper_wheel2:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        X1/front_right_flipper_wheel3:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        X1/front_right_flipper_wheel4:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        X1/front_right_flipper_wheel5:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        X1/imu:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        X1/laser:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        X1/left_track:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        X1/left_track_wheel1:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        X1/left_track_wheel2:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        X1/left_track_wheel3:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        X1/left_track_wheel4:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        X1/left_track_wheel5:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        X1/left_track_wheel6:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        X1/left_track_wheel7:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        X1/left_track_wheel8:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        X1/mobilicom:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        X1/mobilicom_antenna_l:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        X1/mobilicom_antenna_r:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        X1/rear_left_flipper:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        X1/rear_left_flipper_end_point:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        X1/rear_left_flipper_wheel1:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        X1/rear_left_flipper_wheel2:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        X1/rear_left_flipper_wheel3:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        X1/rear_left_flipper_wheel4:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        X1/rear_left_flipper_wheel5:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        X1/rear_right_box:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        X1/rear_right_flipper:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        X1/rear_right_flipper_end_point:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        X1/rear_right_flipper_wheel1:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        X1/rear_right_flipper_wheel2:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        X1/rear_right_flipper_wheel3:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        X1/rear_right_flipper_wheel4:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        X1/rear_right_flipper_wheel5:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        X1/rear_sensor_item:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        X1/right_track:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        X1/right_track_wheel1:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        X1/right_track_wheel2:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        X1/right_track_wheel3:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        X1/right_track_wheel4:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        X1/right_track_wheel5:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        X1/right_track_wheel6:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        X1/right_track_wheel7:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        X1/right_track_wheel8:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        X1/top_box:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        X1/top_box_step:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+      Name: Robot model
+      Robot Description: robot_description
+      TF Prefix: ""
+      Update Interval: 0
+      Value: true
+      Visual Enabled: true
+    - Class: rviz/TF
+      Enabled: true
+      Frame Timeout: 15
+      Frames:
+        All Enabled: true
+        X1:
+          Value: true
+        X1/base_link:
+          Value: true
+        X1/base_link/imu:
+          Value: true
+        X1/camera_0:
+          Value: true
+        X1/camera_0/camera_0:
+          Value: true
+        X1/camera_0/camera_0_optical:
+          Value: true
+        X1/camera_1:
+          Value: true
+        X1/camera_1/camera_1:
+          Value: true
+        X1/camera_1/camera_1_optical:
+          Value: true
+        X1/camera_2:
+          Value: true
+        X1/camera_2/camera_2:
+          Value: true
+        X1/camera_2/camera_2_optical:
+          Value: true
+        X1/camera_3:
+          Value: true
+        X1/camera_3/camera_3:
+          Value: true
+        X1/camera_3/camera_3_optical:
+          Value: true
+        X1/camera_4:
+          Value: true
+        X1/camera_4/camera_4:
+          Value: true
+        X1/camera_4/camera_4_optical:
+          Value: true
+        X1/cliff_sensor_0:
+          Value: true
+        X1/cliff_sensor_0/laser:
+          Value: true
+        X1/cliff_sensor_1:
+          Value: true
+        X1/cliff_sensor_1/laser:
+          Value: true
+        X1/cliff_sensor_2:
+          Value: true
+        X1/cliff_sensor_2/laser:
+          Value: true
+        X1/cliff_sensor_3:
+          Value: true
+        X1/cliff_sensor_3/laser:
+          Value: true
+        X1/front_left_flipper:
+          Value: true
+        X1/front_left_flipper_wheel1:
+          Value: true
+        X1/front_left_flipper_wheel2:
+          Value: true
+        X1/front_left_flipper_wheel3:
+          Value: true
+        X1/front_left_flipper_wheel4:
+          Value: true
+        X1/front_left_flipper_wheel5:
+          Value: true
+        X1/front_right_flipper:
+          Value: true
+        X1/front_right_flipper_wheel1:
+          Value: true
+        X1/front_right_flipper_wheel2:
+          Value: true
+        X1/front_right_flipper_wheel3:
+          Value: true
+        X1/front_right_flipper_wheel4:
+          Value: true
+        X1/front_right_flipper_wheel5:
+          Value: true
+        X1/laser:
+          Value: true
+        X1/laser/laser:
+          Value: true
+        X1/left_track:
+          Value: true
+        X1/left_track_wheel1:
+          Value: true
+        X1/left_track_wheel2:
+          Value: true
+        X1/left_track_wheel3:
+          Value: true
+        X1/left_track_wheel4:
+          Value: true
+        X1/left_track_wheel5:
+          Value: true
+        X1/left_track_wheel6:
+          Value: true
+        X1/left_track_wheel7:
+          Value: true
+        X1/left_track_wheel8:
+          Value: true
+        X1/rear_left_flipper:
+          Value: true
+        X1/rear_left_flipper_wheel1:
+          Value: true
+        X1/rear_left_flipper_wheel2:
+          Value: true
+        X1/rear_left_flipper_wheel3:
+          Value: true
+        X1/rear_left_flipper_wheel4:
+          Value: true
+        X1/rear_left_flipper_wheel5:
+          Value: true
+        X1/rear_right_flipper:
+          Value: true
+        X1/rear_right_flipper_wheel1:
+          Value: true
+        X1/rear_right_flipper_wheel2:
+          Value: true
+        X1/rear_right_flipper_wheel3:
+          Value: true
+        X1/rear_right_flipper_wheel4:
+          Value: true
+        X1/rear_right_flipper_wheel5:
+          Value: true
+        X1/right_track:
+          Value: true
+        X1/right_track_wheel1:
+          Value: true
+        X1/right_track_wheel2:
+          Value: true
+        X1/right_track_wheel3:
+          Value: true
+        X1/right_track_wheel4:
+          Value: true
+        X1/right_track_wheel5:
+          Value: true
+        X1/right_track_wheel6:
+          Value: true
+        X1/right_track_wheel7:
+          Value: true
+        X1/right_track_wheel8:
+          Value: true
+        example:
+          Value: true
+        world:
+          Value: true
+      Marker Scale: 0.4000000059604645
+      Name: TF
+      Show Arrows: true
+      Show Axes: true
+      Show Names: true
+      Tree:
+        world:
+          example:
+            X1:
+              X1/base_link:
+                X1/base_link/imu:
+                  {}
+              X1/camera_0:
+                X1/camera_0/camera_0:
+                  X1/camera_0/camera_0_optical:
+                    {}
+              X1/camera_1:
+                X1/camera_1/camera_1:
+                  X1/camera_1/camera_1_optical:
+                    {}
+              X1/camera_2:
+                X1/camera_2/camera_2:
+                  X1/camera_2/camera_2_optical:
+                    {}
+              X1/camera_3:
+                X1/camera_3/camera_3:
+                  X1/camera_3/camera_3_optical:
+                    {}
+              X1/camera_4:
+                X1/camera_4/camera_4:
+                  X1/camera_4/camera_4_optical:
+                    {}
+              X1/cliff_sensor_0:
+                X1/cliff_sensor_0/laser:
+                  {}
+              X1/cliff_sensor_1:
+                X1/cliff_sensor_1/laser:
+                  {}
+              X1/cliff_sensor_2:
+                X1/cliff_sensor_2/laser:
+                  {}
+              X1/cliff_sensor_3:
+                X1/cliff_sensor_3/laser:
+                  {}
+              X1/front_left_flipper:
+                {}
+              X1/front_left_flipper_wheel1:
+                {}
+              X1/front_left_flipper_wheel2:
+                {}
+              X1/front_left_flipper_wheel3:
+                {}
+              X1/front_left_flipper_wheel4:
+                {}
+              X1/front_left_flipper_wheel5:
+                {}
+              X1/front_right_flipper:
+                {}
+              X1/front_right_flipper_wheel1:
+                {}
+              X1/front_right_flipper_wheel2:
+                {}
+              X1/front_right_flipper_wheel3:
+                {}
+              X1/front_right_flipper_wheel4:
+                {}
+              X1/front_right_flipper_wheel5:
+                {}
+              X1/laser:
+                X1/laser/laser:
+                  {}
+              X1/left_track:
+                {}
+              X1/left_track_wheel1:
+                {}
+              X1/left_track_wheel2:
+                {}
+              X1/left_track_wheel3:
+                {}
+              X1/left_track_wheel4:
+                {}
+              X1/left_track_wheel5:
+                {}
+              X1/left_track_wheel6:
+                {}
+              X1/left_track_wheel7:
+                {}
+              X1/left_track_wheel8:
+                {}
+              X1/rear_left_flipper:
+                {}
+              X1/rear_left_flipper_wheel1:
+                {}
+              X1/rear_left_flipper_wheel2:
+                {}
+              X1/rear_left_flipper_wheel3:
+                {}
+              X1/rear_left_flipper_wheel4:
+                {}
+              X1/rear_left_flipper_wheel5:
+                {}
+              X1/rear_right_flipper:
+                {}
+              X1/rear_right_flipper_wheel1:
+                {}
+              X1/rear_right_flipper_wheel2:
+                {}
+              X1/rear_right_flipper_wheel3:
+                {}
+              X1/rear_right_flipper_wheel4:
+                {}
+              X1/rear_right_flipper_wheel5:
+                {}
+              X1/right_track:
+                {}
+              X1/right_track_wheel1:
+                {}
+              X1/right_track_wheel2:
+                {}
+              X1/right_track_wheel3:
+                {}
+              X1/right_track_wheel4:
+                {}
+              X1/right_track_wheel5:
+                {}
+              X1/right_track_wheel6:
+                {}
+              X1/right_track_wheel7:
+                {}
+              X1/right_track_wheel8:
+                {}
+      Update Interval: 0
+      Value: true
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz/Grid
+      Color: 160; 160; 164
+      Enabled: true
+      Line Style:
+        Line Width: 0.029999999329447746
+        Value: Lines
+      Name: Base link grid (1 m)
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 10
+      Reference Frame: base_link
+      Value: true
+    - Alpha: 0.5
+      Cell Size: 10
+      Class: rviz/Grid
+      Color: 160; 160; 164
+      Enabled: true
+      Line Style:
+        Line Width: 0.029999999329447746
+        Value: Lines
+      Name: Fixed frame grid (10 m)
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 10
+      Reference Frame: <Fixed Frame>
+      Value: true
+    - Angle Tolerance: 0.10000000149011612
+      Class: rviz/Odometry
+      Covariance:
+        Orientation:
+          Alpha: 0.5
+          Color: 255; 255; 127
+          Color Style: Unique
+          Frame: Local
+          Offset: 1
+          Scale: 1
+          Value: true
+        Position:
+          Alpha: 0.30000001192092896
+          Color: 204; 51; 204
+          Scale: 1
+          Value: true
+        Value: true
+      Enabled: true
+      Keep: 100
+      Name: Odometry
+      Position Tolerance: 0.10000000149011612
+      Shape:
+        Alpha: 1
+        Axes Length: 1
+        Axes Radius: 0.10000000149011612
+        Color: 255; 25; 0
+        Head Length: 0.30000001192092896
+        Head Radius: 0.10000000149011612
+        Shaft Length: 1
+        Shaft Radius: 0.05000000074505806
+        Value: Arrow
+      Topic: imu_odom
+      Unreliable: false
+      Value: true
+    - Class: rviz/Group
+      Displays:
+        - Class: rviz/Image
+          Enabled: true
+          Image Topic: omni/camera_0/image_raw
+          Max Value: 1
+          Median window: 5
+          Min Value: 0
+          Name: Omnicam 0
+          Normalize Range: true
+          Queue Size: 2
+          Transport Hint: raw
+          Unreliable: false
+          Value: true
+        - Class: rviz/Image
+          Enabled: true
+          Image Topic: omni/camera_1/image_raw
+          Max Value: 1
+          Median window: 5
+          Min Value: 0
+          Name: Omnicam 1
+          Normalize Range: true
+          Queue Size: 2
+          Transport Hint: raw
+          Unreliable: false
+          Value: true
+        - Class: rviz/Image
+          Enabled: true
+          Image Topic: omni/camera_2/image_raw
+          Max Value: 1
+          Median window: 5
+          Min Value: 0
+          Name: Omnicam 2
+          Normalize Range: true
+          Queue Size: 2
+          Transport Hint: raw
+          Unreliable: false
+          Value: true
+        - Class: rviz/Image
+          Enabled: true
+          Image Topic: omni/camera_3/image_raw
+          Max Value: 1
+          Median window: 5
+          Min Value: 0
+          Name: Omnicam 3
+          Normalize Range: true
+          Queue Size: 2
+          Transport Hint: raw
+          Unreliable: false
+          Value: true
+        - Class: rviz/Image
+          Enabled: true
+          Image Topic: omni/camera_4/image_raw
+          Max Value: 1
+          Median window: 5
+          Min Value: 0
+          Name: Omnicam 4
+          Normalize Range: true
+          Queue Size: 2
+          Transport Hint: raw
+          Unreliable: false
+          Value: true
+      Enabled: true
+      Name: Omnicam
+    - Alpha: 1
+      Autocompute Intensity Bounds: true
+      Autocompute Value Bounds:
+        Max Value: 5
+        Min Value: -1
+        Value: false
+      Axis: Z
+      Channel Name: intensity
+      Class: rviz/PointCloud2
+      Color: 255; 255; 255
+      Color Transformer: AxisColor
+      Decay Time: 0
+      Enabled: true
+      Invert Rainbow: false
+      Max Color: 255; 255; 255
+      Max Intensity: 0
+      Min Color: 0; 0; 0
+      Min Intensity: 0
+      Name: Ouster lidar
+      Position Transformer: XYZ
+      Queue Size: 10
+      Selectable: true
+      Size (Pixels): 2
+      Size (m): 0.009999999776482582
+      Style: Points
+      Topic: points
+      Unreliable: false
+      Use Fixed Frame: true
+      Use rainbow: true
+      Value: true
+    - Class: rviz/Group
+      Displays:
+        - Alpha: 1
+          Autocompute Intensity Bounds: true
+          Autocompute Value Bounds:
+            Max Value: 0.25
+            Min Value: 0
+            Value: false
+          Axis: X
+          Channel Name: intensity
+          Class: rviz/PointCloud2
+          Color: 255; 255; 255
+          Color Transformer: AxisColor
+          Decay Time: 0
+          Enabled: true
+          Invert Rainbow: false
+          Max Color: 255; 255; 255
+          Max Intensity: 0
+          Min Color: 0; 0; 0
+          Min Intensity: 0
+          Name: Cliff Sensor FL
+          Position Transformer: XYZ
+          Queue Size: 10
+          Selectable: true
+          Size (Pixels): 3
+          Size (m): 0.009999999776482582
+          Style: Boxes
+          Topic: front_left_cliff_scan
+          Unreliable: false
+          Use Fixed Frame: false
+          Use rainbow: true
+          Value: true
+        - Alpha: 1
+          Autocompute Intensity Bounds: true
+          Autocompute Value Bounds:
+            Max Value: 0.25
+            Min Value: 0
+            Value: false
+          Axis: X
+          Channel Name: intensity
+          Class: rviz/PointCloud2
+          Color: 255; 255; 255
+          Color Transformer: AxisColor
+          Decay Time: 0
+          Enabled: true
+          Invert Rainbow: false
+          Max Color: 255; 255; 255
+          Max Intensity: 0
+          Min Color: 0; 0; 0
+          Min Intensity: 0
+          Name: Cliff Sensor FR
+          Position Transformer: XYZ
+          Queue Size: 10
+          Selectable: true
+          Size (Pixels): 3
+          Size (m): 0.009999999776482582
+          Style: Boxes
+          Topic: front_right_cliff_scan
+          Unreliable: false
+          Use Fixed Frame: false
+          Use rainbow: true
+          Value: true
+        - Alpha: 1
+          Autocompute Intensity Bounds: true
+          Autocompute Value Bounds:
+            Max Value: 0.25
+            Min Value: 0
+            Value: false
+          Axis: X
+          Channel Name: intensity
+          Class: rviz/PointCloud2
+          Color: 255; 255; 255
+          Color Transformer: AxisColor
+          Decay Time: 0
+          Enabled: true
+          Invert Rainbow: false
+          Max Color: 255; 255; 255
+          Max Intensity: 0
+          Min Color: 0; 0; 0
+          Min Intensity: 0
+          Name: Cliff Sensor RR
+          Position Transformer: XYZ
+          Queue Size: 10
+          Selectable: true
+          Size (Pixels): 3
+          Size (m): 0.009999999776482582
+          Style: Boxes
+          Topic: rear_right_cliff_scan
+          Unreliable: false
+          Use Fixed Frame: false
+          Use rainbow: true
+          Value: true
+        - Alpha: 1
+          Autocompute Intensity Bounds: true
+          Autocompute Value Bounds:
+            Max Value: 0.25
+            Min Value: 0
+            Value: false
+          Axis: X
+          Channel Name: intensity
+          Class: rviz/PointCloud2
+          Color: 255; 255; 255
+          Color Transformer: AxisColor
+          Decay Time: 0
+          Enabled: true
+          Invert Rainbow: false
+          Max Color: 255; 255; 255
+          Max Intensity: 0
+          Min Color: 0; 0; 0
+          Min Intensity: 0
+          Name: Cliff Sensor RL
+          Position Transformer: XYZ
+          Queue Size: 10
+          Selectable: true
+          Size (Pixels): 3
+          Size (m): 0.009999999776482582
+          Style: Boxes
+          Topic: rear_left_cliff_scan
+          Unreliable: false
+          Use Fixed Frame: false
+          Use rainbow: true
+          Value: true
+      Enabled: true
+      Name: Cliff sensors
+    - Class: rviz/Image
+      Enabled: true
+      Image Topic: thermal_camera/image_raw
+      Max Value: 1
+      Median window: 5
+      Min Value: 0
+      Name: Thermal
+      Normalize Range: true
+      Queue Size: 2
+      Transport Hint: raw
+      Unreliable: false
+      Value: true
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Default Light: true
+    Fixed Frame: X1
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz/Interact
+      Hide Inactive Objects: true
+    - Class: rviz/MoveCamera
+    - Class: rviz/Select
+    - Class: rviz/FocusCamera
+    - Class: rviz/Measure
+    - Class: rviz/SetInitialPose
+      Theta std deviation: 0.2617993950843811
+      Topic: /initialpose
+      X std deviation: 0.5
+      Y std deviation: 0.5
+    - Class: rviz/SetGoal
+      Topic: /move_base_simple/goal
+    - Class: rviz/PublishPoint
+      Single click: true
+      Topic: /clicked_point
+  Value: true
+  Views:
+    Current:
+      Class: rviz/ThirdPersonFollower
+      Distance: 2.926379680633545
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.05999999865889549
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Focal Point:
+        X: 0.934464693069458
+        Y: 0.13695216178894043
+        Z: 1.2674090612563305e-5
+      Focal Shape Fixed Size: false
+      Focal Shape Size: 0.05000000074505806
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.10000000149011612
+      Pitch: 0.5797960162162781
+      Target Frame: base_link
+      Value: ThirdPersonFollower (rviz)
+      Yaw: 5.266724109649658
+    Saved:
+      - Class: rviz/Orbit
+        Distance: 5
+        Enable Stereo Rendering:
+          Stereo Eye Separation: 0.05999999865889549
+          Stereo Focal Distance: 1
+          Swap Stereo Eyes: false
+          Value: false
+        Focal Point:
+          X: 0
+          Y: 0
+          Z: 0
+        Focal Shape Fixed Size: false
+        Focal Shape Size: 0.05000000074505806
+        Invert Z Axis: false
+        Name: Robot orbit
+        Near Clip Distance: 0.009999999776482582
+        Pitch: 0.7853981852531433
+        Target Frame: base_link
+        Value: Orbit (rviz)
+        Yaw: 0.785398006439209
+      - Class: rviz/ThirdPersonFollower
+        Distance: 5
+        Enable Stereo Rendering:
+          Stereo Eye Separation: 0.05999999865889549
+          Stereo Focal Distance: 1
+          Swap Stereo Eyes: false
+          Value: false
+        Focal Point:
+          X: 0
+          Y: 0
+          Z: 0
+        Focal Shape Fixed Size: false
+        Focal Shape Size: 0.05000000074505806
+        Invert Z Axis: false
+        Name: Robot 3rd person
+        Near Clip Distance: 3
+        Pitch: 0.25
+        Target Frame: base_link
+        Value: ThirdPersonFollower (rviz)
+        Yaw: 3.141590118408203
+      - Class: rviz/ThirdPersonFollower
+        Distance: 10
+        Enable Stereo Rendering:
+          Stereo Eye Separation: 0.05999999865889549
+          Stereo Focal Distance: 1
+          Swap Stereo Eyes: false
+          Value: false
+        Focal Point:
+          X: 0
+          Y: 0
+          Z: 0
+        Focal Shape Fixed Size: false
+        Focal Shape Size: 0.05000000074505806
+        Invert Z Axis: false
+        Name: Robot top-down
+        Near Clip Distance: 8
+        Pitch: 1.5697963237762451
+        Target Frame: base_link
+        Value: ThirdPersonFollower (rviz)
+        Yaw: 3.141590118408203
+      - Class: rviz/ThirdPersonFollower
+        Distance: 5
+        Enable Stereo Rendering:
+          Stereo Eye Separation: 0.05999999865889549
+          Stereo Focal Distance: 1
+          Swap Stereo Eyes: false
+          Value: false
+        Focal Point:
+          X: 1
+          Y: 0
+          Z: 0
+        Focal Shape Fixed Size: false
+        Focal Shape Size: 0.05000000074505806
+        Invert Z Axis: false
+        Name: Robot left side
+        Near Clip Distance: 4.5
+        Pitch: 0
+        Target Frame: base_link
+        Value: ThirdPersonFollower (rviz)
+        Yaw: 1.5700000524520874
+      - Class: rviz/ThirdPersonFollower
+        Distance: 5
+        Enable Stereo Rendering:
+          Stereo Eye Separation: 0.05999999865889549
+          Stereo Focal Distance: 1
+          Swap Stereo Eyes: false
+          Value: false
+        Focal Point:
+          X: 1
+          Y: 0
+          Z: 0
+        Focal Shape Fixed Size: false
+        Focal Shape Size: 0.05000000074505806
+        Invert Z Axis: false
+        Name: Robot right side
+        Near Clip Distance: 4.5
+        Pitch: 0
+        Target Frame: base_link
+        Value: ThirdPersonFollower (rviz)
+        Yaw: -1.5700000524520874
+      - Class: rviz/FPS
+        Enable Stereo Rendering:
+          Stereo Eye Separation: 0.05999999865889549
+          Stereo Focal Distance: 1
+          Swap Stereo Eyes: false
+          Value: false
+        Invert Z Axis: false
+        Name: Robot top-down
+        Near Clip Distance: 8
+        Pitch: 1.5697963237762451
+        Position:
+          X: 0
+          Y: 0
+          Z: 10
+        Target Frame: base_link
+        Value: FPS (rviz)
+        Yaw: 0
+      - Angle: 0
+        Class: rviz/TopDownOrtho
+        Enable Stereo Rendering:
+          Stereo Eye Separation: 0.05999999865889549
+          Stereo Focal Distance: 1
+          Swap Stereo Eyes: false
+          Value: false
+        Invert Z Axis: false
+        Name: Robot top-down
+        Near Clip Distance: 0.009999999776482582
+        Scale: 100
+        Target Frame: base_link
+        Value: TopDownOrtho (rviz)
+        X: 0
+        Y: 0
+      - Angle: 0
+        Class: rviz/TopDownOrtho
+        Enable Stereo Rendering:
+          Stereo Eye Separation: 0.05999999865889549
+          Stereo Focal Distance: 1
+          Swap Stereo Eyes: false
+          Value: false
+        Invert Z Axis: false
+        Name: Fixed frame top-down
+        Near Clip Distance: 0.009999999776482582
+        Scale: 4
+        Target Frame: <Fixed Frame>
+        Value: TopDownOrtho (rviz)
+        X: 0
+        Y: 0
+      - Class: rviz/FPS
+        Enable Stereo Rendering:
+          Stereo Eye Separation: 0.05999999865889549
+          Stereo Focal Distance: 1
+          Swap Stereo Eyes: false
+          Value: false
+        Invert Z Axis: false
+        Name: Fixed frame 1st person
+        Near Clip Distance: 1
+        Pitch: 1
+        Position:
+          X: -2
+          Y: 0
+          Z: 5
+        Target Frame: <Fixed Frame>
+        Value: FPS (rviz)
+        Yaw: 0
+      - Class: rviz/ThirdPersonFollower
+        Distance: 36.92524719238281
+        Enable Stereo Rendering:
+          Stereo Eye Separation: 0.05999999865889549
+          Stereo Focal Distance: 1
+          Swap Stereo Eyes: false
+          Value: false
+        Focal Point:
+          X: 0.4568486213684082
+          Y: 0.32300829887390137
+          Z: 7.213062417577021e-6
+        Focal Shape Fixed Size: false
+        Focal Shape Size: 0.05000000074505806
+        Invert Z Axis: false
+        Name: ThirdPersonFollower
+        Near Clip Distance: 0.10000000149011612
+        Pitch: 0.5397967100143433
+        Target Frame: base_link
+        Value: ThirdPersonFollower (rviz)
+        Yaw: 6.276592254638672
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 1052
+  Hide Left Dock: false
+  Hide Right Dock: false
+  Omnicam 0:
+    collapsed: false
+  Omnicam 1:
+    collapsed: false
+  Omnicam 2:
+    collapsed: false
+  Omnicam 3:
+    collapsed: false
+  Omnicam 4:
+    collapsed: false
+  QMainWindow State: 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
+  Selection:
+    collapsed: false
+  Thermal:
+    collapsed: false
+  Time:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: false
+  Width: 1853
+  X: 67
+  Y: 28
diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_6/config/sdf.yaml b/submitted_models/ctu_cras_norlab_absolem_sensor_config_6/config/sdf.yaml
new file mode 100644
index 00000000..e69de29b
diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_6/config/urdf.yaml b/submitted_models/ctu_cras_norlab_absolem_sensor_config_6/config/urdf.yaml
new file mode 100644
index 00000000..e69de29b
diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_6/launch/common.rb b/submitted_models/ctu_cras_norlab_absolem_sensor_config_6/launch/common.rb
new file mode 100644
index 00000000..7dacdc7a
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_6/launch/common.rb
@@ -0,0 +1,21 @@
+require 'yaml'
+
+def _spawner3(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw, _additionalSDF='')
+  base_spawn = `rospack find ctu_cras_norlab_absolem_sensor_config_3`.chomp + "/launch/common.rb"
+
+  begin
+    load base_spawn
+  rescue LoadError
+    raise "Unknown robot configuration #{_modelURI}. #{base_spawn} could not be found."
+  else
+    _spawner2(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw, _additionalSDF)
+  end
+end
+
+def _rosExecutables3(_name, _worldName)
+  <<-HEREDOC
+  <executable name='topics'>
+    <command>roslaunch --wait ctu_cras_norlab_absolem_sensor_config_1 vehicle_topics.launch world_name:=#{_worldName} name:=#{_name} revision:=2021 has_cliff_sensors:=1 has_omnicam:=0 has_omnicam_vras:=1 description_print_command:="#{File.dirname(__FILE__) + '/../scripts/print_robot_urdf'}"</command>
+  </executable>
+  HEREDOC
+end
diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_6/launch/example.ign b/submitted_models/ctu_cras_norlab_absolem_sensor_config_6/launch/example.ign
new file mode 100644
index 00000000..0062c43e
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_6/launch/example.ign
@@ -0,0 +1,25 @@
+<?xml version="1.0"?>
+<%
+  base_launch = `rospack find ctu_cras_norlab_absolem_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
+
+  teleop_param=''
+  if defined?(teleop) and teleop
+    teleop_param='teleop:=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 %> <%= teleop_param %> <%= headless_param %></command>
+  </executable>
+</ignition>
\ No newline at end of file
diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_6/launch/spawner.rb b/submitted_models/ctu_cras_norlab_absolem_sensor_config_6/launch/spawner.rb
new file mode 100644
index 00000000..1708bf9f
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_6/launch/spawner.rb
@@ -0,0 +1,9 @@
+require_relative 'common.rb'
+
+def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
+  _spawner3(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
+end
+
+def rosExecutables(_name, _worldName)
+  _rosExecutables3(_name, _worldName)
+end
diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_6/model.config b/submitted_models/ctu_cras_norlab_absolem_sensor_config_6/model.config
new file mode 100644
index 00000000..bb52bb9d
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_6/model.config
@@ -0,0 +1,14 @@
+<?xml version="1.0"?>
+<model>
+  <name>ctu_cras_norlab_absolem_sensor_config_6</name>
+  <sdf version="1.7">model.sdf</sdf>
+  <description>
+    Absolem robot of CTU-CRAS-Norlab for SubT (Sensor Config 6).
+  </description>
+  <depend>
+    <model>
+      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1</uri>
+    </model>
+  </depend>
+</model>
+
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
new file mode 100644
index 00000000..38727173
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_6/model.sdf
@@ -0,0 +1,3887 @@
+<?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/nifti_robot.xacro source file.
  Do all modifications there and then run the update script to regenerate the SDF. -->
+  <model name="ctu_cras_norlab_absolem_sensor_config_1">
+    <link name="base_link">
+      <inertial>
+        <pose>-0.036788 0.003286 0.148827 0 -0 0</pose>
+        <mass>20.5</mass>
+        <inertia>
+          <ixx>0.0559014</ixx>
+          <ixy>0.0109142</ixy>
+          <ixz>-0.0212971</ixz>
+          <iyy>0.0995733</iyy>
+          <iyz>-0.00263589</iyz>
+          <izz>0.0900705</izz>
+        </inertia>
+      </inertial>
+      <collision name="base_link_collision">
+        <pose>0 0 0.129 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.59 0.24093 0.117</size>
+          </box>
+        </geometry>
+      </collision>
+      <collision name="base_link_collision_1">
+        <pose>0 0.135 0.09 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.055 0.04 0.08</size>
+          </box>
+        </geometry>
+      </collision>
+      <collision name="base_link_collision_2">
+        <pose>0 0.155 0.013 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.055 0.02 0.075</size>
+          </box>
+        </geometry>
+      </collision>
+      <collision name="base_link_collision_3">
+        <pose>0 -0.135 0.09 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.055 0.04 0.08</size>
+          </box>
+        </geometry>
+      </collision>
+      <collision name="base_link_collision_4">
+        <pose>0 -0.155 0.013 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.055 0.02 0.075</size>
+          </box>
+        </geometry>
+      </collision>
+      <collision name="base_link_collision_5">
+        <pose>0 0 0.059 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.546 0.24093 0.022</size>
+          </box>
+        </geometry>
+      </collision>
+      <collision name="base_link_collision_6">
+        <pose>0.273 0 0.07 1.5707963267948966 -0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.24093</length>
+            <radius>0.022022</radius>
+          </cylinder>
+        </geometry>
+      </collision>
+      <collision name="base_link_collision_7">
+        <pose>-0.273 0 0.07 1.5707963267948966 -0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.24093</length>
+            <radius>0.022022</radius>
+          </cylinder>
+        </geometry>
+      </collision>
+      <collision name="base_link_fixed_joint_lump__antenna_collision_8">
+        <pose>-0.19364 0.1 0.1551 0 1.5707963267948966 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.03718</length>
+            <radius>0.008</radius>
+          </cylinder>
+        </geometry>
+      </collision>
+      <collision name="base_link_fixed_joint_lump__antenna_collision_9">
+        <pose>-0.205 0.1 0.34563 0 -0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.38107</length>
+            <radius>0.008</radius>
+          </cylinder>
+        </geometry>
+      </collision>
+      <collision name="base_link_fixed_joint_lump__battery_collision_10">
+        <pose>-0.079 0 0.12 0 1.5707963267948966 0</pose>
+        <geometry>
+          <box>
+            <size>0.145 0.135 0.082</size>
+          </box>
+        </geometry>
+      </collision>
+      <collision name="base_link_fixed_joint_lump__rear_sensor_item_collision_11">
+        <pose>-0.185 -0.100465 0.235 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.02 0.02 0.1</size>
+          </box>
+        </geometry>
+      </collision>
+      <collision name="base_link_fixed_joint_lump__mobilicom_collision_12">
+        <pose>-0.114998 -0.077965 0.234837 1.5758 -0 3.1415926535897931</pose>
+        <geometry>
+          <box>
+            <size>0.2 0.095 0.065</size>
+          </box>
+        </geometry>
+      </collision>
+      <collision name="base_link_fixed_joint_lump__mobilicom_antenna_l_collision_13">
+        <pose>-0.241261 -0.112864 0.283984 1.06679 -0.002995 -0.641659</pose>
+        <geometry>
+          <cylinder>
+            <length>0.1</length>
+            <radius>0.025</radius>
+          </cylinder>
+        </geometry>
+      </collision>
+      <collision name="base_link_fixed_joint_lump__mobilicom_antenna_r_collision_14">
+        <pose>-0.260464 -0.098887 0.209942 1.56871 -0.00455 -1.14166</pose>
+        <geometry>
+          <cylinder>
+            <length>0.1</length>
+            <radius>0.025</radius>
+          </cylinder>
+        </geometry>
+      </collision>
+      <collision name="base_link_fixed_joint_lump__top_box_collision_15">
+        <pose>0.0915 0 0.2165 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.127 0.231 0.06252</size>
+          </box>
+        </geometry>
+      </collision>
+      <collision name="base_link_fixed_joint_lump__top_box_collision_16">
+        <pose>0.0515 0.09 0.254 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.044 0.044 0.01303</size>
+          </box>
+        </geometry>
+      </collision>
+      <collision name="base_link_fixed_joint_lump__top_box_collision_17">
+        <pose>0.10624 -0.08352 0.26496 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.03732 0.03523 0.03489</size>
+          </box>
+        </geometry>
+      </collision>
+      <collision name="base_link_fixed_joint_lump__top_box_step_collision_18">
+        <pose>0.0915 0 0.29752 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.127 0.12 0.1</size>
+          </box>
+        </geometry>
+      </collision>
+      <visual name="base_link_visual">
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/body_2021.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <visual name="base_link_fixed_joint_lump__antenna_visual_1">
+        <pose>-0.175 0.1 0.1551 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/antenna.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <visual name="base_link_fixed_joint_lump__battery_visual_2">
+        <pose>-0.12 0 0.12 0 1.5707963267948966 0</pose>
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/battery.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <visual name="base_link_fixed_joint_lump__rear_sensor_item_visual_3">
+        <pose>-0.185 -0.100465 0.235 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.02 0.02 0.1</size>
+          </box>
+        </geometry>
+      </visual>
+      <visual name="base_link_fixed_joint_lump__mobilicom_visual_4">
+        <pose>-0.164999 -0.090462 0.2349 1.5758 -0 3.1415926535897931</pose>
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/mobilicom.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <visual name="base_link_fixed_joint_lump__mobilicom_antenna_l_visual_5">
+        <pose>-0.241261 -0.112864 0.283984 1.06679 -0.002995 -0.641659</pose>
+        <geometry>
+          <cylinder>
+            <length>0.1</length>
+            <radius>0.005</radius>
+          </cylinder>
+        </geometry>
+      </visual>
+      <visual name="base_link_fixed_joint_lump__mobilicom_antenna_r_visual_6">
+        <pose>-0.260464 -0.098887 0.209942 1.56871 -0.00455 -1.14166</pose>
+        <geometry>
+          <cylinder>
+            <length>0.1</length>
+            <radius>0.005</radius>
+          </cylinder>
+        </geometry>
+      </visual>
+      <visual name="base_link_fixed_joint_lump__top_box_visual_7">
+        <pose>0.0915 0 0.185 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/top_box_2021_ladybug.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <visual name="base_link_fixed_joint_lump__top_box_visual_8">
+        <pose>0.0165 0 0.305 -0 -1.5707963267948966 0</pose>
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/reflector.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <visual name="base_link_fixed_joint_lump__top_box_step_visual_9">
+        <pose>0.0915 0 0.29752 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.127 0.12 0.1</size>
+          </box>
+        </geometry>
+        <material>
+          <ambient>0 0 0 0</ambient>
+          <diffuse>0 0.133333 0.486275 1</diffuse>
+          <specular>0 0 0 0</specular>
+          <emissive>0 0 0 0</emissive>
+        </material>
+      </visual>
+      <visual name="base_link_fixed_joint_lump__top_box_step_visual_10">
+        <pose>0.1315 0 0.35252 0 0.18 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.05</length>
+            <radius>0.025</radius>
+          </cylinder>
+        </geometry>
+        <material>
+          <ambient>0 0 0 0</ambient>
+          <diffuse>0 0.133333 0.486275 1</diffuse>
+          <specular>0 0 0 0</specular>
+          <emissive>0 0 0 0</emissive>
+        </material>
+      </visual>
+      <light name="light_left" type="spot">
+        <pose>0 0.13 0.2 1.5707963267948966 1.5707963267948966 0</pose>
+        <attenuation>
+          <range>50</range>
+          <linear>0</linear>
+          <constant>0.1</constant>
+          <quadratic>0.0025</quadratic>
+        </attenuation>
+        <diffuse>0.8 0.8 0.5 1</diffuse>
+        <specular>0.8 0.8 0.5 1</specular>
+        <spot>
+          <inner_angle>2.8</inner_angle>
+          <outer_angle>2.9</outer_angle>
+          <falloff>1</falloff>
+        </spot>
+        <direction>1 0 0</direction>
+      </light>
+      <light name="light_right" type="spot">
+        <pose>0 -0.13 0.2 -1.5707963267948966 1.5707963267948966 0</pose>
+        <attenuation>
+          <range>50</range>
+          <linear>0</linear>
+          <constant>0.1</constant>
+          <quadratic>0.0025</quadratic>
+        </attenuation>
+        <diffuse>0.8 0.8 0.5 1</diffuse>
+        <specular>0.8 0.8 0.5 1</specular>
+        <spot>
+          <inner_angle>2.8</inner_angle>
+          <outer_angle>2.9</outer_angle>
+          <falloff>1</falloff>
+        </spot>
+        <direction>1 0 0</direction>
+      </light>
+      <light name="light_rear" type="spot">
+        <pose>-0.4 0 0.2 0 1.5707963267948966 0</pose>
+        <attenuation>
+          <range>30</range>
+          <linear>0</linear>
+          <constant>0.2</constant>
+          <quadratic>0.0025</quadratic>
+        </attenuation>
+        <diffuse>0.8 0.8 0.5 1</diffuse>
+        <specular>0.8 0.8 0.5 1</specular>
+        <spot>
+          <inner_angle>1.5</inner_angle>
+          <outer_angle>1.8</outer_angle>
+          <falloff>1</falloff>
+        </spot>
+        <direction>1 0 0</direction>
+      </light>
+      <light name="light_front" type="spot">
+        <pose>0.4 0 0.2 3.1415926535897931 1.5707963267948966 0</pose>
+        <attenuation>
+          <range>30</range>
+          <linear>0</linear>
+          <constant>0.2</constant>
+          <quadratic>0.0025</quadratic>
+        </attenuation>
+        <diffuse>0.8 0.8 0.5 1</diffuse>
+        <specular>0.8 0.8 0.5 1</specular>
+        <spot>
+          <inner_angle>1.5</inner_angle>
+          <outer_angle>1.8</outer_angle>
+          <falloff>1</falloff>
+        </spot>
+        <direction>1 0 0</direction>
+      </light>
+      <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>
+        <pose>0 0 0.15 -3.1415926535897931 -0 0</pose>
+      </sensor>
+      <light name="light_up" type="spot">
+        <pose>-0.075 0 0.12 -3.1415926535897931 0 -3.1415926535897931</pose>
+        <attenuation>
+          <range>60</range>
+          <linear>0</linear>
+          <constant>0.1</constant>
+          <quadratic>0.0025</quadratic>
+        </attenuation>
+        <diffuse>0.8 0.8 0.5 1</diffuse>
+        <specular>0.8 0.8 0.5 1</specular>
+        <spot>
+          <inner_angle>1.0472</inner_angle>
+          <outer_angle>1.5708</outer_angle>
+          <falloff>1</falloff>
+        </spot>
+        <direction>0 0 -1</direction>
+      </light>
+    </link>
+    <link name="left_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="left_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="left_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="left_track_j" type="revolute">
+      <child>left_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_left_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="front_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="front_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_j" type="revolute">
+      <child>front_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="front_left_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="front_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="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>
+        <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_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>
+        <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_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>
+        <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_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>
+        <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_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>
+        <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="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>
+        <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>
+        <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>
+            <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="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>
+      </axis>
+      <physics>
+        <ode>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+        </ode>
+      </physics>
+    </joint>
+    <link name="camera_3">
+      <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_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>0.03974</length>
+            <radius>0.0125</radius>
+          </cylinder>
+        </geometry>
+      </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="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>
+        </limit>
+      </axis>
+      <physics>
+        <ode>
+          <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>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>
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+        <mass>0.012</mass>
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+          <ixx>1.56725e-06</ixx>
+          <ixy>0</ixy>
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+          <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="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>
+    </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>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_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>
+        </inertia>
+      </inertial>
+      <collision name="right_track_wheel3_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_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>
+        <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_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>
+        <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_wheel5_j" type="revolute">
+      <child>right_track_wheel5</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_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="right_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="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>
+        <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_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>
+        <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_wheel8_j" type="revolute">
+      <child>right_track_wheel8</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>
+    <plugin name="cras::FlipperControlPlugin" filename="libflipper_control_plugin.so">
+      <joint_name>front_left_flipper_j</joint_name>
+      <max_velocity>0.8</max_velocity>
+    </plugin>
+    <plugin name="cras::FlipperControlPlugin" filename="libflipper_control_plugin.so">
+      <joint_name>front_right_flipper_j</joint_name>
+      <max_velocity>0.8</max_velocity>
+    </plugin>
+    <plugin name="cras::FlipperControlPlugin" filename="libflipper_control_plugin.so">
+      <joint_name>rear_left_flipper_j</joint_name>
+      <max_velocity>0.8</max_velocity>
+    </plugin>
+    <plugin name="cras::FlipperControlPlugin" filename="libflipper_control_plugin.so">
+      <joint_name>rear_right_flipper_j</joint_name>
+      <max_velocity>0.8</max_velocity>
+    </plugin>
+    <plugin name="ignition::gazebo::systems::JointStatePublisher" filename="libignition-gazebo-joint-state-publisher-system.so">
+      <joint_name>front_left_flipper_j</joint_name>
+      <joint_name>front_right_flipper_j</joint_name>
+      <joint_name>rear_left_flipper_j</joint_name>
+      <joint_name>rear_right_flipper_j</joint_name>
+    </plugin>
+  </model>
+</sdf>
+
diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_6/package.xml b/submitted_models/ctu_cras_norlab_absolem_sensor_config_6/package.xml
new file mode 100644
index 00000000..31760313
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_6/package.xml
@@ -0,0 +1,17 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>ctu_cras_norlab_absolem_sensor_config_6</name>
+  <version>1.0.0</version>
+  <description>The ctu_cras_norlab_absolem_sensor_config_6 package</description>
+
+  <author email="peckama2@fel.cvut.cz">Martin Pecka</author>
+  <maintainer email="peckama2@fel.cvut.cz">Martin Pecka</maintainer>
+
+  <license>BSD-3</license>
+
+  <buildtool_depend>catkin</buildtool_depend>
+
+  <exec_depend>roslaunch</exec_depend>
+  <exec_depend>ctu_cras_norlab_absolem_sensor_config_1</exec_depend>
+  <exec_depend>ctu_cras_norlab_absolem_sensor_config_3</exec_depend>
+</package>
diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_6/scripts/print_robot_urdf b/submitted_models/ctu_cras_norlab_absolem_sensor_config_6/scripts/print_robot_urdf
new file mode 100755
index 00000000..173297fb
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_6/scripts/print_robot_urdf
@@ -0,0 +1,16 @@
+#!/usr/bin/env bash
+set -e
+
+DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null 2>&1 && pwd )"
+MODEL_DIR="${DIR}/.."
+SC1_MODEL_DIR="${MODEL_DIR}/../ctu_cras_norlab_absolem_sensor_config_1"
+BASE_MODEL_DIR="${MODEL_DIR}/../ctu_cras_norlab_absolem_sensor_config_3"
+
+# load local modifications of configuration and pass them to print_robot_urdf of sensor config 3
+
+config=""
+for file in "${MODEL_DIR}/config/common.yaml" "${MODEL_DIR}/config/urdf.yaml"; do
+  [ -f "$file" ] && config="${config} $("${SC1_MODEL_DIR}/scripts/yaml_to_xacro_args" "$file")"
+done
+
+"${BASE_MODEL_DIR}/scripts/print_robot_urdf" $config "$@"
\ No newline at end of file
diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_6/scripts/update_robot_sdf b/submitted_models/ctu_cras_norlab_absolem_sensor_config_6/scripts/update_robot_sdf
new file mode 100755
index 00000000..c3a2b2f0
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_6/scripts/update_robot_sdf
@@ -0,0 +1,16 @@
+#!/usr/bin/env bash
+set -e
+
+DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null 2>&1 && pwd )"
+MODEL_DIR="${DIR}/.."
+SC1_MODEL_DIR="${MODEL_DIR}/../ctu_cras_norlab_absolem_sensor_config_1"
+BASE_MODEL_DIR="${MODEL_DIR}/../ctu_cras_norlab_absolem_sensor_config_3"
+[ -z "${OUTPUT_FILE}" ] && OUTPUT_FILE="${MODEL_DIR}/model.sdf"
+
+# load local modifications of configuration and pass them to update_robot_sdf of sensor config 3
+config=""
+for file in "${MODEL_DIR}/config/common.yaml" "${MODEL_DIR}/config/sdf.yaml"; do
+  [ -f "$file" ] && config="${config} $("${SC1_MODEL_DIR}/scripts/yaml_to_xacro_args" "$file")"
+done
+
+OUTPUT_FILE="$OUTPUT_FILE" "${BASE_MODEL_DIR}/scripts/update_robot_sdf" $config "$@"
\ No newline at end of file
diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_7/.gitignore b/submitted_models/ctu_cras_norlab_absolem_sensor_config_7/.gitignore
new file mode 100644
index 00000000..5a7699cc
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_7/.gitignore
@@ -0,0 +1 @@
+model.sdf.urdf
\ No newline at end of file
diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_7/CMakeLists.txt b/submitted_models/ctu_cras_norlab_absolem_sensor_config_7/CMakeLists.txt
new file mode 100644
index 00000000..c04f2d04
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_7/CMakeLists.txt
@@ -0,0 +1,16 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(ctu_cras_norlab_absolem_sensor_config_7)
+
+find_package(catkin REQUIRED)
+
+catkin_package()
+
+install(DIRECTORY launch config DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
+
+install(FILES model.sdf model.config
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
+
+install(PROGRAMS
+  scripts/print_robot_urdf
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/scripts)
+
diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_7/README.md b/submitted_models/ctu_cras_norlab_absolem_sensor_config_7/README.md
new file mode 100644
index 00000000..0e52ad84
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_7/README.md
@@ -0,0 +1,26 @@
+# CTU\_CRAS\_NORLAB\_ABSOLEM\_SENSOR\_CONFIG\_7
+
+This package contains sensor config 7 of CTU-CRAS-Norlab Absolem robot. The robot has:
+
+- 5x Basler ACE Pro 2 RGB camera
+- Ouster OS0-128 lidar
+- 4 TFMini plus point lidars
+- IMU Xsens MTI-30
+- Gas sensor
+- 12 comms breadcrumbs
+- Weight: about 38 kg
+- It is 50% faster than sensor configs 1 and 2 due to a fixed mechanical issue in the tracks
+
+## Model files management
+
+This package follows a different workflow for managing SDF and URDF models of the robot than the suggested one. The only and main source of model data is `urdf/nifti_robot.xacro` file in [`ctu_cras_norlab_absolem_sensor_config_1`](../ctu_cras_norlab_absolem_sensor_config_1) package and the files it includes.
+
+To get the URDF model of the robot, call `scripts/print_robot_urdf` script which prints the robot URDF on stdout. This script is used in `launch/description.launch`.
+
+The SDF model is a regular file committed to this package, but its updates are not
+to be done manually. To change the robot model, make changes in the Xacro, and then run script `scripts/update_robot_sdf`, which updates the `model.sdf` file in this repo. The change can then be commited.
+
+The model is also configured by a set of shared config files located in `config/` directory of this package and sensor config 1. It contains YAML files which are loaded in the following order:
+
+- URDF: `sensor_config_1/config/common.yaml`, `sensor_config_1/config/urdf.yaml`, `sensor_config_3/config/common.yaml`, `sensor_config_3/config/urdf.yaml`, `sensor_config_6/config/common.yaml`, `sensor_config_6/config/urdf.yaml`, `common.yaml`, `urdf.yaml`
+- SDF for Ignition Gazebo: `sensor_config_1/config/common.yaml`, `sensor_config_1/config/sdf.yaml`, `sensor_config_3/config/common.yaml`, `sensor_config_3/config/sdf.yaml`, `sensor_config_6/config/common.yaml`, `sensor_config_6/config/sdf.yaml`, `common.yaml`, `sdf.yaml`
\ No newline at end of file
diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_7/config/common.yaml b/submitted_models/ctu_cras_norlab_absolem_sensor_config_7/config/common.yaml
new file mode 100644
index 00000000..3a442686
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_7/config/common.yaml
@@ -0,0 +1,2 @@
+num_breadcrumbs: 12
+has_mote_deployer: True
\ No newline at end of file
diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_7/launch/example.ign b/submitted_models/ctu_cras_norlab_absolem_sensor_config_7/launch/example.ign
new file mode 100644
index 00000000..0062c43e
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_7/launch/example.ign
@@ -0,0 +1,25 @@
+<?xml version="1.0"?>
+<%
+  base_launch = `rospack find ctu_cras_norlab_absolem_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
+
+  teleop_param=''
+  if defined?(teleop) and teleop
+    teleop_param='teleop:=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 %> <%= teleop_param %> <%= headless_param %></command>
+  </executable>
+</ignition>
\ No newline at end of file
diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_7/launch/spawner.rb b/submitted_models/ctu_cras_norlab_absolem_sensor_config_7/launch/spawner.rb
new file mode 100644
index 00000000..c8fd8c86
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_7/launch/spawner.rb
@@ -0,0 +1,43 @@
+require 'yaml'
+confdir = File.join(__dir__, '..', 'config')
+config = YAML.load_file(File.join(confdir, 'common.yaml'))
+
+$num_breadcrumbs = config["num_breadcrumbs"]
+
+def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
+  base_spawn = `rospack find ctu_cras_norlab_absolem_sensor_config_6`.chomp + "/launch/common.rb"
+
+  begin
+    load base_spawn
+  rescue LoadError
+    raise "Unknown robot configuration #{_modelURI}. #{base_spawn} could not be found."
+  else
+    _additionalSDF = <<-HEREDOC
+      <plugin filename="ignition-gazebo-breadcrumbs-system" name="ignition::gazebo::systems::Breadcrumbs">
+        <topic>/model/#{_name}/breadcrumb/deploy</topic>
+        <max_deployments>#{$num_breadcrumbs}</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 0.08 0.1 0 0 #{Math::PI/2}</pose>
+              <include>
+                <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Breadcrumb Node</uri>
+             </include>
+           </model>
+         </sdf>
+       </breadcrumb>
+      </plugin>
+    HEREDOC
+    _spawner3(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw, _additionalSDF)
+  end
+end
+
+def rosExecutables(_name, _worldName)
+  <<-HEREDOC
+  <executable name='topics'>
+    <command>roslaunch --wait ctu_cras_norlab_absolem_sensor_config_1 vehicle_topics.launch world_name:=#{_worldName} name:=#{_name} revision:=2021 has_cliff_sensors:=1 has_omnicam:=0 has_omnicam_vras:=1 breadcrumbs:=1 description_print_command:="#{File.dirname(__FILE__) + '/../scripts/print_robot_urdf'}"</command>
+  </executable>
+  HEREDOC
+end
diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_7/model.config b/submitted_models/ctu_cras_norlab_absolem_sensor_config_7/model.config
new file mode 100644
index 00000000..3a0cae96
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_7/model.config
@@ -0,0 +1,9 @@
+<?xml version="1.0"?>
+<model>
+  <name>ctu_cras_norlab_absolem_sensor_config_7</name>
+  <sdf version="1.7">model.sdf</sdf>
+  <description>
+    Absolem robot of CTU-CRAS-Norlab for SubT (Sensor Config 7).
+  </description>
+</model>
+
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
new file mode 100644
index 00000000..959607f4
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_7/model.sdf
@@ -0,0 +1,3903 @@
+<?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/nifti_robot.xacro source file.
  Do all modifications there and then run the update script to regenerate the SDF. -->
+  <model name="ctu_cras_norlab_absolem_sensor_config_1">
+    <link name="base_link">
+      <inertial>
+        <pose>-0.042805 0.005197 0.15101 0 -0 0</pose>
+        <mass>21</mass>
+        <inertia>
+          <ixx>0.0640776</ixx>
+          <ixy>0.0208127</ixy>
+          <ixz>-0.00998949</ixz>
+          <iyy>0.13705</iyy>
+          <iyz>-0.00622664</iyz>
+          <izz>0.126089</izz>
+        </inertia>
+      </inertial>
+      <collision name="base_link_collision">
+        <pose>0 0 0.129 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.59 0.24093 0.117</size>
+          </box>
+        </geometry>
+      </collision>
+      <collision name="base_link_collision_1">
+        <pose>0 0.135 0.09 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.055 0.04 0.08</size>
+          </box>
+        </geometry>
+      </collision>
+      <collision name="base_link_collision_2">
+        <pose>0 0.155 0.013 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.055 0.02 0.075</size>
+          </box>
+        </geometry>
+      </collision>
+      <collision name="base_link_collision_3">
+        <pose>0 -0.135 0.09 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.055 0.04 0.08</size>
+          </box>
+        </geometry>
+      </collision>
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+        <pose>0 0 0.059 0 -0 0</pose>
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+          </mesh>
+        </geometry>
+      </visual>
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+          </mesh>
+        </geometry>
+      </visual>
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+          </mesh>
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+      <visual name="base_link_fixed_joint_lump__top_box_step_visual_10">
+        <pose>0.0915 0 0.29752 0 -0 0</pose>
+        <geometry>
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+          <specular>0 0 0 0</specular>
+          <emissive>0 0 0 0</emissive>
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+        <pose>0.1315 0 0.35252 0 0.18 0</pose>
+        <geometry>
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+          <emissive>0 0 0 0</emissive>
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+          <outer_angle>2.9</outer_angle>
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+          <outer_angle>1.8</outer_angle>
+          <falloff>1</falloff>
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+        <direction>1 0 0</direction>
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+      <self_collide>0</self_collide>
+      <sensor name="imu" type="imu">
+        <always_on>1</always_on>
+        <update_rate>50</update_rate>
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+                <precision>0.00025</precision>
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+                <dynamic_bias_stddev>2e-05</dynamic_bias_stddev>
+                <dynamic_bias_correlation_time>400</dynamic_bias_correlation_time>
+                <precision>0.00025</precision>
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+                <precision>0.00025</precision>
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+                <precision>0.005</precision>
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+        <direction>0 0 -1</direction>
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+        <mass>1e-05</mass>
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+          <ixz>1e-06</ixz>
+          <iyy>0.001</iyy>
+          <iyz>1e-06</iyz>
+          <izz>0.001</izz>
+        </inertia>
+      </inertial>
+      <collision name="left_track_collision">
+        <geometry>
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+            <size>0.01 0.01 0.01</size>
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+        <surface>
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+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
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+      </collision>
+      <visual name="left_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>
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+      <child>left_track</child>
+      <parent>base_link</parent>
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+          <upper>0</upper>
+          <effort>0</effort>
+          <velocity>4</velocity>
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+          <spring_stiffness>0</spring_stiffness>
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+        <use_parent_model_frame>0</use_parent_model_frame>
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+            <erp>0.2</erp>
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+      </physics>
+      <physics>
+        <ode>
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+          <cfm>0</cfm>
+          <erp>0.95</erp>
+        </ode>
+      </physics>
+    </joint>
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+      <pose>0.25 0.272 0.0195 0 0.193732 0</pose>
+      <inertial>
+        <mass>1e-05</mass>
+        <inertia>
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+          <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_left_flipper_collision">
+        <geometry>
+          <box>
+            <size>0.01 0.01 0.01</size>
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+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
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+      </collision>
+      <visual name="front_left_flipper_visual">
+        <pose>0 0 0 -2.95743 -0 1.5707963267948966</pose>
+        <geometry>
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+        </geometry>
+      </visual>
+    </link>
+    <joint name="front_left_flipper_j" type="revolute">
+      <child>front_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>
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+          <spring_stiffness>0</spring_stiffness>
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+        <use_parent_model_frame>0</use_parent_model_frame>
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+            <erp>0.2</erp>
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+      </physics>
+    </joint>
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+      <pose>0.25 0.272 0.0195 0 0.193732 0</pose>
+      <inertial>
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+        <mass>0.15</mass>
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+          <iyz>-3.6288e-07</iyz>
+          <izz>0.010941</izz>
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+      </inertial>
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+        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+        <geometry>
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+              <kd>1</kd>
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+              <slip1>0.00092</slip1>
+              <slip2>0</slip2>
+              <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>
+        <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_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>
+        <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_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>
+        <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_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>
+        <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_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>
+        <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="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>
+        <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>
+        <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>
+            <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="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>
+      </axis>
+      <physics>
+        <ode>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+        </ode>
+      </physics>
+    </joint>
+    <link name="camera_3">
+      <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_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>0.03974</length>
+            <radius>0.0125</radius>
+          </cylinder>
+        </geometry>
+      </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="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>
+        </limit>
+      </axis>
+      <physics>
+        <ode>
+          <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>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="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>
+    </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>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_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>
+        </inertia>
+      </inertial>
+      <collision name="right_track_wheel3_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_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>
+        <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_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>
+        <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_wheel5_j" type="revolute">
+      <child>right_track_wheel5</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_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="right_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="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>
+        <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_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>
+        <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_wheel8_j" type="revolute">
+      <child>right_track_wheel8</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>
+    <plugin name="cras::FlipperControlPlugin" filename="libflipper_control_plugin.so">
+      <joint_name>front_left_flipper_j</joint_name>
+      <max_velocity>0.8</max_velocity>
+    </plugin>
+    <plugin name="cras::FlipperControlPlugin" filename="libflipper_control_plugin.so">
+      <joint_name>front_right_flipper_j</joint_name>
+      <max_velocity>0.8</max_velocity>
+    </plugin>
+    <plugin name="cras::FlipperControlPlugin" filename="libflipper_control_plugin.so">
+      <joint_name>rear_left_flipper_j</joint_name>
+      <max_velocity>0.8</max_velocity>
+    </plugin>
+    <plugin name="cras::FlipperControlPlugin" filename="libflipper_control_plugin.so">
+      <joint_name>rear_right_flipper_j</joint_name>
+      <max_velocity>0.8</max_velocity>
+    </plugin>
+    <plugin name="ignition::gazebo::systems::JointStatePublisher" filename="libignition-gazebo-joint-state-publisher-system.so">
+      <joint_name>front_left_flipper_j</joint_name>
+      <joint_name>front_right_flipper_j</joint_name>
+      <joint_name>rear_left_flipper_j</joint_name>
+      <joint_name>rear_right_flipper_j</joint_name>
+    </plugin>
+  </model>
+</sdf>
+
diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_7/package.xml b/submitted_models/ctu_cras_norlab_absolem_sensor_config_7/package.xml
new file mode 100644
index 00000000..8453e2b2
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_7/package.xml
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>ctu_cras_norlab_absolem_sensor_config_7</name>
+  <version>1.0.0</version>
+  <description>The ctu_cras_norlab_absolem_sensor_config_7 package</description>
+
+  <author email="peckama2@fel.cvut.cz">Martin Pecka</author>
+  <maintainer email="peckama2@fel.cvut.cz">Martin Pecka</maintainer>
+
+  <license>BSD-3</license>
+
+  <buildtool_depend>catkin</buildtool_depend>
+
+  <exec_depend>roslaunch</exec_depend>
+  <exec_depend>ctu_cras_norlab_absolem_sensor_config_6</exec_depend>
+</package>
diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_7/scripts/print_robot_urdf b/submitted_models/ctu_cras_norlab_absolem_sensor_config_7/scripts/print_robot_urdf
new file mode 100755
index 00000000..7c081518
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_7/scripts/print_robot_urdf
@@ -0,0 +1,16 @@
+#!/usr/bin/env bash
+set -e
+
+DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null 2>&1 && pwd )"
+MODEL_DIR="${DIR}/.."
+SC1_MODEL_DIR="${MODEL_DIR}/../ctu_cras_norlab_absolem_sensor_config_1"
+BASE_MODEL_DIR="${MODEL_DIR}/../ctu_cras_norlab_absolem_sensor_config_6"
+
+# load local modifications of configuration and pass them to print_robot_urdf of sensor config 6
+
+config=""
+for file in "${MODEL_DIR}/config/common.yaml" "${MODEL_DIR}/config/urdf.yaml"; do
+  [ -f "$file" ] && config="${config} $("${SC1_MODEL_DIR}/scripts/yaml_to_xacro_args" "$file")"
+done
+
+"${BASE_MODEL_DIR}/scripts/print_robot_urdf" $config "$@"
\ No newline at end of file
diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_7/scripts/update_robot_sdf b/submitted_models/ctu_cras_norlab_absolem_sensor_config_7/scripts/update_robot_sdf
new file mode 100755
index 00000000..67218afd
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_7/scripts/update_robot_sdf
@@ -0,0 +1,16 @@
+#!/usr/bin/env bash
+set -e
+
+DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null 2>&1 && pwd )"
+MODEL_DIR="${DIR}/.."
+SC1_MODEL_DIR="${MODEL_DIR}/../ctu_cras_norlab_absolem_sensor_config_1"
+BASE_MODEL_DIR="${MODEL_DIR}/../ctu_cras_norlab_absolem_sensor_config_6"
+[ -z "${OUTPUT_FILE}" ] && OUTPUT_FILE="${MODEL_DIR}/model.sdf"
+
+# load local modifications of configuration and pass them to update_robot_sdf of sensor config 6
+config=""
+for file in "${MODEL_DIR}/config/common.yaml" "${MODEL_DIR}/config/sdf.yaml"; do
+  [ -f "$file" ] && config="${config} $("${SC1_MODEL_DIR}/scripts/yaml_to_xacro_args" "$file")"
+done
+
+OUTPUT_FILE="$OUTPUT_FILE" "${BASE_MODEL_DIR}/scripts/update_robot_sdf" $config "$@"
\ No newline at end of file
diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_8/.gitignore b/submitted_models/ctu_cras_norlab_absolem_sensor_config_8/.gitignore
new file mode 100644
index 00000000..5a7699cc
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_8/.gitignore
@@ -0,0 +1 @@
+model.sdf.urdf
\ No newline at end of file
diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_8/CMakeLists.txt b/submitted_models/ctu_cras_norlab_absolem_sensor_config_8/CMakeLists.txt
new file mode 100644
index 00000000..f60c1756
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_8/CMakeLists.txt
@@ -0,0 +1,16 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(ctu_cras_norlab_absolem_sensor_config_8)
+
+find_package(catkin REQUIRED)
+
+catkin_package()
+
+install(DIRECTORY launch config DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
+
+install(FILES model.sdf model.config
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
+
+install(PROGRAMS
+  scripts/print_robot_urdf
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/scripts)
+
diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_8/README.md b/submitted_models/ctu_cras_norlab_absolem_sensor_config_8/README.md
new file mode 100644
index 00000000..e2762a05
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_8/README.md
@@ -0,0 +1,27 @@
+# CTU\_CRAS\_NORLAB\_ABSOLEM\_SENSOR\_CONFIG\_8
+
+This package contains sensor config 8 of CTU-CRAS-Norlab Absolem robot. The robot has:
+
+- 5x Basler ACE Pro 2 RGB camera
+- Ouster OS0-128 lidar
+- 4 TFMini plus point lidars
+- IMU Xsens MTI-30
+- Gas sensor
+- 12 comms breadcrumbs
+- 90° FOV thermocamera
+- Weight: about 38 kg
+- It is 50% faster than sensor configs 1 and 2 due to a fixed mechanical issue in the tracks
+
+## Model files management
+
+This package follows a different workflow for managing SDF and URDF models of the robot than the suggested one. The only and main source of model data is `urdf/nifti_robot.xacro` file in [`ctu_cras_norlab_absolem_sensor_config_1`](../ctu_cras_norlab_absolem_sensor_config_1) package and the files it includes.
+
+To get the URDF model of the robot, call `scripts/print_robot_urdf` script which prints the robot URDF on stdout. This script is used in `launch/description.launch`.
+
+The SDF model is a regular file committed to this package, but its updates are not
+to be done manually. To change the robot model, make changes in the Xacro, and then run script `scripts/update_robot_sdf`, which updates the `model.sdf` file in this repo. The change can then be commited.
+
+The model is also configured by a set of shared config files located in `config/` directory of this package and sensor config 1. It contains YAML files which are loaded in the following order:
+
+- URDF: `sensor_config_1/config/common.yaml`, `sensor_config_1/config/urdf.yaml`, `sensor_config_3/config/common.yaml`, `sensor_config_3/config/urdf.yaml`, `sensor_config_6/config/common.yaml`, `sensor_config_6/config/urdf.yaml`, `common.yaml`, `urdf.yaml`
+- SDF for Ignition Gazebo: `sensor_config_1/config/common.yaml`, `sensor_config_1/config/sdf.yaml`, `sensor_config_3/config/common.yaml`, `sensor_config_3/config/sdf.yaml`, `sensor_config_6/config/common.yaml`, `sensor_config_6/config/sdf.yaml`, `common.yaml`, `sdf.yaml`
\ No newline at end of file
diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_8/config/common.yaml b/submitted_models/ctu_cras_norlab_absolem_sensor_config_8/config/common.yaml
new file mode 100644
index 00000000..214ee394
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_8/config/common.yaml
@@ -0,0 +1,7 @@
+num_breadcrumbs: 12
+has_mote_deployer: True
+
+has_boson_thermocam: True
+boson_pos_x: 0.52
+boson_pos_y: 0.08
+boson_pos_z: 0.0
\ No newline at end of file
diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_8/launch/example.ign b/submitted_models/ctu_cras_norlab_absolem_sensor_config_8/launch/example.ign
new file mode 100644
index 00000000..0062c43e
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_8/launch/example.ign
@@ -0,0 +1,25 @@
+<?xml version="1.0"?>
+<%
+  base_launch = `rospack find ctu_cras_norlab_absolem_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
+
+  teleop_param=''
+  if defined?(teleop) and teleop
+    teleop_param='teleop:=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 %> <%= teleop_param %> <%= headless_param %></command>
+  </executable>
+</ignition>
\ No newline at end of file
diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_8/launch/spawner.rb b/submitted_models/ctu_cras_norlab_absolem_sensor_config_8/launch/spawner.rb
new file mode 100644
index 00000000..b79b4b28
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_8/launch/spawner.rb
@@ -0,0 +1,43 @@
+require 'yaml'
+confdir = File.join(__dir__, '..', 'config')
+config = YAML.load_file(File.join(confdir, 'common.yaml'))
+
+$num_breadcrumbs = config["num_breadcrumbs"]
+
+def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
+  base_spawn = `rospack find ctu_cras_norlab_absolem_sensor_config_6`.chomp + "/launch/common.rb"
+
+  begin
+    load base_spawn
+  rescue LoadError
+    raise "Unknown robot configuration #{_modelURI}. #{base_spawn} could not be found."
+  else
+    _additionalSDF = <<-HEREDOC
+      <plugin filename="ignition-gazebo-breadcrumbs-system" name="ignition::gazebo::systems::Breadcrumbs">
+        <topic>/model/#{_name}/breadcrumb/deploy</topic>
+        <max_deployments>#{$num_breadcrumbs}</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 0.08 0.1 0 0 #{Math::PI/2}</pose>
+              <include>
+                <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Breadcrumb Node</uri>
+             </include>
+           </model>
+         </sdf>
+       </breadcrumb>
+      </plugin>
+    HEREDOC
+    _spawner3(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw, _additionalSDF)
+  end
+end
+
+def rosExecutables(_name, _worldName)
+  <<-HEREDOC
+  <executable name='topics'>
+    <command>roslaunch --wait ctu_cras_norlab_absolem_sensor_config_1 vehicle_topics.launch world_name:=#{_worldName} name:=#{_name} revision:=2021 has_cliff_sensors:=1 has_omnicam:=0 has_omnicam_vras:=1 breadcrumbs:=1 has_thermal_camera:=1 description_print_command:="#{File.dirname(__FILE__) + '/../scripts/print_robot_urdf'}"</command>
+  </executable>
+  HEREDOC
+end
diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_8/model.config b/submitted_models/ctu_cras_norlab_absolem_sensor_config_8/model.config
new file mode 100644
index 00000000..f73948f5
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_8/model.config
@@ -0,0 +1,9 @@
+<?xml version="1.0"?>
+<model>
+  <name>ctu_cras_norlab_absolem_sensor_config_8</name>
+  <sdf version="1.7">model.sdf</sdf>
+  <description>
+    Absolem robot of CTU-CRAS-Norlab for SubT (Sensor Config 8).
+  </description>
+</model>
+
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
new file mode 100644
index 00000000..034c279a
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_8/model.sdf
@@ -0,0 +1,3992 @@
+<?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/nifti_robot.xacro source file.
  Do all modifications there and then run the update script to regenerate the SDF. -->
+  <model name="ctu_cras_norlab_absolem_sensor_config_1">
+    <link name="base_link">
+      <inertial>
+        <pose>-0.042805 0.005197 0.15101 0 -0 0</pose>
+        <mass>21</mass>
+        <inertia>
+          <ixx>0.0640776</ixx>
+          <ixy>0.0208127</ixy>
+          <ixz>-0.00998949</ixz>
+          <iyy>0.13705</iyy>
+          <iyz>-0.00622664</iyz>
+          <izz>0.126089</izz>
+        </inertia>
+      </inertial>
+      <collision name="base_link_collision">
+        <pose>0 0 0.129 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.59 0.24093 0.117</size>
+          </box>
+        </geometry>
+      </collision>
+      <collision name="base_link_collision_1">
+        <pose>0 0.135 0.09 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.055 0.04 0.08</size>
+          </box>
+        </geometry>
+      </collision>
+      <collision name="base_link_collision_2">
+        <pose>0 0.155 0.013 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.055 0.02 0.075</size>
+          </box>
+        </geometry>
+      </collision>
+      <collision name="base_link_collision_3">
+        <pose>0 -0.135 0.09 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.055 0.04 0.08</size>
+          </box>
+        </geometry>
+      </collision>
+      <collision name="base_link_collision_4">
+        <pose>0 -0.155 0.013 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.055 0.02 0.075</size>
+          </box>
+        </geometry>
+      </collision>
+      <collision name="base_link_collision_5">
+        <pose>0 0 0.059 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.546 0.24093 0.022</size>
+          </box>
+        </geometry>
+      </collision>
+      <collision name="base_link_collision_6">
+        <pose>0.273 0 0.07 1.5707963267948966 -0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.24093</length>
+            <radius>0.022022</radius>
+          </cylinder>
+        </geometry>
+      </collision>
+      <collision name="base_link_collision_7">
+        <pose>-0.273 0 0.07 1.5707963267948966 -0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.24093</length>
+            <radius>0.022022</radius>
+          </cylinder>
+        </geometry>
+      </collision>
+      <collision name="base_link_fixed_joint_lump__antenna_collision_8">
+        <pose>-0.19364 0.1 0.1551 0 1.5707963267948966 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.03718</length>
+            <radius>0.008</radius>
+          </cylinder>
+        </geometry>
+      </collision>
+      <collision name="base_link_fixed_joint_lump__antenna_collision_9">
+        <pose>-0.205 0.1 0.34563 0 -0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.38107</length>
+            <radius>0.008</radius>
+          </cylinder>
+        </geometry>
+      </collision>
+      <collision name="base_link_fixed_joint_lump__battery_collision_10">
+        <pose>-0.079 0 0.12 0 1.5707963267948966 0</pose>
+        <geometry>
+          <box>
+            <size>0.145 0.135 0.082</size>
+          </box>
+        </geometry>
+      </collision>
+      <collision name="base_link_fixed_joint_lump__mote_deployer_collision_11">
+        <pose>-0.2895 0.083535 0.2405 0 0 -3.1415926535897931</pose>
+        <geometry>
+          <box>
+            <size>0.189 0.072 0.131</size>
+          </box>
+        </geometry>
+      </collision>
+      <collision name="base_link_fixed_joint_lump__rear_sensor_item_collision_12">
+        <pose>-0.185 -0.100465 0.235 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.02 0.02 0.1</size>
+          </box>
+        </geometry>
+      </collision>
+      <collision name="base_link_fixed_joint_lump__mobilicom_collision_13">
+        <pose>-0.114998 -0.077965 0.234837 1.5758 -0 3.1415926535897931</pose>
+        <geometry>
+          <box>
+            <size>0.2 0.095 0.065</size>
+          </box>
+        </geometry>
+      </collision>
+      <collision name="base_link_fixed_joint_lump__mobilicom_antenna_l_collision_14">
+        <pose>-0.241261 -0.112864 0.283984 1.06679 -0.002995 -0.641659</pose>
+        <geometry>
+          <cylinder>
+            <length>0.1</length>
+            <radius>0.025</radius>
+          </cylinder>
+        </geometry>
+      </collision>
+      <collision name="base_link_fixed_joint_lump__mobilicom_antenna_r_collision_15">
+        <pose>-0.260464 -0.098887 0.209942 1.56871 -0.00455 -1.14166</pose>
+        <geometry>
+          <cylinder>
+            <length>0.1</length>
+            <radius>0.025</radius>
+          </cylinder>
+        </geometry>
+      </collision>
+      <collision name="base_link_fixed_joint_lump__top_box_collision_16">
+        <pose>0.0915 0 0.2165 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.127 0.231 0.06252</size>
+          </box>
+        </geometry>
+      </collision>
+      <collision name="base_link_fixed_joint_lump__top_box_collision_17">
+        <pose>0.0515 0.09 0.254 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.044 0.044 0.01303</size>
+          </box>
+        </geometry>
+      </collision>
+      <collision name="base_link_fixed_joint_lump__top_box_collision_18">
+        <pose>0.10624 -0.08352 0.26496 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.03732 0.03523 0.03489</size>
+          </box>
+        </geometry>
+      </collision>
+      <collision name="base_link_fixed_joint_lump__top_box_step_collision_19">
+        <pose>0.0915 0 0.29752 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.127 0.12 0.1</size>
+          </box>
+        </geometry>
+      </collision>
+      <visual name="base_link_visual">
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/body_2021.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <visual name="base_link_fixed_joint_lump__antenna_visual_1">
+        <pose>-0.175 0.1 0.1551 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/antenna.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <visual name="base_link_fixed_joint_lump__battery_visual_2">
+        <pose>-0.12 0 0.12 0 1.5707963267948966 0</pose>
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/battery.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <visual name="base_link_fixed_joint_lump__mote_deployer_visual_3">
+        <pose>-0.205 0.059535 0.175 0 0 -3.1415926535897931</pose>
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/mote_deployer.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <visual name="base_link_fixed_joint_lump__rear_sensor_item_visual_4">
+        <pose>-0.185 -0.100465 0.235 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.02 0.02 0.1</size>
+          </box>
+        </geometry>
+      </visual>
+      <visual name="base_link_fixed_joint_lump__mobilicom_visual_5">
+        <pose>-0.164999 -0.090462 0.2349 1.5758 -0 3.1415926535897931</pose>
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/mobilicom.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <visual name="base_link_fixed_joint_lump__mobilicom_antenna_l_visual_6">
+        <pose>-0.241261 -0.112864 0.283984 1.06679 -0.002995 -0.641659</pose>
+        <geometry>
+          <cylinder>
+            <length>0.1</length>
+            <radius>0.005</radius>
+          </cylinder>
+        </geometry>
+      </visual>
+      <visual name="base_link_fixed_joint_lump__mobilicom_antenna_r_visual_7">
+        <pose>-0.260464 -0.098887 0.209942 1.56871 -0.00455 -1.14166</pose>
+        <geometry>
+          <cylinder>
+            <length>0.1</length>
+            <radius>0.005</radius>
+          </cylinder>
+        </geometry>
+      </visual>
+      <visual name="base_link_fixed_joint_lump__top_box_visual_8">
+        <pose>0.0915 0 0.185 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/top_box_2021_ladybug.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <visual name="base_link_fixed_joint_lump__top_box_visual_9">
+        <pose>0.0165 0 0.305 -0 -1.5707963267948966 0</pose>
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/reflector.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <visual name="base_link_fixed_joint_lump__top_box_step_visual_10">
+        <pose>0.0915 0 0.29752 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.127 0.12 0.1</size>
+          </box>
+        </geometry>
+        <material>
+          <ambient>0 0 0 0</ambient>
+          <diffuse>0 0.133333 0.486275 1</diffuse>
+          <specular>0 0 0 0</specular>
+          <emissive>0 0 0 0</emissive>
+        </material>
+      </visual>
+      <visual name="base_link_fixed_joint_lump__top_box_step_visual_11">
+        <pose>0.1315 0 0.35252 0 0.18 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.05</length>
+            <radius>0.025</radius>
+          </cylinder>
+        </geometry>
+        <material>
+          <ambient>0 0 0 0</ambient>
+          <diffuse>0 0.133333 0.486275 1</diffuse>
+          <specular>0 0 0 0</specular>
+          <emissive>0 0 0 0</emissive>
+        </material>
+      </visual>
+      <light name="light_left" type="spot">
+        <pose>0 0.13 0.2 1.5707963267948966 1.5707963267948966 0</pose>
+        <attenuation>
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+          <linear>0</linear>
+          <constant>0.1</constant>
+          <quadratic>0.0025</quadratic>
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+        <diffuse>0.8 0.8 0.5 1</diffuse>
+        <specular>0.8 0.8 0.5 1</specular>
+        <spot>
+          <inner_angle>2.8</inner_angle>
+          <outer_angle>2.9</outer_angle>
+          <falloff>1</falloff>
+        </spot>
+        <direction>1 0 0</direction>
+      </light>
+      <light name="light_right" type="spot">
+        <pose>0 -0.13 0.2 -1.5707963267948966 1.5707963267948966 0</pose>
+        <attenuation>
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+          <linear>0</linear>
+          <constant>0.1</constant>
+          <quadratic>0.0025</quadratic>
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+        <diffuse>0.8 0.8 0.5 1</diffuse>
+        <specular>0.8 0.8 0.5 1</specular>
+        <spot>
+          <inner_angle>2.8</inner_angle>
+          <outer_angle>2.9</outer_angle>
+          <falloff>1</falloff>
+        </spot>
+        <direction>1 0 0</direction>
+      </light>
+      <light name="light_rear" type="spot">
+        <pose>-0.4 0 0.2 0 1.5707963267948966 0</pose>
+        <attenuation>
+          <range>30</range>
+          <linear>0</linear>
+          <constant>0.2</constant>
+          <quadratic>0.0025</quadratic>
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+        <diffuse>0.8 0.8 0.5 1</diffuse>
+        <specular>0.8 0.8 0.5 1</specular>
+        <spot>
+          <inner_angle>1.5</inner_angle>
+          <outer_angle>1.8</outer_angle>
+          <falloff>1</falloff>
+        </spot>
+        <direction>1 0 0</direction>
+      </light>
+      <light name="light_front" type="spot">
+        <pose>0.4 0 0.2 3.1415926535897931 1.5707963267948966 0</pose>
+        <attenuation>
+          <range>30</range>
+          <linear>0</linear>
+          <constant>0.2</constant>
+          <quadratic>0.0025</quadratic>
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+        <diffuse>0.8 0.8 0.5 1</diffuse>
+        <specular>0.8 0.8 0.5 1</specular>
+        <spot>
+          <inner_angle>1.5</inner_angle>
+          <outer_angle>1.8</outer_angle>
+          <falloff>1</falloff>
+        </spot>
+        <direction>1 0 0</direction>
+      </light>
+      <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>
+        <pose>0 0 0.15 -3.1415926535897931 -0 0</pose>
+      </sensor>
+      <light name="light_up" type="spot">
+        <pose>-0.075 0 0.12 -3.1415926535897931 0 -3.1415926535897931</pose>
+        <attenuation>
+          <range>60</range>
+          <linear>0</linear>
+          <constant>0.1</constant>
+          <quadratic>0.0025</quadratic>
+        </attenuation>
+        <diffuse>0.8 0.8 0.5 1</diffuse>
+        <specular>0.8 0.8 0.5 1</specular>
+        <spot>
+          <inner_angle>1.0472</inner_angle>
+          <outer_angle>1.5708</outer_angle>
+          <falloff>1</falloff>
+        </spot>
+        <direction>0 0 -1</direction>
+      </light>
+    </link>
+    <link name="left_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="left_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="left_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="left_track_j" type="revolute">
+      <child>left_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_left_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="front_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="front_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_j" type="revolute">
+      <child>front_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="front_left_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="front_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="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>
+        <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_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>
+        <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_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>
+        <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_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>
+        <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_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>
+        <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="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>
+        <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>
+        <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>
+            <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="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>
+      </axis>
+      <physics>
+        <ode>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+        </ode>
+      </physics>
+    </joint>
+    <link name="camera_3">
+      <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_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>0.03974</length>
+            <radius>0.0125</radius>
+          </cylinder>
+        </geometry>
+      </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="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>
+        </limit>
+      </axis>
+      <physics>
+        <ode>
+          <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>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 -0.040465 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>
+    </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>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_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>
+        </inertia>
+      </inertial>
+      <collision name="right_track_wheel3_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_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>
+        <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_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>
+        <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_wheel5_j" type="revolute">
+      <child>right_track_wheel5</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_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="right_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="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>
+        <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_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>
+        <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_wheel8_j" type="revolute">
+      <child>right_track_wheel8</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>
+    <plugin name="cras::FlipperControlPlugin" filename="libflipper_control_plugin.so">
+      <joint_name>front_left_flipper_j</joint_name>
+      <max_velocity>0.8</max_velocity>
+    </plugin>
+    <plugin name="cras::FlipperControlPlugin" filename="libflipper_control_plugin.so">
+      <joint_name>front_right_flipper_j</joint_name>
+      <max_velocity>0.8</max_velocity>
+    </plugin>
+    <plugin name="cras::FlipperControlPlugin" filename="libflipper_control_plugin.so">
+      <joint_name>rear_left_flipper_j</joint_name>
+      <max_velocity>0.8</max_velocity>
+    </plugin>
+    <plugin name="cras::FlipperControlPlugin" filename="libflipper_control_plugin.so">
+      <joint_name>rear_right_flipper_j</joint_name>
+      <max_velocity>0.8</max_velocity>
+    </plugin>
+    <plugin name="ignition::gazebo::systems::JointStatePublisher" filename="libignition-gazebo-joint-state-publisher-system.so">
+      <joint_name>front_left_flipper_j</joint_name>
+      <joint_name>front_right_flipper_j</joint_name>
+      <joint_name>rear_left_flipper_j</joint_name>
+      <joint_name>rear_right_flipper_j</joint_name>
+    </plugin>
+  </model>
+</sdf>
+
diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_8/package.xml b/submitted_models/ctu_cras_norlab_absolem_sensor_config_8/package.xml
new file mode 100644
index 00000000..ff729163
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_8/package.xml
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>ctu_cras_norlab_absolem_sensor_config_8</name>
+  <version>1.0.0</version>
+  <description>The ctu_cras_norlab_absolem_sensor_config_8 package</description>
+
+  <author email="peckama2@fel.cvut.cz">Martin Pecka</author>
+  <maintainer email="peckama2@fel.cvut.cz">Martin Pecka</maintainer>
+
+  <license>BSD-3</license>
+
+  <buildtool_depend>catkin</buildtool_depend>
+
+  <exec_depend>roslaunch</exec_depend>
+  <exec_depend>ctu_cras_norlab_absolem_sensor_config_6</exec_depend>
+</package>
diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_8/scripts/print_robot_urdf b/submitted_models/ctu_cras_norlab_absolem_sensor_config_8/scripts/print_robot_urdf
new file mode 100755
index 00000000..7c081518
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_8/scripts/print_robot_urdf
@@ -0,0 +1,16 @@
+#!/usr/bin/env bash
+set -e
+
+DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null 2>&1 && pwd )"
+MODEL_DIR="${DIR}/.."
+SC1_MODEL_DIR="${MODEL_DIR}/../ctu_cras_norlab_absolem_sensor_config_1"
+BASE_MODEL_DIR="${MODEL_DIR}/../ctu_cras_norlab_absolem_sensor_config_6"
+
+# load local modifications of configuration and pass them to print_robot_urdf of sensor config 6
+
+config=""
+for file in "${MODEL_DIR}/config/common.yaml" "${MODEL_DIR}/config/urdf.yaml"; do
+  [ -f "$file" ] && config="${config} $("${SC1_MODEL_DIR}/scripts/yaml_to_xacro_args" "$file")"
+done
+
+"${BASE_MODEL_DIR}/scripts/print_robot_urdf" $config "$@"
\ No newline at end of file
diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_8/scripts/update_robot_sdf b/submitted_models/ctu_cras_norlab_absolem_sensor_config_8/scripts/update_robot_sdf
new file mode 100755
index 00000000..67218afd
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_8/scripts/update_robot_sdf
@@ -0,0 +1,16 @@
+#!/usr/bin/env bash
+set -e
+
+DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null 2>&1 && pwd )"
+MODEL_DIR="${DIR}/.."
+SC1_MODEL_DIR="${MODEL_DIR}/../ctu_cras_norlab_absolem_sensor_config_1"
+BASE_MODEL_DIR="${MODEL_DIR}/../ctu_cras_norlab_absolem_sensor_config_6"
+[ -z "${OUTPUT_FILE}" ] && OUTPUT_FILE="${MODEL_DIR}/model.sdf"
+
+# load local modifications of configuration and pass them to update_robot_sdf of sensor config 6
+config=""
+for file in "${MODEL_DIR}/config/common.yaml" "${MODEL_DIR}/config/sdf.yaml"; do
+  [ -f "$file" ] && config="${config} $("${SC1_MODEL_DIR}/scripts/yaml_to_xacro_args" "$file")"
+done
+
+OUTPUT_FILE="$OUTPUT_FILE" "${BASE_MODEL_DIR}/scripts/update_robot_sdf" $config "$@"
\ No newline at end of file
diff --git a/submitted_models/ctu_cras_norlab_lily_sensor_config_1/CMakeLists.txt b/submitted_models/ctu_cras_norlab_lily_sensor_config_1/CMakeLists.txt
new file mode 100644
index 00000000..19feff78
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_lily_sensor_config_1/CMakeLists.txt
@@ -0,0 +1,74 @@
+cmake_minimum_required(VERSION 3.10.0)
+
+project(ctu_cras_norlab_lily_sensor_config_1)
+
+## make params
+set(IGN_GAZEBO_VER 4)
+
+set(DEPS roscpp ros_ign_bridge nodelet)
+set(MSG_DEPS std_msgs geometry_msgs)
+
+
+##############################
+## Dependencies
+##############################
+
+## Ignition dependency
+find_package(ignition-gazebo${IGN_GAZEBO_VER} REQUIRED)
+
+
+##############################
+## catkin/ROS setup
+##############################
+
+find_package(catkin REQUIRED COMPONENTS ${DEPS} ${MSG_DEPS} message_generation)
+
+add_message_files(FILES Contact.msg ContactsStamped.msg LogicalContact.msg)
+generate_messages(DEPENDENCIES ${MSG_DEPS})
+
+catkin_package(CATKIN_DEPENDS ${DEPS} ${MSG_DEPS} message_runtime)
+
+
+##############################
+## Building libs
+##############################
+
+add_library(lily_foot_contact_bridge src/foot_contact_bridge.cpp)
+target_include_directories(lily_foot_contact_bridge PUBLIC ${catkin_INCLUDE_DIRS})
+target_link_libraries(lily_foot_contact_bridge
+  PUBLIC ignition-gazebo${IGN_GAZEBO_VER}::core ${catkin_LIBRARIES}
+)
+add_dependencies(lily_foot_contact_bridge ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+
+add_library(lily_logical_contact_bridge src/logical_contact_bridge.cpp)
+target_include_directories(lily_logical_contact_bridge PUBLIC ${catkin_INCLUDE_DIRS})
+target_link_libraries(lily_logical_contact_bridge
+  PUBLIC ignition-gazebo${IGN_GAZEBO_VER}::core ${catkin_LIBRARIES}
+)
+add_dependencies(lily_logical_contact_bridge ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+
+add_library(lily-logical-contact-system src/logical_contact_system.cpp)
+target_link_libraries(lily-logical-contact-system
+  PRIVATE ignition-gazebo${IGN_GAZEBO_VER}::core
+)
+
+##############################
+## installation
+##############################
+
+install(TARGETS
+    lily_foot_contact_bridge
+    lily_logical_contact_bridge
+    lily-logical-contact-system
+  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
+
+install(DIRECTORY launch meshes textures urdf worlds
+        DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
+
+install(FILES lily.sdf model.config nodelets.xml
+        DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
diff --git a/submitted_models/ctu_cras_norlab_lily_sensor_config_1/Changelog.md b/submitted_models/ctu_cras_norlab_lily_sensor_config_1/Changelog.md
new file mode 100644
index 00000000..ba680859
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_lily_sensor_config_1/Changelog.md
@@ -0,0 +1,5 @@
+# Changelog
+
+## 1.0.0
+
+- First working version.
diff --git a/submitted_models/ctu_cras_norlab_lily_sensor_config_1/LICENCE b/submitted_models/ctu_cras_norlab_lily_sensor_config_1/LICENCE
new file mode 100644
index 00000000..261eeb9e
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_lily_sensor_config_1/LICENCE
@@ -0,0 +1,201 @@
+                                 Apache License
+                           Version 2.0, January 2004
+                        http://www.apache.org/licenses/
+
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+
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diff --git a/submitted_models/ctu_cras_norlab_lily_sensor_config_1/launch/ace2_camera.launch b/submitted_models/ctu_cras_norlab_lily_sensor_config_1/launch/ace2_camera.launch
new file mode 100644
index 00000000..b9d34bfa
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_lily_sensor_config_1/launch/ace2_camera.launch
@@ -0,0 +1,17 @@
+<?xml version="1.0"?>
+<launch>
+  <!-- based on ctu_cras_norlab_spot camera.launch -->
+  <arg name="name"/>
+  <arg name="world_name"/>
+  <arg name="camera"/>
+  <arg name="relay_points" default="1" />
+  <arg name="link_prefix" value="/world/$(arg world_name)/model/$(arg name)/link"/>
+
+  <!-- hard-coded to the sub-folder -->
+  <include file="$(find subt_ros)/launch/models_common/rgb_camera.launch">
+    <arg name="node_name_suffix" value="camera_$(arg camera)" />
+    <arg name="gazebo_topic" value="$(arg link_prefix)/ace2_camera_$(arg camera)/sensor/camera_$(arg camera)" />
+    <arg name="ros_topic" value="$(arg camera)" />
+  </include>
+
+</launch>
diff --git a/submitted_models/ctu_cras_norlab_lily_sensor_config_1/launch/common.rb b/submitted_models/ctu_cras_norlab_lily_sensor_config_1/launch/common.rb
new file mode 100644
index 00000000..a1ef9ae0
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_lily_sensor_config_1/launch/common.rb
@@ -0,0 +1,111 @@
+def _spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw, _additionalSDF="")
+
+  # PID default values
+  # TODO modify this
+  pid=[250, 0.2, 5]
+
+  # all joint names
+  joints = ""
+  # leg names
+  legs = ["1", "2", "3", "4", "5", "6"]
+  for leg in legs do
+    for motor in ["J1_base", "J2_shoulder", "J3_elbow"] do
+      # this string should fit joint names in xacro, I guess
+      joints += "<joint_name>L" + leg + "_" + motor + "</joint_name>\n"
+    end
+  end
+
+  # creating HEREDOC for contact collisions detection
+  logical_contact_collisions = ""
+
+  for leg in legs do
+    logical_contact_collisions += "<group name='" + leg + "'>\n";
+    logical_contact_collisions += "  <collision>elbow#{leg}_foot/INPUT_INTERFACE_collision</collision>\n";
+    logical_contact_collisions += "  <collision>elbow#{leg}_foot/INPUT_INTERFACE_collision_1</collision>\n";
+    logical_contact_collisions += "  <collision>elbow#{leg}_foot/INPUT_INTERFACE_collision_2</collision>\n";
+    logical_contact_collisions += "  <collision>elbow#{leg}_foot/INPUT_INTERFACE_collision_3</collision>\n";
+    logical_contact_collisions += "  <collision>elbow#{leg}_foot/INPUT_INTERFACE_collision_4</collision>\n";
+    logical_contact_collisions += "</group>\n";
+  end
+
+
+  <<-HEREDOC
+  <spawn name='#{_name}'>
+    <name>#{_name}</name>
+    <allow_renaming>false</allow_renaming>
+    <pose>#{_x} #{_y} #{_z + 0.2} #{_roll} #{_pitch} #{_yaw}</pose>
+    <world>#{_worldName}</world>
+    <is_performer>true</is_performer>
+    <sdf version='1.6'>
+    <include>
+      <name>#{_name}</name>
+      <uri>#{_modelURI}</uri>
+      <!-- Publish robot state information -->
+      <plugin filename="libignition-gazebo-pose-publisher-system.so"
+        name="ignition::gazebo::systems::PosePublisher">
+        <publish_link_pose>true</publish_link_pose>
+        <publish_sensor_pose>true</publish_sensor_pose>
+        <publish_collision_pose>false</publish_collision_pose>
+        <publish_visual_pose>false</publish_visual_pose>
+        <publish_nested_model_pose>false</publish_nested_model_pose>
+        <use_pose_vector_msg>true</use_pose_vector_msg>
+        <static_publisher>true</static_publisher>
+        <static_update_frequency>1</static_update_frequency>
+      </plugin>
+      <plugin filename="libignition-gazebo-pose-publisher-system.so"
+        name="ignition::gazebo::systems::PosePublisher">
+        <publish_link_pose>false</publish_link_pose>
+        <publish_sensor_pose>false</publish_sensor_pose>
+        <publish_collision_pose>false</publish_collision_pose>
+        <publish_visual_pose>false</publish_visual_pose>
+        <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
+        <use_pose_vector_msg>true</use_pose_vector_msg>
+        <static_publisher>false</static_publisher>
+      </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">
+        <topic>/model/#{_name}/gas_detected</topic>
+        <update_rate>10</update_rate>
+        <type>gas</type>
+      </plugin>
+
+      <!-- joint position publisher -->
+      <plugin filename="libignition-gazebo-joint-state-publisher-system.so" name="ignition::gazebo::systems::JointStatePublisher">
+        #{joints}
+      </plugin>
+
+      <!-- logical contact system -->
+      <plugin filename="lily-logical-contact-system" name="subt::lily::LogicalContactSystem">
+        #{logical_contact_collisions}
+        <topic>/model/#{_name}/leg_collisions</topic>
+      </plugin>
+      #{_additionalSDF}
+    </include>
+    </sdf>
+  </spawn>
+  HEREDOC
+end
+
+def _rosExecutables(_name, _worldName, _runController=0)
+  <<-HEREDOC
+  <executable name='topics'>
+    <!-- [!] package name here -->
+    <command>roslaunch --wait --screen ctu_cras_norlab_lily_sensor_config_1 vehicle_topics.launch world_name:=#{_worldName} name:=#{_name} run_controller:=#{_runController}</command>
+  </executable>
+  HEREDOC
+end
\ No newline at end of file
diff --git a/submitted_models/ctu_cras_norlab_lily_sensor_config_1/launch/description.launch b/submitted_models/ctu_cras_norlab_lily_sensor_config_1/launch/description.launch
new file mode 100644
index 00000000..496e647b
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_lily_sensor_config_1/launch/description.launch
@@ -0,0 +1,6 @@
+<?xml version="1.0"?>
+<launch>
+  <arg name="name" doc="Name of Vehicle"/>
+  <!-- [!] package name here -->
+  <param name="$(arg name)/robot_description" command="$(find xacro)/xacro --xacro-ns '$(find ctu_cras_norlab_lily_sensor_config_1)/urdf/lily.xacro' name:=$(arg name)"/>
+</launch>
\ No newline at end of file
diff --git a/submitted_models/ctu_cras_norlab_lily_sensor_config_1/launch/example.ign b/submitted_models/ctu_cras_norlab_lily_sensor_config_1/launch/example.ign
new file mode 100644
index 00000000..0b2b0105
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_lily_sensor_config_1/launch/example.ign
@@ -0,0 +1,185 @@
+<?xml version="1.0"?>
+<!-- Usage: ign launch path/to/example.ign robotName:=<X1>
+
+   Parameters:
+    robotName: Name to be assigned to model
+-->
+
+<%
+  #require_relative 'spawner'
+  load File.join(File.dirname(__FILE__), "spawner.rb")
+
+  # Modify these as needed
+  $enableGroundTruth = true
+  $headless =  local_variables.include?(:headless) ? :headless : false
+
+%>
+
+<%
+  unless local_variables.include?(:robotName)
+    raise "missing parameters. robotName is a required parameter"
+  end
+
+  # This assumes that this launch file is in a directory below the model
+  modelURI = File.expand_path("../", File.dirname(__FILE__))
+  $worldName = 'example'
+  worldFile = File.join(File.expand_path("../worlds", File.dirname(__FILE__)), "#{$worldName}.sdf")
+
+%>
+
+<ignition version='1.0'>
+  <env>
+    <name>IGN_GAZEBO_SYSTEM_PLUGIN_PATH</name>
+    <value>$LD_LIBRARY_PATH</value>
+  </env>
+  <env>
+    <name>LC_ALL</name>
+    <value>C</value>
+  </env>
+  <env>
+    <name>IGN_TRANSPORT_TOPIC_STATISTICS</name>
+    <value>1</value>
+  </env>
+
+  <!-- Start ROS first. This is a bit hacky for now. -->
+  <!-- Make sure to source /opt/ros/melodic/setup.bash -->
+  <executable name='ros'>
+    <command>roslaunch subt_ros competition_init.launch world_name:=<%=$worldName%> vehicle_topics:=0 enable_ground_truth:=<%=($enableGroundTruth)?"1":"0"%> robot_names:=<%=robotName%></command>
+  </executable>
+
+  <plugin name="ignition::launch::GazeboServer"
+          filename="libignition-launch-gazebo.so">
+    <world_file><%= worldFile %></world_file>
+    <run>true</run>
+    <levels>false</levels>
+    <record>
+      <enabled>false</enabled>
+    </record>
+
+    <plugin entity_name="<%= $worldName %>"
+            entity_type="world"
+            filename="libignition-gazebo-physics-system.so"
+            name="ignition::gazebo::systems::Physics">
+    </plugin>
+
+    <plugin entity_name="<%= $worldName %>"
+            entity_type="world"
+            filename="libignition-gazebo-sensors-system.so"
+            name="ignition::gazebo::systems::Sensors">
+            <render_engine>ogre2</render_engine>
+    </plugin>
+    <plugin entity_name="<%= $worldName %>"
+            entity_type="world"
+            filename="libignition-gazebo-user-commands-system.so"
+            name="ignition::gazebo::systems::UserCommands">
+    </plugin>
+    <plugin entity_name="<%= $worldName %>"
+            entity_type="world"
+            filename="libignition-gazebo-scene-broadcaster-system.so"
+            name="ignition::gazebo::systems::SceneBroadcaster">
+    </plugin>
+    <plugin entity_name="<%= $worldName %>"
+            entity_type="world"
+            filename="libignition-gazebo-imu-system.so"
+            name="ignition::gazebo::systems::Imu">
+    </plugin>
+
+    <plugin entity_name="<%= $worldName %>"
+            entity_type="world"
+            filename="libignition-gazebo-magnetometer-system.so"
+            name="ignition::gazebo::systems::Magnetometer">
+    </plugin>
+
+    <plugin entity_name="<%= $worldName %>"
+            entity_type="world"
+            filename="libignition-gazebo-air-pressure-system.so"
+            name="ignition::gazebo::systems::AirPressure">
+    </plugin>
+    <plugin entity_name="<%= $worldName %>" entity_type="world"
+            filename="ignition-gazebo-contact-system"
+            name="ignition::gazebo::systems::Contact">
+    </plugin>
+  </plugin>
+
+  <%if !$headless %>
+  <executable_wrapper>
+    <plugin name="ignition::launch::GazeboGui"
+          filename="libignition-launch-gazebogui.so">
+      <world_name><%= $worldName %></world_name>
+      <window_title>SubT Simulator</window_title>
+      <window_icon><%= ENV['SUBT_IMAGES_PATH'] %>/SubT_logo.svg</window_icon>
+      <plugin filename="GzScene3D" name="3D View">
+        <ignition-gui>
+          <title>3D View</title>
+          <property type="bool" key="showTitleBar">false</property>
+          <property type="string" key="state">docked</property>
+        </ignition-gui>
+
+        <engine>ogre2</engine>
+        <scene>scene</scene>
+        <ambient_light>0.2 0.2 0.1</ambient_light>
+        <background_color>0.8 0.8 0.8</background_color>
+        <camera_pose>-6.3 -4.2 3.6 0 0.268 0.304</camera_pose>
+        <service>/world/<%= $worldName %>/scene/info</service>
+        <pose_topic>/world/<%= $worldName %>/pose/info</pose_topic>
+        <scene_topic>/world/<%= $worldName %>/scene/info</scene_topic>
+        <deletion_topic>/world/<%= $worldName %>/scene/deletion</deletion_topic>
+      </plugin>
+      <plugin filename="WorldControl" name="World control">
+        <ignition-gui>
+          <title>World control</title>
+          <property type="bool" key="showTitleBar">false</property>
+          <property type="bool" key="resizable">false</property>
+          <property type="double" key="height">72</property>
+          <property type="double" key="width">121</property>
+          <property type="double" key="z">1</property>
+
+          <property type="string" key="state">floating</property>
+          <anchors target="3D View">
+            <line own="left" target="left"/>
+            <line own="bottom" target="bottom"/>
+          </anchors>
+        </ignition-gui>
+
+        <play_pause>true</play_pause>
+        <step>true</step>
+        <start_paused>false</start_paused>
+        <service>/world/<%= $worldName %>/control</service>
+        <stats_topic>/world/<%= $worldName %>/stats</stats_topic>
+
+      </plugin>
+
+      <plugin filename="WorldStats" name="World stats">
+        <ignition-gui>
+          <title>World stats</title>
+          <property type="bool" key="showTitleBar">false</property>
+          <property type="bool" key="resizable">false</property>
+          <property type="double" key="height">110</property>
+          <property type="double" key="width">290</property>
+          <property type="double" key="z">1</property>
+
+          <property type="string" key="state">floating</property>
+          <anchors target="3D View">
+            <line own="right" target="right"/>
+            <line own="bottom" target="bottom"/>
+          </anchors>
+        </ignition-gui>
+
+        <sim_time>true</sim_time>
+        <real_time>true</real_time>
+        <real_time_factor>true</real_time_factor>
+        <iterations>true</iterations>
+        <topic>/world/<%= $worldName %>/stats</topic>
+      </plugin>
+    </plugin>
+  </executable_wrapper>
+  <%end%>
+
+<plugin name="ignition::launch::GazeboFactory"
+        filename="libignition-launch-gazebo-factory.so">
+<%= spawner(robotName, modelURI, $worldName, 0, 0, 1, 0, 0, 0) %>
+</plugin>
+<%= rosExecutables(robotName, $worldName, 1) %>
+ 
+</ignition>
+
diff --git a/submitted_models/ctu_cras_norlab_lily_sensor_config_1/launch/leg_topics.launch b/submitted_models/ctu_cras_norlab_lily_sensor_config_1/launch/leg_topics.launch
new file mode 100644
index 00000000..fbb2ac8c
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_lily_sensor_config_1/launch/leg_topics.launch
@@ -0,0 +1,39 @@
+<?xml version="1.0"?>
+<launch>
+  <arg name="leg" />
+  <arg name="joint_prefix" />
+  <arg name="link_prefix" />
+
+  <!-- coxa joint -->
+  <node
+    pkg="ros_ign_bridge"
+    type="parameter_bridge"
+    name="ros_ign_bridge_L$(arg leg)_J1_base_pos"
+    args="$(arg joint_prefix)/L$(arg leg)_J1_base/0/cmd_pos@std_msgs/Float64]ignition.msgs.Double">
+    <remap from="$(arg joint_prefix)/L$(arg leg)_J1_base/0/cmd_pos" to="cmd_pos/L$(arg leg)_J1_base"/>
+  </node>
+
+  <!-- femur joint -->
+  <node
+    pkg="ros_ign_bridge"
+    type="parameter_bridge"
+    name="ros_ign_bridge_L$(arg leg)_J2_shoulder_pos"
+    args="$(arg joint_prefix)/L$(arg leg)_J2_shoulder/0/cmd_pos@std_msgs/Float64]ignition.msgs.Double">
+    <remap from="$(arg joint_prefix)/L$(arg leg)_J2_shoulder/0/cmd_pos" to="cmd_pos/L$(arg leg)_J2_shoulder"/>
+  </node>
+
+  <!-- tibia joint-->
+  <node
+    pkg="ros_ign_bridge"
+    type="parameter_bridge"
+    name="ros_ign_bridge_L$(arg leg)_J3_elbow_pos"
+    args="$(arg joint_prefix)/L$(arg leg)_J3_elbow/0/cmd_pos@std_msgs/Float64]ignition.msgs.Double">
+    <remap from="$(arg joint_prefix)/L$(arg leg)_J3_elbow/0/cmd_pos" to="cmd_pos/L$(arg leg)_J3_elbow"/>
+  </node>
+
+  <!-- Contact relay -->
+  <node name="ros_ign_bridge_$(arg leg)_leg_contact" pkg="nodelet" type="nodelet" args="load ctu_cras_norlab_lily_sensor_config_1/FootContactBridge contacts_manager" respawn="true">
+    <param name="ign_topic" value="$(arg link_prefix)/elbow$(arg leg)_foot/INPUT_INTERFACE/sensor/contact/contact" />
+    <remap from="contacts" to="leg_contacts/$(arg leg)" />
+  </node>
+</launch>
diff --git a/submitted_models/ctu_cras_norlab_lily_sensor_config_1/launch/lily_ign.launch b/submitted_models/ctu_cras_norlab_lily_sensor_config_1/launch/lily_ign.launch
new file mode 100644
index 00000000..2d4d7363
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_lily_sensor_config_1/launch/lily_ign.launch
@@ -0,0 +1,36 @@
+<launch>
+
+  <!-- solving issue with relative paths to model meshes in the scrab_urdf file-->
+  <!-- based on: https://answers.gazebosim.org//question/1684/when-importing-a-urdf-model-how-are-package-uris-parsed/-->
+  <!-- [!] package name here -->
+  <env name="GAZEBO_MODEL_PATH" value="$(find ctu_cras_norlab_lily_sensor_config_1)"/>
+
+  <!-- run GAZEBO -->
+  <!-- inspired by https://github.com/ignitionrobotics/ros_ign/blob/melodic/ros_ign_gazebo_demos/launch/create.launch#L14-->
+  <arg name="gui" default="true"/>
+  <arg name="paused" default="false"/>
+  <!--
+  <arg name="world_name" default="$(find ctu_cras_norlab_lily)/worlds/empty_ig" />
+  -->
+  <arg name="world_name" default="empty"/>
+
+  <arg name="ign_args" default=""/>
+
+  <!-- [!] package name here -->
+  <include file="$(find ros_ign_gazebo)/launch/ign_gazebo.launch">
+    <arg name="ign_args" value="-v 4 $(arg world_name).sdf"/>
+  </include>
+  
+  <!-- find robot model -->
+  <param name="robot_description" value="$(find ctu_cras_norlab_lily_sensor_config_1)/lily.sdf" />
+  <!-- spawning robot to the runing simulation -->
+  <!-- based on this: https://answers.gazebosim.org//question/26037/how-to-spawn-sdf-object-in-ignition-gazebo/ -->
+  <!-- [!] package name here -->
+  <node
+    pkg="ros_ign_gazebo"
+    type="create"
+    name="spawn_sdf"
+    args="-world $(arg world_name) -name spawned -file $(find ctu_cras_norlab_lily_sensor_config_1)/lily.sdf -v 4 -z 1"
+  />
+
+</launch>
diff --git a/submitted_models/ctu_cras_norlab_lily_sensor_config_1/launch/rviz.rviz b/submitted_models/ctu_cras_norlab_lily_sensor_config_1/launch/rviz.rviz
new file mode 100644
index 00000000..b55b8eb0
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_lily_sensor_config_1/launch/rviz.rviz
@@ -0,0 +1,1231 @@
+Panels:
+  - Class: rviz/Displays
+    Help Height: 0
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Global Options1
+        - /TF1
+        - /Omnicam1
+      Splitter Ratio: 0.6437346339225769
+    Tree Height: 720
+  - Class: rviz/Selection
+    Name: Selection
+  - Class: rviz/Tool Properties
+    Expanded:
+      - /2D Pose Estimate1
+      - /2D Nav Goal1
+      - /Publish Point1
+    Name: Tool Properties
+    Splitter Ratio: 0.5886790156364441
+  - Class: rviz/Views
+    Expanded:
+      - /Current View1
+      - /Robot left side1/Focal Point1
+    Name: Views
+    Splitter Ratio: 0.4786096215248108
+  - Class: rviz/Time
+    Experimental: false
+    Name: Time
+    SyncMode: 0
+    SyncSource: Realsense RGB
+Preferences:
+  PromptSaveOnExit: true
+Toolbars:
+  toolButtonStyle: 2
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 1
+      Class: rviz/RobotModel
+      Collision Enabled: false
+      Enabled: true
+      Links:
+        All Links Enabled: true
+        Expand Joint Details: false
+        Expand Link Details: false
+        Expand Tree: false
+        Link Tree Style: Links in Alphabetic Order
+        X1/L1_J1_base/INPUT_INTERFACE:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        X1/L1_J1_base/R8_9:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        X1/L1_J2_shoulder/INPUT_INTERFACE:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        X1/L1_J2_shoulder/R8_16:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        X1/L1_J3_elbow/INPUT_INTERFACE:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        X1/L1_J3_elbow/R8_9:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        X1/L2_J1_base/INPUT_INTERFACE:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        X1/L2_J1_base/R8_9:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        X1/L2_J2_shoulder/INPUT_INTERFACE:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        X1/L2_J2_shoulder/R8_16:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        X1/L2_J3_elbow/INPUT_INTERFACE:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        X1/L2_J3_elbow/R8_9:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        X1/L3_J1_base/INPUT_INTERFACE:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        X1/L3_J1_base/R8_9:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        X1/L3_J2_shoulder/INPUT_INTERFACE:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        X1/L3_J2_shoulder/R8_16:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        X1/L3_J3_elbow/INPUT_INTERFACE:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        X1/L3_J3_elbow/R8_9:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        X1/L4_J1_base/INPUT_INTERFACE:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        X1/L4_J1_base/R8_9:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        X1/L4_J2_shoulder/INPUT_INTERFACE:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        X1/L4_J2_shoulder/R8_16:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        X1/L4_J3_elbow/INPUT_INTERFACE:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        X1/L4_J3_elbow/R8_9:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        X1/L5_J1_base/INPUT_INTERFACE:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        X1/L5_J1_base/R8_9:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        X1/L5_J2_shoulder/INPUT_INTERFACE:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        X1/L5_J2_shoulder/R8_16:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        X1/L5_J3_elbow/INPUT_INTERFACE:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        X1/L5_J3_elbow/R8_9:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        X1/L6_J1_base/INPUT_INTERFACE:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        X1/L6_J1_base/R8_9:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        X1/L6_J2_shoulder/INPUT_INTERFACE:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        X1/L6_J2_shoulder/R8_16:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        X1/L6_J3_elbow/INPUT_INTERFACE:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        X1/L6_J3_elbow/R8_9:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        X1/ace2_camera_back:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        X1/ace2_camera_front:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        X1/ace2_camera_left:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        X1/ace2_camera_right:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        X1/ace2_camera_up:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        X1/base_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        X1/base_to_leg1_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        X1/base_to_leg2_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        X1/base_to_leg3_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        X1/base_to_leg4_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        X1/base_to_leg5_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        X1/base_to_leg6_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        X1/elbow1_foot/INPUT_INTERFACE:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        X1/elbow2_foot/INPUT_INTERFACE:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        X1/elbow3_foot/INPUT_INTERFACE:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        X1/elbow4_foot/INPUT_INTERFACE:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        X1/elbow5_foot/INPUT_INTERFACE:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        X1/elbow6_foot/INPUT_INTERFACE:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        X1/foot1/INPUT_INTERFACE:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        X1/foot2/INPUT_INTERFACE:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        X1/foot3/INPUT_INTERFACE:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        X1/foot4/INPUT_INTERFACE:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        X1/foot5/INPUT_INTERFACE:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        X1/foot6/INPUT_INTERFACE:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        X1/imu_base:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        X1/main_ouster_lidar:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        X1/shoulder1_bracket/INPUT_INTERFACE:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        X1/shoulder1_elbow/INPUT_INTERFACE:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        X1/shoulder2_bracket/INPUT_INTERFACE:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        X1/shoulder2_elbow/INPUT_INTERFACE:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        X1/shoulder3_bracket/INPUT_INTERFACE:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        X1/shoulder3_elbow/INPUT_INTERFACE:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        X1/shoulder4_bracket/INPUT_INTERFACE:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        X1/shoulder4_elbow/INPUT_INTERFACE:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        X1/shoulder5_bracket/INPUT_INTERFACE:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        X1/shoulder5_elbow/INPUT_INTERFACE:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        X1/shoulder6_bracket/INPUT_INTERFACE:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        X1/shoulder6_elbow/INPUT_INTERFACE:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+      Name: Robot model
+      Robot Description: robot_description
+      TF Prefix: ""
+      Update Interval: 0
+      Value: true
+      Visual Enabled: true
+    - Class: rviz/TF
+      Enabled: true
+      Frame Timeout: 15
+      Frames:
+        All Enabled: true
+        X1:
+          Value: true
+        X1/HEBI_SIM/L1_J1_base/R8_9:
+          Value: true
+        X1/HEBI_SIM/L1_J2_shoulder/R8_16:
+          Value: true
+        X1/HEBI_SIM/L1_J3_elbow/R8_9:
+          Value: true
+        X1/HEBI_SIM/L2_J1_base/R8_9:
+          Value: true
+        X1/HEBI_SIM/L2_J2_shoulder/R8_16:
+          Value: true
+        X1/HEBI_SIM/L2_J3_elbow/R8_9:
+          Value: true
+        X1/HEBI_SIM/L3_J1_base/R8_9:
+          Value: true
+        X1/HEBI_SIM/L3_J2_shoulder/R8_16:
+          Value: true
+        X1/HEBI_SIM/L3_J3_elbow/R8_9:
+          Value: true
+        X1/HEBI_SIM/L4_J1_base/R8_9:
+          Value: true
+        X1/HEBI_SIM/L4_J2_shoulder/R8_16:
+          Value: true
+        X1/HEBI_SIM/L4_J3_elbow/R8_9:
+          Value: true
+        X1/HEBI_SIM/L5_J1_base/R8_9:
+          Value: true
+        X1/HEBI_SIM/L5_J2_shoulder/R8_16:
+          Value: true
+        X1/HEBI_SIM/L5_J3_elbow/R8_9:
+          Value: true
+        X1/HEBI_SIM/L6_J1_base/R8_9:
+          Value: true
+        X1/HEBI_SIM/L6_J2_shoulder/R8_16:
+          Value: true
+        X1/HEBI_SIM/L6_J3_elbow/R8_9:
+          Value: true
+        X1/L1_J2_shoulder/INPUT_INTERFACE:
+          Value: true
+        X1/L1_J3_elbow/INPUT_INTERFACE:
+          Value: true
+        X1/L2_J2_shoulder/INPUT_INTERFACE:
+          Value: true
+        X1/L2_J3_elbow/INPUT_INTERFACE:
+          Value: true
+        X1/L3_J2_shoulder/INPUT_INTERFACE:
+          Value: true
+        X1/L3_J3_elbow/INPUT_INTERFACE:
+          Value: true
+        X1/L4_J2_shoulder/INPUT_INTERFACE:
+          Value: true
+        X1/L4_J3_elbow/INPUT_INTERFACE:
+          Value: true
+        X1/L5_J2_shoulder/INPUT_INTERFACE:
+          Value: true
+        X1/L5_J3_elbow/INPUT_INTERFACE:
+          Value: true
+        X1/L6_J2_shoulder/INPUT_INTERFACE:
+          Value: true
+        X1/L6_J3_elbow/INPUT_INTERFACE:
+          Value: true
+        X1/ace2_camera_back:
+          Value: true
+        X1/ace2_camera_back/camera_back:
+          Value: true
+        X1/ace2_camera_back/camera_back_optical:
+          Value: true
+        X1/ace2_camera_front:
+          Value: true
+        X1/ace2_camera_front/camera_front:
+          Value: true
+        X1/ace2_camera_front/camera_front_optical:
+          Value: true
+        X1/ace2_camera_left:
+          Value: true
+        X1/ace2_camera_left/camera_left:
+          Value: true
+        X1/ace2_camera_left/camera_left_optical:
+          Value: true
+        X1/ace2_camera_right:
+          Value: true
+        X1/ace2_camera_right/camera_right:
+          Value: true
+        X1/ace2_camera_right/camera_right_optical:
+          Value: true
+        X1/ace2_camera_up:
+          Value: true
+        X1/ace2_camera_up/camera_up:
+          Value: true
+        X1/ace2_camera_up/camera_up_optical:
+          Value: true
+        X1/base_link:
+          Value: true
+        X1/elbow1_foot/INPUT_INTERFACE:
+          Value: true
+        X1/elbow2_foot/INPUT_INTERFACE:
+          Value: true
+        X1/elbow3_foot/INPUT_INTERFACE:
+          Value: true
+        X1/elbow4_foot/INPUT_INTERFACE:
+          Value: true
+        X1/elbow5_foot/INPUT_INTERFACE:
+          Value: true
+        X1/elbow6_foot/INPUT_INTERFACE:
+          Value: true
+        X1/foot1/INPUT_INTERFACE:
+          Value: true
+        X1/foot1/INPUT_INTERFACE/contact:
+          Value: true
+        X1/foot2/INPUT_INTERFACE:
+          Value: true
+        X1/foot2/INPUT_INTERFACE/contact:
+          Value: true
+        X1/foot3/INPUT_INTERFACE:
+          Value: true
+        X1/foot3/INPUT_INTERFACE/contact:
+          Value: true
+        X1/foot4/INPUT_INTERFACE:
+          Value: true
+        X1/foot4/INPUT_INTERFACE/contact:
+          Value: true
+        X1/foot5/INPUT_INTERFACE:
+          Value: true
+        X1/foot5/INPUT_INTERFACE/contact:
+          Value: true
+        X1/foot6/INPUT_INTERFACE:
+          Value: true
+        X1/foot6/INPUT_INTERFACE/contact:
+          Value: true
+        X1/imu_base:
+          Value: true
+        X1/imu_base/imu:
+          Value: true
+        X1/main_ouster_lidar:
+          Value: true
+        X1/main_ouster_lidar/laser:
+          Value: true
+        X1/shoulder1_bracket/INPUT_INTERFACE:
+          Value: true
+        X1/shoulder1_elbow/INPUT_INTERFACE:
+          Value: true
+        X1/shoulder2_bracket/INPUT_INTERFACE:
+          Value: true
+        X1/shoulder2_elbow/INPUT_INTERFACE:
+          Value: true
+        X1/shoulder3_bracket/INPUT_INTERFACE:
+          Value: true
+        X1/shoulder3_elbow/INPUT_INTERFACE:
+          Value: true
+        X1/shoulder4_bracket/INPUT_INTERFACE:
+          Value: true
+        X1/shoulder4_elbow/INPUT_INTERFACE:
+          Value: true
+        X1/shoulder5_bracket/INPUT_INTERFACE:
+          Value: true
+        X1/shoulder5_elbow/INPUT_INTERFACE:
+          Value: true
+        X1/shoulder6_bracket/INPUT_INTERFACE:
+          Value: true
+        X1/shoulder6_elbow/INPUT_INTERFACE:
+          Value: true
+        base:
+          Value: true
+        example:
+          Value: true
+        l0:
+          Value: true
+        l1:
+          Value: true
+        l10:
+          Value: true
+        l11:
+          Value: true
+        l12:
+          Value: true
+        l13:
+          Value: true
+        l2:
+          Value: true
+        l20:
+          Value: true
+        l21:
+          Value: true
+        l22:
+          Value: true
+        l23:
+          Value: true
+        l3:
+          Value: true
+        l30:
+          Value: true
+        l31:
+          Value: true
+        l32:
+          Value: true
+        l33:
+          Value: true
+        l40:
+          Value: true
+        l41:
+          Value: true
+        l42:
+          Value: true
+        l43:
+          Value: true
+        l50:
+          Value: true
+        l51:
+          Value: true
+        l52:
+          Value: true
+        l53:
+          Value: true
+        world:
+          Value: true
+      Marker Scale: 0.20000000298023224
+      Name: TF
+      Show Arrows: true
+      Show Axes: true
+      Show Names: true
+      Tree:
+        world:
+          example:
+            X1:
+              X1/HEBI_SIM/L1_J1_base/R8_9:
+                {}
+              X1/HEBI_SIM/L1_J2_shoulder/R8_16:
+                {}
+              X1/HEBI_SIM/L1_J3_elbow/R8_9:
+                {}
+              X1/HEBI_SIM/L2_J1_base/R8_9:
+                {}
+              X1/HEBI_SIM/L2_J2_shoulder/R8_16:
+                {}
+              X1/HEBI_SIM/L2_J3_elbow/R8_9:
+                {}
+              X1/HEBI_SIM/L3_J1_base/R8_9:
+                {}
+              X1/HEBI_SIM/L3_J2_shoulder/R8_16:
+                {}
+              X1/HEBI_SIM/L3_J3_elbow/R8_9:
+                {}
+              X1/HEBI_SIM/L4_J1_base/R8_9:
+                {}
+              X1/HEBI_SIM/L4_J2_shoulder/R8_16:
+                {}
+              X1/HEBI_SIM/L4_J3_elbow/R8_9:
+                {}
+              X1/HEBI_SIM/L5_J1_base/R8_9:
+                {}
+              X1/HEBI_SIM/L5_J2_shoulder/R8_16:
+                {}
+              X1/HEBI_SIM/L5_J3_elbow/R8_9:
+                {}
+              X1/HEBI_SIM/L6_J1_base/R8_9:
+                {}
+              X1/HEBI_SIM/L6_J2_shoulder/R8_16:
+                {}
+              X1/HEBI_SIM/L6_J3_elbow/R8_9:
+                {}
+              X1/L1_J2_shoulder/INPUT_INTERFACE:
+                {}
+              X1/L1_J3_elbow/INPUT_INTERFACE:
+                {}
+              X1/L2_J2_shoulder/INPUT_INTERFACE:
+                {}
+              X1/L2_J3_elbow/INPUT_INTERFACE:
+                {}
+              X1/L3_J2_shoulder/INPUT_INTERFACE:
+                {}
+              X1/L3_J3_elbow/INPUT_INTERFACE:
+                {}
+              X1/L4_J2_shoulder/INPUT_INTERFACE:
+                {}
+              X1/L4_J3_elbow/INPUT_INTERFACE:
+                {}
+              X1/L5_J2_shoulder/INPUT_INTERFACE:
+                {}
+              X1/L5_J3_elbow/INPUT_INTERFACE:
+                {}
+              X1/L6_J2_shoulder/INPUT_INTERFACE:
+                {}
+              X1/L6_J3_elbow/INPUT_INTERFACE:
+                {}
+              X1/ace2_camera_back:
+                X1/ace2_camera_back/camera_back:
+                  X1/ace2_camera_back/camera_back_optical:
+                    {}
+              X1/ace2_camera_front:
+                X1/ace2_camera_front/camera_front:
+                  X1/ace2_camera_front/camera_front_optical:
+                    {}
+              X1/ace2_camera_left:
+                X1/ace2_camera_left/camera_left:
+                  X1/ace2_camera_left/camera_left_optical:
+                    {}
+              X1/ace2_camera_right:
+                X1/ace2_camera_right/camera_right:
+                  X1/ace2_camera_right/camera_right_optical:
+                    {}
+              X1/ace2_camera_up:
+                X1/ace2_camera_up/camera_up:
+                  X1/ace2_camera_up/camera_up_optical:
+                    {}
+              X1/base_link:
+                {}
+              X1/elbow1_foot/INPUT_INTERFACE:
+                {}
+              X1/elbow2_foot/INPUT_INTERFACE:
+                {}
+              X1/elbow3_foot/INPUT_INTERFACE:
+                {}
+              X1/elbow4_foot/INPUT_INTERFACE:
+                {}
+              X1/elbow5_foot/INPUT_INTERFACE:
+                {}
+              X1/elbow6_foot/INPUT_INTERFACE:
+                {}
+              X1/foot1/INPUT_INTERFACE:
+                X1/foot1/INPUT_INTERFACE/contact:
+                  {}
+              X1/foot2/INPUT_INTERFACE:
+                X1/foot2/INPUT_INTERFACE/contact:
+                  {}
+              X1/foot3/INPUT_INTERFACE:
+                X1/foot3/INPUT_INTERFACE/contact:
+                  {}
+              X1/foot4/INPUT_INTERFACE:
+                X1/foot4/INPUT_INTERFACE/contact:
+                  {}
+              X1/foot5/INPUT_INTERFACE:
+                X1/foot5/INPUT_INTERFACE/contact:
+                  {}
+              X1/foot6/INPUT_INTERFACE:
+                X1/foot6/INPUT_INTERFACE/contact:
+                  {}
+              X1/imu_base:
+                X1/imu_base/imu:
+                  {}
+              X1/main_ouster_lidar:
+                X1/main_ouster_lidar/laser:
+                  {}
+              X1/shoulder1_bracket/INPUT_INTERFACE:
+                {}
+              X1/shoulder1_elbow/INPUT_INTERFACE:
+                {}
+              X1/shoulder2_bracket/INPUT_INTERFACE:
+                {}
+              X1/shoulder2_elbow/INPUT_INTERFACE:
+                {}
+              X1/shoulder3_bracket/INPUT_INTERFACE:
+                {}
+              X1/shoulder3_elbow/INPUT_INTERFACE:
+                {}
+              X1/shoulder4_bracket/INPUT_INTERFACE:
+                {}
+              X1/shoulder4_elbow/INPUT_INTERFACE:
+                {}
+              X1/shoulder5_bracket/INPUT_INTERFACE:
+                {}
+              X1/shoulder5_elbow/INPUT_INTERFACE:
+                {}
+              X1/shoulder6_bracket/INPUT_INTERFACE:
+                {}
+              X1/shoulder6_elbow/INPUT_INTERFACE:
+                {}
+      Update Interval: 0
+      Value: true
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz/Grid
+      Color: 160; 160; 164
+      Enabled: true
+      Line Style:
+        Line Width: 0.029999999329447746
+        Value: Lines
+      Name: Base link grid (1 m)
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 10
+      Reference Frame: base_link
+      Value: true
+    - Alpha: 0.5
+      Cell Size: 10
+      Class: rviz/Grid
+      Color: 160; 160; 164
+      Enabled: true
+      Line Style:
+        Line Width: 0.029999999329447746
+        Value: Lines
+      Name: Fixed frame grid (10 m)
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 10
+      Reference Frame: <Fixed Frame>
+      Value: true
+    - Angle Tolerance: 0.10000000149011612
+      Class: rviz/Odometry
+      Covariance:
+        Orientation:
+          Alpha: 0.5
+          Color: 255; 255; 127
+          Color Style: Unique
+          Frame: Local
+          Offset: 1
+          Scale: 1
+          Value: true
+        Position:
+          Alpha: 0.30000001192092896
+          Color: 204; 51; 204
+          Scale: 1
+          Value: true
+        Value: true
+      Enabled: true
+      Keep: 100
+      Name: Odometry
+      Position Tolerance: 0.10000000149011612
+      Shape:
+        Alpha: 1
+        Axes Length: 1
+        Axes Radius: 0.10000000149011612
+        Color: 255; 25; 0
+        Head Length: 0.30000001192092896
+        Head Radius: 0.10000000149011612
+        Shaft Length: 1
+        Shaft Radius: 0.05000000074505806
+        Value: Arrow
+      Topic: imu_odom
+      Unreliable: false
+      Value: true
+    - Class: rviz/Group
+      Displays:
+        - Class: rviz/Image
+          Enabled: true
+          Image Topic: front/image_raw
+          Max Value: 1
+          Median window: 5
+          Min Value: 0
+          Name: Omnicam 0
+          Normalize Range: true
+          Queue Size: 2
+          Transport Hint: raw
+          Unreliable: false
+          Value: true
+        - Class: rviz/Image
+          Enabled: true
+          Image Topic: right/image_raw
+          Max Value: 1
+          Median window: 5
+          Min Value: 0
+          Name: Omnicam 1
+          Normalize Range: true
+          Queue Size: 2
+          Transport Hint: raw
+          Unreliable: false
+          Value: true
+        - Class: rviz/Image
+          Enabled: true
+          Image Topic: back/image_raw
+          Max Value: 1
+          Median window: 5
+          Min Value: 0
+          Name: Omnicam 2
+          Normalize Range: true
+          Queue Size: 2
+          Transport Hint: raw
+          Unreliable: false
+          Value: true
+        - Class: rviz/Image
+          Enabled: true
+          Image Topic: left/image_raw
+          Max Value: 1
+          Median window: 5
+          Min Value: 0
+          Name: Omnicam 3
+          Normalize Range: true
+          Queue Size: 2
+          Transport Hint: raw
+          Unreliable: false
+          Value: true
+        - Class: rviz/Image
+          Enabled: true
+          Image Topic: up/image_raw
+          Max Value: 1
+          Median window: 5
+          Min Value: 0
+          Name: Omnicam 4
+          Normalize Range: true
+          Queue Size: 2
+          Transport Hint: raw
+          Unreliable: false
+          Value: true
+      Enabled: true
+      Name: Omnicam
+    - Alpha: 1
+      Class: rviz_plugin_tutorials/Imu
+      Color: 204; 51; 204
+      Enabled: false
+      History Length: 1
+      Name: Imu
+      Topic: imu/data
+      Unreliable: false
+      Value: false
+    - Alpha: 1
+      Autocompute Intensity Bounds: true
+      Autocompute Value Bounds:
+        Max Value: 19.006067276000977
+        Min Value: -1.8668537139892578
+        Value: true
+      Axis: Z
+      Channel Name: intensity
+      Class: rviz/PointCloud2
+      Color: 255; 255; 255
+      Color Transformer: AxisColor
+      Decay Time: 0
+      Enabled: true
+      Invert Rainbow: false
+      Max Color: 255; 255; 255
+      Max Intensity: 0
+      Min Color: 0; 0; 0
+      Min Intensity: 0
+      Name: PointCloud2
+      Position Transformer: XYZ
+      Queue Size: 10
+      Selectable: true
+      Size (Pixels): 3
+      Size (m): 0.009999999776482582
+      Style: Flat Squares
+      Topic: points
+      Unreliable: false
+      Use Fixed Frame: true
+      Use rainbow: true
+      Value: true
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Default Light: true
+    Fixed Frame: X1
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz/Interact
+      Hide Inactive Objects: true
+    - Class: rviz/MoveCamera
+    - Class: rviz/Select
+    - Class: rviz/FocusCamera
+    - Class: rviz/Measure
+    - Class: rviz/SetInitialPose
+      Theta std deviation: 0.2617993950843811
+      Topic: /initialpose
+      X std deviation: 0.5
+      Y std deviation: 0.5
+    - Class: rviz/SetGoal
+      Topic: /move_base_simple/goal
+    - Class: rviz/PublishPoint
+      Single click: true
+      Topic: /clicked_point
+  Value: true
+  Views:
+    Current:
+      Class: rviz/ThirdPersonFollower
+      Distance: 5.839081764221191
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.05999999865889549
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Focal Point:
+        X: 0.3993658423423767
+        Y: -0.8752089738845825
+        Z: 1.264428829017561e-5
+      Focal Shape Fixed Size: false
+      Focal Shape Size: 0.05000000074505806
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.10000000149011612
+      Pitch: 0.4247961640357971
+      Target Frame: base_link
+      Value: ThirdPersonFollower (rviz)
+      Yaw: 3.8417205810546875
+    Saved:
+      - Class: rviz/Orbit
+        Distance: 5
+        Enable Stereo Rendering:
+          Stereo Eye Separation: 0.05999999865889549
+          Stereo Focal Distance: 1
+          Swap Stereo Eyes: false
+          Value: false
+        Focal Point:
+          X: 0
+          Y: 0
+          Z: 0
+        Focal Shape Fixed Size: false
+        Focal Shape Size: 0.05000000074505806
+        Invert Z Axis: false
+        Name: Robot orbit
+        Near Clip Distance: 0.009999999776482582
+        Pitch: 0.7853981852531433
+        Target Frame: base_link
+        Value: Orbit (rviz)
+        Yaw: 0.785398006439209
+      - Class: rviz/ThirdPersonFollower
+        Distance: 5
+        Enable Stereo Rendering:
+          Stereo Eye Separation: 0.05999999865889549
+          Stereo Focal Distance: 1
+          Swap Stereo Eyes: false
+          Value: false
+        Focal Point:
+          X: 0
+          Y: 0
+          Z: 0
+        Focal Shape Fixed Size: false
+        Focal Shape Size: 0.05000000074505806
+        Invert Z Axis: false
+        Name: Robot 3rd person
+        Near Clip Distance: 3
+        Pitch: 0.25
+        Target Frame: base_link
+        Value: ThirdPersonFollower (rviz)
+        Yaw: 3.141590118408203
+      - Class: rviz/ThirdPersonFollower
+        Distance: 10
+        Enable Stereo Rendering:
+          Stereo Eye Separation: 0.05999999865889549
+          Stereo Focal Distance: 1
+          Swap Stereo Eyes: false
+          Value: false
+        Focal Point:
+          X: 0
+          Y: 0
+          Z: 0
+        Focal Shape Fixed Size: false
+        Focal Shape Size: 0.05000000074505806
+        Invert Z Axis: false
+        Name: Robot top-down
+        Near Clip Distance: 8
+        Pitch: 1.5697963237762451
+        Target Frame: base_link
+        Value: ThirdPersonFollower (rviz)
+        Yaw: 3.141590118408203
+      - Class: rviz/ThirdPersonFollower
+        Distance: 5
+        Enable Stereo Rendering:
+          Stereo Eye Separation: 0.05999999865889549
+          Stereo Focal Distance: 1
+          Swap Stereo Eyes: false
+          Value: false
+        Focal Point:
+          X: 1
+          Y: 0
+          Z: 0
+        Focal Shape Fixed Size: false
+        Focal Shape Size: 0.05000000074505806
+        Invert Z Axis: false
+        Name: Robot left side
+        Near Clip Distance: 4.5
+        Pitch: 0
+        Target Frame: base_link
+        Value: ThirdPersonFollower (rviz)
+        Yaw: 1.5700000524520874
+      - Class: rviz/ThirdPersonFollower
+        Distance: 5
+        Enable Stereo Rendering:
+          Stereo Eye Separation: 0.05999999865889549
+          Stereo Focal Distance: 1
+          Swap Stereo Eyes: false
+          Value: false
+        Focal Point:
+          X: 1
+          Y: 0
+          Z: 0
+        Focal Shape Fixed Size: false
+        Focal Shape Size: 0.05000000074505806
+        Invert Z Axis: false
+        Name: Robot right side
+        Near Clip Distance: 4.5
+        Pitch: 0
+        Target Frame: base_link
+        Value: ThirdPersonFollower (rviz)
+        Yaw: -1.5700000524520874
+      - Class: rviz/FPS
+        Enable Stereo Rendering:
+          Stereo Eye Separation: 0.05999999865889549
+          Stereo Focal Distance: 1
+          Swap Stereo Eyes: false
+          Value: false
+        Invert Z Axis: false
+        Name: Robot top-down
+        Near Clip Distance: 8
+        Pitch: 1.5697963237762451
+        Position:
+          X: 0
+          Y: 0
+          Z: 10
+        Target Frame: base_link
+        Value: FPS (rviz)
+        Yaw: 0
+      - Angle: 0
+        Class: rviz/TopDownOrtho
+        Enable Stereo Rendering:
+          Stereo Eye Separation: 0.05999999865889549
+          Stereo Focal Distance: 1
+          Swap Stereo Eyes: false
+          Value: false
+        Invert Z Axis: false
+        Name: Robot top-down
+        Near Clip Distance: 0.009999999776482582
+        Scale: 100
+        Target Frame: base_link
+        Value: TopDownOrtho (rviz)
+        X: 0
+        Y: 0
+      - Angle: 0
+        Class: rviz/TopDownOrtho
+        Enable Stereo Rendering:
+          Stereo Eye Separation: 0.05999999865889549
+          Stereo Focal Distance: 1
+          Swap Stereo Eyes: false
+          Value: false
+        Invert Z Axis: false
+        Name: Fixed frame top-down
+        Near Clip Distance: 0.009999999776482582
+        Scale: 4
+        Target Frame: <Fixed Frame>
+        Value: TopDownOrtho (rviz)
+        X: 0
+        Y: 0
+      - Class: rviz/FPS
+        Enable Stereo Rendering:
+          Stereo Eye Separation: 0.05999999865889549
+          Stereo Focal Distance: 1
+          Swap Stereo Eyes: false
+          Value: false
+        Invert Z Axis: false
+        Name: Fixed frame 1st person
+        Near Clip Distance: 1
+        Pitch: 1
+        Position:
+          X: -2
+          Y: 0
+          Z: 5
+        Target Frame: <Fixed Frame>
+        Value: FPS (rviz)
+        Yaw: 0
+      - Class: rviz/ThirdPersonFollower
+        Distance: 36.92524719238281
+        Enable Stereo Rendering:
+          Stereo Eye Separation: 0.05999999865889549
+          Stereo Focal Distance: 1
+          Swap Stereo Eyes: false
+          Value: false
+        Focal Point:
+          X: 0.4568486213684082
+          Y: 0.32300829887390137
+          Z: 7.213062417577021e-6
+        Focal Shape Fixed Size: false
+        Focal Shape Size: 0.05000000074505806
+        Invert Z Axis: false
+        Name: ThirdPersonFollower
+        Near Clip Distance: 0.10000000149011612
+        Pitch: 0.5397967100143433
+        Target Frame: base_link
+        Value: ThirdPersonFollower (rviz)
+        Yaw: 6.276592254638672
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 1052
+  Hide Left Dock: false
+  Hide Right Dock: false
+  Omnicam 0:
+    collapsed: false
+  Omnicam 1:
+    collapsed: false
+  Omnicam 2:
+    collapsed: false
+  Omnicam 3:
+    collapsed: false
+  Omnicam 4:
+    collapsed: false
+  QMainWindow State: 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
+  Selection:
+    collapsed: false
+  Time:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: false
+  Width: 1853
+  X: 67
+  Y: 28
diff --git a/submitted_models/ctu_cras_norlab_lily_sensor_config_1/launch/spawner.rb b/submitted_models/ctu_cras_norlab_lily_sensor_config_1/launch/spawner.rb
new file mode 100644
index 00000000..aac4233e
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_lily_sensor_config_1/launch/spawner.rb
@@ -0,0 +1,9 @@
+require_relative 'common.rb'
+
+def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
+  _spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
+end
+
+def rosExecutables(_name, _worldName, _runController=0)
+  _rosExecutables(_name, _worldName, _runController)
+end
\ No newline at end of file
diff --git a/submitted_models/ctu_cras_norlab_lily_sensor_config_1/launch/vehicle_topics.launch b/submitted_models/ctu_cras_norlab_lily_sensor_config_1/launch/vehicle_topics.launch
new file mode 100644
index 00000000..38dd4529
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_lily_sensor_config_1/launch/vehicle_topics.launch
@@ -0,0 +1,102 @@
+<?xml version="1.0"?>
+<launch>
+  <env name="IGN_TRANSPORT_TOPIC_STATISTICS" value="1"/>
+  <arg name="world_name"/>
+  <arg name="name"/>
+  <arg name="link_prefix" value="/world/$(arg world_name)/model/$(arg name)/link"/>
+  <arg name="joint_prefix" value="/model/$(arg name)/joint"/>
+  <!-- use breadcrumbs -->
+  <arg name="breadcrumbs" default="0"/>
+  <arg name="run_controller" default="false" doc="Only to be used in local development. Bridge containers do not have the package." />
+
+  <include file="$(dirname)/description.launch">
+    <arg name="name" value="$(arg name)" />
+  </include>
+
+  <group ns="$(arg name)">
+
+    <!-- Common -->
+
+    <include file="$(find subt_ros)/launch/models_common/all_robots.launch">
+      <arg name="name" value="$(arg name)" />
+      <arg name="world_name" value="$(arg world_name)" />
+    </include>
+
+    <include file="$(find subt_ros)/launch/models_common/all_ugvs.launch">
+      <arg name="name" value="$(arg name)" />
+      <arg name="world_name" value="$(arg world_name)" />
+    </include>
+
+    <!-- Mapping Server -->
+    <include file="$(find subt_ros)/launch/models_common/mapping_server_relays.launch">
+      <arg name="name" value="$(arg name)"/>
+    </include>
+
+    <!-- Leg control -->
+
+    <include file="$(dirname)/leg_topics.launch" pass_all_args="true"><arg name="leg" value="1" /></include>
+    <include file="$(dirname)/leg_topics.launch" pass_all_args="true"><arg name="leg" value="2" /></include>
+    <include file="$(dirname)/leg_topics.launch" pass_all_args="true"><arg name="leg" value="3" /></include>
+    <include file="$(dirname)/leg_topics.launch" pass_all_args="true"><arg name="leg" value="4" /></include>
+    <include file="$(dirname)/leg_topics.launch" pass_all_args="true"><arg name="leg" value="5" /></include>
+    <include file="$(dirname)/leg_topics.launch" pass_all_args="true"><arg name="leg" value="6" /></include>
+
+    <!-- Leg controller - has to be launched from solution container by the participants! -->
+    <!-- The package can be obtained at https://github.com/comrob/ctu_cras_norlab_hexapod_controller -->
+    <include file="$(find hexapod_controller)/launch/lily.launch" if="$(arg run_controller)">
+      <arg name="robot_name" value="$(arg name)"/>
+    </include>
+
+  <!--SENSORS-->
+    
+    <!-- cameras -->
+    <include file="$(dirname)/ace2_camera.launch" pass_all_args="true">
+      <arg name="camera" value="front" />
+    </include>
+    
+    <include file="$(dirname)/ace2_camera.launch" pass_all_args="true">
+      <arg name="camera" value="back" />
+    </include>
+    
+    <include file="$(dirname)/ace2_camera.launch" pass_all_args="true">
+      <arg name="camera" value="left" />
+    </include>
+    
+    <include file="$(dirname)/ace2_camera.launch" pass_all_args="true">
+      <arg name="camera" value="right" />
+    </include>
+
+    <include file="$(dirname)/ace2_camera.launch" pass_all_args="true">
+      <arg name="camera" value="up" />
+    </include>
+
+    <!--LIDAR-->
+    <include file="$(find subt_ros)/launch/models_common/lidar_3d.launch">
+      <arg name="gazebo_topic" value="$(arg link_prefix)/main_ouster_lidar/sensor/laser/scan/points" />
+    </include>
+
+    <!--CONTACTS-->
+    <node name="contacts_manager" pkg="nodelet" type="nodelet" args="manager" respawn="true" />
+    <node name="ros_ign_bridge_leg_contact" pkg="nodelet" type="nodelet" args="load ctu_cras_norlab_lily_sensor_config_1/LogicalContactBridge contacts_manager" respawn="true">
+      <remap from="logical_contacts" to="leg_contacts" />
+      <param name="ign_topic" value="/model/$(arg name)/leg_collisions" />
+    </node>
+
+    <!-- Breadcrumbs -->
+    <include if="$(eval breadcrumbs > 0)" file="$(find subt_ros)/launch/models_common/breadcrumbs.launch">
+      <arg name="name" value="$(arg name)" />
+    </include>
+
+    <!--IMU-->
+    <include file="$(find subt_ros)/launch/models_common/imu.launch">
+      <arg name="gazebo_topic" value="$(arg link_prefix)/imu_base/sensor/imu/imu" />
+    </include>
+  </group>
+
+  <!-- As URDF->SDF conversion "swallows" all fixed joints (and thus static transforms), we need to re-create them from the URDF  -->
+  <!-- Due to an internal limitation of robot_state_publisher, it has to be created in the global namespace. -->
+  <node name="$(anon robot_state_publisher)" pkg="robot_state_publisher" type="robot_state_publisher">
+    <remap from="/tf" to="/nonexistent" /> <!-- published by ign_ros bridge -->
+    <remap from="robot_description" to="/$(arg name)/robot_description" />
+  </node>
+</launch>
diff --git a/submitted_models/ctu_cras_norlab_lily_sensor_config_1/lily.sdf b/submitted_models/ctu_cras_norlab_lily_sensor_config_1/lily.sdf
new file mode 100644
index 00000000..9496c5ff
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_lily_sensor_config_1/lily.sdf
@@ -0,0 +1,7287 @@
+<?xml version='1.0' encoding='utf-8'?>
+<sdf version="1.6">
+  <model name="lily">
+    <link name="base_link">
+      <pose>0 0 0 0 -0 0</pose>
+      <inertial>
+        <pose>-0 -0 0.040962 0 -0 0</pose>
+        <mass>11.11</mass>
+        <inertia>
+          <ixx>0.191595</ixx>
+          <ixy>0.00022057</ixy>
+          <ixz>-3.26559e-15</ixz>
+          <iyy>0.340655</iyy>
+          <iyz>-1.97566e-16</iyz>
+          <izz>0.516001</izz>
+        </inertia>
+      </inertial>
+      <collision name="base_link_collision">
+        <pose>0 0 0.05 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.4 0.2 0.1</size>
+          </box>
+        </geometry>
+        <surface>
+          <contact>
+            <ode/>
+          </contact>
+          <friction>
+            <ode/>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="base_link_fixed_joint_lump__base_to_leg1_link_collision_1">
+        <pose>0.156967 0.090625 -0.01 0.523599 -1.5707963267948966 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.3625</length>
+            <radius>0.015</radius>
+          </cylinder>
+        </geometry>
+      </collision>
+      <collision name="base_link_fixed_joint_lump__L1_J1_base/INPUT_INTERFACE_collision_2">
+        <pose>0.313934 0.18125 0.0251 0 -0 0.523599</pose>
+        <geometry>
+          <cylinder>
+            <length>0.052</length>
+            <radius>0.04</radius>
+          </cylinder>
+        </geometry>
+        <surface>
+          <contact>
+            <ode/>
+          </contact>
+          <friction>
+            <ode/>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="base_link_fixed_joint_lump__L1_J1_base/INPUT_INTERFACE_collision_3">
+        <pose>0.287953 0.16625 0.0251 0 -0 0.523599</pose>
+        <geometry>
+          <box>
+            <size>0.07 0.08 0.052</size>
+          </box>
+        </geometry>
+        <surface>
+          <contact>
+            <ode/>
+          </contact>
+          <friction>
+            <ode/>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="base_link_fixed_joint_lump__L1_J1_base/INPUT_INTERFACE_collision_4">
+        <pose>0.248982 0.14375 0.022 0 -0 0.523599</pose>
+        <geometry>
+          <box>
+            <size>0.05 0.07 0.04</size>
+          </box>
+        </geometry>
+        <surface>
+          <contact>
+            <ode/>
+          </contact>
+          <friction>
+            <ode/>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="base_link_fixed_joint_lump__L1_J1_base/INPUT_INTERFACE_collision_5">
+        <pose>0.220403 0.12725 0.021 0 -0 0.523599</pose>
+        <geometry>
+          <box>
+            <size>0.02 0.05 0.02</size>
+          </box>
+        </geometry>
+        <surface>
+          <contact>
+            <ode/>
+          </contact>
+          <friction>
+            <ode/>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="base_link_fixed_joint_lump__base_to_leg2_link_collision_6">
+        <pose>0.156967 -0.090625 -0.01 -0.523599 -1.5707963267948966 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.3625</length>
+            <radius>0.015</radius>
+          </cylinder>
+        </geometry>
+      </collision>
+      <collision name="base_link_fixed_joint_lump__L2_J1_base/INPUT_INTERFACE_collision_7">
+        <pose>0.313934 -0.18125 0.0251 0 0 -0.523599</pose>
+        <geometry>
+          <cylinder>
+            <length>0.052</length>
+            <radius>0.04</radius>
+          </cylinder>
+        </geometry>
+        <surface>
+          <contact>
+            <ode/>
+          </contact>
+          <friction>
+            <ode/>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="base_link_fixed_joint_lump__L2_J1_base/INPUT_INTERFACE_collision_8">
+        <pose>0.287953 -0.16625 0.0251 0 0 -0.523599</pose>
+        <geometry>
+          <box>
+            <size>0.07 0.08 0.052</size>
+          </box>
+        </geometry>
+        <surface>
+          <contact>
+            <ode/>
+          </contact>
+          <friction>
+            <ode/>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="base_link_fixed_joint_lump__L2_J1_base/INPUT_INTERFACE_collision_9">
+        <pose>0.248982 -0.14375 0.022 0 0 -0.523599</pose>
+        <geometry>
+          <box>
+            <size>0.05 0.07 0.04</size>
+          </box>
+        </geometry>
+        <surface>
+          <contact>
+            <ode/>
+          </contact>
+          <friction>
+            <ode/>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="base_link_fixed_joint_lump__L2_J1_base/INPUT_INTERFACE_collision_10">
+        <pose>0.220403 -0.12725 0.021 0 0 -0.523599</pose>
+        <geometry>
+          <box>
+            <size>0.02 0.05 0.02</size>
+          </box>
+        </geometry>
+        <surface>
+          <contact>
+            <ode/>
+          </contact>
+          <friction>
+            <ode/>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="base_link_fixed_joint_lump__base_to_leg3_link_collision_11">
+        <pose>0 0.13125 -0.01 1.5707963267948966 -1.5707963267948966 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.2625</length>
+            <radius>0.015</radius>
+          </cylinder>
+        </geometry>
+      </collision>
+      <collision name="base_link_fixed_joint_lump__L3_J1_base/INPUT_INTERFACE_collision_12">
+        <pose>0 0.2625 0.0251 0 -0 1.5707963267948966</pose>
+        <geometry>
+          <cylinder>
+            <length>0.052</length>
+            <radius>0.04</radius>
+          </cylinder>
+        </geometry>
+        <surface>
+          <contact>
+            <ode/>
+          </contact>
+          <friction>
+            <ode/>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="base_link_fixed_joint_lump__L3_J1_base/INPUT_INTERFACE_collision_13">
+        <pose>-0 0.2325 0.0251 0 -0 1.5707963267948966</pose>
+        <geometry>
+          <box>
+            <size>0.07 0.08 0.052</size>
+          </box>
+        </geometry>
+        <surface>
+          <contact>
+            <ode/>
+          </contact>
+          <friction>
+            <ode/>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="base_link_fixed_joint_lump__L3_J1_base/INPUT_INTERFACE_collision_14">
+        <pose>-0 0.1875 0.022 0 -0 1.5707963267948966</pose>
+        <geometry>
+          <box>
+            <size>0.05 0.07 0.04</size>
+          </box>
+        </geometry>
+        <surface>
+          <contact>
+            <ode/>
+          </contact>
+          <friction>
+            <ode/>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="base_link_fixed_joint_lump__L3_J1_base/INPUT_INTERFACE_collision_15">
+        <pose>-0 0.1545 0.021 0 -0 1.5707963267948966</pose>
+        <geometry>
+          <box>
+            <size>0.02 0.05 0.02</size>
+          </box>
+        </geometry>
+        <surface>
+          <contact>
+            <ode/>
+          </contact>
+          <friction>
+            <ode/>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="base_link_fixed_joint_lump__base_to_leg4_link_collision_16">
+        <pose>0 -0.13125 -0.01 -1.5707963267948966 -1.5707963267948966 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.2625</length>
+            <radius>0.015</radius>
+          </cylinder>
+        </geometry>
+      </collision>
+      <collision name="base_link_fixed_joint_lump__L4_J1_base/INPUT_INTERFACE_collision_17">
+        <pose>0 -0.2625 0.0251 0 0 -1.5707963267948966</pose>
+        <geometry>
+          <cylinder>
+            <length>0.052</length>
+            <radius>0.04</radius>
+          </cylinder>
+        </geometry>
+        <surface>
+          <contact>
+            <ode/>
+          </contact>
+          <friction>
+            <ode/>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="base_link_fixed_joint_lump__L4_J1_base/INPUT_INTERFACE_collision_18">
+        <pose>-0 -0.2325 0.0251 0 0 -1.5707963267948966</pose>
+        <geometry>
+          <box>
+            <size>0.07 0.08 0.052</size>
+          </box>
+        </geometry>
+        <surface>
+          <contact>
+            <ode/>
+          </contact>
+          <friction>
+            <ode/>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="base_link_fixed_joint_lump__L4_J1_base/INPUT_INTERFACE_collision_19">
+        <pose>-0 -0.1875 0.022 0 0 -1.5707963267948966</pose>
+        <geometry>
+          <box>
+            <size>0.05 0.07 0.04</size>
+          </box>
+        </geometry>
+        <surface>
+          <contact>
+            <ode/>
+          </contact>
+          <friction>
+            <ode/>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="base_link_fixed_joint_lump__L4_J1_base/INPUT_INTERFACE_collision_20">
+        <pose>-0 -0.1545 0.021 0 0 -1.5707963267948966</pose>
+        <geometry>
+          <box>
+            <size>0.02 0.05 0.02</size>
+          </box>
+        </geometry>
+        <surface>
+          <contact>
+            <ode/>
+          </contact>
+          <friction>
+            <ode/>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="base_link_fixed_joint_lump__base_to_leg5_link_collision_21">
+        <pose>-0.156967 0.090625 -0.01 2.61799 -1.5707963267948966 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.3625</length>
+            <radius>0.015</radius>
+          </cylinder>
+        </geometry>
+      </collision>
+      <collision name="base_link_fixed_joint_lump__L5_J1_base/INPUT_INTERFACE_collision_22">
+        <pose>-0.313934 0.18125 0.0251 0 -0 2.61799</pose>
+        <geometry>
+          <cylinder>
+            <length>0.052</length>
+            <radius>0.04</radius>
+          </cylinder>
+        </geometry>
+        <surface>
+          <contact>
+            <ode/>
+          </contact>
+          <friction>
+            <ode/>
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+      </collision>
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+        <pose>-0.248982 0.14375 0.022 0 -0 2.61799</pose>
+        <geometry>
+          <box>
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+            <ode/>
+          </friction>
+        </surface>
+      </collision>
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+        <pose>-0.220403 0.12725 0.021 0 -0 2.61799</pose>
+        <geometry>
+          <box>
+            <size>0.02 0.05 0.02</size>
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+        <surface>
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+            <ode/>
+          </contact>
+          <friction>
+            <ode/>
+          </friction>
+        </surface>
+      </collision>
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+        <pose>-0.156967 -0.090625 -0.01 -2.61799 -1.5707963267948966 0</pose>
+        <geometry>
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+            <radius>0.015</radius>
+          </cylinder>
+        </geometry>
+      </collision>
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+        <pose>-0.313934 -0.18125 0.0251 0 0 -2.61799</pose>
+        <geometry>
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+            <radius>0.04</radius>
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+          <friction>
+            <ode/>
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+        <geometry>
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+        <geometry>
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+          <friction>
+            <ode/>
+          </friction>
+        </surface>
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+        <pose>-0.220403 -0.12725 0.021 0 0 -2.61799</pose>
+        <geometry>
+          <box>
+            <size>0.02 0.05 0.02</size>
+          </box>
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+        <surface>
+          <contact>
+            <ode/>
+          </contact>
+          <friction>
+            <ode/>
+          </friction>
+        </surface>
+      </collision>
+      <visual name="base_link_visual">
+        <pose>0 0 0.1 1.5707963267948966 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>0.001 0.001 0.001</scale>
+            <uri>meshes/body_payload.stl</uri>
+          </mesh>
+        </geometry>
+        <material>
+          <script>
+            <name>Gazebo/Black</name>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+          </script>
+        </material>
+      </visual>
+      <visual name="base_link_fixed_joint_lump__base_to_leg1_link_visual_1">
+        <pose>0.156967 0.090625 -0.01 0.523599 -1.5707963267948966 0</pose>
+        <geometry>
+          <cylinder>
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+            <radius>0.015</radius>
+          </cylinder>
+        </geometry>
+      </visual>
+      <visual name="base_link_fixed_joint_lump__L1_J1_base/INPUT_INTERFACE_visual_2">
+        <pose>0.313934 0.18125 0 0 -0 0.523599</pose>
+        <geometry>
+          <mesh>
+            <scale>0.001 0.001 0.001</scale>
+            <uri>meshes/R8.stl</uri>
+          </mesh>
+        </geometry>
+        <material>
+          <script>
+            <name>Gazebo/Black</name>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+          </script>
+        </material>
+      </visual>
+      <visual name="base_link_fixed_joint_lump__base_to_leg2_link_visual_3">
+        <pose>0.156967 -0.090625 -0.01 -0.523599 -1.5707963267948966 0</pose>
+        <geometry>
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+            <radius>0.015</radius>
+          </cylinder>
+        </geometry>
+      </visual>
+      <visual name="base_link_fixed_joint_lump__L2_J1_base/INPUT_INTERFACE_visual_4">
+        <pose>0.313934 -0.18125 0 0 0 -0.523599</pose>
+        <geometry>
+          <mesh>
+            <scale>0.001 0.001 0.001</scale>
+            <uri>meshes/R8.stl</uri>
+          </mesh>
+        </geometry>
+        <material>
+          <script>
+            <name>Gazebo/Black</name>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+          </script>
+        </material>
+      </visual>
+      <visual name="base_link_fixed_joint_lump__base_to_leg3_link_visual_5">
+        <pose>0 0.13125 -0.01 1.5707963267948966 -1.5707963267948966 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.2625</length>
+            <radius>0.015</radius>
+          </cylinder>
+        </geometry>
+      </visual>
+      <visual name="base_link_fixed_joint_lump__L3_J1_base/INPUT_INTERFACE_visual_6">
+        <pose>0 0.2625 0 0 -0 1.5707963267948966</pose>
+        <geometry>
+          <mesh>
+            <scale>0.001 0.001 0.001</scale>
+            <uri>meshes/R8.stl</uri>
+          </mesh>
+        </geometry>
+        <material>
+          <script>
+            <name>Gazebo/Black</name>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+          </script>
+        </material>
+      </visual>
+      <visual name="base_link_fixed_joint_lump__base_to_leg4_link_visual_7">
+        <pose>0 -0.13125 -0.01 -1.5707963267948966 -1.5707963267948966 0</pose>
+        <geometry>
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+            <radius>0.015</radius>
+          </cylinder>
+        </geometry>
+      </visual>
+      <visual name="base_link_fixed_joint_lump__L4_J1_base/INPUT_INTERFACE_visual_8">
+        <pose>0 -0.2625 0 0 0 -1.5707963267948966</pose>
+        <geometry>
+          <mesh>
+            <scale>0.001 0.001 0.001</scale>
+            <uri>meshes/R8.stl</uri>
+          </mesh>
+        </geometry>
+        <material>
+          <script>
+            <name>Gazebo/Black</name>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+          </script>
+        </material>
+      </visual>
+      <visual name="base_link_fixed_joint_lump__base_to_leg5_link_visual_9">
+        <pose>-0.156967 0.090625 -0.01 2.61799 -1.5707963267948966 0</pose>
+        <geometry>
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+            <radius>0.015</radius>
+          </cylinder>
+        </geometry>
+      </visual>
+      <visual name="base_link_fixed_joint_lump__L5_J1_base/INPUT_INTERFACE_visual_10">
+        <pose>-0.313934 0.18125 0 0 -0 2.61799</pose>
+        <geometry>
+          <mesh>
+            <scale>0.001 0.001 0.001</scale>
+            <uri>meshes/R8.stl</uri>
+          </mesh>
+        </geometry>
+        <material>
+          <script>
+            <name>Gazebo/Black</name>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+          </script>
+        </material>
+      </visual>
+      <visual name="base_link_fixed_joint_lump__base_to_leg6_link_visual_11">
+        <pose>-0.156967 -0.090625 -0.01 -2.61799 -1.5707963267948966 0</pose>
+        <geometry>
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+            <radius>0.015</radius>
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+        </geometry>
+      </visual>
+      <visual name="base_link_fixed_joint_lump__L6_J1_base/INPUT_INTERFACE_visual_12">
+        <pose>-0.313934 -0.18125 0 0 0 -2.61799</pose>
+        <geometry>
+          <mesh>
+            <scale>0.001 0.001 0.001</scale>
+            <uri>meshes/R8.stl</uri>
+          </mesh>
+        </geometry>
+        <material>
+          <script>
+            <name>Gazebo/Black</name>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+          </script>
+        </material>
+      </visual>
+      <velocity_decay/>
+      <light name="light_left" type="spot">
+        <pose>0.02 0.125 0.245 3.1415926535897931 -1.0472 -1.5707963267948966</pose>
+        <cast_shadows>1</cast_shadows>
+        <attenuation>
+          <range>30</range>
+          <linear>0.2</linear>
+          <constant>0.1</constant>
+          <quadratic>0.0025</quadratic>
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+        <diffuse>0.8 0.8 0.5 1</diffuse>
+        <specular>0.8 0.8 0.5 1</specular>
+        <spot>
+          <inner_angle>2.8</inner_angle>
+          <outer_angle>2.9</outer_angle>
+          <falloff>1</falloff>
+        </spot>
+        <direction>0 0 -1</direction>
+      </light>
+      <light name="light_right" type="spot">
+        <pose>-0.18 -0.145 0.245 3.1415926535897931 -1.0472 1.5707963267948966</pose>
+        <cast_shadows>1</cast_shadows>
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+          <linear>0.2</linear>
+          <constant>0.1</constant>
+          <quadratic>0.0025</quadratic>
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+        <diffuse>0.8 0.8 0.5 1</diffuse>
+        <specular>0.8 0.8 0.5 1</specular>
+        <spot>
+          <inner_angle>2.8</inner_angle>
+          <outer_angle>2.9</outer_angle>
+          <falloff>1</falloff>
+        </spot>
+        <direction>0 0 -1</direction>
+      </light>
+      <light name="light_front" type="spot">
+        <pose>0.11 -0.115 0.245 3.1415926535897931 -1.0472 3.1415926535897931</pose>
+        <cast_shadows>1</cast_shadows>
+        <attenuation>
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+          <linear>0.2</linear>
+          <constant>0.1</constant>
+          <quadratic>0.0025</quadratic>
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+        <diffuse>0.8 0.8 0.5 1</diffuse>
+        <specular>0.8 0.8 0.5 1</specular>
+        <spot>
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+          <outer_angle>2.9</outer_angle>
+          <falloff>1</falloff>
+        </spot>
+        <direction>0 0 -1</direction>
+      </light>
+      <light name="light_rear" type="spot">
+        <pose>-0.21 0.115 0.245 3.1415926535897931 -1.0472 -0</pose>
+        <cast_shadows>1</cast_shadows>
+        <attenuation>
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+          <linear>0</linear>
+          <constant>0.2</constant>
+          <quadratic>0.0025</quadratic>
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+        <diffuse>0.8 0.8 0.5 1</diffuse>
+        <specular>0.8 0.8 0.5 1</specular>
+        <spot>
+          <inner_angle>2.8</inner_angle>
+          <outer_angle>2.9</outer_angle>
+          <falloff>1</falloff>
+        </spot>
+        <direction>0 0 -1</direction>
+      </light>
+      <light name="light_up" type="spot">
+        <pose>-0.16 0.04 0.225 0 -0 -1.5707963267948966</pose>
+        <attenuation>
+          <range>60</range>
+          <linear>0</linear>
+          <constant>0.1</constant>
+          <quadratic>0.0025</quadratic>
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+        <diffuse>0.8 0.8 0.5 1</diffuse>
+        <specular>0.8 0.8 0.5 1</specular>
+        <spot>
+          <inner_angle>1.0472</inner_angle>
+          <outer_angle>1.5708</outer_angle>
+          <falloff>1</falloff>
+        </spot>
+        <direction>0 0 -1</direction>
+      </light>
+      <velocity_decay/>
+      <velocity_decay/>
+      <velocity_decay/>
+      <velocity_decay/>
+      <velocity_decay/>
+      <velocity_decay/>
+      <gravity>1</gravity>
+      <velocity_decay/>
+    </link>
+    <link name="ace2_camera_back">
+      <pose>-0.19 0.095 0.205 0 -0.523599 -3.1415926535897931</pose>
+      <inertial>
+        <pose>0 0 0 0 -0 0</pose>
+        <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="ace2_camera_back_visual">
+        <pose>-0.025 0 0 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.0555 0.029 0.029</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <name>Gazebo/Black</name>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+          </script>
+        </material>
+      </visual>
+      <visual name="ace2_camera_back_visual_1">
+        <pose>0.025 0 0 0 1.5707963267948966 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.04</length>
+            <radius>0.0125</radius>
+          </cylinder>
+        </geometry>
+        <material>
+          <script>
+            <name>Gazebo/Black</name>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+          </script>
+        </material>
+      </visual>
+      <velocity_decay/>
+      <gravity>1</gravity>
+      <velocity_decay/>
+      <sensor name="camera_back" type="camera">
+        <pose>0 0 0 0 -0 0</pose>
+        <update_rate>9</update_rate>
+        <visualize>1</visualize>
+        <camera>
+          <horizontal_fov>1.50971</horizontal_fov>
+          <image>
+            <width>1920</width>
+            <height>1200</height>
+            <format>R8G8B8</format>
+          </image>
+          <clip>
+            <near>0.1</near>
+            <far>300</far>
+          </clip>
+          <noise>
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+            <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="back_camera_j" type="fixed">
+      <child>ace2_camera_back</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="L1_J1_base/R8_9">
+      <pose>0.313934 0.18125 0 0 -0 0.523599</pose>
+      <inertial>
+        <pose>0 0 0 0 -0 0</pose>
+        <mass>0.001</mass>
+        <inertia>
+          <ixx>1e-06</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>1e-06</iyy>
+          <iyz>0</iyz>
+          <izz>1e-06</izz>
+        </inertia>
+      </inertial>
+      <visual name="L1_J1_base/R8_9_visual">
+        <pose>-0.03 0 0.02 0 -0 0</pose>
+        <geometry>
+          <sphere>
+            <radius>0.001</radius>
+          </sphere>
+        </geometry>
+      </visual>
+    </link>
+    <joint name="HEBI_SIM_JOINT/L1_J1_base" type="fixed">
+      <child>L1_J1_base/R8_9</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="shoulder1_bracket/INPUT_INTERFACE">
+      <pose>0.313934 0.18125 0.051 0 -0 0.523599</pose>
+      <inertial>
+        <pose>0 -0.01125 0.0275 0 -0 0</pose>
+        <mass>0.215</mass>
+        <inertia>
+          <ixx>0.0003096</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.0003096</iyy>
+          <iyz>0</iyz>
+          <izz>0.0003096</izz>
+        </inertia>
+      </inertial>
+      <collision name="shoulder1_bracket/INPUT_INTERFACE_collision">
+        <pose>0 0 0.01 1.5707963267948966 -0 1.5707963267948966</pose>
+        <geometry>
+          <cylinder>
+            <length>0.011</length>
+            <radius>0.0275</radius>
+          </cylinder>
+        </geometry>
+        <surface>
+          <contact>
+            <ode/>
+          </contact>
+          <friction>
+            <ode/>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="shoulder1_bracket/INPUT_INTERFACE_collision_1">
+        <pose>0 -0.02 0.01 1.5707963267948966 -0 1.5707963267948966</pose>
+        <geometry>
+          <box>
+            <size>0.055 0.04 0.011</size>
+          </box>
+        </geometry>
+        <surface>
+          <contact>
+            <ode/>
+          </contact>
+          <friction>
+            <ode/>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="shoulder1_bracket/INPUT_INTERFACE_collision_2">
+        <pose>0 -0.03 0.035 1.5707963267948966 -0 1.5707963267948966</pose>
+        <geometry>
+          <box>
+            <size>0.12 0.02 0.06</size>
+          </box>
+        </geometry>
+        <surface>
+          <contact>
+            <ode/>
+          </contact>
+          <friction>
+            <ode/>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="shoulder1_bracket/INPUT_INTERFACE_collision_3">
+        <pose>0 -0.03 0.06 -3.1415926535897931 -0 1.5707963267948966</pose>
+        <geometry>
+          <cylinder>
+            <length>0.02</length>
+            <radius>0.0375</radius>
+          </cylinder>
+        </geometry>
+        <surface>
+          <contact>
+            <ode/>
+          </contact>
+          <friction>
+            <ode/>
+          </friction>
+        </surface>
+      </collision>
+      <visual name="shoulder1_bracket/INPUT_INTERFACE_visual">
+        <pose>0 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>0.001 0.001 0.001</scale>
+            <uri>meshes/A-2221-01-Inside.stl</uri>
+          </mesh>
+        </geometry>
+        <material>
+          <script>
+            <name>Gazebo/Black</name>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+          </script>
+        </material>
+      </visual>
+      <gravity>1</gravity>
+      <velocity_decay/>
+    </link>
+    <joint name="L1_J1_base" type="revolute">
+      <child>shoulder1_bracket/INPUT_INTERFACE</child>
+      <parent>base_link</parent>
+      <axis>
+        <xyz>0 0 1</xyz>
+        <limit>
+          <lower>-1e+16</lower>
+          <upper>1e+16</upper>
+        </limit>
+        <dynamics>
+          <damping>0.5</damping>
+          <friction>0.5</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="L1_J2_shoulder/INPUT_INTERFACE">
+      <pose>0.325184 0.161764 0.106 -1.5707963267948966 -0 0.523599</pose>
+      <inertial>
+        <pose>-0.02396 -0.00161 0.02557 0 -0 0</pose>
+        <mass>0.715</mass>
+        <inertia>
+          <ixx>0.000432271</ixx>
+          <ixy>-2.23318e-10</ixy>
+          <ixz>-3.06794e-05</ixz>
+          <iyy>0.00110402</iyy>
+          <iyz>-3.55066e-10</iyz>
+          <izz>0.00127683</izz>
+        </inertia>
+      </inertial>
+      <collision name="L1_J2_shoulder/INPUT_INTERFACE_collision">
+        <pose>0 0 0.0251 0 -0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.052</length>
+            <radius>0.04</radius>
+          </cylinder>
+        </geometry>
+        <surface>
+          <contact>
+            <ode/>
+          </contact>
+          <friction>
+            <ode/>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="L1_J2_shoulder/INPUT_INTERFACE_collision_1">
+        <pose>-0.03 0 0.0251 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.07 0.08 0.052</size>
+          </box>
+        </geometry>
+        <surface>
+          <contact>
+            <ode/>
+          </contact>
+          <friction>
+            <ode/>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="L1_J2_shoulder/INPUT_INTERFACE_collision_2">
+        <pose>-0.075 0 0.022 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.05 0.07 0.04</size>
+          </box>
+        </geometry>
+        <surface>
+          <contact>
+            <ode/>
+          </contact>
+          <friction>
+            <ode/>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="L1_J2_shoulder/INPUT_INTERFACE_collision_3">
+        <pose>-0.108 0 0.021 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.02 0.05 0.02</size>
+          </box>
+        </geometry>
+        <surface>
+          <contact>
+            <ode/>
+          </contact>
+          <friction>
+            <ode/>
+          </friction>
+        </surface>
+      </collision>
+      <visual name="L1_J2_shoulder/INPUT_INTERFACE_visual">
+        <pose>0 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>0.001 0.001 0.001</scale>
+            <uri>meshes/R8.stl</uri>
+          </mesh>
+        </geometry>
+        <material>
+          <script>
+            <name>Gazebo/Black</name>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+          </script>
+        </material>
+      </visual>
+      <gravity>1</gravity>
+      <velocity_decay/>
+    </link>
+    <joint name="shoulder1_bracket/OUTPUT_INTERFACE" type="fixed">
+      <child>L1_J2_shoulder/INPUT_INTERFACE</child>
+      <parent>shoulder1_bracket/INPUT_INTERFACE</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="L1_J2_shoulder/R8_16">
+      <pose>0.325184 0.161764 0.106 -1.5707963267948966 -0 0.523599</pose>
+      <inertial>
+        <pose>0 0 0 0 -0 0</pose>
+        <mass>0.001</mass>
+        <inertia>
+          <ixx>1e-06</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>1e-06</iyy>
+          <iyz>0</iyz>
+          <izz>1e-06</izz>
+        </inertia>
+      </inertial>
+      <visual name="L1_J2_shoulder/R8_16_visual">
+        <pose>-0.03 0 0.02 0 -0 0</pose>
+        <geometry>
+          <sphere>
+            <radius>0.001</radius>
+          </sphere>
+        </geometry>
+      </visual>
+    </link>
+    <joint name="HEBI_SIM_JOINT/L1_J2_shoulder" type="fixed">
+      <child>L1_J2_shoulder/R8_16</child>
+      <parent>L1_J2_shoulder/INPUT_INTERFACE</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="shoulder1_elbow/INPUT_INTERFACE">
+      <pose>0.299684 0.205932 0.106 -1.5707963267948966 -0 0.523599</pose>
+      <inertial>
+        <pose>0.1625 0 0.02 0 -0 0</pose>
+        <mass>0.402</mass>
+        <inertia>
+          <ixx>0</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.00353844</iyy>
+          <iyz>0</iyz>
+          <izz>0.00353844</izz>
+        </inertia>
+      </inertial>
+      <collision name="shoulder1_elbow/INPUT_INTERFACE_collision">
+        <pose>0 0 0.005 0 -0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.011</length>
+            <radius>0.025</radius>
+          </cylinder>
+        </geometry>
+        <surface>
+          <contact>
+            <ode/>
+          </contact>
+          <friction>
+            <ode/>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="shoulder1_elbow/INPUT_INTERFACE_collision_1">
+        <pose>0.025 0 0.02 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.0251 0.05 0.041</size>
+          </box>
+        </geometry>
+        <surface>
+          <contact>
+            <ode/>
+          </contact>
+          <friction>
+            <ode/>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="shoulder1_elbow/INPUT_INTERFACE_collision_2">
+        <pose>0.1625 0 0.02 0 1.5707963267948966 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.2996</length>
+            <radius>0.016</radius>
+          </cylinder>
+        </geometry>
+        <surface>
+          <contact>
+            <ode/>
+          </contact>
+          <friction>
+            <ode/>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="shoulder1_elbow/INPUT_INTERFACE_collision_3">
+        <pose>0.32 -0 0 3.1415926535897931 -0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.011</length>
+            <radius>0.035</radius>
+          </cylinder>
+        </geometry>
+        <surface>
+          <contact>
+            <ode/>
+          </contact>
+          <friction>
+            <ode/>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="shoulder1_elbow/INPUT_INTERFACE_collision_4">
+        <pose>0.3 -0 -0.02 3.1415926535897931 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.025 0.05 0.041</size>
+          </box>
+        </geometry>
+        <surface>
+          <contact>
+            <ode/>
+          </contact>
+          <friction>
+            <ode/>
+          </friction>
+        </surface>
+      </collision>
+      <visual name="shoulder1_elbow/INPUT_INTERFACE_visual">
+        <pose>0 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>meshes/A-2038-02.stl</uri>
+          </mesh>
+        </geometry>
+        <material>
+          <script>
+            <name>Gazebo/Black</name>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+          </script>
+        </material>
+      </visual>
+      <visual name="shoulder1_elbow/INPUT_INTERFACE_visual_1">
+        <pose>0.1625 0 0.02 0 1.5707963267948966 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.2996</length>
+            <radius>0.016</radius>
+          </cylinder>
+        </geometry>
+        <material>
+          <script>
+            <name>Gazebo/Black</name>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+          </script>
+        </material>
+      </visual>
+      <visual name="shoulder1_elbow/INPUT_INTERFACE_visual_2">
+        <pose>0.325 -0 0 3.1415926535897931 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>meshes/A-2039-02.stl</uri>
+          </mesh>
+        </geometry>
+        <material>
+          <script>
+            <name>Gazebo/Black</name>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+          </script>
+        </material>
+      </visual>
+      <gravity>1</gravity>
+      <velocity_decay/>
+    </link>
+    <joint name="L1_J2_shoulder" type="revolute">
+      <child>shoulder1_elbow/INPUT_INTERFACE</child>
+      <parent>L1_J2_shoulder/INPUT_INTERFACE</parent>
+      <axis>
+        <xyz>0 0 1</xyz>
+        <limit>
+          <lower>-1e+16</lower>
+          <upper>1e+16</upper>
+        </limit>
+        <dynamics>
+          <damping>0.5</damping>
+          <friction>0.5</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="L1_J3_elbow/INPUT_INTERFACE">
+      <pose>0.581142 0.368432 0.106 1.5707963267948966 0 0.523599</pose>
+      <inertial>
+        <pose>-0.02396 -0.00161 0.02557 0 -0 0</pose>
+        <mass>0.685</mass>
+        <inertia>
+          <ixx>0.000414134</ixx>
+          <ixy>-2.13948e-10</ixy>
+          <ixz>-2.93921e-05</ixz>
+          <iyy>0.0010577</iyy>
+          <iyz>-3.40168e-10</iyz>
+          <izz>0.00122326</izz>
+        </inertia>
+      </inertial>
+      <collision name="L1_J3_elbow/INPUT_INTERFACE_collision">
+        <pose>0 0 0.0251 0 -0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.052</length>
+            <radius>0.04</radius>
+          </cylinder>
+        </geometry>
+        <surface>
+          <contact>
+            <ode/>
+          </contact>
+          <friction>
+            <ode/>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="L1_J3_elbow/INPUT_INTERFACE_collision_1">
+        <pose>-0.03 0 0.0251 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.07 0.08 0.052</size>
+          </box>
+        </geometry>
+        <surface>
+          <contact>
+            <ode/>
+          </contact>
+          <friction>
+            <ode/>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="L1_J3_elbow/INPUT_INTERFACE_collision_2">
+        <pose>-0.075 0 0.022 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.05 0.07 0.04</size>
+          </box>
+        </geometry>
+        <surface>
+          <contact>
+            <ode/>
+          </contact>
+          <friction>
+            <ode/>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="L1_J3_elbow/INPUT_INTERFACE_collision_3">
+        <pose>-0.108 0 0.021 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.02 0.05 0.02</size>
+          </box>
+        </geometry>
+        <surface>
+          <contact>
+            <ode/>
+          </contact>
+          <friction>
+            <ode/>
+          </friction>
+        </surface>
+      </collision>
+      <visual name="L1_J3_elbow/INPUT_INTERFACE_visual">
+        <pose>0 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>0.001 0.001 0.001</scale>
+            <uri>meshes/R8.stl</uri>
+          </mesh>
+        </geometry>
+        <material>
+          <script>
+            <name>Gazebo/Black</name>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+          </script>
+        </material>
+      </visual>
+      <gravity>1</gravity>
+      <velocity_decay/>
+    </link>
+    <joint name="shoulder1_elbow/OUTPUT_JOINT" type="fixed">
+      <child>L1_J3_elbow/INPUT_INTERFACE</child>
+      <parent>shoulder1_elbow/INPUT_INTERFACE</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="L1_J3_elbow/R8_9">
+      <pose>0.581142 0.368432 0.106 1.5707963267948966 0 0.523599</pose>
+      <inertial>
+        <pose>0 0 0 0 -0 0</pose>
+        <mass>0.001</mass>
+        <inertia>
+          <ixx>1e-06</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>1e-06</iyy>
+          <iyz>0</iyz>
+          <izz>1e-06</izz>
+        </inertia>
+      </inertial>
+      <visual name="L1_J3_elbow/R8_9_visual">
+        <pose>-0.03 0 0.02 0 -0 0</pose>
+        <geometry>
+          <sphere>
+            <radius>0.001</radius>
+          </sphere>
+        </geometry>
+      </visual>
+    </link>
+    <joint name="HEBI_SIM_JOINT/L1_J3_elbow" type="fixed">
+      <child>L1_J3_elbow/R8_9</child>
+      <parent>L1_J3_elbow/INPUT_INTERFACE</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="elbow1_foot/INPUT_INTERFACE">
+      <pose>0.606642 0.324264 0.106 1.5707963267948966 0 0.523599</pose>
+      <inertial>
+        <pose>0.1625 0 0.02 0 -0 0</pose>
+        <mass>0.402</mass>
+        <inertia>
+          <ixx>0</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.00353844</iyy>
+          <iyz>0</iyz>
+          <izz>0.00353844</izz>
+        </inertia>
+      </inertial>
+      <collision name="elbow1_foot/INPUT_INTERFACE_collision">
+        <pose>0 0 0.005 0 -0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.011</length>
+            <radius>0.025</radius>
+          </cylinder>
+        </geometry>
+        <surface>
+          <contact>
+            <ode>
+              <kp>1e+10</kp>
+              <kd>1</kd>
+            </ode>
+          </contact>
+          <friction>
+            <ode>
+              <mu>10</mu>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="elbow1_foot/INPUT_INTERFACE_collision_1">
+        <pose>0.025 0 0.02 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.0251 0.05 0.041</size>
+          </box>
+        </geometry>
+        <surface>
+          <contact>
+            <ode>
+              <kp>1e+10</kp>
+              <kd>1</kd>
+            </ode>
+          </contact>
+          <friction>
+            <ode>
+              <mu>10</mu>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="elbow1_foot/INPUT_INTERFACE_collision_2">
+        <pose>0.1625 0 0.02 0 1.5707963267948966 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.2996</length>
+            <radius>0.016</radius>
+          </cylinder>
+        </geometry>
+        <surface>
+          <contact>
+            <ode>
+              <kp>1e+10</kp>
+              <kd>1</kd>
+            </ode>
+          </contact>
+          <friction>
+            <ode>
+              <mu>10</mu>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="elbow1_foot/INPUT_INTERFACE_collision_3">
+        <pose>0.32 0 0.02 -1.5707963267948966 -0 -1.5707963267948966</pose>
+        <geometry>
+          <cylinder>
+            <length>0.011</length>
+            <radius>0.035</radius>
+          </cylinder>
+        </geometry>
+        <surface>
+          <contact>
+            <ode>
+              <kp>1e+10</kp>
+              <kd>1</kd>
+            </ode>
+          </contact>
+          <friction>
+            <ode>
+              <mu>10</mu>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="elbow1_foot/INPUT_INTERFACE_collision_4">
+        <pose>0.3 0 0 -1.5707963267948966 -0 -1.5707963267948966</pose>
+        <geometry>
+          <box>
+            <size>0.025 0.05 0.041</size>
+          </box>
+        </geometry>
+        <surface>
+          <contact>
+            <ode>
+              <kp>1e+10</kp>
+              <kd>1</kd>
+            </ode>
+          </contact>
+          <friction>
+            <ode>
+              <mu>10</mu>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <visual name="elbow1_foot/INPUT_INTERFACE_visual">
+        <pose>0 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>meshes/A-2038-02.stl</uri>
+          </mesh>
+        </geometry>
+        <material>
+          <script>
+            <name>Gazebo/Black</name>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+          </script>
+        </material>
+      </visual>
+      <visual name="elbow1_foot/INPUT_INTERFACE_visual_1">
+        <pose>0.1625 0 0.02 0 1.5707963267948966 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.2996</length>
+            <radius>0.016</radius>
+          </cylinder>
+        </geometry>
+        <material>
+          <script>
+            <name>Gazebo/Black</name>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+          </script>
+        </material>
+      </visual>
+      <visual name="elbow1_foot/INPUT_INTERFACE_visual_2">
+        <pose>0.325 0 0.02 -1.5707963267948966 -0 -1.5707963267948966</pose>
+        <geometry>
+          <mesh>
+            <scale>0.001 0.001 0.001</scale>
+            <uri>meshes/A-2226-01.stl</uri>
+          </mesh>
+        </geometry>
+        <material>
+          <script>
+            <name>Gazebo/Black</name>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+          </script>
+        </material>
+      </visual>
+      <velocity_decay/>
+      <gravity>1</gravity>
+      <velocity_decay/>
+      <sensor name="contact" type="contact">
+        <contact>
+          <collision>elbow1_foot/INPUT_INTERFACE_collision</collision>
+          <collision>elbow1_foot/INPUT_INTERFACE_collision_1</collision>
+          <collision>elbow1_foot/INPUT_INTERFACE_collision_2</collision>
+          <collision>elbow1_foot/INPUT_INTERFACE_collision_3</collision>
+          <collision>elbow1_foot/INPUT_INTERFACE_collision_4</collision>
+          <topic>__default_topic__</topic>
+        </contact>
+      </sensor>
+    </link>
+    <joint name="L1_J3_elbow" type="revolute">
+      <child>elbow1_foot/INPUT_INTERFACE</child>
+      <parent>L1_J3_elbow/INPUT_INTERFACE</parent>
+      <axis>
+        <xyz>0 0 1</xyz>
+        <limit>
+          <lower>-1e+16</lower>
+          <upper>1e+16</upper>
+        </limit>
+        <dynamics>
+          <damping>0.5</damping>
+          <friction>0.5</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="foot1/INPUT_INTERFACE">
+      <pose>0.898101 0.469444 0.106 -0.523599 1.5707963267948966 0</pose>
+      <inertial>
+        <pose>0 0 0 0 -0 0</pose>
+        <mass>0.06</mass>
+        <inertia>
+          <ixx>0.00024</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.00024</iyy>
+          <iyz>0</iyz>
+          <izz>0.00024</izz>
+        </inertia>
+      </inertial>
+      <visual name="foot1/INPUT_INTERFACE_visual">
+        <pose>0 0 0.0005 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.001 0.001 0.001</size>
+          </box>
+        </geometry>
+      </visual>
+    </link>
+    <joint name="elbow1_foot/OUTPUT_JOINT" type="fixed">
+      <child>foot1/INPUT_INTERFACE</child>
+      <parent>elbow1_foot/INPUT_INTERFACE</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="L2_J1_base/R8_9">
+      <pose>0.313934 -0.18125 0 0 0 -0.523599</pose>
+      <inertial>
+        <pose>0 0 0 0 -0 0</pose>
+        <mass>0.001</mass>
+        <inertia>
+          <ixx>1e-06</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>1e-06</iyy>
+          <iyz>0</iyz>
+          <izz>1e-06</izz>
+        </inertia>
+      </inertial>
+      <visual name="L2_J1_base/R8_9_visual">
+        <pose>-0.03 0 0.02 0 -0 0</pose>
+        <geometry>
+          <sphere>
+            <radius>0.001</radius>
+          </sphere>
+        </geometry>
+      </visual>
+    </link>
+    <joint name="HEBI_SIM_JOINT/L2_J1_base" type="fixed">
+      <child>L2_J1_base/R8_9</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="shoulder2_bracket/INPUT_INTERFACE">
+      <pose>0.313934 -0.18125 0.051 0 0 -0.523599</pose>
+      <inertial>
+        <pose>0 0.01125 0.0275 0 -0 0</pose>
+        <mass>0.215</mass>
+        <inertia>
+          <ixx>0.0003096</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.0003096</iyy>
+          <iyz>0</iyz>
+          <izz>0.0003096</izz>
+        </inertia>
+      </inertial>
+      <collision name="shoulder2_bracket/INPUT_INTERFACE_collision">
+        <pose>0 0 0.01 1.5707963267948966 0 -1.5707963267948966</pose>
+        <geometry>
+          <cylinder>
+            <length>0.011</length>
+            <radius>0.0275</radius>
+          </cylinder>
+        </geometry>
+        <surface>
+          <contact>
+            <ode/>
+          </contact>
+          <friction>
+            <ode/>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="shoulder2_bracket/INPUT_INTERFACE_collision_1">
+        <pose>0 -0.02 0.01 1.5707963267948966 0 -1.5707963267948966</pose>
+        <geometry>
+          <box>
+            <size>0.055 0.04 0.011</size>
+          </box>
+        </geometry>
+        <surface>
+          <contact>
+            <ode/>
+          </contact>
+          <friction>
+            <ode/>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="shoulder2_bracket/INPUT_INTERFACE_collision_2">
+        <pose>0 -0.03 0.035 1.5707963267948966 0 -1.5707963267948966</pose>
+        <geometry>
+          <box>
+            <size>0.12 0.02 0.06</size>
+          </box>
+        </geometry>
+        <surface>
+          <contact>
+            <ode/>
+          </contact>
+          <friction>
+            <ode/>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="shoulder2_bracket/INPUT_INTERFACE_collision_3">
+        <pose>0 -0.03 0.06 -3.1415926535897931 -0 -1.5707963267948966</pose>
+        <geometry>
+          <cylinder>
+            <length>0.02</length>
+            <radius>0.0375</radius>
+          </cylinder>
+        </geometry>
+        <surface>
+          <contact>
+            <ode/>
+          </contact>
+          <friction>
+            <ode/>
+          </friction>
+        </surface>
+      </collision>
+      <visual name="shoulder2_bracket/INPUT_INTERFACE_visual">
+        <pose>0 0 0 0 0 -3.1415926535897931</pose>
+        <geometry>
+          <mesh>
+            <scale>0.001 0.001 0.001</scale>
+            <uri>meshes/A-2221-01-Inside.stl</uri>
+          </mesh>
+        </geometry>
+        <material>
+          <script>
+            <name>Gazebo/Black</name>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+          </script>
+        </material>
+      </visual>
+      <gravity>1</gravity>
+      <velocity_decay/>
+    </link>
+    <joint name="L2_J1_base" type="revolute">
+      <child>shoulder2_bracket/INPUT_INTERFACE</child>
+      <parent>base_link</parent>
+      <axis>
+        <xyz>0 0 1</xyz>
+        <limit>
+          <lower>-1e+16</lower>
+          <upper>1e+16</upper>
+        </limit>
+        <dynamics>
+          <damping>0.5</damping>
+          <friction>0.5</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="L2_J2_shoulder/INPUT_INTERFACE">
+      <pose>0.325184 -0.161764 0.106 1.5707963267948966 -0 -0.523599</pose>
+      <inertial>
+        <pose>-0.02396 -0.00161 0.02557 0 -0 0</pose>
+        <mass>0.715</mass>
+        <inertia>
+          <ixx>0.000432271</ixx>
+          <ixy>-2.23318e-10</ixy>
+          <ixz>-3.06794e-05</ixz>
+          <iyy>0.00110402</iyy>
+          <iyz>-3.55066e-10</iyz>
+          <izz>0.00127683</izz>
+        </inertia>
+      </inertial>
+      <collision name="L2_J2_shoulder/INPUT_INTERFACE_collision">
+        <pose>0 0 0.0251 0 -0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.052</length>
+            <radius>0.04</radius>
+          </cylinder>
+        </geometry>
+        <surface>
+          <contact>
+            <ode/>
+          </contact>
+          <friction>
+            <ode/>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="L2_J2_shoulder/INPUT_INTERFACE_collision_1">
+        <pose>-0.03 0 0.0251 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.07 0.08 0.052</size>
+          </box>
+        </geometry>
+        <surface>
+          <contact>
+            <ode/>
+          </contact>
+          <friction>
+            <ode/>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="L2_J2_shoulder/INPUT_INTERFACE_collision_2">
+        <pose>-0.075 0 0.022 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.05 0.07 0.04</size>
+          </box>
+        </geometry>
+        <surface>
+          <contact>
+            <ode/>
+          </contact>
+          <friction>
+            <ode/>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="L2_J2_shoulder/INPUT_INTERFACE_collision_3">
+        <pose>-0.108 0 0.021 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.02 0.05 0.02</size>
+          </box>
+        </geometry>
+        <surface>
+          <contact>
+            <ode/>
+          </contact>
+          <friction>
+            <ode/>
+          </friction>
+        </surface>
+      </collision>
+      <visual name="L2_J2_shoulder/INPUT_INTERFACE_visual">
+        <pose>0 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>0.001 0.001 0.001</scale>
+            <uri>meshes/R8.stl</uri>
+          </mesh>
+        </geometry>
+        <material>
+          <script>
+            <name>Gazebo/Black</name>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+          </script>
+        </material>
+      </visual>
+      <gravity>1</gravity>
+      <velocity_decay/>
+    </link>
+    <joint name="shoulder2_bracket/OUTPUT_INTERFACE" type="fixed">
+      <child>L2_J2_shoulder/INPUT_INTERFACE</child>
+      <parent>shoulder2_bracket/INPUT_INTERFACE</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="L2_J2_shoulder/R8_16">
+      <pose>0.325184 -0.161764 0.106 1.5707963267948966 -0 -0.523599</pose>
+      <inertial>
+        <pose>0 0 0 0 -0 0</pose>
+        <mass>0.001</mass>
+        <inertia>
+          <ixx>1e-06</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>1e-06</iyy>
+          <iyz>0</iyz>
+          <izz>1e-06</izz>
+        </inertia>
+      </inertial>
+      <visual name="L2_J2_shoulder/R8_16_visual">
+        <pose>-0.03 0 0.02 0 -0 0</pose>
+        <geometry>
+          <sphere>
+            <radius>0.001</radius>
+          </sphere>
+        </geometry>
+      </visual>
+    </link>
+    <joint name="HEBI_SIM_JOINT/L2_J2_shoulder" type="fixed">
+      <child>L2_J2_shoulder/R8_16</child>
+      <parent>L2_J2_shoulder/INPUT_INTERFACE</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="shoulder2_elbow/INPUT_INTERFACE">
+      <pose>0.299684 -0.205932 0.106 1.5707963267948966 -0 -0.523599</pose>
+      <inertial>
+        <pose>0.1625 0 0.02 0 -0 0</pose>
+        <mass>0.402</mass>
+        <inertia>
+          <ixx>0</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.00353844</iyy>
+          <iyz>0</iyz>
+          <izz>0.00353844</izz>
+        </inertia>
+      </inertial>
+      <collision name="shoulder2_elbow/INPUT_INTERFACE_collision">
+        <pose>0 0 0.005 0 -0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.011</length>
+            <radius>0.025</radius>
+          </cylinder>
+        </geometry>
+        <surface>
+          <contact>
+            <ode/>
+          </contact>
+          <friction>
+            <ode/>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="shoulder2_elbow/INPUT_INTERFACE_collision_1">
+        <pose>0.025 0 0.02 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.0251 0.05 0.041</size>
+          </box>
+        </geometry>
+        <surface>
+          <contact>
+            <ode/>
+          </contact>
+          <friction>
+            <ode/>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="shoulder2_elbow/INPUT_INTERFACE_collision_2">
+        <pose>0.1625 0 0.02 0 1.5707963267948966 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.2996</length>
+            <radius>0.016</radius>
+          </cylinder>
+        </geometry>
+        <surface>
+          <contact>
+            <ode/>
+          </contact>
+          <friction>
+            <ode/>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="shoulder2_elbow/INPUT_INTERFACE_collision_3">
+        <pose>0.32 -0 0 3.1415926535897931 -0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.011</length>
+            <radius>0.035</radius>
+          </cylinder>
+        </geometry>
+        <surface>
+          <contact>
+            <ode/>
+          </contact>
+          <friction>
+            <ode/>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="shoulder2_elbow/INPUT_INTERFACE_collision_4">
+        <pose>0.3 -0 -0.02 3.1415926535897931 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.025 0.05 0.041</size>
+          </box>
+        </geometry>
+        <surface>
+          <contact>
+            <ode/>
+          </contact>
+          <friction>
+            <ode/>
+          </friction>
+        </surface>
+      </collision>
+      <visual name="shoulder2_elbow/INPUT_INTERFACE_visual">
+        <pose>0 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>meshes/A-2038-02.stl</uri>
+          </mesh>
+        </geometry>
+        <material>
+          <script>
+            <name>Gazebo/Black</name>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+          </script>
+        </material>
+      </visual>
+      <visual name="shoulder2_elbow/INPUT_INTERFACE_visual_1">
+        <pose>0.1625 0 0.02 0 1.5707963267948966 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.2996</length>
+            <radius>0.016</radius>
+          </cylinder>
+        </geometry>
+        <material>
+          <script>
+            <name>Gazebo/Black</name>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+          </script>
+        </material>
+      </visual>
+      <visual name="shoulder2_elbow/INPUT_INTERFACE_visual_2">
+        <pose>0.325 -0 0 3.1415926535897931 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>meshes/A-2039-02.stl</uri>
+          </mesh>
+        </geometry>
+        <material>
+          <script>
+            <name>Gazebo/Black</name>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+          </script>
+        </material>
+      </visual>
+      <gravity>1</gravity>
+      <velocity_decay/>
+    </link>
+    <joint name="L2_J2_shoulder" type="revolute">
+      <child>shoulder2_elbow/INPUT_INTERFACE</child>
+      <parent>L2_J2_shoulder/INPUT_INTERFACE</parent>
+      <axis>
+        <xyz>0 0 1</xyz>
+        <limit>
+          <lower>-1e+16</lower>
+          <upper>1e+16</upper>
+        </limit>
+        <dynamics>
+          <damping>0.5</damping>
+          <friction>0.5</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="L2_J3_elbow/INPUT_INTERFACE">
+      <pose>0.581142 -0.368432 0.106 -1.5707963267948966 -0 -0.523599</pose>
+      <inertial>
+        <pose>-0.02396 -0.00161 0.02557 0 -0 0</pose>
+        <mass>0.685</mass>
+        <inertia>
+          <ixx>0.000414134</ixx>
+          <ixy>-2.13948e-10</ixy>
+          <ixz>-2.93921e-05</ixz>
+          <iyy>0.0010577</iyy>
+          <iyz>-3.40168e-10</iyz>
+          <izz>0.00122326</izz>
+        </inertia>
+      </inertial>
+      <collision name="L2_J3_elbow/INPUT_INTERFACE_collision">
+        <pose>0 0 0.0251 0 -0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.052</length>
+            <radius>0.04</radius>
+          </cylinder>
+        </geometry>
+        <surface>
+          <contact>
+            <ode/>
+          </contact>
+          <friction>
+            <ode/>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="L2_J3_elbow/INPUT_INTERFACE_collision_1">
+        <pose>-0.03 0 0.0251 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.07 0.08 0.052</size>
+          </box>
+        </geometry>
+        <surface>
+          <contact>
+            <ode/>
+          </contact>
+          <friction>
+            <ode/>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="L2_J3_elbow/INPUT_INTERFACE_collision_2">
+        <pose>-0.075 0 0.022 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.05 0.07 0.04</size>
+          </box>
+        </geometry>
+        <surface>
+          <contact>
+            <ode/>
+          </contact>
+          <friction>
+            <ode/>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="L2_J3_elbow/INPUT_INTERFACE_collision_3">
+        <pose>-0.108 0 0.021 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.02 0.05 0.02</size>
+          </box>
+        </geometry>
+        <surface>
+          <contact>
+            <ode/>
+          </contact>
+          <friction>
+            <ode/>
+          </friction>
+        </surface>
+      </collision>
+      <visual name="L2_J3_elbow/INPUT_INTERFACE_visual">
+        <pose>0 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>0.001 0.001 0.001</scale>
+            <uri>meshes/R8.stl</uri>
+          </mesh>
+        </geometry>
+        <material>
+          <script>
+            <name>Gazebo/Black</name>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+          </script>
+        </material>
+      </visual>
+      <gravity>1</gravity>
+      <velocity_decay/>
+    </link>
+    <joint name="shoulder2_elbow/OUTPUT_JOINT" type="fixed">
+      <child>L2_J3_elbow/INPUT_INTERFACE</child>
+      <parent>shoulder2_elbow/INPUT_INTERFACE</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="L2_J3_elbow/R8_9">
+      <pose>0.581142 -0.368432 0.106 -1.5707963267948966 -0 -0.523599</pose>
+      <inertial>
+        <pose>0 0 0 0 -0 0</pose>
+        <mass>0.001</mass>
+        <inertia>
+          <ixx>1e-06</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>1e-06</iyy>
+          <iyz>0</iyz>
+          <izz>1e-06</izz>
+        </inertia>
+      </inertial>
+      <visual name="L2_J3_elbow/R8_9_visual">
+        <pose>-0.03 0 0.02 0 -0 0</pose>
+        <geometry>
+          <sphere>
+            <radius>0.001</radius>
+          </sphere>
+        </geometry>
+      </visual>
+    </link>
+    <joint name="HEBI_SIM_JOINT/L2_J3_elbow" type="fixed">
+      <child>L2_J3_elbow/R8_9</child>
+      <parent>L2_J3_elbow/INPUT_INTERFACE</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="elbow2_foot/INPUT_INTERFACE">
+      <pose>0.606642 -0.324264 0.106 -1.5707963267948966 -0 -0.523599</pose>
+      <inertial>
+        <pose>0.1625 0 0.02 0 -0 0</pose>
+        <mass>0.402</mass>
+        <inertia>
+          <ixx>0</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.00353844</iyy>
+          <iyz>0</iyz>
+          <izz>0.00353844</izz>
+        </inertia>
+      </inertial>
+      <collision name="elbow2_foot/INPUT_INTERFACE_collision">
+        <pose>0 0 0.005 0 -0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.011</length>
+            <radius>0.025</radius>
+          </cylinder>
+        </geometry>
+        <surface>
+          <contact>
+            <ode>
+              <kp>1e+10</kp>
+              <kd>1</kd>
+            </ode>
+          </contact>
+          <friction>
+            <ode>
+              <mu>10</mu>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="elbow2_foot/INPUT_INTERFACE_collision_1">
+        <pose>0.025 0 0.02 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.0251 0.05 0.041</size>
+          </box>
+        </geometry>
+        <surface>
+          <contact>
+            <ode>
+              <kp>1e+10</kp>
+              <kd>1</kd>
+            </ode>
+          </contact>
+          <friction>
+            <ode>
+              <mu>10</mu>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="elbow2_foot/INPUT_INTERFACE_collision_2">
+        <pose>0.1625 0 0.02 0 1.5707963267948966 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.2996</length>
+            <radius>0.016</radius>
+          </cylinder>
+        </geometry>
+        <surface>
+          <contact>
+            <ode>
+              <kp>1e+10</kp>
+              <kd>1</kd>
+            </ode>
+          </contact>
+          <friction>
+            <ode>
+              <mu>10</mu>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="elbow2_foot/INPUT_INTERFACE_collision_3">
+        <pose>0.32 0 0.02 -1.5707963267948966 -0 -1.5707963267948966</pose>
+        <geometry>
+          <cylinder>
+            <length>0.011</length>
+            <radius>0.035</radius>
+          </cylinder>
+        </geometry>
+        <surface>
+          <contact>
+            <ode>
+              <kp>1e+10</kp>
+              <kd>1</kd>
+            </ode>
+          </contact>
+          <friction>
+            <ode>
+              <mu>10</mu>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="elbow2_foot/INPUT_INTERFACE_collision_4">
+        <pose>0.3 0 0 -1.5707963267948966 -0 -1.5707963267948966</pose>
+        <geometry>
+          <box>
+            <size>0.025 0.05 0.041</size>
+          </box>
+        </geometry>
+        <surface>
+          <contact>
+            <ode>
+              <kp>1e+10</kp>
+              <kd>1</kd>
+            </ode>
+          </contact>
+          <friction>
+            <ode>
+              <mu>10</mu>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <visual name="elbow2_foot/INPUT_INTERFACE_visual">
+        <pose>0 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>meshes/A-2038-02.stl</uri>
+          </mesh>
+        </geometry>
+        <material>
+          <script>
+            <name>Gazebo/Black</name>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+          </script>
+        </material>
+      </visual>
+      <visual name="elbow2_foot/INPUT_INTERFACE_visual_1">
+        <pose>0.1625 0 0.02 0 1.5707963267948966 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.2996</length>
+            <radius>0.016</radius>
+          </cylinder>
+        </geometry>
+        <material>
+          <script>
+            <name>Gazebo/Black</name>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+          </script>
+        </material>
+      </visual>
+      <visual name="elbow2_foot/INPUT_INTERFACE_visual_2">
+        <pose>0.325 0 0.02 -1.5707963267948966 -0 -1.5707963267948966</pose>
+        <geometry>
+          <mesh>
+            <scale>0.001 0.001 0.001</scale>
+            <uri>meshes/A-2226-01.stl</uri>
+          </mesh>
+        </geometry>
+        <material>
+          <script>
+            <name>Gazebo/Black</name>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+          </script>
+        </material>
+      </visual>
+      <velocity_decay/>
+      <gravity>1</gravity>
+      <velocity_decay/>
+      <sensor name="contact" type="contact">
+        <contact>
+          <collision>elbow2_foot/INPUT_INTERFACE_collision</collision>
+          <collision>elbow2_foot/INPUT_INTERFACE_collision_1</collision>
+          <collision>elbow2_foot/INPUT_INTERFACE_collision_2</collision>
+          <collision>elbow2_foot/INPUT_INTERFACE_collision_3</collision>
+          <collision>elbow2_foot/INPUT_INTERFACE_collision_4</collision>
+          <topic>__default_topic__</topic>
+        </contact>
+      </sensor>
+    </link>
+    <joint name="L2_J3_elbow" type="revolute">
+      <child>elbow2_foot/INPUT_INTERFACE</child>
+      <parent>L2_J3_elbow/INPUT_INTERFACE</parent>
+      <axis>
+        <xyz>0 0 1</xyz>
+        <limit>
+          <lower>-1e+16</lower>
+          <upper>1e+16</upper>
+        </limit>
+        <dynamics>
+          <damping>0.5</damping>
+          <friction>0.5</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="foot2/INPUT_INTERFACE">
+      <pose>0.898101 -0.469444 0.106 2.61799 -1.5707963267948966 0</pose>
+      <inertial>
+        <pose>0 0 0 0 -0 0</pose>
+        <mass>0.06</mass>
+        <inertia>
+          <ixx>0.00024</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.00024</iyy>
+          <iyz>0</iyz>
+          <izz>0.00024</izz>
+        </inertia>
+      </inertial>
+      <visual name="foot2/INPUT_INTERFACE_visual">
+        <pose>0 0 0.0005 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.001 0.001 0.001</size>
+          </box>
+        </geometry>
+      </visual>
+    </link>
+    <joint name="elbow2_foot/OUTPUT_JOINT" type="fixed">
+      <child>foot2/INPUT_INTERFACE</child>
+      <parent>elbow2_foot/INPUT_INTERFACE</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="L3_J1_base/R8_9">
+      <pose>0 0.2625 0 0 -0 1.5707963267948966</pose>
+      <inertial>
+        <pose>0 0 0 0 -0 0</pose>
+        <mass>0.001</mass>
+        <inertia>
+          <ixx>1e-06</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>1e-06</iyy>
+          <iyz>0</iyz>
+          <izz>1e-06</izz>
+        </inertia>
+      </inertial>
+      <visual name="L3_J1_base/R8_9_visual">
+        <pose>-0.03 0 0.02 0 -0 0</pose>
+        <geometry>
+          <sphere>
+            <radius>0.001</radius>
+          </sphere>
+        </geometry>
+      </visual>
+    </link>
+    <joint name="HEBI_SIM_JOINT/L3_J1_base" type="fixed">
+      <child>L3_J1_base/R8_9</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="shoulder3_bracket/INPUT_INTERFACE">
+      <pose>0 0.2625 0.051 0 -0 1.5707963267948966</pose>
+      <inertial>
+        <pose>0 -0.01125 0.0275 0 -0 0</pose>
+        <mass>0.215</mass>
+        <inertia>
+          <ixx>0.0003096</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.0003096</iyy>
+          <iyz>0</iyz>
+          <izz>0.0003096</izz>
+        </inertia>
+      </inertial>
+      <collision name="shoulder3_bracket/INPUT_INTERFACE_collision">
+        <pose>0 0 0.01 1.5707963267948966 -0 1.5707963267948966</pose>
+        <geometry>
+          <cylinder>
+            <length>0.011</length>
+            <radius>0.0275</radius>
+          </cylinder>
+        </geometry>
+        <surface>
+          <contact>
+            <ode/>
+          </contact>
+          <friction>
+            <ode/>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="shoulder3_bracket/INPUT_INTERFACE_collision_1">
+        <pose>0 -0.02 0.01 1.5707963267948966 -0 1.5707963267948966</pose>
+        <geometry>
+          <box>
+            <size>0.055 0.04 0.011</size>
+          </box>
+        </geometry>
+        <surface>
+          <contact>
+            <ode/>
+          </contact>
+          <friction>
+            <ode/>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="shoulder3_bracket/INPUT_INTERFACE_collision_2">
+        <pose>0 -0.03 0.035 1.5707963267948966 -0 1.5707963267948966</pose>
+        <geometry>
+          <box>
+            <size>0.12 0.02 0.06</size>
+          </box>
+        </geometry>
+        <surface>
+          <contact>
+            <ode/>
+          </contact>
+          <friction>
+            <ode/>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="shoulder3_bracket/INPUT_INTERFACE_collision_3">
+        <pose>0 -0.03 0.06 -3.1415926535897931 -0 1.5707963267948966</pose>
+        <geometry>
+          <cylinder>
+            <length>0.02</length>
+            <radius>0.0375</radius>
+          </cylinder>
+        </geometry>
+        <surface>
+          <contact>
+            <ode/>
+          </contact>
+          <friction>
+            <ode/>
+          </friction>
+        </surface>
+      </collision>
+      <visual name="shoulder3_bracket/INPUT_INTERFACE_visual">
+        <pose>0 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>0.001 0.001 0.001</scale>
+            <uri>meshes/A-2221-01-Inside.stl</uri>
+          </mesh>
+        </geometry>
+        <material>
+          <script>
+            <name>Gazebo/Black</name>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+          </script>
+        </material>
+      </visual>
+      <gravity>1</gravity>
+      <velocity_decay/>
+    </link>
+    <joint name="L3_J1_base" type="revolute">
+      <child>shoulder3_bracket/INPUT_INTERFACE</child>
+      <parent>base_link</parent>
+      <axis>
+        <xyz>0 0 1</xyz>
+        <limit>
+          <lower>-1e+16</lower>
+          <upper>1e+16</upper>
+        </limit>
+        <dynamics>
+          <damping>0.5</damping>
+          <friction>0.5</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="L3_J2_shoulder/INPUT_INTERFACE">
+      <pose>0.0225 0.2625 0.106 -1.5707963267948966 0 1.5707963267948966</pose>
+      <inertial>
+        <pose>-0.02396 -0.00161 0.02557 0 -0 0</pose>
+        <mass>0.715</mass>
+        <inertia>
+          <ixx>0.000432271</ixx>
+          <ixy>-2.23318e-10</ixy>
+          <ixz>-3.06794e-05</ixz>
+          <iyy>0.00110402</iyy>
+          <iyz>-3.55066e-10</iyz>
+          <izz>0.00127683</izz>
+        </inertia>
+      </inertial>
+      <collision name="L3_J2_shoulder/INPUT_INTERFACE_collision">
+        <pose>0 0 0.0251 0 -0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.052</length>
+            <radius>0.04</radius>
+          </cylinder>
+        </geometry>
+        <surface>
+          <contact>
+            <ode/>
+          </contact>
+          <friction>
+            <ode/>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="L3_J2_shoulder/INPUT_INTERFACE_collision_1">
+        <pose>-0.03 0 0.0251 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.07 0.08 0.052</size>
+          </box>
+        </geometry>
+        <surface>
+          <contact>
+            <ode/>
+          </contact>
+          <friction>
+            <ode/>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="L3_J2_shoulder/INPUT_INTERFACE_collision_2">
+        <pose>-0.075 0 0.022 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.05 0.07 0.04</size>
+          </box>
+        </geometry>
+        <surface>
+          <contact>
+            <ode/>
+          </contact>
+          <friction>
+            <ode/>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="L3_J2_shoulder/INPUT_INTERFACE_collision_3">
+        <pose>-0.108 0 0.021 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.02 0.05 0.02</size>
+          </box>
+        </geometry>
+        <surface>
+          <contact>
+            <ode/>
+          </contact>
+          <friction>
+            <ode/>
+          </friction>
+        </surface>
+      </collision>
+      <visual name="L3_J2_shoulder/INPUT_INTERFACE_visual">
+        <pose>0 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>0.001 0.001 0.001</scale>
+            <uri>meshes/R8.stl</uri>
+          </mesh>
+        </geometry>
+        <material>
+          <script>
+            <name>Gazebo/Black</name>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+          </script>
+        </material>
+      </visual>
+      <gravity>1</gravity>
+      <velocity_decay/>
+    </link>
+    <joint name="shoulder3_bracket/OUTPUT_INTERFACE" type="fixed">
+      <child>L3_J2_shoulder/INPUT_INTERFACE</child>
+      <parent>shoulder3_bracket/INPUT_INTERFACE</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="L3_J2_shoulder/R8_16">
+      <pose>0.0225 0.2625 0.106 -1.5707963267948966 0 1.5707963267948966</pose>
+      <inertial>
+        <pose>0 0 0 0 -0 0</pose>
+        <mass>0.001</mass>
+        <inertia>
+          <ixx>1e-06</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>1e-06</iyy>
+          <iyz>0</iyz>
+          <izz>1e-06</izz>
+        </inertia>
+      </inertial>
+      <visual name="L3_J2_shoulder/R8_16_visual">
+        <pose>-0.03 0 0.02 0 -0 0</pose>
+        <geometry>
+          <sphere>
+            <radius>0.001</radius>
+          </sphere>
+        </geometry>
+      </visual>
+    </link>
+    <joint name="HEBI_SIM_JOINT/L3_J2_shoulder" type="fixed">
+      <child>L3_J2_shoulder/R8_16</child>
+      <parent>L3_J2_shoulder/INPUT_INTERFACE</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="shoulder3_elbow/INPUT_INTERFACE">
+      <pose>-0.0285 0.2625 0.106 -1.5707963267948966 0 1.5707963267948966</pose>
+      <inertial>
+        <pose>0.1625 0 0.02 0 -0 0</pose>
+        <mass>0.402</mass>
+        <inertia>
+          <ixx>0</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.00353844</iyy>
+          <iyz>0</iyz>
+          <izz>0.00353844</izz>
+        </inertia>
+      </inertial>
+      <collision name="shoulder3_elbow/INPUT_INTERFACE_collision">
+        <pose>0 0 0.005 0 -0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.011</length>
+            <radius>0.025</radius>
+          </cylinder>
+        </geometry>
+        <surface>
+          <contact>
+            <ode/>
+          </contact>
+          <friction>
+            <ode/>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="shoulder3_elbow/INPUT_INTERFACE_collision_1">
+        <pose>0.025 0 0.02 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.0251 0.05 0.041</size>
+          </box>
+        </geometry>
+        <surface>
+          <contact>
+            <ode/>
+          </contact>
+          <friction>
+            <ode/>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="shoulder3_elbow/INPUT_INTERFACE_collision_2">
+        <pose>0.1625 0 0.02 0 1.5707963267948966 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.2996</length>
+            <radius>0.016</radius>
+          </cylinder>
+        </geometry>
+        <surface>
+          <contact>
+            <ode/>
+          </contact>
+          <friction>
+            <ode/>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="shoulder3_elbow/INPUT_INTERFACE_collision_3">
+        <pose>0.32 -0 0 3.1415926535897931 -0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.011</length>
+            <radius>0.035</radius>
+          </cylinder>
+        </geometry>
+        <surface>
+          <contact>
+            <ode/>
+          </contact>
+          <friction>
+            <ode/>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="shoulder3_elbow/INPUT_INTERFACE_collision_4">
+        <pose>0.3 -0 -0.02 3.1415926535897931 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.025 0.05 0.041</size>
+          </box>
+        </geometry>
+        <surface>
+          <contact>
+            <ode/>
+          </contact>
+          <friction>
+            <ode/>
+          </friction>
+        </surface>
+      </collision>
+      <visual name="shoulder3_elbow/INPUT_INTERFACE_visual">
+        <pose>0 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>meshes/A-2038-02.stl</uri>
+          </mesh>
+        </geometry>
+        <material>
+          <script>
+            <name>Gazebo/Black</name>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+          </script>
+        </material>
+      </visual>
+      <visual name="shoulder3_elbow/INPUT_INTERFACE_visual_1">
+        <pose>0.1625 0 0.02 0 1.5707963267948966 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.2996</length>
+            <radius>0.016</radius>
+          </cylinder>
+        </geometry>
+        <material>
+          <script>
+            <name>Gazebo/Black</name>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+          </script>
+        </material>
+      </visual>
+      <visual name="shoulder3_elbow/INPUT_INTERFACE_visual_2">
+        <pose>0.325 -0 0 3.1415926535897931 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>meshes/A-2039-02.stl</uri>
+          </mesh>
+        </geometry>
+        <material>
+          <script>
+            <name>Gazebo/Black</name>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+          </script>
+        </material>
+      </visual>
+      <gravity>1</gravity>
+      <velocity_decay/>
+    </link>
+    <joint name="L3_J2_shoulder" type="revolute">
+      <child>shoulder3_elbow/INPUT_INTERFACE</child>
+      <parent>L3_J2_shoulder/INPUT_INTERFACE</parent>
+      <axis>
+        <xyz>0 0 1</xyz>
+        <limit>
+          <lower>-1e+16</lower>
+          <upper>1e+16</upper>
+        </limit>
+        <dynamics>
+          <damping>0.5</damping>
+          <friction>0.5</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="L3_J3_elbow/INPUT_INTERFACE">
+      <pose>-0.0285 0.5875 0.106 1.5707963267948966 -0 1.5707963267948966</pose>
+      <inertial>
+        <pose>-0.02396 -0.00161 0.02557 0 -0 0</pose>
+        <mass>0.685</mass>
+        <inertia>
+          <ixx>0.000414134</ixx>
+          <ixy>-2.13948e-10</ixy>
+          <ixz>-2.93921e-05</ixz>
+          <iyy>0.0010577</iyy>
+          <iyz>-3.40168e-10</iyz>
+          <izz>0.00122326</izz>
+        </inertia>
+      </inertial>
+      <collision name="L3_J3_elbow/INPUT_INTERFACE_collision">
+        <pose>0 0 0.0251 0 -0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.052</length>
+            <radius>0.04</radius>
+          </cylinder>
+        </geometry>
+        <surface>
+          <contact>
+            <ode/>
+          </contact>
+          <friction>
+            <ode/>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="L3_J3_elbow/INPUT_INTERFACE_collision_1">
+        <pose>-0.03 0 0.0251 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.07 0.08 0.052</size>
+          </box>
+        </geometry>
+        <surface>
+          <contact>
+            <ode/>
+          </contact>
+          <friction>
+            <ode/>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="L3_J3_elbow/INPUT_INTERFACE_collision_2">
+        <pose>-0.075 0 0.022 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.05 0.07 0.04</size>
+          </box>
+        </geometry>
+        <surface>
+          <contact>
+            <ode/>
+          </contact>
+          <friction>
+            <ode/>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="L3_J3_elbow/INPUT_INTERFACE_collision_3">
+        <pose>-0.108 0 0.021 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.02 0.05 0.02</size>
+          </box>
+        </geometry>
+        <surface>
+          <contact>
+            <ode/>
+          </contact>
+          <friction>
+            <ode/>
+          </friction>
+        </surface>
+      </collision>
+      <visual name="L3_J3_elbow/INPUT_INTERFACE_visual">
+        <pose>0 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>0.001 0.001 0.001</scale>
+            <uri>meshes/R8.stl</uri>
+          </mesh>
+        </geometry>
+        <material>
+          <script>
+            <name>Gazebo/Black</name>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+          </script>
+        </material>
+      </visual>
+      <gravity>1</gravity>
+      <velocity_decay/>
+    </link>
+    <joint name="shoulder3_elbow/OUTPUT_JOINT" type="fixed">
+      <child>L3_J3_elbow/INPUT_INTERFACE</child>
+      <parent>shoulder3_elbow/INPUT_INTERFACE</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="L3_J3_elbow/R8_9">
+      <pose>-0.0285 0.5875 0.106 1.5707963267948966 -0 1.5707963267948966</pose>
+      <inertial>
+        <pose>0 0 0 0 -0 0</pose>
+        <mass>0.001</mass>
+        <inertia>
+          <ixx>1e-06</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>1e-06</iyy>
+          <iyz>0</iyz>
+          <izz>1e-06</izz>
+        </inertia>
+      </inertial>
+      <visual name="L3_J3_elbow/R8_9_visual">
+        <pose>-0.03 0 0.02 0 -0 0</pose>
+        <geometry>
+          <sphere>
+            <radius>0.001</radius>
+          </sphere>
+        </geometry>
+      </visual>
+    </link>
+    <joint name="HEBI_SIM_JOINT/L3_J3_elbow" type="fixed">
+      <child>L3_J3_elbow/R8_9</child>
+      <parent>L3_J3_elbow/INPUT_INTERFACE</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="elbow3_foot/INPUT_INTERFACE">
+      <pose>0.0225 0.5875 0.106 1.5707963267948966 -0 1.5707963267948966</pose>
+      <inertial>
+        <pose>0.1625 0 0.02 0 -0 0</pose>
+        <mass>0.402</mass>
+        <inertia>
+          <ixx>0</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.00353844</iyy>
+          <iyz>0</iyz>
+          <izz>0.00353844</izz>
+        </inertia>
+      </inertial>
+      <collision name="elbow3_foot/INPUT_INTERFACE_collision">
+        <pose>0 0 0.005 0 -0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.011</length>
+            <radius>0.025</radius>
+          </cylinder>
+        </geometry>
+        <surface>
+          <contact>
+            <ode>
+              <kp>1e+10</kp>
+              <kd>1</kd>
+            </ode>
+          </contact>
+          <friction>
+            <ode>
+              <mu>10</mu>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="elbow3_foot/INPUT_INTERFACE_collision_1">
+        <pose>0.025 0 0.02 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.0251 0.05 0.041</size>
+          </box>
+        </geometry>
+        <surface>
+          <contact>
+            <ode>
+              <kp>1e+10</kp>
+              <kd>1</kd>
+            </ode>
+          </contact>
+          <friction>
+            <ode>
+              <mu>10</mu>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="elbow3_foot/INPUT_INTERFACE_collision_2">
+        <pose>0.1625 0 0.02 0 1.5707963267948966 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.2996</length>
+            <radius>0.016</radius>
+          </cylinder>
+        </geometry>
+        <surface>
+          <contact>
+            <ode>
+              <kp>1e+10</kp>
+              <kd>1</kd>
+            </ode>
+          </contact>
+          <friction>
+            <ode>
+              <mu>10</mu>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="elbow3_foot/INPUT_INTERFACE_collision_3">
+        <pose>0.32 0 0.02 -1.5707963267948966 -0 -1.5707963267948966</pose>
+        <geometry>
+          <cylinder>
+            <length>0.011</length>
+            <radius>0.035</radius>
+          </cylinder>
+        </geometry>
+        <surface>
+          <contact>
+            <ode>
+              <kp>1e+10</kp>
+              <kd>1</kd>
+            </ode>
+          </contact>
+          <friction>
+            <ode>
+              <mu>10</mu>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="elbow3_foot/INPUT_INTERFACE_collision_4">
+        <pose>0.3 0 0 -1.5707963267948966 -0 -1.5707963267948966</pose>
+        <geometry>
+          <box>
+            <size>0.025 0.05 0.041</size>
+          </box>
+        </geometry>
+        <surface>
+          <contact>
+            <ode>
+              <kp>1e+10</kp>
+              <kd>1</kd>
+            </ode>
+          </contact>
+          <friction>
+            <ode>
+              <mu>10</mu>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <visual name="elbow3_foot/INPUT_INTERFACE_visual">
+        <pose>0 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>meshes/A-2038-02.stl</uri>
+          </mesh>
+        </geometry>
+        <material>
+          <script>
+            <name>Gazebo/Black</name>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+          </script>
+        </material>
+      </visual>
+      <visual name="elbow3_foot/INPUT_INTERFACE_visual_1">
+        <pose>0.1625 0 0.02 0 1.5707963267948966 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.2996</length>
+            <radius>0.016</radius>
+          </cylinder>
+        </geometry>
+        <material>
+          <script>
+            <name>Gazebo/Black</name>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+          </script>
+        </material>
+      </visual>
+      <visual name="elbow3_foot/INPUT_INTERFACE_visual_2">
+        <pose>0.325 0 0.02 -1.5707963267948966 -0 -1.5707963267948966</pose>
+        <geometry>
+          <mesh>
+            <scale>0.001 0.001 0.001</scale>
+            <uri>meshes/A-2226-01.stl</uri>
+          </mesh>
+        </geometry>
+        <material>
+          <script>
+            <name>Gazebo/Black</name>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+          </script>
+        </material>
+      </visual>
+      <velocity_decay/>
+      <gravity>1</gravity>
+      <velocity_decay/>
+      <sensor name="contact" type="contact">
+        <contact>
+          <collision>elbow3_foot/INPUT_INTERFACE_collision</collision>
+          <collision>elbow3_foot/INPUT_INTERFACE_collision_1</collision>
+          <collision>elbow3_foot/INPUT_INTERFACE_collision_2</collision>
+          <collision>elbow3_foot/INPUT_INTERFACE_collision_3</collision>
+          <collision>elbow3_foot/INPUT_INTERFACE_collision_4</collision>
+          <topic>__default_topic__</topic>
+        </contact>
+      </sensor>
+    </link>
+    <joint name="L3_J3_elbow" type="revolute">
+      <child>elbow3_foot/INPUT_INTERFACE</child>
+      <parent>L3_J3_elbow/INPUT_INTERFACE</parent>
+      <axis>
+        <xyz>0 0 1</xyz>
+        <limit>
+          <lower>-1e+16</lower>
+          <upper>1e+16</upper>
+        </limit>
+        <dynamics>
+          <damping>0.5</damping>
+          <friction>0.5</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="foot3/INPUT_INTERFACE">
+      <pose>0.0425 0.9125 0.106 -1.5707963267948966 1.5707963267948966 0</pose>
+      <inertial>
+        <pose>0 0 0 0 -0 0</pose>
+        <mass>0.06</mass>
+        <inertia>
+          <ixx>0.00024</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.00024</iyy>
+          <iyz>0</iyz>
+          <izz>0.00024</izz>
+        </inertia>
+      </inertial>
+      <visual name="foot3/INPUT_INTERFACE_visual">
+        <pose>0 0 0.0005 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.001 0.001 0.001</size>
+          </box>
+        </geometry>
+      </visual>
+    </link>
+    <joint name="elbow3_foot/OUTPUT_JOINT" type="fixed">
+      <child>foot3/INPUT_INTERFACE</child>
+      <parent>elbow3_foot/INPUT_INTERFACE</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="L4_J1_base/R8_9">
+      <pose>0 -0.2625 0 0 0 -1.5707963267948966</pose>
+      <inertial>
+        <pose>0 0 0 0 -0 0</pose>
+        <mass>0.001</mass>
+        <inertia>
+          <ixx>1e-06</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>1e-06</iyy>
+          <iyz>0</iyz>
+          <izz>1e-06</izz>
+        </inertia>
+      </inertial>
+      <visual name="L4_J1_base/R8_9_visual">
+        <pose>-0.03 0 0.02 0 -0 0</pose>
+        <geometry>
+          <sphere>
+            <radius>0.001</radius>
+          </sphere>
+        </geometry>
+      </visual>
+    </link>
+    <joint name="HEBI_SIM_JOINT/L4_J1_base" type="fixed">
+      <child>L4_J1_base/R8_9</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="shoulder4_bracket/INPUT_INTERFACE">
+      <pose>0 -0.2625 0.051 0 0 -1.5707963267948966</pose>
+      <inertial>
+        <pose>0 0.01125 0.0275 0 -0 0</pose>
+        <mass>0.215</mass>
+        <inertia>
+          <ixx>0.0003096</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.0003096</iyy>
+          <iyz>0</iyz>
+          <izz>0.0003096</izz>
+        </inertia>
+      </inertial>
+      <collision name="shoulder4_bracket/INPUT_INTERFACE_collision">
+        <pose>0 0 0.01 1.5707963267948966 0 -1.5707963267948966</pose>
+        <geometry>
+          <cylinder>
+            <length>0.011</length>
+            <radius>0.0275</radius>
+          </cylinder>
+        </geometry>
+        <surface>
+          <contact>
+            <ode/>
+          </contact>
+          <friction>
+            <ode/>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="shoulder4_bracket/INPUT_INTERFACE_collision_1">
+        <pose>0 -0.02 0.01 1.5707963267948966 0 -1.5707963267948966</pose>
+        <geometry>
+          <box>
+            <size>0.055 0.04 0.011</size>
+          </box>
+        </geometry>
+        <surface>
+          <contact>
+            <ode/>
+          </contact>
+          <friction>
+            <ode/>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="shoulder4_bracket/INPUT_INTERFACE_collision_2">
+        <pose>0 -0.03 0.035 1.5707963267948966 0 -1.5707963267948966</pose>
+        <geometry>
+          <box>
+            <size>0.12 0.02 0.06</size>
+          </box>
+        </geometry>
+        <surface>
+          <contact>
+            <ode/>
+          </contact>
+          <friction>
+            <ode/>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="shoulder4_bracket/INPUT_INTERFACE_collision_3">
+        <pose>0 -0.03 0.06 -3.1415926535897931 -0 -1.5707963267948966</pose>
+        <geometry>
+          <cylinder>
+            <length>0.02</length>
+            <radius>0.0375</radius>
+          </cylinder>
+        </geometry>
+        <surface>
+          <contact>
+            <ode/>
+          </contact>
+          <friction>
+            <ode/>
+          </friction>
+        </surface>
+      </collision>
+      <visual name="shoulder4_bracket/INPUT_INTERFACE_visual">
+        <pose>0 0 0 0 0 -3.1415926535897931</pose>
+        <geometry>
+          <mesh>
+            <scale>0.001 0.001 0.001</scale>
+            <uri>meshes/A-2221-01-Inside.stl</uri>
+          </mesh>
+        </geometry>
+        <material>
+          <script>
+            <name>Gazebo/Black</name>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+          </script>
+        </material>
+      </visual>
+      <gravity>1</gravity>
+      <velocity_decay/>
+    </link>
+    <joint name="L4_J1_base" type="revolute">
+      <child>shoulder4_bracket/INPUT_INTERFACE</child>
+      <parent>base_link</parent>
+      <axis>
+        <xyz>0 0 1</xyz>
+        <limit>
+          <lower>-1e+16</lower>
+          <upper>1e+16</upper>
+        </limit>
+        <dynamics>
+          <damping>0.5</damping>
+          <friction>0.5</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="L4_J2_shoulder/INPUT_INTERFACE">
+      <pose>0.0225 -0.2625 0.106 1.5707963267948966 0 -1.5707963267948966</pose>
+      <inertial>
+        <pose>-0.02396 -0.00161 0.02557 0 -0 0</pose>
+        <mass>0.715</mass>
+        <inertia>
+          <ixx>0.000432271</ixx>
+          <ixy>-2.23318e-10</ixy>
+          <ixz>-3.06794e-05</ixz>
+          <iyy>0.00110402</iyy>
+          <iyz>-3.55066e-10</iyz>
+          <izz>0.00127683</izz>
+        </inertia>
+      </inertial>
+      <collision name="L4_J2_shoulder/INPUT_INTERFACE_collision">
+        <pose>0 0 0.0251 0 -0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.052</length>
+            <radius>0.04</radius>
+          </cylinder>
+        </geometry>
+        <surface>
+          <contact>
+            <ode/>
+          </contact>
+          <friction>
+            <ode/>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="L4_J2_shoulder/INPUT_INTERFACE_collision_1">
+        <pose>-0.03 0 0.0251 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.07 0.08 0.052</size>
+          </box>
+        </geometry>
+        <surface>
+          <contact>
+            <ode/>
+          </contact>
+          <friction>
+            <ode/>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="L4_J2_shoulder/INPUT_INTERFACE_collision_2">
+        <pose>-0.075 0 0.022 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.05 0.07 0.04</size>
+          </box>
+        </geometry>
+        <surface>
+          <contact>
+            <ode/>
+          </contact>
+          <friction>
+            <ode/>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="L4_J2_shoulder/INPUT_INTERFACE_collision_3">
+        <pose>-0.108 0 0.021 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.02 0.05 0.02</size>
+          </box>
+        </geometry>
+        <surface>
+          <contact>
+            <ode/>
+          </contact>
+          <friction>
+            <ode/>
+          </friction>
+        </surface>
+      </collision>
+      <visual name="L4_J2_shoulder/INPUT_INTERFACE_visual">
+        <pose>0 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>0.001 0.001 0.001</scale>
+            <uri>meshes/R8.stl</uri>
+          </mesh>
+        </geometry>
+        <material>
+          <script>
+            <name>Gazebo/Black</name>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+          </script>
+        </material>
+      </visual>
+      <gravity>1</gravity>
+      <velocity_decay/>
+    </link>
+    <joint name="shoulder4_bracket/OUTPUT_INTERFACE" type="fixed">
+      <child>L4_J2_shoulder/INPUT_INTERFACE</child>
+      <parent>shoulder4_bracket/INPUT_INTERFACE</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="L4_J2_shoulder/R8_16">
+      <pose>0.0225 -0.2625 0.106 1.5707963267948966 0 -1.5707963267948966</pose>
+      <inertial>
+        <pose>0 0 0 0 -0 0</pose>
+        <mass>0.001</mass>
+        <inertia>
+          <ixx>1e-06</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>1e-06</iyy>
+          <iyz>0</iyz>
+          <izz>1e-06</izz>
+        </inertia>
+      </inertial>
+      <visual name="L4_J2_shoulder/R8_16_visual">
+        <pose>-0.03 0 0.02 0 -0 0</pose>
+        <geometry>
+          <sphere>
+            <radius>0.001</radius>
+          </sphere>
+        </geometry>
+      </visual>
+    </link>
+    <joint name="HEBI_SIM_JOINT/L4_J2_shoulder" type="fixed">
+      <child>L4_J2_shoulder/R8_16</child>
+      <parent>L4_J2_shoulder/INPUT_INTERFACE</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="shoulder4_elbow/INPUT_INTERFACE">
+      <pose>-0.0285 -0.2625 0.106 1.5707963267948966 0 -1.5707963267948966</pose>
+      <inertial>
+        <pose>0.1625 0 0.02 0 -0 0</pose>
+        <mass>0.402</mass>
+        <inertia>
+          <ixx>0</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.00353844</iyy>
+          <iyz>0</iyz>
+          <izz>0.00353844</izz>
+        </inertia>
+      </inertial>
+      <collision name="shoulder4_elbow/INPUT_INTERFACE_collision">
+        <pose>0 0 0.005 0 -0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.011</length>
+            <radius>0.025</radius>
+          </cylinder>
+        </geometry>
+        <surface>
+          <contact>
+            <ode/>
+          </contact>
+          <friction>
+            <ode/>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="shoulder4_elbow/INPUT_INTERFACE_collision_1">
+        <pose>0.025 0 0.02 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.0251 0.05 0.041</size>
+          </box>
+        </geometry>
+        <surface>
+          <contact>
+            <ode/>
+          </contact>
+          <friction>
+            <ode/>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="shoulder4_elbow/INPUT_INTERFACE_collision_2">
+        <pose>0.1625 0 0.02 0 1.5707963267948966 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.2996</length>
+            <radius>0.016</radius>
+          </cylinder>
+        </geometry>
+        <surface>
+          <contact>
+            <ode/>
+          </contact>
+          <friction>
+            <ode/>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="shoulder4_elbow/INPUT_INTERFACE_collision_3">
+        <pose>0.32 -0 0 3.1415926535897931 -0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.011</length>
+            <radius>0.035</radius>
+          </cylinder>
+        </geometry>
+        <surface>
+          <contact>
+            <ode/>
+          </contact>
+          <friction>
+            <ode/>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="shoulder4_elbow/INPUT_INTERFACE_collision_4">
+        <pose>0.3 -0 -0.02 3.1415926535897931 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.025 0.05 0.041</size>
+          </box>
+        </geometry>
+        <surface>
+          <contact>
+            <ode/>
+          </contact>
+          <friction>
+            <ode/>
+          </friction>
+        </surface>
+      </collision>
+      <visual name="shoulder4_elbow/INPUT_INTERFACE_visual">
+        <pose>0 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>meshes/A-2038-02.stl</uri>
+          </mesh>
+        </geometry>
+        <material>
+          <script>
+            <name>Gazebo/Black</name>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+          </script>
+        </material>
+      </visual>
+      <visual name="shoulder4_elbow/INPUT_INTERFACE_visual_1">
+        <pose>0.1625 0 0.02 0 1.5707963267948966 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.2996</length>
+            <radius>0.016</radius>
+          </cylinder>
+        </geometry>
+        <material>
+          <script>
+            <name>Gazebo/Black</name>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+          </script>
+        </material>
+      </visual>
+      <visual name="shoulder4_elbow/INPUT_INTERFACE_visual_2">
+        <pose>0.325 -0 0 3.1415926535897931 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>meshes/A-2039-02.stl</uri>
+          </mesh>
+        </geometry>
+        <material>
+          <script>
+            <name>Gazebo/Black</name>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+          </script>
+        </material>
+      </visual>
+      <gravity>1</gravity>
+      <velocity_decay/>
+    </link>
+    <joint name="L4_J2_shoulder" type="revolute">
+      <child>shoulder4_elbow/INPUT_INTERFACE</child>
+      <parent>L4_J2_shoulder/INPUT_INTERFACE</parent>
+      <axis>
+        <xyz>0 0 1</xyz>
+        <limit>
+          <lower>-1e+16</lower>
+          <upper>1e+16</upper>
+        </limit>
+        <dynamics>
+          <damping>0.5</damping>
+          <friction>0.5</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="L4_J3_elbow/INPUT_INTERFACE">
+      <pose>-0.0285 -0.5875 0.106 -1.5707963267948966 0 -1.5707963267948966</pose>
+      <inertial>
+        <pose>-0.02396 -0.00161 0.02557 0 -0 0</pose>
+        <mass>0.685</mass>
+        <inertia>
+          <ixx>0.000414134</ixx>
+          <ixy>-2.13948e-10</ixy>
+          <ixz>-2.93921e-05</ixz>
+          <iyy>0.0010577</iyy>
+          <iyz>-3.40168e-10</iyz>
+          <izz>0.00122326</izz>
+        </inertia>
+      </inertial>
+      <collision name="L4_J3_elbow/INPUT_INTERFACE_collision">
+        <pose>0 0 0.0251 0 -0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.052</length>
+            <radius>0.04</radius>
+          </cylinder>
+        </geometry>
+        <surface>
+          <contact>
+            <ode/>
+          </contact>
+          <friction>
+            <ode/>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="L4_J3_elbow/INPUT_INTERFACE_collision_1">
+        <pose>-0.03 0 0.0251 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.07 0.08 0.052</size>
+          </box>
+        </geometry>
+        <surface>
+          <contact>
+            <ode/>
+          </contact>
+          <friction>
+            <ode/>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="L4_J3_elbow/INPUT_INTERFACE_collision_2">
+        <pose>-0.075 0 0.022 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.05 0.07 0.04</size>
+          </box>
+        </geometry>
+        <surface>
+          <contact>
+            <ode/>
+          </contact>
+          <friction>
+            <ode/>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="L4_J3_elbow/INPUT_INTERFACE_collision_3">
+        <pose>-0.108 0 0.021 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.02 0.05 0.02</size>
+          </box>
+        </geometry>
+        <surface>
+          <contact>
+            <ode/>
+          </contact>
+          <friction>
+            <ode/>
+          </friction>
+        </surface>
+      </collision>
+      <visual name="L4_J3_elbow/INPUT_INTERFACE_visual">
+        <pose>0 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>0.001 0.001 0.001</scale>
+            <uri>meshes/R8.stl</uri>
+          </mesh>
+        </geometry>
+        <material>
+          <script>
+            <name>Gazebo/Black</name>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+          </script>
+        </material>
+      </visual>
+      <gravity>1</gravity>
+      <velocity_decay/>
+    </link>
+    <joint name="shoulder4_elbow/OUTPUT_JOINT" type="fixed">
+      <child>L4_J3_elbow/INPUT_INTERFACE</child>
+      <parent>shoulder4_elbow/INPUT_INTERFACE</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="L4_J3_elbow/R8_9">
+      <pose>-0.0285 -0.5875 0.106 -1.5707963267948966 0 -1.5707963267948966</pose>
+      <inertial>
+        <pose>0 0 0 0 -0 0</pose>
+        <mass>0.001</mass>
+        <inertia>
+          <ixx>1e-06</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>1e-06</iyy>
+          <iyz>0</iyz>
+          <izz>1e-06</izz>
+        </inertia>
+      </inertial>
+      <visual name="L4_J3_elbow/R8_9_visual">
+        <pose>-0.03 0 0.02 0 -0 0</pose>
+        <geometry>
+          <sphere>
+            <radius>0.001</radius>
+          </sphere>
+        </geometry>
+      </visual>
+    </link>
+    <joint name="HEBI_SIM_JOINT/L4_J3_elbow" type="fixed">
+      <child>L4_J3_elbow/R8_9</child>
+      <parent>L4_J3_elbow/INPUT_INTERFACE</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="elbow4_foot/INPUT_INTERFACE">
+      <pose>0.0225 -0.5875 0.106 -1.5707963267948966 0 -1.5707963267948966</pose>
+      <inertial>
+        <pose>0.1625 0 0.02 0 -0 0</pose>
+        <mass>0.402</mass>
+        <inertia>
+          <ixx>0</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.00353844</iyy>
+          <iyz>0</iyz>
+          <izz>0.00353844</izz>
+        </inertia>
+      </inertial>
+      <collision name="elbow4_foot/INPUT_INTERFACE_collision">
+        <pose>0 0 0.005 0 -0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.011</length>
+            <radius>0.025</radius>
+          </cylinder>
+        </geometry>
+        <surface>
+          <contact>
+            <ode>
+              <kp>1e+10</kp>
+              <kd>1</kd>
+            </ode>
+          </contact>
+          <friction>
+            <ode>
+              <mu>10</mu>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="elbow4_foot/INPUT_INTERFACE_collision_1">
+        <pose>0.025 0 0.02 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.0251 0.05 0.041</size>
+          </box>
+        </geometry>
+        <surface>
+          <contact>
+            <ode>
+              <kp>1e+10</kp>
+              <kd>1</kd>
+            </ode>
+          </contact>
+          <friction>
+            <ode>
+              <mu>10</mu>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="elbow4_foot/INPUT_INTERFACE_collision_2">
+        <pose>0.1625 0 0.02 0 1.5707963267948966 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.2996</length>
+            <radius>0.016</radius>
+          </cylinder>
+        </geometry>
+        <surface>
+          <contact>
+            <ode>
+              <kp>1e+10</kp>
+              <kd>1</kd>
+            </ode>
+          </contact>
+          <friction>
+            <ode>
+              <mu>10</mu>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="elbow4_foot/INPUT_INTERFACE_collision_3">
+        <pose>0.32 0 0.02 -1.5707963267948966 -0 -1.5707963267948966</pose>
+        <geometry>
+          <cylinder>
+            <length>0.011</length>
+            <radius>0.035</radius>
+          </cylinder>
+        </geometry>
+        <surface>
+          <contact>
+            <ode>
+              <kp>1e+10</kp>
+              <kd>1</kd>
+            </ode>
+          </contact>
+          <friction>
+            <ode>
+              <mu>10</mu>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="elbow4_foot/INPUT_INTERFACE_collision_4">
+        <pose>0.3 0 0 -1.5707963267948966 -0 -1.5707963267948966</pose>
+        <geometry>
+          <box>
+            <size>0.025 0.05 0.041</size>
+          </box>
+        </geometry>
+        <surface>
+          <contact>
+            <ode>
+              <kp>1e+10</kp>
+              <kd>1</kd>
+            </ode>
+          </contact>
+          <friction>
+            <ode>
+              <mu>10</mu>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <visual name="elbow4_foot/INPUT_INTERFACE_visual">
+        <pose>0 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>meshes/A-2038-02.stl</uri>
+          </mesh>
+        </geometry>
+        <material>
+          <script>
+            <name>Gazebo/Black</name>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+          </script>
+        </material>
+      </visual>
+      <visual name="elbow4_foot/INPUT_INTERFACE_visual_1">
+        <pose>0.1625 0 0.02 0 1.5707963267948966 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.2996</length>
+            <radius>0.016</radius>
+          </cylinder>
+        </geometry>
+        <material>
+          <script>
+            <name>Gazebo/Black</name>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+          </script>
+        </material>
+      </visual>
+      <visual name="elbow4_foot/INPUT_INTERFACE_visual_2">
+        <pose>0.325 0 0.02 -1.5707963267948966 -0 -1.5707963267948966</pose>
+        <geometry>
+          <mesh>
+            <scale>0.001 0.001 0.001</scale>
+            <uri>meshes/A-2226-01.stl</uri>
+          </mesh>
+        </geometry>
+        <material>
+          <script>
+            <name>Gazebo/Black</name>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+          </script>
+        </material>
+      </visual>
+      <velocity_decay/>
+      <gravity>1</gravity>
+      <velocity_decay/>
+      <sensor name="contact" type="contact">
+        <contact>
+          <collision>elbow4_foot/INPUT_INTERFACE_collision</collision>
+          <collision>elbow4_foot/INPUT_INTERFACE_collision_1</collision>
+          <collision>elbow4_foot/INPUT_INTERFACE_collision_2</collision>
+          <collision>elbow4_foot/INPUT_INTERFACE_collision_3</collision>
+          <collision>elbow4_foot/INPUT_INTERFACE_collision_4</collision>
+          <topic>__default_topic__</topic>
+        </contact>
+      </sensor>
+    </link>
+    <joint name="L4_J3_elbow" type="revolute">
+      <child>elbow4_foot/INPUT_INTERFACE</child>
+      <parent>L4_J3_elbow/INPUT_INTERFACE</parent>
+      <axis>
+        <xyz>0 0 1</xyz>
+        <limit>
+          <lower>-1e+16</lower>
+          <upper>1e+16</upper>
+        </limit>
+        <dynamics>
+          <damping>0.5</damping>
+          <friction>0.5</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="foot4/INPUT_INTERFACE">
+      <pose>0.0425 -0.9125 0.106 1.5707963267948966 -1.5707963267948966 0</pose>
+      <inertial>
+        <pose>0 0 0 0 -0 0</pose>
+        <mass>0.06</mass>
+        <inertia>
+          <ixx>0.00024</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.00024</iyy>
+          <iyz>0</iyz>
+          <izz>0.00024</izz>
+        </inertia>
+      </inertial>
+      <visual name="foot4/INPUT_INTERFACE_visual">
+        <pose>0 0 0.0005 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.001 0.001 0.001</size>
+          </box>
+        </geometry>
+      </visual>
+    </link>
+    <joint name="elbow4_foot/OUTPUT_JOINT" type="fixed">
+      <child>foot4/INPUT_INTERFACE</child>
+      <parent>elbow4_foot/INPUT_INTERFACE</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="L5_J1_base/R8_9">
+      <pose>-0.313934 0.18125 0 0 -0 2.61799</pose>
+      <inertial>
+        <pose>0 0 0 0 -0 0</pose>
+        <mass>0.001</mass>
+        <inertia>
+          <ixx>1e-06</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>1e-06</iyy>
+          <iyz>0</iyz>
+          <izz>1e-06</izz>
+        </inertia>
+      </inertial>
+      <visual name="L5_J1_base/R8_9_visual">
+        <pose>-0.03 0 0.02 0 -0 0</pose>
+        <geometry>
+          <sphere>
+            <radius>0.001</radius>
+          </sphere>
+        </geometry>
+      </visual>
+    </link>
+    <joint name="HEBI_SIM_JOINT/L5_J1_base" type="fixed">
+      <child>L5_J1_base/R8_9</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="shoulder5_bracket/INPUT_INTERFACE">
+      <pose>-0.313934 0.18125 0.051 0 -0 2.61799</pose>
+      <inertial>
+        <pose>0 -0.01125 0.0275 0 -0 0</pose>
+        <mass>0.215</mass>
+        <inertia>
+          <ixx>0.0003096</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.0003096</iyy>
+          <iyz>0</iyz>
+          <izz>0.0003096</izz>
+        </inertia>
+      </inertial>
+      <collision name="shoulder5_bracket/INPUT_INTERFACE_collision">
+        <pose>0 0 0.01 1.5707963267948966 -0 1.5707963267948966</pose>
+        <geometry>
+          <cylinder>
+            <length>0.011</length>
+            <radius>0.0275</radius>
+          </cylinder>
+        </geometry>
+        <surface>
+          <contact>
+            <ode/>
+          </contact>
+          <friction>
+            <ode/>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="shoulder5_bracket/INPUT_INTERFACE_collision_1">
+        <pose>0 -0.02 0.01 1.5707963267948966 -0 1.5707963267948966</pose>
+        <geometry>
+          <box>
+            <size>0.055 0.04 0.011</size>
+          </box>
+        </geometry>
+        <surface>
+          <contact>
+            <ode/>
+          </contact>
+          <friction>
+            <ode/>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="shoulder5_bracket/INPUT_INTERFACE_collision_2">
+        <pose>0 -0.03 0.035 1.5707963267948966 -0 1.5707963267948966</pose>
+        <geometry>
+          <box>
+            <size>0.12 0.02 0.06</size>
+          </box>
+        </geometry>
+        <surface>
+          <contact>
+            <ode/>
+          </contact>
+          <friction>
+            <ode/>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="shoulder5_bracket/INPUT_INTERFACE_collision_3">
+        <pose>0 -0.03 0.06 -3.1415926535897931 -0 1.5707963267948966</pose>
+        <geometry>
+          <cylinder>
+            <length>0.02</length>
+            <radius>0.0375</radius>
+          </cylinder>
+        </geometry>
+        <surface>
+          <contact>
+            <ode/>
+          </contact>
+          <friction>
+            <ode/>
+          </friction>
+        </surface>
+      </collision>
+      <visual name="shoulder5_bracket/INPUT_INTERFACE_visual">
+        <pose>0 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>0.001 0.001 0.001</scale>
+            <uri>meshes/A-2221-01-Inside.stl</uri>
+          </mesh>
+        </geometry>
+        <material>
+          <script>
+            <name>Gazebo/Black</name>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+          </script>
+        </material>
+      </visual>
+      <gravity>1</gravity>
+      <velocity_decay/>
+    </link>
+    <joint name="L5_J1_base" type="revolute">
+      <child>shoulder5_bracket/INPUT_INTERFACE</child>
+      <parent>base_link</parent>
+      <axis>
+        <xyz>0 0 1</xyz>
+        <limit>
+          <lower>-1e+16</lower>
+          <upper>1e+16</upper>
+        </limit>
+        <dynamics>
+          <damping>0.5</damping>
+          <friction>0.5</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="L5_J2_shoulder/INPUT_INTERFACE">
+      <pose>-0.302684 0.200736 0.106 -1.5707963267948966 -0 2.61799</pose>
+      <inertial>
+        <pose>-0.02396 -0.00161 0.02557 0 -0 0</pose>
+        <mass>0.715</mass>
+        <inertia>
+          <ixx>0.000432271</ixx>
+          <ixy>-2.23318e-10</ixy>
+          <ixz>-3.06794e-05</ixz>
+          <iyy>0.00110402</iyy>
+          <iyz>-3.55066e-10</iyz>
+          <izz>0.00127683</izz>
+        </inertia>
+      </inertial>
+      <collision name="L5_J2_shoulder/INPUT_INTERFACE_collision">
+        <pose>0 0 0.0251 0 -0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.052</length>
+            <radius>0.04</radius>
+          </cylinder>
+        </geometry>
+        <surface>
+          <contact>
+            <ode/>
+          </contact>
+          <friction>
+            <ode/>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="L5_J2_shoulder/INPUT_INTERFACE_collision_1">
+        <pose>-0.03 0 0.0251 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.07 0.08 0.052</size>
+          </box>
+        </geometry>
+        <surface>
+          <contact>
+            <ode/>
+          </contact>
+          <friction>
+            <ode/>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="L5_J2_shoulder/INPUT_INTERFACE_collision_2">
+        <pose>-0.075 0 0.022 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.05 0.07 0.04</size>
+          </box>
+        </geometry>
+        <surface>
+          <contact>
+            <ode/>
+          </contact>
+          <friction>
+            <ode/>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="L5_J2_shoulder/INPUT_INTERFACE_collision_3">
+        <pose>-0.108 0 0.021 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.02 0.05 0.02</size>
+          </box>
+        </geometry>
+        <surface>
+          <contact>
+            <ode/>
+          </contact>
+          <friction>
+            <ode/>
+          </friction>
+        </surface>
+      </collision>
+      <visual name="L5_J2_shoulder/INPUT_INTERFACE_visual">
+        <pose>0 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>0.001 0.001 0.001</scale>
+            <uri>meshes/R8.stl</uri>
+          </mesh>
+        </geometry>
+        <material>
+          <script>
+            <name>Gazebo/Black</name>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+          </script>
+        </material>
+      </visual>
+      <gravity>1</gravity>
+      <velocity_decay/>
+    </link>
+    <joint name="shoulder5_bracket/OUTPUT_INTERFACE" type="fixed">
+      <child>L5_J2_shoulder/INPUT_INTERFACE</child>
+      <parent>shoulder5_bracket/INPUT_INTERFACE</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="L5_J2_shoulder/R8_16">
+      <pose>-0.302684 0.200736 0.106 -1.5707963267948966 -0 2.61799</pose>
+      <inertial>
+        <pose>0 0 0 0 -0 0</pose>
+        <mass>0.001</mass>
+        <inertia>
+          <ixx>1e-06</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>1e-06</iyy>
+          <iyz>0</iyz>
+          <izz>1e-06</izz>
+        </inertia>
+      </inertial>
+      <visual name="L5_J2_shoulder/R8_16_visual">
+        <pose>-0.03 0 0.02 0 -0 0</pose>
+        <geometry>
+          <sphere>
+            <radius>0.001</radius>
+          </sphere>
+        </geometry>
+      </visual>
+    </link>
+    <joint name="HEBI_SIM_JOINT/L5_J2_shoulder" type="fixed">
+      <child>L5_J2_shoulder/R8_16</child>
+      <parent>L5_J2_shoulder/INPUT_INTERFACE</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="shoulder5_elbow/INPUT_INTERFACE">
+      <pose>-0.328184 0.156568 0.106 -1.5707963267948966 -0 2.61799</pose>
+      <inertial>
+        <pose>0.1625 0 0.02 0 -0 0</pose>
+        <mass>0.402</mass>
+        <inertia>
+          <ixx>0</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.00353844</iyy>
+          <iyz>0</iyz>
+          <izz>0.00353844</izz>
+        </inertia>
+      </inertial>
+      <collision name="shoulder5_elbow/INPUT_INTERFACE_collision">
+        <pose>0 0 0.005 0 -0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.011</length>
+            <radius>0.025</radius>
+          </cylinder>
+        </geometry>
+        <surface>
+          <contact>
+            <ode/>
+          </contact>
+          <friction>
+            <ode/>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="shoulder5_elbow/INPUT_INTERFACE_collision_1">
+        <pose>0.025 0 0.02 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.0251 0.05 0.041</size>
+          </box>
+        </geometry>
+        <surface>
+          <contact>
+            <ode/>
+          </contact>
+          <friction>
+            <ode/>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="shoulder5_elbow/INPUT_INTERFACE_collision_2">
+        <pose>0.1625 0 0.02 0 1.5707963267948966 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.2996</length>
+            <radius>0.016</radius>
+          </cylinder>
+        </geometry>
+        <surface>
+          <contact>
+            <ode/>
+          </contact>
+          <friction>
+            <ode/>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="shoulder5_elbow/INPUT_INTERFACE_collision_3">
+        <pose>0.32 -0 0 3.1415926535897931 -0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.011</length>
+            <radius>0.035</radius>
+          </cylinder>
+        </geometry>
+        <surface>
+          <contact>
+            <ode/>
+          </contact>
+          <friction>
+            <ode/>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="shoulder5_elbow/INPUT_INTERFACE_collision_4">
+        <pose>0.3 -0 -0.02 3.1415926535897931 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.025 0.05 0.041</size>
+          </box>
+        </geometry>
+        <surface>
+          <contact>
+            <ode/>
+          </contact>
+          <friction>
+            <ode/>
+          </friction>
+        </surface>
+      </collision>
+      <visual name="shoulder5_elbow/INPUT_INTERFACE_visual">
+        <pose>0 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>meshes/A-2038-02.stl</uri>
+          </mesh>
+        </geometry>
+        <material>
+          <script>
+            <name>Gazebo/Black</name>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+          </script>
+        </material>
+      </visual>
+      <visual name="shoulder5_elbow/INPUT_INTERFACE_visual_1">
+        <pose>0.1625 0 0.02 0 1.5707963267948966 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.2996</length>
+            <radius>0.016</radius>
+          </cylinder>
+        </geometry>
+        <material>
+          <script>
+            <name>Gazebo/Black</name>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+          </script>
+        </material>
+      </visual>
+      <visual name="shoulder5_elbow/INPUT_INTERFACE_visual_2">
+        <pose>0.325 -0 0 3.1415926535897931 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>meshes/A-2039-02.stl</uri>
+          </mesh>
+        </geometry>
+        <material>
+          <script>
+            <name>Gazebo/Black</name>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+          </script>
+        </material>
+      </visual>
+      <gravity>1</gravity>
+      <velocity_decay/>
+    </link>
+    <joint name="L5_J2_shoulder" type="revolute">
+      <child>shoulder5_elbow/INPUT_INTERFACE</child>
+      <parent>L5_J2_shoulder/INPUT_INTERFACE</parent>
+      <axis>
+        <xyz>0 0 1</xyz>
+        <limit>
+          <lower>-1e+16</lower>
+          <upper>1e+16</upper>
+        </limit>
+        <dynamics>
+          <damping>0.5</damping>
+          <friction>0.5</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="L5_J3_elbow/INPUT_INTERFACE">
+      <pose>-0.609642 0.319068 0.106 1.5707963267948966 -0 2.61799</pose>
+      <inertial>
+        <pose>-0.02396 -0.00161 0.02557 0 -0 0</pose>
+        <mass>0.685</mass>
+        <inertia>
+          <ixx>0.000414134</ixx>
+          <ixy>-2.13948e-10</ixy>
+          <ixz>-2.93921e-05</ixz>
+          <iyy>0.0010577</iyy>
+          <iyz>-3.40168e-10</iyz>
+          <izz>0.00122326</izz>
+        </inertia>
+      </inertial>
+      <collision name="L5_J3_elbow/INPUT_INTERFACE_collision">
+        <pose>0 0 0.0251 0 -0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.052</length>
+            <radius>0.04</radius>
+          </cylinder>
+        </geometry>
+        <surface>
+          <contact>
+            <ode/>
+          </contact>
+          <friction>
+            <ode/>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="L5_J3_elbow/INPUT_INTERFACE_collision_1">
+        <pose>-0.03 0 0.0251 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.07 0.08 0.052</size>
+          </box>
+        </geometry>
+        <surface>
+          <contact>
+            <ode/>
+          </contact>
+          <friction>
+            <ode/>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="L5_J3_elbow/INPUT_INTERFACE_collision_2">
+        <pose>-0.075 0 0.022 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.05 0.07 0.04</size>
+          </box>
+        </geometry>
+        <surface>
+          <contact>
+            <ode/>
+          </contact>
+          <friction>
+            <ode/>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="L5_J3_elbow/INPUT_INTERFACE_collision_3">
+        <pose>-0.108 0 0.021 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.02 0.05 0.02</size>
+          </box>
+        </geometry>
+        <surface>
+          <contact>
+            <ode/>
+          </contact>
+          <friction>
+            <ode/>
+          </friction>
+        </surface>
+      </collision>
+      <visual name="L5_J3_elbow/INPUT_INTERFACE_visual">
+        <pose>0 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>0.001 0.001 0.001</scale>
+            <uri>meshes/R8.stl</uri>
+          </mesh>
+        </geometry>
+        <material>
+          <script>
+            <name>Gazebo/Black</name>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+          </script>
+        </material>
+      </visual>
+      <gravity>1</gravity>
+      <velocity_decay/>
+    </link>
+    <joint name="shoulder5_elbow/OUTPUT_JOINT" type="fixed">
+      <child>L5_J3_elbow/INPUT_INTERFACE</child>
+      <parent>shoulder5_elbow/INPUT_INTERFACE</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="L5_J3_elbow/R8_9">
+      <pose>-0.609642 0.319068 0.106 1.5707963267948966 -0 2.61799</pose>
+      <inertial>
+        <pose>0 0 0 0 -0 0</pose>
+        <mass>0.001</mass>
+        <inertia>
+          <ixx>1e-06</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>1e-06</iyy>
+          <iyz>0</iyz>
+          <izz>1e-06</izz>
+        </inertia>
+      </inertial>
+      <visual name="L5_J3_elbow/R8_9_visual">
+        <pose>-0.03 0 0.02 0 -0 0</pose>
+        <geometry>
+          <sphere>
+            <radius>0.001</radius>
+          </sphere>
+        </geometry>
+      </visual>
+    </link>
+    <joint name="HEBI_SIM_JOINT/L5_J3_elbow" type="fixed">
+      <child>L5_J3_elbow/R8_9</child>
+      <parent>L5_J3_elbow/INPUT_INTERFACE</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="elbow5_foot/INPUT_INTERFACE">
+      <pose>-0.584142 0.363236 0.106 1.5707963267948966 -0 2.61799</pose>
+      <inertial>
+        <pose>0.1625 0 0.02 0 -0 0</pose>
+        <mass>0.402</mass>
+        <inertia>
+          <ixx>0</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.00353844</iyy>
+          <iyz>0</iyz>
+          <izz>0.00353844</izz>
+        </inertia>
+      </inertial>
+      <collision name="elbow5_foot/INPUT_INTERFACE_collision">
+        <pose>0 0 0.005 0 -0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.011</length>
+            <radius>0.025</radius>
+          </cylinder>
+        </geometry>
+        <surface>
+          <contact>
+            <ode>
+              <kp>1e+10</kp>
+              <kd>1</kd>
+            </ode>
+          </contact>
+          <friction>
+            <ode>
+              <mu>10</mu>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="elbow5_foot/INPUT_INTERFACE_collision_1">
+        <pose>0.025 0 0.02 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.0251 0.05 0.041</size>
+          </box>
+        </geometry>
+        <surface>
+          <contact>
+            <ode>
+              <kp>1e+10</kp>
+              <kd>1</kd>
+            </ode>
+          </contact>
+          <friction>
+            <ode>
+              <mu>10</mu>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="elbow5_foot/INPUT_INTERFACE_collision_2">
+        <pose>0.1625 0 0.02 0 1.5707963267948966 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.2996</length>
+            <radius>0.016</radius>
+          </cylinder>
+        </geometry>
+        <surface>
+          <contact>
+            <ode>
+              <kp>1e+10</kp>
+              <kd>1</kd>
+            </ode>
+          </contact>
+          <friction>
+            <ode>
+              <mu>10</mu>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="elbow5_foot/INPUT_INTERFACE_collision_3">
+        <pose>0.32 0 0.02 -1.5707963267948966 -0 -1.5707963267948966</pose>
+        <geometry>
+          <cylinder>
+            <length>0.011</length>
+            <radius>0.035</radius>
+          </cylinder>
+        </geometry>
+        <surface>
+          <contact>
+            <ode>
+              <kp>1e+10</kp>
+              <kd>1</kd>
+            </ode>
+          </contact>
+          <friction>
+            <ode>
+              <mu>10</mu>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="elbow5_foot/INPUT_INTERFACE_collision_4">
+        <pose>0.3 0 0 -1.5707963267948966 -0 -1.5707963267948966</pose>
+        <geometry>
+          <box>
+            <size>0.025 0.05 0.041</size>
+          </box>
+        </geometry>
+        <surface>
+          <contact>
+            <ode>
+              <kp>1e+10</kp>
+              <kd>1</kd>
+            </ode>
+          </contact>
+          <friction>
+            <ode>
+              <mu>10</mu>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <visual name="elbow5_foot/INPUT_INTERFACE_visual">
+        <pose>0 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>meshes/A-2038-02.stl</uri>
+          </mesh>
+        </geometry>
+        <material>
+          <script>
+            <name>Gazebo/Black</name>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+          </script>
+        </material>
+      </visual>
+      <visual name="elbow5_foot/INPUT_INTERFACE_visual_1">
+        <pose>0.1625 0 0.02 0 1.5707963267948966 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.2996</length>
+            <radius>0.016</radius>
+          </cylinder>
+        </geometry>
+        <material>
+          <script>
+            <name>Gazebo/Black</name>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+          </script>
+        </material>
+      </visual>
+      <visual name="elbow5_foot/INPUT_INTERFACE_visual_2">
+        <pose>0.325 0 0.02 -1.5707963267948966 -0 -1.5707963267948966</pose>
+        <geometry>
+          <mesh>
+            <scale>0.001 0.001 0.001</scale>
+            <uri>meshes/A-2226-01.stl</uri>
+          </mesh>
+        </geometry>
+        <material>
+          <script>
+            <name>Gazebo/Black</name>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+          </script>
+        </material>
+      </visual>
+      <velocity_decay/>
+      <gravity>1</gravity>
+      <velocity_decay/>
+      <sensor name="contact" type="contact">
+        <contact>
+          <collision>elbow5_foot/INPUT_INTERFACE_collision</collision>
+          <collision>elbow5_foot/INPUT_INTERFACE_collision_1</collision>
+          <collision>elbow5_foot/INPUT_INTERFACE_collision_2</collision>
+          <collision>elbow5_foot/INPUT_INTERFACE_collision_3</collision>
+          <collision>elbow5_foot/INPUT_INTERFACE_collision_4</collision>
+          <topic>__default_topic__</topic>
+        </contact>
+      </sensor>
+    </link>
+    <joint name="L5_J3_elbow" type="revolute">
+      <child>elbow5_foot/INPUT_INTERFACE</child>
+      <parent>L5_J3_elbow/INPUT_INTERFACE</parent>
+      <axis>
+        <xyz>0 0 1</xyz>
+        <limit>
+          <lower>-1e+16</lower>
+          <upper>1e+16</upper>
+        </limit>
+        <dynamics>
+          <damping>0.5</damping>
+          <friction>0.5</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="foot5/INPUT_INTERFACE">
+      <pose>-0.855601 0.543056 0.106 -2.61799 1.5707963267948966 0</pose>
+      <inertial>
+        <pose>0 0 0 0 -0 0</pose>
+        <mass>0.06</mass>
+        <inertia>
+          <ixx>0.00024</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.00024</iyy>
+          <iyz>0</iyz>
+          <izz>0.00024</izz>
+        </inertia>
+      </inertial>
+      <visual name="foot5/INPUT_INTERFACE_visual">
+        <pose>0 0 0.0005 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.001 0.001 0.001</size>
+          </box>
+        </geometry>
+      </visual>
+    </link>
+    <joint name="elbow5_foot/OUTPUT_JOINT" type="fixed">
+      <child>foot5/INPUT_INTERFACE</child>
+      <parent>elbow5_foot/INPUT_INTERFACE</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="L6_J1_base/R8_9">
+      <pose>-0.313934 -0.18125 0 0 0 -2.61799</pose>
+      <inertial>
+        <pose>0 0 0 0 -0 0</pose>
+        <mass>0.001</mass>
+        <inertia>
+          <ixx>1e-06</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>1e-06</iyy>
+          <iyz>0</iyz>
+          <izz>1e-06</izz>
+        </inertia>
+      </inertial>
+      <visual name="L6_J1_base/R8_9_visual">
+        <pose>-0.03 0 0.02 0 -0 0</pose>
+        <geometry>
+          <sphere>
+            <radius>0.001</radius>
+          </sphere>
+        </geometry>
+      </visual>
+    </link>
+    <joint name="HEBI_SIM_JOINT/L6_J1_base" type="fixed">
+      <child>L6_J1_base/R8_9</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="shoulder6_bracket/INPUT_INTERFACE">
+      <pose>-0.313934 -0.18125 0.051 0 0 -2.61799</pose>
+      <inertial>
+        <pose>0 0.01125 0.0275 0 -0 0</pose>
+        <mass>0.215</mass>
+        <inertia>
+          <ixx>0.0003096</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.0003096</iyy>
+          <iyz>0</iyz>
+          <izz>0.0003096</izz>
+        </inertia>
+      </inertial>
+      <collision name="shoulder6_bracket/INPUT_INTERFACE_collision">
+        <pose>0 0 0.01 1.5707963267948966 0 -1.5707963267948966</pose>
+        <geometry>
+          <cylinder>
+            <length>0.011</length>
+            <radius>0.0275</radius>
+          </cylinder>
+        </geometry>
+        <surface>
+          <contact>
+            <ode/>
+          </contact>
+          <friction>
+            <ode/>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="shoulder6_bracket/INPUT_INTERFACE_collision_1">
+        <pose>0 -0.02 0.01 1.5707963267948966 0 -1.5707963267948966</pose>
+        <geometry>
+          <box>
+            <size>0.055 0.04 0.011</size>
+          </box>
+        </geometry>
+        <surface>
+          <contact>
+            <ode/>
+          </contact>
+          <friction>
+            <ode/>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="shoulder6_bracket/INPUT_INTERFACE_collision_2">
+        <pose>0 -0.03 0.035 1.5707963267948966 0 -1.5707963267948966</pose>
+        <geometry>
+          <box>
+            <size>0.12 0.02 0.06</size>
+          </box>
+        </geometry>
+        <surface>
+          <contact>
+            <ode/>
+          </contact>
+          <friction>
+            <ode/>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="shoulder6_bracket/INPUT_INTERFACE_collision_3">
+        <pose>0 -0.03 0.06 -3.1415926535897931 -0 -1.5707963267948966</pose>
+        <geometry>
+          <cylinder>
+            <length>0.02</length>
+            <radius>0.0375</radius>
+          </cylinder>
+        </geometry>
+        <surface>
+          <contact>
+            <ode/>
+          </contact>
+          <friction>
+            <ode/>
+          </friction>
+        </surface>
+      </collision>
+      <visual name="shoulder6_bracket/INPUT_INTERFACE_visual">
+        <pose>0 0 0 0 0 -3.1415926535897931</pose>
+        <geometry>
+          <mesh>
+            <scale>0.001 0.001 0.001</scale>
+            <uri>meshes/A-2221-01-Inside.stl</uri>
+          </mesh>
+        </geometry>
+        <material>
+          <script>
+            <name>Gazebo/Black</name>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+          </script>
+        </material>
+      </visual>
+      <gravity>1</gravity>
+      <velocity_decay/>
+    </link>
+    <joint name="L6_J1_base" type="revolute">
+      <child>shoulder6_bracket/INPUT_INTERFACE</child>
+      <parent>base_link</parent>
+      <axis>
+        <xyz>0 0 1</xyz>
+        <limit>
+          <lower>-1e+16</lower>
+          <upper>1e+16</upper>
+        </limit>
+        <dynamics>
+          <damping>0.5</damping>
+          <friction>0.5</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="L6_J2_shoulder/INPUT_INTERFACE">
+      <pose>-0.302684 -0.200736 0.106 1.5707963267948966 -0 -2.61799</pose>
+      <inertial>
+        <pose>-0.02396 -0.00161 0.02557 0 -0 0</pose>
+        <mass>0.715</mass>
+        <inertia>
+          <ixx>0.000432271</ixx>
+          <ixy>-2.23318e-10</ixy>
+          <ixz>-3.06794e-05</ixz>
+          <iyy>0.00110402</iyy>
+          <iyz>-3.55066e-10</iyz>
+          <izz>0.00127683</izz>
+        </inertia>
+      </inertial>
+      <collision name="L6_J2_shoulder/INPUT_INTERFACE_collision">
+        <pose>0 0 0.0251 0 -0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.052</length>
+            <radius>0.04</radius>
+          </cylinder>
+        </geometry>
+        <surface>
+          <contact>
+            <ode/>
+          </contact>
+          <friction>
+            <ode/>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="L6_J2_shoulder/INPUT_INTERFACE_collision_1">
+        <pose>-0.03 0 0.0251 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.07 0.08 0.052</size>
+          </box>
+        </geometry>
+        <surface>
+          <contact>
+            <ode/>
+          </contact>
+          <friction>
+            <ode/>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="L6_J2_shoulder/INPUT_INTERFACE_collision_2">
+        <pose>-0.075 0 0.022 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.05 0.07 0.04</size>
+          </box>
+        </geometry>
+        <surface>
+          <contact>
+            <ode/>
+          </contact>
+          <friction>
+            <ode/>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="L6_J2_shoulder/INPUT_INTERFACE_collision_3">
+        <pose>-0.108 0 0.021 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.02 0.05 0.02</size>
+          </box>
+        </geometry>
+        <surface>
+          <contact>
+            <ode/>
+          </contact>
+          <friction>
+            <ode/>
+          </friction>
+        </surface>
+      </collision>
+      <visual name="L6_J2_shoulder/INPUT_INTERFACE_visual">
+        <pose>0 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>0.001 0.001 0.001</scale>
+            <uri>meshes/R8.stl</uri>
+          </mesh>
+        </geometry>
+        <material>
+          <script>
+            <name>Gazebo/Black</name>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+          </script>
+        </material>
+      </visual>
+      <gravity>1</gravity>
+      <velocity_decay/>
+    </link>
+    <joint name="shoulder6_bracket/OUTPUT_INTERFACE" type="fixed">
+      <child>L6_J2_shoulder/INPUT_INTERFACE</child>
+      <parent>shoulder6_bracket/INPUT_INTERFACE</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="L6_J2_shoulder/R8_16">
+      <pose>-0.302684 -0.200736 0.106 1.5707963267948966 -0 -2.61799</pose>
+      <inertial>
+        <pose>0 0 0 0 -0 0</pose>
+        <mass>0.001</mass>
+        <inertia>
+          <ixx>1e-06</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>1e-06</iyy>
+          <iyz>0</iyz>
+          <izz>1e-06</izz>
+        </inertia>
+      </inertial>
+      <visual name="L6_J2_shoulder/R8_16_visual">
+        <pose>-0.03 0 0.02 0 -0 0</pose>
+        <geometry>
+          <sphere>
+            <radius>0.001</radius>
+          </sphere>
+        </geometry>
+      </visual>
+    </link>
+    <joint name="HEBI_SIM_JOINT/L6_J2_shoulder" type="fixed">
+      <child>L6_J2_shoulder/R8_16</child>
+      <parent>L6_J2_shoulder/INPUT_INTERFACE</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="shoulder6_elbow/INPUT_INTERFACE">
+      <pose>-0.328184 -0.156568 0.106 1.5707963267948966 -0 -2.61799</pose>
+      <inertial>
+        <pose>0.1625 0 0.02 0 -0 0</pose>
+        <mass>0.402</mass>
+        <inertia>
+          <ixx>0</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.00353844</iyy>
+          <iyz>0</iyz>
+          <izz>0.00353844</izz>
+        </inertia>
+      </inertial>
+      <collision name="shoulder6_elbow/INPUT_INTERFACE_collision">
+        <pose>0 0 0.005 0 -0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.011</length>
+            <radius>0.025</radius>
+          </cylinder>
+        </geometry>
+        <surface>
+          <contact>
+            <ode/>
+          </contact>
+          <friction>
+            <ode/>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="shoulder6_elbow/INPUT_INTERFACE_collision_1">
+        <pose>0.025 0 0.02 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.0251 0.05 0.041</size>
+          </box>
+        </geometry>
+        <surface>
+          <contact>
+            <ode/>
+          </contact>
+          <friction>
+            <ode/>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="shoulder6_elbow/INPUT_INTERFACE_collision_2">
+        <pose>0.1625 0 0.02 0 1.5707963267948966 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.2996</length>
+            <radius>0.016</radius>
+          </cylinder>
+        </geometry>
+        <surface>
+          <contact>
+            <ode/>
+          </contact>
+          <friction>
+            <ode/>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="shoulder6_elbow/INPUT_INTERFACE_collision_3">
+        <pose>0.32 -0 0 3.1415926535897931 -0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.011</length>
+            <radius>0.035</radius>
+          </cylinder>
+        </geometry>
+        <surface>
+          <contact>
+            <ode/>
+          </contact>
+          <friction>
+            <ode/>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="shoulder6_elbow/INPUT_INTERFACE_collision_4">
+        <pose>0.3 -0 -0.02 3.1415926535897931 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.025 0.05 0.041</size>
+          </box>
+        </geometry>
+        <surface>
+          <contact>
+            <ode/>
+          </contact>
+          <friction>
+            <ode/>
+          </friction>
+        </surface>
+      </collision>
+      <visual name="shoulder6_elbow/INPUT_INTERFACE_visual">
+        <pose>0 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>meshes/A-2038-02.stl</uri>
+          </mesh>
+        </geometry>
+        <material>
+          <script>
+            <name>Gazebo/Black</name>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+          </script>
+        </material>
+      </visual>
+      <visual name="shoulder6_elbow/INPUT_INTERFACE_visual_1">
+        <pose>0.1625 0 0.02 0 1.5707963267948966 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.2996</length>
+            <radius>0.016</radius>
+          </cylinder>
+        </geometry>
+        <material>
+          <script>
+            <name>Gazebo/Black</name>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+          </script>
+        </material>
+      </visual>
+      <visual name="shoulder6_elbow/INPUT_INTERFACE_visual_2">
+        <pose>0.325 -0 0 3.1415926535897931 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>meshes/A-2039-02.stl</uri>
+          </mesh>
+        </geometry>
+        <material>
+          <script>
+            <name>Gazebo/Black</name>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+          </script>
+        </material>
+      </visual>
+      <gravity>1</gravity>
+      <velocity_decay/>
+    </link>
+    <joint name="L6_J2_shoulder" type="revolute">
+      <child>shoulder6_elbow/INPUT_INTERFACE</child>
+      <parent>L6_J2_shoulder/INPUT_INTERFACE</parent>
+      <axis>
+        <xyz>0 0 1</xyz>
+        <limit>
+          <lower>-1e+16</lower>
+          <upper>1e+16</upper>
+        </limit>
+        <dynamics>
+          <damping>0.5</damping>
+          <friction>0.5</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="L6_J3_elbow/INPUT_INTERFACE">
+      <pose>-0.609642 -0.319068 0.106 -1.5707963267948966 0 -2.61799</pose>
+      <inertial>
+        <pose>-0.02396 -0.00161 0.02557 0 -0 0</pose>
+        <mass>0.685</mass>
+        <inertia>
+          <ixx>0.000414134</ixx>
+          <ixy>-2.13948e-10</ixy>
+          <ixz>-2.93921e-05</ixz>
+          <iyy>0.0010577</iyy>
+          <iyz>-3.40168e-10</iyz>
+          <izz>0.00122326</izz>
+        </inertia>
+      </inertial>
+      <collision name="L6_J3_elbow/INPUT_INTERFACE_collision">
+        <pose>0 0 0.0251 0 -0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.052</length>
+            <radius>0.04</radius>
+          </cylinder>
+        </geometry>
+        <surface>
+          <contact>
+            <ode/>
+          </contact>
+          <friction>
+            <ode/>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="L6_J3_elbow/INPUT_INTERFACE_collision_1">
+        <pose>-0.03 0 0.0251 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.07 0.08 0.052</size>
+          </box>
+        </geometry>
+        <surface>
+          <contact>
+            <ode/>
+          </contact>
+          <friction>
+            <ode/>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="L6_J3_elbow/INPUT_INTERFACE_collision_2">
+        <pose>-0.075 0 0.022 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.05 0.07 0.04</size>
+          </box>
+        </geometry>
+        <surface>
+          <contact>
+            <ode/>
+          </contact>
+          <friction>
+            <ode/>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="L6_J3_elbow/INPUT_INTERFACE_collision_3">
+        <pose>-0.108 0 0.021 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.02 0.05 0.02</size>
+          </box>
+        </geometry>
+        <surface>
+          <contact>
+            <ode/>
+          </contact>
+          <friction>
+            <ode/>
+          </friction>
+        </surface>
+      </collision>
+      <visual name="L6_J3_elbow/INPUT_INTERFACE_visual">
+        <pose>0 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>0.001 0.001 0.001</scale>
+            <uri>meshes/R8.stl</uri>
+          </mesh>
+        </geometry>
+        <material>
+          <script>
+            <name>Gazebo/Black</name>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+          </script>
+        </material>
+      </visual>
+      <gravity>1</gravity>
+      <velocity_decay/>
+    </link>
+    <joint name="shoulder6_elbow/OUTPUT_JOINT" type="fixed">
+      <child>L6_J3_elbow/INPUT_INTERFACE</child>
+      <parent>shoulder6_elbow/INPUT_INTERFACE</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="L6_J3_elbow/R8_9">
+      <pose>-0.609642 -0.319068 0.106 -1.5707963267948966 0 -2.61799</pose>
+      <inertial>
+        <pose>0 0 0 0 -0 0</pose>
+        <mass>0.001</mass>
+        <inertia>
+          <ixx>1e-06</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>1e-06</iyy>
+          <iyz>0</iyz>
+          <izz>1e-06</izz>
+        </inertia>
+      </inertial>
+      <visual name="L6_J3_elbow/R8_9_visual">
+        <pose>-0.03 0 0.02 0 -0 0</pose>
+        <geometry>
+          <sphere>
+            <radius>0.001</radius>
+          </sphere>
+        </geometry>
+      </visual>
+    </link>
+    <joint name="HEBI_SIM_JOINT/L6_J3_elbow" type="fixed">
+      <child>L6_J3_elbow/R8_9</child>
+      <parent>L6_J3_elbow/INPUT_INTERFACE</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="elbow6_foot/INPUT_INTERFACE">
+      <pose>-0.584142 -0.363236 0.106 -1.5707963267948966 0 -2.61799</pose>
+      <inertial>
+        <pose>0.1625 0 0.02 0 -0 0</pose>
+        <mass>0.402</mass>
+        <inertia>
+          <ixx>0</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.00353844</iyy>
+          <iyz>0</iyz>
+          <izz>0.00353844</izz>
+        </inertia>
+      </inertial>
+      <collision name="elbow6_foot/INPUT_INTERFACE_collision">
+        <pose>0 0 0.005 0 -0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.011</length>
+            <radius>0.025</radius>
+          </cylinder>
+        </geometry>
+        <surface>
+          <contact>
+            <ode>
+              <kp>1e+10</kp>
+              <kd>1</kd>
+            </ode>
+          </contact>
+          <friction>
+            <ode>
+              <mu>10</mu>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="elbow6_foot/INPUT_INTERFACE_collision_1">
+        <pose>0.025 0 0.02 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.0251 0.05 0.041</size>
+          </box>
+        </geometry>
+        <surface>
+          <contact>
+            <ode>
+              <kp>1e+10</kp>
+              <kd>1</kd>
+            </ode>
+          </contact>
+          <friction>
+            <ode>
+              <mu>10</mu>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="elbow6_foot/INPUT_INTERFACE_collision_2">
+        <pose>0.1625 0 0.02 0 1.5707963267948966 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.2996</length>
+            <radius>0.016</radius>
+          </cylinder>
+        </geometry>
+        <surface>
+          <contact>
+            <ode>
+              <kp>1e+10</kp>
+              <kd>1</kd>
+            </ode>
+          </contact>
+          <friction>
+            <ode>
+              <mu>10</mu>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="elbow6_foot/INPUT_INTERFACE_collision_3">
+        <pose>0.32 0 0.02 -1.5707963267948966 -0 -1.5707963267948966</pose>
+        <geometry>
+          <cylinder>
+            <length>0.011</length>
+            <radius>0.035</radius>
+          </cylinder>
+        </geometry>
+        <surface>
+          <contact>
+            <ode>
+              <kp>1e+10</kp>
+              <kd>1</kd>
+            </ode>
+          </contact>
+          <friction>
+            <ode>
+              <mu>10</mu>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="elbow6_foot/INPUT_INTERFACE_collision_4">
+        <pose>0.3 0 0 -1.5707963267948966 -0 -1.5707963267948966</pose>
+        <geometry>
+          <box>
+            <size>0.025 0.05 0.041</size>
+          </box>
+        </geometry>
+        <surface>
+          <contact>
+            <ode>
+              <kp>1e+10</kp>
+              <kd>1</kd>
+            </ode>
+          </contact>
+          <friction>
+            <ode>
+              <mu>10</mu>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <visual name="elbow6_foot/INPUT_INTERFACE_visual">
+        <pose>0 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>meshes/A-2038-02.stl</uri>
+          </mesh>
+        </geometry>
+        <material>
+          <script>
+            <name>Gazebo/Black</name>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+          </script>
+        </material>
+      </visual>
+      <visual name="elbow6_foot/INPUT_INTERFACE_visual_1">
+        <pose>0.1625 0 0.02 0 1.5707963267948966 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.2996</length>
+            <radius>0.016</radius>
+          </cylinder>
+        </geometry>
+        <material>
+          <script>
+            <name>Gazebo/Black</name>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+          </script>
+        </material>
+      </visual>
+      <visual name="elbow6_foot/INPUT_INTERFACE_visual_2">
+        <pose>0.325 0 0.02 -1.5707963267948966 -0 -1.5707963267948966</pose>
+        <geometry>
+          <mesh>
+            <scale>0.001 0.001 0.001</scale>
+            <uri>meshes/A-2226-01.stl</uri>
+          </mesh>
+        </geometry>
+        <material>
+          <script>
+            <name>Gazebo/Black</name>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+          </script>
+        </material>
+      </visual>
+      <velocity_decay/>
+      <gravity>1</gravity>
+      <velocity_decay/>
+      <sensor name="contact" type="contact">
+        <contact>
+          <collision>elbow6_foot/INPUT_INTERFACE_collision</collision>
+          <collision>elbow6_foot/INPUT_INTERFACE_collision_1</collision>
+          <collision>elbow6_foot/INPUT_INTERFACE_collision_2</collision>
+          <collision>elbow6_foot/INPUT_INTERFACE_collision_3</collision>
+          <collision>elbow6_foot/INPUT_INTERFACE_collision_4</collision>
+          <topic>__default_topic__</topic>
+        </contact>
+      </sensor>
+    </link>
+    <joint name="L6_J3_elbow" type="revolute">
+      <child>elbow6_foot/INPUT_INTERFACE</child>
+      <parent>L6_J3_elbow/INPUT_INTERFACE</parent>
+      <axis>
+        <xyz>0 0 1</xyz>
+        <limit>
+          <lower>-1e+16</lower>
+          <upper>1e+16</upper>
+        </limit>
+        <dynamics>
+          <damping>0.5</damping>
+          <friction>0.5</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="foot6/INPUT_INTERFACE">
+      <pose>-0.855601 -0.543056 0.106 0.523599 -1.5707963267948966 0</pose>
+      <inertial>
+        <pose>0 0 0 0 -0 0</pose>
+        <mass>0.06</mass>
+        <inertia>
+          <ixx>0.00024</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.00024</iyy>
+          <iyz>0</iyz>
+          <izz>0.00024</izz>
+        </inertia>
+      </inertial>
+      <visual name="foot6/INPUT_INTERFACE_visual">
+        <pose>0 0 0.0005 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.001 0.001 0.001</size>
+          </box>
+        </geometry>
+      </visual>
+    </link>
+    <joint name="elbow6_foot/OUTPUT_JOINT" type="fixed">
+      <child>foot6/INPUT_INTERFACE</child>
+      <parent>elbow6_foot/INPUT_INTERFACE</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="battery_left">
+      <pose>0 0 0 0 -0 0</pose>
+      <inertial>
+        <pose>0 0.04 0.02 0 -0 0</pose>
+        <mass>0.6</mass>
+        <inertia>
+          <ixx>0.00029585</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.0020421</iyy>
+          <iyz>0</iyz>
+          <izz>0.00229385</izz>
+        </inertia>
+      </inertial>
+      <visual name="battery_left_visual">
+        <pose>0 0.04 0.02 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.201 0.075 0.021</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <name>Gazebo/Black</name>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+          </script>
+        </material>
+      </visual>
+      <gravity>1</gravity>
+      <velocity_decay/>
+    </link>
+    <joint name="battery_left_j" type="fixed">
+      <child>battery_left</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="battery_right">
+      <pose>0 0 0 0 -0 0</pose>
+      <inertial>
+        <pose>0 -0.04 0.02 0 -0 0</pose>
+        <mass>0.6</mass>
+        <inertia>
+          <ixx>0.00029585</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.0020421</iyy>
+          <iyz>0</iyz>
+          <izz>0.00229385</izz>
+        </inertia>
+      </inertial>
+      <visual name="battery_right_visual">
+        <pose>0 -0.04 0.02 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.201 0.075 0.021</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <name>Gazebo/Black</name>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+          </script>
+        </material>
+      </visual>
+      <gravity>1</gravity>
+      <velocity_decay/>
+    </link>
+    <joint name="battery_right_j" type="fixed">
+      <child>battery_right</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="ace2_camera_front">
+      <pose>0.09 -0.095 0.205 0 -0.523599 0</pose>
+      <inertial>
+        <pose>0 0 0 0 -0 0</pose>
+        <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="ace2_camera_front_visual">
+        <pose>-0.025 0 0 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.0555 0.029 0.029</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <name>Gazebo/Black</name>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+          </script>
+        </material>
+      </visual>
+      <visual name="ace2_camera_front_visual_1">
+        <pose>0.025 0 0 0 1.5707963267948966 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.04</length>
+            <radius>0.0125</radius>
+          </cylinder>
+        </geometry>
+        <material>
+          <script>
+            <name>Gazebo/Black</name>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+          </script>
+        </material>
+      </visual>
+      <velocity_decay/>
+      <gravity>1</gravity>
+      <velocity_decay/>
+      <sensor name="camera_front" type="camera">
+        <pose>0 0 0 0 -0 0</pose>
+        <update_rate>9</update_rate>
+        <visualize>1</visualize>
+        <camera>
+          <horizontal_fov>1.50971</horizontal_fov>
+          <image>
+            <width>1920</width>
+            <height>1200</height>
+            <format>R8G8B8</format>
+          </image>
+          <clip>
+            <near>0.1</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="front_camera_j" type="fixed">
+      <child>ace2_camera_front</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_base">
+      <pose>0 0 0 0 -0 0</pose>
+      <inertial>
+        <pose>0 0 0 0 -0 0</pose>
+        <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="imu_base_visual">
+        <pose>0 0 0 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.0555 0.029 0.029</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <name>Gazebo/Black</name>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+          </script>
+        </material>
+      </visual>
+      <velocity_decay/>
+      <gravity>1</gravity>
+      <velocity_decay/>
+      <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>
+          <angular_velocity/>
+          <linear_acceleration/>
+        </imu>
+      </sensor>
+    </link>
+    <joint name="imu_j" type="fixed">
+      <child>imu_base</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="ace2_camera_left">
+      <pose>0.06 0.125 0.205 0 -0.523599 1.5707963267948966</pose>
+      <inertial>
+        <pose>0 0 0 0 -0 0</pose>
+        <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="ace2_camera_left_visual">
+        <pose>-0.025 0 0 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.0555 0.029 0.029</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <name>Gazebo/Black</name>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+          </script>
+        </material>
+      </visual>
+      <visual name="ace2_camera_left_visual_1">
+        <pose>0.025 0 0 0 1.5707963267948966 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.04</length>
+            <radius>0.0125</radius>
+          </cylinder>
+        </geometry>
+        <material>
+          <script>
+            <name>Gazebo/Black</name>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+          </script>
+        </material>
+      </visual>
+      <velocity_decay/>
+      <gravity>1</gravity>
+      <velocity_decay/>
+      <sensor name="camera_left" type="camera">
+        <pose>0 0 0 0 -0 0</pose>
+        <update_rate>9</update_rate>
+        <visualize>1</visualize>
+        <camera>
+          <horizontal_fov>1.50971</horizontal_fov>
+          <image>
+            <width>1920</width>
+            <height>1200</height>
+            <format>R8G8B8</format>
+          </image>
+          <clip>
+            <near>0.1</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_camera_j" type="fixed">
+      <child>ace2_camera_left</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="main_ouster_lidar">
+      <pose>0 0 0.261 0 -0 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="main_ouster_lidar_collision">
+        <pose>0 0 0.03675 0 -0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.0735</length>
+            <radius>0.0435</radius>
+          </cylinder>
+        </geometry>
+        <surface>
+          <contact>
+            <ode/>
+          </contact>
+          <friction>
+            <ode/>
+          </friction>
+        </surface>
+      </collision>
+      <visual name="main_ouster_lidar_visual">
+        <pose>0 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>meshes/ouster-os0.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <gravity>1</gravity>
+      <velocity_decay/>
+      <sensor name="laser" type="gpu_lidar">
+        <pose>0 0 0.035925 0 -0 0</pose>
+        <update_rate>10</update_rate>
+        <visualize>1</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="ouster_j" type="fixed">
+      <child>main_ouster_lidar</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="ace2_camera_right">
+      <pose>-0.16 -0.125 0.205 -0 -0.523599 -1.5707963267948966</pose>
+      <inertial>
+        <pose>0 0 0 0 -0 0</pose>
+        <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="ace2_camera_right_visual">
+        <pose>-0.025 0 0 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.0555 0.029 0.029</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <name>Gazebo/Black</name>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+          </script>
+        </material>
+      </visual>
+      <visual name="ace2_camera_right_visual_1">
+        <pose>0.025 0 0 0 1.5707963267948966 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.04</length>
+            <radius>0.0125</radius>
+          </cylinder>
+        </geometry>
+        <material>
+          <script>
+            <name>Gazebo/Black</name>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+          </script>
+        </material>
+      </visual>
+      <velocity_decay/>
+      <gravity>1</gravity>
+      <velocity_decay/>
+      <sensor name="camera_right" type="camera">
+        <pose>0 0 0 0 -0 0</pose>
+        <update_rate>9</update_rate>
+        <visualize>1</visualize>
+        <camera>
+          <horizontal_fov>1.50971</horizontal_fov>
+          <image>
+            <width>1920</width>
+            <height>1200</height>
+            <format>R8G8B8</format>
+          </image>
+          <clip>
+            <near>0.1</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="right_camera_j" type="fixed">
+      <child>ace2_camera_right</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="ace2_camera_up">
+      <pose>-0.16 0.04 0.225 0 -1.5707963267948966 0</pose>
+      <inertial>
+        <pose>0 0 0 0 -0 0</pose>
+        <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="ace2_camera_up_visual">
+        <pose>-0.025 0 0 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.0555 0.029 0.029</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <name>Gazebo/Black</name>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+          </script>
+        </material>
+      </visual>
+      <visual name="ace2_camera_up_visual_1">
+        <pose>0.025 0 0 0 1.5707963267948966 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.04</length>
+            <radius>0.0125</radius>
+          </cylinder>
+        </geometry>
+        <material>
+          <script>
+            <name>Gazebo/Black</name>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+          </script>
+        </material>
+      </visual>
+      <velocity_decay/>
+      <gravity>1</gravity>
+      <velocity_decay/>
+      <sensor name="camera_up" type="camera">
+        <pose>0 0 0 0 -0 0</pose>
+        <update_rate>9</update_rate>
+        <visualize>1</visualize>
+        <camera>
+          <horizontal_fov>1.50971</horizontal_fov>
+          <image>
+            <width>1920</width>
+            <height>1200</height>
+            <format>R8G8B8</format>
+          </image>
+          <clip>
+            <near>0.1</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="up_camera_j" type="fixed">
+      <child>ace2_camera_up</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="upper_box">
+      <pose>0 0 0 0 -0 0</pose>
+      <inertial>
+        <pose>-0.05 0 0.15 0 -0 0</pose>
+        <mass>5</mass>
+        <inertia>
+          <ixx>0.0208333</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.0302083</iyy>
+          <iyz>0</iyz>
+          <izz>0.0427083</izz>
+        </inertia>
+      </inertial>
+      <collision name="upper_box_collision">
+        <pose>-0.05 0 0.15 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.25 0.2 0.1</size>
+          </box>
+        </geometry>
+        <surface>
+          <contact>
+            <ode/>
+          </contact>
+          <friction>
+            <ode/>
+          </friction>
+        </surface>
+      </collision>
+      <gravity>1</gravity>
+      <velocity_decay/>
+    </link>
+    <joint name="upper_box_j" type="fixed">
+      <child>upper_box</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>
+    <plugin name="ignition::gazebo::systems::JointPositionController" filename="libignition-gazebo-joint-position-controller-system.so">
+      <joint_name>L1_J1_base</joint_name>
+      <p_gain>100</p_gain>
+      <i_gain>0.1</i_gain>
+      <d_gain>0.01</d_gain>
+      <i_max>1</i_max>
+      <i_min>-1</i_min>
+      <cmd_max>1000</cmd_max>
+      <cmd_min>-1000</cmd_min>
+    </plugin>
+    <plugin name="ignition::gazebo::systems::JointPositionController" filename="libignition-gazebo-joint-position-controller-system.so">
+      <joint_name>L1_J2_shoulder</joint_name>
+      <p_gain>100</p_gain>
+      <i_gain>0.1</i_gain>
+      <d_gain>0.01</d_gain>
+      <i_max>1</i_max>
+      <i_min>-1</i_min>
+      <cmd_max>1000</cmd_max>
+      <cmd_min>-1000</cmd_min>
+    </plugin>
+    <plugin name="ignition::gazebo::systems::JointPositionController" filename="libignition-gazebo-joint-position-controller-system.so">
+      <joint_name>L1_J3_elbow</joint_name>
+      <p_gain>100</p_gain>
+      <i_gain>0.1</i_gain>
+      <d_gain>0.01</d_gain>
+      <i_max>1</i_max>
+      <i_min>-1</i_min>
+      <cmd_max>1000</cmd_max>
+      <cmd_min>-1000</cmd_min>
+    </plugin>
+    <plugin name="ignition::gazebo::systems::JointPositionController" filename="libignition-gazebo-joint-position-controller-system.so">
+      <joint_name>L2_J1_base</joint_name>
+      <p_gain>100</p_gain>
+      <i_gain>0.1</i_gain>
+      <d_gain>0.01</d_gain>
+      <i_max>1</i_max>
+      <i_min>-1</i_min>
+      <cmd_max>1000</cmd_max>
+      <cmd_min>-1000</cmd_min>
+    </plugin>
+    <plugin name="ignition::gazebo::systems::JointPositionController" filename="libignition-gazebo-joint-position-controller-system.so">
+      <joint_name>L2_J2_shoulder</joint_name>
+      <p_gain>100</p_gain>
+      <i_gain>0.1</i_gain>
+      <d_gain>0.01</d_gain>
+      <i_max>1</i_max>
+      <i_min>-1</i_min>
+      <cmd_max>1000</cmd_max>
+      <cmd_min>-1000</cmd_min>
+    </plugin>
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+    <plugin name="ignition::gazebo::systems::JointPositionController" filename="libignition-gazebo-joint-position-controller-system.so">
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+    <plugin name="ignition::gazebo::systems::JointPositionController" filename="libignition-gazebo-joint-position-controller-system.so">
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+    <plugin name="ignition::gazebo::systems::JointPositionController" filename="libignition-gazebo-joint-position-controller-system.so">
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+    <plugin name="ignition::gazebo::systems::JointPositionController" filename="libignition-gazebo-joint-position-controller-system.so">
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+    <plugin name="ignition::gazebo::systems::JointPositionController" filename="libignition-gazebo-joint-position-controller-system.so">
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+    </plugin>
+    <plugin name="ignition::gazebo::systems::JointPositionController" filename="libignition-gazebo-joint-position-controller-system.so">
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+    <plugin name="ignition::gazebo::systems::JointPositionController" filename="libignition-gazebo-joint-position-controller-system.so">
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+    <plugin name="ignition::gazebo::systems::JointPositionController" filename="libignition-gazebo-joint-position-controller-system.so">
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+    <plugin name="ignition::gazebo::systems::JointPositionController" filename="libignition-gazebo-joint-position-controller-system.so">
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+    <static>0</static>
+    <plugin name="ignition::gazebo::systems::JointPositionController" filename="libignition-gazebo-joint-position-controller-system.so">
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+      <p_gain>100</p_gain>
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diff --git a/submitted_models/ctu_cras_norlab_lily_sensor_config_1/meshes/A-2038-02.stl b/submitted_models/ctu_cras_norlab_lily_sensor_config_1/meshes/A-2038-02.stl
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diff --git a/submitted_models/ctu_cras_norlab_lily_sensor_config_1/meshes/A-2221-01-Inside.stl b/submitted_models/ctu_cras_norlab_lily_sensor_config_1/meshes/A-2221-01-Inside.stl
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diff --git a/submitted_models/ctu_cras_norlab_lily_sensor_config_1/meshes/A-2226-01.stl b/submitted_models/ctu_cras_norlab_lily_sensor_config_1/meshes/A-2226-01.stl
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diff --git a/submitted_models/ctu_cras_norlab_lily_sensor_config_1/meshes/R8.stl b/submitted_models/ctu_cras_norlab_lily_sensor_config_1/meshes/R8.stl
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diff --git a/submitted_models/ctu_cras_norlab_lily_sensor_config_1/meshes/body_payload.stl b/submitted_models/ctu_cras_norlab_lily_sensor_config_1/meshes/body_payload.stl
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diff --git a/submitted_models/ctu_cras_norlab_lily_sensor_config_1/meshes/hebi_battery.stl b/submitted_models/ctu_cras_norlab_lily_sensor_config_1/meshes/hebi_battery.stl
new file mode 100644
index 00000000..406df722
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_lily_sensor_config_1/meshes/hebi_battery.stl
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diff --git a/submitted_models/ctu_cras_norlab_lily_sensor_config_1/meshes/ouster-os0.dae b/submitted_models/ctu_cras_norlab_lily_sensor_config_1/meshes/ouster-os0.dae
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index 00000000..e93a2ca1
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13557 1441 4504 13558 302 4504 13559 1114 4504 13560 2255 4504 13561 1116 4504 13562 1110 4504 13563 1987 4504 13564 848 4504 13565 225 4504 13566 1366 4504 13567 227 4504 13568 848 4504 13569 2251 4504 13570 1112 4504 13571 1113 4504 13572 2254 4504 13573 1115 4504 13574 1110 4504 13575 2250 4504 13576 1111 4504 13577 1112 4504 13578 2249 4504 13579 1110 4504 13580 1116 4504 13581 2249 4504 13582 1110 4504 13583 309 4504 13584 1447 4504 13585 308 4504 13586 224 4504 13587 1364 4504 13588 225 4504 13589 308 4504 13590 1450 4504 13591 311 4504 13592 1115 4504 13593 2253 4504 13594 1114 4504 13595 299 4504 13596 1439 4504 13597 300 4504 13598 227 4504 13599 1363 4504 13600 224 4504 13601 1112 4504 13602 2250 4504 13603 1111 4504 13604 1116 4504 13605 2252 4504 13606 1113 4504 13607 302 4504 13608 1438 4504 13609 299 4504 13610 311 4504 13611 1448 4504 13612 309 4504 13613 1110 4504 13614 2254 4504 13615 1115 4504 13616 1115 4504 13617 2254 4504 13618 2255 4504 13619 300 4504 13620 1439 4504 13621 1441 4504 13622 1114 4504 13623 2253 4504 13624 2255 4504 13625 1110 4504 13626 2249 4504 13627 1987 4504 13628 225 4504 13629 1364 4504 13630 1366 4504 13631 848 4504 13632 1987 4504 13633 2251 4504 13634 1113 4504 13635 2252 4504 13636 2254 4504 13637 1110 4504 13638 2249 4504 13639 2250 4504 13640 1112 4504 13641 2251 4504 13642 2249 4504 13643 1116 4504 13644 2255 4504 13645 2249 4504 13646 309 4504 13647 1448 4504 13648 1447 4504 13649 224 4504 13650 1363 4504 13651 1364 4504 13652 308 4504 13653 1447 4504 13654 1450 4504 13655 1115 4504 13656 2254 4504 13657 2253 4504 13658 299 4504 13659 1438 4504 13660 1439 4504 13661 227 4504 13662 1366 4504 13663 1363 4504 13664 1112 4504 13665 2251 4504 13666 2250 4504 13667 1116 4504 13668 2255 4504 13669 2252 4504 13670 302 4504 13671 1441 4504 13672 1438 4504 13673 311 4504 13674 1450 4504 13675 1448 4504 13676 1110 4504 13677 2249 4504 13678 2254 4504 13679</p>
+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="node0" name="node0" type="NODE">
+        <matrix sid="transform">-4.37114e-8 4.37112e-8 1.000001 0 1 1.91068e-15 4.37114e-8 0 0 0.9999955 -4.37114e-8 0 0 0 0 1</matrix>
+        <instance_geometry url="#Part__Feature_001-mesh" name="node0">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="Part__Feature_001-material" target="#Part__Feature_001-material">
+                <bind_vertex_input semantic="UVMap" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
\ No newline at end of file
diff --git a/submitted_models/ctu_cras_norlab_lily_sensor_config_1/model.config b/submitted_models/ctu_cras_norlab_lily_sensor_config_1/model.config
new file mode 100644
index 00000000..23197014
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_lily_sensor_config_1/model.config
@@ -0,0 +1,11 @@
+<?xml version='1.0'?>
+<model>
+  <name>lily</name>
+  <sdf version="1.6">lily.sdf</sdf>
+  <description>The ctu_cras_norlab_lily package describes six-legged platform equipped with:
+    - 5 Basler Ace 2 Pro a2A1920-51gcPRO RGB cameras with 86° FOV lenses (Basler C125-0418-5M-P f4mm)
+    - Ouster OS0-128 lidar
+    - IMU
+    - Gas sensor
+  </description>
+</model>
diff --git a/submitted_models/ctu_cras_norlab_lily_sensor_config_1/msg/Contact.msg b/submitted_models/ctu_cras_norlab_lily_sensor_config_1/msg/Contact.msg
new file mode 100644
index 00000000..ede5a276
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_lily_sensor_config_1/msg/Contact.msg
@@ -0,0 +1,10 @@
+uint64 collision1
+uint64 collision2
+
+geometry_msgs/Vector3[] position
+geometry_msgs/Vector3[] normal
+float64[] depth
+geometry_msgs/Wrench[] body1_wrench
+geometry_msgs/Wrench[] body2_wrench
+
+uint64 world
\ No newline at end of file
diff --git a/submitted_models/ctu_cras_norlab_lily_sensor_config_1/msg/ContactsStamped.msg b/submitted_models/ctu_cras_norlab_lily_sensor_config_1/msg/ContactsStamped.msg
new file mode 100644
index 00000000..f7163645
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_lily_sensor_config_1/msg/ContactsStamped.msg
@@ -0,0 +1,2 @@
+Header header
+Contact[] contacts
\ No newline at end of file
diff --git a/submitted_models/ctu_cras_norlab_lily_sensor_config_1/msg/LogicalContact.msg b/submitted_models/ctu_cras_norlab_lily_sensor_config_1/msg/LogicalContact.msg
new file mode 100644
index 00000000..bac64113
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_lily_sensor_config_1/msg/LogicalContact.msg
@@ -0,0 +1,2 @@
+Header header
+bool[] contacts
\ No newline at end of file
diff --git a/submitted_models/ctu_cras_norlab_lily_sensor_config_1/nodelets.xml b/submitted_models/ctu_cras_norlab_lily_sensor_config_1/nodelets.xml
new file mode 100644
index 00000000..9c479f83
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_lily_sensor_config_1/nodelets.xml
@@ -0,0 +1,17 @@
+<class_libraries>
+    <library path="lib/liblily_logical_contact_bridge">
+        <class name="ctu_cras_norlab_lily_sensor_config_1/LogicalContactBridge" type="subt::lily::LogicalContactBridge" base_class_type="nodelet::Nodelet">
+            <description>
+                Nodelet for converting Ignition Gazebo logical contact messages to ctu_cras_norlab_lily_sensor_config_1/LogicalContact.
+            </description>
+        </class>
+    </library>
+
+    <library path="lib/liblily_foot_contact_bridge">
+        <class name="ctu_cras_norlab_lily_sensor_config_1/FootContactBridge" type="subt::lily::FootContactBridge" base_class_type="nodelet::Nodelet">
+            <description>
+                Nodelet for converting Ignition Gazebo foot contact messages to ctu_cras_norlab_lily_sensor_config_1/ContactsStamped.
+            </description>
+        </class>
+    </library>
+</class_libraries>
diff --git a/submitted_models/ctu_cras_norlab_lily_sensor_config_1/package.xml b/submitted_models/ctu_cras_norlab_lily_sensor_config_1/package.xml
new file mode 100644
index 00000000..c5e5c1d1
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_lily_sensor_config_1/package.xml
@@ -0,0 +1,44 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>ctu_cras_norlab_lily_sensor_config_1</name>
+  <version>0.1.0</version>
+  <description>The ctu_cras_norlab_lily_sensor_config_1 package describes six-legged platform equipped with:
+    - 5 Basler Ace 2 Pro a2A1920-51gcPRO RGB cameras with 86° FOV lenses (Basler C125-0418-5M-P f4mm)
+    - Ouster OS0-128 lidar
+    - IMU
+    - Gas sensor
+  </description>
+
+  <author email="petr.cizek@fel.cvut.cz">Petr Cizek</author>
+  <author email="jiri.kubik@fel.cvut.cz">Jiri Kubik</author>
+  <author email="david.valouch@fel.cvut.cz">David Valouch</author>
+  <author email="peckama2@fel.cvut.cz">Martin Pecka</author>
+
+  <maintainer email="jiri.kubik@fel.cvut.cz">Jiri Kubik</maintainer>
+  <maintainer email="petr.cizek@fel.cvut.cz">Petr Cizek</maintainer>
+  <maintainer email="david.valouch@fel.cvut.cz">David Valouch</maintainer>
+
+  <license>Apache Licence2.0</license>
+
+  <buildtool_depend>catkin</buildtool_depend>
+
+  <depend>ignition-gazebo4</depend>
+  <depend>ros_ign_bridge</depend>
+  <build_depend>message_generation</build_depend>
+  <depend>message_runtime</depend>  
+
+  <depend>geometry_msgs</depend>
+  <depend>nodelet</depend>
+  <depend>roscpp</depend>
+  <depend>std_msgs</depend>
+
+  <exec_depend>ros_ign_image</exec_depend>
+  <exec_depend>roslaunch</exec_depend>
+  <exec_depend>rospy</exec_depend>
+  <exec_depend>subt_ros</exec_depend>
+  <exec_depend>xacro</exec_depend>
+
+  <export>
+    <nodelet plugin="${prefix}/nodelets.xml" />
+  </export>
+</package>
diff --git a/submitted_models/ctu_cras_norlab_lily_sensor_config_1/specifications.md b/submitted_models/ctu_cras_norlab_lily_sensor_config_1/specifications.md
new file mode 100644
index 00000000..0ad796e2
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_lily_sensor_config_1/specifications.md
@@ -0,0 +1,118 @@
+# CTU-CRAS-NORLAB Lily hexapod robot
+This specifications.md file is a description and proof of virtual model validation for the CTU-CRAS-NORLAB Lily robot.
+
+## Description
+Lily is a six-legged robot with great static stability and ability to overcome rough terrains. The robot consists of a body with computational units and sensors and six legs, each with three degrees of freedom (DoF) actuated by HEBI servomotors. The real robot is also fully waterproof. The base platform is the [HEBI robotics Lily hexapod robot kit](https://www.hebirobotics.com/robotic-kits).  
+For the purpose of the DARPA Subterranean challange the considered sensory payload of the Lily hexapod is:
+* LIDAR
+* Custom omnicamera bundle
+* IMU
+* Gas sensor
+* Optionally 6 communication breadcrumbs (in sensor config 2)
+
+This ignition gazebo model is based on the official gazebo model of the [HEBI Lily kit](https://github.com/HebiRobotics/hebi_description/tree/cwbollinger/daisy_urdf). The parameters of simulated servomotors are set according to the real servomotors parameters including joint effort limits. 
+
+## Dependencies
+To be able to control this robot model using velocity commands you need an additional package. Please clone the repository [ctu_cras_norlab_hexapod_controller](https://github.com/comrob/ctu_cras_norlab_hexapod_controller) and follow the instructions specified in its README.
+
+## Usage Instructions 
+This robot may be launched using an ign launch command with the variable name `CTU_CRAS_NORLAB_LILY_SENSOR_CONFIG_1`.
+
+For local testing, you can use the following command:
+
+    LC_ALL=C ign launch -v 4 ~/subt_ws/src/subt/submitted_models/ctu_cras_norlab_lily_sensor_config_1/launch/example.ign robotName:=X1
+
+## Usage Rights
+The software included in this package is released under a [Apache License 2.0](LICENSE) license.
+
+Lily model is adapted from [hebi_description/](https://github.com/HebiRobotics/hebi_description.git) repository, released under [Apache License 2.0](LICENSE) license.
+
+
+## Cost and Scale
+* Base vehicle: $75,000
+* Custom omnicamera solution: $5,000
+* IMU: $1,500
+* Computers: $500
+* Lidar: $10,000
+* Total price: $92,000
+
+Its weight is approximately 32.7 kg.
+
+## Sensors
+The following specific sensors are declared payloads of this vehicle.
+
+* Ouster OS0-128 3D lidar modeled by `gpu_lidar` sensor. It runs configured to produce 2048x128 scans at 10 Hz. It has a very wide vertical field of view (90 degrees) and short range (about 50 meters).
+* 5x RGB global shutter camera Basler a2A1920-51gcPRO with 4 mm lens modeled by `camera` sensor. Each camera provides 86.5 degrees of horizontal FOV. Resolution is 1920x1200 px. According to datasheet, the camera can run on frequencies up to 51 Hz, but the robot doesn't have sufficient computational and communication capacity to transmit such high frequency data. We thus lowered the framerate of the simulated camera to 9 Hz. We verified in real life that we are able to transmit the 9 Hz images and process them (the 5 cameras more or less saturate a Gigabit link with this framerate).
+* XSens MTI-30 AHRS: modeled by `imu` sensor.
+* 6 communication breadcrumbs are also available as a payload for this robot in sensor configuration 2 (real robot will carry 4 or 8 breadcrumbs).
+
+## Control
+The Lily robot is controlled by custom package `hexapod_controller`, available in the repository [ctu_cras_norlab_hexapod_controller](https://github.com/comrob/ctu_cras_norlab_hexapod_controller).
+
+The controller allows for steering the robot using the `cmd_vel` command via basic open-loop locomotion control.
+
+
+## Motion characteristics
+Based on the tests specified in the DARPA SubT Challenge 
+[Model Preparation Guide](https://www.subtchallenge.com/resources/Simulation_Model_Preparation_Guide.pdf),
+this vehicle has the following motion constraint characteristics.
+
+The tests have not yet been conducted due to Covid restrictions and unavailability of the real hardware.
+Team CTU-CRAS-Norlab is in the process of purchasing of the platform that should be available during the late May when we will supply the missing validation data.
+
+Maximum forward speed according ot the base platform datasheet is `0.43 m/s` with an almost instant acceleration to this speed from zero
+(`TODO m/s^2` from IMU, `TODO m/s^2` from odometry).
+Configuration of the maximum forward speed in simulation has no single defining value. It is a
+result of the configuration of gait and PID controllers. 
+
+Maximum turning speed is `TODO 1 rad/s` with an almost instant acceleration to this speed from zero
+(`TODO rad/s^2` from both IMU and odometry).
+
+Minimum turning radius is 0, as the robot can turn on the spot.
+
+The real robot can climb stairs. The simulated model should be able to do it too, provided a suitable
+control algorithm.
+
+## Endurance characteristics
+This configuration has an endurance of approximately 75 minutes (value from datasheet discounted by projected consumption of the additional computational units and sensors)
+
+The endurance is limited to 60 minutes until validation data are provided.
+
+## Diversions from Physical Hardware of HEBI Lily robot
+Provided data and configuration options of the real HEBI servomotors are surpasing the possibilities of the simulator.
+The real servos provide the synchronized Position, Velocity, True torque, Current, Voltage, and 3-DoF acceleration (embedded IMU in each servomotor) with the update rate of 1 kHz.
+
+Cameras have no distortion as the simulator doesn't support it.
+
+The Ouster 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.
+
+## Changing parameters of the robot
+Parameters affecting the simulation model performance are in the Xacro files in `urdf/` folder. 
+After changing a value in these files, run script `scripts/convert.sh` to write the
+changes to the `lily.sdf` file. 
+
+__Do not change the SDF files directly, as the changes could be lost the next time the update scripts are run.__
+
+The URDF files are not physically present, but are generated on-the-fly in desctipion.launch by Xacro.
+They can also be created on demand by calling script `scripts/xacro2urdf.sh`.
+
+## Validation and Specification Links
+* Vehicle links:
+  * Base platform: [HEBI robotics Lily hexapod robot kit](https://www.hebirobotics.com/robotic-kits)
+
+* Sensor specification links:
+  * [Ouster OS0-128](https://ouster.com/products/os0-lidar-sensor/)
+  * [Basler cam](https://www.baslerweb.com/en/products/cameras/area-scan-cameras/ace2/a2a1920-51gcpro/) + [lens](https://www.baslerweb.com/en/products/vision-components/lenses/basler-lens-c125-0418-5m-p-f4mm/) + Experimental validation: https://drive.google.com/drive/folders/1-KWMvjWSYYeLqPA0C3FCdKuHQAmOHN-z?usp=sharing
+  * IMU: [XSens MTi-30](https://www.mouser.com/datasheet/2/693/mti-series-1358510.pdf)
+  * Lights: the robot uses LED strips around the body. The total power output of these strips is about `30 W`. It also has a ceiling-pointing light.
+
+* Validation Video Links:
+  * Endurance test: TODO
+  * Maximum linear speed: TODO
+  * Maximum angular speed: TODO
+  * Rotation in place: TODO
+  
+* Validation Data Links:
+  * Recordings of validation tests: TODO
+  * Total mass measurement: TODO
+
diff --git a/submitted_models/ctu_cras_norlab_lily_sensor_config_1/src/foot_contact_bridge.cpp b/submitted_models/ctu_cras_norlab_lily_sensor_config_1/src/foot_contact_bridge.cpp
new file mode 100644
index 00000000..221e0ca1
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_lily_sensor_config_1/src/foot_contact_bridge.cpp
@@ -0,0 +1,98 @@
+#include <memory>
+
+#include <ignition/msgs/contacts.pb.h>
+#include <ignition/transport/Node.hh>
+
+#include <ros/ros.h>
+#include <ctu_cras_norlab_lily_sensor_config_1/ContactsStamped.h>
+#include <nodelet/nodelet.h>
+
+#include <pluginlib/class_list_macros.h>
+
+
+namespace subt::lily
+{
+
+void ignVectorToMsg(const ignition::msgs::Vector3d& ignV, geometry_msgs::Vector3& rosV)
+{
+  rosV.x = ignV.x();
+  rosV.y = ignV.y();
+  rosV.z = ignV.z();
+}
+
+/// \brief ROS-Ign bridge for relaying ctu_cras_norlab_lily::ContactsStamped for a leg.
+class FootContactBridge : public nodelet::Nodelet
+{
+
+  protected: void onInit() override
+  {
+    if (!this->getPrivateNodeHandle().getParam("ign_topic", this->ignTopic))
+    {
+      ROS_ERROR("Please, provide parameter ~ign_topic");
+      exit(1);
+    }
+
+    this->pub = this->getNodeHandle().advertise<ctu_cras_norlab_lily_sensor_config_1::ContactsStamped>("contacts", 100);
+
+    ROS_INFO("Subscribing to Ignition topic %s", this->ignTopic.c_str());
+    this->node.Subscribe(this->ignTopic, &FootContactBridge::OnContacts, this);
+  }
+
+  protected: void OnContacts(const ignition::msgs::Contacts& ignMsg)
+  {
+    ROS_INFO_ONCE("Received first message on topic %s", this->ignTopic.c_str());
+
+    ctu_cras_norlab_lily_sensor_config_1::ContactsStamped msg;
+    msg.header.stamp.sec = ignMsg.header().stamp().sec();
+    msg.header.stamp.nsec = ignMsg.header().stamp().nsec();
+
+    for (const auto& contact : ignMsg.contact())
+    {
+      ctu_cras_norlab_lily_sensor_config_1::Contact con;
+      con.collision1 = contact.collision1().id();
+      con.collision2 = contact.collision2().id();
+      con.world = contact.world().id();
+
+      for (const auto& pos: contact.position())
+      {
+        geometry_msgs::Vector3 p;
+        ignVectorToMsg(pos, p);
+        con.position.push_back(p);
+      }
+
+      for (const auto& norm: contact.normal())
+      {
+        geometry_msgs::Vector3 n;
+        ignVectorToMsg(norm, n);
+        con.normal.push_back(n);
+      }
+
+      for (const auto& wrench: contact.wrench())
+      {
+        geometry_msgs::Wrench w;
+        if (wrench.body_1_wrench().has_force())
+          ignVectorToMsg(wrench.body_1_wrench().force(), w.force);
+        if (wrench.body_1_wrench().has_torque())
+          ignVectorToMsg(wrench.body_1_wrench().torque(), w.torque);
+        con.body1_wrench.push_back(w);
+
+        geometry_msgs::Wrench w2;
+        if (wrench.body_2_wrench().has_force())
+          ignVectorToMsg(wrench.body_2_wrench().force(), w2.force);
+        if (wrench.body_2_wrench().has_torque())
+          ignVectorToMsg(wrench.body_2_wrench().torque(), w2.torque);
+        con.body2_wrench.push_back(w2);
+      }
+      msg.contacts.push_back(con);
+    }
+    this->pub.publish(msg);
+  }
+
+  protected: ros::Publisher pub;
+  protected: ignition::transport::Node node;
+  protected: std::string ignTopic;
+};
+
+}
+
+PLUGINLIB_EXPORT_CLASS(subt::lily::FootContactBridge, nodelet::Nodelet)
\ No newline at end of file
diff --git a/submitted_models/ctu_cras_norlab_lily_sensor_config_1/src/logical_contact_bridge.cpp b/submitted_models/ctu_cras_norlab_lily_sensor_config_1/src/logical_contact_bridge.cpp
new file mode 100644
index 00000000..84db596d
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_lily_sensor_config_1/src/logical_contact_bridge.cpp
@@ -0,0 +1,56 @@
+#include <memory>
+
+#include <ignition/msgs/int32_v.pb.h>
+#include <ignition/transport/Node.hh>
+
+#include <ctu_cras_norlab_lily_sensor_config_1/LogicalContact.h>
+
+#include <ros/ros.h>
+#include <nodelet/nodelet.h>
+#include <pluginlib/class_list_macros.h>
+
+namespace subt::lily
+{
+
+class LogicalContactBridge : public nodelet::Nodelet
+{
+  private: void onInit() override
+  {
+    if (!this->getPrivateNodeHandle().getParam("ign_topic", this->ignTopic))
+    {
+      ROS_ERROR("LogicalContactBridge: Please, provide parameter ~ign_topic");
+      return;
+    }
+
+    this->pub = this->getNodeHandle().advertise<ctu_cras_norlab_lily_sensor_config_1::LogicalContact>("logical_contacts", 100);
+
+    ROS_INFO("Subscribing to Ignition topic %s", this->ignTopic.c_str());
+    this->node.Subscribe(this->ignTopic, &LogicalContactBridge::OnContacts, this);
+  }
+
+  void OnContacts(const ignition::msgs::Int32_V& ignMsg)
+  {
+    ROS_INFO_ONCE("Received first message on topic %s", this->ignTopic.c_str());
+
+    ctu_cras_norlab_lily_sensor_config_1::LogicalContactPtr msg(new ctu_cras_norlab_lily_sensor_config_1::LogicalContact);
+    msg->header.stamp.sec = ignMsg.header().stamp().sec();
+    msg->header.stamp.nsec = ignMsg.header().stamp().nsec();
+    msg->contacts.resize(ignMsg.data_size());
+
+    size_t i = 0;
+    for (const auto& contact : ignMsg.data())
+    {
+      msg->contacts[i] = contact > 0;
+      i += 1;
+    }
+    this->pub.publish(msg);
+  }
+
+  protected: ros::Publisher pub;
+  protected: ignition::transport::Node node;
+  protected: std::string ignTopic;
+};
+
+}
+
+PLUGINLIB_EXPORT_CLASS(subt::lily::LogicalContactBridge, nodelet::Nodelet)
\ No newline at end of file
diff --git a/submitted_models/ctu_cras_norlab_lily_sensor_config_1/src/logical_contact_system.cpp b/submitted_models/ctu_cras_norlab_lily_sensor_config_1/src/logical_contact_system.cpp
new file mode 100644
index 00000000..71226e8a
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_lily_sensor_config_1/src/logical_contact_system.cpp
@@ -0,0 +1,133 @@
+#include <memory>
+
+#include <ignition/msgs/int32_v.pb.h>
+#include <ignition/plugin/Register.hh>
+
+#include <ignition/transport/Node.hh>
+
+#include <ignition/gazebo/Model.hh>
+#include <ignition/gazebo/System.hh>
+
+#include <ignition/gazebo/components.hh>
+
+using namespace ignition;
+using namespace gazebo;
+
+namespace subt::lily
+{
+
+class LogicalContactSystem : public System, public ISystemConfigure, public ISystemPostUpdate
+{
+  public: void Configure(const Entity& _entity, const std::shared_ptr<const sdf::Element>& _sdf,
+                         EntityComponentManager& _ecm, EventManager& _eventMgr) override
+  {
+    const Model model(_entity);
+    if (!model.Valid(_ecm))
+    {
+      ignerr << "LogicalContactSystem should be attached to a model entity. Failed to initialize." << std::endl;
+      return;
+    }
+
+    if (!_sdf->HasElement("group"))
+    {
+      ignerr << "LogicalContactSystem doesn't have any <group> element. It will not do anything." << std::endl;
+      return;
+    }
+
+    auto sdf = _sdf->Clone();
+    for (auto group = sdf->GetElement("group"); group; group = group->GetNextElement("group"))
+    {
+      if (!group->HasAttribute("name"))
+      {
+        ignerr << "LogicalContactSystem found a group without the 'name' attribute, ignoring it." << std::endl;
+        continue;
+      }
+
+      const auto name = group->GetAttribute("name")->GetAsString();
+      this->collisionNames[name].clear();  // initialize the map key
+
+      for (auto collision = group->GetElement("collision"); collision; collision = collision->GetNextElement("collision"))
+      {
+        const auto collName = collision->GetValue()->GetAsString();
+        if (collName.empty())
+        {
+          ignerr << "LogicalContactSystem found empty <collision> tag in group [" << name << "], it will be ignored." << std::endl;
+          continue;
+        }
+        this->collisions[collName] = kNullEntity;
+        this->collisionNames[name].push_back(collName);
+      }
+    }
+
+    std::string topic {"/model/" + model.Name(_ecm) + "/logical_contacts"};
+    if (_sdf->HasElement("topic"))
+      topic = _sdf->Get<std::string>("topic");
+
+    this->pub = this->node.Advertise<ignition::msgs::Int32_V>(topic);
+
+    std::stringstream ss;
+    for (const auto& groupPair : this->collisionNames)
+    {
+      ss << " - '" << groupPair.first << "' with collisions [";
+      for (size_t i = 0;  i < groupPair.second.size(); ++i)
+      {
+        ss << "'" << groupPair.second[i] << "'";
+        if (i < groupPair.second.size() - 1)
+          ss << ", ";
+      }
+      ss << "]" << std::endl;
+    }
+    ignmsg << "LogicalContactSystem publishing on [" << topic << "] is handling the following groups:\n" << ss.str();
+  }
+
+  public: void PostUpdate(const UpdateInfo& _info, const EntityComponentManager& _ecm) override
+  {
+    ignition::msgs::Int32_V msg;
+    size_t i = 0;
+    msg.mutable_header()->mutable_stamp()->CopyFrom(convert<msgs::Time>(_info.simTime));
+    msg.mutable_data()->Resize(this->collisionNames.size(), -1);
+    for (const auto& groupPair : this->collisionNames)
+    {
+      msg.mutable_data()->Set(i, false);
+      for (const auto& name : groupPair.second)
+      {
+        auto& entity = this->collisions.at(name);
+        if (entity == kNullEntity)
+        {
+          auto collisionEntities = _ecm.EntitiesByComponents(
+            components::Collision(), components::Name(name));
+          if (!collisionEntities.empty())
+            entity = collisionEntities[0];
+        }
+
+        if (entity != kNullEntity)
+        {
+          const auto& contacts = _ecm.Component<components::ContactSensorData>(entity);
+          if (contacts != nullptr && contacts->Data().contact_size() > 0)
+          {
+            msg.mutable_data()->Set(i,true);
+            break;
+          }
+        }
+      }
+
+      i += 1;
+    }
+
+    this->pub.Publish(msg);
+  }
+
+  protected: transport::Node node;
+  protected: transport::Node::Publisher pub;
+  protected: std::map<std::string, std::vector<std::string>> collisionNames;
+  protected: std::unordered_map<std::string, Entity> collisions;
+};
+
+}
+
+IGNITION_ADD_PLUGIN(subt::lily::LogicalContactSystem,
+                    System,
+                    ISystemConfigure,
+                    ISystemPostUpdate)
+
+IGNITION_ADD_PLUGIN_ALIAS(subt::lily::LogicalContactSystem, "subt::lily::LogicalContactSystem")
\ No newline at end of file
diff --git a/submitted_models/ctu_cras_norlab_lily_sensor_config_1/textures/ouster-os0.png b/submitted_models/ctu_cras_norlab_lily_sensor_config_1/textures/ouster-os0.png
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diff --git a/submitted_models/ctu_cras_norlab_lily_sensor_config_1/thumbnails/5.png b/submitted_models/ctu_cras_norlab_lily_sensor_config_1/thumbnails/5.png
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diff --git a/submitted_models/ctu_cras_norlab_lily_sensor_config_1/urdf/actuator.xacro b/submitted_models/ctu_cras_norlab_lily_sensor_config_1/urdf/actuator.xacro
new file mode 100644
index 00000000..f2602215
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_lily_sensor_config_1/urdf/actuator.xacro
@@ -0,0 +1,247 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
+  <!-- NOTE: joint must match the name of the module -->
+  <xacro:macro name="actuator" params="name child:='' type limits:=${[]}">
+   
+    <xacro:property name="model_name" value="${type}"/>
+
+    <!-- Continuous joints (no position limits) -->
+    <xacro:if value="${limits == []}">
+      <xacro:property name="urdf_joint_type" value="continuous"/>
+    </xacro:if>
+    <!-- Revolute joints (position limits) -->
+    <xacro:unless value="${limits == []}">
+      <xacro:property name="urdf_joint_type" value="revolute"/>
+    </xacro:unless>
+
+    <!-- Set properties for model of actuator -->
+    <xacro:if value="${model_name == 'X5_1'}">
+      <xacro:property name="actuator_mass" value="0.315"/>
+      <xacro:property name="effort_limit" value="2.5"/>
+      <xacro:property name="velocity_limit" value="90"/>
+    </xacro:if>
+    <xacro:if value="${model_name == 'X5_4'}">
+      <xacro:property name="actuator_mass" value="0.335"/>
+      <xacro:property name="effort_limit" value="7.0"/>
+      <xacro:property name="velocity_limit" value="32"/>
+    </xacro:if>
+    <xacro:if value="${model_name == 'X5_9'}">
+      <xacro:property name="actuator_mass" value="0.360"/>
+      <xacro:property name="effort_limit" value="13.0"/>
+      <xacro:property name="velocity_limit" value="14"/>
+    </xacro:if>
+    <xacro:if value="${model_name == 'X8_3'}">
+      <xacro:property name="actuator_mass" value="0.460"/>
+      <xacro:property name="effort_limit" value="7"/>
+      <xacro:property name="velocity_limit" value="84"/>
+    </xacro:if>
+    <xacro:if value="${model_name == 'X8_9'}">
+      <xacro:property name="actuator_mass" value="0.480"/>
+      <xacro:property name="effort_limit" value="20"/>
+      <xacro:property name="velocity_limit" value="30"/>
+    </xacro:if>
+    <xacro:if value="${model_name == 'X8_16'}">
+      <xacro:property name="actuator_mass" value="0.500"/>
+      <xacro:property name="effort_limit" value="38"/>
+      <xacro:property name="velocity_limit" value="15"/>
+    </xacro:if>
+    <xacro:if value="${model_name == 'R8_3'}">
+      <xacro:property name="actuator_mass" value="0.670"/>
+      <xacro:property name="effort_limit" value="7"/>
+      <xacro:property name="velocity_limit" value="84"/>
+    </xacro:if>
+    <xacro:if value="${model_name == 'R8_9'}">
+      <xacro:property name="actuator_mass" value="0.685"/>
+      <xacro:property name="effort_limit" value="20"/>
+      <xacro:property name="velocity_limit" value="30"/>
+    </xacro:if>
+    <xacro:if value="${model_name == 'R8_16'}">
+      <xacro:property name="actuator_mass" value="0.715"/>
+      <xacro:property name="effort_limit" value="38"/>
+      <xacro:property name="velocity_limit" value="15"/>
+    </xacro:if>
+
+    <!-- Note: the frction/damping probably need to be tuned more for accurate simulation -->
+    <xacro:if value="${model_name.startswith('X5')}">
+      <xacro:property name="mesh_filename" value="package://ctu_cras_norlab_lily_sensor_config_1/meshes/X5.stl"/>
+      <xacro:property name="damping" value="0.1"/>
+      <xacro:property name="friction" value="0.1"/>
+    </xacro:if>
+    <xacro:if value="${model_name.startswith('X8')}">
+      <xacro:property name="mesh_filename" value="package://ctu_cras_norlab_lily_sensor_config_1/meshes/X8.stl"/>
+      <xacro:property name="damping" value="0.5"/>
+      <xacro:property name="friction" value="0.5"/>
+    </xacro:if>
+    <xacro:if value="${model_name.startswith('R8')}">
+      <xacro:property name="mesh_filename" value="package://ctu_cras_norlab_lily_sensor_config_1/meshes/R8.stl"/>
+      <xacro:property name="damping" value="0.5"/>
+      <xacro:property name="friction" value="0.5"/>
+    </xacro:if>
+
+    <link name="${name}/INPUT_INTERFACE">
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="${mesh_filename}" scale="0.001 0.001 0.001"/>
+        </geometry>
+        <xacro:unless value="${model_name.startswith('R8')}">
+          <xacro:red_material/>
+        </xacro:unless>
+        <xacro:if value="${model_name.startswith('R8')}">
+          <xacro:black_material/>
+        </xacro:if>
+      </visual>
+      <!--
+      <collision>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="${mesh_filename}" scale="0.001 0.001 0.001"/>
+        </geometry>
+      </collision>
+      -->
+
+      <!-- [!!!] NO MORE COMPATIBLE WITH ACTUATORS OTHER THAN R8 -->
+
+      <!-- geometry simplification from file: R8.scad-->
+      <!-- AUTOGENERATED from Openscad using openscad2xacro.py -->
+      <!--  motor-cylindric -->
+      <collision>
+        <origin xyz="0.0 0.0 0.0251" rpy="0 0 0"/>
+        <geometry>
+          <cylinder length="0.052" radius="0.04" />
+        </geometry>
+      </collision>
+      <!--  motor-cubic -->
+      <collision>
+        <origin xyz="-0.03 0.0 0.0251" rpy="0 0 0"/>
+        <geometry>
+          <box size="0.07 0.08 0.052" />
+        </geometry>
+      </collision>
+      <!--  connector-body -->
+      <collision>
+        <origin xyz="-0.075 0.0 0.022" rpy="0 0 0"/>
+        <geometry>
+          <box size="0.05 0.07 0.04" />
+        </geometry>
+      </collision>
+      <!--  connector-connectors -->
+      <collision>
+        <origin xyz="-0.108 0.0 0.021" rpy="0 0 0"/>
+        <geometry>
+          <box size="0.02 0.05 0.02" />
+        </geometry>
+      </collision>
+      <!-- AUTOGENERATION from Openscad using openscad2xacro.py ENDS HERE -->
+
+      <inertial>
+        <xacro:if value="${model_name.startswith('X5')}">
+          <mass value="${actuator_mass}"/>
+          <origin xyz="-0.0142 -0.0031 0.0165" rpy="0 0 0" />
+          <inertia ixx="0.00015"  ixy="0.0000341"  ixz="0.0000118"
+                   iyy="0.000255" iyz="0.00000229"
+                   izz="0.000350" />
+        </xacro:if>
+        <xacro:if value="${model_name.startswith('X8')}">
+          <mass value="${actuator_mass}"/>
+          <origin xyz="-0.0145 -0.0031 0.0242" rpy="0 0 0" />
+          <inertia ixx="0.000246" ixy="0.0000444" ixz="0.0000266"
+                   iyy="0.000380" iyz="0.00000422"
+                   izz="0.000463"/>
+        </xacro:if>
+        <xacro:if value="${model_name.startswith('R8_3')}">
+          <mass value="${actuator_mass}"/>
+          <origin xyz="-0.02396 -0.00161 0.02557" rpy="0 0 0" />
+          <inertia ixx="0.000488" ixy="0.00001297" ixz="0.0000578"
+                   iyy="0.001009" iyz="0.00000494"
+                   izz="0.001186" />
+        </xacro:if>
+        
+        <xacro:if value="${model_name.startswith('R8_9')}">
+          <origin xyz="-0.02396 -0.00161 0.02557" rpy="0 0 0" />
+          <!-- DO NOT TOUCH AUTOGENERATED by process-info.py using meshlab utils (http://gazebosim.org/tutorials?tut=inertia&cat=build_robot) -->
+          <!-- processing: R8-9.info -->
+          <!-- Is given matrix positive definite? True -->
+          <mass value="${actuator_mass}"/>
+          <inertia ixx="0.0004141337861342617"  ixy="-2.1394771313679384e-10" ixz="-2.9392131872516852e-05"
+                                                iyy="0.001057695923832403"    iyz="-3.4016776600218287e-10"
+                                                                              izz="0.0012232566193684036" />
+          <!-- AUTOGENERATE END -->
+        </xacro:if>
+        
+        <xacro:if value="${model_name.startswith('R8_16')}">
+          <origin xyz="-0.02396 -0.00161 0.02557" rpy="0 0 0" />
+          <!-- DO NOT TOUCH AUTOGENERATED by process-info.py using meshlab utils (http://gazebosim.org/tutorials?tut=inertia&cat=build_robot) -->
+          <!-- processing: R8-16.info -->
+          <!-- Is given matrix positive definite? True -->
+          <mass value="${actuator_mass}"/>
+          <inertia ixx="0.00043227103224233144"   ixy="-2.2331768597490156e-10" ixz="-3.0679378523867946e-05"
+                                                  iyy="0.00110401837305134"     iyz="-3.550656243672419e-10"
+                                                                                izz="0.0012768299019684792" />
+          <!-- AUTOGENERATE END -->
+        </xacro:if>
+      </inertial>
+    </link>
+    <gazebo reference="${name}/INPUT_INTERFACE">
+      <xacro:unless value="${model_name.startswith('R8')}">
+        <xacro:gazebo_red_material/>
+      </xacro:unless>
+      <xacro:if value="${model_name.startswith('R8')}">
+        <xacro:gazebo_black_material/>
+      </xacro:if>
+    </gazebo>
+
+    <link name="${name}/${model_name}">
+      <visual>
+        <origin xyz="-0.03 0 0.02" rpy="0 0 0" />
+        <geometry>
+          <sphere radius="0.001"/>
+        </geometry>
+      </visual>
+      <inertial>
+        <mass value="0.001"/>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <inertia ixx="0.000001" ixy="0" ixz="0"
+                 iyy="0.000001" iyz="0"
+                 izz="0.000001" />
+      </inertial>
+    </link>
+
+    <joint name="HEBI_SIM_JOINT/${name}" type="fixed">
+      <parent link="${name}/INPUT_INTERFACE"/>
+      <child link="${name}/${model_name}"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+    </joint>
+    <gazebo reference="HEBI_SIM_JOINT/${name}">
+      <disableFixedJointLumping>true</disableFixedJointLumping>
+      <preserveFixedJoint>true</preserveFixedJoint>
+    </gazebo>
+
+    <joint name="${name}" type="${urdf_joint_type}">
+      <parent link="${name}/INPUT_INTERFACE"/>
+      <child link="${child}/INPUT_INTERFACE"/>
+      <xacro:if value="${model_name.startswith('X5')}">
+        <origin xyz="0 0 0.031" rpy="0 0 0"/>
+      </xacro:if>
+      <xacro:if value="${model_name.startswith('X8')}">
+        <origin xyz="0 0 0.045" rpy="0 0 0"/>
+      </xacro:if>
+      <xacro:if value="${model_name.startswith('R8')}">
+        <origin xyz="0 0 0.051" rpy="0 0 0"/>
+      </xacro:if>
+      <axis xyz="0 0 1"/>
+
+      <!-- Continuous joints (no position limits) -->
+      <xacro:if value="${limits == []}">
+        <limit effort="${effort_limit}" velocity="${velocity_limit}"/>
+      </xacro:if>
+      <!-- Revolute joints (position limits) -->
+      <xacro:unless value="${limits == []}">
+        <limit effort="${effort_limit}" velocity="${velocity_limit}" lower="${limits[0]}" upper="${limits[1]}"/>
+      </xacro:unless>
+      
+      <dynamics damping="${damping}" friction="${friction}"/>
+    </joint>
+  </xacro:macro>
+</robot>
+
diff --git a/submitted_models/ctu_cras_norlab_lily_sensor_config_1/urdf/bracket.xacro b/submitted_models/ctu_cras_norlab_lily_sensor_config_1/urdf/bracket.xacro
new file mode 100644
index 00000000..8b1ed44d
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_lily_sensor_config_1/urdf/bracket.xacro
@@ -0,0 +1,369 @@
+<?xml version="1.0"?>
+
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
+  <xacro:macro name="bracket" params="name child type">
+  <xacro:property name="bracket_type" value="${type}"/>
+  <link name="${name}/INPUT_INTERFACE">
+
+    <!-- Light bracket -->
+    <xacro:if value="${bracket_type.startswith('X5Light')}">
+      <visual>
+        <xacro:if value="${bracket_type.endswith('Left')}">
+          <origin xyz="0 0 0" rpy="${pi/2} 0 ${pi/2}"/>
+          <geometry>
+            <mesh filename="package://ctu_cras_norlab_lily_sensor_config_1/meshes/PM-2132-01L.stl" scale="0.001 0.001 0.001"/>
+          </geometry>
+        </xacro:if>
+        <xacro:if value="${bracket_type.endswith('Right')}">
+          <origin xyz="0 0 0" rpy="${pi/2} 0 ${-pi/2}"/>
+          <geometry>
+            <mesh filename="package://ctu_cras_norlab_lily_sensor_config_1/meshes/PM-2132-01R.stl" scale="0.001 0.001 0.001"/>
+          </geometry>
+        </xacro:if>
+        <xacro:beige_material/>
+      </visual>
+      <collision>
+        <xacro:if value="${bracket_type.endswith('Left')}">
+          <origin xyz="0 0 0" rpy="${pi/2} 0 ${pi/2}"/>
+          <geometry>
+            <mesh filename="package://ctu_cras_norlab_lily_sensor_config_1/meshes/PM-2132-01L.stl" scale="0.001 0.001 0.001"/>
+          </geometry>
+        </xacro:if>
+        <xacro:if value="${bracket_type.endswith('Right')}">
+          <origin xyz="0 0 0" rpy="${pi/2} 0 ${-pi/2}"/>
+          <geometry>
+            <mesh filename="package://ctu_cras_norlab_lily_sensor_config_1/meshes/PM-2132-01R.stl" scale="0.001 0.001 0.001"/>
+          </geometry>
+        </xacro:if>
+      </collision>
+      <!-- NOTE: inertia is just modelled as small sphere, and could be improved. -->
+      <inertial>
+        <xacro:if value="${bracket_type.endswith('Left')}">
+          <origin xyz="0 .0215 .02" rpy="0 0 0" />
+        </xacro:if>
+        <xacro:if value="${bracket_type.endswith('Right')}">
+          <origin xyz="0 -.0215 .02" rpy="0 0 0" />
+        </xacro:if>
+        <mass value="0.1"/>
+        <inertia ixx="${0.4 * 0.1 * 0.06 * 0.06}" ixy="0.0" ixz="0.0" iyy="${0.4 * 0.1 * 0.06 * 0.06}" iyz="0.0" izz="${0.4 * 0.1 * 0.06 * 0.06}"/>
+      </inertial>
+    </xacro:if>
+
+    <xacro:if value="${bracket_type.startswith('R8Light')}">
+      <visual>
+        <xacro:if value="${bracket_type.endswith('Left')}">
+          <origin xyz="0 0 0" rpy="0 0 ${pi}"/>
+        </xacro:if>
+        <xacro:if value="${bracket_type.endswith('Right')}">
+          <origin xyz="0 0 0" rpy="0 0 0"/>
+        </xacro:if>
+        <geometry>
+          <mesh filename="package://ctu_cras_norlab_lily_sensor_config_1/meshes/A-2220-01.stl" scale="0.001 0.001 0.001"/>
+        </geometry>
+        <xacro:black_material/>
+      </visual>
+      <collision>
+        <xacro:if value="${bracket_type.endswith('Left')}">
+          <origin xyz="0 0 0" rpy="${pi/2} 0 ${pi/2}"/>
+        </xacro:if>
+        <xacro:if value="${bracket_type.endswith('Right')}">
+          <origin xyz="0 0 0" rpy="${pi/2} 0 ${-pi/2}"/>
+        </xacro:if>
+        <geometry>
+          <mesh filename="package://ctu_cras_norlab_lily_sensor_config_1/meshes/A-2220-01.stl" scale="0.001 0.001 0.001"/>
+        </geometry>
+      </collision>
+      <!-- NOTE: inertia is just modelled as small sphere, and could be improved. -->
+      <inertial>
+        <xacro:if value="${bracket_type.endswith('Left')}">
+          <origin xyz="0 .0215 .02" rpy="0 0 0" />
+        </xacro:if>
+        <xacro:if value="${bracket_type.endswith('Right')}">
+          <origin xyz="0 -.0215 .02" rpy="0 0 0" />
+        </xacro:if>
+        <mass value="0.1"/>
+        <inertia ixx="${0.4 * 0.1 * 0.06 * 0.06}" ixy="0.0" ixz="0.0" iyy="${0.4 * 0.1 * 0.06 * 0.06}" iyz="0.0" izz="${0.4 * 0.1 * 0.06 * 0.06}"/>
+      </inertial>
+    </xacro:if>
+
+    <!-- Heavy bracket -->
+    <xacro:if value="${bracket_type.startswith('X5Heavy')}">
+      <visual>
+        <xacro:if value="${bracket_type.endswith('RightOutside')}">
+          <origin xyz="0 0 0.005" rpy="${pi/2} 0 ${pi/2}"/>
+        </xacro:if>
+        <xacro:if value="${bracket_type.endswith('RightInside')}">
+          <origin xyz="0 0 0.005" rpy="${pi/2} 0 ${-pi/2}"/>
+        </xacro:if>
+        <xacro:if value="${bracket_type.endswith('LeftOutside')}">
+          <origin xyz="0 0 0.005" rpy="${pi/2} 0 ${-pi/2}"/>
+        </xacro:if>
+        <xacro:if value="${bracket_type.endswith('LeftInside')}">
+          <origin xyz="0 0 0.005" rpy="${pi/2} 0 ${pi/2}"/>
+        </xacro:if>
+        <geometry>
+          <mesh filename="package://ctu_cras_norlab_lily_sensor_config_1/meshes/PM-2149-01.stl" scale="0.001 0.001 0.001"/>
+        </geometry>
+        <xacro:black_material/>
+      </visual>
+      <visual>
+        <xacro:if value="${bracket_type.endswith('RightOutside')}">
+          <origin xyz="0 -.03 .04" rpy="${pi/2} 0 0"/>
+        </xacro:if>
+        <xacro:if value="${bracket_type.endswith('RightInside')}">
+          <origin xyz="0 .03 .04" rpy="${pi/2} 0 0"/>
+        </xacro:if>
+        <xacro:if value="${bracket_type.endswith('LeftOutside')}">
+          <origin xyz="0 -.03 .04" rpy="${pi/2} 0 0"/>
+        </xacro:if>
+        <xacro:if value="${bracket_type.endswith('LeftInside')}">
+          <origin xyz="0 -.03 .04" rpy="${pi/2} 0 ${pi}"/>
+        </xacro:if>
+        <geometry>
+          <xacro:if value="${bracket_type.startswith('X5HeavyRight') or bracket_type.startswith('R5HeavyRight')}">
+            <mesh filename="package://ctu_cras_norlab_lily_sensor_config_1/meshes/PM-2150-01R.stl" scale="0.001 0.001 0.001"/>
+          </xacro:if>
+          <xacro:if value="${bracket_type.startswith('X5HeavyLeft') or bracket_type.startswith('R5HeavyLeft')}">
+            <mesh filename="package://ctu_cras_norlab_lily_sensor_config_1/meshes/PM-2150-01L.stl" scale="0.001 0.001 0.001"/>
+          </xacro:if>
+        </geometry>
+        <xacro:black_material/>
+      </visual>
+
+      <collision>
+        <xacro:if value="${bracket_type.endswith('RightOutside')}">
+          <origin xyz="0 0 0.005" rpy="${pi/2} 0 ${pi/2}"/>
+        </xacro:if>
+        <xacro:if value="${bracket_type.endswith('RightInside')}">
+          <origin xyz="0 0 0.005" rpy="${pi/2} 0 ${-pi/2}"/>
+        </xacro:if>
+        <xacro:if value="${bracket_type.endswith('LeftOutside')}">
+          <origin xyz="0 0 0.005" rpy="${pi/2} 0 ${-pi/2}"/>
+        </xacro:if>
+        <xacro:if value="${bracket_type.endswith('LeftInside')}">
+          <origin xyz="0 0 0.005" rpy="${pi/2} 0 ${pi/2}"/>
+        </xacro:if>
+        <geometry>
+          <mesh filename="package://ctu_cras_norlab_lily_sensor_config_1/meshes/PM-2149-01.stl" scale="0.001 0.001 0.001"/>
+        </geometry>
+      </collision>
+      <collision>
+        <xacro:if value="${bracket_type.endswith('RightOutside')}">
+          <origin xyz="0 -.03 .04" rpy="${pi/2} 0 0"/>
+        </xacro:if>
+        <xacro:if value="${bracket_type.endswith('RightInside')}">
+          <origin xyz="0 .03 .04" rpy="${pi/2} 0 0"/>
+        </xacro:if>
+        <xacro:if value="${bracket_type.endswith('LeftOutside')}">
+          <origin xyz="0 .03 .04" rpy="${pi/2} 0 ${pi}"/>
+        </xacro:if>
+        <xacro:if value="${bracket_type.endswith('LeftInside')}">
+          <origin xyz="0 -.03 .04" rpy="${pi/2} 0 ${pi}"/>
+        </xacro:if>
+        <geometry>
+          <xacro:if value="${bracket_type.startswith('X5HeavyRight') or bracket_type.startswith('R5HeavyRight')}">
+            <mesh filename="package://ctu_cras_norlab_lily_sensor_config_1/meshes/PM-2150-01R.stl" scale="0.001 0.001 0.001"/>
+          </xacro:if>
+          <xacro:if value="${bracket_type.startswith('X5HeavyLeft') or bracket_type.startswith('R5HeavyLeft')}">
+            <mesh filename="package://ctu_cras_norlab_lily_sensor_config_1/meshes/PM-2150-01L.stl" scale="0.001 0.001 0.001"/>
+          </xacro:if>
+        </geometry>
+      </collision>
+
+      <!-- NOTE: inertia is just modelled as small sphere, and could be improved. -->
+      <inertial>
+        <xacro:if value="${bracket_type.endswith('RightOutside')}">
+          <origin xyz="0 ${0.5 * -.0375} .0275" rpy="0 0 0" />
+        </xacro:if>
+        <xacro:if value="${bracket_type.endswith('RightInside')}">
+          <origin xyz="0 ${0.5 * .0225} .0275" rpy="0 0 0" />
+        </xacro:if>
+        <xacro:if value="${bracket_type.endswith('LeftOutside')}">
+          <origin xyz="0 ${0.5 * .0375} .0275" rpy="0 0 0" />
+        </xacro:if>
+        <xacro:if value="${bracket_type.endswith('LeftInside')}">
+          <origin xyz="0 ${0.5 * -.0225} .0275" rpy="0 0 0" />
+        </xacro:if>
+        <mass value="0.215"/>
+        <inertia ixx="${0.4 * 0.215 * 0.06 * 0.06}" ixy="0.0" ixz="0.0" iyy="${0.4 * 0.215 * 0.06 * 0.06}" iyz="0.0" izz="${0.4 * 0.215 * 0.06 * 0.06}"/>
+      </inertial>
+    </xacro:if>
+
+    <xacro:if value="${bracket_type.startswith('R8Heavy')}">
+      <visual>
+        <xacro:if value="${bracket_type.endswith('RightOutside')}">
+          <origin xyz="0 0 0" rpy="0 0 0"/>
+        </xacro:if>
+        <xacro:if value="${bracket_type.endswith('RightInside')}">
+          <origin xyz="0 0 0" rpy="0 0 ${pi}"/>
+        </xacro:if>
+        <xacro:if value="${bracket_type.endswith('LeftOutside')}">
+          <origin xyz="0 0 0" rpy="0 0 ${pi}"/>
+        </xacro:if>
+        <xacro:if value="${bracket_type.endswith('LeftInside')}">
+          <origin xyz="0 0 0" rpy="0 0 0"/>
+        </xacro:if>
+        <geometry>
+          <xacro:if value="${bracket_type.endswith('Outside')}">
+            <mesh filename="package://ctu_cras_norlab_lily_sensor_config_1/meshes/A-2221-01-Outside.stl" scale="0.001 0.001 0.001"/>
+          </xacro:if>
+          <xacro:if value="${bracket_type.endswith('Inside')}">
+            <mesh filename="package://ctu_cras_norlab_lily_sensor_config_1/meshes/A-2221-01-Inside.stl" scale="0.001 0.001 0.001"/>
+          </xacro:if>
+        </geometry>
+        <xacro:black_material/>
+      </visual>
+      
+      <!-- COLLISION -->
+      <!-- merged from automatically generated results-->
+      <!-- geometry simplification from file: A-2221-01-Inside.scad-->
+      <!-- (1/4) horizontal cylinder -->
+      <collision>
+        <xacro:if value="${bracket_type.endswith('RightOutside')}">
+          <origin xyz="0 0 0.005" rpy="${pi/2} 0 ${pi/2}"/>
+        </xacro:if>
+        <xacro:if value="${bracket_type.endswith('RightInside')}">
+          <!-- origin manually offseted by xyz="0.0 0.0 0.005" -->
+          <origin xyz="0 0 ${0.005+0.005}" rpy="${pi/2} 0 ${-pi/2}"/>
+        </xacro:if>
+        <xacro:if value="${bracket_type.endswith('LeftOutside')}">
+          <origin xyz="0 0 0.005" rpy="${pi/2} 0 ${-pi/2}"/>
+        </xacro:if>
+        <xacro:if value="${bracket_type.endswith('LeftInside')}">
+          <!-- origin manually offseted by xyz="0.0 0.0 0.005" -->
+          <origin xyz="0 0 ${0.005+0.005}" rpy="${pi/2} 0 ${pi/2}"/>
+        </xacro:if>
+        <geometry>
+          <xacro:if value="${bracket_type.endswith('Outside')}">
+            <mesh filename="package://ctu_cras_norlab_lily_sensor_config_1/meshes/A-2221-01-Outside.stl" scale="0.001 0.001 0.001"/>
+          </xacro:if>
+          <xacro:if value="${bracket_type.endswith('Inside')}">
+            <!--
+            <mesh filename="package://ctu_cras_norlab_lily_sensor_config_1/meshes/A-2221-01-Inside.stl" scale="0.001 0.001 0.001"/>
+            -->
+            <!-- adding cylinder -->
+            <cylinder length="0.011" radius="0.0275" />
+          </xacro:if>
+        </geometry>
+      </collision>
+
+      <!-- (2/4) horizontal connector -->
+      <collision>
+        <xacro:if value="${bracket_type.endswith('RightInside')}">
+          <!-- origin manually offseted by xyz="0.0 -0.02 0.005"-->
+          <origin xyz="0 -0.02 ${0.005+0.005}" rpy="${pi/2} 0 ${-pi/2}"/>
+        </xacro:if>
+        <xacro:if value="${bracket_type.endswith('LeftInside')}">
+          <!-- origin manually offseted by xyz="0.0 -0.02 0.005" -->
+          <origin xyz="0 -0.02 ${0.005+0.005}" rpy="${pi/2} 0 ${pi/2}"/>
+        </xacro:if>
+        <geometry>
+          <xacro:if value="${bracket_type.endswith('Inside')}">
+            <!--
+            <mesh filename="package://ctu_cras_norlab_lily_sensor_config_1/meshes/A-2221-01-Inside.stl" scale="0.001 0.001 0.001"/>
+            -->
+            <!-- adding box -->
+            <box size="0.055 0.04 0.011" />
+          </xacro:if>
+        </geometry>
+      </collision>
+
+      <!-- (3/4) vertical connector -->
+      <collision>
+        <xacro:if value="${bracket_type.endswith('RightInside')}">
+          <!-- origin manually offseted by xyz="0.0 -0.03 0.03"-->
+          <origin xyz="0 -0.03 ${0.005+0.03}" rpy="${pi/2} 0 ${-pi/2}"/>
+        </xacro:if>
+        <xacro:if value="${bracket_type.endswith('LeftInside')}">
+          <!-- origin manually offseted by xyz="0.0 -0.03 0.03" -->
+          <origin xyz="0 -0.03 ${0.005+0.03}" rpy="${pi/2} 0 ${pi/2}"/>
+        </xacro:if>
+        <geometry>
+          <xacro:if value="${bracket_type.endswith('Inside')}">
+            <!--
+            <mesh filename="package://ctu_cras_norlab_lily_sensor_config_1/meshes/A-2221-01-Inside.stl" scale="0.001 0.001 0.001"/>
+            -->
+            <!-- adding box -->
+            <box size="0.12 0.02 0.06" />
+          </xacro:if>
+        </geometry>
+      </collision>
+
+      <!-- (4/4) vertical cylinder -->
+      <collision>
+        <xacro:if value="${bracket_type.endswith('RightInside')}">
+          <!-- origin manually offseted by xyz="0.0 -0.03 0.055" and r=pi/2 -->
+          <origin xyz="0 -0.03 ${0.005+0.055}" rpy="${pi/2 + pi/2} 0 ${-pi/2}"/>
+        </xacro:if>
+        <xacro:if value="${bracket_type.endswith('LeftInside')}">
+          <!-- origin manually offseted by xyz="0.0 -0.03 0.055" and r=pi/2 -->
+          <origin xyz="0 -0.03 ${0.005+0.055}" rpy="${pi/2 + pi/2} 0 ${pi/2}"/>
+        </xacro:if>
+        <geometry>
+          <xacro:if value="${bracket_type.endswith('Inside')}">
+            <!--
+            <mesh filename="package://ctu_cras_norlab_lily_sensor_config_1/meshes/A-2221-01-Inside.stl" scale="0.001 0.001 0.001"/>
+            -->
+            <!-- adding box -->
+            <cylinder length="0.02" radius="0.0375" />
+          </xacro:if>
+        </geometry>
+      </collision>
+      <!-- end of merge from automatically generated results-->
+
+      <!-- NOTE: inertia is just modelled as small sphere, and could be improved. -->
+      <inertial>
+        <xacro:if value="${bracket_type.endswith('RightOutside')}">
+          <origin xyz="0 ${0.5 * -.0375} .0275" rpy="0 0 0" />
+        </xacro:if>
+        <xacro:if value="${bracket_type.endswith('RightInside')}">
+          <origin xyz="0 ${0.5 * .0225} .0275" rpy="0 0 0" />
+        </xacro:if>
+        <xacro:if value="${bracket_type.endswith('LeftOutside')}">
+          <origin xyz="0 ${0.5 * .0375} .0275" rpy="0 0 0" />
+        </xacro:if>
+        <xacro:if value="${bracket_type.endswith('LeftInside')}">
+          <origin xyz="0 ${0.5 * -.0225} .0275" rpy="0 0 0" />
+        </xacro:if>
+        <mass value="0.215"/>
+        <inertia ixx="${0.4 * 0.215 * 0.06 * 0.06}" ixy="0.0" ixz="0.0" iyy="${0.4 * 0.215 * 0.06 * 0.06}" iyz="0.0" izz="${0.4 * 0.215 * 0.06 * 0.06}"/>
+      </inertial>
+    </xacro:if>
+  </link>
+  <gazebo reference="${name}/INPUT_INTERFACE">
+    <xacro:if value="${bracket_type.startswith('X5Light')}">
+      <xacro:gazebo_beige_material/>
+    </xacro:if>
+    <xacro:if value="${bracket_type.startswith('X5Heavy') or bracket_type.startswith('R8')}">
+      <xacro:gazebo_black_material/>
+    </xacro:if>
+  </gazebo>
+
+  <joint name="${name}/OUTPUT_INTERFACE" type="fixed">
+    <parent link="${name}/INPUT_INTERFACE"/>
+    <child link="${child}/INPUT_INTERFACE"/>
+    <xacro:if value="${bracket_type.endswith('RightOutside')}">
+      <origin xyz="0 -.0375 .055" rpy="${pi/2} 0 0"/>
+    </xacro:if>
+    <xacro:if value="${bracket_type.endswith('RightInside')}">
+      <origin xyz="0 .0225 .055" rpy="${pi/2} 0 0"/>
+    </xacro:if>
+    <xacro:if value="${bracket_type.endswith('LeftOutside')}">
+      <origin xyz="0 .0375 .055" rpy="${-pi/2} 0 0"/>
+    </xacro:if>
+    <xacro:if value="${bracket_type.endswith('LeftInside')}">
+      <origin xyz="0 -.0225 .055" rpy="${-pi/2} 0 0"/>
+    </xacro:if>
+    <xacro:if value="${bracket_type.endswith('Left')}">
+      <origin xyz="0 .043 .04" rpy="${-pi/2} 0 0"/>
+    </xacro:if>
+    <xacro:if value="${bracket_type.endswith('Right')}">
+      <origin xyz="0 -.043 .04" rpy="${pi/2} 0 0"/>
+    </xacro:if>
+  </joint>
+  <gazebo reference="${name}/OUTPUT_INTERFACE">
+    <disableFixedJointLumping>true</disableFixedJointLumping>
+    <preserveFixedJoint>true</preserveFixedJoint>
+  </gazebo>
+  </xacro:macro>
+</robot>
diff --git a/submitted_models/ctu_cras_norlab_lily_sensor_config_1/urdf/convert.sh b/submitted_models/ctu_cras_norlab_lily_sensor_config_1/urdf/convert.sh
new file mode 100755
index 00000000..9d1ce712
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_lily_sensor_config_1/urdf/convert.sh
@@ -0,0 +1,8 @@
+#!/bin/bash
+name=$(basename $0)
+
+echo -e "[\e[93m$name\e[m] Converting file lily.xacro to ../lily.sdf."
+
+./xacro2sdf.sh lily.xacro ../lily.sdf || exit $?
+
+echo -e "[\e[93m$name\e[m] File lily.xacro coverted to ../lily.sdf."
\ No newline at end of file
diff --git a/submitted_models/ctu_cras_norlab_lily_sensor_config_1/urdf/end_effector.xacro b/submitted_models/ctu_cras_norlab_lily_sensor_config_1/urdf/end_effector.xacro
new file mode 100644
index 00000000..83304675
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_lily_sensor_config_1/urdf/end_effector.xacro
@@ -0,0 +1,416 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
+  <xacro:macro name="null_end_effector" params="name">
+    <link name="${name}/INPUT_INTERFACE">
+      <collision>
+        <origin xyz="0 0 0.0005" rpy="0 0 0"/>
+          <geometry>
+            <box size="0.001 0.001 0.001" rpy="0 0 0"/>
+          </geometry>
+      </collision>
+      <visual>
+        <origin xyz="0 0 0.0005" rpy="0 0 0"/>
+          <geometry>
+            <box size="0.001 0.001 0.001" rpy="0 0 0"/>
+          </geometry>
+      </visual>
+      <inertial>
+        <origin xyz="0 0 0.0005" rpy="0 0 0"/>
+          <mass value="0.001"/>
+        <inertia
+          ixx="0.001" ixy="0.0" ixz="0.0"
+          iyy="0.001" iyz="0.0"
+          izz="0.001"/>
+      </inertial>
+    </link>
+  </xacro:macro>
+
+  <xacro:macro name="parallel_gripper_outer_subassembly" params="name prefix">
+    <link name="${name}/${prefix}_finger">
+      <visual>
+        <origin xyz="-0.006 -0.0055 -0.0045" rpy="${pi/2} 0 ${pi/2}" />
+        <geometry>
+          <mesh filename="package://ctu_cras_norlab_lily_sensor_config_1/meshes/PM-2221-01.stl" scale="0.001 0.001 0.001"/>
+        </geometry>
+        <xacro:silver_material/>
+      </visual>
+      <collision>
+        <origin xyz="-0.006 -0.0055 -0.0045" rpy="${pi/2} 0 ${pi/2}" />
+        <geometry>
+          <mesh filename="package://ctu_cras_norlab_lily_sensor_config_1/meshes/PM-2221-01.stl" scale="0.001 0.001 0.001"/>
+        </geometry>
+      </collision>
+      <inertial>
+        <origin xyz="0 0.015 0" rpy="${0.5*pi} 0 ${0.0*pi}"/>
+        <mass value="0.022"/>
+        <!-- h = 0.007 w = 0.011 d = 0.03 -->
+        <inertia
+          ixx="${1/12 * 0.022 * (0.007*0.007 + 0.03*0.03)}" ixy="0.0" ixz="0.0"
+          iyy="${1/12 * 0.022 * (0.011*0.011 + 0.03*0.03)}" iyz="0.0"
+          izz="${1/12 * 0.022 * (0.011*0.011 + 0.007*0.007)}"/>
+      </inertial>
+      <self_collide>true</self_collide>
+    </link>
+    <gazebo reference="${name}/${prefix}_finger">
+      <xacro:gazebo_silver_material/>
+    </gazebo>
+
+    <link name="${name}/${prefix}_outer_linkage">
+      <visual>
+        <origin xyz="-0.0115 0.029 -0.004" rpy="${pi/2} 0 0" />
+        <geometry>
+          <mesh filename="package://ctu_cras_norlab_lily_sensor_config_1/meshes/PM-2358-02.stl" scale="0.001 0.001 0.001"/>
+        </geometry>
+        <xacro:black_material/>
+      </visual>
+      <inertial>
+        <origin xyz="0 0.015 0.007" rpy="0 0 0"/>
+        <mass value="0.010"/>
+        <!-- h = 0.03 w = 0.025 d = 0.03 -->
+        <inertia
+          ixx="${1/12 * 0.010 * (0.03*0.03 + 0.03*0.03)}" ixy="0.0" ixz="0.0"
+          iyy="${1/12 * 0.010 * (0.023*0.023 + 0.03*0.03)}" iyz="0.0"
+          izz="${1/12 * 0.010 * (0.023*0.023 + 0.03*0.03)}"/>
+      </inertial>
+    </link>
+    <gazebo reference="${name}/${prefix}_outer_linkage">
+      <xacro:gazebo_black_material/>
+    </gazebo>
+
+    <link name="${name}/${prefix}_gripper">
+      <visual>
+        <origin xyz="-0.006 -0.0115 -0.0036" rpy="${0.5*pi} ${0.0*pi} ${0.5*pi}" />
+        <geometry>
+          <mesh filename="package://ctu_cras_norlab_lily_sensor_config_1/meshes/PM-2360-02.stl" scale="0.001 0.001 0.001"/>
+        </geometry>
+        <xacro:black_material/>
+      </visual>
+      <collision>
+        <origin xyz="-0.006 -0.0115 -0.0036" rpy="${0.5*pi} ${0.0*pi} ${0.5*pi}" />
+        <geometry>
+          <mesh filename="package://ctu_cras_norlab_lily_sensor_config_1/meshes/PM-2360-02.stl" scale="0.001 0.001 0.001"/>
+        </geometry>
+      </collision>
+      <inertial>
+        <origin xyz="0 -0.005 0.02" rpy="0 0 0"/>
+        <mass value="0.014"/>
+        <inertia
+          ixx="${1/12 * 0.014 * ( 0.01*0.01 + 0.05*0.05 )}" ixy="0.0" ixz="0.0"
+          iyy="${1/12 * 0.014 * ( 0.01*0.01 + 0.05*0.05 )}" iyz="0.0"
+          izz="${1/12 * 0.014 * ( 0.01*0.01 + 0.01*0.01 )}"/>
+      </inertial>
+    </link>
+    <gazebo reference="${name}/${prefix}_gripper">
+      <xacro:gazebo_black_material/>
+    </gazebo>
+
+    <link name="${name}/${prefix}_gripper_bend">
+      <visual>
+        <origin xyz="0 0 0" rpy="0 ${0.5*pi} 0"/>
+        <geometry>
+          <cylinder length="0.02" radius=".002" />
+        </geometry>
+        <xacro:silver_material/>
+      </visual>
+      <inertial>
+        <origin xyz="0 0 0" rpy="0 ${0.5*pi} 0"/>
+        <mass value="0.001"/>
+        <!-- Approximated as slender rod -->
+        <inertia
+          ixx="${1/12 * 0.001 * (3*pow(0.002, 2) + 0.02*0.02)}" ixy="0.0" ixz="0.0"
+          iyy="${1/12 * 0.001 * (3*pow(0.002, 2) + 0.02*0.02)}" iyz="0.0"
+          izz="${1/2  * 0.001 * pow(0.002, 2)}"/>
+      </inertial>
+    </link>
+    <gazebo reference="${name}/${prefix}_gripper_bend">
+      <xacro:gazebo_silver_material/>
+    </gazebo>
+
+    <joint name="${name}/${prefix}_gripper_finger_${prefix}_gripper_bend" type="fixed">
+      <origin xyz="0.0 -0.0075 0.0165" rpy="0 0 0" />
+      <parent link="${name}/${prefix}_gripper"/>
+      <child link="${name}/${prefix}_gripper_bend"/>
+    </joint>
+    <gazebo reference="${name}/${prefix}_gripper_finger_${prefix}_gripper_bend">
+      <disableFixedJointLumping>true</disableFixedJointLumping>
+      <preserveFixedJoint>true</preserveFixedJoint>
+    </gazebo>
+
+    <joint name="${name}/input_${prefix}_finger" type="revolute">
+      <xacro:if value="${prefix == 'l'}">
+        <origin xyz="0 0.01265 .0115" rpy="0 0 0" />
+      </xacro:if>
+      <xacro:if value="${prefix == 'r'}">
+        <origin xyz="0 -0.01265 .0115" rpy="0 0 ${pi}" />
+        <mimic joint="${name}/input_l_finger" multiplier="1.0" offset="0" />
+      </xacro:if>
+      <parent link="${name}/INPUT_INTERFACE"/>
+      <child link="${name}/${prefix}_finger"/>
+      <limit effort="1000" velocity="1000" lower="0" upper="${0.37*pi}"/>
+    </joint>
+    <gazebo reference="${name}/input_${prefix}_finger">
+      <physics>
+        <ode>
+          <implicit_spring_damper>true</implicit_spring_damper>
+        </ode>
+      </physics>
+    </gazebo>
+
+    <joint name="${name}/${prefix}_finger_${prefix}_outer_linkage" type="fixed">
+      <origin xyz="0 0.015 0" rpy="0 0 0" />
+      <parent link="${name}/${prefix}_finger"/>
+      <child link="${name}/${prefix}_outer_linkage"/>
+    </joint>
+
+    <joint name="${name}/${prefix}_outer_linkage_${prefix}_gripper" type="revolute">
+      <origin xyz="0 0.025 0.018" rpy="0 0 0" />
+      <parent link="${name}/${prefix}_outer_linkage"/>
+      <child link="${name}/${prefix}_gripper"/>
+      <mimic joint="${name}/input_l_finger" multiplier="-1.0" />
+      <limit effort="1000" velocity="1000" lower="${-pi/2}" upper="0"/>
+    </joint>
+  </xacro:macro>
+
+  <xacro:macro name="parallel_gripper_inner_subassembly" params="name prefix">
+    <link name="${name}/${prefix}_inner_linkage">
+      <visual>
+        <origin xyz="-0.0115 -0.004 -0.004" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="package://ctu_cras_norlab_lily_sensor_config_1/meshes/PM-2359-02.stl" scale="0.001 0.001 0.001"/>
+        </geometry>
+        <xacro:black_material/>
+      </visual>
+      <inertial>
+        <origin xyz="0 0 0.0215" rpy="${pi/2} 0 0"/>
+        <mass value="0.010"/>
+        <!-- h = 0.05, w = 0.02 d = 0.005 -->
+        <inertia
+          ixx="${1/12 * 0.010 * (0.05*0.05 + 0.005*0.005)}" ixy="0.0" ixz="0.0"
+          iyy="${1/12 * 0.010 * (0.02*0.02 + 0.005*0.005)}" iyz="0.0"
+          izz="${1/12 * 0.010 * (0.02*0.02 + 0.05*0.05)}"/>
+      </inertial>
+    </link>
+    <gazebo reference="${name}/${prefix}_inner_linkage">
+      <xacro:gazebo_black_material />
+    </gazebo>
+
+    <joint name="${name}/center_hub_${prefix}_inner_linkage" type="continuous">
+      <xacro:if value="${prefix == 'l'}">
+        <origin xyz="0 0.005 0.023" rpy="${-0.36*pi} 0 0" />
+      </xacro:if>
+      <xacro:if value="${prefix == 'r'}">
+        <origin xyz="0 -0.005 0.023" rpy="${-0.36*pi} 0 ${pi}" />
+      </xacro:if>
+      <parent link="${name}/center_hub" />
+      <child link="${name}/${prefix}_inner_linkage" />
+      <mimic joint="${name}/input_l_finger" multiplier="1.0" />
+    </joint>
+  </xacro:macro>
+
+  <xacro:macro name="gripper" params="name type:=Custom mass:=0.0 com_trans:='0 0 0' output_trans:='0 0 0'">
+    <xacro:property name="com_trans_list" value="${map(float, com_trans.split(' '))}" />
+    <xacro:if value="${ com_trans_list[0] + com_trans_list[1] + com_trans_list[2] >= 0.01 }">
+      <xacro:property name="len" value="${sqrt( pow(com_trans_list[0], 2) + pow(com_trans_list[1], 2) + pow(com_trans_list[2], 2) )}" />
+    </xacro:if>
+    <xacro:unless value="${ com_trans_list[0] + com_trans_list[1] + com_trans_list[2] >= 0.01 }">
+      <xacro:property name="len" value="0.1" />
+    </xacro:unless>
+
+    <!-- touch sensor -->
+    <!-- Can't touch this! HAMMER-TIME -->
+    <xacro:if value="${type == 'Touch'}">
+      <link name="${name}/INPUT_INTERFACE">
+        <visual>
+          <origin xyz="0 0 0.0005" rpy="0 0 0" />
+          <geometry>
+            <box size="0.001 0.001 0.001" rpy="0 0 0" />
+          </geometry>
+        </visual>
+        <inertial>
+          <origin xyz="${com_trans}" rpy="0 0 0" />
+          <mass value="${mass}" />
+          <inertia
+            ixx="${2.0/5.0 * mass * pow(len, 2)}" ixy="0.0" ixz="0.0"
+            iyy="${2.0/5.0 * mass * pow(len, 2)}" iyz="0.0"
+            izz="${2.0/5.0 * mass * pow(len, 2)}" />
+        </inertial>
+      </link>
+    </xacro:if>
+
+    <xacro:if value="${type == 'Custom'}">
+      <link name="${name}/INPUT_INTERFACE">
+        <visual>
+          <origin xyz="0 0 0.0005" rpy="0 0 0" />
+          <geometry>
+            <box size="0.001 0.001 0.001" rpy="0 0 0" />
+          </geometry>
+        </visual>
+        <inertial>
+          <origin xyz="${com_trans}" rpy="0 0 0" />
+          <mass value="${mass}" />
+          <inertia
+            ixx="${2.0/5.0 * mass * pow(len, 2)}" ixy="0.0" ixz="0.0"
+            iyy="${2.0/5.0 * mass * pow(len, 2)}" iyz="0.0"
+            izz="${2.0/5.0 * mass * pow(len, 2)}" />
+        </inertial>
+      </link>
+    </xacro:if>
+
+    <xacro:if value="${type.endswith('Parallel')}">
+      <!-- The base body of the gripper -->
+      <link name="${name}/INPUT_INTERFACE">
+        <visual>
+          <origin xyz="0 0 0.00375" />
+            <geometry>
+            <cylinder length="0.0075" radius=".0225" />
+          </geometry>
+          <xacro:black_material/>
+        </visual>
+        <inertial>
+          <origin xyz="0 0 0" rpy="0 0 0"/>
+          <mass value="0.072"/>
+          <!-- Approximated as solid cylinder -->
+          <inertia
+            ixx="${1.0/12.0 * 0.072 * (3*pow(0.0225, 2) + pow(0.0075, 2))}" ixy="0.0" ixz="0.0"
+            iyy="${1.0/12.0 * 0.072 * (3*pow(0.0225, 2) + pow(0.0075, 2))}" iyz="0.0"
+            izz="${1.0/2.0  * 0.072 * pow(0.0225, 2)}"/>
+        </inertial>
+      </link>
+      <gazebo reference="${name}/INPUT_INTERFACE">
+        <xacro:gazebo_black_material/>
+      </gazebo>
+
+      <!-- Tree branch for center hub -->
+      <link name="${name}/center_hub">
+        <visual>
+          <origin xyz="-0.0225 0.0225 0" rpy="${pi/2} 0 0" />
+          <geometry>
+            <mesh filename="package://ctu_cras_norlab_lily_sensor_config_1/meshes/PM-2357-02.stl" scale="0.001 0.001 0.001"/>
+          </geometry>
+          <xacro:black_material/>
+        </visual>
+        <inertial>
+          <origin xyz="0 0 0" rpy="0 0 0"/>
+          <mass value="0.010"/>
+          <!-- Approximated as hollow sphere -->
+          <inertia
+            ixx="${0.66*0.010*pow(0.0225, 2)}" ixy="0.0" ixz="0.0"
+            iyy="${0.66*0.010*pow(0.0225, 2)}" iyz="0.0"
+            izz="${0.66*0.010*pow(0.0225, 2)}"/>
+        </inertial>
+      </link>
+      <gazebo reference="${name}/center_hub">
+        <xacro:gazebo_black_material/>
+      </gazebo>
+
+      <joint name="${name}/input_center_hub" type="fixed">
+        <origin xyz="0 0 0.0045" rpy="0 0 0" />
+        <parent link="${name}/INPUT_INTERFACE"/>
+        <child link="${name}/center_hub"/>
+      </joint>
+
+      <link name="${name}/center_pinion">
+        <visual>
+          <origin xyz="-0.0145 -0.008 0.0038" rpy="${0.5*pi} ${0.0*pi} ${0.5*pi}" />
+          <geometry>
+            <mesh filename="package://ctu_cras_norlab_lily_sensor_config_1/meshes/PM-2291-01.stl" scale="0.001 0.001 0.001"/>
+          </geometry>
+          <xacro:silver_material/>
+        </visual>
+        <collision>
+          <origin xyz="-0.0145 -0.008 0.004" rpy="${0.5*pi} ${0.0*pi} ${0.5*pi}" />
+          <geometry>
+            <mesh filename="package://ctu_cras_norlab_lily_sensor_config_1/meshes/PM-2291-01.stl" scale="0.001 0.001 0.001"/>
+          </geometry>
+        </collision>
+        <inertial>
+          <origin xyz="0 0 0" rpy="0 0 0"/>
+          <mass value="0.010"/>
+          <!-- Approximated as hollow sphere -->
+          <inertia
+            ixx="${0.66*0.010*pow(0.0225, 2)}" ixy="0.0" ixz="0.0"
+            iyy="${0.66*0.010*pow(0.0225, 2)}" iyz="0.0"
+            izz="${0.66*0.010*pow(0.0225, 2)}"/>
+        </inertial>
+      </link>
+      <gazebo reference="${name}/center_pinion">
+        <self_collide>true</self_collide>
+        <xacro:gazebo_silver_material/>
+      </gazebo>
+
+      <joint name="${name}/center_hub_pinion" type="prismatic">
+        <parent link="${name}/center_hub"/>
+        <child link="${name}/center_pinion"/>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <axis xyz="0 0 1" />
+        <limit effort="1000" velocity="1000" lower="-1.0" upper="1.0"/>
+        <!-- Don't actually want the pinion to move (only needed fore gazebo)
+             so set multiplier very small -->
+        <mimic joint="${name}/input_l_finger" multiplier="0.00001" offset="0" />
+        <physics>
+          <ode>
+            <implicit_spring_damper>true</implicit_spring_damper>
+          </ode>
+        </physics>
+      </joint>
+      <gazebo reference="${name}/center_hub_pinion">
+        <disableFixedJointLumping>true</disableFixedJointLumping>
+        <preserveFixedJoint>true</preserveFixedJoint>
+      </gazebo>
+
+      <!-- Tree branches for fingers, outer linkages, and grippers -->
+      <xacro:parallel_gripper_outer_subassembly name="${name}" prefix="l"/>
+      <xacro:parallel_gripper_outer_subassembly name="${name}" prefix="r"/>
+
+      <!-- Tree branches for inner linkages -->
+      <xacro:parallel_gripper_inner_subassembly name="${name}" prefix="l"/>
+      <xacro:parallel_gripper_inner_subassembly name="${name}" prefix="r"/>
+      <gazebo>
+        <joint name="${name}/l_inner_outer_pin" type="revolute">
+          <pose>0 0 0.0439 0 0 0</pose>
+          <parent>${name}/l_gripper_bend</parent>
+          <child>${name}/l_inner_linkage</child>
+          <axis>
+            <xyz>-1 0 0</xyz>
+            <limit>
+              <lower>${-2*pi}</lower>
+              <upper>${2*pi}</upper>
+              <effort>1000</effort>
+              <velocity>1000</velocity>
+            </limit>
+          </axis>
+        </joint>
+        <joint name="${name}/r_inner_outer_pin" type="revolute">
+          <pose>0 0 0.0439 0 0 0</pose>
+          <parent>${name}/r_gripper_bend</parent>
+          <child>${name}/r_inner_linkage</child>
+          <axis>
+            <xyz>-1 0 0</xyz>
+            <limit>
+              <lower>${-2*pi}</lower>
+              <upper>${2*pi}</upper>
+              <effort>1000</effort>
+              <velocity>1000</velocity>
+            </limit>
+          </axis>
+        </joint>
+
+        <!-- Add constraint between gripper fingers (they mirror each other) using a gearbox -->
+        <joint name="${name}/finger_gearbox" type="gearbox">
+          <parent>${name}/r_finger</parent>
+          <child>${name}/l_finger</child>
+          <gearbox_reference_body>${name}/INPUT_INTERFACE</gearbox_reference_body>
+          <gearbox_ratio>1</gearbox_ratio>
+          <axis>
+            <xyz>1 0 0</xyz>
+          </axis>
+          <axis2>
+            <xyz>1 0 0</xyz>
+          </axis2>
+        </joint>
+      </gazebo>
+    </xacro:if>
+
+  </xacro:macro>
+</robot>
+
diff --git a/submitted_models/ctu_cras_norlab_lily_sensor_config_1/urdf/hebi.xacro b/submitted_models/ctu_cras_norlab_lily_sensor_config_1/urdf/hebi.xacro
new file mode 100644
index 00000000..e771c645
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_lily_sensor_config_1/urdf/hebi.xacro
@@ -0,0 +1,64 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
+
+  <!-- This is a single xacro file you can include to get
+  all of the HEBI components -->
+
+  <xacro:macro name="red_material">
+    <material name="red">
+      <color rgba=".82 0.06 0.06 1"/>
+    </material>
+  </xacro:macro>
+  <xacro:macro name="gazebo_red_material">
+    <material>Gazebo/Red</material>
+  </xacro:macro>
+
+  <xacro:macro name="silver_material">
+    <material name="silver">
+      <color rgba="0.6 0.6 0.6 1"/>
+    </material>
+  </xacro:macro>
+  <xacro:macro name="gazebo_silver_material">
+    <material>Gazebo/Grey</material>
+  </xacro:macro>
+
+  <xacro:macro name="black_material">
+    <material name="black">
+      <color rgba="0.1 0.1 0.1 1"/>
+    </material>
+  </xacro:macro>
+  <xacro:macro name="gazebo_black_material">
+    <material>Gazebo/Black</material>
+  </xacro:macro>
+
+  <xacro:macro name="beige_material">
+    <material name="beige">
+      <color rgba="0.96 0.945 0.871 1"/>
+    </material>
+  </xacro:macro>
+  <xacro:macro name="gazebo_beige_material">
+    <visual>
+      <material>
+          <ambient>0.96 0.945 0.871 1</ambient>
+          <diffuse>0.96 0.945 0.871 1</diffuse>
+      </material>
+    </visual>
+  </xacro:macro>
+
+  <xacro:include filename="./actuator.xacro"/>
+  <xacro:include filename="./link.xacro"/>
+  <xacro:include filename="./bracket.xacro"/>
+  <xacro:include filename="./end_effector.xacro"/>
+  <!-- utils must be included before payload since payload use macros from utils -->
+  <xacro:include filename="./utils.xacro"/>
+  <xacro:include filename="./legs.xacro"/>
+  <xacro:include filename="./payload.xacro"/>
+  
+  <!-- This automatically loads the gazebo plugin for xacro models
+       which include hebi.xacro -->
+  <!--
+  <gazebo>
+    <plugin name="hebi_gazebo_plugin" filename="libhebi_gazebo_plugin.so"/>
+  </gazebo>
+  -->
+</robot>
diff --git a/submitted_models/ctu_cras_norlab_lily_sensor_config_1/urdf/high_precision_constants.py b/submitted_models/ctu_cras_norlab_lily_sensor_config_1/urdf/high_precision_constants.py
new file mode 100755
index 00000000..c216baf7
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_lily_sensor_config_1/urdf/high_precision_constants.py
@@ -0,0 +1,79 @@
+#!/usr/bin/env python
+#
+# Copyright 2019 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from __future__ import print_function
+from lxml import etree
+import math
+import argparse
+import sys
+
+# Values of PI to check. Only put positive values.
+CONSTANTS_TO_CHECK = [math.pi, math.pi/2]
+
+def convert_to_high_precision_pi(urdf_file, tol, precision):
+    """Search all poses for values that are near PI and PI/2 and replace them
+    with their high precision counterparts.
+
+    Parameters
+    ----------
+    urdf_file : Input urdf file
+    tol: Tolerance for equality check
+
+    Returns
+    -------
+    etree.Element
+
+    """
+    inp = etree.parse(urdf_file)
+    sdf = inp.getroot()
+    poses = sdf.xpath('//pose')
+
+    for pose in poses:
+        new_pose_list = []
+        for val in pose.text.split():
+            val_fl = float(val)
+            for check_val in CONSTANTS_TO_CHECK:
+                if abs(abs(val_fl) - check_val) < tol:
+                    new_pose_list.append('{:.{precision}f}'.format(
+                        math.copysign(check_val, val_fl), precision=precision))
+                    break
+            # The else block executes if none of the values in
+            # CONSTANTS_TO_CHECK match val_fl
+            else:
+                new_pose_list.append(val)
+
+        new_pose = ' '.join(new_pose_list)
+        pose.text = new_pose
+    return inp
+
+
+if __name__ == '__main__':
+    parser = argparse.ArgumentParser(
+        formatter_class=argparse.ArgumentDefaultsHelpFormatter,
+        description='Search all <pose> elements for values that are near PI '
+        'and PI/2 and replace them with their high precision counterparts.')
+    parser.add_argument('infile', type=argparse.FileType('r'),
+                        help='Input URDF file')
+    parser.add_argument('-t', '--tolerance', type=float, default=1e-3,
+                        help='Tolerance for equality checks')
+    parser.add_argument('-p', '--precision', type=float, default=16,
+                        help='Tolerance for equality checks')
+
+    args = parser.parse_args()
+    out = convert_to_high_precision_pi(args.infile, args.tolerance,
+                                       args.precision)
+    print(etree.tostring(out, pretty_print=True, encoding='utf-8',
+                         xml_declaration=True))
diff --git a/submitted_models/ctu_cras_norlab_lily_sensor_config_1/urdf/legs.xacro b/submitted_models/ctu_cras_norlab_lily_sensor_config_1/urdf/legs.xacro
new file mode 100644
index 00000000..2c88210a
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_lily_sensor_config_1/urdf/legs.xacro
@@ -0,0 +1,199 @@
+<?xml version='1.0'?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
+
+    <xacro:macro name="left_leg" params="leg_num angle offset">
+       
+        <!-- joning rod to the base link -->
+        <joint name="base_leg${leg_num}_rod" type="fixed">
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <parent link="$(arg prefix)base_link"/>
+            <child link="$(arg prefix)base_to_leg${leg_num}_link"/>
+        </joint>
+
+        <!-- rod from base link to the first servo -->
+        <link name="$(arg prefix)base_to_leg${leg_num}_link">
+            <visual>    
+                <origin xyz="${offset*cos(angle)/2} ${offset*sin(angle)/2} -0.01" rpy="0 ${-pi/2} ${angle}" />
+                <geometry>
+                    <cylinder length="${offset}" radius="0.015" />
+                </geometry>
+            </visual>
+            <collision>    
+                <origin xyz="${offset*cos(angle)/2} ${offset*sin(angle)/2} -0.01" rpy="0 ${-pi/2} ${angle}" />
+                <geometry>
+                    <cylinder length="${offset}" radius="0.015" />
+                </geometry>
+            </collision>
+        </link>
+
+        <!-- inertia -->
+        <xacro:cylinder_inertial radius="0.015" length="0.015" mass="0.095"
+            xyz="${offset*cos(angle)/2} ${offset*sin(angle)/2} -0.01" rpy="0 ${-pi/2} ${angle}"/>
+
+        <!-- HEBI LEG starts here -->
+        <joint name="base_leg${leg_num}_joint" type="fixed">
+            <origin xyz="${offset*cos(angle)} ${offset*sin(angle)} 0" rpy="0 0 ${angle}" />
+            <parent link="$(arg prefix)base_to_leg${leg_num}_link"/>
+            <child link="$(arg prefix)L${leg_num}_J1_base/INPUT_INTERFACE"/>
+        </joint>
+
+        <xacro:actuator type="R8_9" name="$(arg prefix)L${leg_num}_J1_base" child="$(arg prefix)shoulder${leg_num}_bracket"/>
+        <xacro:bracket type="R8HeavyLeftInside" name="$(arg prefix)shoulder${leg_num}_bracket" child="$(arg prefix)L${leg_num}_J2_shoulder"/>
+        <xacro:actuator type="R8_16" name="$(arg prefix)L${leg_num}_J2_shoulder" child="$(arg prefix)shoulder${leg_num}_elbow"/>
+        <xacro:link type="R8" extension="0.325" twist="${pi}" name="$(arg prefix)shoulder${leg_num}_elbow" child="$(arg prefix)L${leg_num}_J3_elbow"/>
+        <xacro:actuator type="R8_9" name="$(arg prefix)L${leg_num}_J3_elbow" child="$(arg prefix)elbow${leg_num}_foot"/>
+        <xacro:link type="R8" extension="0.325" twist="${0}" name="$(arg prefix)elbow${leg_num}_foot" output="Inline" child="$(arg prefix)foot${leg_num}" contact="1"/>
+        <xacro:gripper type="Touch" name="$(arg prefix)foot${leg_num}" mass="0.06"/>
+
+        <!-- 
+        <xacro:if value="${'$(arg target)' == 'ign'}">
+        -->
+        
+        <!-- PID -->
+        <gazebo>
+            <plugin
+            filename="libignition-gazebo-joint-position-controller-system.so"
+            name="ignition::gazebo::systems::JointPositionController">
+            <joint_name>L${leg_num}_J1_base</joint_name>
+            <p_gain>100</p_gain>
+            <i_gain>0.1</i_gain>
+            <d_gain>0.01</d_gain>
+            <i_max>1</i_max>
+            <i_min>-1</i_min>
+            <cmd_max>1000</cmd_max>
+            <cmd_min>-1000</cmd_min>
+            </plugin>
+        </gazebo>
+
+        <gazebo>
+            <plugin
+            filename="libignition-gazebo-joint-position-controller-system.so"
+            name="ignition::gazebo::systems::JointPositionController">
+            <joint_name>L${leg_num}_J2_shoulder</joint_name>
+            <p_gain>100</p_gain>
+            <i_gain>0.1</i_gain>
+            <d_gain>0.01</d_gain>
+            <i_max>1</i_max>
+            <i_min>-1</i_min>
+            <cmd_max>1000</cmd_max>
+            <cmd_min>-1000</cmd_min>
+            </plugin>
+        </gazebo>
+
+        <gazebo>
+            <plugin
+            filename="libignition-gazebo-joint-position-controller-system.so"
+            name="ignition::gazebo::systems::JointPositionController">
+            <joint_name>L${leg_num}_J3_elbow</joint_name>
+            <p_gain>100</p_gain>
+            <i_gain>0.1</i_gain>
+            <d_gain>0.01</d_gain>
+            <i_max>1</i_max>
+            <i_min>-1</i_min>
+            <cmd_max>1000</cmd_max>
+            <cmd_min>-1000</cmd_min>
+            </plugin>
+        </gazebo>
+        <!-- 
+        </xacro:if>
+        -->
+    </xacro:macro>
+
+    <xacro:macro name="right_leg" params="leg_num angle offset">
+
+        <!-- joning rod to the base link -->
+        <joint name="base_leg${leg_num}_rod" type="fixed">
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <parent link="$(arg prefix)base_link"/>
+            <child link="$(arg prefix)base_to_leg${leg_num}_link"/>
+        </joint>
+
+        <!-- rod from base link to the first servo -->
+        <link name="$(arg prefix)base_to_leg${leg_num}_link">
+            <visual>    
+                <origin xyz="${offset*cos(angle)/2} ${offset*sin(angle)/2} -0.01" rpy="0 ${-pi/2} ${angle}" />
+                <geometry>
+                    <cylinder length="${offset}" radius="0.015" />
+                </geometry>
+            </visual>
+            <collision>    
+                <origin xyz="${offset*cos(angle)/2} ${offset*sin(angle)/2} -0.01" rpy="0 ${-pi/2} ${angle}" />
+                <geometry>
+                    <cylinder length="${offset}" radius="0.015" />
+                </geometry>
+            </collision>
+        </link>
+
+        <!-- inertia -->
+        <xacro:cylinder_inertial radius="0.015" length="0.015" mass="0.095"
+            xyz="${offset*cos(angle)/2} ${offset*sin(angle)/2} -0.01" rpy="0 ${-pi/2} ${angle}"/>
+
+        <!-- HEBI LEG starts here -->
+        <joint name="base_leg${leg_num}_joint" type="fixed">
+            <origin xyz="${offset*cos(angle)} ${offset*sin(angle)} 0" rpy="0 0 ${angle}" />
+            <parent link="$(arg prefix)base_to_leg${leg_num}_link"/>
+            <child link="$(arg prefix)L${leg_num}_J1_base/INPUT_INTERFACE"/>
+        </joint>
+        <xacro:actuator type="R8_9" name="$(arg prefix)L${leg_num}_J1_base" child="$(arg prefix)shoulder${leg_num}_bracket"/>
+        <xacro:bracket type="R8HeavyRightInside" name="$(arg prefix)shoulder${leg_num}_bracket" child="$(arg prefix)L${leg_num}_J2_shoulder"/>
+        <xacro:actuator type="R8_16" name="$(arg prefix)L${leg_num}_J2_shoulder" child="$(arg prefix)shoulder${leg_num}_elbow"/>
+        <xacro:link type="R8" extension="0.325" twist="${pi}" name="$(arg prefix)shoulder${leg_num}_elbow" child="$(arg prefix)L${leg_num}_J3_elbow"/>
+        <xacro:actuator type="R8_9" name="$(arg prefix)L${leg_num}_J3_elbow" child="$(arg prefix)elbow${leg_num}_foot"/>
+        <xacro:link type="R8" extension="0.325" twist="${0}" name="$(arg prefix)elbow${leg_num}_foot" output="Inline" child="$(arg prefix)foot${leg_num}" contact="1"/>
+        <xacro:gripper type="Touch" name="$(arg prefix)foot${leg_num}" mass="0.06"/>
+        
+        <!-- 
+        <xacro:if value="${'$(arg target)' == 'ign'}">
+        -->
+
+        <!-- PID -->
+        <gazebo>
+            <plugin
+            filename="libignition-gazebo-joint-position-controller-system.so"
+            name="ignition::gazebo::systems::JointPositionController">
+            <joint_name>L${leg_num}_J1_base</joint_name>
+            <p_gain>100</p_gain>
+            <i_gain>0.1</i_gain>
+            <d_gain>0.01</d_gain>
+            <i_max>1</i_max>
+            <i_min>-1</i_min>
+            <cmd_max>1000</cmd_max>
+            <cmd_min>-1000</cmd_min>
+            </plugin>
+        </gazebo>
+
+        <gazebo>
+            <plugin
+            filename="libignition-gazebo-joint-position-controller-system.so"
+            name="ignition::gazebo::systems::JointPositionController">
+            <joint_name>L${leg_num}_J2_shoulder</joint_name>
+            <p_gain>100</p_gain>
+            <i_gain>0.1</i_gain>
+            <d_gain>0.01</d_gain>
+            <i_max>1</i_max>
+            <i_min>-1</i_min>
+            <cmd_max>1000</cmd_max>
+            <cmd_min>-1000</cmd_min>
+            </plugin>
+        </gazebo>
+
+        <gazebo>
+            <plugin
+            filename="libignition-gazebo-joint-position-controller-system.so"
+            name="ignition::gazebo::systems::JointPositionController">
+            <joint_name>L${leg_num}_J3_elbow</joint_name>
+            <p_gain>100</p_gain>
+            <i_gain>0.1</i_gain>
+            <d_gain>0.01</d_gain>
+            <i_max>1</i_max>
+            <i_min>-1</i_min>
+            <cmd_max>1000</cmd_max>
+            <cmd_min>-1000</cmd_min>
+            </plugin>
+        </gazebo>
+        <!-- 
+        </xacro:if>
+        -->
+    </xacro:macro>
+
+</robot>
\ No newline at end of file
diff --git a/submitted_models/ctu_cras_norlab_lily_sensor_config_1/urdf/lights.xacro b/submitted_models/ctu_cras_norlab_lily_sensor_config_1/urdf/lights.xacro
new file mode 100644
index 00000000..0d379989
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_lily_sensor_config_1/urdf/lights.xacro
@@ -0,0 +1,43 @@
+<?xml version="1.0"?>
+<root xmlns:xacro="http://www.ros.org/wiki/xacro">
+    <xacro:macro name="led_stripe" params="name pose range linear:=1 constant:=0 quadratic:=0 inner_angle outer_angle">
+        <light name="${name}" type="spot">
+            <pose>${pose}</pose>
+            <cast_shadows>1</cast_shadows>
+            <attenuation>
+                <range>${range}</range>
+                <linear>${linear}</linear>
+                <constant>${constant}</constant>
+                <quadratic>${quadratic}</quadratic>
+            </attenuation>
+            <diffuse>0.8 0.8 0.5 1</diffuse>
+            <specular>0.8 0.8 0.5 1</specular>
+            <spot>
+                <inner_angle>${inner_angle}</inner_angle>
+                <outer_angle>${outer_angle}</outer_angle>
+                <falloff>1</falloff>
+            </spot>
+            <direction>0 0 -1</direction>
+        </light>
+    </xacro:macro>
+
+    <xacro:macro name="spot_light_up" params="name pose">
+        <light name="${name}" type="spot">
+            <pose>${pose}</pose>
+            <attenuation>
+                <range>60</range>
+                <linear>0</linear>
+                <constant>0.1</constant>
+                <quadratic>0.0025</quadratic>
+            </attenuation>
+            <diffuse>0.8 0.8 0.5 1</diffuse>
+            <specular>0.8 0.8 0.5 1</specular>
+            <spot>
+                <inner_angle>${pi/3}</inner_angle>
+                <outer_angle>${pi/2}</outer_angle>
+                <falloff>1</falloff>
+            </spot>
+            <direction>0 0 -1</direction>
+        </light>
+    </xacro:macro>
+</root>
\ No newline at end of file
diff --git a/submitted_models/ctu_cras_norlab_lily_sensor_config_1/urdf/lily.xacro b/submitted_models/ctu_cras_norlab_lily_sensor_config_1/urdf/lily.xacro
new file mode 100644
index 00000000..946c2117
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_lily_sensor_config_1/urdf/lily.xacro
@@ -0,0 +1,25 @@
+<?xml version='3.0' encoding='UTF-8'?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro" version="1.1.0" name="lily">
+  <xacro:arg name="name" default="" />
+  <xacro:if value="${len('$(arg name)') == 0}">
+    <xacro:arg name="prefix" default="" />
+  </xacro:if>
+  <xacro:unless value="${len('$(arg name)') == 0}">
+    <xacro:arg name="prefix" default="$(arg name)/" />
+  </xacro:unless>
+
+  <!-- HEBI Lily Hexapod Kit -->
+  <xacro:include filename="$(find ctu_cras_norlab_lily_sensor_config_1)/urdf/hebi.xacro"/>
+
+  <!-- legs -->
+  <xacro:left_leg leg_num="1" angle="${30*pi/180}" offset="0.3625" />
+  <xacro:right_leg leg_num="2" angle="${-30*pi/180}" offset="0.3625" />
+  <xacro:left_leg leg_num="3" angle="${90*pi/180}" offset="0.2625" />
+  <xacro:right_leg leg_num="4" angle="${-90*pi/180}" offset="0.2625" />
+  <xacro:left_leg leg_num="5" angle="${150*pi/180}" offset="0.3625" />
+  <xacro:right_leg leg_num="6" angle="${-150*pi/180}" offset="0.3625" />
+  
+  <!-- base with payload -->
+  <xacro:base />
+
+</robot>
diff --git a/submitted_models/ctu_cras_norlab_lily_sensor_config_1/urdf/link.xacro b/submitted_models/ctu_cras_norlab_lily_sensor_config_1/urdf/link.xacro
new file mode 100644
index 00000000..2ffbe1bd
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_lily_sensor_config_1/urdf/link.xacro
@@ -0,0 +1,230 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
+  <!-- NOTE: joint must match the name of the module -->
+  <xacro:macro name="link" params="name child type:=X5 input:=RightAngle output:=RightAngle extension twist contact:=0">
+    <xacro:property name="mass" value="${0.4 * (extension + 0.03) + 0.26}"/>
+    <xacro:property name="edge_to_center" value="${.02}"/>
+    <link name="${name}/INPUT_INTERFACE">
+      <!-- Input Cap -->
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <xacro:if value="${input == 'RightAngle'}">
+            <mesh filename="package://ctu_cras_norlab_lily_sensor_config_1/meshes/A-2038-02.stl"/>
+          </xacro:if>
+          <xacro:if value="${input == 'Inline'}">
+            <mesh filename="package://ctu_cras_norlab_lily_sensor_config_1/meshes/A-2225-01.stl" scale="0.001 0.001 0.001"/>
+          </xacro:if>
+        </geometry>
+        <xacro:black_material/>
+      </visual>
+
+      <xacro:if value="${input == 'RightAngle'}">
+        <!-- OLD MESH -->
+        <!--
+        <collision>
+          <origin xyz="0 0 0" rpy="0 0 0" />
+          <geometry> 
+            <mesh filename="package://ctu_cras_norlab_lily_sensor_config_1/meshes/A-2038-02.stl"/>
+          </geometry>
+        </collision>
+        -->
+
+        <!-- geometry simplification from file: A-2038-02.scad-->
+        <!-- AUTOGENERATED from Openscad using openscad2xacro.py -->
+        <!--  horizontal connector -->
+        <collision>
+          <origin xyz="0.0 0.0 0.005" rpy="0 0 0"/>
+          <geometry>
+            <cylinder length="0.011" radius="0.025" />
+          </geometry>
+        </collision>
+        <!--  vertical connector -->
+        <collision>
+          <origin xyz="0.025 0.0 0.02" rpy="0 0 0"/>
+          <geometry>
+            <box size="0.0251 0.05 0.041" />
+          </geometry>
+        </collision>
+        <!-- AUTOGENERATION from Openscad using openscad2xacro.py ENDS HERE -->
+
+      </xacro:if>
+
+      <xacro:if value="${input == 'Inline'}">
+        <collision>
+          <origin xyz="0 0 0" rpy="0 0 0" />
+          <geometry>
+            <mesh filename="package://ctu_cras_norlab_lily_sensor_config_1/meshes/A-2225-01.stl" scale="0.001 0.001 0.001"/>
+          </geometry>
+        </collision>
+      </xacro:if>
+
+
+      <!-- Link Pipe -->
+      <visual>
+        <xacro:if value="${input == 'RightAngle'}">
+          <origin xyz="${extension/2} 0 ${edge_to_center}" rpy="0 1.57075 0" />
+        </xacro:if>
+        <xacro:if value="${input == 'Inline'}">
+          <origin xyz="0 0 ${extension/2}" rpy="0 0 0" />
+        </xacro:if>
+        <geometry>
+          <cylinder length="${extension-.0254}" radius=".016" />
+        </geometry>
+        <xacro:black_material/>
+      </visual>
+      <collision>
+        <xacro:if value="${input == 'RightAngle'}">
+          <origin xyz="${extension/2} 0 ${edge_to_center}" rpy="0 1.57075 0" />
+        </xacro:if>
+        <xacro:if value="${input == 'Inline'}">
+          <origin xyz="0 0 ${extension/2}" rpy="0 0 0" />
+        </xacro:if>
+        <geometry>
+          <cylinder length="${extension-.0254}" radius=".016" />
+        </geometry>
+      </collision>
+
+      <!-- Output Cap -->
+      <visual>
+        <xacro:if value="${input == 'RightAngle' and output == 'RightAngle'}">
+          <origin xyz="${extension} ${sin(-twist) * edge_to_center} ${edge_to_center * (1 + cos(-twist))}" rpy="${-twist} 0 0"/>
+        </xacro:if>
+        <xacro:if value="${input == 'RightAngle' and output == 'Inline'}">
+          <origin xyz="${extension} 0 ${edge_to_center}" rpy="${pi/2} ${twist+pi} ${pi/2}"/>
+        </xacro:if>
+        <xacro:if value="${input == 'Inline' and output =='RightAngle'}">
+          <origin xyz="${edge_to_center * sin(twist+pi/2)} ${edge_to_center * -cos(twist+pi/2)} ${extension}" rpy="${pi/2} ${-pi/2} ${twist+pi/2}"/>
+        </xacro:if>
+        <xacro:if value="${input == 'Inline' and output =='Inline'}">
+          <origin xyz="${0} ${0} ${extension}" rpy="${0} ${0} ${twist-pi/2}"/>
+        </xacro:if>
+        <geometry>
+          <xacro:if value="${output == 'RightAngle'}">
+            <mesh filename="package://ctu_cras_norlab_lily_sensor_config_1/meshes/A-2039-02.stl"/>
+          </xacro:if>
+          <xacro:if value="${output == 'Inline'}">
+            <mesh filename="package://ctu_cras_norlab_lily_sensor_config_1/meshes/A-2226-01.stl" scale="0.001 0.001 0.001"/>
+          </xacro:if>
+        </geometry>
+        <xacro:black_material/>
+      </visual>
+
+      <!-- COLLISION -->
+      <!-- merged from automatically generated results-->
+      <!-- (1/2) horizontal connector -->
+      <collision>
+        <xacro:if value="${input == 'RightAngle' and output == 'RightAngle'}">
+          <!-- origin manually offseted by xyz="0.0 0.0 -0.005" -->
+          <origin xyz="${extension-0.005} ${sin(-twist) * edge_to_center} ${edge_to_center * (1 + cos(-twist))}" rpy="${-twist} 0 0"/>
+        </xacro:if>
+        <xacro:if value="${input == 'RightAngle' and output == 'Inline'}">
+          <!-- origin manually offseted by xyz="0.0 0.0 -0.005" -->
+          <origin xyz="${extension-0.005} 0 ${edge_to_center}" rpy="${pi/2} ${twist+pi} ${pi/2}"/>
+        </xacro:if>
+        <xacro:if value="${input == 'Inline' and output =='RightAngle'}">
+          <origin xyz="${edge_to_center * sin(twist+pi/2)} ${edge_to_center * -cos(twist+pi/2)} ${extension}" rpy="${pi/2} ${-pi/2} ${twist+pi/2}"/>
+        </xacro:if>
+        <xacro:if value="${input == 'Inline' and output =='Inline'}">
+          <origin xyz="${0} ${0} ${extension}" rpy="${0} ${0} ${twist-pi/2}"/>
+        </xacro:if>
+        <geometry>
+          <xacro:if value="${input == 'RightAngle'}">
+            <!--
+            <mesh filename="package://ctu_cras_norlab_lily_sensor_config_1/meshes/A-2039-02.stl"/>
+            -->
+            <!-- adding cylinder -->
+            <cylinder length="0.011" radius="0.035" />
+          </xacro:if>
+          <xacro:if value="${input == 'Inline'}">
+            <mesh filename="package://ctu_cras_norlab_lily_sensor_config_1/meshes/A-2226-01.stl" scale="0.001 0.001 0.001"/>
+          </xacro:if>
+        </geometry>
+      </collision>
+
+      <!-- (2/2) horizontal connector -->
+      <collision>
+        <xacro:if value="${input == 'RightAngle' and output == 'RightAngle'}">
+          <!-- origin manually offseted by xyz="-0.025 0.0 -0.02" -->
+          <origin xyz="${extension-0.025} ${sin(-twist) * edge_to_center} ${edge_to_center * (1 + cos(-twist)) -0.02}" rpy="${-twist} 0 0"/>
+        </xacro:if>
+        <xacro:if value="${input == 'RightAngle' and output == 'Inline'}">
+          <!-- origin manually offseted by xyz="-0.025 0.0 -0.02" -->
+          <origin xyz="${extension-0.025} 0 ${edge_to_center-0.02}" rpy="${pi/2} ${twist+pi} ${pi/2}"/>
+        </xacro:if>
+        <geometry>
+          <xacro:if value="${input == 'RightAngle'}">
+            <!--
+            <mesh filename="package://ctu_cras_norlab_lily_sensor_config_1/meshes/A-2039-02.stl"/>
+            -->
+            <!-- adding box -->
+            <box size="0.025 0.05 0.041" />
+          </xacro:if>
+        </geometry>
+      </collision>
+      <!-- end of merge from automatically generated results-->
+
+      <!-- Approximate inertia as thin rod about x axis -->
+      <inertial>
+        <origin xyz="${extension/2} 0 ${edge_to_center}" rpy="0 0 0" />
+        <mass value="${mass}"/>
+        <inertia  ixx="0.0" ixy="0.0"  ixz="0.0"  iyy="${mass * extension * extension / 12.0}"  iyz="0.0"  izz="${mass * extension * extension / 12.0}"/>
+      </inertial>
+    </link>
+    <gazebo reference="${name}/INPUT_INTERFACE">
+      <xacro:gazebo_black_material/>
+    </gazebo>
+    <xacro:if value="${contact}">
+      <!-- collision for logical contact -->
+      <gazebo reference="${name}/INPUT_INTERFACE">
+        <sensor name="contact" type="contact">
+          <contact>
+            <collision>${name}/INPUT_INTERFACE_collision</collision>
+            <collision>${name}/INPUT_INTERFACE_collision_1</collision>
+            <collision>${name}/INPUT_INTERFACE_collision_2</collision>
+            <collision>${name}/INPUT_INTERFACE_collision_3</collision>
+            <collision>${name}/INPUT_INTERFACE_collision_4</collision>
+          </contact>
+        </sensor>
+        <collision>
+          <surface>
+            <contact>
+              <ode>
+                <kp>1e+10</kp>
+                <kd>1</kd>
+              </ode>
+            </contact>
+            <friction>
+              <ode>
+                <mu>10.0</mu>
+                <!--<mu2>10.0</mu2>-->
+              </ode>
+            </friction>
+          </surface>
+        </collision>
+      </gazebo>
+    </xacro:if>
+
+    <joint name="${name}/OUTPUT_JOINT" type="fixed">
+      <parent link="${name}/INPUT_INTERFACE"/>
+      <child link="${child}/INPUT_INTERFACE"/>
+      <xacro:if value="${input == 'RightAngle' and output == 'RightAngle'}">
+        <origin xyz="${extension} ${-sin(twist) * edge_to_center} ${edge_to_center * (1 + cos(twist))}" rpy="${twist} 0 0"/>
+      </xacro:if>
+      <xacro:if value="${input == 'RightAngle' and output == 'Inline'}">
+        <origin xyz="${extension} 0 ${edge_to_center}" rpy="${pi/2} ${twist+pi} ${pi/2}"/>
+      </xacro:if>
+      <xacro:if value="${input == 'Inline' and output =='RightAngle'}">
+        <origin xyz="${edge_to_center * sin(twist+pi/2)} ${edge_to_center * -cos(twist+pi/2)} ${extension}" rpy="${pi/2} ${-pi/2} ${twist+pi/2}"/>
+      </xacro:if>
+      <xacro:if value="${input == 'Inline' and output =='Inline'}">
+        <origin xyz="${0} ${0} ${extension}" rpy="${0} ${0} ${twist-pi/2}"/>
+      </xacro:if>
+    </joint>
+    <gazebo reference="${name}/OUTPUT_JOINT">
+      <disableFixedJointLumping>true</disableFixedJointLumping>
+      <preserveFixedJoint>true</preserveFixedJoint>
+    </gazebo>
+  </xacro:macro>
+</robot>
+
diff --git a/submitted_models/ctu_cras_norlab_lily_sensor_config_1/urdf/payload.xacro b/submitted_models/ctu_cras_norlab_lily_sensor_config_1/urdf/payload.xacro
new file mode 100644
index 00000000..ee32512d
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_lily_sensor_config_1/urdf/payload.xacro
@@ -0,0 +1,190 @@
+<?xml version='1.0'?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
+  
+  <xacro:macro name="base">
+    <link name="$(arg prefix)base_link">
+
+      <!-- payload -->
+      <visual>
+        <origin xyz="0 0 0.1" rpy="${pi/2} 0 0" />
+        <geometry>
+          <mesh filename="package://ctu_cras_norlab_lily_sensor_config_1/meshes/body_payload.stl" scale="0.001 0.001 0.001"/>
+        </geometry>
+      </visual>
+      <!-- inertia is used from symplified gemometry -->
+      
+      <!-- lower box -->
+      <!-- 
+      <visual>
+        <origin xyz="0 0 0.05" rpy="0 0 0" />
+        <geometry>
+          <box size="0.4 0.2 0.1"/>
+        </geometry>
+      </visual>
+      -->
+      <collision>
+        <origin xyz="0 0 0.05" rpy="0 0 0" />
+        <geometry>
+          <box size="0.4 0.2 0.1"/>
+        </geometry>
+      </collision>
+      <!-- simplified inertia -->
+      <!-- mass including chasis, onboard computer, breadcrumbs (???) etc.-->
+      <xacro:box_inertial x_size="0.4" y_size="0.2" z_size="0.1" mass="7"
+                          xyz="0 0 0.05" rpy="0 0 0"/>
+    </link>
+
+    <link name="$(arg prefix)upper_box">
+      <!--
+      <visual>
+        <origin xyz="-0.05 0 0.15" rpy="0 0 0" />
+        <geometry>
+          <box size="0.25 0.2 0.1"/>
+        </geometry>
+      </visual>
+      -->
+      <collision>
+        <origin xyz="-0.05 0 0.15" rpy="0 0 0" />
+        <geometry>
+          <box size="0.25 0.2 0.1"/>
+        </geometry>
+      </collision>
+      <!-- simplified inertia -->
+      <!-- mass including chasis, cameras, wifi, etc.-->
+      <xacro:box_inertial x_size="0.25" y_size="0.2" z_size="0.1" mass="5"
+                          xyz="-0.05 0 0.15" rpy="0 0 0"/>
+    </link>
+    <xacro:fixed_joint name="upper_box_j" parent="$(arg prefix)base_link" child="$(arg prefix)upper_box" />
+
+    <link name="$(arg prefix)battery_right">
+      <!-- battery-right -->
+      <visual>
+        <origin xyz="0.0 -0.04 0.02" rpy="0.0 0.0 0.0"/>
+        <geometry>
+          <box size="0.201 0.075 0.021"/>  
+        </geometry>
+      </visual>
+      <!-- DO NOT TOUCH AUTOGENERATED by process-info.py using meshlab utils (http://gazebosim.org/tutorials?tut=inertia&cat=build_robot) -->
+      <!-- processing: hebi_battery.info -->
+      <!-- Is given matrix positive definite? True -->
+      <inertial>
+        <origin xyz="0 -0.04 0.02" rpy="0 0 0"/>
+        <mass value="0.6"/>
+        <inertia ixx="0.0002958499855932691"  ixy="0.0"                   ixz="0.0"
+                                              iyy="0.0020420999865537175" iyz="0.0" 
+                                                                          izz="0.002293850039378397" />
+      </inertial>
+      <!-- AUTOGENERATE END -->
+    </link>
+    <xacro:fixed_joint name="battery_right_j" parent="$(arg prefix)base_link" child="$(arg prefix)battery_right" />
+
+    <link name="$(arg prefix)battery_left">
+      <!-- battery-left -->
+      <visual>
+        <origin xyz="0.0 0.04 0.02" rpy="0.0 0.0 0.0"/>
+        <geometry>
+          <box size="0.201 0.075 0.021"/>  
+        </geometry>
+      </visual>
+      <!-- DO NOT TOUCH AUTOGENERATED by process-info.py using meshlab utils (http://gazebosim.org/tutorials?tut=inertia&cat=build_robot) -->
+      <!-- processing: hebi_battery.info -->
+      <!-- Is given matrix positive definite? True -->
+      <inertial>
+        <origin xyz="0 0.04 0.02" rpy="0 0 0"/>
+        <mass value="0.6"/>
+        <inertia ixx="0.0002958499855932691"  ixy="0.0"                   ixz="0.0"
+                                              iyy="0.0020420999865537175" iyz="0.0" 
+                                                                          izz="0.002293850039378397" />
+      </inertial>
+      <!-- AUTOGENERATE END -->
+
+    </link>
+    <xacro:fixed_joint name="battery_left_j" parent="$(arg prefix)base_link" child="$(arg prefix)battery_left" />
+
+    <!-- material -->
+    <gazebo reference="$(arg prefix)base_link">
+      <xacro:gazebo_black_material/>
+    </gazebo>
+    <gazebo reference="$(arg prefix)upper_box">
+      <xacro:gazebo_black_material/>
+    </gazebo>
+    <gazebo reference="$(arg prefix)battery_right">
+      <xacro:gazebo_black_material/>
+    </gazebo>
+    <gazebo reference="$(arg prefix)battery_left">
+      <xacro:gazebo_black_material/>
+    </gazebo>
+  </xacro:macro>
+
+  <!--==[SENSORS]==-->
+
+  <!-- CAMERAS -->
+  <!-- '-> camera defined in camera.xacro -->
+  <!-- '-> fixed_joint defined in utils.xacro -->
+  <xacro:include filename="./sensors/cameras.xacro"/>
+
+  <!-- PLACEMENT DONE -->
+  <xacro:ace2_camera suffix="front" visualize="1"/>
+  <xacro:fixed_joint name="front_camera_j" parent="$(arg prefix)base_link" child="$(arg prefix)ace2_camera_front"
+        xyz="0.09 -0.095 0.205" rpy="0 ${-30*pi/180} 0" />
+
+  <!-- PLACEMENT DONE -->
+  <xacro:ace2_camera suffix="back" visualize="1"/>
+  <xacro:fixed_joint name="back_camera_j" parent="$(arg prefix)base_link" child="$(arg prefix)ace2_camera_back"
+        xyz="-0.19 0.095 0.205" rpy="0 ${-30*pi/180} ${pi}" />
+
+  <xacro:ace2_camera suffix="left" visualize="1"/>
+  <xacro:fixed_joint name="left_camera_j" parent="$(arg prefix)base_link" child="$(arg prefix)ace2_camera_left"
+        xyz="0.06 0.125 0.205" rpy="0 ${-30*pi/180} ${pi/2}" />
+  
+  <xacro:ace2_camera suffix="right" visualize="1"/>
+  <xacro:fixed_joint name="right_camera_j" parent="$(arg prefix)base_link" child="$(arg prefix)ace2_camera_right"
+        xyz="-0.16 -0.125 0.205" rpy="0 ${-30*pi/180} ${3*pi/2}" />
+
+  <!-- PLACEMENT DONE -->
+  <xacro:ace2_camera suffix="up" visualize="1"/>
+  <xacro:fixed_joint name="up_camera_j" parent="$(arg prefix)base_link" child="$(arg prefix)ace2_camera_up"
+        xyz="-0.16 0.04 0.225" rpy="0 -${pi/2} 0" />
+
+  <!-- LIGHTS -->
+
+  <xacro:include filename="./lights.xacro" />
+
+  <gazebo reference="$(arg prefix)base_link">
+    <xacro:led_stripe name="light_left" range="30" linear="0.2" constant="0.1" quadratic="0.0025"
+                      inner_angle="2.8" outer_angle="2.9"
+                      pose="0.02 0.125 0.245 0 ${-0.523599-pi/2} ${pi/2}" />
+    <xacro:led_stripe name="light_right" range="30" linear="0.2" constant="0.1" quadratic="0.0025"
+                      inner_angle="2.8" outer_angle="2.9"
+                      pose="-0.18 -0.145 0.245 -0 ${-0.523599-pi/2} ${-pi/2}" />
+    <xacro:led_stripe name="light_front" range="30" linear="0.2" constant="0.1" quadratic="0.0025"
+                      inner_angle="2.8" outer_angle="2.9"
+                      pose="0.11 -0.115 0.245 0 ${-0.523599-pi/2} 0" />
+    <xacro:led_stripe name="light_rear" range="40" linear="0" constant="0.2" quadratic="0.0025"
+                      inner_angle="2.8" outer_angle="2.9"
+                      pose="-0.21 0.115 0.245 0 ${-0.523599-pi/2} ${-pi}" />
+    <xacro:spot_light_up name="light_up"
+                      pose="-0.16 0.04 0.225 0 0 ${3*pi/2} 0" />
+  </gazebo>
+
+  <!-- LIDAR -->
+  <!-- '-> lidar is defined in ouster_lidar.xacro -->
+  <!-- '-> fixed_joint defined in utils.xacro -->
+  <xacro:include filename="./sensors/ouster_lidar.xacro"/>
+  
+  <!-- [!] TODO MODIFY PLACEMENT -->
+  <xacro:ouster_os0_128 name="$(arg prefix)main" visualize="1"/>
+  <xacro:fixed_joint name="ouster_j" parent="$(arg prefix)base_link" child="$(arg prefix)main_ouster_lidar"
+        xyz="0 0 0.261" rpy="0 0 0"/>
+
+  <!-- IMU -->
+  <!-- '-> imus are defined in imu.xacro -->
+  <!-- '-> fixed_joint defined in utils.xacro -->
+  <xacro:include filename="./sensors/imu.xacro"/>
+
+  <xacro:generic_imu suffix="base" visualize="1"/>
+  <xacro:fixed_joint name="imu_j" parent="$(arg prefix)base_link" child="$(arg prefix)imu_base"
+        xyz="0 0 0" rpy="0 0 0"/>
+  
+
+</robot>
\ No newline at end of file
diff --git a/submitted_models/ctu_cras_norlab_lily_sensor_config_1/urdf/sensors/cameras.xacro b/submitted_models/ctu_cras_norlab_lily_sensor_config_1/urdf/sensors/cameras.xacro
new file mode 100644
index 00000000..60be5554
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_lily_sensor_config_1/urdf/sensors/cameras.xacro
@@ -0,0 +1,83 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://ros.org/wiki/xacro">
+
+    <!-- based on ctu_cras_norlab_spot camera -->
+
+    <!-- basler ace 2 camera -->
+    <!-- url: https://www.baslerweb.com/en/products/cameras/area-scan-cameras/ace2/a2a1920-51gcpro/ -->
+    <!-- housing Size (L x W x H)	55.5 mm x 29 mm x 29 mm -->
+    <!-- 	Weight (typical)	105g -->
+    <!-- parameters copied from datasheet -->
+    <!-- [!] resolution is kinda huge -->
+    <xacro:macro name="ace2_camera" params="suffix simulate:=1 visualize:=0" >
+        <link name="$(arg prefix)ace2_camera_${suffix}">
+            <xacro:default_inertial />
+            <xacro:if value="${visualize}">
+
+                <!-- camera body -->
+                <visual>
+                    <origin xyz="-0.025 0.0 0.0" rpy="0.0 0.0 0.0"/>
+                    <geometry>
+                        <box size="0.0555 0.029 0.029" />
+                    </geometry>
+                </visual>
+
+                <!-- camera lens -->
+                <visual>    
+                    <origin xyz="0.025 0.0 0.00" rpy="0.0 ${pi/2} 0.0"/>
+                    <geometry>
+                        <cylinder length="0.04" radius="0.0125" />
+                    </geometry>
+                </visual>
+
+            </xacro:if>
+
+            <!-- inertia effect negligible, therefore included in payload itself. -->
+       
+        </link>
+
+        <!-- material -->
+        <gazebo reference="ace2_camera_${suffix}">
+            <xacro:gazebo_black_material/>
+        </gazebo>
+
+        <!-- plugins -->
+        <gazebo reference="ace2_camera_${suffix}">
+            <!-- RGB camera -->
+            <sensor name="camera_${suffix}" type="camera">
+                <pose>0 0 0 0 0 0</pose>
+                <!-- real camera can do up to 51 Hz, but we don't have ways to process such a high frequency -->
+                <update_rate>9</update_rate>
+                <visualize>${visualize}</visualize>
+                <camera>
+                    <horizontal_fov>${radians(86.5)}</horizontal_fov>
+                    <image>
+                        <width>1920</width>
+                        <height>1200</height>
+                        <format>R8G8B8</format>
+                    </image>
+                    <clip>
+                        <near>0.1</near>
+                        <far>300.0</far>
+                    </clip>
+                    <noise>
+                        <type>gaussian</type>
+                        <mean>0.0</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>
+                    </lens>
+                </camera>
+            </sensor>
+
+        </gazebo>
+        
+    </xacro:macro>
+</robot>
\ No newline at end of file
diff --git a/submitted_models/ctu_cras_norlab_lily_sensor_config_1/urdf/sensors/imu.xacro b/submitted_models/ctu_cras_norlab_lily_sensor_config_1/urdf/sensors/imu.xacro
new file mode 100644
index 00000000..3e895320
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_lily_sensor_config_1/urdf/sensors/imu.xacro
@@ -0,0 +1,72 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://ros.org/wiki/xacro">
+
+    <!-- based on ctu_cras_norlab_spot imu -->
+
+    <xacro:macro name="generic_imu" params="suffix simulate:=1 visualize:=0" >
+        <link name="$(arg prefix)imu_${suffix}">
+            <xacro:default_inertial />
+            <xacro:if value="${visualize}">
+                <!-- imu body - only visual -->
+                <visual>
+                    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
+                    <geometry>
+                        <box size="0.0555 0.029 0.029" />
+                    </geometry>
+                </visual>
+            </xacro:if>
+            
+            <!-- inertia effect negligible, therefore included in payload itself. -->
+
+        </link>
+
+        <!-- material -->
+        <gazebo reference="imu_${suffix}">
+            <xacro:gazebo_black_material/>
+        </gazebo>
+
+        <!-- plugins -->
+        <gazebo reference="imu_${suffix}">
+            <sensor name="imu" type="imu">
+                <always_on>1</always_on>
+                <update_rate>50</update_rate>
+                <imu>
+                    <angular_velocity>
+                        <xacro:macro name="angular_imu_noise">
+                            <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>
+                        </xacro:macro>
+                        <x><xacro:angular_imu_noise/></x>
+                        <y><xacro:angular_imu_noise/></y>
+                        <z><xacro:angular_imu_noise/></z>
+                    </angular_velocity>
+                    <linear_acceleration>
+                        <xacro:macro name="linear_imu_noise">
+                            <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>
+                        </xacro:macro>
+                        <x><xacro:linear_imu_noise /></x>
+                        <y><xacro:linear_imu_noise /></y>
+                        <z><xacro:linear_imu_noise /></z>
+                    </linear_acceleration>
+                </imu>
+            </sensor>
+
+        </gazebo>
+        
+    </xacro:macro>
+</robot>
\ No newline at end of file
diff --git a/submitted_models/ctu_cras_norlab_lily_sensor_config_1/urdf/sensors/ouster_lidar.xacro b/submitted_models/ctu_cras_norlab_lily_sensor_config_1/urdf/sensors/ouster_lidar.xacro
new file mode 100644
index 00000000..f854d13d
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_lily_sensor_config_1/urdf/sensors/ouster_lidar.xacro
@@ -0,0 +1,72 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
+
+  <!-- based on ctu_cras_norlab_spot ouster lidar -->
+
+  <xacro:property name="ouster_os0_128_mass" value="0.5" scope="global" />
+
+  <xacro:macro name="ouster_os0_128" params="name simulate:=1 visualize:=0 horiz_samples:=2048 rate:=10">
+    
+    <!--
+    <xacro:property name="ouster_void" value="${payload_mass.append(ouster_os0_128_mass)}" scope="global" />
+    -->
+
+    <!-- link -->
+    <link name="${name}_ouster_lidar">
+      <xacro:if value="${visualize}">
+        <visual>
+          <geometry>
+            <mesh filename="package://ctu_cras_norlab_lily_sensor_config_1/meshes/ouster-os0.dae"/>
+          </geometry>
+        </visual>
+      </xacro:if>
+      <collision>
+        <origin rpy="0 0 0" xyz="0 0 ${0.0735/2}"/>
+        <geometry>
+          <cylinder length="0.0735" radius="0.0435"/>
+        </geometry>
+      </collision>
+
+      <!-- ouster inertia -->
+      <xacro:cylinder_inertial mass="${ouster_os0_128_mass}" radius="0.0435" length="0.0735" xyz="0 0 ${0.0735/2}" />
+    </link>
+
+    <!-- adding plugin -->
+    <gazebo reference="${name}_ouster_lidar">
+      <sensor name="laser" type="gpu_lidar">
+        <pose>0 0 0.035925 0 0 0</pose> <!-- Geometrical center of the lidar is a bit off, this is from datasheet. -->
+        <update_rate>${rate}</update_rate>
+        <visualize>${visualize}</visualize>
+        <always_on>1</always_on>
+        <lidar>
+          <scan>
+            <horizontal>
+              <samples>${horiz_samples}</samples>
+              <resolution>1</resolution>
+              <min_angle>-3.1459</min_angle>
+              <max_angle>3.1459</max_angle>
+            </horizontal>
+            <vertical>
+              <samples>128</samples>
+              <resolution>1</resolution>
+              <min_angle>-${pi/4}</min_angle>
+              <max_angle>${pi/4}</max_angle>
+            </vertical>
+          </scan>
+          <range>
+            <min>0.1</min>
+            <max>50</max>
+            <resolution>0.01</resolution>
+          </range>
+          <noise>
+            <type>gaussian</type>
+            <mean>0</mean>
+            <stddev>0.01</stddev>
+          </noise>
+        </lidar>
+      </sensor>
+    </gazebo>
+
+  </xacro:macro>
+  
+</robot>
\ No newline at end of file
diff --git a/submitted_models/ctu_cras_norlab_lily_sensor_config_1/urdf/show.sh b/submitted_models/ctu_cras_norlab_lily_sensor_config_1/urdf/show.sh
new file mode 100755
index 00000000..92818256
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_lily_sensor_config_1/urdf/show.sh
@@ -0,0 +1,8 @@
+#!/bin/bash
+if [ "$#" -ne 1 ]; then
+    echo -e "Usage: show [FILENAME]\n FILENAME .. urdf file to be visualized in rviz"
+    exit 1
+fi
+
+echo "processing $1"
+roslaunch urdf_tutorial display.launch model:=$1
diff --git a/submitted_models/ctu_cras_norlab_lily_sensor_config_1/urdf/urdf2sdf.sh b/submitted_models/ctu_cras_norlab_lily_sensor_config_1/urdf/urdf2sdf.sh
new file mode 100755
index 00000000..960c9af0
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_lily_sensor_config_1/urdf/urdf2sdf.sh
@@ -0,0 +1,35 @@
+#!/bin/bash
+if [ "$#" -lt 1 ];
+then
+    echo -e "Usage: urdf2sdf.sh URDF-FILE [SDF-FILE] \nURDF-FILE .. urdf file to be transfered into the sdf file \nSDF-FILE .. optional filename for the converted sdf. If provided, output is not written to stdout but saved to this file."
+    exit 1
+fi
+
+# conversion file
+tmp_file="__tmp.sdf"
+
+# some magic for hight precision constants script by MP
+DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null 2>&1 && pwd )"
+
+sdf8_version="$(ign sdf --versions | grep '^8')" || true
+[ -z "$sdf8_version" ] && echo "libsdformat8 not found. It is required to update this robot's SDF. Please install libsdformat8-dev and try again." >&2 && exit 1
+echo "Found libsdformat ${sdf8_version}" >&2
+
+# main converion
+ign sdf --force-version "$sdf8_version" -p $1 |
+"${DIR}/high_precision_constants.py" - |
+sed -e 's#model://ctu_cras_norlab_lily_sensor_config_1/##g' > $tmp_file
+
+# handle tmp file
+if [ "$#" -ge 2 ];
+then
+    # in case of saving to file, just rename it...
+    mv $tmp_file "${2%.*}.sdf"
+else
+    # ... otherwise writing file to stdout
+    cat $tmp_file
+
+    # and remove it.
+    rm $tmp_file
+fi
+
diff --git a/submitted_models/ctu_cras_norlab_lily_sensor_config_1/urdf/utils.xacro b/submitted_models/ctu_cras_norlab_lily_sensor_config_1/urdf/utils.xacro
new file mode 100644
index 00000000..1db58155
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_lily_sensor_config_1/urdf/utils.xacro
@@ -0,0 +1,53 @@
+<?xml version="1.0"?>
+<root xmlns:xacro="http://www.ros.org/wiki/xacro">
+
+    <!-- based on ctu_cras_norlab_spot utils -->
+
+    <!-- fixed joint -->
+    <xacro:macro name="fixed_joint" params="name parent child xyz:='0 0 0' rpy:='0 0 0' lump:=0">
+        <joint name="${name}" type="fixed">
+            <parent link="${parent}"/>
+            <child link="${child}"/>
+            <origin xyz="${xyz}" rpy="${rpy}"/>
+        </joint>
+        <xacro:if value="${lump == 0}">
+            <!-- workaround for https://github.com/osrf/sdformat/issues/378 -->
+            <gazebo reference="${name}">
+                <preserveFixedJoint>true</preserveFixedJoint>
+            </gazebo>
+        </xacro:if>
+    </xacro:macro>
+
+    <!-- some small inertial -->
+    <xacro:macro name="default_inertial">
+        <inertial>
+            <origin xyz="0 0 0" rpy="0 0 0"/>
+            <mass value="1e-5" />
+            <inertia ixx="1e-3" ixy="1e-6" ixz="1e-6"
+                     iyy="1e-3" iyz="1e-6"
+                     izz="1e-3" />
+        </inertial>
+    </xacro:macro>
+
+    <!-- cylinder inertial -->
+    <xacro:macro name="cylinder_inertial" params="radius length mass xyz:='0 0 0' rpy:='0 0 0'">
+        <inertial>
+            <mass value="${mass}" />
+            <origin xyz="${xyz}" rpy="${rpy}"/>
+            <inertia ixx="${1.0/12 * mass * (3 * radius * radius + length * length)}" ixy="0.0" ixz="0.0"
+                     iyy="${1.0/12 * mass * (3 * radius * radius + length * length)}" iyz="0.0"
+                     izz="${0.5 * mass * radius * radius}" />
+        </inertial>
+    </xacro:macro>
+
+    <!-- box inertial -->
+    <xacro:macro name="box_inertial" params="x_size y_size z_size mass xyz:='0 0 0' rpy:='0 0 0'">
+        <inertial>
+            <mass value="${mass}" />
+            <origin xyz="${xyz}" rpy="${rpy}"/>
+            <inertia ixx="${1.0/12 * mass * (y_size * y_size + z_size * z_size)}" ixy="0.0" ixz="0.0"
+                     iyy="${1.0/12 * mass * (x_size * x_size + z_size * z_size)}" iyz="0.0"
+                     izz="${1.0/12 * mass * (x_size * x_size + y_size * y_size)}" />
+        </inertial>
+    </xacro:macro>
+</root>
\ No newline at end of file
diff --git a/submitted_models/ctu_cras_norlab_lily_sensor_config_1/urdf/xacro2sdf.sh b/submitted_models/ctu_cras_norlab_lily_sensor_config_1/urdf/xacro2sdf.sh
new file mode 100755
index 00000000..ae5f4b7f
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_lily_sensor_config_1/urdf/xacro2sdf.sh
@@ -0,0 +1,28 @@
+#!/bin/bash
+if [ "$#" -lt 1 ];
+then
+    echo -e "Usage: xacro2sdf.sh XACRO-FILE [SDF-FILE] \nXACROF-FILE .. xacro file to be transfered into the sdf file \nSDF-FILE .. optional filename for the output sdf. ptional filename for the converted sdf. If provided, output is not written to stdout but saved to this file."
+    exit 1
+fi
+
+# conversion file
+tmp_file="___tmp.sdf"
+pipe_file="__out.urdf"
+
+# both conversions
+./xacro2urdf.sh $1 $pipe_file || exit $?
+./urdf2sdf.sh $pipe_file $tmp_file || exit $?
+rm $pipe_file
+
+# handle tmp file
+if [ "$#" -ge 2 ];
+then
+    # in case of saving to file, just rename it...
+    mv $tmp_file "${2%.*}.sdf"
+else
+    # ... otherwise writing file to stdout
+    cat $tmp_file
+
+    # and remove it.
+    rm $tmp_file
+fi
\ No newline at end of file
diff --git a/submitted_models/ctu_cras_norlab_lily_sensor_config_1/urdf/xacro2urdf.sh b/submitted_models/ctu_cras_norlab_lily_sensor_config_1/urdf/xacro2urdf.sh
new file mode 100755
index 00000000..c5fbc146
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_lily_sensor_config_1/urdf/xacro2urdf.sh
@@ -0,0 +1,25 @@
+#!/bin/bash
+if [ "$#" -lt 1 ];
+then
+    echo -e "Usage: xacro2urdf.sh XACRO-FILE [URDF-FILE] \nXACRO-FILE .. xacro file to be transfered into the urdf file \nURDF-FILE .. optional filename for the converted urdf. Ff provided, output is not written to stdout but saved to this file."
+    exit 1
+fi
+
+# conversion file
+tmp_file="__tmp.urdf"
+
+# main converion
+xacro --xacro-ns $1 target:=ign > $tmp_file 
+
+# handle tmp file
+if [ "$#" -ge 2 ];
+then
+    # in case of saving to file, just rename it...
+    mv $tmp_file "${2%.*}.urdf"
+else
+    # ... otherwise writing file to stdout
+    cat $tmp_file
+
+    # and remove it.
+    rm $tmp_file
+fi
\ No newline at end of file
diff --git a/submitted_models/ctu_cras_norlab_lily_sensor_config_1/worlds/example.sdf b/submitted_models/ctu_cras_norlab_lily_sensor_config_1/worlds/example.sdf
new file mode 100644
index 00000000..b8a1d6ee
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_lily_sensor_config_1/worlds/example.sdf
@@ -0,0 +1,182 @@
+<?xml version="1.0" ?>
+<sdf version="1.6">
+  <world name="example">
+    <physics name="4ms" type="dart">
+      <max_step_size>0.004</max_step_size>
+      <real_time_factor>1.0</real_time_factor>
+    </physics>
+
+    <scene>
+      <ambient>0.2 0.2 0.2</ambient>
+      <background>0.8 0.8 0.8</background>
+    </scene>
+
+
+    <light type="directional" name="sun">
+      <cast_shadows>true</cast_shadows>
+      <pose>0 0 10 0 0 0</pose>
+      <diffuse>0.8 0.8 0.8 1</diffuse>
+      <specular>0.8 0.8 0.8 1</specular>
+      <attenuation>
+        <range>1</range>
+        <constant>0.9</constant>
+        <linear>1</linear>
+        <quadratic>0.001</quadratic>
+      </attenuation>
+      <direction>0.0 0.0 -1.0</direction>
+    </light>
+
+  <light name="light1" type="point">
+      <pose>0 0 4 0 0 0</pose>
+      <attenuation>
+        <range>1000</range>
+        <linear>0</linear>
+        <constant>0.1</constant>
+        <quadratic>0.005</quadratic>
+      </attenuation>
+      <diffuse>0.8 0.8 0.8 1</diffuse>
+      <specular>0.8 0.8 0.8 1</specular>
+      <spot>
+        <inner_angle>5</inner_angle>
+        <outer_angle>10.1</outer_angle>
+        <falloff>.1</falloff>
+      </spot>
+      <direction>0 0 -1</direction>
+    </light>
+    <light name="light2" type="spot">
+      <pose>0 0 4 0 0 0</pose>
+      <attenuation>
+        <range>1000</range>
+        <linear>0.1</linear>
+        <constant>0.2</constant>
+        <quadratic>0.005</quadratic>
+      </attenuation>
+      <diffuse>0.8 0.8 0.5 1</diffuse>
+      <specular>0.8 0.8 0.5 1</specular>
+      <spot>
+        <inner_angle>5</inner_angle>
+        <outer_angle>10.1</outer_angle>
+        <falloff>.1</falloff>
+      </spot>
+      <direction>0 0 -1</direction>
+    </light>
+    <!-- The staging area -->
+    <include>
+      <static>true</static>
+      <name>staging_area</name>
+      <pose>0 0 0 0 0 0</pose>
+      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/subt_tunnel_staging_area</uri>
+    </include>
+
+    <!-- Barriers -->
+    <include>
+      <name>barrier_0_-1</name>
+      <pose>8.0 -11 0 0 0 0</pose>
+      <uri> https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier </uri>
+    </include>
+  
+    <include>
+      <name>barrier_0_1</name>
+      <pose>8.0 11 0 0 0 0 </pose>
+      <uri> https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier </uri>
+    </include>
+  
+    <include>
+      <name>barrier_1_-1</name>
+      <pose>3.7 -11 0 0 0 0</pose>
+      <uri> https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier </uri>
+    </include>
+  
+    <include>
+      <name>barrier_1_1</name>
+      <pose>3.7 11 0 0 0 0</pose>
+      <uri> https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier </uri>
+    </include>
+  
+    <include>
+      <name>barrier_2_-1</name>
+      <pose>-0.5999999999999996 -11 0 0 0 0</pose>
+      <uri> https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier </uri>
+    </include>
+  
+    <include>
+      <name>barrier_2_1</name>
+      <pose>-0.5999999999999996 11 0 0 0 0</pose>
+      <uri> https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier </uri>
+    </include>
+  
+    <include>
+      <name>barrier_3_-1</name>
+      <pose>-4.899999999999999 -11 0 0 0 0</pose>
+      <uri> https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier </uri>
+    </include>
+  
+    <include>
+      <name>barrier_3_1</name>
+      <pose>-4.899999999999999 11 0 0 0 0</pose>
+      <uri> https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier </uri>
+    </include>
+  
+    <include>
+      <name>barrier_4_-1</name>
+      <pose>-9.2 -11 0 0 0 0</pose>
+      <uri> https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier </uri>
+    </include>
+  
+    <include>
+      <name>barrier_4_1</name>
+      <pose>-9.2 11 0 0 0 0</pose>
+      <uri> https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier </uri>
+    </include>
+  
+    <include>
+      <name>barrier_-9.5_-2</name>
+      <pose>10.5 -8.6 0 0 0 1.5707963267948966</pose>
+      <uri> https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier </uri>
+    </include>
+  
+    <include>
+      <name>barrier_-9.5_2</name>
+      <pose>10.5 8.6 0 0 0 1.5707963267948966</pose>
+      <uri> https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier </uri>
+    </include>
+  
+    <include>
+      <name>barrier_-32_-2</name>
+      <pose>-12 -8.6 0 0 0 1.5707963267948966</pose>
+      <uri> https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier </uri>
+    </include>
+  
+    <include>
+      <name>barrier_-32_-1</name>
+      <pose>-12 -4.3 0 0 0 1.5707963267948966</pose>
+      <uri> https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier </uri>
+    </include>
+  
+    <include>
+      <name>barrier_-32_0</name>
+      <pose>-12 0.0 0 0 0 1.5707963267948966</pose>
+      <uri> https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier </uri>
+    </include>
+  
+    <include>
+      <name>barrier_-32_1</name>
+      <pose>-12 4.3 0 0 0 1.5707963267948966</pose>
+      <uri> https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier </uri>
+    </include>
+
+    <include>
+      <name>barrier_-32_2</name>
+      <pose>-12 8.6 0 0 0 1.5707963267948966</pose>
+      <uri> https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier </uri>
+    </include>
+
+    <!-- The base station -->
+    <include>
+      <static>true</static>
+      <name>base_station</name>
+      <pose>-8 0 0 0 0 -1.5708</pose>
+      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Base Station</uri>
+    </include>
+  </world>
+</sdf>
diff --git a/submitted_models/ctu_cras_norlab_lily_sensor_config_2/CMakeLists.txt b/submitted_models/ctu_cras_norlab_lily_sensor_config_2/CMakeLists.txt
new file mode 100644
index 00000000..1a06bccb
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_lily_sensor_config_2/CMakeLists.txt
@@ -0,0 +1,8 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(ctu_cras_norlab_lily_sensor_config_2)
+
+find_package(catkin REQUIRED)
+
+catkin_package()
+
+install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
diff --git a/submitted_models/ctu_cras_norlab_lily_sensor_config_2/launch/spawner.rb b/submitted_models/ctu_cras_norlab_lily_sensor_config_2/launch/spawner.rb
new file mode 100644
index 00000000..b111699e
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_lily_sensor_config_2/launch/spawner.rb
@@ -0,0 +1,38 @@
+def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
+  $num_breadcrumbs = 6
+  base_spawn = `rospack find ctu_cras_norlab_lily_sensor_config_1`.chomp + "/launch/common.rb"
+  begin
+    load base_spawn
+  rescue LoadError
+    raise "Unknown robot configuration #{File.dirname(__FILE__)}. #{base_spawn} could not be found."
+  else
+    additionalSpawnPlugins = <<-HEREDOC
+      <plugin filename="ignition-gazebo-breadcrumbs-system"
+            name="ignition::gazebo::systems::Breadcrumbs">
+        <topic>/model/#{_name}/breadcrumb/deploy</topic>
+        <max_deployments>#{$num_breadcrumbs}</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>-0.4 0 0 -0.3 0 #{Math::PI/2}</pose>
+              <include>
+                <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Breadcrumb Node</uri>
+             </include>
+           </model>
+         </sdf>
+       </breadcrumb>
+      </plugin>
+    HEREDOC
+    _spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw, additionalSpawnPlugins)
+  end
+end
+
+def rosExecutables(_name, _worldName)
+  <<-HEREDOC
+  <executable name='topics'>
+    <command>roslaunch --wait ctu_cras_norlab_lily_sensor_config_1 vehicle_topics.launch world_name:=#{_worldName} name:=#{_name} breadcrumbs:=1</command>
+  </executable>
+  HEREDOC
+end
diff --git a/submitted_models/ctu_cras_norlab_lily_sensor_config_2/package.xml b/submitted_models/ctu_cras_norlab_lily_sensor_config_2/package.xml
new file mode 100644
index 00000000..f67dc5bf
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_lily_sensor_config_2/package.xml
@@ -0,0 +1,28 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>ctu_cras_norlab_lily_sensor_config_2</name>
+  <version>1.0.0</version>
+  <description>The ctu_cras_norlab_lily_sensor_config_2 package describes six-legged platform equipped with:
+    - 5 Basler Ace 2 Pro a2A1920-51gcPRO RGB cameras with 86° FOV lenses (Basler C125-0418-5M-P f4mm)
+    - Ouster OS0-128 lidar
+    - IMU
+    - Gas sensor
+    - 6 communication breadcrumbs
+  </description>
+
+  <author email="petr.cizek@fel.cvut.cz">Petr Cizek</author>
+  <author email="jiri.kubik@fel.cvut.cz">Jiri Kubik</author>
+  <author email="david.valouch@fel.cvut.cz">David Valouch</author>
+  <author email="peckama2@fel.cvut.cz">Martin Pecka</author>
+
+  <maintainer email="jiri.kubik@fel.cvut.cz">Jiri Kubik</maintainer>
+  <maintainer email="petr.cizek@fel.cvut.cz">Petr Cizek</maintainer>
+  <maintainer email="david.valouch@fel.cvut.cz">David Valouch</maintainer>
+
+  <license>Apache Licence2.0</license>
+
+  <buildtool_depend>catkin</buildtool_depend>
+
+  <exec_depend>roslaunch</exec_depend>
+  <exec_depend>ctu_cras_norlab_lily_sensor_config_1</exec_depend>
+</package>
diff --git a/submitted_models/ctu_cras_norlab_marv_sensor_config_1/.gitignore b/submitted_models/ctu_cras_norlab_marv_sensor_config_1/.gitignore
new file mode 100644
index 00000000..811af414
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_marv_sensor_config_1/.gitignore
@@ -0,0 +1,3 @@
+model.sdf.urdf
+meshes/*.blend
+meshes/*.blend1
\ No newline at end of file
diff --git a/submitted_models/ctu_cras_norlab_marv_sensor_config_1/CMakeLists.txt b/submitted_models/ctu_cras_norlab_marv_sensor_config_1/CMakeLists.txt
new file mode 100644
index 00000000..864c4347
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_marv_sensor_config_1/CMakeLists.txt
@@ -0,0 +1,17 @@
+cmake_minimum_required(VERSION 3.10)
+project(ctu_cras_norlab_marv_sensor_config_1)
+
+find_package(catkin REQUIRED)
+
+catkin_package()
+
+install(DIRECTORY config launch meshes textures urdf worlds
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
+
+install(FILES model.sdf model.config
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
+
+install(PROGRAMS
+  scripts/print_robot_urdf
+  scripts/yaml_to_xacro_args
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/scripts)
\ No newline at end of file
diff --git a/submitted_models/ctu_cras_norlab_marv_sensor_config_1/README.md b/submitted_models/ctu_cras_norlab_marv_sensor_config_1/README.md
new file mode 100644
index 00000000..516d0171
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_marv_sensor_config_1/README.md
@@ -0,0 +1,30 @@
+# CTU\_CRAS\_NORLAB\_MARV\_SENSOR\_CONFIG\_1
+
+This package contains sensor config 1 of CTU-CRAS-Norlab MARV robot (Mobile Autonomous Rescue Vehicle). The robot has:
+
+- 5 Basler Ace 2 Pro a2A1920-51gcPRO RGB cameras with 86° FOV lenses (Basler C125-0418-5M-P f4mm)
+- 2 Basler Ace acA2040-35gc RGB cameras with 138° FOV fisheye lenses (Evetar M118B029520IR)
+- Ouster OS0-128 lidar
+- 4 TFMini plus point lidars
+- IMU Xsens MTI-30
+- Gas sensor
+- Weight: about 61 kg
+
+## Model files management
+
+This package follows a different workflow for managing SDF and URDF models of the robot than the suggested one. The only and main source of model data is `urdf/marv.xacro` file and the files it includes. 
+
+To get the URDF model of the robot, call `scripts/print_robot_urdf` script which prints the robot URDF on stdout. This script is used in `launch/description.launch`.
+
+The SDF model is a regular file committed to this package, but its updates are not
+to be done manually. To change the robot model, make changes in the Xacro, and then run script `scripts/update_robot_sdf_ign`, which updates the `model.sdf` file in this repo. The change can then be commited.
+
+There is also script `scripts/update_robot_sdf_gz`, which creates a model.sdf file suitable for use in Gazebo Classic. This can be used to get its much better visualization functionality, i.e. viewing transparent model, wireframe, inertia, centers of gravity etc.
+
+The model is also configured by a set of shared config files located in `config/` directory. It contains YAML files which are loaded in the following order:
+
+- URDF: `common.yaml`, `urdf.yaml`
+- SDF for Ignition Gazebo: `common.yaml`, `sim.yaml`, `ign.yaml`
+- SDF for Gazebo Classic: `common.yaml`, `sim.yaml`, `gz.yaml`
+
+Other sensor configurations of MARV make use of the robot model defined here, but use customized configuration files to get the right sensor suite.
\ No newline at end of file
diff --git a/submitted_models/ctu_cras_norlab_marv_sensor_config_1/config/common.yaml b/submitted_models/ctu_cras_norlab_marv_sensor_config_1/config/common.yaml
new file mode 100644
index 00000000..7d8886c4
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_marv_sensor_config_1/config/common.yaml
@@ -0,0 +1,65 @@
+# General configuration and dimensions of MARV
+
+# Geometry
+rover_bodyWidth: 0.3600
+rover_bodyLength: 0.6000
+rover_bodyHeight: 0.2360
+rover_bodyEdgeCurvature: 0.0440 # curvature of the front and rear bottom edges
+rover_topBoxWidth: 0.2700
+rover_topBoxLength: 0.1000
+rover_topBoxHeight: 0.1800
+rover_topBoxX: 0.06
+rover_topBoxLowerStepWidth: 0.0500
+rover_topBoxLowerStepHeight: 0.070
+rover_topBoxHigherStepWidth: 0.0300
+rover_topBoxHigherStepHeight: 0.1250
+rover_flipperLength: 0.4980
+rover_flipperWidth: 0.0750
+rover_flipperBigRadius: 0.1165
+rover_flipperSmallRadius: 0.0780
+rover_flipperBeltThickness: 0.0180
+rover_flipperBodyGap: 0.0305
+rover_flipperJointX: 0.2560 # w.r.t. referential frame
+rover_flipperJointZ: 0.0000 # w.r.t. referential frame
+rover_flipperBaseAngleOffset: 0.0000
+has_flippers: True
+bullet_antenna_height: 0.2
+bullet_antenna_radius: 0.01
+
+# Locomotion
+rover_maxTrackSpeed: 1.0  # m/s
+rover_maxTrackAcceleration: 3.0  # m/s^2
+rover_maxFlipperRotationVelocity: 1.0 # rad/s
+rover_maxFlipperRotationEffort: 120 # Nm
+
+# Payload
+has_ouster_lidar: True
+has_omnicam_vras: True
+has_boson_thermocam: False
+has_mote_deployer: False
+has_cliff_sensors: True
+
+# Mobilicom
+has_mobilicom: True
+mobilicom_antenna_l_rotation: -0.5
+mobilicom_antenna_l_tilt: 0.0
+mobilicom_antenna_r_rotation: 0.0
+mobilicom_antenna_r_tilt: 0
+mobilicom_antennas_length: 0.17
+mobilicom_has_antenna_box: False
+mobilicom_is_lite: True
+mobilicom_parent_link: rear_right_box
+mobilicom_pitch: 0
+mobilicom_roll: 0
+mobilicom_yaw: 1.570796327
+mobilicom_shift_x: 0.05
+mobilicom_shift_y: 0.3
+mobilicom_shift_z: 0.0
+
+# model workarounds
+flipper_inflation_ratio: 1.0
+flipper_inward_enlargement: 0.0
+big_collision_box_on_top: False
+big_collision_box_height: 0.4
+big_collision_box_width: 0.5
+big_collision_box_depth: 0.85
\ No newline at end of file
diff --git a/submitted_models/ctu_cras_norlab_marv_sensor_config_1/config/gz.yaml b/submitted_models/ctu_cras_norlab_marv_sensor_config_1/config/gz.yaml
new file mode 100644
index 00000000..480b7520
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_marv_sensor_config_1/config/gz.yaml
@@ -0,0 +1,2 @@
+# Specifics for Gazebo Classic
+rendering_target: gz
\ No newline at end of file
diff --git a/submitted_models/ctu_cras_norlab_marv_sensor_config_1/config/ign.yaml b/submitted_models/ctu_cras_norlab_marv_sensor_config_1/config/ign.yaml
new file mode 100644
index 00000000..dc870114
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_marv_sensor_config_1/config/ign.yaml
@@ -0,0 +1,2 @@
+# Specifics for Ignition Gazebo
+rendering_target: ign
\ No newline at end of file
diff --git a/submitted_models/ctu_cras_norlab_marv_sensor_config_1/config/rviz.rviz b/submitted_models/ctu_cras_norlab_marv_sensor_config_1/config/rviz.rviz
new file mode 100644
index 00000000..3e5f3980
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_marv_sensor_config_1/config/rviz.rviz
@@ -0,0 +1,634 @@
+Panels:
+  - Class: rviz/Displays
+    Help Height: 78
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Global Options1
+        - /Status1
+        - /Omnicam1
+        - /Body cams1
+        - /Cliff Sensors1
+      Splitter Ratio: 0.6147058606147766
+    Tree Height: 580
+  - Class: rviz/Selection
+    Name: Selection
+  - Class: rviz/Tool Properties
+    Expanded:
+      - /2D Pose Estimate1
+      - /2D Nav Goal1
+      - /Publish Point1
+    Name: Tool Properties
+    Splitter Ratio: 0.5886790156364441
+  - Class: rviz/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+  - Class: rviz/Time
+    Experimental: false
+    Name: Time
+    SyncMode: 0
+    SyncSource: Thermal camera
+Preferences:
+  PromptSaveOnExit: true
+Toolbars:
+  toolButtonStyle: 2
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz/Grid
+      Color: 160; 160; 164
+      Enabled: true
+      Line Style:
+        Line Width: 0.029999999329447746
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 10
+      Reference Frame: <Fixed Frame>
+      Value: true
+    - Class: rviz/TF
+      Enabled: false
+      Frame Timeout: 15
+      Frames:
+        All Enabled: true
+      Marker Scale: 1
+      Name: TF
+      Show Arrows: true
+      Show Axes: true
+      Show Names: true
+      Tree:
+        {}
+      Update Interval: 0
+      Value: false
+    - Alpha: 1
+      Class: rviz/RobotModel
+      Collision Enabled: false
+      Enabled: true
+      Links:
+        All Links Enabled: true
+        Expand Joint Details: false
+        Expand Link Details: false
+        Expand Tree: false
+        Link Tree Style: Links in Alphabetic Order
+        X1/antenna:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        X1/base_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        X1/battery1:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        X1/battery2:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        X1/bottom_plate:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        X1/camera_0:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        X1/camera_1:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        X1/camera_2:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        X1/camera_3:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        X1/camera_4:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        X1/cliff_sensor_front_left:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        X1/cliff_sensor_front_right:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        X1/cliff_sensor_rear_left:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        X1/cliff_sensor_rear_right:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        X1/deck:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        X1/front_cam:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        X1/front_left_flipper:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        X1/front_left_flipper_end_point:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        X1/front_left_flipper_end_point_inflated:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        X1/front_left_motor:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        X1/front_right_flipper:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        X1/front_right_flipper_end_point:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        X1/front_right_flipper_end_point_inflated:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        X1/front_right_motor:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        X1/imu:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        X1/laser:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        X1/mobilicom:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        X1/mobilicom_antenna_l:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        X1/mobilicom_antenna_r:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        X1/mote_deployer:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        X1/rear_cam:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        X1/rear_left_flipper:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        X1/rear_left_flipper_end_point:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        X1/rear_left_flipper_end_point_inflated:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        X1/rear_left_motor:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        X1/rear_right_box:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        X1/rear_right_flipper:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        X1/rear_right_flipper_end_point:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        X1/rear_right_flipper_end_point_inflated:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        X1/rear_right_motor:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        X1/thermocam:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        X1/top_box:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        total_mass_60_806:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+      Name: RobotModel
+      Robot Description: robot_description
+      TF Prefix: ""
+      Update Interval: 0
+      Value: true
+      Visual Enabled: true
+    - Alpha: 1
+      Autocompute Intensity Bounds: true
+      Autocompute Value Bounds:
+        Max Value: 10
+        Min Value: -10
+        Value: true
+      Axis: Z
+      Channel Name: intensity
+      Class: rviz/PointCloud2
+      Color: 255; 255; 255
+      Color Transformer: Intensity
+      Decay Time: 0
+      Enabled: false
+      Invert Rainbow: false
+      Max Color: 255; 255; 255
+      Max Intensity: 0
+      Min Color: 0; 0; 0
+      Min Intensity: 0
+      Name: Ouster OS0-128
+      Position Transformer: XYZ
+      Queue Size: 10
+      Selectable: true
+      Size (Pixels): 3
+      Size (m): 0.009999999776482582
+      Style: Flat Squares
+      Topic: /X1/points
+      Unreliable: false
+      Use Fixed Frame: true
+      Use rainbow: true
+      Value: false
+    - Class: rviz/Group
+      Displays:
+        - Class: rviz/Image
+          Enabled: true
+          Image Topic: omni/camera_0/image_raw
+          Max Value: 1
+          Median window: 5
+          Min Value: 0
+          Name: Camera0
+          Normalize Range: true
+          Queue Size: 2
+          Transport Hint: raw
+          Unreliable: false
+          Value: true
+        - Class: rviz/Image
+          Enabled: true
+          Image Topic: omni/camera_1/image_raw
+          Max Value: 1
+          Median window: 5
+          Min Value: 0
+          Name: Camera1
+          Normalize Range: true
+          Queue Size: 2
+          Transport Hint: raw
+          Unreliable: false
+          Value: true
+        - Class: rviz/Image
+          Enabled: true
+          Image Topic: omni/camera_2/image_raw
+          Max Value: 1
+          Median window: 5
+          Min Value: 0
+          Name: Camera2
+          Normalize Range: true
+          Queue Size: 2
+          Transport Hint: raw
+          Unreliable: false
+          Value: true
+        - Class: rviz/Image
+          Enabled: true
+          Image Topic: omni/camera_3/image_raw
+          Max Value: 1
+          Median window: 5
+          Min Value: 0
+          Name: Camera3
+          Normalize Range: true
+          Queue Size: 2
+          Transport Hint: raw
+          Unreliable: false
+          Value: true
+        - Class: rviz/Image
+          Enabled: true
+          Image Topic: omni/camera_4/image_raw
+          Max Value: 1
+          Median window: 5
+          Min Value: 0
+          Name: Camera4
+          Normalize Range: true
+          Queue Size: 2
+          Transport Hint: raw
+          Unreliable: false
+          Value: true
+      Enabled: true
+      Name: Omnicam
+    - Class: rviz/Group
+      Displays:
+        - Class: rviz/Image
+          Enabled: true
+          Image Topic: front/image_raw
+          Max Value: 1
+          Median window: 5
+          Min Value: 0
+          Name: Front Fisheye
+          Normalize Range: true
+          Queue Size: 2
+          Transport Hint: raw
+          Unreliable: false
+          Value: true
+        - Class: rviz/Image
+          Enabled: true
+          Image Topic: rear/image_raw
+          Max Value: 1
+          Median window: 5
+          Min Value: 0
+          Name: Rear Fisheye
+          Normalize Range: true
+          Queue Size: 2
+          Transport Hint: raw
+          Unreliable: false
+          Value: true
+      Enabled: true
+      Name: Body cams
+    - Class: rviz/Image
+      Enabled: true
+      Image Topic: thermal_camera/image_raw
+      Max Value: 1
+      Median window: 5
+      Min Value: 0
+      Name: Thermal camera
+      Normalize Range: true
+      Queue Size: 2
+      Transport Hint: raw
+      Unreliable: false
+      Value: true
+    - Class: rviz/Group
+      Displays:
+        - Alpha: 1
+          Autocompute Intensity Bounds: true
+          Autocompute Value Bounds:
+            Max Value: 0
+            Min Value: -2
+            Value: false
+          Axis: Z
+          Channel Name: intensity
+          Class: rviz/PointCloud2
+          Color: 255; 255; 255
+          Color Transformer: AxisColor
+          Decay Time: 0
+          Enabled: true
+          Invert Rainbow: false
+          Max Color: 255; 255; 255
+          Max Intensity: 0
+          Min Color: 0; 0; 0
+          Min Intensity: 0
+          Name: Front Left Cliff Sensor
+          Position Transformer: XYZ
+          Queue Size: 10
+          Selectable: true
+          Size (Pixels): 3
+          Size (m): 0.009999999776482582
+          Style: Boxes
+          Topic: front_left_cliff_scan
+          Unreliable: false
+          Use Fixed Frame: false
+          Use rainbow: true
+          Value: true
+        - Alpha: 1
+          Autocompute Intensity Bounds: true
+          Autocompute Value Bounds:
+            Max Value: 0
+            Min Value: -2
+            Value: false
+          Axis: Z
+          Channel Name: intensity
+          Class: rviz/PointCloud2
+          Color: 255; 255; 255
+          Color Transformer: AxisColor
+          Decay Time: 0
+          Enabled: true
+          Invert Rainbow: false
+          Max Color: 255; 255; 255
+          Max Intensity: 0
+          Min Color: 0; 0; 0
+          Min Intensity: 0
+          Name: Front Right Cliff Sensor
+          Position Transformer: XYZ
+          Queue Size: 10
+          Selectable: true
+          Size (Pixels): 3
+          Size (m): 0.009999999776482582
+          Style: Boxes
+          Topic: front_right_cliff_scan
+          Unreliable: false
+          Use Fixed Frame: false
+          Use rainbow: true
+          Value: true
+        - Alpha: 1
+          Autocompute Intensity Bounds: true
+          Autocompute Value Bounds:
+            Max Value: 0
+            Min Value: -2
+            Value: false
+          Axis: Z
+          Channel Name: intensity
+          Class: rviz/PointCloud2
+          Color: 255; 255; 255
+          Color Transformer: AxisColor
+          Decay Time: 0
+          Enabled: true
+          Invert Rainbow: false
+          Max Color: 255; 255; 255
+          Max Intensity: 0
+          Min Color: 0; 0; 0
+          Min Intensity: 0
+          Name: Rear Left Cliff Sensor
+          Position Transformer: XYZ
+          Queue Size: 10
+          Selectable: true
+          Size (Pixels): 3
+          Size (m): 0.009999999776482582
+          Style: Boxes
+          Topic: rear_left_cliff_scan
+          Unreliable: false
+          Use Fixed Frame: false
+          Use rainbow: true
+          Value: true
+        - Alpha: 1
+          Autocompute Intensity Bounds: true
+          Autocompute Value Bounds:
+            Max Value: 0
+            Min Value: -2
+            Value: false
+          Axis: Z
+          Channel Name: intensity
+          Class: rviz/PointCloud2
+          Color: 255; 255; 255
+          Color Transformer: AxisColor
+          Decay Time: 0
+          Enabled: true
+          Invert Rainbow: false
+          Max Color: 255; 255; 255
+          Max Intensity: 0
+          Min Color: 0; 0; 0
+          Min Intensity: 0
+          Name: Rear Right Cliff Sensor
+          Position Transformer: XYZ
+          Queue Size: 10
+          Selectable: true
+          Size (Pixels): 3
+          Size (m): 0.009999999776482582
+          Style: Boxes
+          Topic: rear_right_cliff_scan
+          Unreliable: false
+          Use Fixed Frame: false
+          Use rainbow: true
+          Value: true
+      Enabled: true
+      Name: Cliff Sensors
+    - Alpha: 0.20000000298023224
+      Class: rviz_plugin_tutorials/Imu
+      Color: 204; 51; 204
+      Enabled: false
+      History Length: 1
+      Name: Imu
+      Topic: imu/data
+      Unreliable: false
+      Value: false
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Default Light: true
+    Fixed Frame: X1
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz/Interact
+      Hide Inactive Objects: true
+    - Class: rviz/MoveCamera
+    - Class: rviz/Select
+    - Class: rviz/FocusCamera
+    - Class: rviz/Measure
+    - Class: rviz/SetInitialPose
+      Theta std deviation: 0.2617993950843811
+      Topic: /initialpose
+      X std deviation: 0.5
+      Y std deviation: 0.5
+    - Class: rviz/SetGoal
+      Topic: /move_base_simple/goal
+    - Class: rviz/PublishPoint
+      Single click: true
+      Topic: /clicked_point
+  Value: true
+  Views:
+    Current:
+      Class: rviz/Orbit
+      Distance: 1.6808446645736694
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.05999999865889549
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Focal Point:
+        X: -0.08932632952928543
+        Y: 0.0075026992708444595
+        Z: -0.17264990508556366
+      Focal Shape Fixed Size: true
+      Focal Shape Size: 0.05000000074505806
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.009999999776482582
+      Pitch: 0.4353979527950287
+      Target Frame: <Fixed Frame>
+      Value: Orbit (rviz)
+      Yaw: 6.270399570465088
+    Saved: ~
+Window Geometry:
+  Camera0:
+    collapsed: false
+  Camera1:
+    collapsed: false
+  Camera2:
+    collapsed: false
+  Camera3:
+    collapsed: false
+  Camera4:
+    collapsed: false
+  Displays:
+    collapsed: false
+  Front Fisheye:
+    collapsed: false
+  Height: 1052
+  Hide Left Dock: false
+  Hide Right Dock: false
+  QMainWindow State: 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
+  Rear Fisheye:
+    collapsed: false
+  Selection:
+    collapsed: false
+  Thermal camera:
+    collapsed: false
+  Time:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: false
+  Width: 1853
+  X: 67
+  Y: 28
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
new file mode 100644
index 00000000..fb128d11
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_marv_sensor_config_1/config/sim.yaml
@@ -0,0 +1,15 @@
+# Common simulation parameters
+
+num_wheels: 8 # 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)
+simulate_ouster_lidar: True
+simulate_omnicam_vras: True
+simulate_body_cams: True
+simulate_imu: True
+
+# model workarounds
+flipper_inflation_ratio: 1.0
+flipper_inward_enlargement: 0.0
+big_collision_box_on_top: False
\ No newline at end of file
diff --git a/submitted_models/ctu_cras_norlab_marv_sensor_config_1/config/teleop_config.yaml b/submitted_models/ctu_cras_norlab_marv_sensor_config_1/config/teleop_config.yaml
new file mode 100644
index 00000000..a05f5b25
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_marv_sensor_config_1/config/teleop_config.yaml
@@ -0,0 +1,4 @@
+scale_angular: 0.7
+scale_angular_turbo: 1.0
+scale_front_flippers: 1.0
+scale_rear_flippers: 1.0
\ No newline at end of file
diff --git a/submitted_models/ctu_cras_norlab_marv_sensor_config_1/config/urdf.yaml b/submitted_models/ctu_cras_norlab_marv_sensor_config_1/config/urdf.yaml
new file mode 100644
index 00000000..00c971b4
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_marv_sensor_config_1/config/urdf.yaml
@@ -0,0 +1,5 @@
+# # Specifics for URDF model
+
+rendering_target: urdf
+flipper_inflation_ratio: 1.0
+flipper_inward_enlargement: 0.0
\ No newline at end of file
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
new file mode 100644
index 00000000..e2b8ae6d
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_marv_sensor_config_1/launch/common.rb
@@ -0,0 +1,114 @@
+def _spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw, _additionalSDF)
+
+  # 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, 'sim.yaml'), File.join(confdir, 'ign.yaml') ]
+  config = Hash.new
+  for config_yaml in config_yamls
+    conf = YAML.load_file(config_yaml)
+    config.merge!(conf)
+  end
+
+  num_wheels = config["num_wheels"]
+  wheel_separation = config["rover_bodyWidth"]/2.0 + config["rover_flipperBodyGap"] + config["rover_flipperWidth"]/2.0
+  inflation_coef = config["flipper_inflation_ratio"]
+  rover_flipperBigRadius = config["rover_flipperBigRadius"]
+  rover_flipperSmallRadius = config["rover_flipperSmallRadius"]
+
+  small_wheel_radius = rover_flipperSmallRadius * inflation_coef
+  wheel_radius_increment = (rover_flipperBigRadius - rover_flipperSmallRadius)/(num_wheels-1) * inflation_coef
+
+  max_vel = config["rover_maxTrackSpeed"]
+  max_accel = config["rover_maxTrackAcceleration"]
+
+  # 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"
+    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
+
+  <<-HEREDOC
+  <spawn name='#{_name}'>
+    <name>#{_name}</name>
+    <allow_renaming>false</allow_renaming>
+    <pose>#{_x} #{_y} #{_z + 0.2} #{_roll} #{_pitch} #{_yaw}</pose>
+    <world>#{_worldName}</world>
+    <is_performer>true</is_performer>
+    <sdf version='1.6'>
+    <include>
+      <name>#{_name}</name>
+      <uri>#{_modelURI}</uri>
+      <!-- Diff drive -->
+      #{diff_drive}
+      <!-- Publish robot state information -->
+      <plugin filename="libignition-gazebo-pose-publisher-system.so"
+        name="ignition::gazebo::systems::PosePublisher">
+        <publish_link_pose>true</publish_link_pose>
+        <publish_sensor_pose>true</publish_sensor_pose>
+        <publish_collision_pose>false</publish_collision_pose>
+        <publish_visual_pose>false</publish_visual_pose>
+        <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
+        <use_pose_vector_msg>true</use_pose_vector_msg>
+        <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">
+        <topic>/model/#{_name}/gas_detected</topic>
+        <update_rate>10</update_rate>
+        <type>gas</type>
+      </plugin>
+      <!-- Wheel slip is in SDF -->
+      #{_additionalSDF}
+    </include>
+    </sdf>
+  </spawn>
+  HEREDOC
+end
+
+def _rosExecutables(_name, _worldName)
+  <<-HEREDOC
+  <executable name='topics'>
+    <command>roslaunch --wait ctu_cras_norlab_marv_sensor_config_1 vehicle_topics.launch world_name:=#{_worldName} name:=#{_name}</command>
+  </executable>
+  <executable name='description'>
+    <command>roslaunch --wait ctu_cras_norlab_marv_sensor_config_1 description.launch name:=#{_name}</command>
+  </executable>
+  HEREDOC
+end
diff --git a/submitted_models/ctu_cras_norlab_marv_sensor_config_1/launch/description.launch b/submitted_models/ctu_cras_norlab_marv_sensor_config_1/launch/description.launch
new file mode 100644
index 00000000..7d4869dc
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_marv_sensor_config_1/launch/description.launch
@@ -0,0 +1,8 @@
+<?xml version="1.0"?>
+<launch>
+  <arg name="name" doc="Name of Vehicle"/>
+  <arg name="print_command" default="$(dirname)/../scripts/print_robot_urdf" />
+
+  <param name="$(arg name)/robot_description" command="$(arg print_command) name:=$(arg name)" />
+</launch>
+
diff --git a/submitted_models/ctu_cras_norlab_marv_sensor_config_1/launch/example.ign b/submitted_models/ctu_cras_norlab_marv_sensor_config_1/launch/example.ign
new file mode 100644
index 00000000..ed2eab79
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_marv_sensor_config_1/launch/example.ign
@@ -0,0 +1,189 @@
+<?xml version="1.0"?>
+<!-- Usage: ign launch path/to/example.ign robotName:=<X1>
+
+   Parameters:
+    robotName: Name to be assigned to model
+-->
+
+<%
+  #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 =  local_variables.include?(:headless) ? :headless : false
+
+%>
+
+<%
+  unless local_variables.include?(:robotName)
+    raise "missing parameters. robotName is a required parameter"
+  end
+
+  # This assumes that this launch file is in a directory below the model
+  modelURI = File.expand_path(_base_dir, File.dirname(__FILE__))
+  $worldName = 'example'
+  worldFile = File.join(File.expand_path("../worlds", File.dirname(__FILE__)), "#{$worldName}.sdf")
+
+%>
+
+<ignition version='1.0'>
+  <env>
+    <name>IGN_GAZEBO_SYSTEM_PLUGIN_PATH</name>
+    <value>$LD_LIBRARY_PATH</value>
+  </env>
+  <env>
+    <name>LC_ALL</name>
+    <value>C</value>
+  </env>
+
+  <!-- Start ROS first. This is a bit hacky for now. -->
+  <!-- Make sure to source /opt/ros/melodic/setup.bash -->
+<% if local_variables.include?(:ros) and ros %>
+  <executable name='ros'>
+    <command>roslaunch subt_ros competition_init.launch world_name:=<%=$worldName%> vehicle_topics:=0 enable_ground_truth:=<%=($enableGroundTruth)?"1":"0"%> robot_names:=<%=robotName%></command>
+  </executable>
+<% end %>
+
+<% if local_variables.include?(:teleop) and teleop %>
+  <executable name='teleop'>
+    <command>roslaunch --wait ctu_cras_norlab_marv_sensor_config_1 teleop.launch</command>
+  </executable>
+<% end %>
+
+  <plugin name="ignition::launch::GazeboServer"
+          filename="libignition-launch-gazebo.so">
+    <world_file><%= worldFile %></world_file>
+    <run>true</run>
+    <levels>false</levels>
+    <record>
+      <enabled>false</enabled>
+    </record>
+
+    <plugin entity_name="<%= $worldName %>"
+            entity_type="world"
+            filename="libignition-gazebo-physics-system.so"
+            name="ignition::gazebo::systems::Physics">
+    </plugin>
+
+    <plugin entity_name="<%= $worldName %>"
+            entity_type="world"
+            filename="libignition-gazebo-sensors-system.so"
+            name="ignition::gazebo::systems::Sensors">
+            <render_engine>ogre2</render_engine>
+    </plugin>
+    <plugin entity_name="<%= $worldName %>"
+            entity_type="world"
+            filename="libignition-gazebo-user-commands-system.so"
+            name="ignition::gazebo::systems::UserCommands">
+    </plugin>
+    <plugin entity_name="<%= $worldName %>"
+            entity_type="world"
+            filename="libignition-gazebo-scene-broadcaster-system.so"
+            name="ignition::gazebo::systems::SceneBroadcaster">
+    </plugin>
+    <plugin entity_name="<%= $worldName %>"
+            entity_type="world"
+            filename="libignition-gazebo-imu-system.so"
+            name="ignition::gazebo::systems::Imu">
+    </plugin>
+
+    <plugin entity_name="<%= $worldName %>"
+            entity_type="world"
+            filename="libignition-gazebo-magnetometer-system.so"
+            name="ignition::gazebo::systems::Magnetometer">
+    </plugin>
+
+    <plugin entity_name="<%= $worldName %>"
+            entity_type="world"
+            filename="libignition-gazebo-air-pressure-system.so"
+            name="ignition::gazebo::systems::AirPressure">
+    </plugin>
+  </plugin>
+
+  <%if !$headless %>
+  <executable_wrapper>
+    <plugin name="ignition::launch::GazeboGui"
+          filename="libignition-launch-gazebogui.so">
+      <world_name><%= $worldName %></world_name>
+      <window_title>SubT Simulator</window_title>
+      <window_icon><%= ENV['SUBT_IMAGES_PATH'] %>/SubT_logo.svg</window_icon>
+      <plugin filename="GzScene3D" name="3D View">
+        <ignition-gui>
+          <title>3D View</title>
+          <property type="bool" key="showTitleBar">false</property>
+          <property type="string" key="state">docked</property>
+        </ignition-gui>
+
+        <engine>ogre2</engine>
+        <scene>scene</scene>
+        <ambient_light>0.2 0.2 0.1</ambient_light>
+        <background_color>0.8 0.8 0.8</background_color>
+        <camera_pose>-6.3 -4.2 3.6 0 0.268 0.304</camera_pose>
+        <service>/world/<%= $worldName %>/scene/info</service>
+        <pose_topic>/world/<%= $worldName %>/pose/info</pose_topic>
+        <scene_topic>/world/<%= $worldName %>/scene/info</scene_topic>
+        <deletion_topic>/world/<%= $worldName %>/scene/deletion</deletion_topic>
+      </plugin>
+      <plugin filename="WorldControl" name="World control">
+        <ignition-gui>
+          <title>World control</title>
+          <property type="bool" key="showTitleBar">false</property>
+          <property type="bool" key="resizable">false</property>
+          <property type="double" key="height">72</property>
+          <property type="double" key="width">121</property>
+          <property type="double" key="z">1</property>
+
+          <property type="string" key="state">floating</property>
+          <anchors target="3D View">
+            <line own="left" target="left"/>
+            <line own="bottom" target="bottom"/>
+          </anchors>
+        </ignition-gui>
+
+        <play_pause>true</play_pause>
+        <step>true</step>
+        <start_paused>false</start_paused>
+        <service>/world/<%= $worldName %>/control</service>
+        <stats_topic>/world/<%= $worldName %>/stats</stats_topic>
+
+      </plugin>
+
+      <plugin filename="WorldStats" name="World stats">
+        <ignition-gui>
+          <title>World stats</title>
+          <property type="bool" key="showTitleBar">false</property>
+          <property type="bool" key="resizable">false</property>
+          <property type="double" key="height">110</property>
+          <property type="double" key="width">290</property>
+          <property type="double" key="z">1</property>
+
+          <property type="string" key="state">floating</property>
+          <anchors target="3D View">
+            <line own="right" target="right"/>
+            <line own="bottom" target="bottom"/>
+          </anchors>
+        </ignition-gui>
+
+        <sim_time>true</sim_time>
+        <real_time>true</real_time>
+        <real_time_factor>true</real_time_factor>
+        <iterations>true</iterations>
+        <topic>/world/<%= $worldName %>/stats</topic>
+      </plugin>
+    </plugin>
+  </executable_wrapper>
+  <%end%>
+
+<plugin name="ignition::launch::GazeboFactory"
+        filename="libignition-launch-gazebo-factory.so">
+<%= spawner(robotName, modelURI, $worldName, 0, 0, 0.2, 0, 0, 0) %>
+</plugin>
+
+<% if local_variables.include?(:ros) and ros %>
+  <%= rosExecutables(robotName, $worldName) %>
+<% end %>
+ 
+</ignition>
+
diff --git a/submitted_models/ctu_cras_norlab_marv_sensor_config_1/launch/flipper_control.launch b/submitted_models/ctu_cras_norlab_marv_sensor_config_1/launch/flipper_control.launch
new file mode 100644
index 00000000..ea6935fc
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_marv_sensor_config_1/launch/flipper_control.launch
@@ -0,0 +1,28 @@
+<?xml version="1.0"?>
+<launch>
+  <arg name="robot_name"/>
+  <arg name="joint_prefix"/>
+
+  <arg name="joint_namespace" value="/model/$(arg robot_name)/joint/$(arg joint_prefix)_flipper_j"/>
+
+  <node pkg="ros_ign_bridge" type="parameter_bridge" respawn="true"
+    name="ros_ign_bridge_$(arg joint_prefix)_flipper"
+    args="$(arg joint_namespace)/cmd_vel@std_msgs/Float64]ignition.msgs.Double">
+    <remap from="$(arg joint_namespace)/cmd_vel" to="flippers_cmd_vel/$(arg joint_prefix)"/>
+  </node>
+  <node pkg="ros_ign_bridge" type="parameter_bridge" respawn="true"
+    name="ros_ign_bridge_$(arg joint_prefix)_flipper_pos"
+    args="$(arg joint_namespace)/cmd_pos@std_msgs/Float64]ignition.msgs.Double">
+    <remap from="$(arg joint_namespace)/cmd_pos" to="flippers_cmd_pos/$(arg joint_prefix)"/>
+  </node>
+  <node pkg="ros_ign_bridge" type="parameter_bridge" respawn="true"
+    name="ros_ign_bridge_front_$(arg joint_prefix)_pos_rel"
+    args="$(arg joint_namespace)/cmd_pos_rel@std_msgs/Float64]ignition.msgs.Double">
+    <remap from="$(arg joint_namespace)/cmd_pos_rel" to="flippers_cmd_pos_rel/$(arg joint_prefix)"/>
+  </node>
+  <node pkg="ros_ign_bridge" type="parameter_bridge" respawn="true"
+    name="ros_ign_bridge_$(arg joint_prefix)_flipper_torque"
+    args="$(arg joint_namespace)/cmd_max_torque@std_msgs/Float64]ignition.msgs.Double">
+    <remap from="$(arg joint_namespace)/cmd_max_torque" to="flippers_cmd_max_torque/$(arg joint_prefix)"/>
+  </node>
+</launch>
diff --git a/submitted_models/ctu_cras_norlab_marv_sensor_config_1/launch/spawner.rb b/submitted_models/ctu_cras_norlab_marv_sensor_config_1/launch/spawner.rb
new file mode 100644
index 00000000..749ae123
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_marv_sensor_config_1/launch/spawner.rb
@@ -0,0 +1,9 @@
+require_relative 'common.rb'
+
+def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw, _additionalSDF='')
+  _spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw, _additionalSDF)
+end
+
+def rosExecutables(_name, _worldName)
+  _rosExecutables(_name, _worldName)
+end
diff --git a/submitted_models/ctu_cras_norlab_marv_sensor_config_1/launch/teleop.launch b/submitted_models/ctu_cras_norlab_marv_sensor_config_1/launch/teleop.launch
new file mode 100644
index 00000000..0cb25709
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_marv_sensor_config_1/launch/teleop.launch
@@ -0,0 +1,12 @@
+<?xml version="1.0" encoding="utf-8" ?>
+<launch>
+    <arg name="joy_dev" default="/dev/input/js0" />
+    <arg name="joystick" default="true" />
+    <arg name="config" default="$(dirname)/../config/teleop_config.yaml"/>
+    <arg name="base_config" default="$(find subt_example)/config/logitech_config.yaml"/>
+    <arg name="robot_config" default="$(find subt_example)/config/robot_config.yaml"/>
+
+    <rosparam command="load" file="$(arg base_config)" />
+
+    <include file="$(find subt_example)/launch/teleop.launch" pass_all_args="true" />
+</launch>
\ No newline at end of file
diff --git a/submitted_models/ctu_cras_norlab_marv_sensor_config_1/launch/vehicle_topics.launch b/submitted_models/ctu_cras_norlab_marv_sensor_config_1/launch/vehicle_topics.launch
new file mode 100644
index 00000000..5e446949
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_marv_sensor_config_1/launch/vehicle_topics.launch
@@ -0,0 +1,153 @@
+<?xml version="1.0"?>
+<launch>
+  <env name="IGN_TRANSPORT_TOPIC_STATISTICS" value="1"/>
+
+  <arg name="world_name"/>
+  <arg name="name"/>
+  <arg name="breadcrumbs" default="0"/>
+
+  <arg name="has_omnicam_vras" default="1"/>
+  <arg name="has_ouster_lidar" default="1"/>
+  <arg name="has_thermal_camera" default="0"/>
+  <arg name="has_cliff_sensors" default="1"/>
+
+  <arg name="link_prefix" value="/world/$(arg world_name)/model/$(arg name)/link"/>
+
+  <group ns="$(arg name)">
+
+    <!-- Common -->
+
+    <include file="$(find subt_ros)/launch/models_common/all_robots.launch">
+      <arg name="name" value="$(arg name)" />
+      <arg name="world_name" value="$(arg world_name)" />
+    </include>
+
+    <include file="$(find subt_ros)/launch/models_common/all_ugvs.launch">
+      <arg name="name" value="$(arg name)" />
+      <arg name="world_name" value="$(arg world_name)" />
+    </include>
+
+    <!-- Mapping Server -->
+    <include file="$(find subt_ros)/launch/models_common/mapping_server_relays.launch">
+      <arg name="name" value="$(arg name)"/>
+    </include>
+
+    <!-- Body fisheye cameras -->
+
+    <include file="$(find subt_ros)/launch/models_common/rgb_camera.launch">
+      <arg name="node_name_suffix" value="body_front" />
+      <arg name="gazebo_topic" value="$(arg link_prefix)/front_cam/sensor/front_cam" />
+      <arg name="ros_topic" value="front" />
+    </include>
+
+    <include file="$(find subt_ros)/launch/models_common/rgb_camera.launch">
+      <arg name="node_name_suffix" value="body_rear" />
+      <arg name="gazebo_topic" value="$(arg link_prefix)/rear_cam/sensor/rear_cam" />
+      <arg name="ros_topic" value="rear" />
+    </include>
+
+    <!-- "Omnicam" -->
+
+    <group if="$(arg has_omnicam_vras)">
+      <include file="$(find subt_ros)/launch/models_common/rgb_camera.launch">
+        <arg name="node_name_suffix" value="omnicam_vras_front" />
+        <arg name="gazebo_topic" value="$(arg link_prefix)/camera_0/sensor/camera_0" />
+        <arg name="ros_topic" value="omni/camera_0" />
+      </include>
+
+      <include file="$(find subt_ros)/launch/models_common/rgb_camera.launch">
+        <arg name="node_name_suffix" value="omnicam_vras_right" />
+        <arg name="gazebo_topic" value="$(arg link_prefix)/camera_1/sensor/camera_1" />
+        <arg name="ros_topic" value="omni/camera_1" />
+      </include>
+
+      <include file="$(find subt_ros)/launch/models_common/rgb_camera.launch">
+        <arg name="node_name_suffix" value="omnicam_vras_rear" />
+        <arg name="gazebo_topic" value="$(arg link_prefix)/camera_2/sensor/camera_2" />
+        <arg name="ros_topic" value="omni/camera_2" />
+      </include>
+
+      <include file="$(find subt_ros)/launch/models_common/rgb_camera.launch">
+        <arg name="node_name_suffix" value="omnicam_vras_left" />
+        <arg name="gazebo_topic" value="$(arg link_prefix)/camera_3/sensor/camera_3" />
+        <arg name="ros_topic" value="omni/camera_3" />
+      </include>
+
+      <include file="$(find subt_ros)/launch/models_common/rgb_camera.launch">
+        <arg name="node_name_suffix" value="omnicam_vras_up" />
+        <arg name="gazebo_topic" value="$(arg link_prefix)/camera_4/sensor/camera_4" />
+        <arg name="ros_topic" value="omni/camera_4" />
+      </include>
+    </group>
+
+    <!-- Thermal camera (if used) -->
+    <include if="$(arg has_thermal_camera)" file="$(find subt_ros)/launch/models_common/thermal_camera.launch">
+      <arg name="node_name_suffix" value="thermal" />
+      <arg name="gazebo_topic" value="$(arg link_prefix)/thermocam/sensor" />
+      <arg name="ros_topic" value="thermal_camera" />
+      <arg name="sensor_name" value="thermal_camera" />
+    </include>
+
+    <!-- Flipper control -->
+
+    <include file="$(dirname)/flipper_control.launch">
+      <arg name="robot_name" value="$(arg name)" />
+      <arg name="joint_prefix" value="front_left" />
+    </include>
+
+    <include file="$(dirname)/flipper_control.launch">
+      <arg name="robot_name" value="$(arg name)" />
+      <arg name="joint_prefix" value="front_right" />
+    </include>
+
+    <include file="$(dirname)/flipper_control.launch">
+      <arg name="robot_name" value="$(arg name)" />
+      <arg name="joint_prefix" value="rear_left" />
+    </include>
+
+    <include file="$(dirname)/flipper_control.launch">
+      <arg name="robot_name" value="$(arg name)" />
+      <arg name="joint_prefix" value="rear_right" />
+    </include>
+
+    <!-- 3D Lidar -->
+    <include if="$(arg has_ouster_lidar)" file="$(find subt_ros)/launch/models_common/lidar_3d.launch">
+      <arg name="gazebo_topic" value="$(arg link_prefix)/laser/sensor/laser/scan/points" />
+    </include>
+
+    <!-- Cliff sensors -->
+    <group if="$(arg has_cliff_sensors)">
+      <include file="$(find subt_ros)/launch/models_common/lidar_3d.launch">
+        <arg name="gazebo_topic" value="$(arg link_prefix)/cliff_sensor_front_left/sensor/laser/scan/points" />
+        <arg name="node_name_suffix" value="front_left_cliff_sensor" />
+        <arg name="ros_topic" value="front_left_cliff_scan" />
+      </include>
+      <include file="$(find subt_ros)/launch/models_common/lidar_3d.launch">
+        <arg name="gazebo_topic" value="$(arg link_prefix)/cliff_sensor_front_right/sensor/laser/scan/points" />
+        <arg name="node_name_suffix" value="front_right_cliff_sensor" />
+        <arg name="ros_topic" value="front_right_cliff_scan" />
+      </include>
+      <include file="$(find subt_ros)/launch/models_common/lidar_3d.launch">
+        <arg name="gazebo_topic" value="$(arg link_prefix)/cliff_sensor_rear_left/sensor/laser/scan/points" />
+        <arg name="node_name_suffix" value="rear_left_cliff_sensor" />
+        <arg name="ros_topic" value="rear_left_cliff_scan" />
+      </include>
+      <include file="$(find subt_ros)/launch/models_common/lidar_3d.launch">
+        <arg name="gazebo_topic" value="$(arg link_prefix)/cliff_sensor_rear_right/sensor/laser/scan/points" />
+        <arg name="node_name_suffix" value="rear_right_cliff_sensor" />
+        <arg name="ros_topic" value="rear_right_cliff_scan" />
+      </include>
+    </group>
+
+    <!--IMU-->
+    <include file="$(find subt_ros)/launch/models_common/imu.launch">
+      <arg name="gazebo_topic" value="$(arg link_prefix)/imu/sensor/imu/imu" />
+    </include>
+
+    <!-- Breadcrumbs -->
+    <include if="$(eval breadcrumbs > 0)" file="$(find subt_ros)/launch/models_common/breadcrumbs.launch">
+      <arg name="name" value="$(arg name)" />
+    </include>
+  </group>
+  
+</launch>
diff --git a/submitted_models/ctu_cras_norlab_marv_sensor_config_1/meshes/basler_ace.dae b/submitted_models/ctu_cras_norlab_marv_sensor_config_1/meshes/basler_ace.dae
new file mode 100644
index 00000000..c8a3213b
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_marv_sensor_config_1/meshes/basler_ace.dae
@@ -0,0 +1,93 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
+  <asset>
+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 2.92.0 commit date:2021-02-24, commit time:16:25, hash:02948a2cab44</authoring_tool>
+    </contributor>
+    <created>2021-03-09T02:39:27</created>
+    <modified>2021-03-09T02:39:27</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_effects>
+    <effect id="Part__Feature-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <color sid="diffuse">0.4200244 0.4200244 0.4200244 1</color>
+            </diffuse>
+            <reflectivity>
+              <float sid="specular">0.3</float>
+            </reflectivity>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
+  <library_images/>
+  <library_materials>
+    <material id="Part__Feature-material" name="Part__Feature">
+      <instance_effect url="#Part__Feature-effect"/>
+    </material>
+  </library_materials>
+  <library_geometries>
+    <geometry id="Part__Feature-mesh" name="Part__Feature">
+      <mesh>
+        <source id="Part__Feature-mesh-positions">
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952 1806 955 1807 968 1807 952 1807 958 1808 968 1808 955 1808 969 1809 968 1809 958 1809 970 1810 969 1810 958 1810 960 1811 970 1811 958 1811 971 1812 970 1812 960 1812 972 1813 971 1813 960 1813 963 1814 972 1814 960 1814 965 1815 972 1815 963 1815 970 1816 959 1816 957 1816 969 1817 970 1817 957 1817 971 1818 961 1818 959 1818 971 1819 959 1819 970 1819 956 1820 969 1820 957 1820 968 1821 969 1821 956 1821 954 1822 968 1822 956 1822 962 1823 961 1823 971 1823 972 1824 962 1824 971 1824 954 1825 967 1825 968 1825 950 1826 962 1826 972 1826 950 1827 972 1827 965 1827 953 1828 967 1828 954 1828 953 1829 966 1829 967 1829 951 1830 966 1830 953 1830 948 1831 950 1831 965 1831 948 1832 965 1832 964 1832 948 1833 966 1833 951 1833 948 1834 964 1834 966 1834 974 1835 975 1835 976 1835 976 1836 973 1836 974 1836 973 1837 976 1837 975 1837 980 1838 979 1838 978 1838 981 1839 982 1839 983 1839 977 1840 979 1840 539 1840 980 1841 539 1841 979 1841 979 1842 977 1842 984 1842 979 1843 984 1843 985 1843 978 1844 979 1844 985 1844 978 1845 985 1845 986 1845 983 1846 978 1846 986 1846 983 1847 986 1847 987 1847 983 1848 987 1848 988 1848 981 1849 983 1849 988 1849 981 1850 988 1850 989 1850 980 1851 978 1851 984 1851 984 1852 978 1852 990 1852 978 1853 983 1853 990 1853 990 1854 983 1854 991 1854 991 1855 983 1855 989 1855 983 1856 982 1856 989 1856 529 1857 980 1857 984 1857 539 1858 980 1858 529 1858 977 1859 539 1859 529 1859 984 646 990 646 985 646 990 646 986 646 985 646 989 1860 988 1860 991 1860 988 1861 987 1861 991 1861 991 1862 986 1862 990 1862 991 646 987 646 986 646 984 1863 977 1863 529 1863 993 1864 994 1864 995 1864 998 1865 996 1865 997 1865 992 1866 994 1866 532 1866 993 1867 532 1867 994 1867 994 1868 992 1868 999 1868 994 1869 999 1869 1000 1869 995 1870 994 1870 1000 1870 995 1871 1000 1871 1001 1871 998 1872 995 1872 1001 1872 998 1873 1001 1873 1002 1873 998 1874 1002 1874 1003 1874 996 1875 998 1875 1003 1875 996 1876 1003 1876 1004 1876 993 1877 995 1877 999 1877 999 1878 995 1878 1005 1878 995 1879 998 1879 1005 1879 1005 1880 998 1880 1006 1880 1006 1881 998 1881 1004 1881 998 1882 997 1882 1004 1882 532 1883 993 1883 999 1883 532 1884 999 1884 535 1884 992 1885 532 1885 535 1885 999 1112 1005 1112 1000 1112 1005 1886 1001 1886 1000 1886 1004 1887 1003 1887 1006 1887 1003 1888 1002 1888 1006 1888 1006 1889 1001 1889 1005 1889 1006 1112 1002 1112 1001 1112 999 1890 992 1890 535 1890 623 1891 620 1891 635 1891 738 1892 737 1892 724 1892 657 1893 672 1893 656 1893 735 1894 723 1894 736 1894 97 1895 104 1895 95 1895 213 1896 210 1896 225 1896 266 1897 260 1897 267 1897 419 1898 407 1898 420 1898 447 1899 446 1899 466 1899 734 1900 733 1900 732 1900 334 1901 332 1901 333 1901 997 1902 996 1902 1004 1902 422 1903 421 1903 406 1903 785 1904 780 1904 781 1904 418 1905 417 1905 415 1905 943 1906 944 1906 942 1906 65 1907 62 1907 71 1907 489 1908 490 1908 39 1908 79 1909 78 1909 80 1909 783 1910 791 1910 770 1910 622 1911 634 1911 621 1911 673 1912 661 1912 660 1912 435 1913 434 1913 454 1913 434 1914 433 1914 453 1914 775 1915 776 1915 789 1915 99 1916 98 1916 100 1916 212 1917 224 1917 211 1917 668 1918 652 1918 669 1918 446 1919 445 1919 465 1919 450 1920 449 1920 469 1920 439 1921 438 1921 458 1921 438 1922 437 1922 457 1922 664 1923 663 1923 665 1923 728 1924 726 1924 741 1924 443 1925 442 1925 462 1925 442 1926 441 1926 461 1926 542 1927 586 1927 541 1927 704 1928 693 1928 705 1928 436 1929 435 1929 455 1929 221 1930 207 1930 222 1930 585 1931 546 1931 543 1931 546 1932 547 1932 543 1932 588 1933 552 1933 556 1933 588 1934 555 1934 552 1934 675 1935 670 1935 662 1935 631 1936 618 1936 632 1936 562 1937 566 1937 563 1937 790 1938 782 1938 771 1938 655 1939 654 1939 671 1939 411 1940 425 1940 410 1940 567 1941 563 1941 587 1941 567 1942 587 1942 564 1942 448 1943 447 1943 467 1943 939 1944 927 1944 906 1944 217 1945 215 1945 218 1945 974 1946 973 1946 975 1946 708 1947 700 1947 710 1947 667 1948 666 1948 653 1948 627 1949 625 1949 628 1949 432 1950 431 1950 451 1950 226 1951 223 1951 216 1951 268 1952 274 1952 273 1952 703 1953 702 1953 701 1953 674 1954 658 1954 659 1954 636 1955 633 1955 626 1955 88 1956 75 1956 87 1956 630 1957 629 1957 617 1957 730 1958 740 1958 729 1958 440 1959 439 1959 459 1959 707 1960 706 1960 694 1960 444 1961 443 1961 463 1961 220 1962 219 1962 208 1962 433 1963 432 1963 452 1963 742 1964 739 1964 731 1964 778 1965 787 1965 777 1965 437 1966 436 1966 456 1966 942 1967 945 1967 941 1967 409 1968 408 1968 424 1968 427 1969 423 1969 416 1969 887 1970 886 1970 888 1970 887 1971 889 1971 886 1971 982 1972 981 1972 989 1972 698 1973 709 1973 697 1973 449 1974 448 1974 468 1974 60 1975 72 1975 59 1975 345 1976 348 1976 344 1976 68 1977 69 1977 67 1977 441 1978 440 1978 460 1978 773 1979 772 1979 792 1979 445 1980 444 1980 464 1980 784 1981 788 1981 779 1981 426 1982 412 1982 413 1982</p>
+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="node0" name="node0" type="NODE">
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\ No newline at end of file
diff --git a/submitted_models/ctu_cras_norlab_marv_sensor_config_1/meshes/basler_ace2_pro.dae b/submitted_models/ctu_cras_norlab_marv_sensor_config_1/meshes/basler_ace2_pro.dae
new file mode 100644
index 00000000..4b757cfb
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_marv_sensor_config_1/meshes/basler_ace2_pro.dae
@@ -0,0 +1,96 @@
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+      <authoring_tool>Blender 2.92.0 commit date:2021-02-24, commit time:16:25, hash:02948a2cab44</authoring_tool>
+    </contributor>
+    <created>2021-03-17T17:12:57</created>
+    <modified>2021-03-17T17:12:57</modified>
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1537 282 1537 262 1537 572 1538 561 1538 569 1538 608 1539 607 1539 617 1539 267 1540 286 1540 266 1540 758 1541 757 1541 761 1541 703 1542 704 1542 702 1542 703 1543 702 1543 705 1543 769 1544 776 1544 768 1544 528 1545 527 1545 539 1545 279 1546 298 1546 278 1546 60 1547 59 1547 72 1547 68 1548 67 1548 69 1548 271 1549 290 1549 270 1549 603 1550 622 1550 602 1550 275 1551 294 1551 274 1551 614 1552 609 1552 618 1552 17 1553 256 1553 53 1553</p>
+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="node0" name="node0" type="NODE">
+        <matrix sid="transform">7.54979e-8 -4.37114e-8 -1 0.05132059 -1 -8.9407e-8 -7.54979e-8 3.15766e-4 -8.9407e-8 1 -4.37114e-8 0 0 0 0 1</matrix>
+        <instance_geometry url="#Part__Feature-mesh" name="node0">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="Part__Feature-material" target="#Part__Feature-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
\ No newline at end of file
diff --git a/submitted_models/ctu_cras_norlab_marv_sensor_config_1/meshes/battery.dae b/submitted_models/ctu_cras_norlab_marv_sensor_config_1/meshes/battery.dae
new file mode 100644
index 00000000..8fabd5a9
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_marv_sensor_config_1/meshes/battery.dae
@@ -0,0 +1,119 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
+  <asset>
+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 2.92.0 commit date:2021-02-24, commit time:16:25, hash:02948a2cab44</authoring_tool>
+    </contributor>
+    <created>2021-03-08T03:58:16</created>
+    <modified>2021-03-08T03:58:16</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_effects>
+    <effect id="Material-effect">
+      <profile_COMMON>
+        <newparam sid="battery-surface">
+          <surface type="2D">
+            <init_from>battery</init_from>
+          </surface>
+        </newparam>
+        <newparam sid="battery-sampler">
+          <sampler2D>
+            <source>battery-surface</source>
+          </sampler2D>
+        </newparam>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <texture texture="battery-sampler" texcoord="UVMap"/>
+            </diffuse>
+            <index_of_refraction>
+              <float sid="ior">1.45</float>
+            </index_of_refraction>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
+  <library_images>
+    <image id="battery" name="battery">
+      <init_from>../textures/battery.png</init_from>
+    </image>
+  </library_images>
+  <library_materials>
+    <material id="Material-material" name="Material">
+      <instance_effect url="#Material-effect"/>
+    </material>
+  </library_materials>
+  <library_geometries>
+    <geometry id="Bat_001-mesh" name="Bat.001">
+      <mesh>
+        <source id="Bat_001-mesh-positions">
+          <float_array id="Bat_001-mesh-positions-array" count="3921">-13.08549 -164.5 0 -60 -175 0 -1.040616 -174.4559 0.005422294 -3.140756 -170.7259 0.05465257 1.012362 -168.5559 0.05591487 13.08549 -164.5 0 2.580867 -172.3409 0.1785148 -18.70713 -124.5 0 60 -175 0 1.704194 -173.9689 0 18.70713 -124.5 0 -59.27628 -1.34693 0.01103079 -54.31444 -2.177613 -0.02297049 54.33203 -1.956095 0.1097993 -54.21504 1.058266 0.4883615 54.02532 1.625887 0.00183165 -55.95193 2.843254 0.266762 59.02623 -2.173038 0.04327923 -59.01771 1.293966 0.1139351 -59.78213 158.9918 -0.002430021 -55.43882 168.0386 0 -49.07108 172.8681 0 -43.39248 174.7989 0 -0.8110961 168.3833 0.01740813 -3.089096 171.7548 7.99371e-4 -1.304087 174.3247 0.002846181 58.55249 2.505011 -0.1239026 41.66134 174.9711 0.00368005 2.26489 170.238 0.3575581 3.089137 171.6417 -0.009739875 47.68618 173.5559 0 59.77068 159.2629 0.006578028 54.94217 168.6049 0 -60 155 5 -59.82889 157.6105 5 -59.31851 160.1764 5 -58.47759 162.6537 5 -57.32051 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+              <param name="S" type="float"/>
+              <param name="T" type="float"/>
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+          </technique_common>
+        </source>
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+        <instance_geometry url="#Bat_001-mesh" name="Bat">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="Material-material" target="#Material-material">
+                <bind_vertex_input semantic="UVMap" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
\ No newline at end of file
diff --git a/submitted_models/ctu_cras_norlab_marv_sensor_config_1/meshes/belt.dae b/submitted_models/ctu_cras_norlab_marv_sensor_config_1/meshes/belt.dae
new file mode 100644
index 00000000..6c95d9cf
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_marv_sensor_config_1/meshes/belt.dae
@@ -0,0 +1,146 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
+  <asset>
+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 2.92.0 commit date:2021-02-24, commit time:16:25, hash:02948a2cab44</authoring_tool>
+    </contributor>
+    <created>2021-03-08T13:39:02</created>
+    <modified>2021-03-08T13:39:02</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_effects>
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+      <profile_COMMON>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
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+            </diffuse>
+            <index_of_refraction>
+              <float sid="ior">1.45</float>
+            </index_of_refraction>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
+    <effect id="Part__Feature687-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <color sid="diffuse">0.5382252 0.5382252 0.5382252 1</color>
+            </diffuse>
+            <reflectivity>
+              <float sid="specular">0.5</float>
+            </reflectivity>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
+  <library_images/>
+  <library_materials>
+    <material id="Part__Feature688-material" name="Part__Feature688">
+      <instance_effect url="#Part__Feature688-effect"/>
+    </material>
+    <material id="Part__Feature687-material" name="Part__Feature687">
+      <instance_effect url="#Part__Feature687-effect"/>
+    </material>
+  </library_materials>
+  <library_geometries>
+    <geometry id="Part__Feature688-mesh" name="Part__Feature688">
+      <mesh>
+        <source id="Part__Feature688-mesh-positions">
+          <float_array id="Part__Feature688-mesh-positions-array" count="0"/>
+          <technique_common>
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+          </technique_common>
+        </source>
+        <source id="Part__Feature688-mesh-normals">
+          <float_array id="Part__Feature688-mesh-normals-array" count="0"/>
+          <technique_common>
+            <accessor source="#Part__Feature688-mesh-normals-array" count="0" stride="3">
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+        </source>
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+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
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+        <matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
+        <instance_geometry url="#Part__Feature688-mesh" name="node1">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="Part__Feature688-material" target="#Part__Feature688-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
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+        <matrix sid="transform">-4.37114e-8 4.37114e-8 1 0 1 1.91069e-15 4.37114e-8 0.065 0 1 -4.37114e-8 0 0 0 0 1</matrix>
+        <instance_geometry url="#Part__Feature687-mesh" name="node0">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="Part__Feature687-material" target="#Part__Feature687-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
\ No newline at end of file
diff --git a/submitted_models/ctu_cras_norlab_marv_sensor_config_1/meshes/big_wheel.dae b/submitted_models/ctu_cras_norlab_marv_sensor_config_1/meshes/big_wheel.dae
new file mode 100644
index 00000000..9ff6c271
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_marv_sensor_config_1/meshes/big_wheel.dae
@@ -0,0 +1,89 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
+  <asset>
+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 2.92.0 commit date:2021-02-24, commit time:16:25, hash:02948a2cab44</authoring_tool>
+    </contributor>
+    <created>2021-03-08T12:24:24</created>
+    <modified>2021-03-08T12:24:24</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_effects>
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+      <profile_COMMON>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <color sid="diffuse">0 0 0 1</color>
+            </diffuse>
+            <reflectivity>
+              <float sid="specular">0.3</float>
+            </reflectivity>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
+  <library_images/>
+  <library_materials>
+    <material id="Material_001-material" name="Material.001">
+      <instance_effect url="#Material_001-effect"/>
+    </material>
+  </library_materials>
+  <library_geometries>
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+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="_10204-Kolo_At20-Hnaci" name="210204-Kolo At20-Hnaci" type="NODE">
+        <matrix sid="transform">9.99987e-4 0 0 0 0 -4.37108e-11 -9.99987e-4 0 0 9.99987e-4 -4.37108e-11 0 0 0 0 1</matrix>
+        <instance_geometry url="#_10204-Kolo_At20-Hnaci-mesh" name="210204-Kolo At20-Hnaci">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="Material_001-material" target="#Material_001-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
\ No newline at end of file
diff --git a/submitted_models/ctu_cras_norlab_marv_sensor_config_1/meshes/chassis.dae b/submitted_models/ctu_cras_norlab_marv_sensor_config_1/meshes/chassis.dae
new file mode 100644
index 00000000..3ec0e2c5
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_marv_sensor_config_1/meshes/chassis.dae
@@ -0,0 +1,177 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
+  <asset>
+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 2.92.0 commit date:2021-02-24, commit time:16:25, hash:02948a2cab44</authoring_tool>
+    </contributor>
+    <created>2021-03-18T15:56:07</created>
+    <modified>2021-03-18T15:56:07</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_effects>
+    <effect id="Material-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <color sid="diffuse">0.7742716 0.7742716 0.7742716 1</color>
+            </diffuse>
+            <reflectivity>
+              <float sid="specular">0.5</float>
+            </reflectivity>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
+    <effect id="Part__Feature-effect">
+      <profile_COMMON>
+        <newparam sid="chassis_png-surface">
+          <surface type="2D">
+            <init_from>chassis_png</init_from>
+          </surface>
+        </newparam>
+        <newparam sid="chassis_png-sampler">
+          <sampler2D>
+            <source>chassis_png-surface</source>
+          </sampler2D>
+        </newparam>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <texture texture="chassis_png-sampler" texcoord="UVMap"/>
+            </diffuse>
+            <index_of_refraction>
+              <float sid="ior">1.45</float>
+            </index_of_refraction>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
+  <library_images>
+    <image id="chassis_png" name="chassis_png">
+      <init_from>../textures/chassis.png</init_from>
+    </image>
+  </library_images>
+  <library_materials>
+    <material id="Material-material" name="Material">
+      <instance_effect url="#Material-effect"/>
+    </material>
+    <material id="Part__Feature-material" name="Part__Feature">
+      <instance_effect url="#Part__Feature-effect"/>
+    </material>
+  </library_materials>
+  <library_geometries>
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309 2888 12034 1905 2888 12035 1891 2889 12036 309 2889 12037 1877 2889 12038 287 2890 12039 289 2890 12040 295 2890 12041 289 2891 12042 1904 2891 12043 295 2891 12044 295 2892 12045 1905 2892 12046 298 2892 12047 1904 2893 12048 1905 2893 12049 295 2893 12050 1905 2894 12051 309 2894 12052 298 2894 12053 298 2895 12054 309 2895 12055 302 2895 12056 321 199 12057 320 199 12058 411 199 12059 320 199 12060 329 199 12061 411 199 12062 320 199 12063 328 199 12064 329 199 12065 328 199 12066 327 199 12067 329 199 12068 327 2896 12069 326 2896 12070 329 2896 12071 1913 0 12072 1915 0 12073 1912 0 12074 1932 142 12075 1930 142 12076 1931 142 12077 1937 339 12078 1907 339 12079 1909 339 12080 1952 199 12081 1951 199 12082 1935 199 12083 1941 2897 12084 1946 2897 12085 1950 2897 12086 288 133 12087 1923 133 12088 1925 133 12089 267 2898 12090 1941 2898 12091 1942 2898 12092 1941 2899 12093 266 2899 12094 1947 2899 12095 1923 206 12096 1937 206 12097 1922 206 12098 291 2900 12099 1908 2900 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12164 1939 142 12165 1864 142 12166 1940 142 12167 1944 142 12168 1867 142 12169 1945 142 12170 1943 142 12171 1867 142 12172 1944 142 12173 1900 2920 12174 1943 2920 12175 1921 2920 12176 1917 2921 12177 1898 2921 12178 1899 2921 12179 1865 0 12180 1947 0 12181 266 0 12182 1950 0 12183 1946 0 12184 1865 0 12185 1865 0 12186 1948 0 12187 1950 0 12188 1953 0 12189 1949 0 12190 1866 0 12191 1866 0 12192 1952 0 12193 1953 0 12194 288 2922 12195 1927 2922 12196 1902 2922 12197 1902 2923 12198 1927 2923 12199 1930 2923 12200 1903 2924 12201 1932 2924 12202 1936 2924 12203 1930 2925 12204 1932 2925 12205 1902 2925 12206 1901 2926 12207 1951 2926 12208 1952 2926 12209 1917 2927 12210 1921 2927 12211 1920 2927 12212 1921 0 12213 1918 0 12214 1919 0 12215 1920 2928 12216 1921 2928 12217 1919 2928 12218 1920 2929 12219 1916 2929 12220 1917 2929 12221 1914 0 12222 1917 0 12223 1916 0 12224 1908 2930 12225 1910 2930 12226 1911 2930 12227 1910 0 12228 1913 0 12229 1911 0 12230 1907 0 12231 1908 0 12232 1909 0 12233 1911 0 12234 1909 0 12235 1908 0 12236 1913 0 12237 1914 0 12238 1915 0 12239 1914 0 12240 1916 0 12241 1915 0 12242 1912 0 12243 1911 0 12244 1913 0 12245 1925 142 12246 1923 142 12247 1929 142 12248 1923 142 12249 1922 142 12250 1924 142 12251 1929 142 12252 1923 142 12253 1924 142 12254 1927 2931 12255 1925 2931 12256 1928 2931 12257 1925 2932 12258 1929 2932 12259 1928 2932 12260 1927 2933 12261 1928 2933 12262 1926 2933 12263 1931 142 12264 1934 142 12265 1932 142 12266 1934 2934 12267 1933 2934 12268 1936 2934 12269 1932 142 12270 1934 142 12271 1936 142 12272 1927 142 12273 1926 142 12274 1930 142 12275 1926 142 12276 1931 142 12277 1930 142 12278 1933 142 12279 1935 142 12280 1936 142 12281 1909 339 12282 1924 339 12283 1937 339 12284 1924 339 12285 1922 339 12286 1937 339 12287 1954 199 12288 1949 199 12289 1953 199 12290 1954 2935 12291 1953 2935 12292 1952 2935 12293 1944 2936 12294 1945 2936 12295 1954 2936 12296 1918 2937 12297 1921 2937 12298 1943 2937 12299 1943 2938 12300 1944 2938 12301 1954 2938 12302 1943 199 12303 1954 199 12304 1952 199 12305 1935 199 12306 1918 199 12307 1952 199 12308 1918 2939 12309 1943 2939 12310 1952 2939 12311 1951 199 12312 1936 199 12313 1935 199 12314 1938 199 12315 1939 199 12316 1940 199 12317 1940 199 12318 1942 199 12319 1938 199 12320 1942 199 12321 1941 199 12322 1938 199 12323 1941 199 12324 1947 199 12325 1946 199 12326 1950 199 12327 1948 199 12328 1941 199 12329 1948 199 12330 1938 199 12331 1941 199 12332 288 2900 12333 26 2900 12334 1923 2900 12335 267 2940 12336 266 2940 12337 1941 2940 12338 1923 133 12339 26 133 12340 1937 133 12341 291 133 12342 1910 133 12343 1908 133 12344 1937 2941 12345 26 2941 12346 292 2941 12347 292 133 12348 1908 133 12349 1907 133 12350 1935 2942 12351 1933 2942 12352 396 2942 12353 1933 2943 12354 395 2943 12355 396 2943 12356 357 2944 12357 1919 2944 12358 1918 2944 12359 357 2945 12360 1918 2945 12361 396 2945 12362 1919 2946 12363 357 2946 12364 356 2946 12365 1909 2947 12366 1911 2947 12367 349 2947 12368 1004 2948 12369 403 2948 12370 1924 2948 12371 403 2949 12372 1929 2949 12373 1924 2949 12374 1909 2950 12375 349 2950 12376 1004 2950 12377 1931 2951 12378 410 2951 12379 395 2951 12380 1916 2952 12381 356 2952 12382 355 2952 12383 1928 2953 12384 403 2953 12385 410 2953 12386 1912 2954 12387 355 2954 12388 349 2954 12389 1864 2955 12390 1939 2955 12391 1938 2955 12392 1867 2956 12393 1866 2956 12394 1954 2956 12395 1898 2957 12396 1914 2957 12397 1913 2957 12398 1864 142 12399 267 142 12400 1942 142 12401 1943 142 12402 1900 142 12403 1867 142 12404 1921 2958 12405 1917 2958 12406 1899 2958 12407 1899 2959 12408 1900 2959 12409 1921 2959 12410 1917 2960 12411 1914 2960 12412 1898 2960 12413 1865 0 12414 1946 0 12415 1947 0 12416 1866 0 12417 1901 0 12418 1952 0 12419 288 2961 12420 1925 2961 12421 1927 2961 12422 1951 2962 12423 1901 2962 12424 1936 2962 12425 1901 2963 12426 1903 2963 12427 1936 2963 12428 1903 2964 12429 1902 2964 12430 1932 2964 12431</p>
+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="Bat_Con" name="Bat Con" type="NODE">
+        <matrix sid="transform">-9.99987e-4 3.25837e-10 0 0 -3.25837e-10 -9.99987e-4 0 0.009954766 0 0 9.99987e-4 -0.045222 0 0 0 1</matrix>
+        <instance_geometry url="#Bat_Con_002-mesh" name="Bat Con">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="Material-material" target="#Material-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+      <node id="node0" name="node0" type="NODE">
+        <matrix sid="transform">-1 -1.4243e-14 -3.25841e-7 0 -3.25841e-7 4.37114e-8 1 0 0 1 -4.37114e-8 -0.044 0 0 0 1</matrix>
+        <instance_geometry url="#Part__Feature-mesh" name="node0">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="Part__Feature-material" target="#Part__Feature-material">
+                <bind_vertex_input semantic="UVMap" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
\ No newline at end of file
diff --git a/submitted_models/ctu_cras_norlab_marv_sensor_config_1/meshes/deck.dae b/submitted_models/ctu_cras_norlab_marv_sensor_config_1/meshes/deck.dae
new file mode 100644
index 00000000..8af82721
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_marv_sensor_config_1/meshes/deck.dae
@@ -0,0 +1,111 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
+  <asset>
+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 2.92.0 commit date:2021-02-24, commit time:16:25, hash:02948a2cab44</authoring_tool>
+    </contributor>
+    <created>2021-03-20T14:53:26</created>
+    <modified>2021-03-20T14:53:26</modified>
+    <unit name="millimeter" meter="0.001"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_effects>
+    <effect id="Material_001-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <color sid="diffuse">0.6307576 0.6653874 0.708376 1</color>
+            </diffuse>
+            <reflectivity>
+              <float sid="specular">0.5</float>
+            </reflectivity>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
+  <library_images/>
+  <library_materials>
+    <material id="Material_001-material" name="Material.001">
+      <instance_effect url="#Material_001-effect"/>
+    </material>
+  </library_materials>
+  <library_geometries>
+    <geometry id="shape1-lib_002-mesh" name="shape1-lib.002">
+      <mesh>
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diff --git a/submitted_models/ctu_cras_norlab_marv_sensor_config_1/meshes/evetar_fisheye_lens.dae b/submitted_models/ctu_cras_norlab_marv_sensor_config_1/meshes/evetar_fisheye_lens.dae
new file mode 100644
index 00000000..16303802
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_marv_sensor_config_1/meshes/evetar_fisheye_lens.dae
@@ -0,0 +1,229 @@
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+      </mesh>
+    </geometry>
+  </library_geometries>
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+            </technique_common>
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+        <instance_geometry url="#Cylinder_002-mesh" name="Cylinder.003">
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+              <instance_material symbol="Material_001-material" target="#Material_001-material">
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+            </technique_common>
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+        </instance_geometry>
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+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
\ No newline at end of file
diff --git a/submitted_models/ctu_cras_norlab_marv_sensor_config_1/meshes/evetar_lens.dae b/submitted_models/ctu_cras_norlab_marv_sensor_config_1/meshes/evetar_lens.dae
new file mode 100644
index 00000000..d9ce005b
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_marv_sensor_config_1/meshes/evetar_lens.dae
@@ -0,0 +1,155 @@
+<?xml version="1.0" encoding="utf-8"?>
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+  <asset>
+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 2.92.0 commit date:2021-02-24, commit time:16:25, hash:02948a2cab44</authoring_tool>
+    </contributor>
+    <created>2021-03-10T21:42:34</created>
+    <modified>2021-03-10T21:42:34</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
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+            <diffuse>
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+            </diffuse>
+            <reflectivity>
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+            </reflectivity>
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+        </technique>
+      </profile_COMMON>
+    </effect>
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+            </emission>
+            <diffuse>
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+            <reflectivity>
+              <float sid="specular">0.3</float>
+            </reflectivity>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
+  <library_images/>
+  <library_materials>
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+    </material>
+    <material id="Part__Feature-material" name="Part__Feature">
+      <instance_effect url="#Part__Feature-effect"/>
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+  </library_materials>
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2274 1129 2274 686 2274 1128 2275 1129 2275 687 2275 23 2276 592 2276 1128 2276 1130 2277 1131 2277 1135 2277 682 2278 1130 2278 1134 2278 681 2279 682 2279 1134 2279 666 2280 686 2280 681 2280 680 2281 686 2281 666 2281 1129 2282 680 2282 666 2282 679 2283 680 2283 1129 2283 678 2284 679 2284 1136 2284 591 2285 678 2285 1136 2285 23 2286 678 2286 591 2286 1133 2287 8 2287 7 2287 1132 2288 1133 2288 661 2288 663 2289 1130 2289 1135 2289 1134 2290 1130 2290 663 2290 681 2291 1134 2291 665 2291 666 2292 681 2292 665 2292 679 2293 667 2293 668 2293 1136 2294 679 2294 668 2294 591 2295 1136 2295 22 2295 661 2296 1131 2296 1132 2296 1135 2297 1131 2297 661 2297 667 2298 1129 2298 666 2298 679 2299 1129 2299 667 2299 1137 2300 651 2300 650 2300 649 2301 1137 2301 650 2301 648 2302 1137 2302 649 2302 643 2303 645 2303 644 2303 643 2304 1139 2304 1138 2304 643 2305 641 2305 1140 2305 1139 2306 643 2306 1140 2306 643 2307 1138 2307 645 2307 645 2308 1138 2308 646 2308 641 2309 0 2309 1 2309 1140 2310 641 2310 1 2310 647 2311 646 2311 1141 2311 648 2312 647 2312 1141 2312 648 2313 1141 2313 1142 2313 1142 2314 1143 2314 1137 2314 648 2315 1142 2315 1137 2315 1137 2316 1143 2316 651 2316 1143 2317 1144 2317 651 2317 1144 2318 587 2318 585 2318 651 2319 1144 2319 585 2319 21 2320 587 2320 1029 2320 587 2321 1144 2321 1029 2321 1144 2322 1143 2322 1030 2322 1029 2323 1144 2323 1030 2323 1030 2324 1143 2324 1031 2324 1143 2325 1142 2325 1032 2325 1031 2326 1143 2326 1032 2326 1142 2327 1141 2327 1032 2327 1032 2328 1141 2328 1033 2328 1141 2329 646 2329 1034 2329 1033 2330 1141 2330 1034 2330 646 2331 1138 2331 1035 2331 1034 2332 646 2332 1035 2332 1138 2333 1139 2333 1145 2333 1035 2334 1138 2334 1145 2334 1139 2335 1140 2335 1146 2335 1145 2336 1139 2336 1146 2336 1146 2337 1140 2337 1036 2337 1140 2338 1 2338 11 2338 1036 2339 1140 2339 11 2339 1089 2340 1058 2340 1067 2340 1091 2341 1058 2341 1089 2341 1087 2342 1066 2342 1058 2342 1087 2343 1058 2343 1091 2343 1084 2344 1066 2344 1087 2344 1125 2345 1086 2345 1089 2345 1125 2346 1089 2346 1067 2346 1126 2347 1086 2347 1125 2347 1126 2348 1085 2348 1086 2348 1127 2349 1084 2349 1085 2349 1127 2350 1085 2350 1126 2350 1127 2351 1066 2351 1084 2351 1066 2352 1127 2352 1102 2352 1066 2353 1102 2353 1065 2353 1067 2354 1124 2354 1125 2354 1122 2355 1069 2355 1147 2355 1121 2356 1148 2356 1070 2356 1121 2357 1069 2357 1148 2357 1122 2358 1069 2358 1121 2358 1119 2359 1071 2359 1056 2359 1120 2360 1071 2360 1119 2360 1121 2361 1070 2361 1071 2361 1121 2362 1071 2362 1120 2362 1056 2363 1118 2363 1119 2363 1072 2364 1118 2364 1056 2364 1072 2365 1117 2365 1118 2365 1073 2366 1117 2366 1072 2366 1116 2367 1074 2367 1149 2367 1117 2368 1074 2368 1116 2368 1117 2369 1150 2369 1074 2369 1117 2370 1073 2370 1150 2370 1150 2371 1073 2371 1074 2371 1075 2372 1116 2372 1074 2372 1075 2373 1115 2373 1116 2373 1112 2374 1059 2374 1076 2374 1114 2375 1059 2375 1112 2375 1114 2376 1075 2376 1059 2376 1115 2377 1075 2377 1114 2377 1076 2378 1156 2378 1112 2378 1151 2379 1079 2379 1060 2379 1060 2380 1079 2380 1155 2380 1028 2381 1079 2381 1151 2381 928 2382 1107 2382 1110 2382 1027 2383 1107 2383 928 2383 1156 2384 928 2384 1109 2384 1110 2385 1109 2385 928 2385 1156 2386 1109 2386 1112 2386 1107 2387 1027 2387 1028 2387 1061 2388 1028 2388 1151 2388 1107 2389 1028 2389 1061 2389 1104 2390 1062 2390 1105 2390 1104 2391 1061 2391 1062 2391 1107 2392 1061 2392 1104 2392 1106 2393 1077 2393 1152 2393 1103 2394 1153 2394 1077 2394 1103 2395 1077 2395 1106 2395 1152 2396 1108 2396 1106 2396 1108 2397 1152 2397 1063 2397 1113 2398 1064 2398 1154 2398 1111 2399 1064 2399 1113 2399 1108 2400 1078 2400 1064 2400 1108 2401 1064 2401 1111 2401 1154 2402 12 2402 1113 2402 14 2403 1154 2403 578 2403 1154 2404 14 2404 12 2404 1078 2405 1108 2405 1063 2405 1077 2406 1103 2406 1105 2406 1077 2407 1105 2407 1062 2407 1155 2408 1076 2408 1060 2408 1076 2409 1155 2409 1156 2409 1148 2410 1069 2410 1070 2410 1068 2411 1124 2411 1067 2411 1068 2412 1123 2412 1124 2412 1069 2413 1122 2413 1123 2413 1069 2414 1123 2414 1068 2414 954 2415 1157 2415 706 2415 1157 2416 953 2416 706 2416 953 2417 951 2417 703 2417 706 2418 953 2418 703 2418 951 2419 1158 2419 703 2419 703 2420 1158 2420 704 2420 704 2421 1158 2421 708 2421 1158 2422 949 2422 708 2422 949 2423 957 2423 708 2423 708 2424 957 2424 700 2424 957 2425 954 2425 700 2425 700 2426 954 2426 706 2426 958 2427 1158 2427 959 2427 949 2428 1158 2428 958 2428 993 2429 992 2429 712 2429 992 2430 990 2430 712 2430 712 2431 990 2431 710 2431 990 2432 984 2432 710 2432 984 2433 1159 2433 710 2433 710 2434 1159 2434 711 2434 1159 2435 1160 2435 711 2435 1160 2436 996 2436 711 2436 711 2437 996 2437 713 2437 996 2438 993 2438 713 2438 713 2439 993 2439 712 2439 992 2440 991 2440 990 2440 993 2441 996 2441 995 2441 1161 2442 974 2442 719 2442 719 2443 974 2443 715 2443 974 2444 1162 2444 715 2444 1162 2445 1163 2445 716 2445 715 2446 1162 2446 716 2446 716 2447 1163 2447 695 2447 1163 2448 1164 2448 695 2448 695 2449 1164 2449 717 2449 1164 2450 1165 2450 717 2450 1165 2451 975 2451 717 2451 717 2452 975 2452 719 2452 975 2453 1161 2453 719 2453 980 2454 1163 2454 1162 2454 1164 2455 1163 2455 979 2455</p>
+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="node0_001" name="node0.001" type="NODE">
+        <matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
+        <instance_geometry url="#Part__Feature_001-mesh" name="node0.001">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="Material_001-material" target="#Material_001-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+      <node id="node0" name="node0" type="NODE">
+        <matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
+        <instance_geometry url="#Part__Feature-mesh" name="node0">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="Part__Feature-material" target="#Part__Feature-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
\ No newline at end of file
diff --git a/submitted_models/ctu_cras_norlab_marv_sensor_config_1/meshes/flipper.dae b/submitted_models/ctu_cras_norlab_marv_sensor_config_1/meshes/flipper.dae
new file mode 100644
index 00000000..6febe2dc
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_marv_sensor_config_1/meshes/flipper.dae
@@ -0,0 +1,126 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+  <asset>
+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 2.70.0 commit date:2014-04-10, commit time:11:49, hash:f93bc76</authoring_tool>
+    </contributor>
+    <created>2014-07-08T15:33:16</created>
+    <modified>2014-07-08T15:33:16</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_images>
+    <image id="flipper_color_png" name="flipper_color_png">
+        <init_from>../textures/flipper_color.png</init_from>
+    </image>
+  </library_images>
+  <library_effects>
+    <effect id="material0-effect">
+      <profile_COMMON>
+        <newparam sid="flipper_color_png-surface">
+          <surface type="2D">
+            <init_from>flipper_color_png</init_from>
+          </surface>
+        </newparam>
+        <newparam sid="flipper_color_png-sampler">
+          <sampler2D>
+            <source>flipper_color_png-surface</source>
+          </sampler2D>
+        </newparam>
+        <technique sid="common">
+          <blinn>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <ambient>
+              <color sid="ambient">0 0 0 1</color>
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diff --git a/submitted_models/ctu_cras_norlab_marv_sensor_config_1/meshes/flipper_arm.dae b/submitted_models/ctu_cras_norlab_marv_sensor_config_1/meshes/flipper_arm.dae
new file mode 100644
index 00000000..9bb9d45c
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_marv_sensor_config_1/meshes/flipper_arm.dae
@@ -0,0 +1,89 @@
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+      <author>Blender User</author>
+      <authoring_tool>Blender 2.92.0 commit date:2021-02-24, commit time:16:25, hash:02948a2cab44</authoring_tool>
+    </contributor>
+    <created>2021-03-08T13:18:11</created>
+    <modified>2021-03-08T13:18:11</modified>
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+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="node151" name="node151" type="NODE">
+        <matrix sid="transform">-4.37114e-8 4.37114e-8 -1 0 1 1.91069e-15 -4.37114e-8 0.06488556 0 -1 -4.37114e-8 0 0 0 0 1</matrix>
+        <instance_geometry url="#Part__Feature649-mesh" name="node151">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="Part__Feature649-material" target="#Part__Feature649-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
\ No newline at end of file
diff --git a/submitted_models/ctu_cras_norlab_marv_sensor_config_1/meshes/flir_boson.dae b/submitted_models/ctu_cras_norlab_marv_sensor_config_1/meshes/flir_boson.dae
new file mode 100644
index 00000000..73dfb7fd
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_marv_sensor_config_1/meshes/flir_boson.dae
@@ -0,0 +1,214 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
+  <asset>
+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 2.92.0 commit date:2021-02-24, commit time:16:25, hash:02948a2cab44</authoring_tool>
+    </contributor>
+    <created>2021-03-15T20:47:45</created>
+    <modified>2021-03-15T20:47:45</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_effects>
+    <effect id="Material_002-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <color sid="diffuse">0.6169636 0.8000001 0.1718128 1</color>
+            </diffuse>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
+    <effect id="Feature-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <color sid="diffuse">0.01884874 0.01884874 0.01884874 1</color>
+            </diffuse>
+            <reflectivity>
+              <float sid="specular">0.1778524</float>
+            </reflectivity>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
+    <effect id="Material_001-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <color sid="diffuse">0.303198 0.303198 0.303198 1</color>
+            </diffuse>
+            <reflectivity>
+              <float sid="specular">0.5</float>
+            </reflectivity>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
+  <library_images/>
+  <library_materials>
+    <material id="Material_002-material" name="Material.002">
+      <instance_effect url="#Material_002-effect"/>
+    </material>
+    <material id="Feature-material" name="Feature">
+      <instance_effect url="#Feature-effect"/>
+    </material>
+    <material id="Material_001-material" name="Material.001">
+      <instance_effect url="#Material_001-effect"/>
+    </material>
+  </library_materials>
+  <library_geometries>
+    <geometry id="Feature_003-mesh" name="Feature.003">
+      <mesh>
+        <source id="Feature_003-mesh-positions">
+          <float_array id="Feature_003-mesh-positions-array" count="129">0.03531861 -0.005800843 -0.005148887 0.03519332 -0.007369518 -0.003577589 0.03522986 -0.004375517 -0.006950139 0.03524756 -0.008126974 -8.85415e-4 0.03531742 -5.72512e-5 -0.007616162 0.03531605 -0.007559359 2.739e-4 0.03518718 -4.44858e-4 -0.008187115 0.03520929 -0.007540881 0.002965807 0.03520852 0.004166007 -0.007012426 0.03531664 -0.005849123 0.004777133 0.03535991 0.004786193 -0.005839347 0.03521233 -0.00507456 0.006295382 0.0351969 0.007332742 -0.003515422 0.03532117 0.006342649 -0.003913283 0.03531569 -0.002379953 0.007011175 0.03522145 -0.001469194 0.007879436 0.03531557 0.007939279 -0.00134027 0.03531891 0.007454395 -1.35148e-4 0.03531628 0.001458466 0.007302284 0.03521943 0.00207442 0.007721602 0.03520613 0.00781995 0.001751005 0.03532272 0.006283819 0.004180848 0.03521698 0.005756974 0.005604684 0.03832709 3.11641e-4 -0.00127238 0.03711771 -0.003748834 0.004277706 0.0365085 -0.005949854 0.002435266 0.03659981 -0.006244719 -0.001301229 0.03778141 -0.004205584 7.93397e-4 0.03830629 -0.001083433 5.66152e-4 0.03656268 -0.004847586 -0.004173398 0.03786778 -0.003468692 -0.002137243 0.03710579 -0.00228548 -0.00532788 0.03668171 0.00154227 -0.006060063 0.03772944 5.53907e-4 -0.004321336 0.03785043 0.002855062 -0.002967119 0.03786605 -0.001334309 0.003655433 0.03682929 0.005590915 -0.002195239 0.0371713 0.005430459 1.33941e-4 0.03666538 0.005020201 0.003457367 0.03660863 0.002805173 0.005537211 0.03785943 0.003508567 0.001821279 0.03662925 -8.51797e-4 0.006162405 0.03804463 0.001021385 0.003287494</float_array>
+          <technique_common>
+            <accessor source="#Feature_003-mesh-positions-array" count="43" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
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3232 1277 3233 1279 3233 1321 3233 1292 3234 1291 3234 1305 3234 1294 3235 1293 3235 1306 3235 1293 3236 1283 3236 1306 3236 1295 3237 1290 3237 1303 3237 1296 3238 1280 3238 1304 3238 1335 3239 1289 3239 1300 3239 1336 3240 1300 3240 1288 3240 1336 3241 1335 3241 1300 3241 1336 3242 1288 3242 1287 3242 1337 3243 1336 3243 1287 3243 1337 3244 1287 3244 1240 3244 1337 3245 1240 3245 1239 3245 1338 3246 1337 3246 1239 3246 1338 3247 1239 3247 1241 3247 1338 3248 1241 3248 1298 3248 1339 3249 1338 3249 1298 3249 1339 3250 1298 3250 1281 3250 1339 3251 1281 3251 1297 3251 1340 3252 1339 3252 1297 3252 1341 3253 1297 3253 1282 3253 1341 3254 1340 3254 1297 3254 1341 3255 1282 3255 1231 3255 1344 3256 1341 3256 1231 3256 1342 3257 1344 3257 1231 3257 1342 3258 1231 3258 1232 3258 1342 3259 1232 3259 1285 3259 1343 3260 1342 3260 1285 3260 1339 3261 1340 3261 1338 3261 1345 3262 1343 3262 1285 3262 1345 3263 1285 3263 1299 3263 1346 3264 1345 3264 1299 3264 1346 3265 1299 3265 1286 3265 1347 3266 1346 3266 1286 3266 1347 3267 1286 3267 1257 3267 1347 3268 1257 3268 1256 3268 1348 3269 1256 3269 1258 3269 1348 3270 1347 3270 1256 3270 1349 3271 1348 3271 1258 3271 1349 3272 1258 3272 1302 3272 1350 3273 1349 3273 1302 3273 1350 3274 1302 3274 1301 3274 1351 3275 1301 3275 1284 3275 1351 3276 1350 3276 1301 3276 1351 3277 1284 3277 1244 3277 1352 3278 1351 3278 1244 3278 1352 3279 1244 3279 1247 3279 1352 3280 1247 3280 1248 3280 1352 3281 1248 3281 1289 3281 1335 3282 1352 3282 1289 3282 1346 3283 1343 3283 1345 3283 1349 3284 1350 3284 1348 3284 1318 3285 1263 3285 1308 3285 1318 3286 1308 3286 1307 3286 1321 3287 1318 3287 1307 3287 1321 3288 1307 3288 1277 3288 1320 3289 1273 3289 1331 3289 1320 3290 1331 3290 1332 3290 1317 3291 1320 3291 1332 3291 1317 3292 1332 3292 1267 3292 1310 3293 1268 3293 1329 3293 1310 3294 1329 3294 1330 3294 1311 3295 1310 3295 1330 3295 1311 3296 1330 3296 1262 3296 1324 3297 1278 3297 1334 3297 1324 3298 1334 3298 1333 3298 1326 3299 1324 3299 1333 3299 1326 3300 1333 3300 1272 3300 1314 3301 1353 3301 1322 3301 1353 3302 1354 3302 1322 3302 1322 3303 1354 3303 1327 3303 1354 3304 1355 3304 1327 3304 1327 3305 1356 3305 1325 3305 1355 3306 1356 3306 1327 3306 1356 3307 1357 3307 1325 3307 1325 3308 1357 3308 1328 3308 1357 3309 1358 3309 1328 3309 1328 3310 1358 3310 1323 3310 1323 3311 1358 3311 1319 3311 1358 3312 1359 3312 1319 3312 1319 3313 1359 3313 1316 3313 1359 3314 1360 3314 1316 3314 1316 3315 1360 3315 1313 3315 1360 3316 1361 3316 1313 3316 1313 3317 1362 3317 1309 3317 1361 3318 1362 3318 1313 3318 1362 3319 1363 3319 1309 3319 1309 3320 1363 3320 1312 3320 1363 3321 1364 3321 1312 3321 1312 3322 1364 3322 1315 3322 1315 3323 1364 3323 1314 3323 1364 3324 1353 3324 1314 3324 1374 3325 1343 3325 1346 3325 1374 3326 1346 3326 1375 3326 1376 3327 1375 3327 1346 3327 1376 3328 1346 3328 1347 3328 1373 3329 1343 3329 1374 3329 1365 3330 1376 3330 1347 3330 1373 3331 1342 3331 1343 3331 1348 3332 1365 3332 1347 3332 1373 3333 1344 3333 1342 3333 1373 3334 1341 3334 1344 3334 1372 3335 1341 3335 1373 3335 1350 3336 1365 3336 1348 3336 1378 3337 1365 3337 1350 3337 1372 3338 1340 3338 1341 3338 1371 3339 1340 3339 1372 3339 1379 3340 1378 3340 1350 3340 1370 3341 1340 3341 1371 3341 1338 3342 1340 3342 1370 3342 1351 3343 1379 3343 1350 3343 1352 3344 1379 3344 1351 3344 1352 3345 1381 3345 1379 3345 1367 3346 1338 3346 1370 3346 1337 3347 1338 3347 1367 3347 1335 3348 1381 3348 1352 3348 1336 3349 1337 3349 1367 3349 1335 3350 1366 3350 1381 3350 1336 3351 1367 3351 1366 3351 1336 3352 1366 3352 1335 3352 1370 3353 1369 3353 1367 3353 1367 3354 1369 3354 1368 3354 1376 3355 1365 3355 1377 3355 1381 3356 1380 3356 1379 3356 1366 3357 1382 3357 1381 3357 1383 3358 1384 3358 1353 3358 1353 305 1384 305 1354 305 1353 3359 1385 3359 1383 3359 1364 3360 1385 3360 1353 3360 1384 3361 1386 3361 1354 3361 1354 3362 1386 3362 1355 3362 1364 3363 1387 3363 1385 3363 1363 3364 1387 3364 1364 3364 1386 3365 1356 3365 1355 3365 1363 3366 1388 3366 1387 3366 1386 3367 1389 3367 1356 3367 1363 3368 1362 3368 1388 3368 1389 3369 1357 3369 1356 3369 1388 3370 1362 3370 1390 3370 1391 3371 1357 3371 1389 3371 1362 3372 1361 3372 1390 3372 1391 3373 1358 3373 1357 3373 1392 3374 1358 3374 1391 3374 1361 3375 1360 3375 1390 3375 1390 3376 1360 3376 1393 3376 1392 3377 1359 3377 1358 3377 1394 3378 1359 3378 1392 3378 1360 3379 1359 3379 1393 3379 1393 3380 1359 3380 1394 3380 1395 3381 1414 3381 1366 3381 1395 3382 1366 3382 1367 3382 1396 3383 1395 3383 1367 3383 1396 3384 1367 3384 1368 3384 1397 3385 1396 3385 1368 3385 1397 3386 1368 3386 1369 3386 1398 3387 1397 3387 1369 3387 1398 3388 1369 3388 1370 3388 1399 3389 1398 3389 1370 3389 1399 3390 1370 3390 1371 3390 1400 3391 1399 3391 1371 3391 1401 3392 1400 3392 1371 3392 1401 3393 1371 3393 1372 3393 1402 3394 1401 3394 1372 3394 1402 3395 1372 3395 1373 3395 1403 3396 1402 3396 1373 3396 1403 3397 1373 3397 1374 3397 1404 3398 1403 3398 1374 3398 1398 3399 1399 3399 1397 3399 1401 3400 1402 3400 1400 3400 1403 3401 1404 3401 1405 3401 1404 3402 1374 3402 1375 3402 1405 3403 1404 3403 1375 3403 1405 3404 1375 3404 1376 3404 1407 3405 1405 3405 1376 3405 1407 3406 1376 3406 1377 3406 1408 3407 1407 3407 1377 3407 1408 3408 1377 3408 1365 3408 1409 3409 1408 3409 1365 3409 1409 3410 1365 3410 1378 3410 1410 3411 1409 3411 1378 3411 1411 3412 1378 3412 1379 3412 1411 3413 1410 3413 1378 3413 1412 3414 1411 3414 1379 3414 1412 3415 1379 3415 1380 3415 1406 3416 1412 3416 1380 3416 1413 3417 1406 3417 1380 3417 1413 3418 1380 3418 1381 3418 1414 3419 1381 3419 1382 3419 1414 3420 1413 3420 1381 3420 1414 3421 1382 3421 1366 3421 1409 3422 1410 3422 1411 3422 1412 3423 1406 3423 1413 3423 1424 3424 1415 3424 1383 3424 1383 3425 1415 3425 1384 3425 1384 3426 1415 3426 1386 3426 1415 3427 1416 3427 1386 3427 1386 3428 1416 3428 1389 3428 1416 3429 1417 3429 1389 3429 1389 3430 1417 3430 1391 3430 1417 3431 1418 3431 1391 3431 1391 3432 1418 3432 1392 3432 1418 3433 1419 3433 1392 3433 1392 3434 1419 3434 1394 3434 1419 3435 1420 3435 1394 3435 1394 3436 1420 3436 1393 3436 1393 3437 1420 3437 1390 3437 1420 3438 1421 3438 1390 3438 1390 3439 1421 3439 1388 3439 1421 3440 1422 3440 1388 3440 1388 3441 1422 3441 1387 3441 1422 3442 1423 3442 1387 3442 1387 3443 1423 3443 1385 3443 1423 3444 1424 3444 1385 3444 1385 3445 1424 3445 1383 3445 1405 3446 1407 3446 1425 3446 1425 3447 1407 3447 1426 3447 1445 3448 1405 3448 1425 3448 1445 3449 1403 3449 1405 3449 1426 3450 1407 3450 1427 3450 1428 3451 1403 3451 1445 3451 1407 3452 1408 3452 1427 3452 1428 3453 1402 3453 1403 3453 1408 3454 1409 3454 1427 3454 1444 3455 1402 3455 1428 3455 1409 3456 1429 3456 1427 3456 1444 3457 1400 3457 1402 3457 1443 3458 1400 3458 1444 3458 1409 3459 1411 3459 1429 3459 1442 3460 1400 3460 1443 3460 1442 3461 1399 3461 1400 3461 1411 3462 1430 3462 1429 3462 1412 3463 1430 3463 1411 3463 1442 3464 1397 3464 1399 3464 1442 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3498 1417 3498 1455 3499 1453 3499 1421 3499 1455 3500 1421 3500 1420 3500 1456 3501 1418 3501 1454 3501 1456 3502 1419 3502 1418 3502 1457 3503 1455 3503 1420 3503 1457 3504 1419 3504 1456 3504 1457 3505 1420 3505 1419 3505 1459 3506 1425 3506 1434 3506 1459 3507 1458 3507 1425 3507 1460 3508 1459 3508 1434 3508 1460 3509 1434 3509 1426 3509 1461 3510 1460 3510 1426 3510 1461 3511 1426 3511 1427 3511 1461 3512 1427 3512 1435 3512 1462 3513 1461 3513 1435 3513 1462 3514 1435 3514 1429 3514 1462 3515 1429 3515 1436 3515 1463 3516 1462 3516 1436 3516 1463 3517 1436 3517 1437 3517 1464 3518 1463 3518 1437 3518 1464 3519 1437 3519 1431 3519 1465 3520 1464 3520 1431 3520 1466 3521 1431 3521 1438 3521 1466 3522 1465 3522 1431 3522 1467 3523 1466 3523 1438 3523 1467 3524 1438 3524 1433 3524 1468 3525 1467 3525 1433 3525 1468 3526 1433 3526 1439 3526 1469 3527 1468 3527 1439 3527 1469 3528 1439 3528 1440 3528 1470 3529 1469 3529 1440 3529 1470 3530 1440 3530 1441 3530 1471 3531 1470 3531 1441 3531 1471 3532 1441 3532 1442 3532 1471 3533 1442 3533 1443 3533 1472 3534 1471 3534 1443 3534 1472 3535 1443 3535 1444 3535 1473 3536 1472 3536 1444 3536 1473 3537 1444 3537 1428 3537 1473 3538 1428 3538 1445 3538 1474 3539 1473 3539 1445 3539 1458 3540 1445 3540 1425 3540 1458 3541 1474 3541 1445 3541 1486 3542 1475 3542 1456 3542 1456 3543 1475 3543 1457 3543 1457 3544 1475 3544 1455 3544 1475 3545 1476 3545 1455 3545 1455 3546 1476 3546 1453 3546 1476 3547 1477 3547 1453 3547 1453 3548 1477 3548 1451 3548 1477 3549 1478 3549 1451 3549 1478 3550 1479 3550 1451 3550 1451 3551 1479 3551 1449 3551 1479 3552 1480 3552 1449 3552 1449 3553 1480 3553 1448 3553 1448 3554 1481 3554 1446 3554 1480 3555 1481 3555 1448 3555 1446 3556 1481 3556 1447 3556 1481 3557 1482 3557 1447 3557 1447 3558 1482 3558 1450 3558 1482 3559 1483 3559 1450 3559 1450 3560 1483 3560 1452 3560 1483 3561 1484 3561 1452 3561 1484 3562 1485 3562 1452 3562 1452 3563 1485 3563 1454 3563 1485 3564 1486 3564 1454 3564 1454 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3631 1516 3632 1490 3632 1491 3632 1516 3633 1491 3633 1493 3633 1517 3634 1516 3634 1493 3634 1518 3635 1517 3635 1493 3635 1518 3636 1493 3636 1495 3636 1508 3637 1518 3637 1495 3637 1532 3638 1519 3638 1498 3638 1519 3639 1520 3639 1498 3639 1498 3640 1520 3640 1499 3640 1520 3641 1521 3641 1499 3641 1499 3642 1521 3642 1502 3642 1521 3643 1522 3643 1502 3643 1522 3644 1523 3644 1502 3644 1502 3645 1523 3645 1504 3645 1523 3646 1524 3646 1504 3646 1504 3647 1524 3647 1506 3647 1524 3648 1525 3648 1506 3648 1506 3649 1525 3649 1507 3649 1525 3650 1526 3650 1507 3650 1526 3651 1527 3651 1507 3651 1507 3652 1527 3652 1505 3652 1527 3653 1528 3653 1505 3653 1505 3654 1528 3654 1503 3654 1528 3655 1529 3655 1503 3655 1529 3656 1530 3656 1503 3656 1503 3657 1530 3657 1501 3657 1530 3658 1531 3658 1501 3658 1501 3659 1531 3659 1500 3659 1531 3660 1532 3660 1500 3660 1500 3661 1532 3661 1498 3661 1533 3662 1513 3662 1534 3662 1513 3663 1514 3663 1534 3663 1535 3664 1513 3664 1533 3664 1534 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3731 1530 3732 1561 3732 1531 3732 1522 3733 1521 3733 1552 3733 1522 3734 1552 3734 1553 3734 1565 3735 1561 3735 1530 3735 1523 3736 1522 3736 1553 3736 1565 3737 1530 3737 1529 3737 1560 3738 1565 3738 1529 3738 1554 3739 1523 3739 1553 3739 1559 3740 1560 3740 1529 3740 1559 3741 1529 3741 1528 3741 1555 3742 1524 3742 1523 3742 1555 3743 1523 3743 1554 3743 1558 3744 1559 3744 1528 3744 1558 3745 1528 3745 1527 3745 1556 3746 1525 3746 1524 3746 1556 3747 1524 3747 1555 3747 1564 3748 1558 3748 1527 3748 1557 3749 1525 3749 1556 3749 1564 3750 1527 3750 1526 3750 1557 3751 1526 3751 1525 3751 1564 3752 1526 3752 1557 3752 1566 3753 1569 3753 1567 3753 1568 3754 1570 3754 1566 3754 1566 3755 1571 3755 1569 3755 1566 3756 1570 3756 1571 3756 1572 3757 1574 3757 1570 3757 1571 3758 1577 3758 1573 3758 1574 3759 1576 3759 1570 3759 1576 3760 1578 3760 1570 3760 1571 3761 1578 3761 1577 3761 1570 3762 1578 3762 1571 3762 1575 3763 1573 3763 1577 3763</p>
+        </triangles>
+      </mesh>
+    </geometry>
+    <geometry id="Feature-mesh" name="Feature">
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+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
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+  <scene>
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\ No newline at end of file
diff --git a/submitted_models/ctu_cras_norlab_marv_sensor_config_1/meshes/item20.dae b/submitted_models/ctu_cras_norlab_marv_sensor_config_1/meshes/item20.dae
new file mode 100644
index 00000000..45ed245e
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_marv_sensor_config_1/meshes/item20.dae
@@ -0,0 +1,89 @@
+<?xml version="1.0" encoding="utf-8"?>
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+      <author>Blender User</author>
+      <authoring_tool>Blender 2.92.0 commit date:2021-02-24, commit time:16:25, hash:02948a2cab44</authoring_tool>
+    </contributor>
+    <created>2021-03-18T00:29:49</created>
+    <modified>2021-03-18T00:29:49</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
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+            </emission>
+            <diffuse>
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+            </diffuse>
+            <reflectivity>
+              <float sid="specular">0.5</float>
+            </reflectivity>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
+  <library_images/>
+  <library_materials>
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+      <instance_effect url="#Material_001-effect"/>
+    </material>
+  </library_materials>
+  <library_geometries>
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\ No newline at end of file
diff --git a/submitted_models/ctu_cras_norlab_marv_sensor_config_1/meshes/item_angle40x40.dae b/submitted_models/ctu_cras_norlab_marv_sensor_config_1/meshes/item_angle40x40.dae
new file mode 100644
index 00000000..859d03f3
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_marv_sensor_config_1/meshes/item_angle40x40.dae
@@ -0,0 +1,101 @@
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+    </contributor>
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+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="Unnamed1-20X40_BRACKET_WITH_FIXINGS" name="Unnamed1-20X40 BRACKET WITH FIXINGS" type="NODE">
+        <matrix sid="transform">9.99987e-4 0 0 0.01199786 0 9.99987e-4 0 0 0 0 9.99987e-4 0.01192724 0 0 0 1</matrix>
+        <instance_geometry url="#Unnamed1-20X40_BRACKET_WITH_FIXINGS-mesh" name="Unnamed1-20X40 BRACKET WITH FIXINGS">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="Material_001-material" target="#Material_001-material">
+                <bind_vertex_input semantic="UVMap" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
\ No newline at end of file
diff --git a/submitted_models/ctu_cras_norlab_marv_sensor_config_1/meshes/mobilicom.dae b/submitted_models/ctu_cras_norlab_marv_sensor_config_1/meshes/mobilicom.dae
new file mode 100644
index 00000000..ce250288
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_marv_sensor_config_1/meshes/mobilicom.dae
@@ -0,0 +1,175 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
+  <asset>
+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 2.92.0 commit date:2021-02-24, commit time:16:25, hash:02948a2cab44</authoring_tool>
+    </contributor>
+    <created>2021-03-15T13:51:51</created>
+    <modified>2021-03-15T13:51:51</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_effects>
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+      <profile_COMMON>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <color sid="diffuse">1 0.9158807 0 1</color>
+            </diffuse>
+            <reflectivity>
+              <float sid="specular">0.5536913</float>
+            </reflectivity>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
+    <effect id="Material_001-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <color sid="diffuse">0.5704709 0.5704709 0.5704709 1</color>
+            </diffuse>
+            <reflectivity>
+              <float sid="specular">0.2315436</float>
+            </reflectivity>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
+  <library_images/>
+  <library_materials>
+    <material id="Material_002-material" name="Material.002">
+      <instance_effect url="#Material_002-effect"/>
+    </material>
+    <material id="Material_001-material" name="Material.001">
+      <instance_effect url="#Material_001-effect"/>
+    </material>
+  </library_materials>
+  <library_geometries>
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+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="Cylinder" name="Cylinder" type="NODE">
+        <matrix sid="transform">2.41385e-10 0 0.005 0.04807604 0 0.003197242 0 0.01886206 -0.003197242 0 3.77489e-10 0.01378014 0 0 0 1</matrix>
+        <instance_geometry url="#Cylinder_002-mesh" name="Cylinder">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="Material_002-material" target="#Material_002-material">
+                <bind_vertex_input semantic="UVMap" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+      <node id="Cube" name="Cube" type="NODE">
+        <matrix sid="transform">0.0431192 0 0 0 0 0.037 0 0 0 0 0.0135 0.01378014 0 0 0 1</matrix>
+        <instance_geometry url="#Cube_001-mesh" name="Cube">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="Material_001-material" target="#Material_001-material">
+                <bind_vertex_input semantic="UVMap" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
\ No newline at end of file
diff --git a/submitted_models/ctu_cras_norlab_marv_sensor_config_1/meshes/mote_deployer.dae b/submitted_models/ctu_cras_norlab_marv_sensor_config_1/meshes/mote_deployer.dae
new file mode 100644
index 00000000..2025ec05
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_marv_sensor_config_1/meshes/mote_deployer.dae
@@ -0,0 +1,163 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
+  <asset>
+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 2.92.0 commit date:2021-02-24, commit time:16:25, hash:02948a2cab44</authoring_tool>
+    </contributor>
+    <created>2021-03-20T09:24:58</created>
+    <modified>2021-03-20T09:24:58</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_effects>
+    <effect id="Material_002-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <color sid="diffuse">0.008075857 0.008075857 0.008075857 1</color>
+            </diffuse>
+            <reflectivity>
+              <float sid="specular">0.8691275</float>
+            </reflectivity>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
+    <effect id="Material_001-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <color sid="diffuse">0.5070686 0.5070686 0.5070686 1</color>
+            </diffuse>
+            <reflectivity>
+              <float sid="specular">0.3389262</float>
+            </reflectivity>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
+  <library_images/>
+  <library_materials>
+    <material id="Material_002-material" name="Material.002">
+      <instance_effect url="#Material_002-effect"/>
+    </material>
+    <material id="Material_001-material" name="Material.001">
+      <instance_effect url="#Material_001-effect"/>
+    </material>
+  </library_materials>
+  <library_geometries>
+    <geometry id="Deploy-mesh" name="Deploy">
+      <mesh>
+        <source id="Deploy-mesh-positions">
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+          <technique_common>
+            <accessor source="#Deploy-mesh-normals-array" count="8262" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <vertices id="Deploy-mesh-vertices">
+          <input semantic="POSITION" source="#Deploy-mesh-positions"/>
+        </vertices>
+        <triangles material="Material_002-material" count="8916">
+          <input semantic="VERTEX" source="#Deploy-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#Deploy-mesh-normals" offset="1"/>
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diff --git a/submitted_models/ctu_cras_norlab_marv_sensor_config_1/meshes/motor_housing.dae b/submitted_models/ctu_cras_norlab_marv_sensor_config_1/meshes/motor_housing.dae
new file mode 100644
index 00000000..67e88442
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_marv_sensor_config_1/meshes/motor_housing.dae
@@ -0,0 +1,89 @@
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\ No newline at end of file
diff --git a/submitted_models/ctu_cras_norlab_marv_sensor_config_1/meshes/motor_housing_mirrored.dae b/submitted_models/ctu_cras_norlab_marv_sensor_config_1/meshes/motor_housing_mirrored.dae
new file mode 100644
index 00000000..1dff5adb
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_marv_sensor_config_1/meshes/motor_housing_mirrored.dae
@@ -0,0 +1,89 @@
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+    <modified>2021-03-08T21:29:37</modified>
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+  <scene>
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+</COLLADA>
\ No newline at end of file
diff --git a/submitted_models/ctu_cras_norlab_marv_sensor_config_1/meshes/ouster-os0.dae b/submitted_models/ctu_cras_norlab_marv_sensor_config_1/meshes/ouster-os0.dae
new file mode 100644
index 00000000..e93a2ca1
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_marv_sensor_config_1/meshes/ouster-os0.dae
@@ -0,0 +1,119 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
+  <asset>
+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 2.92.0 commit date:2021-02-24, commit time:16:25, hash:02948a2cab44</authoring_tool>
+    </contributor>
+    <created>2021-03-08T05:35:37</created>
+    <modified>2021-03-08T05:35:37</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_effects>
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+      <profile_COMMON>
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+          <surface type="2D">
+            <init_from>ouster-os0</init_from>
+          </surface>
+        </newparam>
+        <newparam sid="ouster-os0-sampler">
+          <sampler2D>
+            <source>ouster-os0-surface</source>
+          </sampler2D>
+        </newparam>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <texture texture="ouster-os0-sampler" texcoord="UVMap"/>
+            </diffuse>
+            <index_of_refraction>
+              <float sid="ior">1.45</float>
+            </index_of_refraction>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
+  <library_images>
+    <image id="ouster-os0" name="ouster-os0">
+      <init_from>../textures/ouster-os0.png</init_from>
+    </image>
+  </library_images>
+  <library_materials>
+    <material id="Part__Feature_001-material" name="Part__Feature.001">
+      <instance_effect url="#Part__Feature_001-effect"/>
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+  </library_materials>
+  <library_geometries>
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2266 4484 13495 2271 4484 13496 2270 4485 13497 2268 4485 13498 2266 4485 13499 2273 4486 13500 2276 4486 13501 2274 4486 13502 2272 4487 13503 2276 4487 13504 2273 4487 13505 2273 4488 13506 2275 4488 13507 2277 4488 13508 2273 4489 13509 2274 4489 13510 2275 4489 13511 2275 4490 13512 2276 4490 13513 2277 4490 13514 2272 4491 13515 2277 4491 13516 2276 4491 13517 2277 4492 13518 2272 4492 13519 2273 4492 13520 2271 4493 13521 2274 4493 13522 2276 4493 13523 2271 4494 13524 2276 4494 13525 2270 4494 13526 2269 4495 13527 2274 4495 13528 2271 4495 13529 2269 4496 13530 2275 4496 13531 2274 4496 13532 2270 4497 13533 1982 4497 13534 2269 4497 13535 1982 4498 13536 1984 4498 13537 2269 4498 13538 2269 4499 13539 1984 4499 13540 2275 4499 13541 2275 4500 13542 1984 4500 13543 2276 4500 13544 1984 4501 13545 1985 4501 13546 2276 4501 13547 1985 4502 13548 1982 4502 13549 2276 4502 13550 2276 4503 13551 1982 4503 13552 2270 4503 13553 1115 4504 13554 2255 4504 13555 1116 4504 13556 300 4504 13557 1441 4504 13558 302 4504 13559 1114 4504 13560 2255 4504 13561 1116 4504 13562 1110 4504 13563 1987 4504 13564 848 4504 13565 225 4504 13566 1366 4504 13567 227 4504 13568 848 4504 13569 2251 4504 13570 1112 4504 13571 1113 4504 13572 2254 4504 13573 1115 4504 13574 1110 4504 13575 2250 4504 13576 1111 4504 13577 1112 4504 13578 2249 4504 13579 1110 4504 13580 1116 4504 13581 2249 4504 13582 1110 4504 13583 309 4504 13584 1447 4504 13585 308 4504 13586 224 4504 13587 1364 4504 13588 225 4504 13589 308 4504 13590 1450 4504 13591 311 4504 13592 1115 4504 13593 2253 4504 13594 1114 4504 13595 299 4504 13596 1439 4504 13597 300 4504 13598 227 4504 13599 1363 4504 13600 224 4504 13601 1112 4504 13602 2250 4504 13603 1111 4504 13604 1116 4504 13605 2252 4504 13606 1113 4504 13607 302 4504 13608 1438 4504 13609 299 4504 13610 311 4504 13611 1448 4504 13612 309 4504 13613 1110 4504 13614 2254 4504 13615 1115 4504 13616 1115 4504 13617 2254 4504 13618 2255 4504 13619 300 4504 13620 1439 4504 13621 1441 4504 13622 1114 4504 13623 2253 4504 13624 2255 4504 13625 1110 4504 13626 2249 4504 13627 1987 4504 13628 225 4504 13629 1364 4504 13630 1366 4504 13631 848 4504 13632 1987 4504 13633 2251 4504 13634 1113 4504 13635 2252 4504 13636 2254 4504 13637 1110 4504 13638 2249 4504 13639 2250 4504 13640 1112 4504 13641 2251 4504 13642 2249 4504 13643 1116 4504 13644 2255 4504 13645 2249 4504 13646 309 4504 13647 1448 4504 13648 1447 4504 13649 224 4504 13650 1363 4504 13651 1364 4504 13652 308 4504 13653 1447 4504 13654 1450 4504 13655 1115 4504 13656 2254 4504 13657 2253 4504 13658 299 4504 13659 1438 4504 13660 1439 4504 13661 227 4504 13662 1366 4504 13663 1363 4504 13664 1112 4504 13665 2251 4504 13666 2250 4504 13667 1116 4504 13668 2255 4504 13669 2252 4504 13670 302 4504 13671 1441 4504 13672 1438 4504 13673 311 4504 13674 1450 4504 13675 1448 4504 13676 1110 4504 13677 2249 4504 13678 2254 4504 13679</p>
+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="node0" name="node0" type="NODE">
+        <matrix sid="transform">-4.37114e-8 4.37112e-8 1.000001 0 1 1.91068e-15 4.37114e-8 0 0 0.9999955 -4.37114e-8 0 0 0 0 1</matrix>
+        <instance_geometry url="#Part__Feature_001-mesh" name="node0">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="Part__Feature_001-material" target="#Part__Feature_001-material">
+                <bind_vertex_input semantic="UVMap" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
\ No newline at end of file
diff --git a/submitted_models/ctu_cras_norlab_marv_sensor_config_1/meshes/reflector.dae b/submitted_models/ctu_cras_norlab_marv_sensor_config_1/meshes/reflector.dae
new file mode 100644
index 00000000..e6304e05
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_marv_sensor_config_1/meshes/reflector.dae
@@ -0,0 +1,154 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
+  <asset>
+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 2.92.0 commit date:2021-02-24, commit time:16:25, hash:02948a2cab44</authoring_tool>
+    </contributor>
+    <created>2021-03-13T01:45:10</created>
+    <modified>2021-03-13T01:45:10</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_effects>
+    <effect id="Material_002-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0.3645575 0.3628713 0.1835204 1</color>
+            </emission>
+            <diffuse>
+              <color sid="diffuse">0.8 0.8 0.8 1</color>
+            </diffuse>
+            <reflectivity>
+              <float sid="specular">1</float>
+            </reflectivity>
+            <index_of_refraction>
+              <float sid="ior">1.45</float>
+            </index_of_refraction>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
+    <effect id="Material_001-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <color sid="diffuse">0.01738771 0.01738771 0.01738771 1</color>
+            </diffuse>
+            <reflectivity>
+              <float sid="specular">0.3255033</float>
+            </reflectivity>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
+  <library_images/>
+  <library_materials>
+    <material id="Material_002-material" name="Material.002">
+      <instance_effect url="#Material_002-effect"/>
+    </material>
+    <material id="Material_001-material" name="Material.001">
+      <instance_effect url="#Material_001-effect"/>
+    </material>
+  </library_materials>
+  <library_geometries>
+    <geometry id="Reflector_LED_Custom_001-mesh" name="Reflector LED Custom.001">
+      <mesh>
+        <source id="Reflector_LED_Custom_001-mesh-positions">
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+          <technique_common>
+            <accessor source="#Reflector_LED_Custom_001-mesh-positions-array" count="33" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <source id="Reflector_LED_Custom_001-mesh-normals">
+          <float_array id="Reflector_LED_Custom_001-mesh-normals-array" count="90">0.5348824 0.8402789 -0.08849978 0.5010028 -0.8215171 -0.2722241 0.5629772 0.8219264 0.08656674 0.5010023 -0.8215157 -0.2722294 0.5010023 -0.8215165 -0.2722269 0.4806122 -0.7473552 -0.4587725 0.5930193 -0.8007592 0.08433777 0.4755232 0.7497158 -0.4602218 0.4955502 0.8244909 -0.2732124 0.4806123 -0.7473558 -0.4587715 0.5401377 -0.8369474 -0.08814936 0.5678948 -0.8185737 0.08621329 0.540138 -0.8369475 -0.08814859 0.5401381 -0.8369473 -0.08814787 1 0 0 0.2894366 0 0.9571972 0.2894362 0 0.9571973 0.2894366 0 0.9571973 0.2894363 0 0.9571973 0 0 1 0.5646536 0.825328 0 0.5646533 0.8253283 0 0.5646532 0.8253282 0 0.3333609 0 -0.9427993 0.3333606 0 -0.9427994 0.3333603 0 -0.9427996 0.3333607 0 -0.9427994 0.5652429 -0.8249245 0 0.5652425 -0.8249248 0 0.5652428 -0.8249247 8.95102e-7</float_array>
+          <technique_common>
+            <accessor source="#Reflector_LED_Custom_001-mesh-normals-array" count="30" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <vertices id="Reflector_LED_Custom_001-mesh-vertices">
+          <input semantic="POSITION" source="#Reflector_LED_Custom_001-mesh-positions"/>
+        </vertices>
+        <triangles material="Material_002-material" count="37">
+          <input semantic="VERTEX" source="#Reflector_LED_Custom_001-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#Reflector_LED_Custom_001-mesh-normals" offset="1"/>
+          <p>0 0 2 0 1 0 3 1 5 1 4 1 6 2 7 2 0 2 4 3 5 3 8 3 9 4 3 4 4 4 4 5 11 5 10 5 12 6 13 6 4 6 2 7 15 7 14 7 1 8 2 8 14 8 4 9 8 9 11 9 13 10 16 10 4 10 17 11 12 11 18 11 19 12 9 12 4 12 16 13 19 13 4 13 21 14 22 14 25 14 25 14 18 14 21 14 26 14 2 14 27 14 27 14 28 14 26 14 4 14 32 14 30 14 30 14 31 14 4 14 17 15 18 15 25 15 25 16 29 16 17 16 29 17 7 17 17 17 7 18 6 18 17 18 6 19 20 19 17 19 27 20 2 20 0 20 0 21 24 21 27 21 0 22 7 22 24 22 15 23 2 23 26 23 26 24 32 24 15 24 32 25 4 25 15 25 4 26 10 26 15 26 12 27 4 27 31 27 31 28 21 28 12 28 21 29 18 29 12 29 23 14 24 14 7 14 7 14 29 14 23 14</p>
+        </triangles>
+      </mesh>
+    </geometry>
+    <geometry id="Reflector_LED_Custom-mesh" name="Reflector LED Custom">
+      <mesh>
+        <source id="Reflector_LED_Custom-mesh-positions">
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+          <technique_common>
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+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
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+          <technique_common>
+            <accessor source="#Reflector_LED_Custom-mesh-normals-array" count="77" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
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+          </technique_common>
+        </source>
+        <vertices id="Reflector_LED_Custom-mesh-vertices">
+          <input semantic="POSITION" source="#Reflector_LED_Custom-mesh-positions"/>
+        </vertices>
+        <triangles material="Material_001-material" count="123">
+          <input semantic="VERTEX" source="#Reflector_LED_Custom-mesh-vertices" offset="0"/>
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+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
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+        <instance_geometry url="#Reflector_LED_Custom_001-mesh" name="Reflector LED Custom.001">
+          <bind_material>
+            <technique_common>
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+          </bind_material>
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+            </technique_common>
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+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
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+</COLLADA>
\ No newline at end of file
diff --git a/submitted_models/ctu_cras_norlab_marv_sensor_config_1/meshes/small_wheel.dae b/submitted_models/ctu_cras_norlab_marv_sensor_config_1/meshes/small_wheel.dae
new file mode 100644
index 00000000..a5e189a1
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_marv_sensor_config_1/meshes/small_wheel.dae
@@ -0,0 +1,89 @@
+<?xml version="1.0" encoding="utf-8"?>
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+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 2.92.0 commit date:2021-02-24, commit time:16:25, hash:02948a2cab44</authoring_tool>
+    </contributor>
+    <created>2021-03-08T12:56:13</created>
+    <modified>2021-03-08T12:56:13</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_effects>
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+      <profile_COMMON>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <color sid="diffuse">0 0 0 1</color>
+            </diffuse>
+            <reflectivity>
+              <float sid="specular">0.3</float>
+            </reflectivity>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
+  <library_images/>
+  <library_materials>
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+      <instance_effect url="#Material_001-effect"/>
+    </material>
+  </library_materials>
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+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
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+      <node id="_10204-Kolo_At20-Hnane" name="210204-Kolo At20-Hnane" type="NODE">
+        <matrix sid="transform">9.99987e-4 0 0 0 0 -4.37108e-11 -9.99987e-4 0 0 9.99987e-4 -4.37108e-11 0 0 0 0 1</matrix>
+        <instance_geometry url="#_10204-Kolo_At20-Hnane-mesh" name="210204-Kolo At20-Hnane">
+          <bind_material>
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+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
\ No newline at end of file
diff --git a/submitted_models/ctu_cras_norlab_marv_sensor_config_1/meshes/tfmini_plus_lidar.dae b/submitted_models/ctu_cras_norlab_marv_sensor_config_1/meshes/tfmini_plus_lidar.dae
new file mode 100644
index 00000000..70cb947a
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_marv_sensor_config_1/meshes/tfmini_plus_lidar.dae
@@ -0,0 +1,151 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
+  <asset>
+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 2.92.0 commit date:2021-02-24, commit time:16:25, hash:02948a2cab44</authoring_tool>
+    </contributor>
+    <created>2021-03-18T00:20:33</created>
+    <modified>2021-03-18T00:20:33</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
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+      <profile_COMMON>
+        <technique sid="common">
+          <lambert>
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+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <color sid="diffuse">0 0 0 1</color>
+            </diffuse>
+            <reflectivity>
+              <float sid="specular">0.7818792</float>
+            </reflectivity>
+          </lambert>
+        </technique>
+      </profile_COMMON>
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+      <profile_COMMON>
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+            </emission>
+            <diffuse>
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+            <reflectivity>
+              <float sid="specular">0.1174497</float>
+            </reflectivity>
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+  </library_effects>
+  <library_images/>
+  <library_materials>
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+      <instance_effect url="#Material_002-effect"/>
+    </material>
+    <material id="Material_001-material" name="Material.001">
+      <instance_effect url="#Material_001-effect"/>
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+  </library_materials>
+  <library_geometries>
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123 123 123 122 185 123 185 124 185 124 186 123 186 125 186 120 187 119 187 122 187 120 188 122 188 126 188 126 189 122 189 124 189 126 190 124 190 127 190 127 191 31 191 77 191 127 192 77 192 126 192 126 161 77 161 79 161 126 193 79 193 120 193 128 123 129 123 125 123 125 194 129 194 124 194 130 195 127 195 129 195 129 196 127 196 124 196 75 161 31 161 130 161 130 197 31 197 127 197 129 123 128 123 131 123 129 198 131 198 132 198 132 199 131 199 133 199 132 200 133 200 134 200 134 123 133 123 135 123 134 201 135 201 136 201 130 202 129 202 132 202 130 203 132 203 137 203 137 204 132 204 134 204 137 205 134 205 138 205 138 206 134 206 136 206 138 161 13 161 71 161 138 161 71 161 137 161 137 161 71 161 73 161 137 161 73 161 130 161 130 207 73 207 75 207 65 208 13 208 138 208 159 209 144 209 145 209 159 210 145 210 160 210 141 211 144 211 161 211 161 212 144 212 159 212 162 213 139 213 141 213 162 214 141 214 161 214 162 215 163 215 139 215 139 216 163 216 140 216 164 217 143 217 163 217 163 218 143 218 140 218 146 219 143 219 165 219 165 220 143 220 164 220 166 221 147 221 146 221 166 222 146 222 165 222 148 223 147 223 167 223 167 224 147 224 166 224 168 225 142 225 148 225 168 226 148 226 167 226 145 227 142 227 160 227 160 228 142 228 168 228 153 229 155 229 169 229 169 230 155 230 170 230 171 231 154 231 153 231 171 232 153 232 169 232 171 233 172 233 154 233 154 234 172 234 156 234 173 235 158 235 156 235 173 236 156 236 172 236 157 237 158 237 174 237 174 238 158 238 173 238 175 239 149 239 157 239 175 240 157 240 174 240 151 241 149 241 176 241 176 242 149 242 175 242 177 243 152 243 151 243 177 244 151 244 176 244 177 245 178 245 152 245 152 246 178 246 150 246 170 247 155 247 178 247 178 248 155 248 150 248 179 249 199 249 180 249 180 250 199 250 198 250 181 251 193 251 182 251 182 252 193 252 192 252 204 253 183 253 205 253 205 254 183 254 184 254 210 255 185 255 186 255 186 256 185 256 187 256 187 257 185 257 188 257 188 258 185 258 189 258 190 259 191 259 192 259 190 260 192 260 193 260 181 261 182 261 194 261 194 262 182 262 195 262 196 263 197 263 198 263 196 264 198 264 199 264 179 265 180 265 200 265 179 266 200 266 201 266 202 267 203 267 204 267 202 268 204 268 205 268 184 269 183 269 206 269 206 270 183 270 207 270 188 271 190 271 170 271 170 272 190 272 169 272 169 273 190 273 171 273 171 274 190 274 193 274 171 275 193 275 172 275 172 276 193 276 181 276 172 161 181 161 173 161 173 161 181 161 194 161 173 161 194 161 174 161 174 161 194 161 196 161 174 161 196 161 175 161 175 277 196 277 199 277 175 278 199 278 176 278 176 161 199 161 179 161 176 161 179 161 177 161 177 279 179 279 201 279 177 280 201 280 178 280 201 281 202 281 178 281 178 161 202 161 164 161 178 282 164 282 170 282 170 283 164 283 163 283 170 161 163 161 188 161 188 284 163 284 162 284 188 285 162 285 187 285 187 161 162 161 161 161 187 161 161 161 186 161 186 161 161 161 159 161 186 161 159 161 208 161 208 161 159 161 160 161 208 161 160 161 206 161 206 161 160 161 168 161 206 161 168 161 184 161 184 161 168 161 167 161 184 161 167 161 205 161 205 161 167 161 166 161 205 286 166 286 202 286 202 287 166 287 165 287 202 288 165 288 164 288 208 289 209 289 210 289 208 290 210 290 186 290 180 291 213 291 200 291 211 292 198 292 197 292 211 293 180 293 198 293 180 294 211 294 212 294 180 161 212 161 213 161 214 295 195 295 182 295 215 296 192 296 191 296 214 297 182 297 192 297 214 298 192 298 216 298 192 299 215 299 216 299 217 300 207 300 183 300 218 161 204 161 203 161 218 301 219 301 204 301 204 161 219 161 217 161 217 302 183 302 204 302 209 161 220 161 210 161 221 303 189 303 185 303 210 304 220 304 185 304 185 161 220 161 222 161 185 161 222 161 223 161 185 161 223 161 221 161 220 305 125 305 222 305 222 306 125 306 123 306 222 307 123 307 223 307 223 308 123 308 121 308 223 309 121 309 221 309 221 310 121 310 118 310 218 311 135 311 219 311 219 312 135 312 133 312 219 313 133 313 131 313 219 314 131 314 217 314 217 315 131 315 128 315 125 316 220 316 128 316 128 317 220 317 209 317 217 318 128 318 207 318 207 319 128 319 209 319 207 320 209 320 206 320 206 321 209 321 208 321 211 322 106 322 104 322 211 323 104 323 212 323 212 324 104 324 102 324 212 325 102 325 213 325 213 326 102 326 99 326 135 327 218 327 203 327 213 328 99 328 200 328 200 329 99 329 135 329 200 330 135 330 201 330 201 331 135 331 203 331 201 332 203 332 202 332 215 333 114 333 112 333 215 334 112 334 216 334 216 335 112 335 109 335 216 336 109 336 214 336 106 337 211 337 109 337 109 338 211 338 197 338 214 339 109 339 195 339 195 340 109 340 197 340 195 341 197 341 194 341 194 342 197 342 196 342 118 343 114 343 191 343 191 344 114 344 215 344 221 345 118 345 189 345 189 346 118 346 191 346 189 347 191 347 188 347 188 348 191 348 190 348 10 349 20 349 19 349 10 350 19 350 7 350 7 351 19 351 21 351 7 352 21 352 22 352 7 353 22 353 5 353 5 354 22 354 9 354 9 355 22 355 18 355 9 356 18 356 15 356 9 357 15 357 1 357 1 358 15 358 14 358 1 359 14 359 0 359 0 360 14 360 26 360 0 361 26 361 224 361 224 362 26 362 25 362 224 363 25 363 225 363 225 364 25 364 16 364 225 365 16 365 226 365 226 366 16 366 12 366 226 367 12 367 227 367 227 368 12 368 24 368 227 369 24 369 228 369 228 370 24 370 23 370 228 371 23 371 229 371 229 372 23 372 8 372 8 373 23 373 20 373 8 374 20 374 10 374 230 375 231 375 224 375 231 376 0 376 224 376 229 377 8 377 232 377 226 378 227 378 233 378 226 379 233 379 230 379 226 380 230 380 225 380 230 381 224 381 225 381 229 382 232 382 234 382 234 383 228 383 229 383 233 384 228 384 234 384 233 385 227 385 228 385 235 386 0 386 231 386 235 387 231 387 236 387 236 388 231 388 230 388 236 389 230 389 237 389 237 390 230 390 233 390 237 391 233 391 238 391 238 392 233 392 234 392 238 393 234 393 239 393 239 394 234 394 232 394 239 395 232 395 240 395 240 396 232 396 241 396 241 397 232 397 8 397 241 398 8 398 242 398 242 399 8 399 11 399 242 400 11 400 243 400 243 401 11 401 6 401 243 402 6 402 244 402 244 403 6 403 4 403 244 404 4 404 245 404 245 405 4 405 3 405 245 406 3 406 246 406 246 407 3 407 2 407 246 408 2 408 247 408 247 409 2 409 0 409 247 410 0 410 235 410 238 411 236 411 237 411 247 412 235 412 238 412 238 413 235 413 236 413 246 414 247 414 238 414 244 415 245 415 238 415 238 416 245 416 246 416 243 417 244 417 238 417 241 418 242 418 238 418 238 419 242 419 243 419 240 420 241 420 238 420 238 421 239 421 240 421</p>
+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="Sensor_TF_Mini_PLUS_001" name="Sensor TF Mini PLUS.001" type="NODE">
+        <matrix sid="transform">9.99987e-4 0 0 0 0 9.99987e-4 0 0 0 0 9.99987e-4 0 0 0 0 1</matrix>
+        <instance_geometry url="#Sensor_TF_Mini_PLUS_001-mesh" name="Sensor TF Mini PLUS.001">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="Material_002-material" target="#Material_002-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+      <node id="Sensor_TF_Mini_PLUS" name="Sensor TF Mini PLUS" type="NODE">
+        <matrix sid="transform">9.99987e-4 0 0 0 0 9.99987e-4 0 0 0 0 9.99987e-4 0 0 0 0 1</matrix>
+        <instance_geometry url="#Sensor_TF_Mini_PLUS-mesh" name="Sensor TF Mini PLUS">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="Material_001-material" target="#Material_001-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
\ No newline at end of file
diff --git a/submitted_models/ctu_cras_norlab_marv_sensor_config_1/model.config b/submitted_models/ctu_cras_norlab_marv_sensor_config_1/model.config
new file mode 100644
index 00000000..38a51b48
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_marv_sensor_config_1/model.config
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<model>
+  <name>ctu_cras_norlab_marv_sensor_config_1</name>
+  <sdf version="1.7">model.sdf</sdf>
+  <description>
+    CTU-CRAS-Norlab MARV Sensor config 1 tracked vehicle package has:
+    - 5 Basler Ace 2 Pro a2A1920-51gcPRO RGB cameras with 86° FOV lenses (Basler C125-0418-5M-P f4mm)
+    - 2 Basler Ace acA2040-35gc RGB cameras with 138° FOV fisheye lenses (Evetar M118B029520IR)
+    - Ouster OS0-128 lidar
+    - 4 TFMini plus point lidars
+    - IMU Xsens MTI-30
+    - Gas sensor
+    - Weight: about 61 kg
+  </description>
+</model>
+
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
new file mode 100644
index 00000000..6ccedcea
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_marv_sensor_config_1/model.sdf
@@ -0,0 +1,5004 @@
+<?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. -->
+  <model name="ctu_cras_norlab_marv_sensor_config_1">
+    <link name="base_link">
+      <inertial>
+        <pose>0 0 0.0661 0 -0 0</pose>
+        <mass>8.7</mass>
+        <inertia>
+          <ixx>0.12905</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.29609</iyy>
+          <iyz>0</iyz>
+          <izz>0.35496</izz>
+        </inertia>
+      </inertial>
+      <collision name="base_link_collision">
+        <pose>0 0 0.0961 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.6 0.36 0.192</size>
+          </box>
+        </geometry>
+      </collision>
+      <collision name="base_link_collision_1">
+        <pose>0 0 -0.0219 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.512 0.36 0.044</size>
+          </box>
+        </geometry>
+      </collision>
+      <collision name="base_link_collision_2">
+        <pose>0.256 0 0.000144 1.5707963267948966 -0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.36</length>
+            <radius>0.044044</radius>
+          </cylinder>
+        </geometry>
+      </collision>
+      <collision name="base_link_collision_3">
+        <pose>-0.256 0 0.000144 1.5707963267948966 -0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.36</length>
+            <radius>0.044044</radius>
+          </cylinder>
+        </geometry>
+      </collision>
+      <visual name="base_link_fixed_joint_lump__chassis_visual">
+        <material>
+          <diffuse>1 1 1 1</diffuse>
+          <pbr>
+            <metal>
+              <albedo_map>textures/chassis.png</albedo_map>
+              <emissive_map>textures/chassis_emissive.png</emissive_map>
+            </metal>
+          </pbr>
+        </material>
+        <geometry>
+          <mesh>
+            <uri>meshes/chassis.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <visual name="base_link_visual_1">
+        <pose>0 0 0.1841 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>meshes/deck.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <visual name="base_link_visual_2">
+        <pose>0.256 0.18 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>meshes/motor_housing.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <visual name="base_link_visual_3">
+        <pose>0.256 -0.18 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>meshes/motor_housing_mirrored.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <visual name="base_link_visual_4">
+        <pose>-0.256 0.18 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>-1 -1 1</scale>
+            <uri>meshes/motor_housing_mirrored.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <visual name="base_link_visual_5">
+        <pose>-0.256 -0.18 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>-1 -1 1</scale>
+            <uri>meshes/motor_housing.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <self_collide>0</self_collide>
+      <light name="light_left" type="spot">
+        <pose>0 0.19 0.1621 1.5707963267948966 1.5707963267948966 0</pose>
+        <cast_shadows>1</cast_shadows>
+        <attenuation>
+          <range>30</range>
+          <linear>0.2</linear>
+          <constant>0.1</constant>
+          <quadratic>0.0025</quadratic>
+        </attenuation>
+        <diffuse>0.8 0.8 0.5 1</diffuse>
+        <specular>0.8 0.8 0.5 1</specular>
+        <spot>
+          <inner_angle>2.8</inner_angle>
+          <outer_angle>2.9</outer_angle>
+          <falloff>1</falloff>
+        </spot>
+        <direction>1 0 0</direction>
+      </light>
+      <light name="light_right" type="spot">
+        <pose>0 -0.19 0.1621 -1.5707963267948966 1.5707963267948966 0</pose>
+        <cast_shadows>1</cast_shadows>
+        <attenuation>
+          <range>30</range>
+          <linear>0.2</linear>
+          <constant>0.1</constant>
+          <quadratic>0.0025</quadratic>
+        </attenuation>
+        <diffuse>0.8 0.8 0.5 1</diffuse>
+        <specular>0.8 0.8 0.5 1</specular>
+        <spot>
+          <inner_angle>2.8</inner_angle>
+          <outer_angle>2.9</outer_angle>
+          <falloff>1</falloff>
+        </spot>
+        <direction>1 0 0</direction>
+      </light>
+      <light name="light_front" type="spot">
+        <pose>0.31 0 0.1621 -3.1415926535897931 1.5707963267948966 0</pose>
+        <cast_shadows>1</cast_shadows>
+        <attenuation>
+          <range>30</range>
+          <linear>0.2</linear>
+          <constant>0.1</constant>
+          <quadratic>0.0025</quadratic>
+        </attenuation>
+        <diffuse>0.8 0.8 0.5 1</diffuse>
+        <specular>0.8 0.8 0.5 1</specular>
+        <spot>
+          <inner_angle>2.8</inner_angle>
+          <outer_angle>2.9</outer_angle>
+          <falloff>1</falloff>
+        </spot>
+        <direction>1 0 0</direction>
+      </light>
+      <light name="light_rear" type="spot">
+        <pose>-0.31 0 0.1621 0 1.5707963267948966 0</pose>
+        <cast_shadows>1</cast_shadows>
+        <attenuation>
+          <range>40</range>
+          <linear>0</linear>
+          <constant>0.2</constant>
+          <quadratic>0.0025</quadratic>
+        </attenuation>
+        <diffuse>0.8 0.8 0.5 1</diffuse>
+        <specular>0.8 0.8 0.5 1</specular>
+        <spot>
+          <inner_angle>2.8</inner_angle>
+          <outer_angle>2.9</outer_angle>
+          <falloff>1</falloff>
+        </spot>
+        <direction>1 0 0</direction>
+      </light>
+    </link>
+    <link name="battery1">
+      <pose>0.06 0.005 0.0251 0 -0 0</pose>
+      <inertial>
+        <mass>6</mass>
+        <inertia>
+          <ixx>0.07325</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.016388</iyy>
+          <iyz>0</iyz>
+          <izz>0.072738</izz>
+        </inertia>
+      </inertial>
+      <collision name="battery1_collision">
+        <geometry>
+          <box>
+            <size>0.126 0.36 0.13</size>
+          </box>
+        </geometry>
+      </collision>
+      <visual name="battery1_visual">
+        <geometry>
+          <mesh>
+            <uri>meshes/battery.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+    </link>
+    <joint name="battery1_j" type="fixed">
+      <child>battery1</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="battery2">
+      <pose>-0.06 0.005 0.0251 0 -0 0</pose>
+      <inertial>
+        <mass>6</mass>
+        <inertia>
+          <ixx>0.07325</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.016388</iyy>
+          <iyz>0</iyz>
+          <izz>0.072738</izz>
+        </inertia>
+      </inertial>
+      <collision name="battery2_collision">
+        <geometry>
+          <box>
+            <size>0.126 0.36 0.13</size>
+          </box>
+        </geometry>
+      </collision>
+      <visual name="battery2_visual">
+        <geometry>
+          <mesh>
+            <uri>meshes/battery.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+    </link>
+    <joint name="battery2_j" type="fixed">
+      <child>battery2</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="bottom_plate">
+      <inertial>
+        <pose>0 0 -0.0439 0 -0 0</pose>
+        <mass>1.09</mass>
+        <inertia>
+          <ixx>0.0117743</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.0327023</iyy>
+          <iyz>0</iyz>
+          <izz>0.044472</izz>
+        </inertia>
+      </inertial>
+    </link>
+    <joint name="bottom_plate_j" type="fixed">
+      <child>bottom_plate</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="deck">
+      <inertial>
+        <pose>0 0 0.1921 0 -0 0</pose>
+        <mass>3.4</mass>
+        <inertia>
+          <ixx>0.0367925</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.102073</iyy>
+          <iyz>0</iyz>
+          <izz>0.13872</izz>
+        </inertia>
+      </inertial>
+    </link>
+    <joint name="deck_j" type="fixed">
+      <child>deck</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_cam">
+      <pose>0.244 0 0.1321 0 -0 0</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="front_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="front_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="front_cam_visual">
+        <pose>0 0 0.0145 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>meshes/basler_ace.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <visual name="front_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="front_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="front_cam_j" type="fixed">
+      <child>front_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="front_left_flipper">
+      <pose>0.256 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>
+      <visual name="front_left_flipper_visual">
+        <geometry>
+          <mesh>
+            <uri>meshes/big_wheel.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <visual name="front_left_flipper_visual_1">
+        <geometry>
+          <mesh>
+            <scale>-1 -1 1</scale>
+            <uri>meshes/flipper_arm.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <visual name="front_left_flipper_visual_2">
+        <geometry>
+          <mesh>
+            <uri>meshes/belt.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <visual name="front_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="front_left_flipper_j" type="revolute">
+      <child>front_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="front_left_flipper_end_point_inflated">
+      <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="front_left_flipper_end_point_inflated_j" type="fixed">
+      <child>front_left_flipper_end_point_inflated</child>
+      <parent>front_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="front_left_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="front_left_flipper_end_point_j" type="fixed">
+      <child>front_left_flipper_end_point</child>
+      <parent>front_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="front_left_flipper_wheel1">
+      <pose>0.256 0.248 0 0 -0 0</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="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>
+      <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="front_left_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="front_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="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>
+        <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_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>
+        <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_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">
+        <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_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>
+            <uri>meshes/big_wheel.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <visual name="front_right_flipper_visual_1">
+        <geometry>
+          <mesh>
+            <uri>meshes/flipper_arm.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <visual name="front_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="front_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="front_right_flipper_j" type="revolute">
+      <child>front_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>
+        <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_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="front_right_flipper_end_point_inflated_j" type="fixed">
+      <child>front_right_flipper_end_point_inflated</child>
+      <parent>front_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="front_right_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="front_right_flipper_end_point_j" type="fixed">
+      <child>front_right_flipper_end_point</child>
+      <parent>front_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="front_right_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="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>
+      <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="front_right_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="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>
+        </inertia>
+      </inertial>
+    </link>
+    <joint name="rear_right_box_j" type="fixed">
+      <child>rear_right_box</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_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>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>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="camera_0_j" type="fixed">
+      <child>camera_0</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="camera_2">
+      <pose>-0.21 0 0.1921 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>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>
+      <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_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>
+        <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_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>
+      <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_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>
+    </link>
+    <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>
+          <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_rear_left">
+      <pose>-0.3 0.1445 0.2106 3.1415926535897931 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_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>
+      <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_rear_right">
+      <pose>-0.3 -0.1445 0.2106 3.1415926535897931 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_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="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>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>
+    </link>
+    <joint name="mobilicom_antenna_l_j" type="fixed">
+      <child>mobilicom_antenna_l</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="mobilicom_antenna_r">
+      <pose>-0.225 0.17 0.2056 0 -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_r_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_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="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">
+      <pose>-0.256 -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>
+      <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_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>
+        <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_end_point_inflated">
+      <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_inflated_j" type="fixed">
+      <child>rear_right_flipper_end_point_inflated</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_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_flipper_wheel1">
+      <pose>-0.256 -0.248 0 0 -0 0</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_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="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>
+        <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_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>
+          <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_right_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="rear_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="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>
+        <dynamics>
+          <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>-0.386071 -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="rear_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="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>
+        <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_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>
+        <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_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">
+        <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_right_flipper_wheel7_j" type="revolute">
+      <child>rear_right_flipper_wheel7</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>11.976</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_right_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="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>
+      <parent>rear_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="rear_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="rear_right_motor_j" type="fixed">
+      <child>rear_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="top_box">
+      <pose>0.06 0 0.2821 0 -0 0</pose>
+      <inertial>
+        <mass>2</mass>
+        <inertia>
+          <ixx>0.01755</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.00706667</iyy>
+          <iyz>0</iyz>
+          <izz>0.0138167</izz>
+        </inertia>
+      </inertial>
+      <collision name="top_box_collision">
+        <geometry>
+          <box>
+            <size>0.1 0.11 0.18</size>
+          </box>
+        </geometry>
+      </collision>
+      <collision name="top_box_collision_1">
+        <pose>0 -0.11 -0.055 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.1 0.05 0.07</size>
+          </box>
+        </geometry>
+      </collision>
+      <collision name="top_box_collision_2">
+        <pose>0 0.11 -0.055 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.1 0.05 0.07</size>
+          </box>
+        </geometry>
+      </collision>
+      <collision name="top_box_collision_3">
+        <pose>0 -0.07 -0.0275 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.1 0.03 0.125</size>
+          </box>
+        </geometry>
+      </collision>
+      <collision name="top_box_collision_4">
+        <pose>0 0.07 -0.0275 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.1 0.03 0.125</size>
+          </box>
+        </geometry>
+      </collision>
+      <visual name="top_box_visual">
+        <geometry>
+          <box>
+            <size>0.1 0.11 0.18</size>
+          </box>
+        </geometry>
+        <material>
+          <ambient>0 0 0 0</ambient>
+          <diffuse>0 0.133333 0.486275 1</diffuse>
+          <specular>0 0 0 0</specular>
+          <emissive>0 0 0 0</emissive>
+        </material>
+      </visual>
+      <visual name="top_box_visual_1">
+        <pose>0 -0.11 -0.055 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.1 0.05 0.07</size>
+          </box>
+        </geometry>
+        <material>
+          <ambient>0 0 0 0</ambient>
+          <diffuse>0 0.133333 0.486275 1</diffuse>
+          <specular>0 0 0 0</specular>
+          <emissive>0 0 0 0</emissive>
+        </material>
+      </visual>
+      <visual name="top_box_visual_2">
+        <pose>0 0.11 -0.055 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.1 0.05 0.07</size>
+          </box>
+        </geometry>
+        <material>
+          <ambient>0 0 0 0</ambient>
+          <diffuse>0 0.133333 0.486275 1</diffuse>
+          <specular>0 0 0 0</specular>
+          <emissive>0 0 0 0</emissive>
+        </material>
+      </visual>
+      <visual name="top_box_visual_3">
+        <pose>0 -0.07 -0.0275 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.1 0.03 0.125</size>
+          </box>
+        </geometry>
+        <material>
+          <ambient>0 0 0 0</ambient>
+          <diffuse>0 0.133333 0.486275 1</diffuse>
+          <specular>0 0 0 0</specular>
+          <emissive>0 0 0 0</emissive>
+        </material>
+      </visual>
+      <visual name="top_box_visual_4">
+        <pose>0 0.07 -0.0275 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.1 0.03 0.125</size>
+          </box>
+        </geometry>
+        <material>
+          <ambient>0 0 0 0</ambient>
+          <diffuse>0 0.133333 0.486275 1</diffuse>
+          <specular>0 0 0 0</specular>
+          <emissive>0 0 0 0</emissive>
+        </material>
+      </visual>
+      <visual name="top_box_fixed_joint_lump__reflector_visual_5">
+        <pose>0 -0.067 0.035 1.5707963267948966 -1.5707963267948966 0</pose>
+        <geometry>
+          <mesh>
+            <uri>meshes/reflector.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <light name="light_up" type="spot">
+        <pose>0 -0.07 0.045 3.1415926535897931 -0 3.1415926535897931</pose>
+        <attenuation>
+          <range>60</range>
+          <linear>0</linear>
+          <constant>0.1</constant>
+          <quadratic>0.0025</quadratic>
+        </attenuation>
+        <diffuse>0.8 0.8 0.5 1</diffuse>
+        <specular>0.8 0.8 0.5 1</specular>
+        <spot>
+          <inner_angle>1.0472</inner_angle>
+          <outer_angle>1.5708</outer_angle>
+          <falloff>1</falloff>
+        </spot>
+        <direction>0 0 -1</direction>
+      </light>
+    </link>
+    <joint name="top_box_j" type="fixed">
+      <child>top_box</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="antenna">
+      <pose>0 0.125 0.1921 0 -0 0</pose>
+      <inertial>
+        <pose>0 0 0.1 0 -0 0</pose>
+        <mass>0.08</mass>
+        <inertia>
+          <ixx>0.000268667</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.000268667</iyy>
+          <iyz>0</iyz>
+          <izz>4e-06</izz>
+        </inertia>
+      </inertial>
+      <collision name="antenna_collision">
+        <pose>0 0 0.1 0 -0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.2</length>
+            <radius>0.01</radius>
+          </cylinder>
+        </geometry>
+      </collision>
+      <visual name="antenna_visual">
+        <pose>0 0 0.1 0 -0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.2</length>
+            <radius>0.01</radius>
+          </cylinder>
+        </geometry>
+      </visual>
+    </link>
+    <joint name="antenna_j" type="fixed">
+      <child>antenna</child>
+      <parent>top_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="camera_1">
+      <pose>0.06 -0.087 0.1921 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>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>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>top_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="camera_3">
+      <pose>0.06 0.087 0.1921 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_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>0.03974</length>
+            <radius>0.0125</radius>
+          </cylinder>
+        </geometry>
+      </collision>
+      <visual name="camera_3_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_3_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_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="camera_3_j" type="fixed">
+      <child>camera_3</child>
+      <parent>top_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="camera_4">
+      <pose>0.06 0.055 0.2671 -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>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>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>top_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="laser">
+      <pose>0.06 0 0.3721 0 -0 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>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>top_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>
+    <plugin name="cras::FlipperControlPlugin" filename="flipper_control_plugin">
+      <joint_name>front_left_flipper_j</joint_name>
+      <max_velocity>1.0</max_velocity>
+      <max_torque>120</max_torque>
+      <position_correction_gain>1.0</position_correction_gain>
+    </plugin>
+    <plugin name="cras::FlipperControlPlugin" filename="flipper_control_plugin">
+      <joint_name>front_right_flipper_j</joint_name>
+      <max_velocity>1.0</max_velocity>
+      <max_torque>120</max_torque>
+      <position_correction_gain>1.0</position_correction_gain>
+    </plugin>
+    <plugin name="cras::FlipperControlPlugin" filename="flipper_control_plugin">
+      <joint_name>rear_left_flipper_j</joint_name>
+      <max_velocity>1.0</max_velocity>
+      <max_torque>120</max_torque>
+      <position_correction_gain>1.0</position_correction_gain>
+    </plugin>
+    <plugin name="cras::FlipperControlPlugin" filename="flipper_control_plugin">
+      <joint_name>rear_right_flipper_j</joint_name>
+      <max_velocity>1.0</max_velocity>
+      <max_torque>120</max_torque>
+      <position_correction_gain>1.0</position_correction_gain>
+    </plugin>
+    <plugin name="ignition::gazebo::systems::JointStatePublisher" filename="ignition-gazebo-joint-state-publisher-system">
+      <joint_name>front_left_flipper_j</joint_name>
+      <joint_name>front_right_flipper_j</joint_name>
+      <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>
+  </model>
+</sdf>
+
diff --git a/submitted_models/ctu_cras_norlab_marv_sensor_config_1/package.xml b/submitted_models/ctu_cras_norlab_marv_sensor_config_1/package.xml
new file mode 100644
index 00000000..7072f8c2
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_marv_sensor_config_1/package.xml
@@ -0,0 +1,25 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>ctu_cras_norlab_marv_sensor_config_1</name>
+  <version>1.0.0</version>
+  <description>CTU-CRAS-Norlab MARV Sensor config 1 tracked vehicle package has:
+    - 5 Basler Ace 2 Pro a2A1920-51gcPRO RGB cameras with 86° FOV lenses (Basler C125-0418-5M-P f4mm)
+    - 2 Basler Ace acA2040-35gc RGB cameras with 138° FOV fisheye lenses (Evetar M118B029520IR)
+    - Ouster OS0-128 lidar
+    - 4 TFMini plus point lidars
+    - IMU Xsens MTI-30
+    - Gas sensor
+    - Weight: about 61 kg
+  </description>
+  <maintainer email="peckama2@fel.cvut.cz">Martin Pecka</maintainer>
+  <author email="peckama2@fel.cvut.cz">Martin Pecka</author>
+  <license>BSD</license>
+
+  <buildtool_depend>catkin</buildtool_depend>
+
+  <exec_depend>ctu_cras_norlab_absolem_sensor_config_1</exec_depend> <!-- FlipperControlPlugin -->
+  <exec_depend>roslaunch</exec_depend>
+  <exec_depend>subt_ros</exec_depend>
+  <exec_depend>xacro</exec_depend>
+
+</package>
diff --git a/submitted_models/ctu_cras_norlab_marv_sensor_config_1/scripts/clean_sdf b/submitted_models/ctu_cras_norlab_marv_sensor_config_1/scripts/clean_sdf
new file mode 100755
index 00000000..a44b53e9
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_marv_sensor_config_1/scripts/clean_sdf
@@ -0,0 +1,15 @@
+#!/usr/bin/env bash
+set -e
+
+sed -i \
+  -e '/<surface>/{:a;N;/<\/surface>/!ba};/<surface>\n\s*<contact>\n\s*<ode\/>\n\s*<\/contact>\n\s*<friction>\n\s*<ode\/>\n\s*<\/friction>\n\s*<\/surface>/d' \
+  -e '/<pose>\(-\?0 \?\)\{6\}<\/pose>/d' \
+  -e '/<scale>1 1 1<\/scale>/d' \
+  -e '/<angular_velocity\/>/d' \
+  -e '/<linear_acceleration\/>/d' \
+  -e '/<velocity_decay\/>/d' \
+  -e '/<gravity>1<\/gravity>/d' \
+  -e '/<kinematic>0<\/kinematic>/d' \
+  -e '/<static>0<\/static>/d' "$1"
+sed -i '/<contact>/{:a;N;/<\/contact>/!ba};/<contact>\n\s*<ode\/>\n\s*<\/contact>/d' "$1"
+sed -i 's/\(<sdf version[^>]*>\)/\1\r  <!-- CAUTION: This is an autogenerated file, DO NOT EDIT IT!\r  It was generated by script update_robot_sdf_ign and is based on urdf\/marv.xacro source file.\r  Do all modifications there and then run the update script to regenerate the SDF. -->/g' "$1"
\ No newline at end of file
diff --git a/submitted_models/ctu_cras_norlab_marv_sensor_config_1/scripts/high_precision_constants.py b/submitted_models/ctu_cras_norlab_marv_sensor_config_1/scripts/high_precision_constants.py
new file mode 100755
index 00000000..c216baf7
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_marv_sensor_config_1/scripts/high_precision_constants.py
@@ -0,0 +1,79 @@
+#!/usr/bin/env python
+#
+# Copyright 2019 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from __future__ import print_function
+from lxml import etree
+import math
+import argparse
+import sys
+
+# Values of PI to check. Only put positive values.
+CONSTANTS_TO_CHECK = [math.pi, math.pi/2]
+
+def convert_to_high_precision_pi(urdf_file, tol, precision):
+    """Search all poses for values that are near PI and PI/2 and replace them
+    with their high precision counterparts.
+
+    Parameters
+    ----------
+    urdf_file : Input urdf file
+    tol: Tolerance for equality check
+
+    Returns
+    -------
+    etree.Element
+
+    """
+    inp = etree.parse(urdf_file)
+    sdf = inp.getroot()
+    poses = sdf.xpath('//pose')
+
+    for pose in poses:
+        new_pose_list = []
+        for val in pose.text.split():
+            val_fl = float(val)
+            for check_val in CONSTANTS_TO_CHECK:
+                if abs(abs(val_fl) - check_val) < tol:
+                    new_pose_list.append('{:.{precision}f}'.format(
+                        math.copysign(check_val, val_fl), precision=precision))
+                    break
+            # The else block executes if none of the values in
+            # CONSTANTS_TO_CHECK match val_fl
+            else:
+                new_pose_list.append(val)
+
+        new_pose = ' '.join(new_pose_list)
+        pose.text = new_pose
+    return inp
+
+
+if __name__ == '__main__':
+    parser = argparse.ArgumentParser(
+        formatter_class=argparse.ArgumentDefaultsHelpFormatter,
+        description='Search all <pose> elements for values that are near PI '
+        'and PI/2 and replace them with their high precision counterparts.')
+    parser.add_argument('infile', type=argparse.FileType('r'),
+                        help='Input URDF file')
+    parser.add_argument('-t', '--tolerance', type=float, default=1e-3,
+                        help='Tolerance for equality checks')
+    parser.add_argument('-p', '--precision', type=float, default=16,
+                        help='Tolerance for equality checks')
+
+    args = parser.parse_args()
+    out = convert_to_high_precision_pi(args.infile, args.tolerance,
+                                       args.precision)
+    print(etree.tostring(out, pretty_print=True, encoding='utf-8',
+                         xml_declaration=True))
diff --git a/submitted_models/ctu_cras_norlab_marv_sensor_config_1/scripts/install_in_local_fuel_cache b/submitted_models/ctu_cras_norlab_marv_sensor_config_1/scripts/install_in_local_fuel_cache
new file mode 100755
index 00000000..f832729c
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_marv_sensor_config_1/scripts/install_in_local_fuel_cache
@@ -0,0 +1,26 @@
+#!/usr/bin/env bash
+set -e
+DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null 2>&1 && pwd )"
+
+# Install the model in local Ignition Fuel cache so that it is available even before being uploaded to Fuel by Open Robotics.
+
+path="${DIR}/../../../../../install/share/ctu_cras_norlab_marv_sensor_config_1"
+if [ ! -d "$path" ]; then
+  path="$1"
+fi
+
+if [ ! -d "$path" ]; then
+  echo "ERROR: Provide a path to the ctu_cras_norlab_marv_sensor_config_1 folder in either install/share or devel/share as an argument to this script." >&2
+  exit 1
+fi
+
+path="$(realpath "$path")"
+
+cache_path="${IGN_FUEL_CACHE_PATH:-${HOME}/.ignition/fuel}/fuel.ignitionrobotics.org/openrobotics/models/ctu_cras_norlab_marv_sensor_config_1/1"
+mkdir -p "$cache_path"
+
+for f in model.sdf model.config meshes textures; do
+  ln -sf "${path}/${f}" "${cache_path}/${f}"
+done
+
+echo "INFO: Done, the model was installed in ${cache_path}."
\ No newline at end of file
diff --git a/submitted_models/ctu_cras_norlab_marv_sensor_config_1/scripts/print_robot_urdf b/submitted_models/ctu_cras_norlab_marv_sensor_config_1/scripts/print_robot_urdf
new file mode 100755
index 00000000..1c2232a2
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_marv_sensor_config_1/scripts/print_robot_urdf
@@ -0,0 +1,13 @@
+#!/usr/bin/env bash
+set -e
+
+DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null 2>&1 && pwd )"
+MODEL_DIR="${DIR}/.."
+
+config=""
+for file in "${MODEL_DIR}/config/common.yaml" "${MODEL_DIR}/config/urdf.yaml"; do
+  config="${config} $("${DIR}/yaml_to_xacro_args" "$file")"
+done
+
+echo -e "Rendering URDF of $(basename "$(realpath "$MODEL_DIR")") with the following Xacro arguments:\n${config}" "$@" >&2
+rosrun xacro xacro "${MODEL_DIR}/urdf/marv.xacro" ${config} "$@"
\ No newline at end of file
diff --git a/submitted_models/ctu_cras_norlab_marv_sensor_config_1/scripts/update_robot_sdf_gz b/submitted_models/ctu_cras_norlab_marv_sensor_config_1/scripts/update_robot_sdf_gz
new file mode 100755
index 00000000..3d01cff1
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_marv_sensor_config_1/scripts/update_robot_sdf_gz
@@ -0,0 +1,17 @@
+#!/usr/bin/env bash
+set -e
+
+DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null 2>&1 && pwd )"
+MODEL_DIR="${DIR}/.."
+[ -z "${OUTPUT_FILE}" ] && OUTPUT_FILE="${MODEL_DIR}/model.sdf"
+
+config=""
+for file in "${MODEL_DIR}/config/common.yaml" "${MODEL_DIR}/config/sim.yaml" "${MODEL_DIR}/config/gz.yaml"; do
+  config="${config} $("${DIR}/yaml_to_xacro_args" "$file")"
+done
+
+echo -e "Rendering Gazebo Classic SDF of $(basename "$(realpath "$MODEL_DIR")") with the following Xacro arguments:\n${config}" "$@" >&2
+rosrun xacro xacro "${MODEL_DIR}/urdf/marv.xacro" ${config} "$@" > "${OUTPUT_FILE}.urdf"
+gz sdf -p "${OUTPUT_FILE}.urdf" | "${DIR}/high_precision_constants.py" - > "${OUTPUT_FILE}"
+
+"${DIR}/clean_sdf" "${OUTPUT_FILE}"
\ No newline at end of file
diff --git a/submitted_models/ctu_cras_norlab_marv_sensor_config_1/scripts/update_robot_sdf_ign b/submitted_models/ctu_cras_norlab_marv_sensor_config_1/scripts/update_robot_sdf_ign
new file mode 100755
index 00000000..49ea16c0
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_marv_sensor_config_1/scripts/update_robot_sdf_ign
@@ -0,0 +1,25 @@
+#!/usr/bin/env bash
+set -e
+
+DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null 2>&1 && pwd )"
+MODEL_DIR="${DIR}/.."
+[ -z "${OUTPUT_FILE}" ] && OUTPUT_FILE="${MODEL_DIR}/model.sdf"
+
+config=""
+for file in "${MODEL_DIR}/config/common.yaml" "${MODEL_DIR}/config/sim.yaml" "${MODEL_DIR}/config/ign.yaml"; do
+  config="${config} $("${DIR}/yaml_to_xacro_args" "$file")"
+done
+
+sdf8_version="$(ign sdf --versions | grep '^8')" || true
+[ -z "$sdf8_version" ] && echo "libsdformat8 not found. It is required to update this robot's SDF. Please install libsdformat8-dev and try again." >&2 && exit 1
+echo "Found libsdformat ${sdf8_version}" >&2
+
+echo -e "Rendering Ignition Gazebo SDF of $(basename "$(realpath "$MODEL_DIR")") with the following Xacro arguments:\n${config}" "$@" >&2
+rosrun xacro xacro "${MODEL_DIR}/urdf/marv.xacro" ${config} "$@" > "${OUTPUT_FILE}.urdf"
+ign sdf --force-version "$sdf8_version" -p "${OUTPUT_FILE}.urdf" | "${DIR}/high_precision_constants.py" - > "${OUTPUT_FILE}"
+
+"${DIR}/clean_sdf" "${OUTPUT_FILE}"
+# fix resource paths
+sed -i -e 's#model://ctu_cras_norlab_marv_sensor_config_1/##g' "${OUTPUT_FILE}"
+# ign sdf cannot transfer material properties of just one visual, so we have to add the material here
+sed -i -e 's#\(<visual name="base_link_fixed_joint_lump__chassis_visual">\)#\1\n        <material>\n          <diffuse>1 1 1 1</diffuse>\n          <pbr>\n            <metal>\n              <albedo_map>textures/chassis.png</albedo_map>\n              <emissive_map>textures/chassis_emissive.png</emissive_map>\n            </metal>\n          </pbr>\n        </material>#' "${OUTPUT_FILE}"
diff --git a/submitted_models/ctu_cras_norlab_marv_sensor_config_1/scripts/update_robot_sdf_ign_all_configs b/submitted_models/ctu_cras_norlab_marv_sensor_config_1/scripts/update_robot_sdf_ign_all_configs
new file mode 100755
index 00000000..97c3d3fa
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_marv_sensor_config_1/scripts/update_robot_sdf_ign_all_configs
@@ -0,0 +1,9 @@
+#!/usr/bin/env bash
+set -e
+
+DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null 2>&1 && pwd )"
+SUBMITTED_MODELS_DIR="${DIR}/../.."
+
+for config in "${SUBMITTED_MODELS_DIR}"/ctu_cras_norlab_marv_sensor_config_*; do
+  "${config}/scripts/update_robot_sdf_ign"
+done
\ No newline at end of file
diff --git a/submitted_models/ctu_cras_norlab_marv_sensor_config_1/scripts/yaml_to_xacro_args b/submitted_models/ctu_cras_norlab_marv_sensor_config_1/scripts/yaml_to_xacro_args
new file mode 100755
index 00000000..8383ada8
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_marv_sensor_config_1/scripts/yaml_to_xacro_args
@@ -0,0 +1,8 @@
+#!/usr/bin/env bash
+set -e
+
+# convert the given yaml file to a list of key:=value intended to be passed to xacro
+# this script does not support nested YAML structures
+
+file="$1"
+sed 's/: \?/:=/' < "$file" | sed '/^#.*$/d' | sed 's/#.*$//' | sed 's/:=\s*True\s*$/:=1/i' | sed 's/:=\s*False\s*$/:=0/i' | tr "\n" " "
\ No newline at end of file
diff --git a/submitted_models/ctu_cras_norlab_marv_sensor_config_1/specifications.md b/submitted_models/ctu_cras_norlab_marv_sensor_config_1/specifications.md
new file mode 100644
index 00000000..eb080186
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_marv_sensor_config_1/specifications.md
@@ -0,0 +1,112 @@
+# CTU-CRAS-Norlab MARV robot
+This specifications.md file is a description and proof of virtual model validation for the CTU-CRAS-Norlab MARV (Mobile Autonomous Rescue Vehicle) robot. This robot may be launched using an ign launch command with the variable name `CTU_CRAS_NORLAB_MARV_SENSOR_CONFIG_1`.
+
+For local testing, you can also use the following command:
+
+    LC_ALL=C ign launch -v 4 ~/subt_ws/src/subt/submitted_models/ctu_cras_norlab_marv_sensor_config_1/launch/example.ign robotName:=X1 ros:=true teleop:=true
+
+## Description
+This configuration is a custom-made tracked robot manufactured by company JettyVision. The robot is equipped with 4 tracks (flippers) and a 3D lidar.
+
+## Usage Instructions
+The robot motion is controlled via standard `cmd_vel` commands.
+
+Flippers can be controlled by publishing to topics `flippers_cmd_vel/front_left` (`front_right`, `rear_left`, `rear_right`) (`std_msgs/Float64`) for velocity control or topics `flippers_cmd_pos/front_left`, etc. for position control. Relative positional control is available on `flippers_cmd_pos_rel/front_left` etc. Maximum angular velocity of the flippers is `1 rad/s`. The effort limits in the model were set so that the robot can support itself with the flippers and lift itself on all four flippers. This is how the real flippers work. The current position of the flippers is published to `joint_states` as `front_left_flipper_j` etc. The flippers can continuously rotate.
+
+## Usage Rights
+No additional restrictions have to be taken into account for this configuration.
+
+## Cost and Scale
+MARV robot is result of custom production contracted to JettyVision company as the winner of [tender VZ0086096: USAR robot with manipulation arm](https://tenderarena.cz/dodavatel/seznam-profilu-zadavatelu/detail/Z0003010/zakazka/319126). The cost of the contract is approx. $300,000 including sensors and a robotic arm (except our customized omnicamera solution). We do not use the arm in SubT competition.
+
+* Base vehicle: $250,000 (single custom production piece; price for the whole year-long design process and delivery of prototype; further pieces would be much cheaper)
+* Custom omnicamera solution: $5,000
+* Total: ~ $255,000
+
+Its weight is approximately 61 kg (better to carry in two people, or one person when the 10 kg batteries are taken out). This is an estimate based on CAD models of the robot and the sensors. Precise measurement will be provided in May 2021.
+
+## Sensors
+MARV with sensor configuration 1 includes the following sensors. The specifications for these instruments are provided below in the [Validation Links](#validation_links) section.
+
+The following specific sensors are declared payloads of this vehicle:
+
+* Ouster OS0-128 3D lidar modeled by `gpu_lidar` sensor. It runs configured to produce 2048x128 scans at 10 Hz. It has a very wide vertical field of view (90 degrees) and short range (about 50 meters).
+* 2x RGB global shutter camera Basler acA2040-35gc with fisheye lens modeled by `camera` sensor. Each camera provides a horizontal FOV of 138 degrees. Resolution of the camera is 2048x1536 px. The datasheet framerate is up to 36 Hz, but we do not have enough computational/communication capacity to process the images. So the frame rate in simulation is decreased to 15 Hz.
+* 5x RGB global shutter camera Basler a2A1920-51gcPRO with 4 mm lens modeled by `camera` sensor. Each camera provides 86 degrees of horizontal FOV. Resolution is 1920x1200 px. According to datasheet, the camera can run on frequencies up to 51 Hz, but the robot doesn't have sufficient computational and communication capacity to transmit such high frequency data. We thus lowered the framerate of the simulated camera to 9 Hz. We verified in real life that we are able to transmit the 9 Hz images and process them (the 5 cameras more or less saturate a Gigabit link with this framerate).
+* 4x TFMini plus point lidar modeled by `gpu_lidar` sensor with 9 rays covering a field of view of 3.6 degrees, which is the light ray spread specified in datasheet. The point lidar works from 0.1 to 12 meters and has distal resolution of 1 cm.
+* XSens MTI-30 IMU: modeled by `imu` sensor.
+* 12 communication breadcrumbs are also available as a payload for this robot in sensor configurations 2 an 4 (real robot will carry 4 or 8).
+* Sensor configurations 3 and 4 carry an additional thermocamera FLIR Boson with 92 degrees horizontal FOV lens, modeled by `thermal` sensor. Resolution of the camera is 320x256 px at 8.6 Hz, and temperature range is approximately -50 °C up to 180 °C.
+* Custom-made flood sensors alerting the robot that it entered a flooded area (not modeled).
+
+## Control
+This robot is controlled by the DiffDrive plugin.  It accepts twist inputs which drives the vehicle along the x-direction and around the z-axis. We add additional 8 pseudo-wheels where the robot's flippers are to better approximate a tracked 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.
+
+Flippers provide interfaces for velocity control and absolute and relative positional control. The positional controllers move flippers to the given position using the maximum speed of the flippers.
+
+## Motion characteristics
+
+The robot is still in development phase so we had to extract the following values from the available CAD drawings and other design documents. We plan to back the theoretical values with real-world measurements as soon as the robot is finished (May 2021). We intentionally choose more conservative values to not overshoot the real robot capabilities. 
+
+Maximum forward speed is `1.0 m/s` with an almost instant acceleration to this speed from zero (set from [config/common.yaml#L30]()).
+
+Maximum turning speed is `1.0 rad/s` with an almost instant acceleration to this speed from zero.
+
+There is also a maximum forward speed of each track, which is `1.0 m/s`. This means that in case forward and rotation speeds are combined in a single command, the individual speed limits might not be reached because of the track speed limitation.
+
+Minimum turning radius is 0, as the robot can turn in place.
+
+Flippers can rotate around their joint at a rate of approximately `1.0 rad/s` (set from [config/common.yaml#L32]()).
+
+The strength of the flippers is set so that the robot can lift itself on the flippers and drive even in the lifted state. The effort required for this behavior is set in [config/common.yaml#L33]().
+
+## Endurance Characteristics
+MARV uses two custom-produced battery packs that are suitable for transport by airplanes. Each battery pack is a module consisting of 8 99.9 Wh lithium-ion batteries for drones. The total capacity of the battery pack is thus 1.6 kWh. Onboard computers and sensors should not take more than 150 W, so there is plenty of capacity left to the motors. Extrapolating our real-life experience with the Absolem robot, MARV should definitely be able to drive and run all algorithms for 90 minutes (probably much more).
+
+We will update this section with real-world measured values as soon as the robot is ready for testing (May 2021).
+
+The vehicle's endurance is currently set to 60 minutes until validation data can be provided.
+
+## Diversions from Physical Hardware of MARV robot
+The tracks and flippers 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.
+
+The point lidars are not modeled as a single ray, but rather as an array of 3x3 rays, to simulate the cone the used light source produces. The values should be averaged.
+
+The fisheye lens does not use any fisheye projection as the simulator doesn't support that.
+
+Cameras have no distortion as the simulator doesn't support it.
+
+The Ouster 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.
+
+The flippers do not collide with the other ones. The SDF is prepared for that and it is sufficient to turn on self_collide for the whole model, but we were unable to make whole-body rotation plausible with this flag active. Without self-collision, rotation of the robot body is OK. Friction cone model would probably help with that, but it is still unclear why self_collide affects the rotation.
+
+## Changing parameters of the robot
+
+Most parameters affecting the simulation model performance are in the `config/` folder, in files `common.yaml`, `sim.yaml` and `ign.yaml`. If some parameter is not exposed to these config files, look into the Xacro files in `urdf/` folder and change the values there.
+
+After changing a value in these files, run script `scripts/update_robot_sdf_ign` to write the changes to the SDF file. Or run `scripts/update_robot_sdf_ign_all_configs` to write the change in SDF files of all sensor configs of MARV.
+
+__Do not change the SDF files directly, as the changes could be lost the next time the update scripts are run.__
+
+## Validation and Specification Links
+* Vehicle Links:
+  * https://tenderarena.cz/dodavatel/seznam-profilu-zadavatelu/detail/Z0003010/zakazka/319126
+* Sensor specification links:
+  * Ouster OS0-128 https://ouster.com/products/os0-lidar-sensor/
+  * Basler cam https://www.baslerweb.com/en/products/cameras/area-scan-cameras/ace/aca2040-35gc/ + fisheye lens https://www.mouser.com/datasheet/2/857/DG00212701000_Tech_Spec_for_SAP_2000036382_2000036-1628255.pdf
+  * Basler cam https://www.baslerweb.com/en/products/cameras/area-scan-cameras/ace2/a2a1920-51gcpro/ + lens https://www.baslerweb.com/en/products/vision-components/lenses/basler-lens-c125-0418-5m-p-f4mm/ + Experimental validation: https://drive.google.com/drive/folders/1-KWMvjWSYYeLqPA0C3FCdKuHQAmOHN-z?usp=sharing
+  * Benewake TFmini plus point lidar https://www.mouser.com/datasheet/2/1099/Benewake_10152020_TFmini_Plus-1954028.pdf
+  * IMU: XSens MTi-30 https://www.mouser.com/datasheet/2/693/mti-series-1358510.pdf
+  * Boson thermal camera: https://www.oemcameras.com/flir-boson-320x256-2mm.htm
+  * Lights: the robot uses `1.5 m` of LED strips around the body. The total power output of these strips is about `50 W`. It also has a ceiling-pointing spot light.
+
+* Validation Video Links:
+  * Endurance test: TBD (May 2021)
+  * Maximum linear speed: TBD (May 2021)
+  * Maximum angular speed: TBD (May 2021)
+  * Rotation in place: TBD (May 2021)
+  * Flipper motion: TBD (May 2021)
+
+* Validation Data Links:
+  * Recordings of validation tests: TBD (May 2021)
+  * Total mass measurement: TBD (May 2021)
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diff --git a/submitted_models/ctu_cras_norlab_marv_sensor_config_1/urdf/basler_cameras.xacro b/submitted_models/ctu_cras_norlab_marv_sensor_config_1/urdf/basler_cameras.xacro
new file mode 100644
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--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_marv_sensor_config_1/urdf/basler_cameras.xacro
@@ -0,0 +1,136 @@
+<?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: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="${sensor_chip_pos + lens_back_focal_distance}" />
+
+        <xacro:property name="basler_void" value="${payload_mass.append(camera_mass + lens_mass)}" scope="global" />
+
+        <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>
+                        <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>${(resolution_y - 1) / 2}</cy>
+                                <s>0</s>
+                            </intrinsics>
+                            <xacro:if value="${fisheye and '$(arg rendering_target)' == 'gz'}">
+                                <type>stereographic</type>
+                                <scale_to_hfov>true</scale_to_hfov>
+                                <cutoff_angle>${pi}</cutoff_angle>
+                                <env_texture_size>1024</env_texture_size>
+                            </xacro:if>
+                        </lens>
+                    </camera>
+                </sensor>
+            </gazebo>
+        </xacro:if>
+    </xacro:macro>
+
+    <xacro:macro name="basler_ace_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="15" resolution_x="2048" resolution_y="1536"
+            fisheye="${fisheye}" simulate="${simulate}" visualize="${visualize}"
+            camera_length="0.054" origin_to_camera_front_dist="0.0387" camera_mass="${basler_ace_mass}"
+            camera_mesh="package://ctu_cras_norlab_marv_sensor_config_1/meshes/basler_ace.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_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_marv_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_fisheye" params="name simulate:=1 visualize:=0">
+        <xacro:basler_ace_link name="${name}" hfov_deg="138" fisheye="1" simulate="${simulate}" visualize="${visualize}"
+            lens_back_focal_distance="0.00785" lens_entrance_pupil_position="0.00345" lens_length="0.026" lens_mass="${fisheye_lens_mass}"
+            near_clip="0.025" lens_mesh="package://ctu_cras_norlab_marv_sensor_config_1/meshes/evetar_fisheye_lens.dae" />
+    </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_marv_sensor_config_1/meshes/evetar_lens.dae" />
+    </xacro:macro>
+</root>
\ No newline at end of file
diff --git a/submitted_models/ctu_cras_norlab_marv_sensor_config_1/urdf/boson_thermocam.xacro b/submitted_models/ctu_cras_norlab_marv_sensor_config_1/urdf/boson_thermocam.xacro
new file mode 100644
index 00000000..e79229df
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_marv_sensor_config_1/urdf/boson_thermocam.xacro
@@ -0,0 +1,51 @@
+<?xml version="1.0"?>
+<root xmlns:xacro="http://www.ros.org/wiki/xacro">
+    <xacro:property name="thermocam_mass" value="0.024" scope="global" /> <!-- https://flir.netx.net/file/asset/15754/original/attachment -->
+
+    <xacro:macro name="boson_thermocam" params="name simulate:=1 visualize:=0">
+        <!-- Thermal camera - FLIR Boson 320 20320H092 -->
+        <xacro:property name="thermocam_void" value="${payload_mass.append(thermocam_mass)}" scope="global" />
+        <link name="$(arg prefix)${name}">
+            <visual>
+                <origin xyz="0 0 ${0.021/2}" />
+                <geometry>
+                    <mesh filename="package://ctu_cras_norlab_marv_sensor_config_1/meshes/flir_boson.dae" />
+                </geometry>
+            </visual>
+            <collision>
+                <origin xyz="${0.043/2 - 0.006} 0 0" />
+                <geometry>
+                    <box size="0.043 0.021 0.021"/>
+                </geometry>
+            </collision>
+            <xacro:box_inertial mass="${thermocam_mass}" width="0.021" height="0.021" depth="0.043" xyz="${0.043/2 - 0.006} 0 0" />
+        </link>
+        <xacro:if value="${simulate}">
+            <gazebo reference="$(arg prefix)${name}">
+                <sensor name="thermal_camera" type="thermal_camera">
+                    <pose>0.030 0 0 0 0 0</pose>
+                    <always_on>1</always_on>
+                    <update_rate>8.6</update_rate>
+                    <visualize>${visualize}</visualize>
+                    <camera name="thermal_camera">
+                        <horizontal_fov>${92 * pi/180}</horizontal_fov>
+                        <image>
+                            <width>320</width>
+                            <height>256</height>
+                            <format>L16</format>
+                        </image>
+                        <clip>
+                            <near>0.2</near>
+                            <far>50</far>
+                        </clip>
+                    </camera>
+                    <plugin filename="ignition-gazebo-thermal-sensor-system" name="ignition::gazebo::systems::ThermalSensor">
+                        <min_temp>223.15</min_temp>
+                        <max_temp>453.15</max_temp>
+                        <resolution>0.06</resolution>
+                    </plugin>
+                </sensor>
+            </gazebo>
+        </xacro:if>
+    </xacro:macro>
+</root>
\ No newline at end of file
diff --git a/submitted_models/ctu_cras_norlab_marv_sensor_config_1/urdf/bumper.xacro b/submitted_models/ctu_cras_norlab_marv_sensor_config_1/urdf/bumper.xacro
new file mode 100644
index 00000000..fb3b888e
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_marv_sensor_config_1/urdf/bumper.xacro
@@ -0,0 +1,65 @@
+<?xml version="1.0"?>
+<root xmlns:xacro="http://www.ros.org/wiki/xacro">
+    <xacro:property name="item20_meter_mass" value="0.5" scope="global" />
+    <xacro:property name="item40x40_angle_mass" value="0.058" scope="global" />
+
+    <xacro:macro name="item20_profile" params="name length">
+        <xacro:property name="item20_void" value="${payload_mass.append(item20_meter_mass * length)}" scope="global" />
+        <link name="$(arg prefix)${name}">
+            <visual>
+                <geometry>
+                    <mesh filename="package://ctu_cras_norlab_marv_sensor_config_1/meshes/item20.dae" scale="${length} 1 1"/>
+                </geometry>
+            </visual>
+            <collision>
+                <geometry>
+                    <box size="${length} 0.02 0.02"/>
+                </geometry>
+            </collision>
+            <xacro:box_inertial mass="${item20_meter_mass * length}" width="0.02" depth="${length}" height="0.02" />
+        </link>
+    </xacro:macro>
+
+    <xacro:macro name="item40x40_angle" params="name">
+        <xacro:property name="item40x40_void" value="${payload_mass.append(item40x40_angle_mass)}" scope="global" />
+        <link name="$(arg prefix)${name}">
+            <visual>
+                <geometry>
+                    <mesh filename="package://ctu_cras_norlab_marv_sensor_config_1/meshes/item_angle40x40.dae" />
+                </geometry>
+            </visual>
+            <collision>
+                <xacro:property name="diag" value="${sqrt(2) * 0.04}" />
+                <origin xyz="0 0 0" rpy="0 ${pi/4} 0" />
+                <geometry>
+                    <box size="${diag} 0.02 ${diag}"/>
+                </geometry>
+            </collision>
+            <xacro:box_inertial mass="${item40x40_angle_mass}" width="0.02" depth="0.04" height="0.04" />
+        </link>
+    </xacro:macro>
+
+    <xacro:macro name="item_bumper" params="name width arm_length arm_relative_pos:=0.5">
+        <xacro:empty_link name="$(arg prefix)${name}" />
+
+        <xacro:item20_profile name="${name}_front" length="${width}" />
+        <xacro:fixed_joint name="${name}_front_j" parent="$(arg prefix)${name}" child="$(arg prefix)${name}_front"
+            xyz="${arm_length + 0.01} 0 0" rpy="0 0 ${pi/2}" />
+
+        <xacro:item20_profile name="${name}_left" length="${arm_length}" />
+        <xacro:fixed_joint name="${name}_left_j" parent="$(arg prefix)${name}" child="$(arg prefix)${name}_left"
+            xyz="${arm_length/2} ${width/2 * arm_relative_pos} 0" rpy="0 0 0" />
+
+        <xacro:item40x40_angle name="${name}_left_angle" />
+        <xacro:fixed_joint name="${name}_left_angle_j" parent="$(arg prefix)${name}" child="$(arg prefix)${name}_left_angle"
+            xyz="0 ${width/2 * arm_relative_pos} -0.01" rpy="${pi} 0 0" />
+
+        <xacro:item20_profile name="${name}_right" length="${arm_length}" />
+        <xacro:fixed_joint name="${name}_right_j" parent="$(arg prefix)${name}" child="$(arg prefix)${name}_right"
+            xyz="${arm_length/2} ${-width/2 * arm_relative_pos} 0" rpy="0 0 0" />
+
+        <xacro:item40x40_angle name="${name}_right_angle" />
+        <xacro:fixed_joint name="${name}_right_angle_j" parent="$(arg prefix)${name}" child="$(arg prefix)${name}_right_angle"
+            xyz="0 ${-width/2 * arm_relative_pos} -0.01" rpy="${pi} 0 0" />
+    </xacro:macro>
+</root>
\ No newline at end of file
diff --git a/submitted_models/ctu_cras_norlab_marv_sensor_config_1/urdf/lights.xacro b/submitted_models/ctu_cras_norlab_marv_sensor_config_1/urdf/lights.xacro
new file mode 100644
index 00000000..18f5ea8e
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_marv_sensor_config_1/urdf/lights.xacro
@@ -0,0 +1,49 @@
+<?xml version="1.0"?>
+<root xmlns:xacro="http://www.ros.org/wiki/xacro">
+    <xacro:macro name="led_stripe" params="name pose range linear:=1 constant:=0 quadratic:=0 inner_angle outer_angle">
+        <light name="${name}" type="spot">
+            <pose>${pose}</pose>
+            <cast_shadows>1</cast_shadows>
+            <attenuation>
+                <range>${range}</range>
+                <linear>${linear}</linear>
+                <constant>${constant}</constant>
+                <quadratic>${quadratic}</quadratic>
+            </attenuation>
+            <diffuse>0.8 0.8 0.5 1</diffuse>
+            <specular>0.8 0.8 0.5 1</specular>
+            <spot>
+                <inner_angle>${inner_angle}</inner_angle>
+                <outer_angle>${outer_angle}</outer_angle>
+                <falloff>1</falloff>
+            </spot>
+            <!-- Workaround: Gazebo Classic rotates <direction> differently -->
+            <xacro:if value="${'$(arg rendering_target)' == 'ign'}">
+                <direction>1 0 0</direction>
+            </xacro:if>
+            <xacro:unless value="${'$(arg rendering_target)' == 'ign'}">
+                <direction>0 0 -1</direction>
+            </xacro:unless>
+        </light>
+    </xacro:macro>
+
+    <xacro:macro name="spot_light_up" params="name pose">
+        <light name="${name}" type="spot">
+            <pose>${pose}</pose>
+            <attenuation>
+                <range>60</range>
+                <linear>0</linear>
+                <constant>0.1</constant>
+                <quadratic>0.0025</quadratic>
+            </attenuation>
+            <diffuse>0.8 0.8 0.5 1</diffuse>
+            <specular>0.8 0.8 0.5 1</specular>
+            <spot>
+                <inner_angle>${pi/3}</inner_angle>
+                <outer_angle>${pi/2}</outer_angle>
+                <falloff>1</falloff>
+            </spot>
+            <direction>0 0 -1</direction>
+        </light>
+    </xacro:macro>
+</root>
\ No newline at end of file
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
new file mode 100644
index 00000000..9513a806
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_marv_sensor_config_1/urdf/marv.xacro
@@ -0,0 +1,886 @@
+<?xml version="1.0" ?>
+<robot name="ctu_cras_norlab_marv_sensor_config_1" xmlns:xacro="http://www.ros.org/wiki/xacro">
+    <!--
+    This file is the single source of all URDF and SDF models of MARV. Do not edit those files
+    manually. Update the SDF using scripts/update_robot_sdf_ign. The URDF is generated dynamically
+    when launching the robot.
+
+    This Xacro file contains the information needed to build models of all sensor configs of MARV.
+    Which particular sensor config is built, depends on which files from config/* are loaded in the
+    update script.
+    -->
+
+    <xacro:arg name="name" default="" />
+    <xacro:if value="${len('$(arg name)') == 0}">
+        <xacro:arg name="prefix" default="" />
+    </xacro:if>
+    <xacro:unless value="${len('$(arg name)') == 0}">
+        <xacro:arg name="prefix" default="$(arg name)/" />
+    </xacro:unless>
+
+    <xacro:arg name="visualize_sensors" default="0" />
+
+    <!-- Colon-separated list of payload Xacro files to include. Whitespace around is ignored. -->
+    <xacro:arg name="payload_xacros" default="
+      $(find ctu_cras_norlab_marv_sensor_config_1)/urdf/mobilicom.xacro :
+      $(find ctu_cras_norlab_marv_sensor_config_1)/urdf/basler_cameras.xacro :
+      $(find ctu_cras_norlab_marv_sensor_config_1)/urdf/boson_thermocam.xacro :
+      $(find ctu_cras_norlab_marv_sensor_config_1)/urdf/mote_deployer.xacro :
+      $(find ctu_cras_norlab_marv_sensor_config_1)/urdf/ouster_lidar.xacro :
+      $(find ctu_cras_norlab_marv_sensor_config_1)/urdf/tfmini_plus_lidar.xacro
+    " />
+
+    <xacro:arg default="0.3600" name="rover_bodyWidth"/>
+    <xacro:arg default="0.6000" name="rover_bodyLength"/>
+    <xacro:arg default="0.2360" name="rover_bodyHeight"/>
+    <xacro:arg default="0.0440" name="rover_bodyEdgeCurvature"/> <!-- curvature of the front and rear bottom edges -->
+    <xacro:arg default="0.2700" name="rover_topBoxWidth"/>
+    <xacro:arg default="0.1000" name="rover_topBoxLength"/>
+    <xacro:arg default="0.1300" name="rover_topBoxHeight"/>
+    <xacro:arg default="0.0500" name="rover_topBoxLowerStepWidth"/>
+    <xacro:arg default="0.0400" name="rover_topBoxLowerStepHeight"/>
+    <xacro:arg default="0.0300" name="rover_topBoxHigherStepWidth"/>
+    <xacro:arg default="0.0870" name="rover_topBoxHigherStepHeight"/>
+    <xacro:property name="rover_topBoxHighestStepWidth"
+        value="${$(arg rover_topBoxWidth) - 2*$(arg rover_topBoxLowerStepWidth) - 2*$(arg rover_topBoxHigherStepWidth)}" />
+
+    <xacro:arg default="0.4980" name="rover_flipperLength"/>
+    <xacro:arg default="0.0750" name="rover_flipperWidth"/>
+    <xacro:arg default="0.1165" name="rover_flipperBigRadius"/>
+    <xacro:arg default="0.0780" name="rover_flipperSmallRadius"/>
+    <xacro:arg default="0.0180" name="rover_flipperBeltThickness"/>
+    <xacro:arg default="0.0305" name="rover_flipperBodyGap"/>
+    <xacro:property name="rover_flipperAxleDistance" value="${$(arg rover_flipperLength)-$(arg rover_flipperBigRadius) - $(arg rover_flipperSmallRadius)}" />
+    <xacro:property name="rover_referentialZ" value="$(arg rover_flipperBigRadius)" /> <!-- height of base_link above ground -->
+
+    <xacro:arg default="0.2560" name="rover_flipperJointX"/> <!-- w.r.t. referential frame -->
+    <xacro:property name="rover_flipperJointY" default="${$(arg rover_bodyWidth)/2 + $(arg rover_flipperBodyGap) + $(arg rover_flipperWidth)/2}" /> <!-- w.r.t. referential frame -->
+    <xacro:arg default="0.0000" name="rover_flipperJointZ"/> <!-- w.r.t. referential frame -->
+
+    <xacro:arg default="0.0000" name="rover_flipperBaseAngleOffset"/>
+    <xacro:property name="rover_bodyZOffset" default="${$(arg rover_bodyHeight)/2 + 0.0726 - rover_referentialZ}" />  <!-- coords of body center in referential frame -->
+
+    <xacro:arg default="1.0" name="rover_maxTrackSpeed" />
+    <xacro:arg default="3.0" name="rover_maxTrackAcceleration" />
+    <xacro:arg default="1.0" name="rover_maxFlipperRotationVelocity" />
+    <xacro:arg default="60"  name="rover_maxFlipperRotationEffort" />
+    <xacro:arg default="1.0" name="flipper_position_correction_gain" />
+    <xacro:arg default="$(arg rover_maxFlipperRotationEffort)" name="max_flipper_torque" />
+
+    <xacro:arg default="0.2000" name="bullet_antenna_height" />
+    <xacro:arg default="0.0100" name="bullet_antenna_radius" />
+
+    <xacro:arg name="num_wheels" default="8" /> <!-- Number of small wheels that approximate each flipper -->
+
+    <xacro:arg name="has_flippers" default="1" />
+    <xacro:arg name="has_ouster_lidar" default="1" />
+    <xacro:arg name="has_omnicam_vras" default="1" />
+    <xacro:arg name="big_collision_box_on_top" default="0" />
+    <xacro:arg name="has_cliff_sensors" default="1" />
+
+    <xacro:arg name="flipper_inflation_ratio" default="1.0" />
+    <!-- Since laser does a really bad job in filtering the flippers out, we need to extend them a bit inwards. The outer outline of the flippers should still remain realistic. -->
+    <xacro:arg name="flipper_inward_enlargement" default="0.017" />
+
+    <xacro:arg name="rendering_target" default="urdf" /> <!-- Pass "urdf" or "ign" of "gz" to tell the parser what is the desired target format. -->
+
+    <xacro:arg name="track_mu" default="1" />
+    <xacro:arg name="track_mu2" default="150" />
+
+    <xacro:arg name="simulate_ouster_lidar" default="True" />
+    <xacro:arg name="simulate_body_cams" default="True" />
+    <xacro:arg name="simulate_omnicam_vras" default="True" />
+    <xacro:arg name="simulate_imu" default="True" />
+    <xacro:arg name="simulate_thermocam" default="True" />
+    <xacro:arg name="simulate_cliff_sensors" default="True" />
+
+    <xacro:arg name="laser_update_rate" default="250" />
+
+    <xacro:property name="c_mount_flange_distance" value="0.017526" />
+    <xacro:property name="c_mount_radius" value="${0.025/2}" />
+
+
+    <!-- MASS CONSTANTS -->
+
+    <!--
+      chassis +
+      IMU + GNSS +
+      computers +
+      electronics +
+      Ethernet switch +
+      wifi +
+    -->
+    <xacro:property name="body_mass" value="${
+       4.84 +
+       0.10 +
+       1.88 +
+       1.00 +
+       0.68 +
+       0.2
+    }" />
+    <xacro:property name="bottom_plate_mass" value="1.09" />
+    <xacro:property name="deck_mass" value="3.4" />
+    <xacro:property name="flipper_motor_mass" value="4.06" />
+    <xacro:property name="top_box_mass" value="2.0" />
+
+    <xacro:property name="battery_mass" value="6.0" />
+
+    <xacro:property name="flipper_small_wheel_mass" value="0.172" />
+    <xacro:property name="flipper_big_wheel_mass" value="0.65" />
+    <xacro:property name="flipper_arm_mass" value="2.064" />
+    <xacro:property name="belt_mass" value="0.601" />
+
+    <!-- Append to this list in included payload Xacro files to count their weight to the total robot mass -->
+    <xacro:property name="payload_mass" value="${[]}" />
+
+    <!-- MACRO SPECIFICATIONS -->
+
+    <xacro:include filename="$(find ctu_cras_norlab_marv_sensor_config_1)/urdf/utils.xacro" />
+
+    <!-- SPECIAL LINKS -->
+
+    <!-- This is a virtual link that specifies the origin to which parts attachable to the top of the robot should be related. -->
+    <xacro:empty_link name="$(arg prefix)rear_right_box" />
+    <xacro:fixed_joint name="rear_right_box_j" parent="$(arg prefix)base_link" child="$(arg prefix)rear_right_box"
+        xyz="${-$(arg rover_bodyLength)/2} ${-$(arg rover_bodyWidth)/2} ${rover_bodyZOffset + $(arg rover_bodyHeight)/2}"/>
+
+    <!-- PAYLOAD INCLUDES -->
+
+    <!-- The included models should have collision elements specified for all physical links to be filtered out by laser filtering. -->
+    <!-- If the payload has non-negligible weight, it should append its weight to Xacro property payload_mass, e.g. by including this line: -->
+    <!-- <xacro:property name="mobilicom_void" value="${payload_mass.append(mobilicom_mass)}" scope="global" /> -->
+    <!-- This loop includes all Xacro files defined in payload_xacros arg. The looping itself is implemented via recursion. -->
+    <xacro:macro name="include_payload_xacros" params="xacros">
+        <xacro:if value="${len(xacros) > 0}">
+            <xacro:include filename="${xacros[0]}" />
+            <xacro:include_payload_xacros xacros="${xacros[1:]}" />
+        </xacro:if>
+    </xacro:macro>
+    <xacro:include_payload_xacros xacros='${[x.strip() for x in "$(arg payload_xacros)".split(":") if x.strip() != ""]}' />
+
+    <!-- MARV ROBOT LINKS AND JOINTS SPECIFICATION -->
+
+    <link name="$(arg prefix)base_link">
+        <visual name="chassis">
+            <origin rpy="0 0 0" xyz="0 0 0"/>
+            <geometry>
+                <!-- The origin of the mesh is exactly in base_link -->
+                <mesh filename="package://ctu_cras_norlab_marv_sensor_config_1/meshes/chassis.dae" />
+                <!-- This visual also has an emissive texture, but it cannot be added from here. It is added in update_robot_sdf_ign script. -->
+            </geometry>
+        </visual>
+        <visual>
+            <!-- deck thickness is 16 mm and is normally counted in rover_bodyHeight -->
+            <origin rpy="0 0 0" xyz="0 0 ${rover_bodyZOffset + ($(arg rover_bodyHeight) - 0.016)/2}"/>
+            <!-- RViz has some problem rendering the mesh... -->
+            <xacro:if value="${'$(arg rendering_target)' == 'urdf'}">
+                <geometry>
+                    <box size="$(arg rover_bodyLength) $(arg rover_bodyWidth) 0.016" />
+                </geometry>
+                <material name="deck_color">
+                    <color rgba="0.6307576 0.6653874 0.708376 1"/>
+                </material>
+            </xacro:if>
+            <xacro:unless value="${'$(arg rendering_target)' == 'urdf'}">
+                <geometry>
+                    <mesh filename="package://ctu_cras_norlab_marv_sensor_config_1/meshes/deck.dae" />
+                </geometry>
+            </xacro:unless>
+        </visual>
+        <visual>
+            <origin xyz="$(arg rover_flipperJointX) ${$(arg rover_bodyWidth)/2} $(arg rover_flipperJointZ)"/>
+            <geometry>
+                <mesh filename="package://ctu_cras_norlab_marv_sensor_config_1/meshes/motor_housing.dae" />
+            </geometry>
+        </visual>
+        <visual>
+            <origin xyz="$(arg rover_flipperJointX) ${-$(arg rover_bodyWidth)/2} $(arg rover_flipperJointZ)"/>
+            <geometry>
+                <mesh filename="package://ctu_cras_norlab_marv_sensor_config_1/meshes/motor_housing_mirrored.dae" scale="1 1 1"/>
+            </geometry>
+        </visual>
+        <visual>
+            <origin xyz="${-$(arg rover_flipperJointX)} ${$(arg rover_bodyWidth)/2} $(arg rover_flipperJointZ)"/>
+            <geometry>
+                <mesh filename="package://ctu_cras_norlab_marv_sensor_config_1/meshes/motor_housing_mirrored.dae" scale="-1 -1 1"/>
+            </geometry>
+        </visual>
+        <visual>
+            <origin xyz="${-$(arg rover_flipperJointX)} ${-$(arg rover_bodyWidth)/2} $(arg rover_flipperJointZ)"/>
+            <geometry>
+                <mesh filename="package://ctu_cras_norlab_marv_sensor_config_1/meshes/motor_housing.dae" scale="-1 -1 1"/>
+            </geometry>
+        </visual>
+        <collision>
+            <origin rpy="0 0 0" xyz="0 0 ${rover_bodyZOffset + $(arg rover_bodyEdgeCurvature)/2}"/>
+            <geometry>
+                <box size="$(arg rover_bodyLength) $(arg rover_bodyWidth) ${$(arg rover_bodyHeight) - $(arg rover_bodyEdgeCurvature)}" />
+            </geometry>
+        </collision>
+        <collision>
+            <origin rpy="0 0 0" xyz="0 0 ${rover_bodyZOffset - $(arg rover_bodyHeight)/2 + $(arg rover_bodyEdgeCurvature)/2}"/>
+            <geometry>
+                <box size="${$(arg rover_bodyLength) - 2*$(arg rover_bodyEdgeCurvature)} $(arg rover_bodyWidth) $(arg rover_bodyEdgeCurvature)" />
+            </geometry>
+        </collision>
+        <collision>
+            <!-- We enlarge the radius a tiny bit to avoid wrong contact forces on the interface between the bottom plate and the cylinder -->
+            <origin xyz="${$(arg rover_bodyLength)/2-$(arg rover_bodyEdgeCurvature)} 0 ${rover_bodyZOffset - $(arg rover_bodyHeight)/2 + $(arg rover_bodyEdgeCurvature)*1.001}"
+                    rpy="${pi/2} 0 0"/>
+            <geometry>
+                <cylinder length="$(arg rover_bodyWidth)" radius="${$(arg rover_bodyEdgeCurvature)*1.001}" />
+            </geometry>
+        </collision>
+        <collision>
+            <!-- We enlarge the radius a tiny bit to avoid wrong contact forces on the interface between the bottom plate and the cylinder -->
+            <origin xyz="${-($(arg rover_bodyLength)/2-$(arg rover_bodyEdgeCurvature))} 0 ${rover_bodyZOffset - $(arg rover_bodyHeight)/2 + $(arg rover_bodyEdgeCurvature)*1.001}"
+                    rpy="${pi/2} 0 0"/>
+            <geometry>
+                <cylinder length="$(arg rover_bodyWidth)" radius="${$(arg rover_bodyEdgeCurvature)*1.001}" />
+            </geometry>
+        </collision>
+        <xacro:if value="$(arg big_collision_box_on_top)">
+            <collision name="big_collision_box">
+                <origin rpy="0 0 0" xyz="0 0 ${rover_bodyZOffset + $(arg rover_bodyHeight)/2 + $(arg big_collision_box_height)/2 - 0.1}"/>
+                <geometry>
+                    <box size="$(arg big_collision_box_depth) $(arg big_collision_box_width) $(arg big_collision_box_height)" />
+                </geometry>
+            </collision>
+        </xacro:if>
+
+        <xacro:box_inertial mass="${body_mass}"
+            width="$(arg rover_bodyWidth)" height="${$(arg rover_bodyHeight)-0.016}" depth="$(arg rover_bodyLength)"
+            xyz="0 0 ${rover_bodyZOffset - 0.008}" />
+    </link>
+
+    <xacro:box_inertial_link name="$(arg prefix)deck" parent="$(arg prefix)base_link" mass="${deck_mass}"
+        width="$(arg rover_bodyWidth)" height="0.016" depth="$(arg rover_bodyLength)"
+        xyz="0 0 ${rover_bodyZOffset + $(arg rover_bodyHeight)/2}" />
+    <xacro:box_inertial_link name="$(arg prefix)bottom_plate" parent="$(arg prefix)base_link" mass="${bottom_plate_mass}"
+        width="$(arg rover_bodyWidth)" height="0.005" depth="$(arg rover_bodyLength)"
+        xyz="0 0 ${rover_bodyZOffset - $(arg rover_bodyHeight)/2}" />
+    <xacro:box_inertial_link name="$(arg prefix)front_left_motor" parent="$(arg prefix)base_link"
+        mass="${flipper_motor_mass}" width="0.17" height="0.126" depth="0.15" xyz="0.22 -0.09 0.02" />
+    <xacro:box_inertial_link name="$(arg prefix)front_right_motor" parent="$(arg prefix)base_link"
+        mass="${flipper_motor_mass}" width="0.17" height="0.126" depth="0.15" xyz="0.22 0.09 0.02" />
+    <xacro:box_inertial_link name="$(arg prefix)rear_left_motor" parent="$(arg prefix)base_link"
+        mass="${flipper_motor_mass}" width="0.17" height="0.126" depth="0.15" xyz="-0.22 -0.09 0.02" />
+    <xacro:box_inertial_link name="$(arg prefix)rear_right_motor" parent="$(arg prefix)base_link"
+        mass="${flipper_motor_mass}" width="0.17" height="0.126" depth="0.15" xyz="-0.22 0.09 0.02" />
+
+    <link name="$(arg prefix)top_box">
+        <visual>
+            <geometry>
+                <box size="$(arg rover_topBoxLength) ${rover_topBoxHighestStepWidth} $(arg rover_topBoxHeight)" />
+            </geometry>
+            <material name="body_color">
+                <color rgba="0 ${94/255.0} ${184/255.0} 1.0"/>
+            </material>
+        </visual>
+        <visual>
+            <origin xyz="0 ${$(arg rover_topBoxLowerStepWidth)/2 - $(arg rover_topBoxWidth)/2} ${-$(arg rover_topBoxHeight)/2 + $(arg rover_topBoxLowerStepHeight)/2}" />
+            <geometry>
+                <box size="$(arg rover_topBoxLength) $(arg rover_topBoxLowerStepWidth) $(arg rover_topBoxLowerStepHeight)" />
+            </geometry>
+            <material name="body_color">
+                <color rgba="0 ${94/255.0} ${184/255.0} 1.0"/>
+            </material>
+        </visual>
+        <visual>
+            <origin xyz="0 ${-$(arg rover_topBoxLowerStepWidth)/2 + $(arg rover_topBoxWidth)/2} ${-$(arg rover_topBoxHeight)/2 + $(arg rover_topBoxLowerStepHeight)/2}" />
+            <geometry>
+                <box size="$(arg rover_topBoxLength) $(arg rover_topBoxLowerStepWidth) $(arg rover_topBoxLowerStepHeight)" />
+            </geometry>
+            <material name="body_color">
+                <color rgba="0 ${94/255.0} ${184/255.0} 1.0"/>
+            </material>
+        </visual>
+        <visual>
+            <origin xyz="0 ${-rover_topBoxHighestStepWidth/2 - $(arg rover_topBoxHigherStepWidth)/2} ${-$(arg rover_topBoxHeight)/2 + $(arg rover_topBoxHigherStepHeight)/2}" />
+            <geometry>
+                <box size="$(arg rover_topBoxLength) $(arg rover_topBoxHigherStepWidth) $(arg rover_topBoxHigherStepHeight)" />
+            </geometry>
+            <material name="body_color">
+                <color rgba="0 ${94/255.0} ${184/255.0} 1.0"/>
+            </material>
+        </visual>
+        <visual>
+            <origin xyz="0 ${rover_topBoxHighestStepWidth/2 + $(arg rover_topBoxHigherStepWidth)/2} ${-$(arg rover_topBoxHeight)/2 + $(arg rover_topBoxHigherStepHeight)/2}" />
+            <geometry>
+                <box size="$(arg rover_topBoxLength) $(arg rover_topBoxHigherStepWidth) $(arg rover_topBoxHigherStepHeight)" />
+            </geometry>
+            <material name="body_color">
+                <color rgba="0 ${94/255.0} ${184/255.0} 1.0"/>
+            </material>
+        </visual>
+        <visual name="reflector">
+            <origin rpy="0 ${3*pi/2} ${pi/2}"
+                xyz="0 ${-rover_topBoxHighestStepWidth/2 - 0.012} ${$(arg rover_topBoxHeight)/2 - ($(arg rover_topBoxHeight) - $(arg rover_topBoxHigherStepHeight))}" />
+            <geometry>
+                <mesh filename="package://ctu_cras_norlab_marv_sensor_config_1/meshes/reflector.dae" />
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <box size="$(arg rover_topBoxLength) ${rover_topBoxHighestStepWidth} $(arg rover_topBoxHeight)" />
+            </geometry>
+        </collision>
+        <collision>
+            <origin xyz="0 ${$(arg rover_topBoxLowerStepWidth)/2 - $(arg rover_topBoxWidth)/2} ${-$(arg rover_topBoxHeight)/2 + $(arg rover_topBoxLowerStepHeight)/2}" />
+            <geometry>
+                <box size="$(arg rover_topBoxLength) $(arg rover_topBoxLowerStepWidth) $(arg rover_topBoxLowerStepHeight)" />
+            </geometry>
+        </collision>
+        <collision>
+            <origin xyz="0 ${-$(arg rover_topBoxLowerStepWidth)/2 + $(arg rover_topBoxWidth)/2} ${-$(arg rover_topBoxHeight)/2 + $(arg rover_topBoxLowerStepHeight)/2}" />
+            <geometry>
+                <box size="$(arg rover_topBoxLength) $(arg rover_topBoxLowerStepWidth) $(arg rover_topBoxLowerStepHeight)" />
+            </geometry>
+        </collision>
+        <collision>
+            <origin xyz="0 ${-rover_topBoxHighestStepWidth/2 - $(arg rover_topBoxHigherStepWidth)/2} ${-$(arg rover_topBoxHeight)/2 + $(arg rover_topBoxHigherStepHeight)/2}" />
+            <geometry>
+                <box size="$(arg rover_topBoxLength) $(arg rover_topBoxHigherStepWidth) $(arg rover_topBoxHigherStepHeight)" />
+            </geometry>
+        </collision>
+        <collision>
+            <origin xyz="0 ${rover_topBoxHighestStepWidth/2 + $(arg rover_topBoxHigherStepWidth)/2} ${-$(arg rover_topBoxHeight)/2 + $(arg rover_topBoxHigherStepHeight)/2}" />
+            <geometry>
+                <box size="$(arg rover_topBoxLength) $(arg rover_topBoxHigherStepWidth) $(arg rover_topBoxHigherStepHeight)" />
+            </geometry>
+        </collision>
+        <xacro:box_inertial mass="${top_box_mass}"
+            width="$(arg rover_topBoxWidth)" height="$(arg rover_topBoxHeight)" depth="$(arg rover_topBoxLength)" />
+    </link>
+    <xacro:fixed_joint name="top_box_j" parent="$(arg prefix)base_link" child="$(arg prefix)top_box"
+        xyz="$(arg rover_topBoxX) 0 ${rover_bodyZOffset + $(arg rover_bodyHeight)/2 + $(arg rover_topBoxHeight)/2}" />
+    <xacro:solid_color_link_material link="$(arg prefix)top_box" r="0" g="${94/255.0}" b="${184/255.0}" />
+
+    <link name="$(arg prefix)battery1">
+        <visual>
+            <geometry>
+                <mesh filename="package://ctu_cras_norlab_marv_sensor_config_1/meshes/battery.dae" />
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <box size="0.126 0.36 0.13" />
+            </geometry>
+        </collision>
+        <xacro:box_inertial mass="${battery_mass}" width="0.36" height="0.13" depth="0.126" />
+    </link>
+    <xacro:fixed_joint name="battery1_j" parent="$(arg prefix)base_link" child="$(arg prefix)battery1"
+        xyz="0.06 0.005 ${rover_bodyZOffset - $(arg rover_bodyHeight)/2 + 0.069}" />
+
+    <link name="$(arg prefix)battery2">
+        <visual>
+            <geometry>
+                <mesh filename="package://ctu_cras_norlab_marv_sensor_config_1/meshes/battery.dae" />
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <box size="0.126 0.36 0.13" />
+            </geometry>
+        </collision>
+        <xacro:box_inertial mass="${battery_mass}" width="0.36" height="0.13" depth="0.126" />
+    </link>
+    <xacro:fixed_joint name="battery2_j" parent="$(arg prefix)base_link" child="$(arg prefix)battery2"
+        xyz="-0.06 0.005 ${rover_bodyZOffset - $(arg rover_bodyHeight)/2 + 0.069}" />
+
+    <link name="$(arg prefix)antenna">
+        <visual>
+            <origin xyz="0 0 ${$(arg bullet_antenna_height)/2}" rpy="0 0 0" />
+            <geometry>
+                <cylinder length="$(arg bullet_antenna_height)" radius="$(arg bullet_antenna_radius)" />
+            </geometry>
+        </visual>
+        <collision>
+            <origin rpy="0 0 0" xyz="0 0 ${$(arg bullet_antenna_height)/2}"/>
+            <geometry>
+                <cylinder length="$(arg bullet_antenna_height)" radius="$(arg bullet_antenna_radius)" />
+            </geometry>
+        </collision>
+        <xacro:cylinder_inertial mass="0.08" radius="$(arg bullet_antenna_radius)" length="$(arg bullet_antenna_height)"
+            xyz="0 0 ${$(arg bullet_antenna_height)/2}" />
+    </link>
+    <xacro:fixed_joint name="antenna_j" parent="$(arg prefix)top_box" child="$(arg prefix)antenna"
+        xyz="${-$(arg rover_topBoxLength)/2 - $(arg bullet_antenna_radius)} ${$(arg rover_topBoxWidth)/2 - $(arg bullet_antenna_radius)} ${-$(arg rover_topBoxHeight)/2}" />
+
+    <!-- Flippers -->
+
+    <xacro:macro name="flipper" params="prefix1 prefix2 reflect_x reflect_y">
+        <link name="$(arg prefix)${prefix1}_${prefix2}_flipper">
+            <visual>
+                <origin xyz="0 0 0" rpy="0 0 0" />
+                <geometry>
+                    <mesh filename="package://ctu_cras_norlab_marv_sensor_config_1/meshes/big_wheel.dae"/>
+                </geometry>
+            </visual>
+            <visual>
+                <origin xyz="0 0 0" rpy="0 0 0" />
+                <geometry>
+                    <mesh filename="package://ctu_cras_norlab_marv_sensor_config_1/meshes/flipper_arm.dae"
+                          scale="${-reflect_y} ${-reflect_y} 1"/>
+                </geometry>
+            </visual>
+            <visual>
+                <origin xyz="0 0 0" rpy="0 ${(1 - reflect_y)/2 * pi} 0" />
+                <geometry>
+                    <mesh filename="package://ctu_cras_norlab_marv_sensor_config_1/meshes/belt.dae"
+                          scale="1 1 1"/>
+                </geometry>
+            </visual>
+            <visual>
+                <origin xyz="${reflect_y * rover_flipperAxleDistance} 0 0" rpy="0 0 0" />
+                <geometry>
+                    <mesh filename="package://ctu_cras_norlab_marv_sensor_config_1/meshes/small_wheel.dae"/>
+                </geometry>
+            </visual>
+            <xacro:if value="${'$(arg rendering_target)' == 'urdf'}">
+                <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)}" />
+                <collision>
+                    <origin xyz="${reflect_y * rover_flipperAxleDistance/2} ${-reflect_y * $(arg flipper_inward_enlargement)/2} 0" />
+                    <geometry>
+                        <box size="${rover_flipperAxleDistance} ${$(arg rover_flipperWidth) + $(arg flipper_inward_enlargement)} ${inflated_small_wheel}" />
+                    </geometry>
+                </collision>
+                <collision>
+                    <origin rpy="0 ${reflect_y * flipper_edge_angle} 0"
+                        xyz="${reflect_y * rover_flipperAxleDistance/2} ${-reflect_y * $(arg flipper_inward_enlargement)/2} ${inflated_small_wheel/2 + rover_flipperAxleDistance/2 * tan(flipper_edge_angle)}" />
+                    <geometry>
+                        <box size="${rover_flipperAxleDistance} ${$(arg rover_flipperWidth) + $(arg flipper_inward_enlargement)} ${inflated_small_wheel}" />
+                    </geometry>
+                </collision>
+                <collision>
+                    <origin rpy="0 ${-reflect_y * flipper_edge_angle} 0"
+                        xyz="${reflect_y * rover_flipperAxleDistance/2} ${-reflect_y * $(arg flipper_inward_enlargement)/2} ${-inflated_small_wheel/2 - rover_flipperAxleDistance/2 * tan(flipper_edge_angle)}" />
+                    <geometry>
+                        <box size="${rover_flipperAxleDistance} ${$(arg rover_flipperWidth) + $(arg flipper_inward_enlargement)} ${inflated_small_wheel}" />
+                    </geometry>
+                </collision>
+                <collision>
+                    <origin xyz="${reflect_y * rover_flipperAxleDistance} ${-reflect_y * $(arg flipper_inward_enlargement)/2} 0" rpy="${pi/2} 0 0"  />
+                    <geometry>
+                        <cylinder length="${$(arg rover_flipperWidth)+ $(arg flipper_inward_enlargement)}" radius="${inflated_small_wheel}" />
+                    </geometry>
+                </collision>
+                <collision>
+                    <origin xyz="0 ${-reflect_y * $(arg flipper_inward_enlargement)/2} 0" rpy="${pi/2} 0 0" />
+                    <geometry>
+                        <cylinder length="${$(arg rover_flipperWidth) + $(arg flipper_inward_enlargement)}" radius="${inflated_big_wheel}" />
+                    </geometry>
+                </collision>
+            </xacro:if>
+            <xacro:default_inertial />
+        </link>
+
+        <joint name="${prefix1}_${prefix2}_flipper_j" type="revolute">
+            <parent link="$(arg prefix)base_link"/>
+            <child link="$(arg prefix)${prefix1}_${prefix2}_flipper"/>
+            <axis xyz="0 1 0"/>
+            <origin xyz="${reflect_x*$(arg rover_flipperJointX)} ${reflect_y*rover_flipperJointY} $(arg rover_flipperJointZ)"
+                    rpy="0 ${pi * (1 - (reflect_x * reflect_y))/2} 0"/>
+
+            <limit lower="-1e+16" upper="1e+16" effort="$(arg rover_maxFlipperRotationEffort)" velocity="$(arg rover_maxFlipperRotationVelocity)" />
+        </joint>
+
+        <xacro:macro name="flipper_fake_wheels" params="prefix1 prefix2 reflect_y wheel_num">
+            <xacro:if value="${wheel_num > 0}">
+                <xacro:flipper_fake_wheel prefix1="${prefix1}" prefix2="${prefix2}" reflect_y="${reflect_y}" num_wheels="$(arg num_wheels)" wheel_num="${wheel_num}" />
+                <!-- recursion -->
+                <xacro:flipper_fake_wheels prefix1="${prefix1}" prefix2="${prefix2}" reflect_y="${reflect_y}" wheel_num="${wheel_num - 1}" />
+            </xacro:if>
+        </xacro:macro>
+        <xacro:unless value="${'$(arg rendering_target)' == 'urdf'}">
+            <xacro:flipper_fake_wheels prefix1="${prefix1}" prefix2="${prefix2}" reflect_y="${reflect_y}" wheel_num="$(arg num_wheels)" />
+        </xacro:unless>
+
+        <xacro:empty_link name="$(arg prefix)${prefix1}_${prefix2}_flipper_end_point"/>
+        <xacro:fixed_joint name="${prefix1}_${prefix2}_flipper_end_point_j"
+            parent="$(arg prefix)${prefix1}_${prefix2}_flipper" child="$(arg prefix)${prefix1}_${prefix2}_flipper_end_point"
+            xyz="${reflect_y * (rover_flipperAxleDistance + $(arg rover_flipperSmallRadius))} 0 0" rpy="0 0 0"/>
+
+        <xacro:empty_link name="$(arg prefix)${prefix1}_${prefix2}_flipper_end_point_inflated"/>
+        <xacro:fixed_joint name="${prefix1}_${prefix2}_flipper_end_point_inflated_j"
+            parent="$(arg prefix)${prefix1}_${prefix2}_flipper" child="$(arg prefix)${prefix1}_${prefix2}_flipper_end_point_inflated"
+            xyz="${reflect_y * (rover_flipperAxleDistance + $(arg flipper_inflation_ratio) * $(arg rover_flipperSmallRadius))} 0 0" rpy="0 0 0"/>
+    </xacro:macro>
+
+    <xacro:macro name="flipper_fake_wheel" params="prefix1 prefix2 reflect_y num_wheels wheel_num">
+        <xacro:property name="fake_wheel_length" value="${$(arg rover_flipperWidth)+$(arg flipper_inward_enlargement)}" />
+        <xacro:property name="fake_wheel_radius" value="${($(arg rover_flipperSmallRadius)+($(arg rover_flipperBigRadius)-$(arg rover_flipperSmallRadius))*(num_wheels-wheel_num)/(num_wheels-1)) * $(arg flipper_inflation_ratio)}" />
+        <link name="$(arg prefix)${prefix1}_${prefix2}_flipper_wheel${wheel_num}">
+            <collision name="${prefix1}_${prefix2}_flipper_wheel${wheel_num}_collision">
+                <origin rpy="${pi/2} 0 0" xyz="0 0 0"/>
+                <geometry>
+                    <cylinder length="${fake_wheel_length}" radius="${fake_wheel_radius}" />
+                </geometry>
+            </collision>
+            <xacro:cylinder_inertial mass="${(flipper_arm_mass + flipper_big_wheel_mass + 2*flipper_small_wheel_mass + belt_mass)/num_wheels}"
+                length="${fake_wheel_length}" radius="${fake_wheel_radius}" rpy="${pi/2} 0 0" />
+        </link>
+        <joint name="${prefix1}_${prefix2}_flipper_wheel${wheel_num}_j" type="revolute">
+            <parent link="$(arg prefix)${prefix1}_${prefix2}_flipper"/>
+            <child link="$(arg prefix)${prefix1}_${prefix2}_flipper_wheel${wheel_num}"/>
+            <axis xyz="0 1 0"/>
+
+            <origin xyz="${reflect_y*((wheel_num-1)*rover_flipperAxleDistance/(num_wheels-1))} ${-reflect_y*$(arg flipper_inward_enlargement)/2.0} 0" rpy="0 0 0" />
+
+            <limit lower="-1e+16" upper="1e+16" effort="-1" velocity="${$(arg rover_maxTrackSpeed) / fake_wheel_radius}" />
+        </joint>
+    </xacro:macro>
+
+    <xacro:if value="$(arg has_flippers)">
+        <xacro:flipper prefix1="front" prefix2="left"  reflect_x="1"  reflect_y="1"  />
+        <xacro:flipper prefix1="front" prefix2="right" reflect_x="1"  reflect_y="-1" />
+        <xacro:flipper prefix1="rear"  prefix2="left"  reflect_x="-1" reflect_y="1"  />
+        <xacro:flipper prefix1="rear"  prefix2="right" reflect_x="-1" reflect_y="-1" />
+    </xacro:if>
+
+    <!-- SENSORS -->
+
+    <!-- Body cameras -->
+    <xacro:basler_ace_fisheye name="front_cam" simulate="$(arg simulate_body_cams)" visualize="$(arg visualize_sensors)" />
+    <xacro:fixed_joint name="front_cam_j" parent="$(arg prefix)base_link" child="$(arg prefix)front_cam"
+        xyz="${$(arg rover_bodyLength)/2 - 0.056} 0 ${rover_bodyZOffset + $(arg rover_bodyHeight)/2 - 0.016 - 0.029 - 0.015}" />
+
+    <xacro:basler_ace_fisheye name="rear_cam" simulate="$(arg simulate_body_cams)" visualize="$(arg visualize_sensors)" />
+    <xacro:fixed_joint name="rear_cam_j" parent="$(arg prefix)base_link" child="$(arg prefix)rear_cam"
+        xyz="${-($(arg rover_bodyLength)/2 - 0.056)} 0 ${rover_bodyZOffset + $(arg rover_bodyHeight)/2 - 0.016 - 0.029 - 0.015}"
+        rpy="0 0 ${pi}" />
+
+    <!-- Omnicamera -->
+    <xacro:if value="$(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_bodyLength) - 0.09} ${$(arg rover_bodyWidth)/2} 0" />
+
+        <xacro:basler_ace_omnicam name="camera_1" simulate="$(arg simulate_omnicam_vras)" visualize="$(arg visualize_sensors)" />
+        <xacro:fixed_joint name="camera_1_j" parent="$(arg prefix)top_box" child="$(arg prefix)camera_1"
+            xyz="0 ${-$(arg rover_bodyWidth)/2 + 0.093} ${-$(arg rover_topBoxHeight)/2}" rpy="0 0 ${-pi/2}" />
+
+        <xacro:basler_ace_omnicam name="camera_2" simulate="$(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="0.09 ${$(arg rover_bodyWidth)/2} 0" rpy="0 0 ${-pi}" />
+
+        <xacro:basler_ace_omnicam name="camera_3" simulate="$(arg simulate_omnicam_vras)" visualize="$(arg visualize_sensors)" />
+        <xacro:fixed_joint name="camera_3_j" parent="$(arg prefix)top_box" child="$(arg prefix)camera_3"
+            xyz="0 ${$(arg rover_bodyWidth)/2 - 0.093} ${-$(arg rover_topBoxHeight)/2}" rpy="0 0 ${-3*pi/2}" />
+
+        <xacro:basler_ace_omnicam name="camera_4" simulate="$(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 ${rover_topBoxHighestStepWidth/2} ${-$(arg rover_topBoxHeight)/2 + $(arg rover_topBoxHigherStepHeight) - 0.05}" rpy="${pi} ${-pi/2} ${pi/2}" />
+    </xacro:if>
+
+    <!-- 3D lidar -->
+    <xacro:if value="$(arg has_ouster_lidar)">
+        <xacro:ouster_os0_128 name="laser" simulate="$(arg simulate_ouster_lidar)" visualize="$(arg visualize_sensors)" />
+        <xacro:fixed_joint name="laser_j" parent="$(arg prefix)top_box" child="$(arg prefix)laser"
+            xyz="0 0 ${$(arg rover_topBoxHeight)/2}" rpy="0 0 0" />
+    </xacro:if>
+
+    <!-- Thermal camera -->
+    <xacro:if value="$(arg has_boson_thermocam)">
+        <xacro:boson_thermocam name="thermocam" simulate="$(arg simulate_thermocam)" visualize="$(arg visualize_sensors)" />
+        <xacro:fixed_joint name="thermocam_j" parent="$(arg prefix)rear_right_box" child="$(arg prefix)thermocam"
+            xyz="${$(arg rover_bodyLength)-0.04} ${$(arg rover_bodyWidth)/2 - 0.04} 0" />
+    </xacro:if>
+
+    <!-- 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="0.06 0.02 -0.01" rpy="0 0 ${pi}" />
+    </xacro:if>
+
+    <!-- Cliff sensors -->
+    <xacro:if value="$(arg has_cliff_sensors)">
+        <xacro:tfmini_plus name="cliff_sensor_front_left" rate="10" simulate="$(arg simulate_cliff_sensors)" visualize="$(arg visualize_sensors)" />
+        <xacro:fixed_joint name="cliff_sensor_front_left_j" parent="$(arg prefix)rear_right_box" child="$(arg prefix)cliff_sensor_front_left"
+            xyz="$(arg rover_bodyLength) ${$(arg rover_bodyWidth) * 0.95 - 0.035/2} 0.0185" rpy="0 ${pi/2} 0" />
+
+        <xacro:tfmini_plus name="cliff_sensor_front_right" rate="10" simulate="$(arg simulate_cliff_sensors)" visualize="$(arg visualize_sensors)" />
+        <xacro:fixed_joint name="cliff_sensor_front_right_j" parent="$(arg prefix)rear_right_box" child="$(arg prefix)cliff_sensor_front_right"
+            xyz="$(arg rover_bodyLength) ${$(arg rover_bodyWidth) * 0.05 + 0.035/2} 0.0185" rpy="0 ${pi/2} 0" />
+
+        <xacro:tfmini_plus name="cliff_sensor_rear_left" rate="10" simulate="$(arg simulate_cliff_sensors)" visualize="$(arg visualize_sensors)" />
+        <xacro:fixed_joint name="cliff_sensor_rear_left_j" parent="$(arg prefix)rear_right_box" child="$(arg prefix)cliff_sensor_rear_left"
+            xyz="0 ${$(arg rover_bodyWidth) * 0.95 - 0.035/2} 0.0185" rpy="0 ${pi/2} ${pi}" />
+
+        <xacro:tfmini_plus name="cliff_sensor_rear_right" rate="10" simulate="$(arg simulate_cliff_sensors)" visualize="$(arg visualize_sensors)" />
+        <xacro:fixed_joint name="cliff_sensor_rear_right_j" parent="$(arg prefix)rear_right_box" child="$(arg prefix)cliff_sensor_rear_right"
+            xyz="0 ${$(arg rover_bodyWidth) * 0.05 + 0.035/2} 0.0185" rpy="0 ${pi/2} ${pi}" />
+    </xacro:if>
+
+    <!-- Compute total mass -->
+
+    <xacro:property name="total_mass" value="${
+      body_mass + bottom_plate_mass + deck_mass + 2*battery_mass + top_box_mass +
+      $(arg has_flippers) * 4*(flipper_motor_mass + 2*flipper_small_wheel_mass + flipper_big_wheel_mass + flipper_arm_mass + belt_mass) +
+      fsum(payload_mass)
+    }" />
+
+    <!-- This is a workaround for outputting the total mass of the robot. You'll find it in the URDF file. -->
+    <xacro:property name="total_mass_str" value="${str(total_mass).replace('.', '_')}" />
+    <link name="total_mass_${total_mass_str}" />
+    <xacro:fixed_joint name="total_mass_j" parent="$(arg prefix)base_link" child="total_mass_${total_mass_str}" />
+
+    <!-- Gazebo-specific stuff - no link specification beyond this point (so that all are counted in the total mass) -->
+
+    <gazebo>
+        <xacro:if value="${'$(arg rendering_target)' == 'ign'}">
+            <xacro:if value="$(arg has_flippers)">
+                <xacro:macro name="flipper_plugin" params="flipper_name">
+                    <plugin filename="flipper_control_plugin" name="cras::FlipperControlPlugin">
+                        <joint_name>${flipper_name}</joint_name>
+                        <max_velocity>$(arg rover_maxFlipperRotationVelocity)</max_velocity>
+                        <max_torque>$(arg max_flipper_torque)</max_torque>
+                        <position_correction_gain>$(arg flipper_position_correction_gain)</position_correction_gain>
+                    </plugin>
+                </xacro:macro>
+                <xacro:flipper_plugin flipper_name="front_left_flipper_j" />
+                <xacro:flipper_plugin flipper_name="front_right_flipper_j" />
+                <xacro:flipper_plugin flipper_name="rear_left_flipper_j" />
+                <xacro:flipper_plugin flipper_name="rear_right_flipper_j" />
+            </xacro:if>
+
+            <xacro:if value="$(arg has_flippers)">
+                <plugin filename="ignition-gazebo-joint-state-publisher-system" name="ignition::gazebo::systems::JointStatePublisher">
+                    <joint_name>front_left_flipper_j</joint_name>
+                    <joint_name>front_right_flipper_j</joint_name>
+                    <joint_name>rear_left_flipper_j</joint_name>
+                    <joint_name>rear_right_flipper_j</joint_name>
+                </plugin>
+            </xacro:if>
+        </xacro:if>
+    </gazebo>
+
+    <gazebo reference="$(arg prefix)base_link">
+        <selfCollide>false</selfCollide>
+    </gazebo>
+
+    <xacro:macro name="track_base_surface">
+        <surface>
+            <friction>
+                <ode>
+                    <mu>$(arg track_mu)</mu>
+                    <mu2>$(arg track_mu2)</mu2>
+                    <fdir1>0 0 1</fdir1>
+                </ode>
+            </friction>
+        </surface>
+    </xacro:macro>
+
+    <xacro:macro name="flipper_wheel_surface" params="is_front wheel_num">
+        <surface>
+            <contact>
+                <ode>
+                    <kp>1e+07</kp>
+                    <kd>1</kd>
+                </ode>
+                <!-- category_bits would be much better, but no support for it-->
+                <!-- we can only use the lower 8 bits, that's the default collision bitmask -->
+                <xacro:property name="wheel_num_mod" value="${(wheel_num-1) % 8 + 1}" />
+                <collide_bitmask>${int(pow(2,wheel_num_mod-1))}</collide_bitmask>
+            </contact>
+            <friction>
+                <ode>
+                    <mu>$(arg track_mu)</mu>
+                    <mu2>$(arg track_mu2)</mu2>
+                    <!-- Ignition Gazebo expects value divided by mass -->
+                    <xacro:property name="wheel_slip" value="0.035" />
+                    <xacro:if value="${'$(arg rendering_target)' == 'ign'}">
+                        <slip1>${wheel_slip/total_mass}</slip1>
+                    </xacro:if>
+                    <xacro:unless value="${'$(arg rendering_target)' == 'ign'}">
+                        <slip1>${wheel_slip}</slip1>
+                    </xacro:unless>
+                    <slip2>0</slip2>
+                    <fdir1>0 0 1</fdir1>
+                </ode>
+            </friction>
+        </surface>
+    </xacro:macro>
+
+    <xacro:macro name="flipper_surface">
+    </xacro:macro>
+
+    <xacro:macro name="gazebo_flipper_tags">
+        <xacro:gazebo_default_tags />
+        <selfCollide>true</selfCollide>
+        <collision>
+            <xacro:track_base_surface />
+            <xacro:flipper_surface />
+        </collision>
+    </xacro:macro>
+
+    <xacro:macro name="gazebo_flipper_wheel_tags" params="is_front wheel_num">
+        <xacro:gazebo_default_tags />
+        <selfCollide>true</selfCollide>
+        <collision>
+            <xacro:flipper_wheel_surface is_front="${is_front}" wheel_num="${wheel_num}" />
+            <xacro:flipper_surface />
+        </collision>
+    </xacro:macro>
+
+    <xacro:if value="$(arg has_flippers)">
+        <gazebo reference="$(arg prefix)front_left_flipper"><xacro:gazebo_flipper_tags /></gazebo>
+        <gazebo reference="$(arg prefix)front_right_flipper"><xacro:gazebo_flipper_tags /></gazebo>
+        <gazebo reference="$(arg prefix)rear_left_flipper"><xacro:gazebo_flipper_tags /></gazebo>
+        <gazebo reference="$(arg prefix)rear_right_flipper"><xacro:gazebo_flipper_tags /></gazebo>
+
+        <gazebo>
+<!--            TODO: this should be set to true but it slows down rotation of the robot -->
+<!--            <self_collide>true</self_collide>-->
+        </gazebo>
+
+        <!-- recursive macro that adds wheel properties to each wheel -->
+        <xacro:macro name="flipper_wheel_tags" params="wheel_num">
+            <xacro:if value="${wheel_num > 0}">
+                <gazebo reference="$(arg prefix)front_left_flipper_wheel${wheel_num}"><xacro:gazebo_flipper_wheel_tags is_front="1" wheel_num="${wheel_num}" /></gazebo>
+                <gazebo reference="$(arg prefix)front_right_flipper_wheel${wheel_num}"><xacro:gazebo_flipper_wheel_tags is_front="1" wheel_num="${wheel_num}" /></gazebo>
+                <gazebo reference="$(arg prefix)rear_left_flipper_wheel${wheel_num}"><xacro:gazebo_flipper_wheel_tags is_front="0" wheel_num="${wheel_num}" /></gazebo>
+                <gazebo reference="$(arg prefix)rear_right_flipper_wheel${wheel_num}"><xacro:gazebo_flipper_wheel_tags is_front="0" wheel_num="${wheel_num}" /></gazebo>
+                <xacro:flipper_wheel_tags wheel_num="${wheel_num - 1}" />
+            </xacro:if>
+        </xacro:macro>
+        <xacro:flipper_wheel_tags wheel_num="${$(arg num_wheels)}" />
+
+        <xacro:if value="${'$(arg rendering_target)' == 'ign'}">
+            <gazebo>
+                <xacro:property name="inflation_coef" value="$(arg flipper_inflation_ratio)" />
+                <xacro:property name="small_wheel_radius" value="${$(arg rover_flipperSmallRadius) * inflation_coef}" />
+                <xacro:property name="wheel_radius_increment" value="${($(arg rover_flipperBigRadius)-$(arg rover_flipperSmallRadius))/($(arg num_wheels)-1) * inflation_coef}" />
+
+                <plugin filename="ignition-gazebo-wheel-slip-system"
+                        name="ignition::gazebo::systems::WheelSlip">
+
+                    <!-- recursive macro outputting wheel config for one wheel and calling itself for the next wheel -->
+                    <xacro:macro name="wheel_slip" params="flipper_name wheel_num">
+                        <xacro:if value="${wheel_num > 0}"> <!-- stop recursion -->
+                            <wheel link_name="${flipper_name}_wheel${wheel_num}">
+                                <slip_compliance_lateral>0.0485</slip_compliance_lateral>
+                                <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
+                                <wheel_normal_force>${total_mass/$(arg num_wheels)}</wheel_normal_force>
+                                <wheel_radius>${small_wheel_radius + wheel_radius_increment * ($(arg num_wheels) - wheel_num)}</wheel_radius>
+                            </wheel>
+                            <!-- recursion here -->
+                            <xacro:wheel_slip flipper_name="${flipper_name}" wheel_num="${wheel_num - 1}" />
+                        </xacro:if>
+                    </xacro:macro>
+
+                    <xacro:wheel_slip flipper_name="front_left_flipper" wheel_num="$(arg num_wheels)" />
+                    <xacro:wheel_slip flipper_name="front_right_flipper" wheel_num="$(arg num_wheels)" />
+                    <xacro:wheel_slip flipper_name="rear_left_flipper" wheel_num="$(arg num_wheels)" />
+                    <xacro:wheel_slip flipper_name="rear_right_flipper" wheel_num="$(arg num_wheels)" />
+                </plugin>
+            </gazebo>
+        </xacro:if>
+
+    </xacro:if>
+
+    <xacro:macro name="stiff_joint_tags">
+        <stopCfm value="0" />
+        <stopErp value="0.2" />
+        <implicitSpringDamper value="1" />
+    </xacro:macro>
+
+    <xacro:if value="$(arg has_flippers)">
+        <gazebo reference="front_left_flipper_j">
+            <xacro:stiff_joint_tags/>
+        </gazebo>
+        <gazebo reference="front_right_flipper_j">
+            <xacro:stiff_joint_tags/>
+        </gazebo>
+        <gazebo reference="rear_left_flipper_j">
+            <xacro:stiff_joint_tags/>
+        </gazebo>
+        <gazebo reference="rear_right_flipper_j">
+            <xacro:stiff_joint_tags/>
+        </gazebo>
+    </xacro:if>
+
+    <xacro:macro name="gazebo_invisible_tags">
+        <selfCollide>false</selfCollide>
+        <!--        <material>Gazebo/GreenTransparent</material>-->
+    </xacro:macro>
+
+    <!-- LIGHTS -->
+
+    <xacro:include filename="$(find ctu_cras_norlab_marv_sensor_config_1)/urdf/lights.xacro" />
+
+    <gazebo reference="$(arg prefix)base_link">
+        <xacro:led_stripe name="light_left" range="30" linear="0.2" constant="0.1" quadratic="0.0025"
+            inner_angle="2.8" outer_angle="2.9"
+            pose="0 ${$(arg rover_bodyWidth)/2+0.01} ${rover_bodyZOffset + $(arg rover_bodyHeight)/2 - 0.03} ${pi/2} ${pi/2} 0" />
+        <xacro:led_stripe name="light_right" range="30" linear="0.2" constant="0.1" quadratic="0.0025"
+            inner_angle="2.8" outer_angle="2.9"
+            pose="0 ${-$(arg rover_bodyWidth)/2-0.01} ${rover_bodyZOffset + $(arg rover_bodyHeight)/2 - 0.03} ${3*pi/2} ${pi/2} 0" />
+        <xacro:led_stripe name="light_front" range="30" linear="0.2" constant="0.1" quadratic="0.0025"
+            inner_angle="2.8" outer_angle="2.9"
+            pose="${$(arg rover_bodyLength)/2+0.01} 0 ${rover_bodyZOffset + $(arg rover_bodyHeight)/2 - 0.03} ${pi} ${pi/2} 0" />
+        <xacro:led_stripe name="light_rear" range="40" linear="0" constant="0.2" quadratic="0.0025"
+            inner_angle="2.8" outer_angle="2.9"
+            pose="${-$(arg rover_bodyLength)/2-0.01} 0 ${rover_bodyZOffset + $(arg rover_bodyHeight)/2 - 0.03} 0 ${pi/2} 0" />
+    </gazebo>
+
+    <gazebo reference="$(arg prefix)top_box">
+        <xacro:spot_light_up name="light_up"
+            pose="0 ${-rover_topBoxHighestStepWidth/2 - $(arg rover_topBoxHigherStepWidth)/2} ${$(arg rover_topBoxHeight)/2 - ($(arg rover_topBoxHeight) - $(arg rover_topBoxHigherStepHeight))+0.01} 0 ${pi} 0" />
+    </gazebo>
+
+    <!-- virtual link to specify IMU position -->
+    <xacro:empty_link name="$(arg prefix)imu" />
+    <xacro:fixed_joint name="imu_j" parent="$(arg prefix)base_link" child="$(arg prefix)imu" xyz="0 0 0.1500" rpy="${pi} 0 0" />
+
+    <gazebo reference="$(arg prefix)imu">
+        <xacro:gazebo_invisible_tags />
+        <xacro:if value="$(arg simulate_imu)">
+            <sensor name="imu" type="imu">
+                <always_on>1</always_on>
+                <update_rate>50</update_rate>
+                <imu>
+                    <angular_velocity>
+                        <xacro:macro name="angular_imu_noise">
+                            <noise type="gaussian">
+                                <mean>0</mean>
+                                <stddev>0.009</stddev>
+                                <bias_mean>0.00075</bias_mean>
+                                <bias_stddev>0.005</bias_stddev>
+                                <xacro:if value="${'$(arg rendering_target)' == 'ign'}">
+                                    <dynamic_bias_stddev>0.00002</dynamic_bias_stddev>
+                                    <dynamic_bias_correlation_time>400.0</dynamic_bias_correlation_time>
+                                </xacro:if>
+                                <precision>0.00025</precision>
+                            </noise>
+                        </xacro:macro>
+                        <x><xacro:angular_imu_noise/></x>
+                        <y><xacro:angular_imu_noise/></y>
+                        <z><xacro:angular_imu_noise/></z>
+                    </angular_velocity>
+                    <linear_acceleration>
+                        <xacro:macro name="linear_imu_noise">
+                            <noise type="gaussian">
+                                <mean>0</mean>
+                                <stddev>0.021</stddev>
+                                <bias_mean>0.05</bias_mean>
+                                <bias_stddev>0.0075</bias_stddev>
+                                <xacro:if value="${'$(arg rendering_target)' == 'ign'}">
+                                    <dynamic_bias_stddev>0.000375</dynamic_bias_stddev>
+                                    <dynamic_bias_correlation_time>175.0</dynamic_bias_correlation_time>
+                                </xacro:if>
+                                <precision>0.005</precision>
+                            </noise>
+                        </xacro:macro>
+                        <x><xacro:linear_imu_noise /></x>
+                        <y><xacro:linear_imu_noise /></y>
+                        <z><xacro:linear_imu_noise /></z>
+                    </linear_acceleration>
+                </imu>
+            </sensor>
+        </xacro:if>
+    </gazebo>
+</robot>
diff --git a/submitted_models/ctu_cras_norlab_marv_sensor_config_1/urdf/mobilicom.xacro b/submitted_models/ctu_cras_norlab_marv_sensor_config_1/urdf/mobilicom.xacro
new file mode 100644
index 00000000..672435d5
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_marv_sensor_config_1/urdf/mobilicom.xacro
@@ -0,0 +1,118 @@
+<?xml version="1.0"?>
+<root xmlns:xacro="http://www.ros.org/wiki/xacro">
+
+    <xacro:arg name="has_mobilicom" default="0" />
+    <xacro:arg name="mobilicom_is_lite" default="0" />
+    <xacro:arg name="mobilicom_shift_x" default="-0.015" />
+    <xacro:arg name="mobilicom_shift_y" default="0.005" />
+    <xacro:arg name="mobilicom_shift_z" default="0.08" />
+    <xacro:arg name="mobilicom_yaw" default="-0.94" />
+    <xacro:arg name="mobilicom_pitch" default="0.0" />
+    <xacro:arg name="mobilicom_roll" default="0.0" />
+    <xacro:arg name="mobilicom_antenna_l_rotation" default="0" />
+    <xacro:arg name="mobilicom_antenna_l_tilt" default="${pi/2}" />
+    <xacro:arg name="mobilicom_antenna_r_rotation" default="0" />
+    <xacro:arg name="mobilicom_antenna_r_tilt" default="${pi/2}" />
+    <xacro:arg name="mobilicom_antennas_radius" default="0.01" />
+    <xacro:arg name="mobilicom_antennas_length" default="0.17" />
+    <xacro:arg name="mobilicom_parent_link" default="omnicam" />
+    <xacro:arg name="mobilicom_has_antenna_box" default="True" />
+
+    <xacro:property name="mobilicom_body_mass" value="0.168" />
+    <xacro:property name="mobilicom_antenna_mass" value="0.03" />
+    <xacro:property name="mobilicom_mass" value="${mobilicom_body_mass + 2*mobilicom_antenna_mass}" />
+
+    <xacro:if value="$(arg has_mobilicom)">
+        <xacro:property name="mobilicom_void" value="${payload_mass.append(mobilicom_mass)}" scope="global" />
+
+        <link name="$(arg prefix)mobilicom">
+            <visual>
+                <xacro:unless value="$(arg mobilicom_is_lite)">
+                    <origin rpy="0 0 0" xyz="0 0 ${0.065/2}" />
+                    <geometry>
+                        <box size="0.2 0.09 0.065" />
+                    </geometry>
+                    <material name="black_aluminium">
+                        <color rgba="0.1 0.1 0.1 1"/>
+                    </material>
+                </xacro:unless>
+                <xacro:if value="$(arg mobilicom_is_lite)">
+                    <geometry>
+                        <mesh filename="package://ctu_cras_norlab_marv_sensor_config_1/meshes/mobilicom.dae" />
+                    </geometry>
+                </xacro:if>
+            </visual>
+            <collision>
+                <origin rpy="0 0 0" xyz="0 0 ${0.027/2}" />
+                <geometry>
+                    <box size="0.1 0.074 0.027" />
+                </geometry>
+            </collision>
+            <xacro:if value="$(arg mobilicom_has_antenna_box)">
+                <collision name="antenna_big_box">
+                    <origin rpy="0 0 0" xyz="0.05 0.03 0.1" />
+                    <geometry>
+                        <box size="0.05 0.2
+                        ${$(arg mobilicom_antennas_length)+0.05}" />
+                    </geometry>
+                </collision>
+            </xacro:if>
+            <xacro:box_inertial mass="${mobilicom_body_mass}"
+                width="0.074" height="0.027" depth="0.1"
+                xyz="0 0 ${0.027/2}" />
+        </link>
+        <xacro:fixed_joint name="mobilicom_j" parent="$(arg prefix)$(arg mobilicom_parent_link)" child="$(arg prefix)mobilicom"
+            xyz="$(arg mobilicom_shift_x) $(arg mobilicom_shift_y) $(arg mobilicom_shift_z)"
+            rpy="$(arg mobilicom_roll) $(arg mobilicom_pitch) $(arg mobilicom_yaw)" />
+
+        <link name="$(arg prefix)mobilicom_antenna_l">
+            <visual>
+                <origin rpy="0 0 0" xyz="0 0 ${$(arg mobilicom_antennas_length)/2}" />
+                <geometry>
+                    <cylinder radius="$(arg mobilicom_antennas_radius)" length="$(arg mobilicom_antennas_length)" />
+                </geometry>
+                <material name="black_aluminium">
+                    <color rgba="0.1 0.1 0.1 1"/>
+                </material>
+            </visual>
+            <collision>
+                <origin rpy="0 0 0" xyz="0 0 ${$(arg mobilicom_antennas_length)/2}" />
+                <geometry>
+                    <cylinder radius="$(arg mobilicom_antennas_radius)" length="$(arg mobilicom_antennas_length)"/>
+                </geometry>
+            </collision>
+            <xacro:cylinder_inertial mass="${mobilicom_antenna_mass}"
+                length="$(arg mobilicom_antennas_length)" radius="$(arg mobilicom_antennas_radius)"
+                xyz="0 0 ${$(arg mobilicom_antennas_length)/2}" />
+        </link>
+        <xacro:fixed_joint name="mobilicom_antenna_l_j" parent="$(arg prefix)mobilicom" child="$(arg prefix)mobilicom_antenna_l"
+            xyz="${0.1/2} 0.025 ${0.027/2}"
+            rpy="$(arg mobilicom_antenna_l_rotation) $(arg mobilicom_antenna_l_tilt) 0" />
+
+        <link name="$(arg prefix)mobilicom_antenna_r">
+            <visual>
+                <origin rpy="0 0 0" xyz="0 0 ${$(arg mobilicom_antennas_length)/2}" />
+                <geometry>
+                    <cylinder radius="$(arg mobilicom_antennas_radius)" length="$(arg mobilicom_antennas_length)" />
+                </geometry>
+                <material name="black_aluminium">
+                    <color rgba="0.1 0.1 0.1 1"/>
+                </material>
+            </visual>
+            <collision>
+                <origin rpy="0 0 0" xyz="0 0 ${$(arg mobilicom_antennas_length)/2}" />
+                <geometry>
+                    <cylinder radius="$(arg mobilicom_antennas_radius)" length="$(arg mobilicom_antennas_length)"/>
+                </geometry>
+            </collision>
+            <xacro:cylinder_inertial mass="${mobilicom_antenna_mass}"
+                length="$(arg mobilicom_antennas_length)" radius="$(arg mobilicom_antennas_radius)"
+                xyz="0 0 ${$(arg mobilicom_antennas_length)/2}" />
+        </link>
+        <xacro:fixed_joint name="mobilicom_antenna_r_j" parent="$(arg prefix)mobilicom" child="$(arg prefix)mobilicom_antenna_r"
+            xyz="${0.1/2} -0.025 ${0.027/2}"
+            rpy="$(arg mobilicom_antenna_r_rotation) $(arg mobilicom_antenna_r_tilt) 0" />
+
+    </xacro:if>
+
+</root>
\ No newline at end of file
diff --git a/submitted_models/ctu_cras_norlab_marv_sensor_config_1/urdf/mote_deployer.xacro b/submitted_models/ctu_cras_norlab_marv_sensor_config_1/urdf/mote_deployer.xacro
new file mode 100644
index 00000000..9fd7c3ca
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_marv_sensor_config_1/urdf/mote_deployer.xacro
@@ -0,0 +1,25 @@
+<?xml version="1.0"?>
+<root xmlns:xacro="http://www.ros.org/wiki/xacro">
+    <xacro:arg name="num_breadcrumbs" default="0" />
+    <xacro:arg name="has_mote_deployer" default="${0 if $(arg num_breadcrumbs) == 0 else 1}" />
+
+    <xacro:property name="mote_deployer_mass" value="0.5" scope="global" />
+
+    <xacro:if value="$(arg has_mote_deployer)">
+        <xacro:property name="mote_deployer_void" value="${payload_mass.append(mote_deployer_mass)}" scope="global" />
+        <link name="$(arg prefix)mote_deployer">
+            <visual>
+                <geometry>
+                    <mesh filename="package://ctu_cras_norlab_marv_sensor_config_1/meshes/mote_deployer.dae" />
+                </geometry>
+            </visual>
+            <collision>
+                <origin xyz="${0.189/2-0.01} ${-0.072/2+0.012} ${0.131/2}" />
+                <geometry>
+                    <box size="0.189 0.072 0.131" />
+                </geometry>
+            </collision>
+            <xacro:box_inertial width="0.072" height="0.131" depth="0.189" mass="${mote_deployer_mass}" xyz="${0.189/2-0.01} ${-0.072/2+0.012} ${0.131/2}" />
+        </link>
+    </xacro:if>
+</root>
\ No newline at end of file
diff --git a/submitted_models/ctu_cras_norlab_marv_sensor_config_1/urdf/ouster_lidar.xacro b/submitted_models/ctu_cras_norlab_marv_sensor_config_1/urdf/ouster_lidar.xacro
new file mode 100644
index 00000000..16afda9e
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_marv_sensor_config_1/urdf/ouster_lidar.xacro
@@ -0,0 +1,58 @@
+<?xml version="1.0"?>
+<root xmlns:xacro="http://www.ros.org/wiki/xacro">
+    <xacro:property name="ouster_os0_128_mass" value="0.5" scope="global" />
+
+    <xacro:macro name="ouster_os0_128" params="name simulate:=1 visualize:=0 horiz_samples:=2048 rate:=10">
+        <xacro:property name="ouster_void" value="${payload_mass.append(ouster_os0_128_mass)}" scope="global" />
+        <link name="$(arg prefix)${name}">
+            <visual>
+                <geometry>
+                    <mesh filename="package://ctu_cras_norlab_marv_sensor_config_1/meshes/ouster-os0.dae"/>
+                </geometry>
+            </visual>
+            <collision>
+                <origin rpy="0 0 0" xyz="0 0 ${0.0735/2}"/>
+                <geometry>
+                    <cylinder length="0.0735" radius="0.0435"/>
+                </geometry>
+            </collision>
+            <xacro:cylinder_inertial mass="${ouster_os0_128_mass}" radius="0.0435" length="0.0735" xyz="0 0 ${0.0735/2}" />
+        </link>
+        <gazebo reference="$(arg prefix)${name}">
+            <xacro:if value="${simulate and '$(arg rendering_target)' == 'ign'}">
+                <sensor name="laser" type="gpu_lidar">
+                    <pose>0 0 0.035925 0 0 0</pose> <!-- Geometrical center of the lidar is a bit off, this is from datasheet. -->
+                    <update_rate>${rate}</update_rate>
+                    <visualize>${visualize}</visualize>
+                    <always_on>1</always_on>
+                    <lidar>
+                        <scan>
+                            <horizontal>
+                                <samples>${horiz_samples}</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>-${pi/4}</min_angle>
+                                <max_angle>${pi/4}</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>
+            </xacro:if>
+        </gazebo>
+    </xacro:macro>
+</root>
\ No newline at end of file
diff --git a/submitted_models/ctu_cras_norlab_marv_sensor_config_1/urdf/tfmini_plus_lidar.xacro b/submitted_models/ctu_cras_norlab_marv_sensor_config_1/urdf/tfmini_plus_lidar.xacro
new file mode 100644
index 00000000..98668a44
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_marv_sensor_config_1/urdf/tfmini_plus_lidar.xacro
@@ -0,0 +1,59 @@
+<?xml version="1.0"?>
+<root xmlns:xacro="http://www.ros.org/wiki/xacro">
+    <xacro:property name="tfmini_plus_mass" value="0.012" scope="global" />
+
+    <xacro:macro name="tfmini_plus" params="name simulate:=1 visualize:=0 rate:=10">
+        <xacro:property name="tfmini_plus_void" value="${payload_mass.append(tfmini_plus_mass)}" scope="global" />
+        <link name="$(arg prefix)${name}">
+            <visual>
+                <geometry>
+                    <mesh filename="package://ctu_cras_norlab_marv_sensor_config_1/meshes/tfmini_plus_lidar.dae"/>
+                </geometry>
+            </visual>
+            <collision>
+                <origin rpy="0 0 0" xyz="${0.021/2} 0 ${0.0185/2}"/>
+                <geometry>
+                    <box size="0.021 0.035 0.0185"/>
+                </geometry>
+            </collision>
+            <xacro:box_inertial mass="${tfmini_plus_mass}" width="0.035" depth="0.021" height="0.0185" xyz="${0.021/2} 0 ${0.0185/2}" />
+        </link>
+        <gazebo reference="$(arg prefix)${name}">
+            <xacro:property name="fov" value="${radians(3.6)}" />
+            <xacro:if value="${simulate and '$(arg rendering_target)' == 'ign'}">
+                <sensor name="laser" type="gpu_lidar">
+                    <pose>0.021 0 ${0.0185/2} 0 0 0</pose>
+                    <update_rate>${rate}</update_rate>
+                    <visualize>${visualize}</visualize>
+                    <always_on>1</always_on>
+                    <lidar>
+                        <scan>
+                            <horizontal>
+                                <samples>3</samples>
+                                <resolution>1</resolution>
+                                <min_angle>${-fov/2}</min_angle>
+                                <max_angle>${fov/2}</max_angle>
+                            </horizontal>
+                            <vertical>
+                                <samples>3</samples>
+                                <resolution>1</resolution>
+                                <min_angle>${-fov/2}</min_angle>
+                                <max_angle>${fov/2}</max_angle>
+                            </vertical>
+                        </scan>
+                        <range>
+                            <min>0.1</min>
+                            <max>12</max>
+                            <resolution>0.01</resolution>
+                        </range>
+                        <noise>
+                            <type>gaussian</type>
+                            <mean>0</mean>
+                            <stddev>0.015</stddev>
+                        </noise>
+                    </lidar>
+                </sensor>
+            </xacro:if>
+        </gazebo>
+    </xacro:macro>
+</root>
\ No newline at end of file
diff --git a/submitted_models/ctu_cras_norlab_marv_sensor_config_1/urdf/utils.xacro b/submitted_models/ctu_cras_norlab_marv_sensor_config_1/urdf/utils.xacro
new file mode 100644
index 00000000..ac5eb13a
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_marv_sensor_config_1/urdf/utils.xacro
@@ -0,0 +1,104 @@
+<?xml version="1.0"?>
+<root xmlns:xacro="http://www.ros.org/wiki/xacro">
+    <xacro:macro name="inertia_meshlab" params="ixx ixy ixz iyy iyz izz scale mass">
+        <inertia
+                ixx="${ixx*scale*scale}" ixy="${ixy*scale*scale}" ixz="${ixz*scale*scale}"
+                iyy="${iyy*scale*scale}" iyz="${iyz*scale*scale}"
+                izz="${izz*scale*scale}"/>
+    </xacro:macro>
+
+    <xacro:macro name="sphere_inertial" params="radius mass xyz:='0 0 0'">
+        <inertial>
+            <mass value="${mass}" />
+            <origin xyz="${xyz}" rpy="0 0 0"/>
+            <inertia ixx="${2.0/5 * mass * radius * radius}" ixy="0.0" ixz="0.0"
+                     iyy="${2.0/5 * mass * radius * radius}" iyz="0.0"
+                     izz="${2.0/5 * mass * radius * radius}" />
+        </inertial>
+    </xacro:macro>
+
+    <xacro:macro name="box_inertial" params="width height depth mass xyz:='0 0 0' rpy:='0 0 0'">
+        <inertial>
+            <mass value="${mass}" />
+            <origin xyz="${xyz}" rpy="${rpy}"/>
+            <inertia ixx="${1.0/12 * mass * (width * width + height * height)}" ixy="0.0" ixz="0.0"
+                     iyy="${1.0/12 * mass * (height * height + depth * depth)}" iyz="0.0"
+                     izz="${1.0/12 * mass * (width * width + depth * depth)}" />
+        </inertial>
+    </xacro:macro>
+
+    <xacro:macro name="cylinder_inertial" params="radius length mass xyz:='0 0 0' rpy:='0 0 0'">
+        <inertial>
+            <mass value="${mass}" />
+            <origin xyz="${xyz}" rpy="${rpy}"/>
+            <inertia ixx="${1.0/12 * mass * (3 * radius * radius + length * length)}" ixy="0.0" ixz="0.0"
+                     iyy="${1.0/12 * mass * (3 * radius * radius + length * length)}" iyz="0.0"
+                     izz="${0.5 * mass * radius * radius}" />
+        </inertial>
+    </xacro:macro>
+
+    <xacro:macro name="default_inertial">
+        <inertial>
+            <origin xyz="0 0 0" rpy="0 0 0"/>
+            <mass value="1e-5" />
+            <inertia ixx="1e-3" ixy="1e-6" ixz="1e-6"
+                     iyy="1e-3" iyz="1e-6"
+                     izz="1e-3" />
+        </inertial>
+    </xacro:macro>
+
+    <xacro:macro name="empty_link" params="name">
+        <link name="${name}">
+            <xacro:default_inertial />
+            <selfCollide>false</selfCollide>
+        </link>
+    </xacro:macro>
+
+    <xacro:macro name="fixed_joint" params="name parent child xyz:='0 0 0' rpy:='0 0 0' lump:=0">
+        <joint name="${name}" type="fixed">
+            <parent link="${parent}"/>
+            <child link="${child}"/>
+            <origin xyz="${xyz}" rpy="${rpy}"/>
+        </joint>
+        <xacro:if value="${lump == 0}">
+            <!-- workaround for https://github.com/osrf/sdformat/issues/378 -->
+            <gazebo reference="${name}">
+                <preserveFixedJoint>true</preserveFixedJoint>
+            </gazebo>
+        </xacro:if>
+    </xacro:macro>
+
+    <xacro:macro name="box_inertial_link" params="name parent width height depth mass xyz:='0 0 0' rpy:='0 0 0'">
+        <link name="${name}">
+            <xacro:box_inertial width="${width}" height="${height}" depth="${depth}" mass="${mass}" xyz="${xyz}" rpy="${rpy}" />
+        </link>
+        <xacro:fixed_joint name="${name}_j" parent="${parent}" child="${name}" />
+    </xacro:macro>
+
+    <xacro:macro name="gazebo_default_tags">
+        <selfCollide>false</selfCollide>
+        <kinematic>false</kinematic>
+    </xacro:macro>
+
+    <xacro:macro name="solid_color_link_material" params="link r g b">
+        <xacro:unless value="${'$(arg rendering_target)' == 'urdf'}">
+            <gazebo reference="${link}">
+                <visual>
+                    <material>
+                        <ambient>0 0 0 0</ambient>
+                        <xacro:if value="${'$(arg rendering_target)' == 'gz'}">
+                            <diffuse>${r} ${g} ${b} 1</diffuse>
+                        </xacro:if>
+                        <!-- Ignition Gazebo seems to use much brighter colors... -->
+                        <xacro:if value="${'$(arg rendering_target)' == 'ign'}">
+                            <diffuse>${max(0, r - 60/255.0)} ${max(0, g - 60/255.0)} ${max(0, b - 60/255.0)} 1</diffuse>
+                        </xacro:if>
+                        <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
diff --git a/submitted_models/ctu_cras_norlab_marv_sensor_config_1/worlds/example.sdf b/submitted_models/ctu_cras_norlab_marv_sensor_config_1/worlds/example.sdf
new file mode 100644
index 00000000..d398cc89
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_marv_sensor_config_1/worlds/example.sdf
@@ -0,0 +1,206 @@
+<?xml version="1.0" ?>
+<sdf version="1.6">
+  <world name="example">
+    <physics name="4ms" type="dart">
+      <max_step_size>0.004</max_step_size>
+      <real_time_factor>1.0</real_time_factor>
+    </physics>
+
+    <scene>
+      <ambient>0.2 0.2 0.2</ambient>
+      <background>0.8 0.8 0.8</background>
+    </scene>
+
+
+    <light type="directional" name="sun">
+      <cast_shadows>true</cast_shadows>
+      <pose>0 0 10 0 0 0</pose>
+      <diffuse>0.8 0.8 0.8 1</diffuse>
+      <specular>0.8 0.8 0.8 1</specular>
+      <attenuation>
+        <range>1</range>
+        <constant>0.9</constant>
+        <linear>1</linear>
+        <quadratic>0.001</quadratic>
+      </attenuation>
+      <direction>0.0 0.0 -1.0</direction>
+    </light>
+
+  <light name="light1" type="point">
+      <pose>0 0 4 0 0 0</pose>
+      <attenuation>
+        <range>1000</range>
+        <linear>0</linear>
+        <constant>0.1</constant>
+        <quadratic>0.005</quadratic>
+      </attenuation>
+      <diffuse>0.8 0.8 0.8 1</diffuse>
+      <specular>0.8 0.8 0.8 1</specular>
+      <spot>
+        <inner_angle>5</inner_angle>
+        <outer_angle>10.1</outer_angle>
+        <falloff>.1</falloff>
+      </spot>
+      <direction>0 0 -1</direction>
+    </light>
+    <light name="light2" type="spot">
+      <pose>0 0 4 0 0 0</pose>
+      <attenuation>
+        <range>1000</range>
+        <linear>0.1</linear>
+        <constant>0.2</constant>
+        <quadratic>0.005</quadratic>
+      </attenuation>
+      <diffuse>0.8 0.8 0.5 1</diffuse>
+      <specular>0.8 0.8 0.5 1</specular>
+      <spot>
+        <inner_angle>5</inner_angle>
+        <outer_angle>10.1</outer_angle>
+        <falloff>.1</falloff>
+      </spot>
+      <direction>0 0 -1</direction>
+    </light>
+    <!-- The staging area -->
+    <include>
+      <static>true</static>
+      <name>staging_area</name>
+      <pose>0 0 0 0 0 0</pose>
+      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/subt_tunnel_staging_area</uri>
+    </include>
+
+    <include>
+      <static>true</static>
+      <name>tunnel</name>
+      <pose>19.9059 -0.431901 0 0 0 -1.5754</pose>
+      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Tunnel Tile 6 Rails</uri>
+    </include>
+
+    <include>
+      <static>true</static>
+      <name>stairs</name>
+      <pose>0 21 0 0 0 0</pose>
+      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Urban%20Stairwell%20Platform%20Centered%20Lights</uri>
+    </include>
+
+    <!-- Barriers -->
+    <include>
+      <name>barrier_0_-1</name>
+      <pose>8.0 -11 0 0 0 0</pose>
+      <uri> https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier </uri>
+    </include>
+  
+    <include>
+      <name>barrier_0_1</name>
+      <pose>8.0 11 0 0 0 0 </pose>
+      <uri> https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier </uri>
+    </include>
+  
+    <include>
+      <name>barrier_1_-1</name>
+      <pose>3.7 -11 0 0 0 0</pose>
+      <uri> https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier </uri>
+    </include>
+  
+    <include>
+      <name>barrier_1_1</name>
+      <pose>3.7 11 0 0 0 0</pose>
+      <uri> https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier </uri>
+    </include>
+  
+    <include>
+      <name>barrier_2_-1</name>
+      <pose>-0.5999999999999996 -11 0 0 0 0</pose>
+      <uri> https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier </uri>
+    </include>
+  
+    <include>
+      <name>barrier_2_1</name>
+      <pose>-0.5999999999999996 11 0 0 0 0</pose>
+      <uri> https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier </uri>
+    </include>
+  
+    <include>
+      <name>barrier_3_-1</name>
+      <pose>-4.899999999999999 -11 0 0 0 0</pose>
+      <uri> https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier </uri>
+    </include>
+  
+    <include>
+      <name>barrier_3_1</name>
+      <pose>-4.899999999999999 11 0 0 0 0</pose>
+      <uri> https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier </uri>
+    </include>
+  
+    <include>
+      <name>barrier_4_-1</name>
+      <pose>-9.2 -11 0 0 0 0</pose>
+      <uri> https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier </uri>
+    </include>
+  
+    <include>
+      <name>barrier_4_1</name>
+      <pose>-9.2 11 0 0 0 0</pose>
+      <uri> https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier </uri>
+    </include>
+  
+    <include>
+      <name>barrier_-9.5_-2</name>
+      <pose>10.5 -8.6 0 0 0 1.5707963267948966</pose>
+      <uri> https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier </uri>
+    </include>
+  
+    <include>
+      <name>barrier_-9.5_2</name>
+      <pose>10.5 8.6 0 0 0 1.5707963267948966</pose>
+      <uri> https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier </uri>
+    </include>
+  
+    <include>
+      <name>barrier_-32_-2</name>
+      <pose>-12 -8.6 0 0 0 1.5707963267948966</pose>
+      <uri> https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier </uri>
+    </include>
+  
+    <include>
+      <name>barrier_-32_-1</name>
+      <pose>-12 -4.3 0 0 0 1.5707963267948966</pose>
+      <uri> https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier </uri>
+    </include>
+  
+    <include>
+      <name>barrier_-32_0</name>
+      <pose>-12 0.0 0 0 0 1.5707963267948966</pose>
+      <uri> https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier </uri>
+    </include>
+  
+    <include>
+      <name>barrier_-32_1</name>
+      <pose>-12 4.3 0 0 0 1.5707963267948966</pose>
+      <uri> https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier </uri>
+    </include>
+
+    <include>
+      <name>barrier_-32_2</name>
+      <pose>-12 8.6 0 0 0 1.5707963267948966</pose>
+      <uri> https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier </uri>
+    </include>
+
+    
+    <include>
+      <name>pallet</name>
+      <pose>2 0 0.1 0 0 0</pose>
+      <uri> https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Euro pallet </uri>
+    </include>
+
+    
+    
+
+    <!-- The base station -->
+    <include>
+      <static>true</static>
+      <name>base_station</name>
+      <pose>-8 0 0 0 0 -1.5708</pose>
+      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Base Station</uri>
+    </include>
+  </world>
+</sdf>
diff --git a/submitted_models/ctu_cras_norlab_marv_sensor_config_2/.gitignore b/submitted_models/ctu_cras_norlab_marv_sensor_config_2/.gitignore
new file mode 100644
index 00000000..5a7699cc
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_marv_sensor_config_2/.gitignore
@@ -0,0 +1 @@
+model.sdf.urdf
\ No newline at end of file
diff --git a/submitted_models/ctu_cras_norlab_marv_sensor_config_2/CMakeLists.txt b/submitted_models/ctu_cras_norlab_marv_sensor_config_2/CMakeLists.txt
new file mode 100644
index 00000000..fb22157c
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_marv_sensor_config_2/CMakeLists.txt
@@ -0,0 +1,15 @@
+cmake_minimum_required(VERSION 3.10)
+project(ctu_cras_norlab_marv_sensor_config_2)
+
+find_package(catkin REQUIRED)
+
+catkin_package()
+
+install(DIRECTORY launch config DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
+
+install(FILES model.sdf model.config
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
+
+install(PROGRAMS
+  scripts/print_robot_urdf
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/scripts)
diff --git a/submitted_models/ctu_cras_norlab_marv_sensor_config_2/README.md b/submitted_models/ctu_cras_norlab_marv_sensor_config_2/README.md
new file mode 100644
index 00000000..3981e77c
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_marv_sensor_config_2/README.md
@@ -0,0 +1,29 @@
+# CTU\_CRAS\_NORLAB\_MARV\_SENSOR\_CONFIG\_2
+
+This package contains sensor config 2 of CTU-CRAS-Norlab MARV robot (Mobile Autonomous Rescue Vehicle). The robot has:
+
+- 5 Basler Ace 2 Pro a2A1920-51gcPRO RGB cameras with 86° FOV lenses (Basler C125-0418-5M-P f4mm)
+- 2 Basler Ace acA2040-35gc RGB cameras with 138° FOV fisheye lenses (Evetar M118B029520IR)
+- Ouster OS0-128 lidar
+- 4 TFMini plus point lidars
+- IMU Xsens MTI-30
+- Gas sensor
+- 12 communication breadcrumbs
+- Weight: about 61 kg
+
+## Model files management
+
+This package follows a different workflow for managing SDF and URDF models of the robot than the suggested one. The only and main source of model data is `urdf/marv.xacro` file in [`ctu_cras_norlab_marv_sensor_config_1`](../ctu_cras_norlab_marv_sensor_config_1) package and the files it includes.
+
+To get the URDF model of the robot, call `scripts/print_robot_urdf` script which prints the robot URDF on stdout. This script is used in `launch/description.launch`.
+
+The SDF model is a regular file committed to this package, but its updates are not
+to be done manually. To change the robot model, make changes in the Xacro, and then run script `scripts/update_robot_sdf_ign`, which updates the `model.sdf` file in this repo. The change can then be commited.
+
+There is also script `scripts/update_robot_sdf_gz`, which creates a model.sdf file suitable for use in Gazebo Classic. This can be used to get its much better visualization functionality, i.e. viewing transparent model, wireframe, inertia, centers of gravity etc.
+
+The model is also configured by a set of shared config files located in `config/` directory of this package and sensor config 1. It contains YAML files which are loaded in the following order:
+
+- URDF: `sensor_config_1/config/common.yaml`, `sensor_config_1/config/urdf.yaml`, `common.yaml`, `urdf.yaml`
+- SDF for Ignition Gazebo: `sensor_config_1/config/common.yaml`, `sensor_config_1/config/sim.yaml`, `sensor_config_1/config/ign.yaml`, `common.yaml`, `sim.yaml`, `ign.yaml`
+- SDF for Gazebo Classic: `sensor_config_1/config/common.yaml`, `sensor_config_1/config/sim.yaml`, `sensor_config_1/config/gz.yaml`, `common.yaml`, `sim.yaml`, `gz.yaml`
\ No newline at end of file
diff --git a/submitted_models/ctu_cras_norlab_marv_sensor_config_2/config/common.yaml b/submitted_models/ctu_cras_norlab_marv_sensor_config_2/config/common.yaml
new file mode 100644
index 00000000..7f41d082
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_marv_sensor_config_2/config/common.yaml
@@ -0,0 +1 @@
+has_mote_deployer: True
\ No newline at end of file
diff --git a/submitted_models/ctu_cras_norlab_marv_sensor_config_2/config/sim.yaml b/submitted_models/ctu_cras_norlab_marv_sensor_config_2/config/sim.yaml
new file mode 100644
index 00000000..69ea9193
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_marv_sensor_config_2/config/sim.yaml
@@ -0,0 +1 @@
+num_breadcrumbs: 12
\ No newline at end of file
diff --git a/submitted_models/ctu_cras_norlab_marv_sensor_config_2/launch/example.ign b/submitted_models/ctu_cras_norlab_marv_sensor_config_2/launch/example.ign
new file mode 100644
index 00000000..73926d6a
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_marv_sensor_config_2/launch/example.ign
@@ -0,0 +1,25 @@
+<?xml version="1.0"?>
+<%
+  base_launch = `rospack find ctu_cras_norlab_marv_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
+
+  teleop_param=''
+  if defined?(teleop) and teleop
+    teleop_param='teleop:=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 %> <%= teleop_param %> <%= headless_param %></command>
+  </executable>
+</ignition>
\ No newline at end of file
diff --git a/submitted_models/ctu_cras_norlab_marv_sensor_config_2/launch/spawner.rb b/submitted_models/ctu_cras_norlab_marv_sensor_config_2/launch/spawner.rb
new file mode 100644
index 00000000..38014b85
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_marv_sensor_config_2/launch/spawner.rb
@@ -0,0 +1,46 @@
+require 'yaml'
+confdir = File.join(__dir__, '..', 'config')
+config = YAML.load_file(File.join(confdir, 'sim.yaml'))
+
+$num_breadcrumbs = config["num_breadcrumbs"]
+
+def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw, _additionalSDF='')
+  base_spawn = `rospack find ctu_cras_norlab_marv_sensor_config_1`.chomp + "/launch/common.rb"
+  begin
+    load base_spawn
+  rescue LoadError
+    raise "Unknown robot configuration #{config}. #{spawnerScript} could not be found."
+  else
+    _additionalSDF = _additionalSDF + <<-HEREDOC
+      <plugin filename="ignition-gazebo-breadcrumbs-system"
+            name="ignition::gazebo::systems::Breadcrumbs">
+        <topic>/model/#{_name}/breadcrumb/deploy</topic>
+        <max_deployments>#{$num_breadcrumbs}</max_deployments>
+        <disable_physics_time>3.0</disable_physics_time>
+        <topic_statistics>true</topic_statistics>
+        <breadcrumb>
+          <sdf version="1.6">
+            <model name="#{_name}__breadcrumb__">
+              <pose>-0.45 -0.13 0 0 0 #{Math::PI/2}</pose>
+              <include>
+                <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Breadcrumb Node</uri>
+             </include>
+           </model>
+         </sdf>
+       </breadcrumb>
+      </plugin>
+    HEREDOC
+    _spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw, _additionalSDF)
+  end
+end
+
+def rosExecutables(_name, _worldName)
+  <<-HEREDOC
+  <executable name='topics'>
+    <command>roslaunch --wait ctu_cras_norlab_marv_sensor_config_1 vehicle_topics.launch world_name:=#{_worldName} name:=#{_name} breadcrumbs:=#{$num_breadcrumbs}</command>
+  </executable>
+  <executable name='description'>
+    <command>roslaunch --wait ctu_cras_norlab_marv_sensor_config_1 description.launch name:=#{_name} print_command:="#{File.dirname(__FILE__) + '/../scripts/print_robot_urdf'}"</command>
+  </executable>
+  HEREDOC
+end
diff --git a/submitted_models/ctu_cras_norlab_marv_sensor_config_2/model.config b/submitted_models/ctu_cras_norlab_marv_sensor_config_2/model.config
new file mode 100644
index 00000000..0412d521
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_marv_sensor_config_2/model.config
@@ -0,0 +1,22 @@
+<?xml version="1.0"?>
+<model>
+  <name>ctu_cras_norlab_marv_sensor_config_2</name>
+  <sdf version="1.7">model.sdf</sdf>
+  <description>
+    CTU-CRAS-Norlab MARV Sensor config 2 tracked vehicle package has:
+    - 5 Basler Ace 2 Pro a2A1920-51gcPRO RGB cameras with 86° FOV lenses (Basler C125-0418-5M-P f4mm)
+    - 2 Basler Ace acA2040-35gc RGB cameras with 138° FOV fisheye lenses (Evetar M118B029520IR)
+    - Ouster OS0-128 lidar
+    - 4 TFMini plus point lidars
+    - IMU Xsens MTI-30
+    - Gas sensor
+    - 12 communication breadcrumbs
+    - Weight: about 61 kg
+  </description>
+  <depend>
+    <model>
+      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_MARV_SENSOR_CONFIG_1</uri>
+    </model>
+  </depend>
+</model>
+
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
new file mode 100644
index 00000000..3438077c
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_marv_sensor_config_2/model.sdf
@@ -0,0 +1,5058 @@
+<?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. -->
+  <model name="ctu_cras_norlab_marv_sensor_config_1">
+    <link name="base_link">
+      <inertial>
+        <pose>0 0 0.0661 0 -0 0</pose>
+        <mass>8.7</mass>
+        <inertia>
+          <ixx>0.12905</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.29609</iyy>
+          <iyz>0</iyz>
+          <izz>0.35496</izz>
+        </inertia>
+      </inertial>
+      <collision name="base_link_collision">
+        <pose>0 0 0.0961 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.6 0.36 0.192</size>
+          </box>
+        </geometry>
+      </collision>
+      <collision name="base_link_collision_1">
+        <pose>0 0 -0.0219 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.512 0.36 0.044</size>
+          </box>
+        </geometry>
+      </collision>
+      <collision name="base_link_collision_2">
+        <pose>0.256 0 0.000144 1.5707963267948966 -0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.36</length>
+            <radius>0.044044</radius>
+          </cylinder>
+        </geometry>
+      </collision>
+      <collision name="base_link_collision_3">
+        <pose>-0.256 0 0.000144 1.5707963267948966 -0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.36</length>
+            <radius>0.044044</radius>
+          </cylinder>
+        </geometry>
+      </collision>
+      <visual name="base_link_fixed_joint_lump__chassis_visual">
+        <material>
+          <diffuse>1 1 1 1</diffuse>
+          <pbr>
+            <metal>
+              <albedo_map>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_MARV_SENSOR_CONFIG_1/tip/files/textures/chassis.png</albedo_map>
+              <emissive_map>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_MARV_SENSOR_CONFIG_1/tip/files/textures/chassis_emissive.png</emissive_map>
+            </metal>
+          </pbr>
+        </material>
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_MARV_SENSOR_CONFIG_1/tip/files/meshes/chassis.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <visual name="base_link_visual_1">
+        <pose>0 0 0.1841 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/deck.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <visual name="base_link_visual_2">
+        <pose>0.256 0.18 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/motor_housing.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <visual name="base_link_visual_3">
+        <pose>0.256 -0.18 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/motor_housing_mirrored.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <visual name="base_link_visual_4">
+        <pose>-0.256 0.18 0 0 -0 0</pose>
+        <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/motor_housing_mirrored.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <visual name="base_link_visual_5">
+        <pose>-0.256 -0.18 0 0 -0 0</pose>
+        <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/motor_housing.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <self_collide>0</self_collide>
+      <light name="light_left" type="spot">
+        <pose>0 0.19 0.1621 1.5707963267948966 1.5707963267948966 0</pose>
+        <cast_shadows>1</cast_shadows>
+        <attenuation>
+          <range>30</range>
+          <linear>0.2</linear>
+          <constant>0.1</constant>
+          <quadratic>0.0025</quadratic>
+        </attenuation>
+        <diffuse>0.8 0.8 0.5 1</diffuse>
+        <specular>0.8 0.8 0.5 1</specular>
+        <spot>
+          <inner_angle>2.8</inner_angle>
+          <outer_angle>2.9</outer_angle>
+          <falloff>1</falloff>
+        </spot>
+        <direction>1 0 0</direction>
+      </light>
+      <light name="light_right" type="spot">
+        <pose>0 -0.19 0.1621 -1.5707963267948966 1.5707963267948966 0</pose>
+        <cast_shadows>1</cast_shadows>
+        <attenuation>
+          <range>30</range>
+          <linear>0.2</linear>
+          <constant>0.1</constant>
+          <quadratic>0.0025</quadratic>
+        </attenuation>
+        <diffuse>0.8 0.8 0.5 1</diffuse>
+        <specular>0.8 0.8 0.5 1</specular>
+        <spot>
+          <inner_angle>2.8</inner_angle>
+          <outer_angle>2.9</outer_angle>
+          <falloff>1</falloff>
+        </spot>
+        <direction>1 0 0</direction>
+      </light>
+      <light name="light_front" type="spot">
+        <pose>0.31 0 0.1621 -3.1415926535897931 1.5707963267948966 0</pose>
+        <cast_shadows>1</cast_shadows>
+        <attenuation>
+          <range>30</range>
+          <linear>0.2</linear>
+          <constant>0.1</constant>
+          <quadratic>0.0025</quadratic>
+        </attenuation>
+        <diffuse>0.8 0.8 0.5 1</diffuse>
+        <specular>0.8 0.8 0.5 1</specular>
+        <spot>
+          <inner_angle>2.8</inner_angle>
+          <outer_angle>2.9</outer_angle>
+          <falloff>1</falloff>
+        </spot>
+        <direction>1 0 0</direction>
+      </light>
+      <light name="light_rear" type="spot">
+        <pose>-0.31 0 0.1621 0 1.5707963267948966 0</pose>
+        <cast_shadows>1</cast_shadows>
+        <attenuation>
+          <range>40</range>
+          <linear>0</linear>
+          <constant>0.2</constant>
+          <quadratic>0.0025</quadratic>
+        </attenuation>
+        <diffuse>0.8 0.8 0.5 1</diffuse>
+        <specular>0.8 0.8 0.5 1</specular>
+        <spot>
+          <inner_angle>2.8</inner_angle>
+          <outer_angle>2.9</outer_angle>
+          <falloff>1</falloff>
+        </spot>
+        <direction>1 0 0</direction>
+      </light>
+    </link>
+    <link name="battery1">
+      <pose>0.06 0.005 0.0251 0 -0 0</pose>
+      <inertial>
+        <mass>6</mass>
+        <inertia>
+          <ixx>0.07325</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.016388</iyy>
+          <iyz>0</iyz>
+          <izz>0.072738</izz>
+        </inertia>
+      </inertial>
+      <collision name="battery1_collision">
+        <geometry>
+          <box>
+            <size>0.126 0.36 0.13</size>
+          </box>
+        </geometry>
+      </collision>
+      <visual name="battery1_visual">
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_MARV_SENSOR_CONFIG_1/tip/files/meshes/battery.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+    </link>
+    <joint name="battery1_j" type="fixed">
+      <child>battery1</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="battery2">
+      <pose>-0.06 0.005 0.0251 0 -0 0</pose>
+      <inertial>
+        <mass>6</mass>
+        <inertia>
+          <ixx>0.07325</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.016388</iyy>
+          <iyz>0</iyz>
+          <izz>0.072738</izz>
+        </inertia>
+      </inertial>
+      <collision name="battery2_collision">
+        <geometry>
+          <box>
+            <size>0.126 0.36 0.13</size>
+          </box>
+        </geometry>
+      </collision>
+      <visual name="battery2_visual">
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_MARV_SENSOR_CONFIG_1/tip/files/meshes/battery.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+    </link>
+    <joint name="battery2_j" type="fixed">
+      <child>battery2</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="bottom_plate">
+      <inertial>
+        <pose>0 0 -0.0439 0 -0 0</pose>
+        <mass>1.09</mass>
+        <inertia>
+          <ixx>0.0117743</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.0327023</iyy>
+          <iyz>0</iyz>
+          <izz>0.044472</izz>
+        </inertia>
+      </inertial>
+    </link>
+    <joint name="bottom_plate_j" type="fixed">
+      <child>bottom_plate</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="deck">
+      <inertial>
+        <pose>0 0 0.1921 0 -0 0</pose>
+        <mass>3.4</mass>
+        <inertia>
+          <ixx>0.0367925</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.102073</iyy>
+          <iyz>0</iyz>
+          <izz>0.13872</izz>
+        </inertia>
+      </inertial>
+    </link>
+    <joint name="deck_j" type="fixed">
+      <child>deck</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_cam">
+      <pose>0.244 0 0.1321 0 -0 0</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="front_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="front_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="front_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="front_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="front_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="front_cam_j" type="fixed">
+      <child>front_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="front_left_flipper">
+      <pose>0.256 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>
+      <visual name="front_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="front_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="front_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="front_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="front_left_flipper_j" type="revolute">
+      <child>front_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="front_left_flipper_end_point_inflated">
+      <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="front_left_flipper_end_point_inflated_j" type="fixed">
+      <child>front_left_flipper_end_point_inflated</child>
+      <parent>front_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="front_left_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="front_left_flipper_end_point_j" type="fixed">
+      <child>front_left_flipper_end_point</child>
+      <parent>front_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="front_left_flipper_wheel1">
+      <pose>0.256 0.248 0 0 -0 0</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="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>
+      <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="front_left_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="front_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="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>
+        <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_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>
+        <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_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">
+        <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_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>
+            <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="front_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="front_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="front_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="front_right_flipper_j" type="revolute">
+      <child>front_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>
+        <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_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="front_right_flipper_end_point_inflated_j" type="fixed">
+      <child>front_right_flipper_end_point_inflated</child>
+      <parent>front_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="front_right_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="front_right_flipper_end_point_j" type="fixed">
+      <child>front_right_flipper_end_point</child>
+      <parent>front_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="front_right_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="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>
+      <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="front_right_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="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>
+        </inertia>
+      </inertial>
+    </link>
+    <joint name="rear_right_box_j" type="fixed">
+      <child>rear_right_box</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_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>
+    </link>
+    <joint name="camera_0_j" type="fixed">
+      <child>camera_0</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="camera_2">
+      <pose>-0.21 0 0.1921 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_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>
+      <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_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>
+        <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_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>
+      <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_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>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>
+      <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_rear_left">
+      <pose>-0.3 0.1445 0.2106 3.1415926535897931 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_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>
+      <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_rear_right">
+      <pose>-0.3 -0.1445 0.2106 3.1415926535897931 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_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>
+    </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>
+    </link>
+    <joint name="mobilicom_antenna_l_j" type="fixed">
+      <child>mobilicom_antenna_l</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="mobilicom_antenna_r">
+      <pose>-0.225 0.17 0.2056 0 -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_r_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_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="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="mote_deployer">
+      <pose>-0.24 -0.16 0.1821 0 0 -3.1415926535897931</pose>
+      <inertial>
+        <pose>0.0845 -0.024 0.0655 0 -0 0</pose>
+        <mass>0.5</mass>
+        <inertia>
+          <ixx>0.000931042</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.00220342</iyy>
+          <iyz>0</iyz>
+          <izz>0.00170437</izz>
+        </inertia>
+      </inertial>
+      <collision name="mote_deployer_collision">
+        <pose>0.0845 -0.024 0.0655 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.189 0.072 0.131</size>
+          </box>
+        </geometry>
+      </collision>
+      <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="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">
+      <pose>-0.256 -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>
+      <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_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>
+        <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_end_point_inflated">
+      <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_inflated_j" type="fixed">
+      <child>rear_right_flipper_end_point_inflated</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_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_flipper_wheel1">
+      <pose>-0.256 -0.248 0 0 -0 0</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_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="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>
+        <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_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>
+          <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_right_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="rear_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="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>
+        <dynamics>
+          <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>-0.386071 -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="rear_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="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>
+        <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_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>
+        <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_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">
+        <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_right_flipper_wheel7_j" type="revolute">
+      <child>rear_right_flipper_wheel7</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>11.976</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_right_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="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>
+      <parent>rear_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="rear_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="rear_right_motor_j" type="fixed">
+      <child>rear_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="top_box">
+      <pose>0.06 0 0.2821 0 -0 0</pose>
+      <inertial>
+        <mass>2</mass>
+        <inertia>
+          <ixx>0.01755</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.00706667</iyy>
+          <iyz>0</iyz>
+          <izz>0.0138167</izz>
+        </inertia>
+      </inertial>
+      <collision name="top_box_collision">
+        <geometry>
+          <box>
+            <size>0.1 0.11 0.18</size>
+          </box>
+        </geometry>
+      </collision>
+      <collision name="top_box_collision_1">
+        <pose>0 -0.11 -0.055 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.1 0.05 0.07</size>
+          </box>
+        </geometry>
+      </collision>
+      <collision name="top_box_collision_2">
+        <pose>0 0.11 -0.055 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.1 0.05 0.07</size>
+          </box>
+        </geometry>
+      </collision>
+      <collision name="top_box_collision_3">
+        <pose>0 -0.07 -0.0275 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.1 0.03 0.125</size>
+          </box>
+        </geometry>
+      </collision>
+      <collision name="top_box_collision_4">
+        <pose>0 0.07 -0.0275 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.1 0.03 0.125</size>
+          </box>
+        </geometry>
+      </collision>
+      <visual name="top_box_visual">
+        <geometry>
+          <box>
+            <size>0.1 0.11 0.18</size>
+          </box>
+        </geometry>
+        <material>
+          <ambient>0 0 0 0</ambient>
+          <diffuse>0 0.133333 0.486275 1</diffuse>
+          <specular>0 0 0 0</specular>
+          <emissive>0 0 0 0</emissive>
+        </material>
+      </visual>
+      <visual name="top_box_visual_1">
+        <pose>0 -0.11 -0.055 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.1 0.05 0.07</size>
+          </box>
+        </geometry>
+        <material>
+          <ambient>0 0 0 0</ambient>
+          <diffuse>0 0.133333 0.486275 1</diffuse>
+          <specular>0 0 0 0</specular>
+          <emissive>0 0 0 0</emissive>
+        </material>
+      </visual>
+      <visual name="top_box_visual_2">
+        <pose>0 0.11 -0.055 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.1 0.05 0.07</size>
+          </box>
+        </geometry>
+        <material>
+          <ambient>0 0 0 0</ambient>
+          <diffuse>0 0.133333 0.486275 1</diffuse>
+          <specular>0 0 0 0</specular>
+          <emissive>0 0 0 0</emissive>
+        </material>
+      </visual>
+      <visual name="top_box_visual_3">
+        <pose>0 -0.07 -0.0275 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.1 0.03 0.125</size>
+          </box>
+        </geometry>
+        <material>
+          <ambient>0 0 0 0</ambient>
+          <diffuse>0 0.133333 0.486275 1</diffuse>
+          <specular>0 0 0 0</specular>
+          <emissive>0 0 0 0</emissive>
+        </material>
+      </visual>
+      <visual name="top_box_visual_4">
+        <pose>0 0.07 -0.0275 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.1 0.03 0.125</size>
+          </box>
+        </geometry>
+        <material>
+          <ambient>0 0 0 0</ambient>
+          <diffuse>0 0.133333 0.486275 1</diffuse>
+          <specular>0 0 0 0</specular>
+          <emissive>0 0 0 0</emissive>
+        </material>
+      </visual>
+      <visual name="top_box_fixed_joint_lump__reflector_visual_5">
+        <pose>0 -0.067 0.035 1.5707963267948966 -1.5707963267948966 0</pose>
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_MARV_SENSOR_CONFIG_1/tip/files/meshes/reflector.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <light name="light_up" type="spot">
+        <pose>0 -0.07 0.045 3.1415926535897931 -0 3.1415926535897931</pose>
+        <attenuation>
+          <range>60</range>
+          <linear>0</linear>
+          <constant>0.1</constant>
+          <quadratic>0.0025</quadratic>
+        </attenuation>
+        <diffuse>0.8 0.8 0.5 1</diffuse>
+        <specular>0.8 0.8 0.5 1</specular>
+        <spot>
+          <inner_angle>1.0472</inner_angle>
+          <outer_angle>1.5708</outer_angle>
+          <falloff>1</falloff>
+        </spot>
+        <direction>0 0 -1</direction>
+      </light>
+    </link>
+    <joint name="top_box_j" type="fixed">
+      <child>top_box</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="antenna">
+      <pose>0 0.125 0.1921 0 -0 0</pose>
+      <inertial>
+        <pose>0 0 0.1 0 -0 0</pose>
+        <mass>0.08</mass>
+        <inertia>
+          <ixx>0.000268667</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.000268667</iyy>
+          <iyz>0</iyz>
+          <izz>4e-06</izz>
+        </inertia>
+      </inertial>
+      <collision name="antenna_collision">
+        <pose>0 0 0.1 0 -0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.2</length>
+            <radius>0.01</radius>
+          </cylinder>
+        </geometry>
+      </collision>
+      <visual name="antenna_visual">
+        <pose>0 0 0.1 0 -0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.2</length>
+            <radius>0.01</radius>
+          </cylinder>
+        </geometry>
+      </visual>
+    </link>
+    <joint name="antenna_j" type="fixed">
+      <child>antenna</child>
+      <parent>top_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="camera_1">
+      <pose>0.06 -0.087 0.1921 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_MARV_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_MARV_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>top_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="camera_3">
+      <pose>0.06 0.087 0.1921 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_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>0.03974</length>
+            <radius>0.0125</radius>
+          </cylinder>
+        </geometry>
+      </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_MARV_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_MARV_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="camera_3_j" type="fixed">
+      <child>camera_3</child>
+      <parent>top_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="camera_4">
+      <pose>0.06 0.055 0.2671 -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_MARV_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_MARV_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>top_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="laser">
+      <pose>0.06 0 0.3721 0 -0 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_MARV_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>top_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>
+    <plugin name="cras::FlipperControlPlugin" filename="flipper_control_plugin">
+      <joint_name>front_left_flipper_j</joint_name>
+      <max_velocity>1.0</max_velocity>
+      <max_torque>120</max_torque>
+      <position_correction_gain>1.0</position_correction_gain>
+    </plugin>
+    <plugin name="cras::FlipperControlPlugin" filename="flipper_control_plugin">
+      <joint_name>front_right_flipper_j</joint_name>
+      <max_velocity>1.0</max_velocity>
+      <max_torque>120</max_torque>
+      <position_correction_gain>1.0</position_correction_gain>
+    </plugin>
+    <plugin name="cras::FlipperControlPlugin" filename="flipper_control_plugin">
+      <joint_name>rear_left_flipper_j</joint_name>
+      <max_velocity>1.0</max_velocity>
+      <max_torque>120</max_torque>
+      <position_correction_gain>1.0</position_correction_gain>
+    </plugin>
+    <plugin name="cras::FlipperControlPlugin" filename="flipper_control_plugin">
+      <joint_name>rear_right_flipper_j</joint_name>
+      <max_velocity>1.0</max_velocity>
+      <max_torque>120</max_torque>
+      <position_correction_gain>1.0</position_correction_gain>
+    </plugin>
+    <plugin name="ignition::gazebo::systems::JointStatePublisher" filename="ignition-gazebo-joint-state-publisher-system">
+      <joint_name>front_left_flipper_j</joint_name>
+      <joint_name>front_right_flipper_j</joint_name>
+      <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>
+  </model>
+</sdf>
+
diff --git a/submitted_models/ctu_cras_norlab_marv_sensor_config_2/package.xml b/submitted_models/ctu_cras_norlab_marv_sensor_config_2/package.xml
new file mode 100644
index 00000000..0d1f4067
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_marv_sensor_config_2/package.xml
@@ -0,0 +1,25 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>ctu_cras_norlab_marv_sensor_config_2</name>
+  <version>1.0.0</version>
+  <description>CTU-CRAS-Norlab MARV Sensor config 2 tracked vehicle package has:
+    - 5 Basler Ace 2 Pro a2A1920-51gcPRO RGB cameras with 86° FOV lenses (Basler C125-0418-5M-P f4mm)
+    - 2 Basler Ace acA2040-35gc RGB cameras with 138° FOV fisheye lenses (Evetar M118B029520IR)
+    - Ouster OS0-128 lidar
+    - 4 TFMini plus point lidars
+    - IMU Xsens MTI-30
+    - Gas sensor
+    - 12 communication breadcrumbs
+    - Weight: about 61 kg
+  </description>
+
+  <author email="peckama2@fel.cvut.cz">Martin Pecka</author>
+  <maintainer email="peckama2@fel.cvut.cz">Martin Pecka</maintainer>
+
+  <license>BSD-3</license>
+
+  <buildtool_depend>catkin</buildtool_depend>
+
+  <exec_depend>roslaunch</exec_depend>
+  <exec_depend>ctu_cras_norlab_marv_sensor_config_1</exec_depend>
+</package>
diff --git a/submitted_models/ctu_cras_norlab_marv_sensor_config_2/scripts/print_robot_urdf b/submitted_models/ctu_cras_norlab_marv_sensor_config_2/scripts/print_robot_urdf
new file mode 100755
index 00000000..92bc0152
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_marv_sensor_config_2/scripts/print_robot_urdf
@@ -0,0 +1,15 @@
+#!/usr/bin/env bash
+set -e
+
+DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null 2>&1 && pwd )"
+MODEL_DIR="${DIR}/.."
+BASE_MODEL_DIR="${MODEL_DIR}/../ctu_cras_norlab_marv_sensor_config_1"
+
+# load local modifications of configuration and pass them to print_robot_urdf of sensor config 1
+
+config=""
+for file in "${MODEL_DIR}/config/common.yaml" "${MODEL_DIR}/config/urdf.yaml"; do
+  [ -f "$file" ] && config="${config} $("${BASE_MODEL_DIR}/scripts/yaml_to_xacro_args" "$file")"
+done
+
+"${BASE_MODEL_DIR}/scripts/print_robot_urdf" $config "$@"
\ No newline at end of file
diff --git a/submitted_models/ctu_cras_norlab_marv_sensor_config_2/scripts/update_robot_sdf_gz b/submitted_models/ctu_cras_norlab_marv_sensor_config_2/scripts/update_robot_sdf_gz
new file mode 100755
index 00000000..bdf09f46
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_marv_sensor_config_2/scripts/update_robot_sdf_gz
@@ -0,0 +1,16 @@
+#!/usr/bin/env bash
+set -e
+
+DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null 2>&1 && pwd )"
+MODEL_DIR="${DIR}/.."
+BASE_MODEL_DIR="${MODEL_DIR}/../ctu_cras_norlab_marv_sensor_config_1"
+[ -z "${OUTPUT_FILE}" ] && OUTPUT_FILE="${MODEL_DIR}/model.sdf"
+
+# load local modifications of configuration and pass them to update_robot_sdf_gz of sensor config 1
+
+config=""
+for file in "${MODEL_DIR}/config/common.yaml" "${MODEL_DIR}/config/sim.yaml" "${MODEL_DIR}/config/gz.yaml"; do
+  [ -f "$file" ] && config="${config} $("${BASE_MODEL_DIR}/scripts/yaml_to_xacro_args" "$file")"
+done
+
+OUTPUT_FILE="$OUTPUT_FILE" "${BASE_MODEL_DIR}/scripts/update_robot_sdf_gz" $config "$@"
\ No newline at end of file
diff --git a/submitted_models/ctu_cras_norlab_marv_sensor_config_2/scripts/update_robot_sdf_ign b/submitted_models/ctu_cras_norlab_marv_sensor_config_2/scripts/update_robot_sdf_ign
new file mode 100755
index 00000000..2e630cd4
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_marv_sensor_config_2/scripts/update_robot_sdf_ign
@@ -0,0 +1,19 @@
+#!/usr/bin/env bash
+set -e
+
+DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null 2>&1 && pwd )"
+MODEL_DIR="${DIR}/.."
+BASE_MODEL_DIR="${MODEL_DIR}/../ctu_cras_norlab_marv_sensor_config_1"
+[ -z "${OUTPUT_FILE}" ] && OUTPUT_FILE="${MODEL_DIR}/model.sdf"
+
+# load local modifications of configuration and pass them to update_robot_sdf_ign of sensor config 1
+
+config=""
+for file in "${MODEL_DIR}/config/common.yaml" "${MODEL_DIR}/config/sim.yaml" "${MODEL_DIR}/config/ign.yaml"; do
+  [ -f "$file" ] && config="${config} $("${BASE_MODEL_DIR}/scripts/yaml_to_xacro_args" "$file")"
+done
+
+OUTPUT_FILE="$OUTPUT_FILE" "${BASE_MODEL_DIR}/scripts/update_robot_sdf_ign" $config "$@"
+
+sed -i -e 's#<uri>\([^>]*\)</uri>#<uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_MARV_SENSOR_CONFIG_1/tip/files/\1</uri>#' "${OUTPUT_FILE}"
+sed -i -e 's#_map>\([^>]*\)</#_map>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_MARV_SENSOR_CONFIG_1/tip/files/\1</#' "${OUTPUT_FILE}"
\ No newline at end of file
diff --git a/submitted_models/ctu_cras_norlab_marv_sensor_config_3/.gitignore b/submitted_models/ctu_cras_norlab_marv_sensor_config_3/.gitignore
new file mode 100644
index 00000000..5a7699cc
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_marv_sensor_config_3/.gitignore
@@ -0,0 +1 @@
+model.sdf.urdf
\ No newline at end of file
diff --git a/submitted_models/ctu_cras_norlab_marv_sensor_config_3/CMakeLists.txt b/submitted_models/ctu_cras_norlab_marv_sensor_config_3/CMakeLists.txt
new file mode 100644
index 00000000..56c662da
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_marv_sensor_config_3/CMakeLists.txt
@@ -0,0 +1,15 @@
+cmake_minimum_required(VERSION 3.10)
+project(ctu_cras_norlab_marv_sensor_config_3)
+
+find_package(catkin REQUIRED)
+
+catkin_package()
+
+install(DIRECTORY launch config DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
+
+install(FILES model.sdf model.config
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
+
+install(PROGRAMS
+  scripts/print_robot_urdf
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/scripts)
diff --git a/submitted_models/ctu_cras_norlab_marv_sensor_config_3/README.md b/submitted_models/ctu_cras_norlab_marv_sensor_config_3/README.md
new file mode 100644
index 00000000..8a5380e7
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_marv_sensor_config_3/README.md
@@ -0,0 +1,29 @@
+# CTU\_CRAS\_NORLAB\_MARV\_SENSOR\_CONFIG\_3
+
+This package contains sensor config 3 of CTU-CRAS-Norlab MARV robot (Mobile Autonomous Rescue Vehicle). The robot has:
+
+- 5 Basler Ace 2 Pro a2A1920-51gcPRO RGB cameras with 86° FOV lenses (Basler C125-0418-5M-P f4mm)
+- 2 Basler Ace acA2040-35gc RGB cameras with 138° FOV fisheye lenses (Evetar M118B029520IR)
+- Ouster OS0-128 lidar
+- 4 TFMini plus point lidars
+- IMU Xsens MTI-30
+- Gas sensor
+- Thermal camera FLIR Boson 92° FOV
+- Weight: about 61 kg
+
+## Model files management
+
+This package follows a different workflow for managing SDF and URDF models of the robot than the suggested one. The only and main source of model data is `urdf/marv.xacro` file in [`ctu_cras_norlab_marv_sensor_config_1`](../ctu_cras_norlab_marv_sensor_config_1) package and the files it includes.
+
+To get the URDF model of the robot, call `scripts/print_robot_urdf` script which prints the robot URDF on stdout. This script is used in `launch/description.launch`.
+
+The SDF model is a regular file committed to this package, but its updates are not
+to be done manually. To change the robot model, make changes in the Xacro, and then run script `scripts/update_robot_sdf_ign`, which updates the `model.sdf` file in this repo. The change can then be commited.
+
+There is also script `scripts/update_robot_sdf_gz`, which creates a model.sdf file suitable for use in Gazebo Classic. This can be used to get its much better visualization functionality, i.e. viewing transparent model, wireframe, inertia, centers of gravity etc.
+
+The model is also configured by a set of shared config files located in `config/` directory of this package and sensor config 1. It contains YAML files which are loaded in the following order:
+
+- URDF: `sensor_config_1/config/common.yaml`, `sensor_config_1/config/urdf.yaml`, `common.yaml`, `urdf.yaml`
+- SDF for Ignition Gazebo: `sensor_config_1/config/common.yaml`, `sensor_config_1/config/sim.yaml`, `sensor_config_1/config/ign.yaml`, `common.yaml`, `sim.yaml`, `ign.yaml`
+- SDF for Gazebo Classic: `sensor_config_1/config/common.yaml`, `sensor_config_1/config/sim.yaml`, `sensor_config_1/config/gz.yaml`, `common.yaml`, `sim.yaml`, `gz.yaml`
\ No newline at end of file
diff --git a/submitted_models/ctu_cras_norlab_marv_sensor_config_3/config/common.yaml b/submitted_models/ctu_cras_norlab_marv_sensor_config_3/config/common.yaml
new file mode 100644
index 00000000..22618816
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_marv_sensor_config_3/config/common.yaml
@@ -0,0 +1 @@
+has_boson_thermocam: True
\ No newline at end of file
diff --git a/submitted_models/ctu_cras_norlab_marv_sensor_config_3/launch/example.ign b/submitted_models/ctu_cras_norlab_marv_sensor_config_3/launch/example.ign
new file mode 100644
index 00000000..73926d6a
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_marv_sensor_config_3/launch/example.ign
@@ -0,0 +1,25 @@
+<?xml version="1.0"?>
+<%
+  base_launch = `rospack find ctu_cras_norlab_marv_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
+
+  teleop_param=''
+  if defined?(teleop) and teleop
+    teleop_param='teleop:=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 %> <%= teleop_param %> <%= headless_param %></command>
+  </executable>
+</ignition>
\ No newline at end of file
diff --git a/submitted_models/ctu_cras_norlab_marv_sensor_config_3/launch/spawner.rb b/submitted_models/ctu_cras_norlab_marv_sensor_config_3/launch/spawner.rb
new file mode 100644
index 00000000..ee28ec8e
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_marv_sensor_config_3/launch/spawner.rb
@@ -0,0 +1,21 @@
+def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw, _additionalSDF='')
+  base_spawn = `rospack find ctu_cras_norlab_marv_sensor_config_1`.chomp + "/launch/common.rb"
+  begin
+    load base_spawn
+  rescue LoadError
+    raise "Unknown robot configuration #{config}. #{spawnerScript} could not be found."
+  else
+    _spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw, '')
+  end
+end
+
+def rosExecutables(_name, _worldName)
+  <<-HEREDOC
+  <executable name='topics'>
+    <command>roslaunch --wait ctu_cras_norlab_marv_sensor_config_1 vehicle_topics.launch world_name:=#{_worldName} name:=#{_name} has_thermal_camera:=1</command>
+  </executable>
+  <executable name='description'>
+    <command>roslaunch --wait ctu_cras_norlab_marv_sensor_config_1 description.launch name:=#{_name} print_command:="#{File.dirname(__FILE__) + '/../scripts/print_robot_urdf'}"</command>
+  </executable>
+  HEREDOC
+end
diff --git a/submitted_models/ctu_cras_norlab_marv_sensor_config_3/model.config b/submitted_models/ctu_cras_norlab_marv_sensor_config_3/model.config
new file mode 100644
index 00000000..0fc2b199
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_marv_sensor_config_3/model.config
@@ -0,0 +1,22 @@
+<?xml version="1.0"?>
+<model>
+  <name>ctu_cras_norlab_marv_sensor_config_3</name>
+  <sdf version="1.7">model.sdf</sdf>
+  <description>
+    CTU-CRAS-Norlab MARV Sensor config 3 tracked vehicle package has:
+    - 5 Basler Ace 2 Pro a2A1920-51gcPRO RGB cameras with 86° FOV lenses (Basler C125-0418-5M-P f4mm)
+    - 2 Basler Ace acA2040-35gc RGB cameras with 138° FOV fisheye lenses (Evetar M118B029520IR)
+    - Ouster OS0-128 lidar
+    - 4 TFMini plus point lidars
+    - IMU Xsens MTI-30
+    - Gas sensor
+    - Thermal camera FLIR Boson 92° FOV
+    - Weight: about 61 kg
+  </description>
+  <depend>
+    <model>
+      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_MARV_SENSOR_CONFIG_1</uri>
+    </model>
+  </depend>
+</model>
+
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
new file mode 100644
index 00000000..155ac4a3
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_marv_sensor_config_3/model.sdf
@@ -0,0 +1,5082 @@
+<?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. -->
+  <model name="ctu_cras_norlab_marv_sensor_config_1">
+    <link name="base_link">
+      <inertial>
+        <pose>0 0 0.0661 0 -0 0</pose>
+        <mass>8.7</mass>
+        <inertia>
+          <ixx>0.12905</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.29609</iyy>
+          <iyz>0</iyz>
+          <izz>0.35496</izz>
+        </inertia>
+      </inertial>
+      <collision name="base_link_collision">
+        <pose>0 0 0.0961 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.6 0.36 0.192</size>
+          </box>
+        </geometry>
+      </collision>
+      <collision name="base_link_collision_1">
+        <pose>0 0 -0.0219 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.512 0.36 0.044</size>
+          </box>
+        </geometry>
+      </collision>
+      <collision name="base_link_collision_2">
+        <pose>0.256 0 0.000144 1.5707963267948966 -0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.36</length>
+            <radius>0.044044</radius>
+          </cylinder>
+        </geometry>
+      </collision>
+      <collision name="base_link_collision_3">
+        <pose>-0.256 0 0.000144 1.5707963267948966 -0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.36</length>
+            <radius>0.044044</radius>
+          </cylinder>
+        </geometry>
+      </collision>
+      <visual name="base_link_fixed_joint_lump__chassis_visual">
+        <material>
+          <diffuse>1 1 1 1</diffuse>
+          <pbr>
+            <metal>
+              <albedo_map>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_MARV_SENSOR_CONFIG_1/tip/files/textures/chassis.png</albedo_map>
+              <emissive_map>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_MARV_SENSOR_CONFIG_1/tip/files/textures/chassis_emissive.png</emissive_map>
+            </metal>
+          </pbr>
+        </material>
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_MARV_SENSOR_CONFIG_1/tip/files/meshes/chassis.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <visual name="base_link_visual_1">
+        <pose>0 0 0.1841 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/deck.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <visual name="base_link_visual_2">
+        <pose>0.256 0.18 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/motor_housing.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <visual name="base_link_visual_3">
+        <pose>0.256 -0.18 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/motor_housing_mirrored.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <visual name="base_link_visual_4">
+        <pose>-0.256 0.18 0 0 -0 0</pose>
+        <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/motor_housing_mirrored.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <visual name="base_link_visual_5">
+        <pose>-0.256 -0.18 0 0 -0 0</pose>
+        <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/motor_housing.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <self_collide>0</self_collide>
+      <light name="light_left" type="spot">
+        <pose>0 0.19 0.1621 1.5707963267948966 1.5707963267948966 0</pose>
+        <cast_shadows>1</cast_shadows>
+        <attenuation>
+          <range>30</range>
+          <linear>0.2</linear>
+          <constant>0.1</constant>
+          <quadratic>0.0025</quadratic>
+        </attenuation>
+        <diffuse>0.8 0.8 0.5 1</diffuse>
+        <specular>0.8 0.8 0.5 1</specular>
+        <spot>
+          <inner_angle>2.8</inner_angle>
+          <outer_angle>2.9</outer_angle>
+          <falloff>1</falloff>
+        </spot>
+        <direction>1 0 0</direction>
+      </light>
+      <light name="light_right" type="spot">
+        <pose>0 -0.19 0.1621 -1.5707963267948966 1.5707963267948966 0</pose>
+        <cast_shadows>1</cast_shadows>
+        <attenuation>
+          <range>30</range>
+          <linear>0.2</linear>
+          <constant>0.1</constant>
+          <quadratic>0.0025</quadratic>
+        </attenuation>
+        <diffuse>0.8 0.8 0.5 1</diffuse>
+        <specular>0.8 0.8 0.5 1</specular>
+        <spot>
+          <inner_angle>2.8</inner_angle>
+          <outer_angle>2.9</outer_angle>
+          <falloff>1</falloff>
+        </spot>
+        <direction>1 0 0</direction>
+      </light>
+      <light name="light_front" type="spot">
+        <pose>0.31 0 0.1621 -3.1415926535897931 1.5707963267948966 0</pose>
+        <cast_shadows>1</cast_shadows>
+        <attenuation>
+          <range>30</range>
+          <linear>0.2</linear>
+          <constant>0.1</constant>
+          <quadratic>0.0025</quadratic>
+        </attenuation>
+        <diffuse>0.8 0.8 0.5 1</diffuse>
+        <specular>0.8 0.8 0.5 1</specular>
+        <spot>
+          <inner_angle>2.8</inner_angle>
+          <outer_angle>2.9</outer_angle>
+          <falloff>1</falloff>
+        </spot>
+        <direction>1 0 0</direction>
+      </light>
+      <light name="light_rear" type="spot">
+        <pose>-0.31 0 0.1621 0 1.5707963267948966 0</pose>
+        <cast_shadows>1</cast_shadows>
+        <attenuation>
+          <range>40</range>
+          <linear>0</linear>
+          <constant>0.2</constant>
+          <quadratic>0.0025</quadratic>
+        </attenuation>
+        <diffuse>0.8 0.8 0.5 1</diffuse>
+        <specular>0.8 0.8 0.5 1</specular>
+        <spot>
+          <inner_angle>2.8</inner_angle>
+          <outer_angle>2.9</outer_angle>
+          <falloff>1</falloff>
+        </spot>
+        <direction>1 0 0</direction>
+      </light>
+    </link>
+    <link name="battery1">
+      <pose>0.06 0.005 0.0251 0 -0 0</pose>
+      <inertial>
+        <mass>6</mass>
+        <inertia>
+          <ixx>0.07325</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.016388</iyy>
+          <iyz>0</iyz>
+          <izz>0.072738</izz>
+        </inertia>
+      </inertial>
+      <collision name="battery1_collision">
+        <geometry>
+          <box>
+            <size>0.126 0.36 0.13</size>
+          </box>
+        </geometry>
+      </collision>
+      <visual name="battery1_visual">
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_MARV_SENSOR_CONFIG_1/tip/files/meshes/battery.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+    </link>
+    <joint name="battery1_j" type="fixed">
+      <child>battery1</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="battery2">
+      <pose>-0.06 0.005 0.0251 0 -0 0</pose>
+      <inertial>
+        <mass>6</mass>
+        <inertia>
+          <ixx>0.07325</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.016388</iyy>
+          <iyz>0</iyz>
+          <izz>0.072738</izz>
+        </inertia>
+      </inertial>
+      <collision name="battery2_collision">
+        <geometry>
+          <box>
+            <size>0.126 0.36 0.13</size>
+          </box>
+        </geometry>
+      </collision>
+      <visual name="battery2_visual">
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_MARV_SENSOR_CONFIG_1/tip/files/meshes/battery.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+    </link>
+    <joint name="battery2_j" type="fixed">
+      <child>battery2</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="bottom_plate">
+      <inertial>
+        <pose>0 0 -0.0439 0 -0 0</pose>
+        <mass>1.09</mass>
+        <inertia>
+          <ixx>0.0117743</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.0327023</iyy>
+          <iyz>0</iyz>
+          <izz>0.044472</izz>
+        </inertia>
+      </inertial>
+    </link>
+    <joint name="bottom_plate_j" type="fixed">
+      <child>bottom_plate</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="deck">
+      <inertial>
+        <pose>0 0 0.1921 0 -0 0</pose>
+        <mass>3.4</mass>
+        <inertia>
+          <ixx>0.0367925</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.102073</iyy>
+          <iyz>0</iyz>
+          <izz>0.13872</izz>
+        </inertia>
+      </inertial>
+    </link>
+    <joint name="deck_j" type="fixed">
+      <child>deck</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_cam">
+      <pose>0.244 0 0.1321 0 -0 0</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="front_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="front_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="front_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="front_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="front_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="front_cam_j" type="fixed">
+      <child>front_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="front_left_flipper">
+      <pose>0.256 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>
+      <visual name="front_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="front_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="front_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="front_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="front_left_flipper_j" type="revolute">
+      <child>front_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="front_left_flipper_end_point_inflated">
+      <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="front_left_flipper_end_point_inflated_j" type="fixed">
+      <child>front_left_flipper_end_point_inflated</child>
+      <parent>front_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="front_left_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="front_left_flipper_end_point_j" type="fixed">
+      <child>front_left_flipper_end_point</child>
+      <parent>front_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="front_left_flipper_wheel1">
+      <pose>0.256 0.248 0 0 -0 0</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="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>
+      <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="front_left_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="front_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="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>
+        <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_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>
+        <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_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">
+        <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_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>
+            <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="front_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="front_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="front_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="front_right_flipper_j" type="revolute">
+      <child>front_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>
+        <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_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="front_right_flipper_end_point_inflated_j" type="fixed">
+      <child>front_right_flipper_end_point_inflated</child>
+      <parent>front_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="front_right_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="front_right_flipper_end_point_j" type="fixed">
+      <child>front_right_flipper_end_point</child>
+      <parent>front_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="front_right_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="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>
+      <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="front_right_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="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>
+    </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>0.000580373</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>
+    </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>0.000580373</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>
+        <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="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>0.000580373</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>
+    </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>0.000580373</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>
+        <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="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>0.000580373</slip1>
+              <slip2>0</slip2>
+              <fdir1>0 0 1</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <self_collide>1</self_collide>
+    </link>
+    <joint name="rear_left_flipper_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>
+        </inertia>
+      </inertial>
+    </link>
+    <joint name="rear_right_box_j" type="fixed">
+      <child>rear_right_box</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_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>
+    </link>
+    <joint name="camera_0_j" type="fixed">
+      <child>camera_0</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="camera_2">
+      <pose>-0.21 0 0.1921 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_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>
+      <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_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>
+        <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_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>
+      <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_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>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>
+      <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_rear_left">
+      <pose>-0.3 0.1445 0.2106 3.1415926535897931 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_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>
+      <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_rear_right">
+      <pose>-0.3 -0.1445 0.2106 3.1415926535897931 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_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>
+    </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>
+    </link>
+    <joint name="mobilicom_antenna_l_j" type="fixed">
+      <child>mobilicom_antenna_l</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="mobilicom_antenna_r">
+      <pose>-0.225 0.17 0.2056 0 -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_r_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_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="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="thermocam">
+      <pose>0.26 -0.04 0.1921 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_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="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">
+      <pose>-0.256 -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>
+      <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_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>
+        <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_end_point_inflated">
+      <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_inflated_j" type="fixed">
+      <child>rear_right_flipper_end_point_inflated</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_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_flipper_wheel1">
+      <pose>-0.256 -0.248 0 0 -0 0</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_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="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>
+        <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_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>
+          <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_right_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="rear_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="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>
+        <dynamics>
+          <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>-0.386071 -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="rear_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="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>
+        <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_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>
+        <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="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">
+        <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="rear_right_flipper_wheel7_j" type="revolute">
+      <child>rear_right_flipper_wheel7</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>11.976</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_right_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="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>
+      <parent>rear_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="rear_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="rear_right_motor_j" type="fixed">
+      <child>rear_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="top_box">
+      <pose>0.06 0 0.2821 0 -0 0</pose>
+      <inertial>
+        <mass>2</mass>
+        <inertia>
+          <ixx>0.01755</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.00706667</iyy>
+          <iyz>0</iyz>
+          <izz>0.0138167</izz>
+        </inertia>
+      </inertial>
+      <collision name="top_box_collision">
+        <geometry>
+          <box>
+            <size>0.1 0.11 0.18</size>
+          </box>
+        </geometry>
+      </collision>
+      <collision name="top_box_collision_1">
+        <pose>0 -0.11 -0.055 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.1 0.05 0.07</size>
+          </box>
+        </geometry>
+      </collision>
+      <collision name="top_box_collision_2">
+        <pose>0 0.11 -0.055 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.1 0.05 0.07</size>
+          </box>
+        </geometry>
+      </collision>
+      <collision name="top_box_collision_3">
+        <pose>0 -0.07 -0.0275 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.1 0.03 0.125</size>
+          </box>
+        </geometry>
+      </collision>
+      <collision name="top_box_collision_4">
+        <pose>0 0.07 -0.0275 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.1 0.03 0.125</size>
+          </box>
+        </geometry>
+      </collision>
+      <visual name="top_box_visual">
+        <geometry>
+          <box>
+            <size>0.1 0.11 0.18</size>
+          </box>
+        </geometry>
+        <material>
+          <ambient>0 0 0 0</ambient>
+          <diffuse>0 0.133333 0.486275 1</diffuse>
+          <specular>0 0 0 0</specular>
+          <emissive>0 0 0 0</emissive>
+        </material>
+      </visual>
+      <visual name="top_box_visual_1">
+        <pose>0 -0.11 -0.055 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.1 0.05 0.07</size>
+          </box>
+        </geometry>
+        <material>
+          <ambient>0 0 0 0</ambient>
+          <diffuse>0 0.133333 0.486275 1</diffuse>
+          <specular>0 0 0 0</specular>
+          <emissive>0 0 0 0</emissive>
+        </material>
+      </visual>
+      <visual name="top_box_visual_2">
+        <pose>0 0.11 -0.055 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.1 0.05 0.07</size>
+          </box>
+        </geometry>
+        <material>
+          <ambient>0 0 0 0</ambient>
+          <diffuse>0 0.133333 0.486275 1</diffuse>
+          <specular>0 0 0 0</specular>
+          <emissive>0 0 0 0</emissive>
+        </material>
+      </visual>
+      <visual name="top_box_visual_3">
+        <pose>0 -0.07 -0.0275 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.1 0.03 0.125</size>
+          </box>
+        </geometry>
+        <material>
+          <ambient>0 0 0 0</ambient>
+          <diffuse>0 0.133333 0.486275 1</diffuse>
+          <specular>0 0 0 0</specular>
+          <emissive>0 0 0 0</emissive>
+        </material>
+      </visual>
+      <visual name="top_box_visual_4">
+        <pose>0 0.07 -0.0275 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.1 0.03 0.125</size>
+          </box>
+        </geometry>
+        <material>
+          <ambient>0 0 0 0</ambient>
+          <diffuse>0 0.133333 0.486275 1</diffuse>
+          <specular>0 0 0 0</specular>
+          <emissive>0 0 0 0</emissive>
+        </material>
+      </visual>
+      <visual name="top_box_fixed_joint_lump__reflector_visual_5">
+        <pose>0 -0.067 0.035 1.5707963267948966 -1.5707963267948966 0</pose>
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_MARV_SENSOR_CONFIG_1/tip/files/meshes/reflector.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <light name="light_up" type="spot">
+        <pose>0 -0.07 0.045 3.1415926535897931 -0 3.1415926535897931</pose>
+        <attenuation>
+          <range>60</range>
+          <linear>0</linear>
+          <constant>0.1</constant>
+          <quadratic>0.0025</quadratic>
+        </attenuation>
+        <diffuse>0.8 0.8 0.5 1</diffuse>
+        <specular>0.8 0.8 0.5 1</specular>
+        <spot>
+          <inner_angle>1.0472</inner_angle>
+          <outer_angle>1.5708</outer_angle>
+          <falloff>1</falloff>
+        </spot>
+        <direction>0 0 -1</direction>
+      </light>
+    </link>
+    <joint name="top_box_j" type="fixed">
+      <child>top_box</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="antenna">
+      <pose>0 0.125 0.1921 0 -0 0</pose>
+      <inertial>
+        <pose>0 0 0.1 0 -0 0</pose>
+        <mass>0.08</mass>
+        <inertia>
+          <ixx>0.000268667</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.000268667</iyy>
+          <iyz>0</iyz>
+          <izz>4e-06</izz>
+        </inertia>
+      </inertial>
+      <collision name="antenna_collision">
+        <pose>0 0 0.1 0 -0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.2</length>
+            <radius>0.01</radius>
+          </cylinder>
+        </geometry>
+      </collision>
+      <visual name="antenna_visual">
+        <pose>0 0 0.1 0 -0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.2</length>
+            <radius>0.01</radius>
+          </cylinder>
+        </geometry>
+      </visual>
+    </link>
+    <joint name="antenna_j" type="fixed">
+      <child>antenna</child>
+      <parent>top_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="camera_1">
+      <pose>0.06 -0.087 0.1921 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_MARV_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_MARV_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>top_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="camera_3">
+      <pose>0.06 0.087 0.1921 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_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>0.03974</length>
+            <radius>0.0125</radius>
+          </cylinder>
+        </geometry>
+      </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_MARV_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_MARV_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="camera_3_j" type="fixed">
+      <child>camera_3</child>
+      <parent>top_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="camera_4">
+      <pose>0.06 0.055 0.2671 -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_MARV_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_MARV_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>top_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="laser">
+      <pose>0.06 0 0.3721 0 -0 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_MARV_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>top_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>
+    <plugin name="cras::FlipperControlPlugin" filename="flipper_control_plugin">
+      <joint_name>front_left_flipper_j</joint_name>
+      <max_velocity>1.0</max_velocity>
+      <max_torque>120</max_torque>
+      <position_correction_gain>1.0</position_correction_gain>
+    </plugin>
+    <plugin name="cras::FlipperControlPlugin" filename="flipper_control_plugin">
+      <joint_name>front_right_flipper_j</joint_name>
+      <max_velocity>1.0</max_velocity>
+      <max_torque>120</max_torque>
+      <position_correction_gain>1.0</position_correction_gain>
+    </plugin>
+    <plugin name="cras::FlipperControlPlugin" filename="flipper_control_plugin">
+      <joint_name>rear_left_flipper_j</joint_name>
+      <max_velocity>1.0</max_velocity>
+      <max_torque>120</max_torque>
+      <position_correction_gain>1.0</position_correction_gain>
+    </plugin>
+    <plugin name="cras::FlipperControlPlugin" filename="flipper_control_plugin">
+      <joint_name>rear_right_flipper_j</joint_name>
+      <max_velocity>1.0</max_velocity>
+      <max_torque>120</max_torque>
+      <position_correction_gain>1.0</position_correction_gain>
+    </plugin>
+    <plugin name="ignition::gazebo::systems::JointStatePublisher" filename="ignition-gazebo-joint-state-publisher-system">
+      <joint_name>front_left_flipper_j</joint_name>
+      <joint_name>front_right_flipper_j</joint_name>
+      <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>
+  </model>
+</sdf>
+
diff --git a/submitted_models/ctu_cras_norlab_marv_sensor_config_3/package.xml b/submitted_models/ctu_cras_norlab_marv_sensor_config_3/package.xml
new file mode 100644
index 00000000..803c3dc6
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_marv_sensor_config_3/package.xml
@@ -0,0 +1,25 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>ctu_cras_norlab_marv_sensor_config_3</name>
+  <version>1.0.0</version>
+  <description>CTU-CRAS-Norlab MARV Sensor config 3 tracked vehicle package has:
+    - 5 Basler Ace 2 Pro a2A1920-51gcPRO RGB cameras with 86° FOV lenses (Basler C125-0418-5M-P f4mm)
+    - 2 Basler Ace acA2040-35gc RGB cameras with 138° FOV fisheye lenses (Evetar M118B029520IR)
+    - Ouster OS0-128 lidar
+    - 4 TFMini plus point lidars
+    - IMU Xsens MTI-30
+    - Gas sensor
+    - Thermal camera FLIR Boson 92° FOV
+    - Weight: about 61 kg
+  </description>
+
+  <author email="peckama2@fel.cvut.cz">Martin Pecka</author>
+  <maintainer email="peckama2@fel.cvut.cz">Martin Pecka</maintainer>
+
+  <license>BSD-3</license>
+
+  <buildtool_depend>catkin</buildtool_depend>
+
+  <exec_depend>roslaunch</exec_depend>
+  <exec_depend>ctu_cras_norlab_marv_sensor_config_1</exec_depend>
+</package>
diff --git a/submitted_models/ctu_cras_norlab_marv_sensor_config_3/scripts/print_robot_urdf b/submitted_models/ctu_cras_norlab_marv_sensor_config_3/scripts/print_robot_urdf
new file mode 100755
index 00000000..92bc0152
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_marv_sensor_config_3/scripts/print_robot_urdf
@@ -0,0 +1,15 @@
+#!/usr/bin/env bash
+set -e
+
+DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null 2>&1 && pwd )"
+MODEL_DIR="${DIR}/.."
+BASE_MODEL_DIR="${MODEL_DIR}/../ctu_cras_norlab_marv_sensor_config_1"
+
+# load local modifications of configuration and pass them to print_robot_urdf of sensor config 1
+
+config=""
+for file in "${MODEL_DIR}/config/common.yaml" "${MODEL_DIR}/config/urdf.yaml"; do
+  [ -f "$file" ] && config="${config} $("${BASE_MODEL_DIR}/scripts/yaml_to_xacro_args" "$file")"
+done
+
+"${BASE_MODEL_DIR}/scripts/print_robot_urdf" $config "$@"
\ No newline at end of file
diff --git a/submitted_models/ctu_cras_norlab_marv_sensor_config_3/scripts/update_robot_sdf_gz b/submitted_models/ctu_cras_norlab_marv_sensor_config_3/scripts/update_robot_sdf_gz
new file mode 100755
index 00000000..bdf09f46
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_marv_sensor_config_3/scripts/update_robot_sdf_gz
@@ -0,0 +1,16 @@
+#!/usr/bin/env bash
+set -e
+
+DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null 2>&1 && pwd )"
+MODEL_DIR="${DIR}/.."
+BASE_MODEL_DIR="${MODEL_DIR}/../ctu_cras_norlab_marv_sensor_config_1"
+[ -z "${OUTPUT_FILE}" ] && OUTPUT_FILE="${MODEL_DIR}/model.sdf"
+
+# load local modifications of configuration and pass them to update_robot_sdf_gz of sensor config 1
+
+config=""
+for file in "${MODEL_DIR}/config/common.yaml" "${MODEL_DIR}/config/sim.yaml" "${MODEL_DIR}/config/gz.yaml"; do
+  [ -f "$file" ] && config="${config} $("${BASE_MODEL_DIR}/scripts/yaml_to_xacro_args" "$file")"
+done
+
+OUTPUT_FILE="$OUTPUT_FILE" "${BASE_MODEL_DIR}/scripts/update_robot_sdf_gz" $config "$@"
\ No newline at end of file
diff --git a/submitted_models/ctu_cras_norlab_marv_sensor_config_3/scripts/update_robot_sdf_ign b/submitted_models/ctu_cras_norlab_marv_sensor_config_3/scripts/update_robot_sdf_ign
new file mode 100755
index 00000000..2e630cd4
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_marv_sensor_config_3/scripts/update_robot_sdf_ign
@@ -0,0 +1,19 @@
+#!/usr/bin/env bash
+set -e
+
+DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null 2>&1 && pwd )"
+MODEL_DIR="${DIR}/.."
+BASE_MODEL_DIR="${MODEL_DIR}/../ctu_cras_norlab_marv_sensor_config_1"
+[ -z "${OUTPUT_FILE}" ] && OUTPUT_FILE="${MODEL_DIR}/model.sdf"
+
+# load local modifications of configuration and pass them to update_robot_sdf_ign of sensor config 1
+
+config=""
+for file in "${MODEL_DIR}/config/common.yaml" "${MODEL_DIR}/config/sim.yaml" "${MODEL_DIR}/config/ign.yaml"; do
+  [ -f "$file" ] && config="${config} $("${BASE_MODEL_DIR}/scripts/yaml_to_xacro_args" "$file")"
+done
+
+OUTPUT_FILE="$OUTPUT_FILE" "${BASE_MODEL_DIR}/scripts/update_robot_sdf_ign" $config "$@"
+
+sed -i -e 's#<uri>\([^>]*\)</uri>#<uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_MARV_SENSOR_CONFIG_1/tip/files/\1</uri>#' "${OUTPUT_FILE}"
+sed -i -e 's#_map>\([^>]*\)</#_map>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_MARV_SENSOR_CONFIG_1/tip/files/\1</#' "${OUTPUT_FILE}"
\ No newline at end of file
diff --git a/submitted_models/ctu_cras_norlab_marv_sensor_config_4/.gitignore b/submitted_models/ctu_cras_norlab_marv_sensor_config_4/.gitignore
new file mode 100644
index 00000000..5a7699cc
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_marv_sensor_config_4/.gitignore
@@ -0,0 +1 @@
+model.sdf.urdf
\ No newline at end of file
diff --git a/submitted_models/ctu_cras_norlab_marv_sensor_config_4/CMakeLists.txt b/submitted_models/ctu_cras_norlab_marv_sensor_config_4/CMakeLists.txt
new file mode 100644
index 00000000..b06f6914
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_marv_sensor_config_4/CMakeLists.txt
@@ -0,0 +1,15 @@
+cmake_minimum_required(VERSION 3.10)
+project(ctu_cras_norlab_marv_sensor_config_4)
+
+find_package(catkin REQUIRED)
+
+catkin_package()
+
+install(DIRECTORY launch config DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
+
+install(FILES model.sdf model.config
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
+
+install(PROGRAMS
+  scripts/print_robot_urdf
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/scripts)
diff --git a/submitted_models/ctu_cras_norlab_marv_sensor_config_4/README.md b/submitted_models/ctu_cras_norlab_marv_sensor_config_4/README.md
new file mode 100644
index 00000000..5310173f
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_marv_sensor_config_4/README.md
@@ -0,0 +1,30 @@
+# CTU\_CRAS\_NORLAB\_MARV\_SENSOR\_CONFIG\_4
+
+This package contains sensor config 4 of CTU-CRAS-Norlab MARV robot (Mobile Autonomous Rescue Vehicle). The robot has:
+
+- 5 Basler Ace 2 Pro a2A1920-51gcPRO RGB cameras with 86° FOV lenses (Basler C125-0418-5M-P f4mm)
+- 2 Basler Ace acA2040-35gc RGB cameras with 138° FOV fisheye lenses (Evetar M118B029520IR)
+- Ouster OS0-128 lidar
+- 4 TFMini plus point lidars
+- IMU Xsens MTI-30
+- Gas sensor
+- Thermal camera FLIR Boson 92° FOV
+- 12 communication breadcrumbs
+- Weight: about 61 kg
+
+## Model files management
+
+This package follows a different workflow for managing SDF and URDF models of the robot than the suggested one. The only and main source of model data is `urdf/marv.xacro` file in [`ctu_cras_norlab_marv_sensor_config_1`](../ctu_cras_norlab_marv_sensor_config_1) package and the files it includes.
+
+To get the URDF model of the robot, call `scripts/print_robot_urdf` script which prints the robot URDF on stdout. This script is used in `launch/description.launch`.
+
+The SDF model is a regular file committed to this package, but its updates are not
+to be done manually. To change the robot model, make changes in the Xacro, and then run script `scripts/update_robot_sdf_ign`, which updates the `model.sdf` file in this repo. The change can then be commited.
+
+There is also script `scripts/update_robot_sdf_gz`, which creates a model.sdf file suitable for use in Gazebo Classic. This can be used to get its much better visualization functionality, i.e. viewing transparent model, wireframe, inertia, centers of gravity etc.
+
+The model is also configured by a set of shared config files located in `config/` directory of this package and sensor config 1. It contains YAML files which are loaded in the following order:
+
+- URDF: `sensor_config_1/config/common.yaml`, `sensor_config_1/config/urdf.yaml`, `common.yaml`, `urdf.yaml`
+- SDF for Ignition Gazebo: `sensor_config_1/config/common.yaml`, `sensor_config_1/config/sim.yaml`, `sensor_config_1/config/ign.yaml`, `common.yaml`, `sim.yaml`, `ign.yaml`
+- SDF for Gazebo Classic: `sensor_config_1/config/common.yaml`, `sensor_config_1/config/sim.yaml`, `sensor_config_1/config/gz.yaml`, `common.yaml`, `sim.yaml`, `gz.yaml`
\ No newline at end of file
diff --git a/submitted_models/ctu_cras_norlab_marv_sensor_config_4/config/common.yaml b/submitted_models/ctu_cras_norlab_marv_sensor_config_4/config/common.yaml
new file mode 100644
index 00000000..750d1a52
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_marv_sensor_config_4/config/common.yaml
@@ -0,0 +1,2 @@
+has_boson_thermocam: True
+has_mote_deployer: True
\ No newline at end of file
diff --git a/submitted_models/ctu_cras_norlab_marv_sensor_config_4/config/sim.yaml b/submitted_models/ctu_cras_norlab_marv_sensor_config_4/config/sim.yaml
new file mode 100644
index 00000000..69ea9193
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_marv_sensor_config_4/config/sim.yaml
@@ -0,0 +1 @@
+num_breadcrumbs: 12
\ No newline at end of file
diff --git a/submitted_models/ctu_cras_norlab_marv_sensor_config_4/launch/example.ign b/submitted_models/ctu_cras_norlab_marv_sensor_config_4/launch/example.ign
new file mode 100644
index 00000000..73926d6a
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_marv_sensor_config_4/launch/example.ign
@@ -0,0 +1,25 @@
+<?xml version="1.0"?>
+<%
+  base_launch = `rospack find ctu_cras_norlab_marv_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
+
+  teleop_param=''
+  if defined?(teleop) and teleop
+    teleop_param='teleop:=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 %> <%= teleop_param %> <%= headless_param %></command>
+  </executable>
+</ignition>
\ No newline at end of file
diff --git a/submitted_models/ctu_cras_norlab_marv_sensor_config_4/launch/spawner.rb b/submitted_models/ctu_cras_norlab_marv_sensor_config_4/launch/spawner.rb
new file mode 100644
index 00000000..d25c26fa
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_marv_sensor_config_4/launch/spawner.rb
@@ -0,0 +1,46 @@
+require 'yaml'
+confdir = File.join(__dir__, '..', 'config')
+config = YAML.load_file(File.join(confdir, 'sim.yaml'))
+
+$num_breadcrumbs = config["num_breadcrumbs"]
+
+def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw, _additionalSDF='')
+  base_spawn = `rospack find ctu_cras_norlab_marv_sensor_config_1`.chomp + "/launch/common.rb"
+  begin
+    load base_spawn
+  rescue LoadError
+    raise "Unknown robot configuration #{config}. #{spawnerScript} could not be found."
+  else
+    _additionalSDF = _additionalSDF + <<-HEREDOC
+      <plugin filename="ignition-gazebo-breadcrumbs-system"
+            name="ignition::gazebo::systems::Breadcrumbs">
+        <topic>/model/#{_name}/breadcrumb/deploy</topic>
+        <max_deployments>#{$num_breadcrumbs}</max_deployments>
+        <disable_physics_time>3.0</disable_physics_time>
+        <topic_statistics>true</topic_statistics>
+        <breadcrumb>
+          <sdf version="1.6">
+            <model name="#{_name}__breadcrumb__">
+              <pose>-0.45 -0.13 0 0 0 #{Math::PI/2}</pose>
+              <include>
+                <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Breadcrumb Node</uri>
+             </include>
+           </model>
+         </sdf>
+       </breadcrumb>
+      </plugin>
+    HEREDOC
+    _spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw, _additionalSDF)
+  end
+end
+
+def rosExecutables(_name, _worldName)
+  <<-HEREDOC
+  <executable name='topics'>
+    <command>roslaunch --wait ctu_cras_norlab_marv_sensor_config_1 vehicle_topics.launch world_name:=#{_worldName} name:=#{_name} breadcrumbs:=#{$num_breadcrumbs} has_thermal_camera:=1</command>
+  </executable>
+  <executable name='description'>
+    <command>roslaunch --wait ctu_cras_norlab_marv_sensor_config_1 description.launch name:=#{_name} print_command:="#{File.dirname(__FILE__) + '/../scripts/print_robot_urdf'}"</command>
+  </executable>
+  HEREDOC
+end
diff --git a/submitted_models/ctu_cras_norlab_marv_sensor_config_4/model.config b/submitted_models/ctu_cras_norlab_marv_sensor_config_4/model.config
new file mode 100644
index 00000000..910786f5
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_marv_sensor_config_4/model.config
@@ -0,0 +1,23 @@
+<?xml version="1.0"?>
+<model>
+  <name>ctu_cras_norlab_marv_sensor_config_4</name>
+  <sdf version="1.7">model.sdf</sdf>
+  <description>
+    CTU-CRAS-Norlab MARV Sensor config 4 tracked vehicle package has:
+    - 5 Basler Ace 2 Pro a2A1920-51gcPRO RGB cameras with 86° FOV lenses (Basler C125-0418-5M-P f4mm)
+    - 2 Basler Ace acA2040-35gc RGB cameras with 138° FOV fisheye lenses (Evetar M118B029520IR)
+    - Ouster OS0-128 lidar
+    - 4 TFMini plus point lidars
+    - IMU Xsens MTI-30
+    - Gas sensor
+    - Thermal camera FLIR Boson 92° FOV
+    - 12 communication breadcrumbs
+    - Weight: about 61 kg
+  </description>
+  <depend>
+    <model>
+      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_MARV_SENSOR_CONFIG_1</uri>
+    </model>
+  </depend>
+</model>
+
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
new file mode 100644
index 00000000..9eb58e59
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_marv_sensor_config_4/model.sdf
@@ -0,0 +1,5136 @@
+<?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. -->
+  <model name="ctu_cras_norlab_marv_sensor_config_1">
+    <link name="base_link">
+      <inertial>
+        <pose>0 0 0.0661 0 -0 0</pose>
+        <mass>8.7</mass>
+        <inertia>
+          <ixx>0.12905</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.29609</iyy>
+          <iyz>0</iyz>
+          <izz>0.35496</izz>
+        </inertia>
+      </inertial>
+      <collision name="base_link_collision">
+        <pose>0 0 0.0961 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.6 0.36 0.192</size>
+          </box>
+        </geometry>
+      </collision>
+      <collision name="base_link_collision_1">
+        <pose>0 0 -0.0219 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.512 0.36 0.044</size>
+          </box>
+        </geometry>
+      </collision>
+      <collision name="base_link_collision_2">
+        <pose>0.256 0 0.000144 1.5707963267948966 -0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.36</length>
+            <radius>0.044044</radius>
+          </cylinder>
+        </geometry>
+      </collision>
+      <collision name="base_link_collision_3">
+        <pose>-0.256 0 0.000144 1.5707963267948966 -0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.36</length>
+            <radius>0.044044</radius>
+          </cylinder>
+        </geometry>
+      </collision>
+      <visual name="base_link_fixed_joint_lump__chassis_visual">
+        <material>
+          <diffuse>1 1 1 1</diffuse>
+          <pbr>
+            <metal>
+              <albedo_map>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_MARV_SENSOR_CONFIG_1/tip/files/textures/chassis.png</albedo_map>
+              <emissive_map>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_MARV_SENSOR_CONFIG_1/tip/files/textures/chassis_emissive.png</emissive_map>
+            </metal>
+          </pbr>
+        </material>
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_MARV_SENSOR_CONFIG_1/tip/files/meshes/chassis.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <visual name="base_link_visual_1">
+        <pose>0 0 0.1841 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/deck.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <visual name="base_link_visual_2">
+        <pose>0.256 0.18 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/motor_housing.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <visual name="base_link_visual_3">
+        <pose>0.256 -0.18 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/motor_housing_mirrored.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <visual name="base_link_visual_4">
+        <pose>-0.256 0.18 0 0 -0 0</pose>
+        <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/motor_housing_mirrored.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <visual name="base_link_visual_5">
+        <pose>-0.256 -0.18 0 0 -0 0</pose>
+        <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/motor_housing.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <self_collide>0</self_collide>
+      <light name="light_left" type="spot">
+        <pose>0 0.19 0.1621 1.5707963267948966 1.5707963267948966 0</pose>
+        <cast_shadows>1</cast_shadows>
+        <attenuation>
+          <range>30</range>
+          <linear>0.2</linear>
+          <constant>0.1</constant>
+          <quadratic>0.0025</quadratic>
+        </attenuation>
+        <diffuse>0.8 0.8 0.5 1</diffuse>
+        <specular>0.8 0.8 0.5 1</specular>
+        <spot>
+          <inner_angle>2.8</inner_angle>
+          <outer_angle>2.9</outer_angle>
+          <falloff>1</falloff>
+        </spot>
+        <direction>1 0 0</direction>
+      </light>
+      <light name="light_right" type="spot">
+        <pose>0 -0.19 0.1621 -1.5707963267948966 1.5707963267948966 0</pose>
+        <cast_shadows>1</cast_shadows>
+        <attenuation>
+          <range>30</range>
+          <linear>0.2</linear>
+          <constant>0.1</constant>
+          <quadratic>0.0025</quadratic>
+        </attenuation>
+        <diffuse>0.8 0.8 0.5 1</diffuse>
+        <specular>0.8 0.8 0.5 1</specular>
+        <spot>
+          <inner_angle>2.8</inner_angle>
+          <outer_angle>2.9</outer_angle>
+          <falloff>1</falloff>
+        </spot>
+        <direction>1 0 0</direction>
+      </light>
+      <light name="light_front" type="spot">
+        <pose>0.31 0 0.1621 -3.1415926535897931 1.5707963267948966 0</pose>
+        <cast_shadows>1</cast_shadows>
+        <attenuation>
+          <range>30</range>
+          <linear>0.2</linear>
+          <constant>0.1</constant>
+          <quadratic>0.0025</quadratic>
+        </attenuation>
+        <diffuse>0.8 0.8 0.5 1</diffuse>
+        <specular>0.8 0.8 0.5 1</specular>
+        <spot>
+          <inner_angle>2.8</inner_angle>
+          <outer_angle>2.9</outer_angle>
+          <falloff>1</falloff>
+        </spot>
+        <direction>1 0 0</direction>
+      </light>
+      <light name="light_rear" type="spot">
+        <pose>-0.31 0 0.1621 0 1.5707963267948966 0</pose>
+        <cast_shadows>1</cast_shadows>
+        <attenuation>
+          <range>40</range>
+          <linear>0</linear>
+          <constant>0.2</constant>
+          <quadratic>0.0025</quadratic>
+        </attenuation>
+        <diffuse>0.8 0.8 0.5 1</diffuse>
+        <specular>0.8 0.8 0.5 1</specular>
+        <spot>
+          <inner_angle>2.8</inner_angle>
+          <outer_angle>2.9</outer_angle>
+          <falloff>1</falloff>
+        </spot>
+        <direction>1 0 0</direction>
+      </light>
+    </link>
+    <link name="battery1">
+      <pose>0.06 0.005 0.0251 0 -0 0</pose>
+      <inertial>
+        <mass>6</mass>
+        <inertia>
+          <ixx>0.07325</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.016388</iyy>
+          <iyz>0</iyz>
+          <izz>0.072738</izz>
+        </inertia>
+      </inertial>
+      <collision name="battery1_collision">
+        <geometry>
+          <box>
+            <size>0.126 0.36 0.13</size>
+          </box>
+        </geometry>
+      </collision>
+      <visual name="battery1_visual">
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_MARV_SENSOR_CONFIG_1/tip/files/meshes/battery.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+    </link>
+    <joint name="battery1_j" type="fixed">
+      <child>battery1</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="battery2">
+      <pose>-0.06 0.005 0.0251 0 -0 0</pose>
+      <inertial>
+        <mass>6</mass>
+        <inertia>
+          <ixx>0.07325</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.016388</iyy>
+          <iyz>0</iyz>
+          <izz>0.072738</izz>
+        </inertia>
+      </inertial>
+      <collision name="battery2_collision">
+        <geometry>
+          <box>
+            <size>0.126 0.36 0.13</size>
+          </box>
+        </geometry>
+      </collision>
+      <visual name="battery2_visual">
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_MARV_SENSOR_CONFIG_1/tip/files/meshes/battery.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+    </link>
+    <joint name="battery2_j" type="fixed">
+      <child>battery2</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="bottom_plate">
+      <inertial>
+        <pose>0 0 -0.0439 0 -0 0</pose>
+        <mass>1.09</mass>
+        <inertia>
+          <ixx>0.0117743</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.0327023</iyy>
+          <iyz>0</iyz>
+          <izz>0.044472</izz>
+        </inertia>
+      </inertial>
+    </link>
+    <joint name="bottom_plate_j" type="fixed">
+      <child>bottom_plate</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="deck">
+      <inertial>
+        <pose>0 0 0.1921 0 -0 0</pose>
+        <mass>3.4</mass>
+        <inertia>
+          <ixx>0.0367925</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.102073</iyy>
+          <iyz>0</iyz>
+          <izz>0.13872</izz>
+        </inertia>
+      </inertial>
+    </link>
+    <joint name="deck_j" type="fixed">
+      <child>deck</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_cam">
+      <pose>0.244 0 0.1321 0 -0 0</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="front_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="front_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="front_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="front_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="front_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="front_cam_j" type="fixed">
+      <child>front_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="front_left_flipper">
+      <pose>0.256 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>
+      <visual name="front_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="front_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="front_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="front_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="front_left_flipper_j" type="revolute">
+      <child>front_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="front_left_flipper_end_point_inflated">
+      <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="front_left_flipper_end_point_inflated_j" type="fixed">
+      <child>front_left_flipper_end_point_inflated</child>
+      <parent>front_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="front_left_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="front_left_flipper_end_point_j" type="fixed">
+      <child>front_left_flipper_end_point</child>
+      <parent>front_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="front_left_flipper_wheel1">
+      <pose>0.256 0.248 0 0 -0 0</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="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>
+      <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="front_left_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="front_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="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>
+        <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_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>
+        <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_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">
+        <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_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>
+            <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="front_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="front_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="front_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="front_right_flipper_j" type="revolute">
+      <child>front_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>
+        <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_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="front_right_flipper_end_point_inflated_j" type="fixed">
+      <child>front_right_flipper_end_point_inflated</child>
+      <parent>front_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="front_right_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="front_right_flipper_end_point_j" type="fixed">
+      <child>front_right_flipper_end_point</child>
+      <parent>front_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="front_right_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="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>
+      <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="front_right_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="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>
+        </inertia>
+      </inertial>
+    </link>
+    <joint name="rear_right_box_j" type="fixed">
+      <child>rear_right_box</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_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>
+    </link>
+    <joint name="camera_0_j" type="fixed">
+      <child>camera_0</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="camera_2">
+      <pose>-0.21 0 0.1921 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_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>
+      <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_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>
+        <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_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>
+      <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_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>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>
+      <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_rear_left">
+      <pose>-0.3 0.1445 0.2106 3.1415926535897931 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_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>
+      <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_rear_right">
+      <pose>-0.3 -0.1445 0.2106 3.1415926535897931 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_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>
+    </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>
+    </link>
+    <joint name="mobilicom_antenna_l_j" type="fixed">
+      <child>mobilicom_antenna_l</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="mobilicom_antenna_r">
+      <pose>-0.225 0.17 0.2056 0 -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_r_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_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="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="mote_deployer">
+      <pose>-0.24 -0.16 0.1821 0 0 -3.1415926535897931</pose>
+      <inertial>
+        <pose>0.0845 -0.024 0.0655 0 -0 0</pose>
+        <mass>0.5</mass>
+        <inertia>
+          <ixx>0.000931042</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.00220342</iyy>
+          <iyz>0</iyz>
+          <izz>0.00170437</izz>
+        </inertia>
+      </inertial>
+      <collision name="mote_deployer_collision">
+        <pose>0.0845 -0.024 0.0655 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.189 0.072 0.131</size>
+          </box>
+        </geometry>
+      </collision>
+      <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="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="thermocam">
+      <pose>0.26 -0.04 0.1921 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_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="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">
+      <pose>-0.256 -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>
+      <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_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>
+        <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_end_point_inflated">
+      <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_inflated_j" type="fixed">
+      <child>rear_right_flipper_end_point_inflated</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_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_flipper_wheel1">
+      <pose>-0.256 -0.248 0 0 -0 0</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_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="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>
+        <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_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>
+          <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_right_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="rear_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="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>
+        <dynamics>
+          <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>-0.386071 -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="rear_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="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>
+        <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_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>
+        <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_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">
+        <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_right_flipper_wheel7_j" type="revolute">
+      <child>rear_right_flipper_wheel7</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>11.976</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_right_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="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>
+      <parent>rear_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="rear_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="rear_right_motor_j" type="fixed">
+      <child>rear_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="top_box">
+      <pose>0.06 0 0.2821 0 -0 0</pose>
+      <inertial>
+        <mass>2</mass>
+        <inertia>
+          <ixx>0.01755</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.00706667</iyy>
+          <iyz>0</iyz>
+          <izz>0.0138167</izz>
+        </inertia>
+      </inertial>
+      <collision name="top_box_collision">
+        <geometry>
+          <box>
+            <size>0.1 0.11 0.18</size>
+          </box>
+        </geometry>
+      </collision>
+      <collision name="top_box_collision_1">
+        <pose>0 -0.11 -0.055 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.1 0.05 0.07</size>
+          </box>
+        </geometry>
+      </collision>
+      <collision name="top_box_collision_2">
+        <pose>0 0.11 -0.055 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.1 0.05 0.07</size>
+          </box>
+        </geometry>
+      </collision>
+      <collision name="top_box_collision_3">
+        <pose>0 -0.07 -0.0275 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.1 0.03 0.125</size>
+          </box>
+        </geometry>
+      </collision>
+      <collision name="top_box_collision_4">
+        <pose>0 0.07 -0.0275 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.1 0.03 0.125</size>
+          </box>
+        </geometry>
+      </collision>
+      <visual name="top_box_visual">
+        <geometry>
+          <box>
+            <size>0.1 0.11 0.18</size>
+          </box>
+        </geometry>
+        <material>
+          <ambient>0 0 0 0</ambient>
+          <diffuse>0 0.133333 0.486275 1</diffuse>
+          <specular>0 0 0 0</specular>
+          <emissive>0 0 0 0</emissive>
+        </material>
+      </visual>
+      <visual name="top_box_visual_1">
+        <pose>0 -0.11 -0.055 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.1 0.05 0.07</size>
+          </box>
+        </geometry>
+        <material>
+          <ambient>0 0 0 0</ambient>
+          <diffuse>0 0.133333 0.486275 1</diffuse>
+          <specular>0 0 0 0</specular>
+          <emissive>0 0 0 0</emissive>
+        </material>
+      </visual>
+      <visual name="top_box_visual_2">
+        <pose>0 0.11 -0.055 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.1 0.05 0.07</size>
+          </box>
+        </geometry>
+        <material>
+          <ambient>0 0 0 0</ambient>
+          <diffuse>0 0.133333 0.486275 1</diffuse>
+          <specular>0 0 0 0</specular>
+          <emissive>0 0 0 0</emissive>
+        </material>
+      </visual>
+      <visual name="top_box_visual_3">
+        <pose>0 -0.07 -0.0275 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.1 0.03 0.125</size>
+          </box>
+        </geometry>
+        <material>
+          <ambient>0 0 0 0</ambient>
+          <diffuse>0 0.133333 0.486275 1</diffuse>
+          <specular>0 0 0 0</specular>
+          <emissive>0 0 0 0</emissive>
+        </material>
+      </visual>
+      <visual name="top_box_visual_4">
+        <pose>0 0.07 -0.0275 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.1 0.03 0.125</size>
+          </box>
+        </geometry>
+        <material>
+          <ambient>0 0 0 0</ambient>
+          <diffuse>0 0.133333 0.486275 1</diffuse>
+          <specular>0 0 0 0</specular>
+          <emissive>0 0 0 0</emissive>
+        </material>
+      </visual>
+      <visual name="top_box_fixed_joint_lump__reflector_visual_5">
+        <pose>0 -0.067 0.035 1.5707963267948966 -1.5707963267948966 0</pose>
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_MARV_SENSOR_CONFIG_1/tip/files/meshes/reflector.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <light name="light_up" type="spot">
+        <pose>0 -0.07 0.045 3.1415926535897931 -0 3.1415926535897931</pose>
+        <attenuation>
+          <range>60</range>
+          <linear>0</linear>
+          <constant>0.1</constant>
+          <quadratic>0.0025</quadratic>
+        </attenuation>
+        <diffuse>0.8 0.8 0.5 1</diffuse>
+        <specular>0.8 0.8 0.5 1</specular>
+        <spot>
+          <inner_angle>1.0472</inner_angle>
+          <outer_angle>1.5708</outer_angle>
+          <falloff>1</falloff>
+        </spot>
+        <direction>0 0 -1</direction>
+      </light>
+    </link>
+    <joint name="top_box_j" type="fixed">
+      <child>top_box</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="antenna">
+      <pose>0 0.125 0.1921 0 -0 0</pose>
+      <inertial>
+        <pose>0 0 0.1 0 -0 0</pose>
+        <mass>0.08</mass>
+        <inertia>
+          <ixx>0.000268667</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.000268667</iyy>
+          <iyz>0</iyz>
+          <izz>4e-06</izz>
+        </inertia>
+      </inertial>
+      <collision name="antenna_collision">
+        <pose>0 0 0.1 0 -0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.2</length>
+            <radius>0.01</radius>
+          </cylinder>
+        </geometry>
+      </collision>
+      <visual name="antenna_visual">
+        <pose>0 0 0.1 0 -0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.2</length>
+            <radius>0.01</radius>
+          </cylinder>
+        </geometry>
+      </visual>
+    </link>
+    <joint name="antenna_j" type="fixed">
+      <child>antenna</child>
+      <parent>top_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="camera_1">
+      <pose>0.06 -0.087 0.1921 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_MARV_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_MARV_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>top_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="camera_3">
+      <pose>0.06 0.087 0.1921 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_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>0.03974</length>
+            <radius>0.0125</radius>
+          </cylinder>
+        </geometry>
+      </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_MARV_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_MARV_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="camera_3_j" type="fixed">
+      <child>camera_3</child>
+      <parent>top_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="camera_4">
+      <pose>0.06 0.055 0.2671 -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_MARV_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_MARV_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>top_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="laser">
+      <pose>0.06 0 0.3721 0 -0 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_MARV_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>top_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>
+    <plugin name="cras::FlipperControlPlugin" filename="flipper_control_plugin">
+      <joint_name>front_left_flipper_j</joint_name>
+      <max_velocity>1.0</max_velocity>
+      <max_torque>120</max_torque>
+      <position_correction_gain>1.0</position_correction_gain>
+    </plugin>
+    <plugin name="cras::FlipperControlPlugin" filename="flipper_control_plugin">
+      <joint_name>front_right_flipper_j</joint_name>
+      <max_velocity>1.0</max_velocity>
+      <max_torque>120</max_torque>
+      <position_correction_gain>1.0</position_correction_gain>
+    </plugin>
+    <plugin name="cras::FlipperControlPlugin" filename="flipper_control_plugin">
+      <joint_name>rear_left_flipper_j</joint_name>
+      <max_velocity>1.0</max_velocity>
+      <max_torque>120</max_torque>
+      <position_correction_gain>1.0</position_correction_gain>
+    </plugin>
+    <plugin name="cras::FlipperControlPlugin" filename="flipper_control_plugin">
+      <joint_name>rear_right_flipper_j</joint_name>
+      <max_velocity>1.0</max_velocity>
+      <max_torque>120</max_torque>
+      <position_correction_gain>1.0</position_correction_gain>
+    </plugin>
+    <plugin name="ignition::gazebo::systems::JointStatePublisher" filename="ignition-gazebo-joint-state-publisher-system">
+      <joint_name>front_left_flipper_j</joint_name>
+      <joint_name>front_right_flipper_j</joint_name>
+      <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>
+  </model>
+</sdf>
+
diff --git a/submitted_models/ctu_cras_norlab_marv_sensor_config_4/package.xml b/submitted_models/ctu_cras_norlab_marv_sensor_config_4/package.xml
new file mode 100644
index 00000000..3313160b
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_marv_sensor_config_4/package.xml
@@ -0,0 +1,26 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>ctu_cras_norlab_marv_sensor_config_4</name>
+  <version>1.0.0</version>
+  <description>CTU-CRAS-Norlab MARV Sensor config 4 tracked vehicle package has:
+    - 5 Basler Ace 2 Pro a2A1920-51gcPRO RGB cameras with 86° FOV lenses (Basler C125-0418-5M-P f4mm)
+    - 2 Basler Ace acA2040-35gc RGB cameras with 138° FOV fisheye lenses (Evetar M118B029520IR)
+    - Ouster OS0-128 lidar
+    - 4 TFMini plus point lidars
+    - IMU Xsens MTI-30
+    - Gas sensor
+    - Thermal camera FLIR Boson 92° FOV
+    - 12 communication breadcrumbs
+    - Weight: about 61 kg
+  </description>
+
+  <author email="peckama2@fel.cvut.cz">Martin Pecka</author>
+  <maintainer email="peckama2@fel.cvut.cz">Martin Pecka</maintainer>
+
+  <license>BSD-3</license>
+
+  <buildtool_depend>catkin</buildtool_depend>
+
+  <exec_depend>roslaunch</exec_depend>
+  <exec_depend>ctu_cras_norlab_marv_sensor_config_1</exec_depend>
+</package>
diff --git a/submitted_models/ctu_cras_norlab_marv_sensor_config_4/scripts/print_robot_urdf b/submitted_models/ctu_cras_norlab_marv_sensor_config_4/scripts/print_robot_urdf
new file mode 100755
index 00000000..92bc0152
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_marv_sensor_config_4/scripts/print_robot_urdf
@@ -0,0 +1,15 @@
+#!/usr/bin/env bash
+set -e
+
+DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null 2>&1 && pwd )"
+MODEL_DIR="${DIR}/.."
+BASE_MODEL_DIR="${MODEL_DIR}/../ctu_cras_norlab_marv_sensor_config_1"
+
+# load local modifications of configuration and pass them to print_robot_urdf of sensor config 1
+
+config=""
+for file in "${MODEL_DIR}/config/common.yaml" "${MODEL_DIR}/config/urdf.yaml"; do
+  [ -f "$file" ] && config="${config} $("${BASE_MODEL_DIR}/scripts/yaml_to_xacro_args" "$file")"
+done
+
+"${BASE_MODEL_DIR}/scripts/print_robot_urdf" $config "$@"
\ No newline at end of file
diff --git a/submitted_models/ctu_cras_norlab_marv_sensor_config_4/scripts/update_robot_sdf_gz b/submitted_models/ctu_cras_norlab_marv_sensor_config_4/scripts/update_robot_sdf_gz
new file mode 100755
index 00000000..bdf09f46
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_marv_sensor_config_4/scripts/update_robot_sdf_gz
@@ -0,0 +1,16 @@
+#!/usr/bin/env bash
+set -e
+
+DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null 2>&1 && pwd )"
+MODEL_DIR="${DIR}/.."
+BASE_MODEL_DIR="${MODEL_DIR}/../ctu_cras_norlab_marv_sensor_config_1"
+[ -z "${OUTPUT_FILE}" ] && OUTPUT_FILE="${MODEL_DIR}/model.sdf"
+
+# load local modifications of configuration and pass them to update_robot_sdf_gz of sensor config 1
+
+config=""
+for file in "${MODEL_DIR}/config/common.yaml" "${MODEL_DIR}/config/sim.yaml" "${MODEL_DIR}/config/gz.yaml"; do
+  [ -f "$file" ] && config="${config} $("${BASE_MODEL_DIR}/scripts/yaml_to_xacro_args" "$file")"
+done
+
+OUTPUT_FILE="$OUTPUT_FILE" "${BASE_MODEL_DIR}/scripts/update_robot_sdf_gz" $config "$@"
\ No newline at end of file
diff --git a/submitted_models/ctu_cras_norlab_marv_sensor_config_4/scripts/update_robot_sdf_ign b/submitted_models/ctu_cras_norlab_marv_sensor_config_4/scripts/update_robot_sdf_ign
new file mode 100755
index 00000000..2e630cd4
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_marv_sensor_config_4/scripts/update_robot_sdf_ign
@@ -0,0 +1,19 @@
+#!/usr/bin/env bash
+set -e
+
+DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null 2>&1 && pwd )"
+MODEL_DIR="${DIR}/.."
+BASE_MODEL_DIR="${MODEL_DIR}/../ctu_cras_norlab_marv_sensor_config_1"
+[ -z "${OUTPUT_FILE}" ] && OUTPUT_FILE="${MODEL_DIR}/model.sdf"
+
+# load local modifications of configuration and pass them to update_robot_sdf_ign of sensor config 1
+
+config=""
+for file in "${MODEL_DIR}/config/common.yaml" "${MODEL_DIR}/config/sim.yaml" "${MODEL_DIR}/config/ign.yaml"; do
+  [ -f "$file" ] && config="${config} $("${BASE_MODEL_DIR}/scripts/yaml_to_xacro_args" "$file")"
+done
+
+OUTPUT_FILE="$OUTPUT_FILE" "${BASE_MODEL_DIR}/scripts/update_robot_sdf_ign" $config "$@"
+
+sed -i -e 's#<uri>\([^>]*\)</uri>#<uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_MARV_SENSOR_CONFIG_1/tip/files/\1</uri>#' "${OUTPUT_FILE}"
+sed -i -e 's#_map>\([^>]*\)</#_map>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_MARV_SENSOR_CONFIG_1/tip/files/\1</#' "${OUTPUT_FILE}"
\ No newline at end of file
diff --git a/submitted_models/ctu_cras_norlab_spot_sensor_config_1/.gitignore b/submitted_models/ctu_cras_norlab_spot_sensor_config_1/.gitignore
new file mode 100644
index 00000000..5a7699cc
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_spot_sensor_config_1/.gitignore
@@ -0,0 +1 @@
+model.sdf.urdf
\ No newline at end of file
diff --git a/submitted_models/ctu_cras_norlab_spot_sensor_config_1/CMakeLists.txt b/submitted_models/ctu_cras_norlab_spot_sensor_config_1/CMakeLists.txt
new file mode 100644
index 00000000..0828208d
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_spot_sensor_config_1/CMakeLists.txt
@@ -0,0 +1,14 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(ctu_cras_norlab_spot_sensor_config_1)
+
+find_package(catkin REQUIRED)
+
+catkin_package()
+
+install(DIRECTORY config launch meshes textures urdf DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
+
+install(FILES model.sdf model.config
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
+
+install(PROGRAMS scripts/print_robot_urdf
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/scripts)
\ No newline at end of file
diff --git a/submitted_models/ctu_cras_norlab_spot_sensor_config_1/config/model/common.yaml b/submitted_models/ctu_cras_norlab_spot_sensor_config_1/config/model/common.yaml
new file mode 100644
index 00000000..703ab192
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_spot_sensor_config_1/config/model/common.yaml
@@ -0,0 +1,4 @@
+num_breadcrumbs: 0
+body_color_r: 0
+body_color_g: 0.364705882
+body_color_b: 0.678431373
\ No newline at end of file
diff --git a/submitted_models/ctu_cras_norlab_spot_sensor_config_1/config/model/urdf.yaml b/submitted_models/ctu_cras_norlab_spot_sensor_config_1/config/model/urdf.yaml
new file mode 100644
index 00000000..905f9971
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_spot_sensor_config_1/config/model/urdf.yaml
@@ -0,0 +1 @@
+has_big_collision_box_on_top: True
\ No newline at end of file
diff --git a/submitted_models/ctu_cras_norlab_spot_sensor_config_1/config/ros_control/ros_control.yaml b/submitted_models/ctu_cras_norlab_spot_sensor_config_1/config/ros_control/ros_control.yaml
new file mode 100644
index 00000000..14685449
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_spot_sensor_config_1/config/ros_control/ros_control.yaml
@@ -0,0 +1,15 @@
+"":
+  joint_group_position_controller:
+      gains:
+        front_left_hip_x  : {p: 280, i: 0.3, d: 7.0}
+        front_left_hip_y  : {p: 280, i: 0.3, d: 7.0}
+        front_left_knee   : {p: 280, i: 0.3, d: 7.0}
+        front_right_hip_x : {p: 280, i: 0.3, d: 7.0}
+        front_right_hip_y : {p: 280, i: 0.3, d: 7.0}
+        front_right_knee  : {p: 280, i: 0.3, d: 7.0}
+        rear_left_hip_x   : {p: 280, i: 0.3, d: 7.0}
+        rear_left_hip_y   : {p: 280, i: 0.3, d: 7.0}
+        rear_left_knee    : {p: 280, i: 0.3, d: 7.0}
+        rear_right_hip_x  : {p: 280, i: 0.3, d: 7.0}
+        rear_right_hip_y  : {p: 280, i: 0.3, d: 7.0}
+        rear_right_knee   : {p: 280, i: 0.3, d: 7.0}
\ No newline at end of file
diff --git a/submitted_models/ctu_cras_norlab_spot_sensor_config_1/config/rviz.rviz b/submitted_models/ctu_cras_norlab_spot_sensor_config_1/config/rviz.rviz
new file mode 100644
index 00000000..21c85583
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_spot_sensor_config_1/config/rviz.rviz
@@ -0,0 +1,1198 @@
+Panels:
+  - Class: rviz/Displays
+    Help Height: 85
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Robot model1/Status1
+        - /Mono1
+        - /Depth1
+        - /Points1
+        - /VRAS Omnicam1
+      Splitter Ratio: 0.6631853580474854
+    Tree Height: 313
+  - Class: rviz/Selection
+    Name: Selection
+  - Class: rviz/Tool Properties
+    Expanded:
+      - /2D Pose Estimate1
+      - /2D Nav Goal1
+      - /Publish Point1
+    Name: Tool Properties
+    Splitter Ratio: 0.5886790156364441
+  - Class: rviz/Views
+    Expanded:
+      - /Current View1
+      - /Robot left side1/Focal Point1
+    Name: Views
+    Splitter Ratio: 0.4786096215248108
+  - Class: rviz/Time
+    Experimental: false
+    Name: Time
+    SyncMode: 0
+    SyncSource: Left
+Preferences:
+  PromptSaveOnExit: true
+Toolbars:
+  toolButtonStyle: 2
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 1
+      Class: rviz/RobotModel
+      Collision Enabled: false
+      Enabled: true
+      Links:
+        All Links Enabled: true
+        Expand Joint Details: false
+        Expand Link Details: false
+        Expand Tree: false
+        Link Tree Style: Links in Alphabetic Order
+        X1/base_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        X1/body:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        X1/camera_0:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        X1/camera_1:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        X1/camera_2:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        X1/camera_3:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        X1/camera_4:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        X1/camera_back:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        X1/camera_frontleft:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        X1/camera_frontright:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        X1/camera_left:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        X1/camera_right:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        X1/front_left_ee:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        X1/front_left_hip:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        X1/front_left_lower_leg:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        X1/front_left_upper_leg:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        X1/front_rail:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        X1/front_right_ee:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        X1/front_right_hip:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        X1/front_right_lower_leg:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        X1/front_right_upper_leg:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        X1/imu:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        X1/imu_vras:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        X1/laser:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        X1/payload:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        X1/rear_left_ee:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        X1/rear_left_hip:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        X1/rear_left_lower_leg:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        X1/rear_left_upper_leg:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        X1/rear_rail:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        X1/rear_right_ee:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        X1/rear_right_hip:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        X1/rear_right_lower_leg:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        X1/rear_right_upper_leg:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        total_mass_34_66:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+      Name: Robot model
+      Robot Description: robot_description
+      TF Prefix: ""
+      Update Interval: 0
+      Value: true
+      Visual Enabled: true
+    - Class: rviz/TF
+      Enabled: true
+      Frame Timeout: 15
+      Frames:
+        All Enabled: true
+        X1:
+          Value: true
+        X1/base_link:
+          Value: true
+        X1/body:
+          Value: true
+        X1/camera_0:
+          Value: true
+        X1/camera_0/camera_0:
+          Value: true
+        X1/camera_0/camera_0_optical:
+          Value: true
+        X1/camera_1:
+          Value: true
+        X1/camera_1/camera_1:
+          Value: true
+        X1/camera_1/camera_1_optical:
+          Value: true
+        X1/camera_2:
+          Value: true
+        X1/camera_2/camera_2:
+          Value: true
+        X1/camera_2/camera_2_optical:
+          Value: true
+        X1/camera_3:
+          Value: true
+        X1/camera_3/camera_3:
+          Value: true
+        X1/camera_3/camera_3_optical:
+          Value: true
+        X1/camera_4:
+          Value: true
+        X1/camera_4/camera_4:
+          Value: true
+        X1/camera_4/camera_4_optical:
+          Value: true
+        X1/camera_back:
+          Value: true
+        X1/camera_back/back_depth:
+          Value: true
+        X1/camera_back/back_depth_optical:
+          Value: true
+        X1/camera_back/back_fisheye_image:
+          Value: true
+        X1/camera_back/back_fisheye_image_optical:
+          Value: true
+        X1/camera_frontleft:
+          Value: true
+        X1/camera_frontleft/frontleft_depth:
+          Value: true
+        X1/camera_frontleft/frontleft_depth_optical:
+          Value: true
+        X1/camera_frontleft/frontleft_fisheye_image:
+          Value: true
+        X1/camera_frontleft/frontleft_fisheye_image_optical:
+          Value: true
+        X1/camera_frontright:
+          Value: true
+        X1/camera_frontright/frontright_depth:
+          Value: true
+        X1/camera_frontright/frontright_depth_optical:
+          Value: true
+        X1/camera_frontright/frontright_fisheye_image:
+          Value: true
+        X1/camera_frontright/frontright_fisheye_image_optical:
+          Value: true
+        X1/camera_left:
+          Value: true
+        X1/camera_left/left_depth:
+          Value: true
+        X1/camera_left/left_depth_optical:
+          Value: true
+        X1/camera_left/left_fisheye_image:
+          Value: true
+        X1/camera_left/left_fisheye_image_optical:
+          Value: true
+        X1/camera_right:
+          Value: true
+        X1/camera_right/right_depth:
+          Value: true
+        X1/camera_right/right_depth_optical:
+          Value: true
+        X1/camera_right/right_fisheye_image:
+          Value: true
+        X1/camera_right/right_fisheye_image_optical:
+          Value: true
+        X1/front_left_ee:
+          Value: true
+        X1/front_left_hip:
+          Value: true
+        X1/front_left_lower_leg:
+          Value: true
+        X1/front_left_lower_leg/contact:
+          Value: true
+        X1/front_left_upper_leg:
+          Value: true
+        X1/front_rail:
+          Value: true
+        X1/front_right_ee:
+          Value: true
+        X1/front_right_hip:
+          Value: true
+        X1/front_right_lower_leg:
+          Value: true
+        X1/front_right_lower_leg/contact:
+          Value: true
+        X1/front_right_upper_leg:
+          Value: true
+        X1/imu:
+          Value: true
+        X1/imu/imu:
+          Value: true
+        X1/imu_vras:
+          Value: true
+        X1/imu_vras/imu:
+          Value: true
+        X1/laser:
+          Value: true
+        X1/laser/laser:
+          Value: true
+        X1/payload:
+          Value: true
+        X1/rear_left_ee:
+          Value: true
+        X1/rear_left_hip:
+          Value: true
+        X1/rear_left_lower_leg:
+          Value: true
+        X1/rear_left_lower_leg/contact:
+          Value: true
+        X1/rear_left_upper_leg:
+          Value: true
+        X1/rear_rail:
+          Value: true
+        X1/rear_right_ee:
+          Value: true
+        X1/rear_right_hip:
+          Value: true
+        X1/rear_right_lower_leg:
+          Value: true
+        X1/rear_right_lower_leg/contact:
+          Value: true
+        X1/rear_right_upper_leg:
+          Value: true
+        example:
+          Value: true
+        world:
+          Value: true
+      Marker Scale: 0.6000000238418579
+      Name: TF
+      Show Arrows: true
+      Show Axes: true
+      Show Names: true
+      Tree:
+        X1:
+          X1/base_link:
+            {}
+          X1/body:
+            {}
+          X1/camera_0:
+            X1/camera_0/camera_0:
+              X1/camera_0/camera_0_optical:
+                {}
+          X1/camera_1:
+            X1/camera_1/camera_1:
+              X1/camera_1/camera_1_optical:
+                {}
+          X1/camera_2:
+            X1/camera_2/camera_2:
+              X1/camera_2/camera_2_optical:
+                {}
+          X1/camera_3:
+            X1/camera_3/camera_3:
+              X1/camera_3/camera_3_optical:
+                {}
+          X1/camera_4:
+            X1/camera_4/camera_4:
+              X1/camera_4/camera_4_optical:
+                {}
+          X1/camera_back:
+            X1/camera_back/back_depth:
+              X1/camera_back/back_depth_optical:
+                {}
+            X1/camera_back/back_fisheye_image:
+              X1/camera_back/back_fisheye_image_optical:
+                {}
+          X1/camera_frontleft:
+            X1/camera_frontleft/frontleft_depth:
+              X1/camera_frontleft/frontleft_depth_optical:
+                {}
+            X1/camera_frontleft/frontleft_fisheye_image:
+              X1/camera_frontleft/frontleft_fisheye_image_optical:
+                {}
+          X1/camera_frontright:
+            X1/camera_frontright/frontright_depth:
+              X1/camera_frontright/frontright_depth_optical:
+                {}
+            X1/camera_frontright/frontright_fisheye_image:
+              X1/camera_frontright/frontright_fisheye_image_optical:
+                {}
+          X1/camera_left:
+            X1/camera_left/left_depth:
+              X1/camera_left/left_depth_optical:
+                {}
+            X1/camera_left/left_fisheye_image:
+              X1/camera_left/left_fisheye_image_optical:
+                {}
+          X1/camera_right:
+            X1/camera_right/right_depth:
+              X1/camera_right/right_depth_optical:
+                {}
+            X1/camera_right/right_fisheye_image:
+              X1/camera_right/right_fisheye_image_optical:
+                {}
+          X1/front_left_ee:
+            {}
+          X1/front_left_hip:
+            {}
+          X1/front_left_lower_leg:
+            X1/front_left_lower_leg/contact:
+              {}
+          X1/front_left_upper_leg:
+            {}
+          X1/front_rail:
+            {}
+          X1/front_right_ee:
+            {}
+          X1/front_right_hip:
+            {}
+          X1/front_right_lower_leg:
+            X1/front_right_lower_leg/contact:
+              {}
+          X1/front_right_upper_leg:
+            {}
+          X1/imu:
+            X1/imu/imu:
+              {}
+          X1/imu_vras:
+            X1/imu_vras/imu:
+              {}
+          X1/laser:
+            X1/laser/laser:
+              {}
+          X1/payload:
+            {}
+          X1/rear_left_ee:
+            {}
+          X1/rear_left_hip:
+            {}
+          X1/rear_left_lower_leg:
+            X1/rear_left_lower_leg/contact:
+              {}
+          X1/rear_left_upper_leg:
+            {}
+          X1/rear_rail:
+            {}
+          X1/rear_right_ee:
+            {}
+          X1/rear_right_hip:
+            {}
+          X1/rear_right_lower_leg:
+            X1/rear_right_lower_leg/contact:
+              {}
+          X1/rear_right_upper_leg:
+            {}
+      Update Interval: 0
+      Value: true
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz/Grid
+      Color: 160; 160; 164
+      Enabled: true
+      Line Style:
+        Line Width: 0.029999999329447746
+        Value: Lines
+      Name: Base link grid (1 m)
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 10
+      Reference Frame: X1
+      Value: true
+    - Alpha: 0.5
+      Cell Size: 10
+      Class: rviz/Grid
+      Color: 160; 160; 164
+      Enabled: true
+      Line Style:
+        Line Width: 0.029999999329447746
+        Value: Lines
+      Name: Fixed frame grid (10 m)
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 10
+      Reference Frame: <Fixed Frame>
+      Value: true
+    - Class: rviz/Group
+      Displays:
+        - Class: rviz/Image
+          Enabled: true
+          Image Topic: left/image_raw
+          Max Value: 1
+          Median window: 5
+          Min Value: 0
+          Name: Left
+          Normalize Range: true
+          Queue Size: 2
+          Transport Hint: raw
+          Unreliable: false
+          Value: true
+        - Class: rviz/Image
+          Enabled: true
+          Image Topic: frontleft/image_raw
+          Max Value: 1
+          Median window: 5
+          Min Value: 0
+          Name: Front Left
+          Normalize Range: true
+          Queue Size: 2
+          Transport Hint: raw
+          Unreliable: false
+          Value: true
+        - Class: rviz/Image
+          Enabled: true
+          Image Topic: frontright/image_raw
+          Max Value: 1
+          Median window: 5
+          Min Value: 0
+          Name: Front Right
+          Normalize Range: true
+          Queue Size: 2
+          Transport Hint: raw
+          Unreliable: false
+          Value: true
+        - Class: rviz/Image
+          Enabled: true
+          Image Topic: right/image_raw
+          Max Value: 1
+          Median window: 5
+          Min Value: 0
+          Name: Right
+          Normalize Range: true
+          Queue Size: 2
+          Transport Hint: raw
+          Unreliable: false
+          Value: true
+        - Class: rviz/Image
+          Enabled: true
+          Image Topic: back/image_raw
+          Max Value: 1
+          Median window: 5
+          Min Value: 0
+          Name: Back
+          Normalize Range: true
+          Queue Size: 2
+          Transport Hint: raw
+          Unreliable: false
+          Value: true
+      Enabled: true
+      Name: Mono
+    - Class: rviz/Group
+      Displays:
+        - Class: rviz/Image
+          Enabled: true
+          Image Topic: tof_left/depth
+          Max Value: 1
+          Median window: 5
+          Min Value: 0
+          Name: Left Depth
+          Normalize Range: true
+          Queue Size: 2
+          Transport Hint: raw
+          Unreliable: false
+          Value: true
+        - Class: rviz/Image
+          Enabled: true
+          Image Topic: tof_frontleft/depth
+          Max Value: 1
+          Median window: 5
+          Min Value: 0
+          Name: Front Left Depth
+          Normalize Range: true
+          Queue Size: 2
+          Transport Hint: raw
+          Unreliable: false
+          Value: true
+        - Class: rviz/Image
+          Enabled: true
+          Image Topic: tof_frontright/depth
+          Max Value: 1
+          Median window: 5
+          Min Value: 0
+          Name: Front Right Depth
+          Normalize Range: true
+          Queue Size: 2
+          Transport Hint: raw
+          Unreliable: false
+          Value: true
+        - Class: rviz/Image
+          Enabled: true
+          Image Topic: tof_right/depth
+          Max Value: 1
+          Median window: 5
+          Min Value: 0
+          Name: Right Depth
+          Normalize Range: true
+          Queue Size: 2
+          Transport Hint: raw
+          Unreliable: false
+          Value: true
+        - Class: rviz/Image
+          Enabled: true
+          Image Topic: tof_back/depth
+          Max Value: 1
+          Median window: 5
+          Min Value: 0
+          Name: Back Depth
+          Normalize Range: true
+          Queue Size: 2
+          Transport Hint: raw
+          Unreliable: false
+          Value: true
+      Enabled: true
+      Name: Depth
+    - Class: rviz/Group
+      Displays:
+        - Alpha: 1
+          Autocompute Intensity Bounds: true
+          Autocompute Value Bounds:
+            Max Value: 1
+            Min Value: -1
+            Value: false
+          Axis: Z
+          Channel Name: intensity
+          Class: rviz/PointCloud2
+          Color: 255; 255; 255
+          Color Transformer: AxisColor
+          Decay Time: 0
+          Enabled: true
+          Invert Rainbow: false
+          Max Color: 255; 255; 255
+          Max Intensity: 4096
+          Min Color: 0; 0; 0
+          Min Intensity: 0
+          Name: Left PCL
+          Position Transformer: XYZ
+          Queue Size: 10
+          Selectable: true
+          Size (Pixels): 3
+          Size (m): 0.009999999776482582
+          Style: Flat Squares
+          Topic: tof_left/depth/points
+          Unreliable: false
+          Use Fixed Frame: true
+          Use rainbow: true
+          Value: true
+        - Alpha: 1
+          Autocompute Intensity Bounds: true
+          Autocompute Value Bounds:
+            Max Value: 1
+            Min Value: -1
+            Value: false
+          Axis: Z
+          Channel Name: intensity
+          Class: rviz/PointCloud2
+          Color: 255; 255; 255
+          Color Transformer: AxisColor
+          Decay Time: 0
+          Enabled: true
+          Invert Rainbow: false
+          Max Color: 255; 255; 255
+          Max Intensity: 4096
+          Min Color: 0; 0; 0
+          Min Intensity: 0
+          Name: Front Left PCL
+          Position Transformer: XYZ
+          Queue Size: 10
+          Selectable: true
+          Size (Pixels): 3
+          Size (m): 0.009999999776482582
+          Style: Flat Squares
+          Topic: tof_frontleft/depth/points
+          Unreliable: false
+          Use Fixed Frame: true
+          Use rainbow: true
+          Value: true
+        - Alpha: 1
+          Autocompute Intensity Bounds: true
+          Autocompute Value Bounds:
+            Max Value: 1
+            Min Value: -1
+            Value: false
+          Axis: Z
+          Channel Name: intensity
+          Class: rviz/PointCloud2
+          Color: 255; 255; 255
+          Color Transformer: AxisColor
+          Decay Time: 0
+          Enabled: true
+          Invert Rainbow: false
+          Max Color: 255; 255; 255
+          Max Intensity: 4096
+          Min Color: 0; 0; 0
+          Min Intensity: 0
+          Name: Front Right PCL
+          Position Transformer: XYZ
+          Queue Size: 10
+          Selectable: true
+          Size (Pixels): 3
+          Size (m): 0.009999999776482582
+          Style: Flat Squares
+          Topic: tof_frontright/depth/points
+          Unreliable: false
+          Use Fixed Frame: true
+          Use rainbow: true
+          Value: true
+        - Alpha: 1
+          Autocompute Intensity Bounds: true
+          Autocompute Value Bounds:
+            Max Value: 1
+            Min Value: -1
+            Value: false
+          Axis: Z
+          Channel Name: intensity
+          Class: rviz/PointCloud2
+          Color: 255; 255; 255
+          Color Transformer: AxisColor
+          Decay Time: 0
+          Enabled: true
+          Invert Rainbow: false
+          Max Color: 255; 255; 255
+          Max Intensity: 4096
+          Min Color: 0; 0; 0
+          Min Intensity: 0
+          Name: Right PCL
+          Position Transformer: XYZ
+          Queue Size: 10
+          Selectable: true
+          Size (Pixels): 3
+          Size (m): 0.009999999776482582
+          Style: Flat Squares
+          Topic: tof_right/depth/points
+          Unreliable: false
+          Use Fixed Frame: true
+          Use rainbow: true
+          Value: true
+        - Alpha: 1
+          Autocompute Intensity Bounds: true
+          Autocompute Value Bounds:
+            Max Value: 1
+            Min Value: -1
+            Value: false
+          Axis: Z
+          Channel Name: intensity
+          Class: rviz/PointCloud2
+          Color: 255; 255; 255
+          Color Transformer: AxisColor
+          Decay Time: 0
+          Enabled: true
+          Invert Rainbow: false
+          Max Color: 255; 255; 255
+          Max Intensity: 4096
+          Min Color: 0; 0; 0
+          Min Intensity: 0
+          Name: Back PCL
+          Position Transformer: XYZ
+          Queue Size: 10
+          Selectable: true
+          Size (Pixels): 3
+          Size (m): 0.009999999776482582
+          Style: Flat Squares
+          Topic: tof_back/depth/points
+          Unreliable: false
+          Use Fixed Frame: true
+          Use rainbow: true
+          Value: true
+      Enabled: false
+      Name: Points
+    - Alpha: 1
+      Class: rviz_plugin_tutorials/Imu
+      Color: 204; 51; 204
+      Enabled: false
+      History Length: 1
+      Name: Body IMU
+      Topic: imu/data
+      Unreliable: false
+      Value: false
+    - Alpha: 1
+      Class: rviz_plugin_tutorials/Imu
+      Color: 204; 51; 204
+      Enabled: false
+      History Length: 1
+      Name: Payload IMU
+      Topic: imu_vras/data
+      Unreliable: false
+      Value: false
+    - Alpha: 1
+      Autocompute Intensity Bounds: true
+      Autocompute Value Bounds:
+        Max Value: 45.6143684387207
+        Min Value: -3.9196484088897705
+        Value: true
+      Axis: Z
+      Channel Name: intensity
+      Class: rviz/PointCloud2
+      Color: 255; 255; 255
+      Color Transformer: AxisColor
+      Decay Time: 0
+      Enabled: false
+      Invert Rainbow: false
+      Max Color: 255; 255; 255
+      Max Intensity: 0
+      Min Color: 0; 0; 0
+      Min Intensity: 0
+      Name: Ouster
+      Position Transformer: XYZ
+      Queue Size: 10
+      Selectable: true
+      Size (Pixels): 3
+      Size (m): 0.029999999329447746
+      Style: Flat Squares
+      Topic: points
+      Unreliable: false
+      Use Fixed Frame: true
+      Use rainbow: true
+      Value: false
+    - Class: rviz/Group
+      Displays:
+        - Class: rviz/Image
+          Enabled: true
+          Image Topic: omni/camera_0/image_raw
+          Max Value: 1
+          Median window: 5
+          Min Value: 0
+          Name: Omni Front
+          Normalize Range: true
+          Queue Size: 2
+          Transport Hint: raw
+          Unreliable: false
+          Value: true
+        - Class: rviz/Image
+          Enabled: true
+          Image Topic: omni/camera_1/image_raw
+          Max Value: 1
+          Median window: 5
+          Min Value: 0
+          Name: Omni Right
+          Normalize Range: true
+          Queue Size: 2
+          Transport Hint: raw
+          Unreliable: false
+          Value: true
+        - Class: rviz/Image
+          Enabled: true
+          Image Topic: omni/camera_2/image_raw
+          Max Value: 1
+          Median window: 5
+          Min Value: 0
+          Name: Omni Rear
+          Normalize Range: true
+          Queue Size: 2
+          Transport Hint: raw
+          Unreliable: false
+          Value: true
+        - Class: rviz/Image
+          Enabled: true
+          Image Topic: omni/camera_3/image_raw
+          Max Value: 1
+          Median window: 5
+          Min Value: 0
+          Name: Omni Left
+          Normalize Range: true
+          Queue Size: 2
+          Transport Hint: raw
+          Unreliable: false
+          Value: true
+        - Class: rviz/Image
+          Enabled: true
+          Image Topic: omni/camera_4/image_raw
+          Max Value: 1
+          Median window: 5
+          Min Value: 0
+          Name: Omni Up
+          Normalize Range: true
+          Queue Size: 2
+          Transport Hint: raw
+          Unreliable: false
+          Value: true
+      Enabled: true
+      Name: VRAS Omnicam
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Default Light: true
+    Fixed Frame: X1
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz/Interact
+      Hide Inactive Objects: true
+    - Class: rviz/MoveCamera
+    - Class: rviz/Select
+    - Class: rviz/FocusCamera
+    - Class: rviz/Measure
+    - Class: rviz/SetInitialPose
+      Theta std deviation: 0.2617993950843811
+      Topic: /initialpose
+      X std deviation: 0.5
+      Y std deviation: 0.5
+    - Class: rviz/SetGoal
+      Topic: /move_base_simple/goal
+    - Class: rviz/PublishPoint
+      Single click: true
+      Topic: /clicked_point
+  Value: true
+  Views:
+    Current:
+      Class: rviz/ThirdPersonFollower
+      Distance: 2.429633378982544
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.05999999865889549
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Focal Point:
+        X: -0.7089881896972656
+        Y: 0.7545500993728638
+        Z: 1.2227055776747875e-5
+      Focal Shape Fixed Size: false
+      Focal Shape Size: 0.05000000074505806
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.10000000149011612
+      Pitch: 0.7147965431213379
+      Target Frame: base_link
+      Value: ThirdPersonFollower (rviz)
+      Yaw: 1.4216936826705933
+    Saved:
+      - Class: rviz/Orbit
+        Distance: 5
+        Enable Stereo Rendering:
+          Stereo Eye Separation: 0.05999999865889549
+          Stereo Focal Distance: 1
+          Swap Stereo Eyes: false
+          Value: false
+        Focal Point:
+          X: 0
+          Y: 0
+          Z: 0
+        Focal Shape Fixed Size: false
+        Focal Shape Size: 0.05000000074505806
+        Invert Z Axis: false
+        Name: Robot orbit
+        Near Clip Distance: 0.009999999776482582
+        Pitch: 0.7853981852531433
+        Target Frame: base_link
+        Value: Orbit (rviz)
+        Yaw: 0.785398006439209
+      - Class: rviz/ThirdPersonFollower
+        Distance: 5
+        Enable Stereo Rendering:
+          Stereo Eye Separation: 0.05999999865889549
+          Stereo Focal Distance: 1
+          Swap Stereo Eyes: false
+          Value: false
+        Focal Point:
+          X: 0
+          Y: 0
+          Z: 0
+        Focal Shape Fixed Size: false
+        Focal Shape Size: 0.05000000074505806
+        Invert Z Axis: false
+        Name: Robot 3rd person
+        Near Clip Distance: 3
+        Pitch: 0.25
+        Target Frame: base_link
+        Value: ThirdPersonFollower (rviz)
+        Yaw: 3.141590118408203
+      - Class: rviz/ThirdPersonFollower
+        Distance: 10
+        Enable Stereo Rendering:
+          Stereo Eye Separation: 0.05999999865889549
+          Stereo Focal Distance: 1
+          Swap Stereo Eyes: false
+          Value: false
+        Focal Point:
+          X: 0
+          Y: 0
+          Z: 0
+        Focal Shape Fixed Size: false
+        Focal Shape Size: 0.05000000074505806
+        Invert Z Axis: false
+        Name: Robot top-down
+        Near Clip Distance: 8
+        Pitch: 1.5697963237762451
+        Target Frame: base_link
+        Value: ThirdPersonFollower (rviz)
+        Yaw: 3.141590118408203
+      - Class: rviz/ThirdPersonFollower
+        Distance: 5
+        Enable Stereo Rendering:
+          Stereo Eye Separation: 0.05999999865889549
+          Stereo Focal Distance: 1
+          Swap Stereo Eyes: false
+          Value: false
+        Focal Point:
+          X: 1
+          Y: 0
+          Z: 0
+        Focal Shape Fixed Size: false
+        Focal Shape Size: 0.05000000074505806
+        Invert Z Axis: false
+        Name: Robot left side
+        Near Clip Distance: 4.5
+        Pitch: 0
+        Target Frame: base_link
+        Value: ThirdPersonFollower (rviz)
+        Yaw: 1.5700000524520874
+      - Class: rviz/ThirdPersonFollower
+        Distance: 5
+        Enable Stereo Rendering:
+          Stereo Eye Separation: 0.05999999865889549
+          Stereo Focal Distance: 1
+          Swap Stereo Eyes: false
+          Value: false
+        Focal Point:
+          X: 1
+          Y: 0
+          Z: 0
+        Focal Shape Fixed Size: false
+        Focal Shape Size: 0.05000000074505806
+        Invert Z Axis: false
+        Name: Robot right side
+        Near Clip Distance: 4.5
+        Pitch: 0
+        Target Frame: base_link
+        Value: ThirdPersonFollower (rviz)
+        Yaw: -1.5700000524520874
+      - Class: rviz/FPS
+        Enable Stereo Rendering:
+          Stereo Eye Separation: 0.05999999865889549
+          Stereo Focal Distance: 1
+          Swap Stereo Eyes: false
+          Value: false
+        Invert Z Axis: false
+        Name: Robot top-down
+        Near Clip Distance: 8
+        Pitch: 1.5697963237762451
+        Position:
+          X: 0
+          Y: 0
+          Z: 10
+        Target Frame: base_link
+        Value: FPS (rviz)
+        Yaw: 0
+      - Angle: 0
+        Class: rviz/TopDownOrtho
+        Enable Stereo Rendering:
+          Stereo Eye Separation: 0.05999999865889549
+          Stereo Focal Distance: 1
+          Swap Stereo Eyes: false
+          Value: false
+        Invert Z Axis: false
+        Name: Robot top-down
+        Near Clip Distance: 0.009999999776482582
+        Scale: 100
+        Target Frame: base_link
+        Value: TopDownOrtho (rviz)
+        X: 0
+        Y: 0
+      - Angle: 0
+        Class: rviz/TopDownOrtho
+        Enable Stereo Rendering:
+          Stereo Eye Separation: 0.05999999865889549
+          Stereo Focal Distance: 1
+          Swap Stereo Eyes: false
+          Value: false
+        Invert Z Axis: false
+        Name: Fixed frame top-down
+        Near Clip Distance: 0.009999999776482582
+        Scale: 4
+        Target Frame: <Fixed Frame>
+        Value: TopDownOrtho (rviz)
+        X: 0
+        Y: 0
+      - Class: rviz/FPS
+        Enable Stereo Rendering:
+          Stereo Eye Separation: 0.05999999865889549
+          Stereo Focal Distance: 1
+          Swap Stereo Eyes: false
+          Value: false
+        Invert Z Axis: false
+        Name: Fixed frame 1st person
+        Near Clip Distance: 1
+        Pitch: 1
+        Position:
+          X: -2
+          Y: 0
+          Z: 5
+        Target Frame: <Fixed Frame>
+        Value: FPS (rviz)
+        Yaw: 0
+      - Class: rviz/ThirdPersonFollower
+        Distance: 36.92524719238281
+        Enable Stereo Rendering:
+          Stereo Eye Separation: 0.05999999865889549
+          Stereo Focal Distance: 1
+          Swap Stereo Eyes: false
+          Value: false
+        Focal Point:
+          X: 0.4568486213684082
+          Y: 0.32300829887390137
+          Z: 7.213062417577021e-6
+        Focal Shape Fixed Size: false
+        Focal Shape Size: 0.05000000074505806
+        Invert Z Axis: false
+        Name: ThirdPersonFollower
+        Near Clip Distance: 0.10000000149011612
+        Pitch: 0.5397967100143433
+        Target Frame: base_link
+        Value: ThirdPersonFollower (rviz)
+        Yaw: 6.276592254638672
+Window Geometry:
+  Back:
+    collapsed: false
+  Back Depth:
+    collapsed: false
+  Displays:
+    collapsed: false
+  Front Left:
+    collapsed: false
+  Front Left Depth:
+    collapsed: false
+  Front Right:
+    collapsed: false
+  Front Right Depth:
+    collapsed: false
+  Height: 1052
+  Hide Left Dock: false
+  Hide Right Dock: false
+  Left:
+    collapsed: false
+  Left Depth:
+    collapsed: false
+  Omni Front:
+    collapsed: false
+  Omni Left:
+    collapsed: false
+  Omni Rear:
+    collapsed: false
+  Omni Right:
+    collapsed: false
+  Omni Up:
+    collapsed: false
+  QMainWindow State: 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
+  Right:
+    collapsed: false
+  Right Depth:
+    collapsed: false
+  Selection:
+    collapsed: false
+  Time:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: false
+  Width: 1853
+  X: 67
+  Y: 28
diff --git a/submitted_models/ctu_cras_norlab_spot_sensor_config_1/launch/common.rb b/submitted_models/ctu_cras_norlab_spot_sensor_config_1/launch/common.rb
new file mode 100644
index 00000000..a0ea1e94
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_spot_sensor_config_1/launch/common.rb
@@ -0,0 +1,23 @@
+def _spawner2(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw, _additionalSpawnPlugins='')
+  base_spawn = `rospack find bosdyn_spot`.chomp + "/launch/common.rb"
+  begin
+    load base_spawn
+  rescue LoadError
+    raise "Unknown robot configuration #{File.dirname(__FILE__)}. #{base_spawn} could not be found."
+  else
+    additionalSpawnPlugins = <<-HEREDOC
+      <!--plugin>custom plugins for this sensor config go here</plugin-->
+    HEREDOC
+    _pid=[280, 0.3, 7]
+    _spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw, additionalSpawnPlugins + _additionalSpawnPlugins, )
+  end
+end
+
+def _rosExecutables2(_name, _worldName)
+  # description.launch is included from vehicle_topics.launch
+  <<-HEREDOC
+  <executable name='topics'>
+    <command>roslaunch --wait ctu_cras_norlab_spot_sensor_config_1 vehicle_topics.launch world_name:=#{_worldName} name:=#{_name} breadcrumbs:=0</command>
+  </executable>
+  HEREDOC
+end
diff --git a/submitted_models/ctu_cras_norlab_spot_sensor_config_1/launch/example.ign b/submitted_models/ctu_cras_norlab_spot_sensor_config_1/launch/example.ign
new file mode 100644
index 00000000..c997a41a
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_spot_sensor_config_1/launch/example.ign
@@ -0,0 +1,30 @@
+<?xml version="1.0"?>
+<%
+  base_launch = `rospack find bosdyn_spot`.chomp + "/launch"
+  base_dir = File.realpath(File.join(File.dirname(__FILE__), ".."))
+
+  ros_param=''
+  if defined?(ros) and ros
+    ros_param='ros:=true'
+  end
+
+  champ_param=''
+  if defined?(champ) and champ
+    champ_param='champ:=true'
+  end
+
+  headless_param=''
+  if defined?(headless) and headless
+    headless_param='headless:=true'
+  end
+
+  teleop_param=''
+  if defined?(teleop) and teleop
+    teleop_param='teleop:=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 %> <%= champ_param %> <%= headless_param %> <%= teleop_param %></command>
+  </executable>
+</ignition>
\ No newline at end of file
diff --git a/submitted_models/ctu_cras_norlab_spot_sensor_config_1/launch/spawner.rb b/submitted_models/ctu_cras_norlab_spot_sensor_config_1/launch/spawner.rb
new file mode 100644
index 00000000..6fc054b5
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_spot_sensor_config_1/launch/spawner.rb
@@ -0,0 +1,9 @@
+require_relative 'common.rb'
+
+def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw, _additionalSpawnPlugins='')
+  _spawner2(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw, _additionalSpawnPlugins)
+end
+
+def rosExecutables(_name, _worldName)
+  _rosExecutables2(_name, _worldName)
+end
diff --git a/submitted_models/ctu_cras_norlab_spot_sensor_config_1/launch/vehicle_topics.launch b/submitted_models/ctu_cras_norlab_spot_sensor_config_1/launch/vehicle_topics.launch
new file mode 100644
index 00000000..f82c6c88
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_spot_sensor_config_1/launch/vehicle_topics.launch
@@ -0,0 +1,70 @@
+<launch>
+    <arg name="world_name"/>
+    <arg name="name"/>
+    <arg name="link_prefix" value="/world/$(arg world_name)/model/$(arg name)/link"/>
+    <arg name="joint_prefix" value="/model/$(arg name)/joint"/>
+    <arg name="breadcrumbs" default="0"/>
+    <arg name="has_omnicam_vras" default="1"/>
+    <arg name="has_ouster_lidar" default="1"/>
+    <arg name="description_print_command" default="$(find ctu_cras_norlab_spot_sensor_config_1)/scripts/print_robot_urdf" />
+
+    <!-- Include default Spot topics. -->
+    <include file="$(find bosdyn_spot)/launch/vehicle_topics.launch">
+        <arg name="world_name" value="$(arg world_name)"/>
+        <arg name="name" value="$(arg name)"/>
+        <arg name="breadcrumbs" value="$(arg breadcrumbs)"/>
+        <arg name="description_print_command" value="$(arg description_print_command)" />
+    </include>
+
+    <group ns="$(arg name)">
+        <!-- Custom vehicle topics just for this sensor config. -->
+
+        <!-- Override PID params to get something more suitable for this heavier robot -->
+        <rosparam command="load" file="$(dirname)/../config/ros_control/ros_control.yaml" subst_value="true" />
+
+        <!-- "Omnicam" -->
+
+        <group if="$(arg has_omnicam_vras)">
+            <include file="$(find subt_ros)/launch/models_common/rgb_camera.launch">
+                <arg name="node_name_suffix" value="omnicam_vras_front" />
+                <arg name="gazebo_topic" value="$(arg link_prefix)/camera_0/sensor/camera_0" />
+                <arg name="ros_topic" value="omni/camera_0" />
+            </include>
+
+            <include file="$(find subt_ros)/launch/models_common/rgb_camera.launch">
+                <arg name="node_name_suffix" value="omnicam_vras_right" />
+                <arg name="gazebo_topic" value="$(arg link_prefix)/camera_1/sensor/camera_1" />
+                <arg name="ros_topic" value="omni/camera_1" />
+            </include>
+
+            <include file="$(find subt_ros)/launch/models_common/rgb_camera.launch">
+                <arg name="node_name_suffix" value="omnicam_vras_rear" />
+                <arg name="gazebo_topic" value="$(arg link_prefix)/camera_2/sensor/camera_2" />
+                <arg name="ros_topic" value="omni/camera_2" />
+            </include>
+
+            <include file="$(find subt_ros)/launch/models_common/rgb_camera.launch">
+                <arg name="node_name_suffix" value="omnicam_vras_left" />
+                <arg name="gazebo_topic" value="$(arg link_prefix)/camera_3/sensor/camera_3" />
+                <arg name="ros_topic" value="omni/camera_3" />
+            </include>
+
+            <include file="$(find subt_ros)/launch/models_common/rgb_camera.launch">
+                <arg name="node_name_suffix" value="omnicam_vras_up" />
+                <arg name="gazebo_topic" value="$(arg link_prefix)/camera_4/sensor/camera_4" />
+                <arg name="ros_topic" value="omni/camera_4" />
+            </include>
+        </group>
+
+        <!-- 3D Lidar -->
+        <include if="$(arg has_ouster_lidar)" file="$(find subt_ros)/launch/models_common/lidar_3d.launch">
+            <arg name="gazebo_topic" value="$(arg link_prefix)/laser/sensor/laser/scan/points" />
+        </include>
+
+        <!--IMU-->
+        <include file="$(find subt_ros)/launch/models_common/imu.launch">
+            <arg name="gazebo_topic" value="$(arg link_prefix)/imu_vras/sensor/imu/imu" />
+            <arg name="node_name_suffix" value="imu_vras" />
+        </include>
+    </group>
+</launch>
\ No newline at end of file
diff --git a/submitted_models/ctu_cras_norlab_spot_sensor_config_1/meshes/basler_ace2_pro.dae b/submitted_models/ctu_cras_norlab_spot_sensor_config_1/meshes/basler_ace2_pro.dae
new file mode 100644
index 00000000..4b757cfb
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_spot_sensor_config_1/meshes/basler_ace2_pro.dae
@@ -0,0 +1,96 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
+  <asset>
+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 2.92.0 commit date:2021-02-24, commit time:16:25, hash:02948a2cab44</authoring_tool>
+    </contributor>
+    <created>2021-03-17T17:12:57</created>
+    <modified>2021-03-17T17:12:57</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_effects>
+    <effect id="Part__Feature-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <color sid="diffuse">0.4200244 0.4200244 0.4200244 1</color>
+            </diffuse>
+            <reflectivity>
+              <float sid="specular">0.3</float>
+            </reflectivity>
+            <index_of_refraction>
+              <float sid="ior">1.45</float>
+            </index_of_refraction>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
+  <library_images/>
+  <library_materials>
+    <material id="Part__Feature-material" name="Part__Feature">
+      <instance_effect url="#Part__Feature-effect"/>
+    </material>
+  </library_materials>
+  <library_geometries>
+    <geometry id="Part__Feature-mesh" name="Part__Feature">
+      <mesh>
+        <source id="Part__Feature-mesh-positions">
+          <float_array id="Part__Feature-mesh-positions-array" count="2382">-0.003227829 0.01257497 0.04974997 -0.003227829 0.01298332 0.05374991 0.001222074 0.01263332 0.04974997 0.001222074 0.01295989 0.05379992 0.006645739 0.001103401 0.05391985 0.006702721 0.01334881 0.05396968 -0.00871104 0.001250267 0.05397421 -0.008710563 0.01334744 0.05397039 -0.008691966 0.009985148 0.05349975 0.002406775 -0.00930798 0.05408799 0.006038725 -0.01247304 0.05403375 -0.01231014 0.005672216 0.05417197 -0.01031124 0.004796445 0.05407649 0.00170809 -0.004738569 0.05408686 0.01008266 -0.01245737 0.05403107 -0.01282829 0.007392168 0.05406463 -0.01385486 0.01413369 0.0539453 0.01436972 -0.01417726 0.05392915 0.01292175 -0.01061767 0.05406457 0.003801405 -0.001203775 0.05406635 -0.01075333 0.008755087 0.05407989 0.01124882 -2.28244e-4 0.05409055 0.007511138 0.005383551 0.05406934 0.009824991 0.004859507 0.05406111 0.01095968 0.007283568 0.05407977 0.00875765 0.008671879 0.05406832 0.0143938 0.01413351 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+        <instance_geometry url="#Part__Feature-mesh" name="node0">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="Part__Feature-material" target="#Part__Feature-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
\ No newline at end of file
diff --git a/submitted_models/ctu_cras_norlab_spot_sensor_config_1/meshes/body.dae b/submitted_models/ctu_cras_norlab_spot_sensor_config_1/meshes/body.dae
new file mode 120000
index 00000000..50392eea
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_spot_sensor_config_1/meshes/body.dae
@@ -0,0 +1 @@
+../../bosdyn_spot/meshes/body.dae
\ No newline at end of file
diff --git a/submitted_models/ctu_cras_norlab_spot_sensor_config_1/meshes/evetar_lens.dae b/submitted_models/ctu_cras_norlab_spot_sensor_config_1/meshes/evetar_lens.dae
new file mode 100644
index 00000000..d9ce005b
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_spot_sensor_config_1/meshes/evetar_lens.dae
@@ -0,0 +1,155 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
+  <asset>
+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 2.92.0 commit date:2021-02-24, commit time:16:25, hash:02948a2cab44</authoring_tool>
+    </contributor>
+    <created>2021-03-10T21:42:34</created>
+    <modified>2021-03-10T21:42:34</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_effects>
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+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <color sid="diffuse">0.2704978 0.462077 0.799103 1</color>
+            </diffuse>
+            <reflectivity>
+              <float sid="specular">1</float>
+            </reflectivity>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
+    <effect id="Part__Feature-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <lambert>
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+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <color sid="diffuse">0.007193576 0.007193576 0.007193576 1</color>
+            </diffuse>
+            <reflectivity>
+              <float sid="specular">0.3</float>
+            </reflectivity>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
+  <library_images/>
+  <library_materials>
+    <material id="Material_001-material" name="Material.001">
+      <instance_effect url="#Material_001-effect"/>
+    </material>
+    <material id="Part__Feature-material" name="Part__Feature">
+      <instance_effect url="#Part__Feature-effect"/>
+    </material>
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+          <technique_common>
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+              <param name="X" type="float"/>
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+          </technique_common>
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+          <technique_common>
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+        <vertices id="Part__Feature_001-mesh-vertices">
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+        </vertices>
+        <triangles material="Material_001-material" count="17">
+          <input semantic="VERTEX" source="#Part__Feature_001-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#Part__Feature_001-mesh-normals" offset="1"/>
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+      </mesh>
+    </geometry>
+    <geometry id="Part__Feature-mesh" name="Part__Feature">
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2206 1096 2206 1092 2206 1096 2207 1093 2207 1092 2207 1092 2208 1093 2208 1095 2208 1084 2209 1095 2209 1093 2209 1084 2210 1093 2210 1092 2210 1098 2211 1027 2211 928 2211 1099 2212 1027 2212 1098 2212 1100 2213 1079 2213 1028 2213 1100 2214 1028 2214 1081 2214 1156 2215 1098 2215 928 2215 1156 2216 1099 2216 1098 2216 1083 2217 1100 2217 1099 2217 1155 2218 1079 2218 1100 2218 1155 2219 1100 2219 1083 2219 1155 2220 1083 2220 1156 2220 1083 2221 1081 2221 1156 2221 1081 2222 1099 2222 1156 2222 1081 2223 1028 2223 1099 2223 1028 2224 1027 2224 1099 2224 1098 2225 1080 2225 1099 2225 1099 2226 1080 2226 1081 2226 1083 2227 1099 2227 1081 2227 1081 2228 1099 2228 1100 2228 1101 2229 964 2229 943 2229 1101 2230 965 2230 964 2230 452 2231 396 2231 965 2231 452 2232 965 2232 1101 2232 1065 2233 943 2233 964 2233 1065 2234 1102 2234 943 2234 1105 2235 1103 2235 1106 2235 1104 2236 1105 2236 1107 2236 1105 2237 1106 2237 1108 2237 1109 2238 1110 2238 1112 2238 1108 2239 1111 2239 1113 2239 1114 2240 1112 2240 1115 2240 1116 2241 1115 2241 1117 2241 1118 2242 1117 2242 1119 2242 1117 2243 1115 2243 1119 2243 1120 2244 1119 2244 1121 2244 1122 2245 1121 2245 1123 2245 1124 2246 1123 2246 1125 2246 1126 2247 1125 2247 1127 2247 943 2248 1102 2248 452 2248 1102 2249 1127 2249 452 2249 943 2250 452 2250 1101 2250 1127 2251 592 2251 452 2251 1127 2252 1128 2252 592 2252 1125 2253 1128 2253 1127 2253 1123 2254 686 2254 1129 2254 1123 2255 1129 2255 1128 2255 1123 2256 1128 2256 1125 2256 1121 2257 686 2257 1123 2257 1119 2258 681 2258 686 2258 1119 2259 686 2259 1121 2259 1115 2260 681 2260 1119 2260 1112 2261 682 2261 681 2261 1112 2262 681 2262 1115 2262 1110 2263 1130 2263 682 2263 1110 2264 682 2264 1112 2264 1107 2265 1130 2265 1110 2265 1105 2266 1131 2266 1130 2266 1105 2267 1130 2267 1107 2267 1108 2268 1132 2268 1131 2268 1108 2269 1131 2269 1105 2269 1113 2270 1133 2270 1132 2270 1113 2271 1132 2271 1108 2271 12 2272 8 2272 1133 2272 12 2273 1133 2273 1113 2273 687 2274 1129 2274 686 2274 1128 2275 1129 2275 687 2275 23 2276 592 2276 1128 2276 1130 2277 1131 2277 1135 2277 682 2278 1130 2278 1134 2278 681 2279 682 2279 1134 2279 666 2280 686 2280 681 2280 680 2281 686 2281 666 2281 1129 2282 680 2282 666 2282 679 2283 680 2283 1129 2283 678 2284 679 2284 1136 2284 591 2285 678 2285 1136 2285 23 2286 678 2286 591 2286 1133 2287 8 2287 7 2287 1132 2288 1133 2288 661 2288 663 2289 1130 2289 1135 2289 1134 2290 1130 2290 663 2290 681 2291 1134 2291 665 2291 666 2292 681 2292 665 2292 679 2293 667 2293 668 2293 1136 2294 679 2294 668 2294 591 2295 1136 2295 22 2295 661 2296 1131 2296 1132 2296 1135 2297 1131 2297 661 2297 667 2298 1129 2298 666 2298 679 2299 1129 2299 667 2299 1137 2300 651 2300 650 2300 649 2301 1137 2301 650 2301 648 2302 1137 2302 649 2302 643 2303 645 2303 644 2303 643 2304 1139 2304 1138 2304 643 2305 641 2305 1140 2305 1139 2306 643 2306 1140 2306 643 2307 1138 2307 645 2307 645 2308 1138 2308 646 2308 641 2309 0 2309 1 2309 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1066 2344 1087 2344 1125 2345 1086 2345 1089 2345 1125 2346 1089 2346 1067 2346 1126 2347 1086 2347 1125 2347 1126 2348 1085 2348 1086 2348 1127 2349 1084 2349 1085 2349 1127 2350 1085 2350 1126 2350 1127 2351 1066 2351 1084 2351 1066 2352 1127 2352 1102 2352 1066 2353 1102 2353 1065 2353 1067 2354 1124 2354 1125 2354 1122 2355 1069 2355 1147 2355 1121 2356 1148 2356 1070 2356 1121 2357 1069 2357 1148 2357 1122 2358 1069 2358 1121 2358 1119 2359 1071 2359 1056 2359 1120 2360 1071 2360 1119 2360 1121 2361 1070 2361 1071 2361 1121 2362 1071 2362 1120 2362 1056 2363 1118 2363 1119 2363 1072 2364 1118 2364 1056 2364 1072 2365 1117 2365 1118 2365 1073 2366 1117 2366 1072 2366 1116 2367 1074 2367 1149 2367 1117 2368 1074 2368 1116 2368 1117 2369 1150 2369 1074 2369 1117 2370 1073 2370 1150 2370 1150 2371 1073 2371 1074 2371 1075 2372 1116 2372 1074 2372 1075 2373 1115 2373 1116 2373 1112 2374 1059 2374 1076 2374 1114 2375 1059 2375 1112 2375 1114 2376 1075 2376 1059 2376 1115 2377 1075 2377 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+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="node0_001" name="node0.001" type="NODE">
+        <matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
+        <instance_geometry url="#Part__Feature_001-mesh" name="node0.001">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="Material_001-material" target="#Material_001-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
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\ No newline at end of file
diff --git a/submitted_models/ctu_cras_norlab_spot_sensor_config_1/meshes/front_left_hip.dae b/submitted_models/ctu_cras_norlab_spot_sensor_config_1/meshes/front_left_hip.dae
new file mode 120000
index 00000000..e8ea0d9e
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_spot_sensor_config_1/meshes/front_left_hip.dae
@@ -0,0 +1 @@
+../../bosdyn_spot/meshes/front_left_hip.dae
\ No newline at end of file
diff --git a/submitted_models/ctu_cras_norlab_spot_sensor_config_1/meshes/front_left_lower_leg.dae b/submitted_models/ctu_cras_norlab_spot_sensor_config_1/meshes/front_left_lower_leg.dae
new file mode 120000
index 00000000..6f779db6
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_spot_sensor_config_1/meshes/front_left_lower_leg.dae
@@ -0,0 +1 @@
+../../bosdyn_spot/meshes/front_left_lower_leg.dae
\ No newline at end of file
diff --git a/submitted_models/ctu_cras_norlab_spot_sensor_config_1/meshes/front_left_upper_leg.dae b/submitted_models/ctu_cras_norlab_spot_sensor_config_1/meshes/front_left_upper_leg.dae
new file mode 120000
index 00000000..d91aaf2f
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_spot_sensor_config_1/meshes/front_left_upper_leg.dae
@@ -0,0 +1 @@
+../../bosdyn_spot/meshes/front_left_upper_leg.dae
\ No newline at end of file
diff --git a/submitted_models/ctu_cras_norlab_spot_sensor_config_1/meshes/front_right_hip.dae b/submitted_models/ctu_cras_norlab_spot_sensor_config_1/meshes/front_right_hip.dae
new file mode 120000
index 00000000..0fc683a9
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_spot_sensor_config_1/meshes/front_right_hip.dae
@@ -0,0 +1 @@
+../../bosdyn_spot/meshes/front_right_hip.dae
\ No newline at end of file
diff --git a/submitted_models/ctu_cras_norlab_spot_sensor_config_1/meshes/front_right_lower_leg.dae b/submitted_models/ctu_cras_norlab_spot_sensor_config_1/meshes/front_right_lower_leg.dae
new file mode 120000
index 00000000..aa28ffce
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_spot_sensor_config_1/meshes/front_right_lower_leg.dae
@@ -0,0 +1 @@
+../../bosdyn_spot/meshes/front_right_lower_leg.dae
\ No newline at end of file
diff --git a/submitted_models/ctu_cras_norlab_spot_sensor_config_1/meshes/front_right_upper_leg.dae b/submitted_models/ctu_cras_norlab_spot_sensor_config_1/meshes/front_right_upper_leg.dae
new file mode 120000
index 00000000..44310fc3
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_spot_sensor_config_1/meshes/front_right_upper_leg.dae
@@ -0,0 +1 @@
+../../bosdyn_spot/meshes/front_right_upper_leg.dae
\ No newline at end of file
diff --git a/submitted_models/ctu_cras_norlab_spot_sensor_config_1/meshes/mote_deployer.dae b/submitted_models/ctu_cras_norlab_spot_sensor_config_1/meshes/mote_deployer.dae
new file mode 100644
index 00000000..2025ec05
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_spot_sensor_config_1/meshes/mote_deployer.dae
@@ -0,0 +1,163 @@
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+      <author>Blender User</author>
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+    <modified>2021-03-20T09:24:58</modified>
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+          <technique_common>
+            <accessor source="#Deploy-mesh-normals-array" count="8262" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <vertices id="Deploy-mesh-vertices">
+          <input semantic="POSITION" source="#Deploy-mesh-positions"/>
+        </vertices>
+        <triangles material="Material_002-material" count="8916">
+          <input semantic="VERTEX" source="#Deploy-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#Deploy-mesh-normals" offset="1"/>
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\ No newline at end of file
diff --git a/submitted_models/ctu_cras_norlab_spot_sensor_config_1/meshes/ouster-os0.dae b/submitted_models/ctu_cras_norlab_spot_sensor_config_1/meshes/ouster-os0.dae
new file mode 100644
index 00000000..e93a2ca1
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_spot_sensor_config_1/meshes/ouster-os0.dae
@@ -0,0 +1,119 @@
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+      <author>Blender User</author>
+      <authoring_tool>Blender 2.92.0 commit date:2021-02-24, commit time:16:25, hash:02948a2cab44</authoring_tool>
+    </contributor>
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+    <modified>2021-03-08T05:35:37</modified>
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+  </library_effects>
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4442 13370 2009 4443 13371 2249 4443 13372 2255 4443 13373 2030 4444 13374 1983 4444 13375 2009 4444 13376 2254 4445 13377 2257 4445 13378 2010 4445 13379 1983 4446 13380 1987 4446 13381 2009 4446 13382 2009 4447 13383 1987 4447 13384 2249 4447 13385 2251 4448 13386 2257 4448 13387 2254 4448 13388 2107 4449 13389 2106 4449 13390 2242 4449 13391 2257 4450 13392 2256 4450 13393 2259 4450 13394 2256 4451 13395 2106 4451 13396 2259 4451 13397 2259 4452 13398 2106 4452 13399 2104 4452 13400 1987 4453 13401 1986 4453 13402 2251 4453 13403 2251 4454 13404 1986 4454 13405 2257 4454 13406 2029 4455 13407 1988 4455 13408 2030 4455 13409 2030 4456 13410 1988 4456 13411 1983 4456 13412 1986 4457 13413 2256 4457 13414 2257 4457 13415 2106 4458 13416 2244 4458 13417 2242 4458 13418 1986 4459 13419 2125 4459 13420 2256 4459 13421 2241 4460 13422 2239 4460 13423 2029 4460 13424 2029 4461 13425 2239 4461 13426 1988 4461 13427 2126 4462 13428 2244 4462 13429 2106 4462 13430 1988 4463 13431 2239 4463 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+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="node0" name="node0" type="NODE">
+        <matrix sid="transform">-4.37114e-8 4.37112e-8 1.000001 0 1 1.91068e-15 4.37114e-8 0 0 0.9999955 -4.37114e-8 0 0 0 0 1</matrix>
+        <instance_geometry url="#Part__Feature_001-mesh" name="node0">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="Part__Feature_001-material" target="#Part__Feature_001-material">
+                <bind_vertex_input semantic="UVMap" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
\ No newline at end of file
diff --git a/submitted_models/ctu_cras_norlab_spot_sensor_config_1/meshes/rear_left_hip.dae b/submitted_models/ctu_cras_norlab_spot_sensor_config_1/meshes/rear_left_hip.dae
new file mode 120000
index 00000000..d630394e
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_spot_sensor_config_1/meshes/rear_left_hip.dae
@@ -0,0 +1 @@
+../../bosdyn_spot/meshes/rear_left_hip.dae
\ No newline at end of file
diff --git a/submitted_models/ctu_cras_norlab_spot_sensor_config_1/meshes/rear_left_lower_leg.dae b/submitted_models/ctu_cras_norlab_spot_sensor_config_1/meshes/rear_left_lower_leg.dae
new file mode 120000
index 00000000..1ac30912
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_spot_sensor_config_1/meshes/rear_left_lower_leg.dae
@@ -0,0 +1 @@
+../../bosdyn_spot/meshes/rear_left_lower_leg.dae
\ No newline at end of file
diff --git a/submitted_models/ctu_cras_norlab_spot_sensor_config_1/meshes/rear_left_upper_leg.dae b/submitted_models/ctu_cras_norlab_spot_sensor_config_1/meshes/rear_left_upper_leg.dae
new file mode 120000
index 00000000..868d967d
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_spot_sensor_config_1/meshes/rear_left_upper_leg.dae
@@ -0,0 +1 @@
+../../bosdyn_spot/meshes/rear_left_upper_leg.dae
\ No newline at end of file
diff --git a/submitted_models/ctu_cras_norlab_spot_sensor_config_1/meshes/rear_right_hip.dae b/submitted_models/ctu_cras_norlab_spot_sensor_config_1/meshes/rear_right_hip.dae
new file mode 120000
index 00000000..8d82ea42
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_spot_sensor_config_1/meshes/rear_right_hip.dae
@@ -0,0 +1 @@
+../../bosdyn_spot/meshes/rear_right_hip.dae
\ No newline at end of file
diff --git a/submitted_models/ctu_cras_norlab_spot_sensor_config_1/meshes/rear_right_lower_leg.dae b/submitted_models/ctu_cras_norlab_spot_sensor_config_1/meshes/rear_right_lower_leg.dae
new file mode 120000
index 00000000..e9a9b803
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_spot_sensor_config_1/meshes/rear_right_lower_leg.dae
@@ -0,0 +1 @@
+../../bosdyn_spot/meshes/rear_right_lower_leg.dae
\ No newline at end of file
diff --git a/submitted_models/ctu_cras_norlab_spot_sensor_config_1/meshes/rear_right_upper_leg.dae b/submitted_models/ctu_cras_norlab_spot_sensor_config_1/meshes/rear_right_upper_leg.dae
new file mode 120000
index 00000000..c4963d56
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_spot_sensor_config_1/meshes/rear_right_upper_leg.dae
@@ -0,0 +1 @@
+../../bosdyn_spot/meshes/rear_right_upper_leg.dae
\ No newline at end of file
diff --git a/submitted_models/ctu_cras_norlab_spot_sensor_config_1/meshes/spot_ign_payload.dae b/submitted_models/ctu_cras_norlab_spot_sensor_config_1/meshes/spot_ign_payload.dae
new file mode 100644
index 00000000..c1aca4a8
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_spot_sensor_config_1/meshes/spot_ign_payload.dae
@@ -0,0 +1,360 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
+  <asset>
+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 2.92.0 commit date:2021-02-24, commit time:16:25, hash:02948a2cab44</authoring_tool>
+    </contributor>
+    <created>2021-03-28T18:27:03</created>
+    <modified>2021-03-28T18:27:03</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_effects>
+    <effect id="Material_002-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <color sid="diffuse">0.01738779 0.01738779 0.01738779 1</color>
+            </diffuse>
+            <reflectivity>
+              <float sid="specular">0.204698</float>
+            </reflectivity>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
+    <effect id="Material_004-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <color sid="diffuse">0.8000001 0.05459407 0 1</color>
+            </diffuse>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
+    <effect id="Material_003-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <color sid="diffuse">0.8000001 0.1712257 0.007124695 1</color>
+            </diffuse>
+            <reflectivity>
+              <float sid="specular">0.1845638</float>
+            </reflectivity>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
+    <effect id="Material_001-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <color sid="diffuse">0.2882968 0.2882968 0.2882968 1</color>
+            </diffuse>
+            <reflectivity>
+              <float sid="specular">0.2449664</float>
+            </reflectivity>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
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+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
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+          </technique_common>
+        </source>
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+        </vertices>
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44 4513 8579 4449 8579 4596 8579 4443 8580 4555 8580 4386 8580 4445 44 4555 44 4443 44 4449 8581 4557 8581 4596 8581 4443 8582 4557 8582 4449 8582 4399 8583 4555 8583 4445 8583 4386 8584 4557 8584 4443 8584 4398 44 4555 44 4399 44 4398 8585 4389 8585 4555 8585 4552 8586 4394 8586 4398 8586 4393 8587 4394 8587 4552 8587 4398 8588 4394 8588 4389 8588 4394 8589 4387 8589 4389 8589 4394 44 4391 44 4387 44 4375 44 4373 44 4426 44 4426 44 4373 44 4428 44 4357 44 4355 44 4435 44 4435 44 4355 44 4421 44 4413 8590 4410 8590 4437 8590 4366 8591 4361 8591 4364 8591 4358 8592 4359 8592 4361 8592 4434 28 4358 28 4433 28 4433 28 4361 28 4366 28 4433 8593 4358 8593 4361 8593 4526 8594 4561 8594 4520 8594 4522 28 4520 28 4561 28 4356 8595 4522 8595 4561 8595 4588 28 4561 28 4526 28 4423 28 4356 28 4420 28 4474 28 4588 28 4526 28 4474 28 4526 28 4524 28 4480 28 4588 28 4474 28 4476 8596 4474 8596 4524 8596 4480 8597 4590 8597 4588 8597 4476 28 4522 28 4356 28 4476 28 4524 28 4522 28 4590 28 4480 28 4478 28 4595 8598 4590 8598 4478 8598 4431 28 4366 28 4370 28 4431 28 4433 28 4366 28 4595 8599 4478 8599 4476 8599 4593 8600 4595 8600 4476 8600 4593 8601 4476 8601 4356 8601 4593 28 4356 28 4423 28 4374 28 4431 28 4370 28 4374 8602 4429 8602 4431 8602 4369 28 4374 28 4370 28 4424 8603 4593 8603 4423 8603 4376 8604 4424 8604 4427 8604 4534 28 4583 28 4581 28 4529 28 4534 28 4581 28 4494 28 4376 28 4377 28 4529 28 4581 28 4584 28 4492 28 4376 28 4494 28 4496 8605 4494 8605 4377 8605 4562 28 4583 28 4534 28 4533 8606 4562 8606 4534 8606 4463 8607 4492 8607 4490 8607 4463 28 4376 28 4492 28 4461 28 4376 28 4463 28 4465 8608 4463 8608 4490 8608 4354 8609 4533 8609 4531 8609 4354 28 4562 28 4533 28 4354 8610 4529 8610 4584 8610 4354 28 4584 28 4587 28 4354 8611 4531 8611 4529 8611 4627 28 4376 28 4461 28 4627 28 4461 28 4624 28 4624 8612 4461 8612 4459 8612 4627 28 4424 28 4376 28 4627 28 4593 28 4424 28 4627 8613 4587 8613 4593 8613 4623 28 4496 28 4377 28 4623 8614 4465 8614 4490 8614 4623 8615 4490 8615 4496 8615 4621 8616 4624 8616 4459 8616 4623 8617 4459 8617 4465 8617 4621 28 4459 28 4623 28 4407 28 4354 28 4405 28 4405 8618 4354 8618 4587 8618 4483 8619 4488 8619 4349 8619 4483 28 4349 28 4351 28 4408 28 4354 28 4407 28 4408 8620 4351 8620 4354 8620 4485 8621 4483 8621 4351 8621 4564 28 4349 28 4488 28 4564 28 4488 28 4487 28 4411 8622 4485 8622 4351 8622 4411 28 4351 28 4408 28 4542 28 4564 28 4487 28 4537 28 4542 28 4487 28 4537 8623 4487 8623 4485 8623 4541 8624 4564 8624 4542 8624 4541 28 4566 28 4564 28 4537 8625 4485 8625 4411 8625 4616 8626 4405 8626 4587 8626 4616 8627 4587 8627 4627 8627 4570 8628 4541 8628 4539 8628 4570 8629 4566 8629 4541 8629 4418 8630 4405 8630 4616 8630 4570 28 4539 28 4537 28 4568 8631 4570 8631 4537 8631 4568 28 4537 28 4411 28 4502 8632 4500 8632 4618 8632 4502 28 4618 28 4615 28 4613 28 4502 28 4615 28 4613 8633 4504 8633 4502 8633 4382 28 4418 28 4616 28 4382 28 4616 28 4618 28 4382 8634 4618 8634 4500 8634 4382 8635 4500 8635 4498 8635 4382 8636 4417 8636 4418 8636 4412 28 4568 28 4411 28 4415 8637 4417 8637 4382 8637 4379 8638 4382 8638 4498 8638 4379 8639 4498 8639 4504 8639 4379 28 4504 28 4613 28 4384 28 4415 28 4382 28 4384 8640 4412 8640 4415 8640 4471 28 4469 28 4384 28 4471 28 4384 28 4558 28 4469 28 4412 28 4384 28 4550 8641 4575 8641 4573 8641 4558 8642 4473 8642 4471 8642 4545 8643 4550 8643 4573 8643 4545 8644 4573 8644 4576 8644 4546 28 4545 28 4576 28 4546 28 4576 28 4579 28 4510 8645 4508 8645 4469 8645 4510 8646 4469 8646 4467 8646 4508 28 4412 28 4469 28 4457 28 4575 28 4550 28 4457 28 4550 28 4549 28 4452 28 4457 28 4549 28 4402 28 4575 28 4457 28 4452 28 4549 28 4546 28 4453 28 4452 28 4546 28 4456 28 4402 28 4457 28 4603 28 4508 28 4600 28 4603 28 4412 28 4508 28 4453 28 4546 28 4579 28 4603 28 4568 28 4412 28 4600 28 4508 28 4505 28 4400 28 4402 28 4456 28 4605 8647 4600 8647 4505 8647 4607 28 4473 28 4558 28 4607 8648 4505 8648 4510 8648 4607 8649 4467 8649 4473 8649 4607 8650 4510 8650 4467 8650 4607 8651 4605 8651 4505 8651 4400 28 4456 28 4453 28 4397 28 4400 28 4453 28 4608 28 4568 28 4603 28 4608 8652 4579 8652 4568 8652 4518 8653 4516 8653 4611 8653 4514 8654 4608 8654 4611 8654 4514 8655 4611 8655 4516 8655 4518 8656 4611 8656 4598 8656 4597 28 4518 28 4598 28 4597 8657 4512 8657 4518 8657 4446 8658 4579 8658 4608 8658 4446 8659 4453 8659 4579 8659 4446 28 4608 28 4514 28 4446 28 4514 28 4512 28 4444 8660 4397 8660 4453 8660 4444 28 4453 28 4446 28 4448 28 4446 28 4512 28 4448 28 4512 28 4597 28 4554 8661 4444 8661 4385 8661 4556 28 4448 28 4597 28 4556 8662 4442 8662 4448 8662 4385 28 4444 28 4442 28 4554 28 4397 28 4444 28 4556 8663 4385 8663 4442 8663 4392 28 4395 28 4551 28 4554 8664 4396 8664 4397 8664 4388 28 4396 28 4554 28 4392 8665 4551 8665 4396 8665 4392 28 4396 28 4388 28 4390 28 4392 28 4388 28 4553 8666 4392 8666 4390 8666 4374 28 4376 28 4427 28 4374 8667 4427 8667 4429 8667 4356 8668 4358 8668 4434 8668 4356 8669 4434 8669 4420 8669</p>
+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="Antennas" name="Antennas" type="NODE">
+        <matrix sid="transform">-4.37108e-11 4.37108e-11 9.99987e-4 0.1854445 9.99987e-4 0 4.37108e-11 0.1228036 0 9.99987e-4 -4.37108e-11 -0.08918664 0 0 0 1</matrix>
+        <instance_geometry url="#Spot_005-mesh" name="Antennas">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="Material_002-material" target="#Material_002-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+      <node id="Estop" name="Estop" type="NODE">
+        <matrix sid="transform">-4.37108e-11 4.37108e-11 9.99987e-4 0.1854445 9.99987e-4 0 4.37108e-11 0.1228036 0 9.99987e-4 -4.37108e-11 -0.08918664 0 0 0 1</matrix>
+        <instance_geometry url="#Spot_004-mesh" name="Estop">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="Material_004-material" target="#Material_004-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+      <node id="IMU" name="IMU" type="NODE">
+        <matrix sid="transform">-4.37108e-11 4.37108e-11 9.99987e-4 0.1854445 9.99987e-4 0 4.37108e-11 0.1228036 0 9.99987e-4 -4.37108e-11 -0.08918664 0 0 0 1</matrix>
+        <instance_geometry url="#Spot_003-mesh" name="IMU">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="Material_003-material" target="#Material_003-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+      <node id="GXP" name="GXP" type="NODE">
+        <matrix sid="transform">-4.37108e-11 4.37108e-11 9.99987e-4 0.1854445 9.99987e-4 0 4.37108e-11 0.1228036 0 9.99987e-4 -4.37108e-11 -0.08918664 0 0 0 1</matrix>
+        <instance_geometry url="#Spot_002-mesh" name="GXP">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="Material_002-material" target="#Material_002-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+      <node id="Computers" name="Computers" type="NODE">
+        <matrix sid="transform">-4.37108e-11 4.37108e-11 9.99987e-4 0.1854445 9.99987e-4 0 4.37108e-11 0.1228036 0 9.99987e-4 -4.37108e-11 -0.08918664 0 0 0 1</matrix>
+        <instance_geometry url="#Spot_001-mesh" name="Computers">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="Material_002-material" target="#Material_002-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+      <node id="Spot" name="Spot" type="NODE">
+        <matrix sid="transform">-4.37108e-11 4.37108e-11 9.99987e-4 0.1854445 9.99987e-4 0 4.37108e-11 0.1228036 0 9.99987e-4 -4.37108e-11 -0.08918664 0 0 0 1</matrix>
+        <instance_geometry url="#Spot-mesh" name="Spot">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="Material_001-material" target="#Material_001-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
\ No newline at end of file
diff --git a/submitted_models/ctu_cras_norlab_spot_sensor_config_1/meshes/spot_mat.png b/submitted_models/ctu_cras_norlab_spot_sensor_config_1/meshes/spot_mat.png
new file mode 100644
index 00000000..2d767801
Binary files /dev/null and b/submitted_models/ctu_cras_norlab_spot_sensor_config_1/meshes/spot_mat.png differ
diff --git a/submitted_models/ctu_cras_norlab_spot_sensor_config_1/model.config b/submitted_models/ctu_cras_norlab_spot_sensor_config_1/model.config
new file mode 100644
index 00000000..795b1796
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_spot_sensor_config_1/model.config
@@ -0,0 +1,14 @@
+<?xml version="1.0"?>
+<model>
+  <name>ctu_cras_norlab_spot_sensor_config_1</name>
+  <sdf version="1.7">model.sdf</sdf>
+  <description>
+    Boston Dynamics Spot of CTU-CRAS-Norlab team.
+  </description>
+  <depend>
+    <model>
+      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/bosdyn_spot</uri>
+    </model>
+  </depend>
+</model>
+
diff --git a/submitted_models/ctu_cras_norlab_spot_sensor_config_1/model.sdf b/submitted_models/ctu_cras_norlab_spot_sensor_config_1/model.sdf
new file mode 100644
index 00000000..2fb1906f
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_spot_sensor_config_1/model.sdf
@@ -0,0 +1,2611 @@
+<?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 and is based on urdf/spot.urdf.xacro source file.
  Do all modifications there and then run the update script to regenerate the SDF. -->
+  <model name="ctu_cras_norlab_spot_sensor_config_1">
+    <link name="base_link">
+      <inertial>
+        <mass>16</mass>
+        <inertia>
+          <ixx>0.0973333</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>1.02467</iyy>
+          <iyz>0</iyz>
+          <izz>1.04493</izz>
+        </inertia>
+      </inertial>
+      <collision name="base_link_collision">
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/bosdyn_spot/tip/files/meshes/body_collision.stl</uri>
+          </mesh>
+        </geometry>
+      </collision>
+      <visual name="base_link_visual">
+        <geometry>
+          <mesh>
+            <uri>meshes/body.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+    </link>
+    <link name="body">
+      <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="base_link_joint" type="fixed">
+      <child>body</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_rail">
+      <pose>0.223 0 0.0805 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="front_rail_joint" type="fixed">
+      <child>front_rail</child>
+      <parent>body</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_rail">
+      <pose>-0.223 0 0.0805 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_rail_joint" type="fixed">
+      <child>rear_rail</child>
+      <parent>body</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="payload">
+      <pose>-0.023 0 0.0805 0 -0 0</pose>
+      <inertial>
+        <pose>0.02 0 0.0905 0 -0 0</pose>
+        <mass>3</mass>
+        <inertia>
+          <ixx>0.0173105</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.15259</iyy>
+          <iyz>0</iyz>
+          <izz>0.15352</izz>
+        </inertia>
+      </inertial>
+      <collision name="payload_collision">
+        <pose>0.02 0 0.0905 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.76 0.191 0.181</size>
+          </box>
+        </geometry>
+      </collision>
+      <collision name="payload_collision_1">
+        <pose>-0.13 0.03 0.2 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.05 0.1 0.22</size>
+          </box>
+        </geometry>
+      </collision>
+      <collision name="payload_collision_2">
+        <pose>-0.24 -0.045 0.2 0 -0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.22</length>
+            <radius>0.02</radius>
+          </cylinder>
+        </geometry>
+      </collision>
+      <visual name="payload_visual">
+        <geometry>
+          <mesh>
+            <uri>meshes/spot_ign_payload.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <light name="light_left" type="spot">
+        <pose>0.275 0.1 0.13 1.5707963267948966 -1.5707963267948966 0</pose>
+        <cast_shadows>1</cast_shadows>
+        <attenuation>
+          <range>20</range>
+          <linear>0.2</linear>
+          <constant>0.1</constant>
+          <quadratic>0.0025</quadratic>
+        </attenuation>
+        <diffuse>0.8 0.8 0.5 1</diffuse>
+        <specular>0.8 0.8 0.5 1</specular>
+        <spot>
+          <inner_angle>2.8</inner_angle>
+          <outer_angle>2.9</outer_angle>
+          <falloff>1</falloff>
+        </spot>
+        <direction>0 0 -1</direction>
+      </light>
+      <light name="light_right" type="spot">
+        <pose>0.275 -0.1 0.1 -1.5707963267948966 -1.5707963267948966 0</pose>
+        <cast_shadows>1</cast_shadows>
+        <attenuation>
+          <range>20</range>
+          <linear>0.2</linear>
+          <constant>0.1</constant>
+          <quadratic>0.0025</quadratic>
+        </attenuation>
+        <diffuse>0.8 0.8 0.5 1</diffuse>
+        <specular>0.8 0.8 0.5 1</specular>
+        <spot>
+          <inner_angle>2.8</inner_angle>
+          <outer_angle>2.9</outer_angle>
+          <falloff>1</falloff>
+        </spot>
+        <direction>0 0 -1</direction>
+      </light>
+      <light name="light_front" type="spot">
+        <pose>0.375 0 0.1 0 -1.5707963267948966 0</pose>
+        <cast_shadows>1</cast_shadows>
+        <attenuation>
+          <range>20</range>
+          <linear>0.2</linear>
+          <constant>0.1</constant>
+          <quadratic>0.0025</quadratic>
+        </attenuation>
+        <diffuse>0.8 0.8 0.5 1</diffuse>
+        <specular>0.8 0.8 0.5 1</specular>
+        <spot>
+          <inner_angle>2.8</inner_angle>
+          <outer_angle>2.9</outer_angle>
+          <falloff>1</falloff>
+        </spot>
+        <direction>0 0 -1</direction>
+      </light>
+      <light name="light_rear" type="spot">
+        <pose>-0.36 0 0.14 3.1415926535897931 -1.5707963267948966 0</pose>
+        <cast_shadows>1</cast_shadows>
+        <attenuation>
+          <range>20</range>
+          <linear>0.2</linear>
+          <constant>0.1</constant>
+          <quadratic>0.0025</quadratic>
+        </attenuation>
+        <diffuse>0.8 0.8 0.5 1</diffuse>
+        <specular>0.8 0.8 0.5 1</specular>
+        <spot>
+          <inner_angle>2.8</inner_angle>
+          <outer_angle>2.9</outer_angle>
+          <falloff>1</falloff>
+        </spot>
+        <direction>0 0 -1</direction>
+      </light>
+      <light name="light_up" type="spot">
+        <pose>0.19 0 0.145 3.1415926535897931 -0 3.1415926535897931</pose>
+        <attenuation>
+          <range>60</range>
+          <linear>0</linear>
+          <constant>0.1</constant>
+          <quadratic>0.0025</quadratic>
+        </attenuation>
+        <diffuse>0.8 0.8 0.5 1</diffuse>
+        <specular>0.8 0.8 0.5 1</specular>
+        <spot>
+          <inner_angle>1.0472</inner_angle>
+          <outer_angle>1.5708</outer_angle>
+          <falloff>1</falloff>
+        </spot>
+        <direction>0 0 -1</direction>
+      </light>
+    </link>
+    <joint name="payload_j" type="fixed">
+      <child>payload</child>
+      <parent>rear_rail</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_0">
+      <pose>0.294 0 0.2145 -3.1415926535897931 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>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>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="camera_0_j" type="fixed">
+      <child>camera_0</child>
+      <parent>payload</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>0.242 -0.01 0.1855 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>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>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>payload</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>-0.298 0 0.2145 -3.1415926535897931 -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>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>payload</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_3">
+      <pose>0.242 0.01 0.1555 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_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>0.03974</length>
+            <radius>0.0125</radius>
+          </cylinder>
+        </geometry>
+      </collision>
+      <visual name="camera_3_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_3_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_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="camera_3_j" type="fixed">
+      <child>camera_3</child>
+      <parent>payload</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>0.192 -0.0145 0.1355 -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>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>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>payload</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_vras">
+      <pose>0.027 0 0.0955 0 -0 1.5707963267948966</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>
+      <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_vras_j" type="fixed">
+      <child>imu_vras</child>
+      <parent>payload</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>0.342 0 0.2455 0 0.35 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>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>payload</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="battery">
+      <pose>0 0 -0.03 0 -0 0</pose>
+      <inertial>
+        <mass>4</mass>
+        <inertia>
+          <ixx>0.012291</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.037875</iyy>
+          <iyz>0</iyz>
+          <izz>0.0444</izz>
+        </inertia>
+      </inertial>
+      <collision name="battery_collision">
+        <geometry>
+          <box>
+            <size>0.324 0.168 0.093</size>
+          </box>
+        </geometry>
+      </collision>
+      <visual name="battery_visual">
+        <geometry>
+          <box>
+            <size>0.324 0.168 0.093</size>
+          </box>
+        </geometry>
+        <material>
+          <ambient>0 0.364706 0.678431 1</ambient>
+          <diffuse>0 0.364706 0.678431 1</diffuse>
+          <specular>0 0.364706 0.678431 1</specular>
+          <emissive>0 0 0 0</emissive>
+        </material>
+      </visual>
+    </link>
+    <joint name="battery_joint" type="fixed">
+      <child>battery</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_back">
+      <pose>-0.425 0 0.01 -0 0.3 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>
+      <sensor name="back_fisheye_image" type="camera">
+        <pose>0 0.01 0 0 -0 0</pose>
+        <update_rate>30</update_rate>
+        <visualize>0</visualize>
+        <camera>
+          <horizontal_fov>1.78634</horizontal_fov>
+          <image>
+            <width>640</width>
+            <height>480</height>
+            <format>R8G8B8</format>
+          </image>
+          <clip>
+            <near>0.1</near>
+            <far>20</far>
+          </clip>
+          <noise>
+            <type>gaussian</type>
+            <mean>0</mean>
+            <stddev>0.007</stddev>
+          </noise>
+          <lens>
+            <intrinsics>
+              <fx>257.487</fx>
+              <fy>257.487</fy>
+              <cx>319.5</cx>
+              <cy>239.5</cy>
+              <s>0</s>
+            </intrinsics>
+            <type>stereographic</type>
+            <scale_to_hfov>1</scale_to_hfov>
+          </lens>
+        </camera>
+        <plugin name="subt::MonoCameraSystem" filename="mono-camera-system"/>
+      </sensor>
+      <sensor name="back_depth" type="depth_camera">
+        <update_rate>30</update_rate>
+        <visualize>0</visualize>
+        <camera>
+          <horizontal_fov>1.78634</horizontal_fov>
+          <image>
+            <width>424</width>
+            <height>240</height>
+            <format>R_FLOAT32</format>
+          </image>
+          <clip>
+            <near>0.1</near>
+            <far>4</far>
+          </clip>
+          <noise>
+            <type>gaussian</type>
+            <mean>0</mean>
+            <stddev>0.007</stddev>
+          </noise>
+          <lens>
+            <intrinsics>
+              <fx>170.6</fx>
+              <fy>170.6</fy>
+              <cx>211.5</cx>
+              <cy>119.5</cy>
+              <s>0</s>
+            </intrinsics>
+            <type>stereographic</type>
+            <scale_to_hfov>1</scale_to_hfov>
+          </lens>
+        </camera>
+      </sensor>
+    </link>
+    <joint name="camera_back_j" type="fixed">
+      <child>camera_back</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_frontleft">
+      <pose>0.415 0.037 -0.01 1.35556 0.353917 -0.554196</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>
+      <sensor name="frontleft_fisheye_image" type="camera">
+        <pose>0 0.01 0 0 -0 0</pose>
+        <update_rate>30</update_rate>
+        <visualize>0</visualize>
+        <camera>
+          <horizontal_fov>1.78634</horizontal_fov>
+          <image>
+            <width>640</width>
+            <height>480</height>
+            <format>R8G8B8</format>
+          </image>
+          <clip>
+            <near>0.1</near>
+            <far>20</far>
+          </clip>
+          <noise>
+            <type>gaussian</type>
+            <mean>0</mean>
+            <stddev>0.007</stddev>
+          </noise>
+          <lens>
+            <intrinsics>
+              <fx>257.487</fx>
+              <fy>257.487</fy>
+              <cx>319.5</cx>
+              <cy>239.5</cy>
+              <s>0</s>
+            </intrinsics>
+            <type>stereographic</type>
+            <scale_to_hfov>1</scale_to_hfov>
+          </lens>
+        </camera>
+        <plugin name="subt::MonoCameraSystem" filename="mono-camera-system"/>
+      </sensor>
+      <sensor name="frontleft_depth" type="depth_camera">
+        <update_rate>30</update_rate>
+        <visualize>0</visualize>
+        <camera>
+          <horizontal_fov>1.78634</horizontal_fov>
+          <image>
+            <width>424</width>
+            <height>240</height>
+            <format>R_FLOAT32</format>
+          </image>
+          <clip>
+            <near>0.1</near>
+            <far>4</far>
+          </clip>
+          <noise>
+            <type>gaussian</type>
+            <mean>0</mean>
+            <stddev>0.007</stddev>
+          </noise>
+          <lens>
+            <intrinsics>
+              <fx>170.6</fx>
+              <fy>170.6</fy>
+              <cx>211.5</cx>
+              <cy>119.5</cy>
+              <s>0</s>
+            </intrinsics>
+            <type>stereographic</type>
+            <scale_to_hfov>1</scale_to_hfov>
+          </lens>
+        </camera>
+      </sensor>
+    </link>
+    <joint name="camera_frontleft_j" type="fixed">
+      <child>camera_frontleft</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_frontright">
+      <pose>0.415 -0.037 -0.01 -1.35556 0.353917 0.554196</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>
+      <sensor name="frontright_fisheye_image" type="camera">
+        <pose>0 0.01 0 0 -0 0</pose>
+        <update_rate>30</update_rate>
+        <visualize>0</visualize>
+        <camera>
+          <horizontal_fov>1.78634</horizontal_fov>
+          <image>
+            <width>640</width>
+            <height>480</height>
+            <format>R8G8B8</format>
+          </image>
+          <clip>
+            <near>0.1</near>
+            <far>20</far>
+          </clip>
+          <noise>
+            <type>gaussian</type>
+            <mean>0</mean>
+            <stddev>0.007</stddev>
+          </noise>
+          <lens>
+            <intrinsics>
+              <fx>257.487</fx>
+              <fy>257.487</fy>
+              <cx>319.5</cx>
+              <cy>239.5</cy>
+              <s>0</s>
+            </intrinsics>
+            <type>stereographic</type>
+            <scale_to_hfov>1</scale_to_hfov>
+          </lens>
+        </camera>
+        <plugin name="subt::MonoCameraSystem" filename="mono-camera-system"/>
+      </sensor>
+      <sensor name="frontright_depth" type="depth_camera">
+        <update_rate>30</update_rate>
+        <visualize>0</visualize>
+        <camera>
+          <horizontal_fov>1.78634</horizontal_fov>
+          <image>
+            <width>424</width>
+            <height>240</height>
+            <format>R_FLOAT32</format>
+          </image>
+          <clip>
+            <near>0.1</near>
+            <far>4</far>
+          </clip>
+          <noise>
+            <type>gaussian</type>
+            <mean>0</mean>
+            <stddev>0.007</stddev>
+          </noise>
+          <lens>
+            <intrinsics>
+              <fx>170.6</fx>
+              <fy>170.6</fy>
+              <cx>211.5</cx>
+              <cy>119.5</cy>
+              <s>0</s>
+            </intrinsics>
+            <type>stereographic</type>
+            <scale_to_hfov>1</scale_to_hfov>
+          </lens>
+        </camera>
+      </sensor>
+    </link>
+    <joint name="camera_frontright_j" type="fixed">
+      <child>camera_frontright</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_left">
+      <pose>-0.125 0.12 0.035 0 0.2 1.5707963267948966</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>
+      <sensor name="left_fisheye_image" type="camera">
+        <pose>0 0.01 0 0 -0 0</pose>
+        <update_rate>30</update_rate>
+        <visualize>0</visualize>
+        <camera>
+          <horizontal_fov>1.78634</horizontal_fov>
+          <image>
+            <width>640</width>
+            <height>480</height>
+            <format>R8G8B8</format>
+          </image>
+          <clip>
+            <near>0.1</near>
+            <far>20</far>
+          </clip>
+          <noise>
+            <type>gaussian</type>
+            <mean>0</mean>
+            <stddev>0.007</stddev>
+          </noise>
+          <lens>
+            <intrinsics>
+              <fx>257.487</fx>
+              <fy>257.487</fy>
+              <cx>319.5</cx>
+              <cy>239.5</cy>
+              <s>0</s>
+            </intrinsics>
+            <type>stereographic</type>
+            <scale_to_hfov>1</scale_to_hfov>
+          </lens>
+        </camera>
+        <plugin name="subt::MonoCameraSystem" filename="mono-camera-system"/>
+      </sensor>
+      <sensor name="left_depth" type="depth_camera">
+        <update_rate>30</update_rate>
+        <visualize>0</visualize>
+        <camera>
+          <horizontal_fov>1.78634</horizontal_fov>
+          <image>
+            <width>424</width>
+            <height>240</height>
+            <format>R_FLOAT32</format>
+          </image>
+          <clip>
+            <near>0.1</near>
+            <far>4</far>
+          </clip>
+          <noise>
+            <type>gaussian</type>
+            <mean>0</mean>
+            <stddev>0.007</stddev>
+          </noise>
+          <lens>
+            <intrinsics>
+              <fx>170.6</fx>
+              <fy>170.6</fy>
+              <cx>211.5</cx>
+              <cy>119.5</cy>
+              <s>0</s>
+            </intrinsics>
+            <type>stereographic</type>
+            <scale_to_hfov>1</scale_to_hfov>
+          </lens>
+        </camera>
+      </sensor>
+    </link>
+    <joint name="camera_left_j" type="fixed">
+      <child>camera_left</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_right">
+      <pose>-0.125 -0.12 0.035 0 0.2 -1.5707963267948966</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>
+      <sensor name="right_fisheye_image" type="camera">
+        <pose>0 0.01 0 0 -0 0</pose>
+        <update_rate>30</update_rate>
+        <visualize>0</visualize>
+        <camera>
+          <horizontal_fov>1.78634</horizontal_fov>
+          <image>
+            <width>640</width>
+            <height>480</height>
+            <format>R8G8B8</format>
+          </image>
+          <clip>
+            <near>0.1</near>
+            <far>20</far>
+          </clip>
+          <noise>
+            <type>gaussian</type>
+            <mean>0</mean>
+            <stddev>0.007</stddev>
+          </noise>
+          <lens>
+            <intrinsics>
+              <fx>257.487</fx>
+              <fy>257.487</fy>
+              <cx>319.5</cx>
+              <cy>239.5</cy>
+              <s>0</s>
+            </intrinsics>
+            <type>stereographic</type>
+            <scale_to_hfov>1</scale_to_hfov>
+          </lens>
+        </camera>
+        <plugin name="subt::MonoCameraSystem" filename="mono-camera-system"/>
+      </sensor>
+      <sensor name="right_depth" type="depth_camera">
+        <update_rate>30</update_rate>
+        <visualize>0</visualize>
+        <camera>
+          <horizontal_fov>1.78634</horizontal_fov>
+          <image>
+            <width>424</width>
+            <height>240</height>
+            <format>R_FLOAT32</format>
+          </image>
+          <clip>
+            <near>0.1</near>
+            <far>4</far>
+          </clip>
+          <noise>
+            <type>gaussian</type>
+            <mean>0</mean>
+            <stddev>0.007</stddev>
+          </noise>
+          <lens>
+            <intrinsics>
+              <fx>170.6</fx>
+              <fy>170.6</fy>
+              <cx>211.5</cx>
+              <cy>119.5</cy>
+              <s>0</s>
+            </intrinsics>
+            <type>stereographic</type>
+            <scale_to_hfov>1</scale_to_hfov>
+          </lens>
+        </camera>
+      </sensor>
+    </link>
+    <joint name="camera_right_j" type="fixed">
+      <child>camera_right</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_left_hip">
+      <pose>0.29785 0.055 0 0 -0 0</pose>
+      <inertial>
+        <mass>2</mass>
+        <inertia>
+          <ixx>0.0027</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.00416667</iyy>
+          <iyz>0</iyz>
+          <izz>0.00416667</izz>
+        </inertia>
+      </inertial>
+      <collision name="front_left_hip_collision">
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/bosdyn_spot/tip/files/meshes/front_left_hip_collision.stl</uri>
+          </mesh>
+        </geometry>
+      </collision>
+      <visual name="front_left_hip_visual">
+        <geometry>
+          <mesh>
+            <uri>meshes/front_left_hip.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+    </link>
+    <joint name="front_left_hip_x" type="revolute">
+      <child>front_left_hip</child>
+      <parent>base_link</parent>
+      <axis>
+        <xyz>1 0 0</xyz>
+        <limit>
+          <lower>-0.785398</lower>
+          <upper>0.785398</upper>
+          <effort>80</effort>
+          <velocity>15</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_upper_leg">
+      <pose>0.29785 0.165945 0 0 -0 0</pose>
+      <inertial>
+        <pose>0 0 -0.14 0 -0 0</pose>
+        <mass>1</mass>
+        <inertia>
+          <ixx>0.0155334</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.0155334</iyy>
+          <iyz>0</iyz>
+          <izz>0.000962667</izz>
+        </inertia>
+      </inertial>
+      <collision name="front_left_upper_leg_collision">
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/bosdyn_spot/tip/files/meshes/front_left_upper_leg_collision.stl</uri>
+          </mesh>
+        </geometry>
+      </collision>
+      <visual name="front_left_upper_leg_visual">
+        <geometry>
+          <mesh>
+            <uri>meshes/front_left_upper_leg.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+    </link>
+    <joint name="front_left_hip_y" type="revolute">
+      <child>front_left_upper_leg</child>
+      <parent>front_left_hip</parent>
+      <axis>
+        <xyz>0 1 0</xyz>
+        <limit>
+          <lower>-0.898845</lower>
+          <upper>2.29511</upper>
+          <effort>80</effort>
+          <velocity>15</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_lower_leg">
+      <pose>0.32285 0.165945 -0.3205 0 -0 0</pose>
+      <inertial>
+        <pose>0 0 -0.16 0 -0 0</pose>
+        <mass>0.5</mass>
+        <inertia>
+          <ixx>0.00743438</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.00740104</iyy>
+          <iyz>0</iyz>
+          <izz>0.000135417</izz>
+        </inertia>
+      </inertial>
+      <collision name="front_left_lower_leg_collision">
+        <geometry>
+          <mesh>
+            <scale>0.82 0.97 0.98</scale>
+            <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/bosdyn_spot/tip/files/meshes/front_left_lower_leg_collision.stl</uri>
+          </mesh>
+        </geometry>
+        <surface>
+          <contact>
+            <ode>
+              <kp>1e+07</kp>
+              <kd>100</kd>
+            </ode>
+          </contact>
+          <friction>
+            <ode>
+              <mu>0.8</mu>
+              <mu2>0.8</mu2>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="front_left_lower_leg_collision_1">
+        <pose>0 0 -0.333 0 -0 0</pose>
+        <geometry>
+          <sphere>
+            <radius>0.04</radius>
+          </sphere>
+        </geometry>
+        <surface>
+          <contact>
+            <ode>
+              <kp>1e+07</kp>
+              <kd>100</kd>
+            </ode>
+          </contact>
+          <friction>
+            <ode>
+              <mu>0.8</mu>
+              <mu2>0.8</mu2>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <visual name="front_left_lower_leg_visual">
+        <geometry>
+          <mesh>
+            <uri>meshes/front_left_lower_leg.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <sensor name="contact" type="contact">
+        <contact>
+          <collision>front_left_lower_leg_collision</collision>
+          <collision>front_left_lower_leg_collision_1</collision>
+          <topic>__default_topic__</topic>
+        </contact>
+      </sensor>
+    </link>
+    <joint name="front_left_knee" type="revolute">
+      <child>front_left_lower_leg</child>
+      <parent>front_left_upper_leg</parent>
+      <axis>
+        <xyz>0 1 0</xyz>
+        <limit>
+          <lower>-2.7929</lower>
+          <upper>-0.254801</upper>
+          <effort>80</effort>
+          <velocity>15</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_ee">
+      <pose>0.32285 0.165945 -0.6905 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="front_left_foot" type="fixed">
+      <child>front_left_ee</child>
+      <parent>front_left_lower_leg</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_hip">
+      <pose>0.29785 -0.055 0 0 -0 0</pose>
+      <inertial>
+        <mass>2</mass>
+        <inertia>
+          <ixx>0.0027</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.00416667</iyy>
+          <iyz>0</iyz>
+          <izz>0.00416667</izz>
+        </inertia>
+      </inertial>
+      <collision name="front_right_hip_collision">
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/bosdyn_spot/tip/files/meshes/front_right_hip_collision.stl</uri>
+          </mesh>
+        </geometry>
+      </collision>
+      <visual name="front_right_hip_visual">
+        <geometry>
+          <mesh>
+            <uri>meshes/front_right_hip.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+    </link>
+    <joint name="front_right_hip_x" type="revolute">
+      <child>front_right_hip</child>
+      <parent>base_link</parent>
+      <axis>
+        <xyz>1 0 0</xyz>
+        <limit>
+          <lower>-0.785398</lower>
+          <upper>0.785398</upper>
+          <effort>80</effort>
+          <velocity>15</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_upper_leg">
+      <pose>0.29785 -0.165945 0 0 -0 0</pose>
+      <inertial>
+        <pose>0 0 -0.14 0 -0 0</pose>
+        <mass>1</mass>
+        <inertia>
+          <ixx>0.0155334</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.0155334</iyy>
+          <iyz>0</iyz>
+          <izz>0.000962667</izz>
+        </inertia>
+      </inertial>
+      <collision name="front_right_upper_leg_collision">
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/bosdyn_spot/tip/files/meshes/front_right_upper_leg_collision.stl</uri>
+          </mesh>
+        </geometry>
+      </collision>
+      <visual name="front_right_upper_leg_visual">
+        <geometry>
+          <mesh>
+            <uri>meshes/front_right_upper_leg.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+    </link>
+    <joint name="front_right_hip_y" type="revolute">
+      <child>front_right_upper_leg</child>
+      <parent>front_right_hip</parent>
+      <axis>
+        <xyz>0 1 0</xyz>
+        <limit>
+          <lower>-0.898845</lower>
+          <upper>2.29511</upper>
+          <effort>80</effort>
+          <velocity>15</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_lower_leg">
+      <pose>0.32285 -0.165945 -0.3205 0 -0 0</pose>
+      <inertial>
+        <pose>0 0 -0.16 0 -0 0</pose>
+        <mass>0.5</mass>
+        <inertia>
+          <ixx>0.00743438</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.00740104</iyy>
+          <iyz>0</iyz>
+          <izz>0.000135417</izz>
+        </inertia>
+      </inertial>
+      <collision name="front_right_lower_leg_collision">
+        <geometry>
+          <mesh>
+            <scale>0.82 0.97 0.98</scale>
+            <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/bosdyn_spot/tip/files/meshes/front_right_lower_leg_collision.stl</uri>
+          </mesh>
+        </geometry>
+        <surface>
+          <contact>
+            <ode>
+              <kp>1e+07</kp>
+              <kd>100</kd>
+            </ode>
+          </contact>
+          <friction>
+            <ode>
+              <mu>0.8</mu>
+              <mu2>0.8</mu2>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="front_right_lower_leg_collision_1">
+        <pose>0 0 -0.333 0 -0 0</pose>
+        <geometry>
+          <sphere>
+            <radius>0.04</radius>
+          </sphere>
+        </geometry>
+        <surface>
+          <contact>
+            <ode>
+              <kp>1e+07</kp>
+              <kd>100</kd>
+            </ode>
+          </contact>
+          <friction>
+            <ode>
+              <mu>0.8</mu>
+              <mu2>0.8</mu2>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <visual name="front_right_lower_leg_visual">
+        <geometry>
+          <mesh>
+            <uri>meshes/front_right_lower_leg.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <sensor name="contact" type="contact">
+        <contact>
+          <collision>front_right_lower_leg_collision</collision>
+          <collision>front_right_lower_leg_collision_1</collision>
+          <topic>__default_topic__</topic>
+        </contact>
+      </sensor>
+    </link>
+    <joint name="front_right_knee" type="revolute">
+      <child>front_right_lower_leg</child>
+      <parent>front_right_upper_leg</parent>
+      <axis>
+        <xyz>0 1 0</xyz>
+        <limit>
+          <lower>-2.7929</lower>
+          <upper>-0.254801</upper>
+          <effort>80</effort>
+          <velocity>15</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_ee">
+      <pose>0.32285 -0.165945 -0.6905 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="front_right_foot" type="fixed">
+      <child>front_right_ee</child>
+      <parent>front_right_lower_leg</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">
+      <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>
+      <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_left_hip">
+      <pose>-0.29785 0.055 0 0 -0 0</pose>
+      <inertial>
+        <mass>2</mass>
+        <inertia>
+          <ixx>0.0027</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.00416667</iyy>
+          <iyz>0</iyz>
+          <izz>0.00416667</izz>
+        </inertia>
+      </inertial>
+      <collision name="rear_left_hip_collision">
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/bosdyn_spot/tip/files/meshes/rear_left_hip_collision.stl</uri>
+          </mesh>
+        </geometry>
+      </collision>
+      <visual name="rear_left_hip_visual">
+        <geometry>
+          <mesh>
+            <uri>meshes/rear_left_hip.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+    </link>
+    <joint name="rear_left_hip_x" type="revolute">
+      <child>rear_left_hip</child>
+      <parent>base_link</parent>
+      <axis>
+        <xyz>1 0 0</xyz>
+        <limit>
+          <lower>-0.785398</lower>
+          <upper>0.785398</upper>
+          <effort>80</effort>
+          <velocity>15</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_upper_leg">
+      <pose>-0.29785 0.165945 0 0 -0 0</pose>
+      <inertial>
+        <pose>0 0 -0.14 0 -0 0</pose>
+        <mass>1</mass>
+        <inertia>
+          <ixx>0.0155334</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.0155334</iyy>
+          <iyz>0</iyz>
+          <izz>0.000962667</izz>
+        </inertia>
+      </inertial>
+      <collision name="rear_left_upper_leg_collision">
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/bosdyn_spot/tip/files/meshes/rear_left_upper_leg_collision.stl</uri>
+          </mesh>
+        </geometry>
+      </collision>
+      <visual name="rear_left_upper_leg_visual">
+        <geometry>
+          <mesh>
+            <uri>meshes/rear_left_upper_leg.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+    </link>
+    <joint name="rear_left_hip_y" type="revolute">
+      <child>rear_left_upper_leg</child>
+      <parent>rear_left_hip</parent>
+      <axis>
+        <xyz>0 1 0</xyz>
+        <limit>
+          <lower>-0.898845</lower>
+          <upper>2.29511</upper>
+          <effort>80</effort>
+          <velocity>15</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_lower_leg">
+      <pose>-0.27285 0.165945 -0.3205 0 -0 0</pose>
+      <inertial>
+        <pose>0 0 -0.16 0 -0 0</pose>
+        <mass>0.5</mass>
+        <inertia>
+          <ixx>0.00743438</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.00740104</iyy>
+          <iyz>0</iyz>
+          <izz>0.000135417</izz>
+        </inertia>
+      </inertial>
+      <collision name="rear_left_lower_leg_collision">
+        <geometry>
+          <mesh>
+            <scale>0.82 0.97 0.98</scale>
+            <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/bosdyn_spot/tip/files/meshes/rear_left_lower_leg_collision.stl</uri>
+          </mesh>
+        </geometry>
+        <surface>
+          <contact>
+            <ode>
+              <kp>1e+07</kp>
+              <kd>100</kd>
+            </ode>
+          </contact>
+          <friction>
+            <ode>
+              <mu>0.8</mu>
+              <mu2>0.8</mu2>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="rear_left_lower_leg_collision_1">
+        <pose>0 0 -0.333 0 -0 0</pose>
+        <geometry>
+          <sphere>
+            <radius>0.04</radius>
+          </sphere>
+        </geometry>
+        <surface>
+          <contact>
+            <ode>
+              <kp>1e+07</kp>
+              <kd>100</kd>
+            </ode>
+          </contact>
+          <friction>
+            <ode>
+              <mu>0.8</mu>
+              <mu2>0.8</mu2>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <visual name="rear_left_lower_leg_visual">
+        <geometry>
+          <mesh>
+            <uri>meshes/rear_left_lower_leg.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <sensor name="contact" type="contact">
+        <contact>
+          <collision>rear_left_lower_leg_collision</collision>
+          <collision>rear_left_lower_leg_collision_1</collision>
+          <topic>__default_topic__</topic>
+        </contact>
+      </sensor>
+    </link>
+    <joint name="rear_left_knee" type="revolute">
+      <child>rear_left_lower_leg</child>
+      <parent>rear_left_upper_leg</parent>
+      <axis>
+        <xyz>0 1 0</xyz>
+        <limit>
+          <lower>-2.7929</lower>
+          <upper>-0.254801</upper>
+          <effort>80</effort>
+          <velocity>15</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_ee">
+      <pose>-0.27285 0.165945 -0.6905 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_left_foot" type="fixed">
+      <child>rear_left_ee</child>
+      <parent>rear_left_lower_leg</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_hip">
+      <pose>-0.29785 -0.055 0 0 -0 0</pose>
+      <inertial>
+        <mass>2</mass>
+        <inertia>
+          <ixx>0.0027</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.00416667</iyy>
+          <iyz>0</iyz>
+          <izz>0.00416667</izz>
+        </inertia>
+      </inertial>
+      <collision name="rear_right_hip_collision">
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/bosdyn_spot/tip/files/meshes/rear_right_hip_collision.stl</uri>
+          </mesh>
+        </geometry>
+      </collision>
+      <visual name="rear_right_hip_visual">
+        <geometry>
+          <mesh>
+            <uri>meshes/rear_right_hip.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+    </link>
+    <joint name="rear_right_hip_x" type="revolute">
+      <child>rear_right_hip</child>
+      <parent>base_link</parent>
+      <axis>
+        <xyz>1 0 0</xyz>
+        <limit>
+          <lower>-0.785398</lower>
+          <upper>0.785398</upper>
+          <effort>80</effort>
+          <velocity>15</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_upper_leg">
+      <pose>-0.29785 -0.165945 0 0 -0 0</pose>
+      <inertial>
+        <pose>0 0 -0.14 0 -0 0</pose>
+        <mass>1</mass>
+        <inertia>
+          <ixx>0.0155334</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.0155334</iyy>
+          <iyz>0</iyz>
+          <izz>0.000962667</izz>
+        </inertia>
+      </inertial>
+      <collision name="rear_right_upper_leg_collision">
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/bosdyn_spot/tip/files/meshes/rear_right_upper_leg_collision.stl</uri>
+          </mesh>
+        </geometry>
+      </collision>
+      <visual name="rear_right_upper_leg_visual">
+        <geometry>
+          <mesh>
+            <uri>meshes/rear_right_upper_leg.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+    </link>
+    <joint name="rear_right_hip_y" type="revolute">
+      <child>rear_right_upper_leg</child>
+      <parent>rear_right_hip</parent>
+      <axis>
+        <xyz>0 1 0</xyz>
+        <limit>
+          <lower>-0.898845</lower>
+          <upper>2.29511</upper>
+          <effort>80</effort>
+          <velocity>15</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_lower_leg">
+      <pose>-0.27285 -0.165945 -0.3205 0 -0 0</pose>
+      <inertial>
+        <pose>0 0 -0.16 0 -0 0</pose>
+        <mass>0.5</mass>
+        <inertia>
+          <ixx>0.00743438</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.00740104</iyy>
+          <iyz>0</iyz>
+          <izz>0.000135417</izz>
+        </inertia>
+      </inertial>
+      <collision name="rear_right_lower_leg_collision">
+        <geometry>
+          <mesh>
+            <scale>0.82 0.97 0.98</scale>
+            <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/bosdyn_spot/tip/files/meshes/rear_right_lower_leg_collision.stl</uri>
+          </mesh>
+        </geometry>
+        <surface>
+          <contact>
+            <ode>
+              <kp>1e+07</kp>
+              <kd>100</kd>
+            </ode>
+          </contact>
+          <friction>
+            <ode>
+              <mu>0.8</mu>
+              <mu2>0.8</mu2>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="rear_right_lower_leg_collision_1">
+        <pose>0 0 -0.333 0 -0 0</pose>
+        <geometry>
+          <sphere>
+            <radius>0.04</radius>
+          </sphere>
+        </geometry>
+        <surface>
+          <contact>
+            <ode>
+              <kp>1e+07</kp>
+              <kd>100</kd>
+            </ode>
+          </contact>
+          <friction>
+            <ode>
+              <mu>0.8</mu>
+              <mu2>0.8</mu2>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <visual name="rear_right_lower_leg_visual">
+        <geometry>
+          <mesh>
+            <uri>meshes/rear_right_lower_leg.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <sensor name="contact" type="contact">
+        <contact>
+          <collision>rear_right_lower_leg_collision</collision>
+          <collision>rear_right_lower_leg_collision_1</collision>
+          <topic>__default_topic__</topic>
+        </contact>
+      </sensor>
+    </link>
+    <joint name="rear_right_knee" type="revolute">
+      <child>rear_right_lower_leg</child>
+      <parent>rear_right_upper_leg</parent>
+      <axis>
+        <xyz>0 1 0</xyz>
+        <limit>
+          <lower>-2.7929</lower>
+          <upper>-0.254801</upper>
+          <effort>80</effort>
+          <velocity>15</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_ee">
+      <pose>-0.27285 -0.165945 -0.6905 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_foot" type="fixed">
+      <child>rear_right_ee</child>
+      <parent>rear_right_lower_leg</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>
+  </model>
+</sdf>
+
diff --git a/submitted_models/ctu_cras_norlab_spot_sensor_config_1/package.xml b/submitted_models/ctu_cras_norlab_spot_sensor_config_1/package.xml
new file mode 100644
index 00000000..d6d7d14a
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_spot_sensor_config_1/package.xml
@@ -0,0 +1,20 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>ctu_cras_norlab_spot_sensor_config_1</name>
+  <version>1.0.0</version>
+  <description>Boston Dynamics Spot of CTU-CRAS-Norlab team</description>
+
+  <author email="peckama2@fel.cvut.cz">Martin Pecka</author>
+  <maintainer email="peckama2@fel.cvut.cz">Martin Pecka</maintainer>
+
+  <license>BSD-3</license>
+
+  <buildtool_depend>catkin</buildtool_depend>
+
+  <exec_depend>bosdyn_spot</exec_depend>
+  <exec_depend>ros_ign_bridge</exec_depend>
+  <exec_depend>ros_ign_image</exec_depend>
+  <exec_depend>roslaunch</exec_depend>
+  <exec_depend>subt_ros</exec_depend>
+  <exec_depend>xacro</exec_depend>
+</package>
diff --git a/submitted_models/ctu_cras_norlab_spot_sensor_config_1/scripts/print_robot_urdf b/submitted_models/ctu_cras_norlab_spot_sensor_config_1/scripts/print_robot_urdf
new file mode 100755
index 00000000..d0a1026d
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_spot_sensor_config_1/scripts/print_robot_urdf
@@ -0,0 +1,19 @@
+#!/usr/bin/env bash
+set -e
+
+DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null 2>&1 && pwd )"
+MODEL_DIR="${DIR}/.."
+BASE_MODEL_DIR="${MODEL_DIR}/../bosdyn_spot"
+
+# load local modifications of configuration and apply them over the config from bosdyn_spot
+
+config=""
+for file in "${BASE_MODEL_DIR}/config/model/common.yaml" "${BASE_MODEL_DIR}/config/model/urdf.yaml" "${MODEL_DIR}/config/model/common.yaml" "${MODEL_DIR}/config/model/urdf.yaml"; do
+  [ -f "$file" ] && config="${config} $("${BASE_MODEL_DIR}/scripts/yaml_to_xacro_args" "$file")"
+done
+
+echo -e "Rendering URDF of $(basename "$(realpath "$MODEL_DIR")") with the following Xacro arguments:\n${config}" "$@" >&2
+# we replace bosdyn_spot meshes with meshes from this sensor config so that we get the blue body color
+urdf="$(rosrun xacro xacro "${MODEL_DIR}/urdf/spot.urdf.xacro" ${config} "$@")"
+urdf="$(echo "$urdf" | sed 's#package://bosdyn_spot/\([^>]*\.dae\)#package://ctu_cras_norlab_spot_sensor_config_1/\1#g')"
+echo "$urdf"
\ No newline at end of file
diff --git a/submitted_models/ctu_cras_norlab_spot_sensor_config_1/scripts/update_robot_sdf b/submitted_models/ctu_cras_norlab_spot_sensor_config_1/scripts/update_robot_sdf
new file mode 100755
index 00000000..3052fc16
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_spot_sensor_config_1/scripts/update_robot_sdf
@@ -0,0 +1,35 @@
+#!/usr/bin/env bash
+set -e
+
+# This script re-generates the model.sdf file in the root of this package based on the Xacro files.
+# This script is only intended to be run from the source space and is intentionally not a part of
+# the installed package.
+
+# If you want to test some local changes, you can pass arguments to this script and it will relay
+# them to the Xacro call (usually the key:=value pairs for setting xacro args).
+
+DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null 2>&1 && pwd )"
+MODEL_DIR="${DIR}/.."
+BASE_MODEL_DIR="${MODEL_DIR}/../bosdyn_spot"
+[ -z "${OUTPUT_FILE}" ] && OUTPUT_FILE="${MODEL_DIR}/model.sdf"
+
+# load local modifications of configuration and apply them over the config from bosdyn_spot
+
+config=""
+for file in "${BASE_MODEL_DIR}/config/model/common.yaml" "${BASE_MODEL_DIR}/config/model/ign.yaml" "${MODEL_DIR}/config/model/common.yaml" "${MODEL_DIR}/config/model/ign.yaml"; do
+  [ -f "$file" ] && config="${config} $("${BASE_MODEL_DIR}/scripts/yaml_to_xacro_args" "$file")"
+done
+
+echo -e "Rendering Ignition Gazebo SDF of $(basename "$(realpath "$MODEL_DIR")") with the following Xacro arguments:\n${config}" "$@" >&2
+rosrun xacro xacro "${MODEL_DIR}/urdf/spot.urdf.xacro" ${config} "$@" > "${OUTPUT_FILE}.urdf"
+ign sdf -p "${OUTPUT_FILE}.urdf" | "${BASE_MODEL_DIR}/scripts/high_precision_constants.py" - > "${OUTPUT_FILE}"
+
+"${BASE_MODEL_DIR}/scripts/clean_sdf" "${OUTPUT_FILE}"
+
+# fix resource paths
+sed -i -e 's#model://ctu_cras_norlab_spot_sensor_config_1/##g' "${OUTPUT_FILE}"
+# sensor configs which reuse the original bosdyn_spot meshes would use the following:
+# sed -i -e 's#model://bosdyn_spot/#https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/BOSDYN_SPOT/tip/files/#g' "${OUTPUT_FILE}"
+# but we want to have the blue texture here, so we use
+sed -i -e 's#model://bosdyn_spot/\([^>]*\.dae\)#\1#g' "${OUTPUT_FILE}"
+sed -i -e 's#model://bosdyn_spot/\([^>]*\.stl\)#https://fuel.ignitionrobotics.org/1.0/openrobotics/models/bosdyn_spot/tip/files/\1#g' "${OUTPUT_FILE}"
diff --git a/submitted_models/ctu_cras_norlab_spot_sensor_config_1/specifications.md b/submitted_models/ctu_cras_norlab_spot_sensor_config_1/specifications.md
new file mode 100644
index 00000000..5d29fa65
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_spot_sensor_config_1/specifications.md
@@ -0,0 +1,92 @@
+# Boston Dynamics Spot - CTU-CRAS-Norlab sensor config
+This specifications.md file is a description and proof of virtual model validation for the
+Boston Dynamics Spot robot configured by team CTU-CRAS-Norlab. This robot may be launched using an
+ign launch command with the variable name `CTU_CRAS_NORLAB_SPOT_SENSOR_CONFIG_1`.
+
+For local testing, you can use the following command:
+
+    LC_ALL=C ign launch -v 4 ~/subt_ws/src/subt/submitted_models/ctu_cras_norlab_spot_sensor_config_1/launch/example.ign robotName:=X1 ros:=true champ:=true
+
+This specifications.md file describes mainly the additional sensory payload of our Spot. Refer to
+[bosdyn_spot/specifications.md](../bosdyn_spot/specifications.md) for information about the robot base,
+how to control it and how to modify parameters of the robot.
+
+## Description
+This sensor config carries 5 FullHD RGB cameras with global shutter, an IMU and a 3D lidar.
+Sensor config 2 has additional 12 comms breadcrumbs.
+
+## Usage Instructions
+
+See [bosdyn_spot/specifications.md](../bosdyn_spot/specifications.md). There is no diversion from
+the principles described there, just substitute `bosdyn_spot` with `ctu_cras_norlab_spot_sensor_config_1`.
+
+## Usage Rights
+No additional restrictions have to be taken into account for this model.
+
+## Cost and Scale
+* Base vehicle: $75,000
+* Custom omnicamera solution: $5,000
+* IMU: $1,500
+* Computers: $1,500
+* Lidar: $10,000
+* Total price: $93,000
+
+Its weight is approximately 38.66 kg (or 39.16 kg with breadcrumbs). 
+
+## Sensors
+This sensor configuration of Spot includes the following sensors in addition to the base sensors of the platform
+described in [bosdyn_spot/specifications.md](../bosdyn_spot/specifications.md).
+The specifications for these instruments are provided below in the [Validation Links](#validation_links) section.
+
+The following specific sensors are declared payloads of this vehicle:
+
+* Ouster OS0-128 3D lidar modeled by `gpu_lidar` sensor. It runs configured to produce 2048x128 scans at 10 Hz. It has a very wide vertical field of view (90 degrees) and short range (about 50 meters).
+* 5x RGB global shutter camera Basler a2A1920-51gcPRO with 4 mm lens modeled by `camera` sensor. Each camera provides 86 degrees of horizontal FOV. Resolution is 1920x1200 px. According to datasheet, the camera can run on frequencies up to 51 Hz, but the robot doesn't have sufficient computational and communication capacity to transmit such high frequency data. We thus lowered the framerate of the simulated camera to 9 Hz. We verified in real life that we are able to transmit the 9 Hz images and process them (the 5 cameras more or less saturate a Gigabit link with this framerate).
+* XSens MTI-30 IMU: modeled by `imu` sensor.
+* 12 communication breadcrumbs are also available as a payload for this robot in sensor configuration 2 (real robot will carry 4 or 8 breadcrumbs).
+
+## Control
+
+See [bosdyn_spot/specifications.md](../bosdyn_spot/specifications.md).
+
+## Motion characteristics
+
+See [bosdyn_spot/specifications.md](../bosdyn_spot/specifications.md).
+The 4 kg sensory backpack is not expected to affect the maximum speed of the robot
+as it keeps low center of gravity and is well under the maximum declared payload weight (11 kg).
+
+## Endurance Characteristics
+This configuration has an endurance of approximately 75 minutes (value from datasheet corrected
+by consumption of the sensors and computers).
+
+## Diversions from Physical Hardware of Spot robot
+See [bosdyn_spot/specifications.md](../bosdyn_spot/specifications.md).
+
+Cameras have no distortion as the simulator doesn't support it.
+
+The Ouster 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.
+
+## Changing parameters of the robot
+Most parameters affecting the simulation model performance are in the `config/model` folder,
+in files `common.yaml` and `ign.yaml`. If some parameter is not exposed to these config files,
+look into the Xacro files in `urdf/` folder and change the values there. Also look in the respective
+config folder of the `bosdyn_spot` base model. Values in configs in this package override the values
+set in the base model.
+
+After changing a value in these files, run script `scripts/update_robot_sdf` to write the
+changes to the `model.sdf` file. This updates the SDF just for this particular robot. It is also needed
+to call it if the base robot model has changed (`bosdyn_spot`).
+
+__Do not change the SDF files directly, as the changes could be lost the next time the update scripts are run.__
+
+The URDF files are not physically present, but are generated on-the-fly by calling script
+`scripts/print_robot_urdf`.
+
+## Validation and Specification Links
+* See [bosdyn_spot/specifications.md](../bosdyn_spot/specifications.md).
+
+* Sensor specification links:
+  * Ouster OS0-128 https://ouster.com/products/os0-lidar-sensor/
+  * Basler cam https://www.baslerweb.com/en/products/cameras/area-scan-cameras/ace2/a2a1920-51gcpro/ + lens https://www.baslerweb.com/en/products/vision-components/lenses/basler-lens-c125-0418-5m-p-f4mm/ + Experimental validation: https://drive.google.com/drive/folders/1-KWMvjWSYYeLqPA0C3FCdKuHQAmOHN-z?usp=sharing
+  * IMU: XSens MTi-30 https://www.mouser.com/datasheet/2/693/mti-series-1358510.pdf
+  * Lights: the robot uses LED strips around the body. The total power output of these strips is about `30 W`. It also has a ceiling-pointing light.
\ No newline at end of file
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diff --git a/submitted_models/ctu_cras_norlab_spot_sensor_config_1/urdf/basler_cameras.xacro b/submitted_models/ctu_cras_norlab_spot_sensor_config_1/urdf/basler_cameras.xacro
new file mode 100644
index 00000000..a41e6c14
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_spot_sensor_config_1/urdf/basler_cameras.xacro
@@ -0,0 +1,122 @@
+<?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}" />
+
+        <xacro:property name="basler_void" value="${payload_mass.append(camera_mass + lens_mass)}" scope="global" />
+
+        <link name="$(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>
+                        <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>${(resolution_y - 1) / 2}</cy>
+                                <s>0</s>
+                            </intrinsics>
+                            <xacro:if value="${fisheye and '$(arg rendering_target)' == 'gz'}">
+                                <type>stereographic</type>
+                                <scale_to_hfov>true</scale_to_hfov>
+                                <cutoff_angle>${pi}</cutoff_angle>
+                                <env_texture_size>1024</env_texture_size>
+                            </xacro:if>
+                        </lens>
+                    </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_spot_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_spot_sensor_config_1/meshes/evetar_lens.dae" />
+    </xacro:macro>
+</root>
\ No newline at end of file
diff --git a/submitted_models/ctu_cras_norlab_spot_sensor_config_1/urdf/imu.xacro b/submitted_models/ctu_cras_norlab_spot_sensor_config_1/urdf/imu.xacro
new file mode 100644
index 00000000..985631a5
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_spot_sensor_config_1/urdf/imu.xacro
@@ -0,0 +1,66 @@
+<?xml version="1.0"?>
+<root xmlns:xacro="http://www.ros.org/wiki/xacro">
+    <!-- Mass properties from datasheet -->
+    <xacro:property name="imu_mass" value="0.08" scope="global" />
+
+    <xacro:macro name="imu_sensor" params="name simulate:=1 visualize:=0">
+        <!-- virtual link to specify IMU position -->
+        <link name="$(arg prefix)${name}">
+            <xacro:if value="${visualize}">
+                <visual>
+                    <geometry>
+                        <box size="0.05 0.03 0.02" />
+                    </geometry>
+                </visual>
+            </xacro:if>
+            <xacro:default_inertial />
+        </link>
+
+        <gazebo reference="$(arg prefix)${name}">
+            <xacro:if value="$(arg simulate_imu)">
+                <sensor name="imu" type="imu">
+                    <always_on>1</always_on>
+                    <update_rate>50</update_rate>
+                    <imu>
+                        <angular_velocity>
+                            <xacro:macro name="angular_imu_noise">
+                                <noise type="gaussian">
+                                    <mean>0</mean>
+                                    <stddev>0.009</stddev>
+                                    <bias_mean>0.00075</bias_mean>
+                                    <bias_stddev>0.005</bias_stddev>
+                                    <xacro:if value="${'$(arg rendering_target)' == 'ign'}">
+                                        <dynamic_bias_stddev>0.00002</dynamic_bias_stddev>
+                                        <dynamic_bias_correlation_time>400.0</dynamic_bias_correlation_time>
+                                        <precision>0.00025</precision>
+                                    </xacro:if>
+                                </noise>
+                            </xacro:macro>
+                            <x><xacro:angular_imu_noise/></x>
+                            <y><xacro:angular_imu_noise/></y>
+                            <z><xacro:angular_imu_noise/></z>
+                        </angular_velocity>
+                        <linear_acceleration>
+                            <xacro:macro name="linear_imu_noise">
+                                <noise type="gaussian">
+                                    <mean>0</mean>
+                                    <stddev>0.021</stddev>
+                                    <bias_mean>0.05</bias_mean>
+                                    <bias_stddev>0.0075</bias_stddev>
+                                    <xacro:if value="${'$(arg rendering_target)' == 'ign'}">
+                                        <dynamic_bias_stddev>0.000375</dynamic_bias_stddev>
+                                        <dynamic_bias_correlation_time>175.0</dynamic_bias_correlation_time>
+                                        <precision>0.005</precision>
+                                    </xacro:if>
+                                </noise>
+                            </xacro:macro>
+                            <x><xacro:linear_imu_noise /></x>
+                            <y><xacro:linear_imu_noise /></y>
+                            <z><xacro:linear_imu_noise /></z>
+                        </linear_acceleration>
+                    </imu>
+                </sensor>
+            </xacro:if>
+        </gazebo>
+    </xacro:macro>
+</root>
\ No newline at end of file
diff --git a/submitted_models/ctu_cras_norlab_spot_sensor_config_1/urdf/lights.xacro b/submitted_models/ctu_cras_norlab_spot_sensor_config_1/urdf/lights.xacro
new file mode 100644
index 00000000..048d4a46
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_spot_sensor_config_1/urdf/lights.xacro
@@ -0,0 +1,46 @@
+<?xml version="1.0"?>
+<root xmlns:xacro="http://www.ros.org/wiki/xacro">
+    <!-- Both lights shine in the direction of -z axis of the link the light is attached to. Rotate accordingly. -->
+    <xacro:macro name="led_stripe" params="name pose range linear:=1 constant:=0 quadratic:=0 inner_angle outer_angle">
+        <light name="${name}" type="spot">
+            <pose>${pose}</pose>
+            <cast_shadows>1</cast_shadows>
+            <attenuation>
+                <range>${range}</range>
+                <linear>${linear}</linear>
+                <constant>${constant}</constant>
+                <quadratic>${quadratic}</quadratic>
+            </attenuation>
+            <diffuse>0.8 0.8 0.5 1</diffuse>
+            <specular>0.8 0.8 0.5 1</specular>
+            <spot>
+                <inner_angle>${inner_angle}</inner_angle>
+                <outer_angle>${outer_angle}</outer_angle>
+                <falloff>1</falloff>
+            </spot>
+            <!-- Other directions do not work in Ignition Gazebo!!! Rotate the <pose> instead. -->
+            <direction>0 0 -1</direction>
+        </light>
+    </xacro:macro>
+
+    <xacro:macro name="spot_light_up" params="name pose">
+        <light name="${name}" type="spot">
+            <pose>${pose}</pose>
+            <attenuation>
+                <range>60</range>
+                <linear>0</linear>
+                <constant>0.1</constant>
+                <quadratic>0.0025</quadratic>
+            </attenuation>
+            <diffuse>0.8 0.8 0.5 1</diffuse>
+            <specular>0.8 0.8 0.5 1</specular>
+            <spot>
+                <inner_angle>${pi/3}</inner_angle>
+                <outer_angle>${pi/2}</outer_angle>
+                <falloff>1</falloff>
+            </spot>
+            <!-- Other directions do not work in Ignition Gazebo!!! Rotate the <pose> instead. -->
+            <direction>0 0 -1</direction>
+        </light>
+    </xacro:macro>
+</root>
\ No newline at end of file
diff --git a/submitted_models/ctu_cras_norlab_spot_sensor_config_1/urdf/mote_deployer.xacro b/submitted_models/ctu_cras_norlab_spot_sensor_config_1/urdf/mote_deployer.xacro
new file mode 100644
index 00000000..1285fe02
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_spot_sensor_config_1/urdf/mote_deployer.xacro
@@ -0,0 +1,25 @@
+<?xml version="1.0"?>
+<root xmlns:xacro="http://www.ros.org/wiki/xacro">
+    <xacro:arg name="num_breadcrumbs" default="0" />
+    <xacro:arg name="has_mote_deployer" default="${'0' if $(arg num_breadcrumbs) == 0 else '1'}" />
+
+    <xacro:property name="mote_deployer_mass" value="0.5" scope="global" />
+
+    <xacro:if value="$(arg has_mote_deployer)">
+        <xacro:property name="mote_deployer_void" value="${payload_mass.append(mote_deployer_mass)}" scope="global" />
+        <link name="$(arg prefix)mote_deployer">
+            <visual>
+                <geometry>
+                    <mesh filename="package://ctu_cras_norlab_spot_sensor_config_1/meshes/mote_deployer.dae" />
+                </geometry>
+            </visual>
+            <collision>
+                <origin xyz="${0.189/2-0.01} ${-0.072/2+0.012} ${0.131/2}" />
+                <geometry>
+                    <box size="0.189 0.072 0.131" />
+                </geometry>
+            </collision>
+            <xacro:box_inertial width="0.072" height="0.131" depth="0.189" mass="${mote_deployer_mass}" xyz="${0.189/2-0.01} ${-0.072/2+0.012} ${0.131/2}" />
+        </link>
+    </xacro:if>
+</root>
\ No newline at end of file
diff --git a/submitted_models/ctu_cras_norlab_spot_sensor_config_1/urdf/ouster_lidar.xacro b/submitted_models/ctu_cras_norlab_spot_sensor_config_1/urdf/ouster_lidar.xacro
new file mode 100644
index 00000000..71a9c2d7
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_spot_sensor_config_1/urdf/ouster_lidar.xacro
@@ -0,0 +1,58 @@
+<?xml version="1.0"?>
+<root xmlns:xacro="http://www.ros.org/wiki/xacro">
+    <xacro:property name="ouster_os0_128_mass" value="0.5" scope="global" />
+
+    <xacro:macro name="ouster_os0_128" params="name simulate:=1 visualize:=0 horiz_samples:=2048 rate:=10">
+        <xacro:property name="ouster_void" value="${payload_mass.append(ouster_os0_128_mass)}" scope="global" />
+        <link name="$(arg prefix)${name}">
+            <visual>
+                <geometry>
+                    <mesh filename="package://ctu_cras_norlab_spot_sensor_config_1/meshes/ouster-os0.dae"/>
+                </geometry>
+            </visual>
+            <collision>
+                <origin rpy="0 0 0" xyz="0 0 ${0.0735/2}"/>
+                <geometry>
+                    <cylinder length="0.0735" radius="0.0435"/>
+                </geometry>
+            </collision>
+            <xacro:cylinder_inertial mass="${ouster_os0_128_mass}" radius="0.0435" length="0.0735" xyz="0 0 ${0.0735/2}" />
+        </link>
+        <gazebo reference="$(arg prefix)${name}">
+            <xacro:if value="${simulate and '$(arg rendering_target)' == 'ign'}">
+                <sensor name="laser" type="gpu_lidar">
+                    <pose>0 0 0.035925 0 0 0</pose> <!-- Geometrical center of the lidar is a bit off, this is from datasheet. -->
+                    <update_rate>${rate}</update_rate>
+                    <visualize>${visualize}</visualize>
+                    <always_on>1</always_on>
+                    <lidar>
+                        <scan>
+                            <horizontal>
+                                <samples>${horiz_samples}</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>-${pi/4}</min_angle>
+                                <max_angle>${pi/4}</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>
+            </xacro:if>
+        </gazebo>
+    </xacro:macro>
+</root>
\ No newline at end of file
diff --git a/submitted_models/ctu_cras_norlab_spot_sensor_config_1/urdf/spot.urdf.xacro b/submitted_models/ctu_cras_norlab_spot_sensor_config_1/urdf/spot.urdf.xacro
new file mode 100644
index 00000000..fe51bbdb
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_spot_sensor_config_1/urdf/spot.urdf.xacro
@@ -0,0 +1,164 @@
+<?xml version="1.0" ?>
+<robot name="ctu_cras_norlab_spot_sensor_config_1" xmlns:xacro="http://www.ros.org/wiki/xacro">
+
+    <xacro:arg name="has_ouster_lidar" default="1" />
+    <xacro:arg name="has_omnicam_vras" default="1" />
+    <xacro:arg name="has_big_collision_box_on_top" default="0" />
+
+    <xacro:arg name="simulate_ouster_lidar" default="True" />
+    <xacro:arg name="simulate_omnicam_vras" default="True" />
+    <xacro:arg name="simulate_imu" default="True" />
+
+    <xacro:arg name="visualize_sensors" default="0" />
+
+    <xacro:property name="payload_z_top" value="0.105" />
+
+    <!-- Include the basic Spot URDF -->
+    <xacro:include filename="$(find bosdyn_spot)/urdf/spot.urdf.xacro"/>
+
+    <!-- Here is place for all custom URDF code for this sensor config. -->
+
+    <!-- Colon-separated list of payload Xacro files to include. Whitespace around is ignored. -->
+    <xacro:arg name="payload_xacros" default="
+      $(find ctu_cras_norlab_spot_sensor_config_1)/urdf/basler_cameras.xacro :
+      $(find ctu_cras_norlab_spot_sensor_config_1)/urdf/imu.xacro :
+      $(find ctu_cras_norlab_spot_sensor_config_1)/urdf/mote_deployer.xacro :
+      $(find ctu_cras_norlab_spot_sensor_config_1)/urdf/ouster_lidar.xacro :
+    " />
+
+    <!-- Append to this list in included payload Xacro files to count their weight to the total robot mass -->
+    <xacro:property name="payload_mass" value="${[]}" />
+
+    <!-- PAYLOAD INCLUDES -->
+
+    <!-- The included models should have collision elements specified for all physical links to be filtered out by laser filtering. -->
+    <!-- If the payload has non-negligible weight, it should append its weight to Xacro property payload_mass, e.g. by including this line: -->
+    <!-- <xacro:property name="mobilicom_void" value="${payload_mass.append(mobilicom_mass)}" scope="global" /> -->
+    <!-- This loop includes all Xacro files defined in payload_xacros arg. The looping itself is implemented via recursion. -->
+    <xacro:macro name="include_payload_xacros" params="xacros">
+        <xacro:if value="${len(xacros) > 0}">
+            <xacro:include filename="${xacros[0]}" />
+            <xacro:include_payload_xacros xacros="${xacros[1:]}" />
+        </xacro:if>
+    </xacro:macro>
+    <xacro:include_payload_xacros xacros='${[x.strip() for x in "$(arg payload_xacros)".split(":") if x.strip() != ""]}' />
+
+
+    <!-- Payload housing model -->
+
+    <xacro:property name="payload_housing_mass" value="3.0" />
+    <link name="$(arg prefix)payload">
+        <visual>
+            <geometry>
+                <mesh filename="package://ctu_cras_norlab_spot_sensor_config_1/meshes/spot_ign_payload.dae" />
+            </geometry>
+        </visual>
+        <collision>
+            <xacro:if value="$(arg has_big_collision_box_on_top)">
+                <xacro:property name="coll_box_width" value="0.4" />
+                <xacro:property name="coll_box_length" value="1.0" />
+                <xacro:property name="coll_box_height" value="0.3" />
+            </xacro:if>
+            <xacro:unless value="$(arg has_big_collision_box_on_top)">
+                <xacro:property name="coll_box_width" value="0.191" />
+                <xacro:property name="coll_box_length" value="0.76" />
+                <xacro:property name="coll_box_height" value="0.181" />
+            </xacro:unless>
+            <origin rpy="0 0 0" xyz="0.02 0 ${coll_box_height/2}"/>
+            <geometry>
+                <box size="${coll_box_length} ${coll_box_width} ${coll_box_height}" />
+            </geometry>
+        </collision>
+        <collision>
+            <origin rpy="0 0 0" xyz="-0.13 0.03 0.2"/>
+            <geometry>
+                <box size="0.05 0.1 0.22" />
+            </geometry>
+        </collision>
+        <collision>
+            <origin rpy="0 0 0" xyz="-0.24 -0.045 0.2"/>
+            <geometry>
+                <cylinder length="0.22" radius="0.02" />
+            </geometry>
+        </collision>
+        <xacro:box_inertial mass="${payload_housing_mass}"
+            width="0.191" height="0.181" depth="0.76" xyz="0.02 0 ${0.181/2}" />
+        <xacro:default_inertial />
+    </link>
+    <xacro:fixed_joint name="payload_j" parent="$(arg prefix)rear_rail" child="$(arg prefix)payload" xyz="0.2 0 0" />
+    <xacro:property name="payload_void" value="${payload_mass.append(payload_housing_mass)}" scope="global" />
+
+    <!-- Payload IMU -->
+    <xacro:imu_sensor name="imu_vras" simulate="$(arg simulate_imu)" visualize="$(arg visualize_sensors)" />
+    <xacro:fixed_joint name="imu_vras_j" parent="$(arg prefix)payload" child="$(arg prefix)imu_vras"
+        xyz="0.05 0 0.015" rpy="0 0 ${pi/2}" />
+
+    <!-- 3D lidar -->
+    <xacro:if value="$(arg has_ouster_lidar)">
+        <xacro:ouster_os0_128 name="laser" simulate="$(arg simulate_ouster_lidar)" visualize="$(arg visualize_sensors)" />
+        <xacro:fixed_joint name="laser_j" parent="$(arg prefix)payload" child="$(arg prefix)laser"
+            xyz="0.365 0 ${payload_z_top + 0.06}" rpy="0 0.35 0" />
+    </xacro:if>
+
+    <!-- Omnicamera -->
+    <xacro:if value="$(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="$(arg prefix)payload" child="$(arg prefix)camera_0"
+            xyz="0.317 0 ${payload_z_top + 0.029}" rpy="${pi} 0 0" />
+
+        <xacro:basler_ace_omnicam name="camera_1" simulate="$(arg simulate_omnicam_vras)" visualize="$(arg visualize_sensors)" />
+        <xacro:fixed_joint name="camera_1_j" parent="$(arg prefix)payload" child="$(arg prefix)camera_1"
+            xyz="0.265 -0.01 ${payload_z_top}" rpy="0 0 ${-pi/2}" />
+
+        <xacro:basler_ace_omnicam name="camera_2" simulate="$(arg simulate_omnicam_vras)" visualize="$(arg visualize_sensors)" />
+        <xacro:fixed_joint name="camera_2_j" parent="$(arg prefix)payload" child="$(arg prefix)camera_2"
+            xyz="-0.275 0 ${payload_z_top + 0.029}" rpy="${pi} 0 ${-pi}" />
+
+        <xacro:basler_ace_omnicam name="camera_3" simulate="$(arg simulate_omnicam_vras)" visualize="$(arg visualize_sensors)" />
+        <xacro:fixed_joint name="camera_3_j" parent="$(arg prefix)payload" child="$(arg prefix)camera_3"
+            xyz="0.265 0.01 ${payload_z_top - 0.03}" rpy="0 0 ${-3*pi/2}" />
+
+        <xacro:basler_ace_omnicam name="camera_4" simulate="$(arg simulate_omnicam_vras)" visualize="$(arg visualize_sensors)" />
+        <xacro:fixed_joint name="camera_4_j" parent="$(arg prefix)payload" child="$(arg prefix)camera_4"
+            xyz="0.215 -0.0145 ${payload_z_top - 0.05}" rpy="${pi} ${-pi/2} ${pi/2}" />
+    </xacro:if>
+
+    <!-- LIGHTS -->
+    <xacro:include filename="$(find ctu_cras_norlab_spot_sensor_config_1)/urdf/lights.xacro" />
+    <gazebo reference="$(arg prefix)payload">
+        <xacro:led_stripe name="light_left" range="20" linear="0.2" constant="0.1" quadratic="0.0025"
+            inner_angle="2.8" outer_angle="2.9"
+            pose="0.275 0.1 ${payload_z_top+0.025} 0 ${-pi/2} ${pi/2}" />
+        <xacro:led_stripe name="light_right" range="20" linear="0.2" constant="0.1" quadratic="0.0025"
+            inner_angle="2.8" outer_angle="2.9"
+            pose="0.275 -0.1 ${payload_z_top-0.005} 0 ${-pi/2} ${-pi/2}" />
+        <xacro:led_stripe name="light_front" range="20" linear="0.2" constant="0.1" quadratic="0.0025"
+            inner_angle="2.8" outer_angle="2.9"
+            pose="0.375 0 ${payload_z_top-0.005} 0 ${-pi/2} 0" />
+        <xacro:led_stripe name="light_rear" range="20" linear="0.2" constant="0.1" quadratic="0.0025"
+            inner_angle="2.8" outer_angle="2.9"
+            pose="-0.36 0 ${payload_z_top+0.035} 0 ${-pi/2} ${-pi}" />
+        <xacro:spot_light_up name="light_up"
+            pose="0.19 0 ${payload_z_top + 0.04} 0 ${pi} 0" />
+    </gazebo>
+
+    <!-- Mote deployer (only sensor config 2) -->
+    <xacro:if value="$(arg has_mote_deployer)">
+        <!-- The link is included automatically in the payload xacro -->
+        <xacro:fixed_joint name="mote_deployer_j" parent="$(arg prefix)payload" child="$(arg prefix)mote_deployer"
+                           xyz="-0.295 0 -0.025" rpy="0 0 ${pi}" />
+    </xacro:if>
+
+    <!-- Compute total mass. You'll find it in the git-ignored file model.sdf.urdf as link named "total_mass_*". -->
+    <xacro:if value="${'$(arg rendering_target)' == 'ign'}">
+        <xacro:property name="total_mass" value="${
+          base_mass + 4 * (hip_mass + upper_leg_mass + lower_leg_mass) +
+          fsum(payload_mass)
+        }" />
+
+        <!-- This is a workaround for outputting the total mass of the robot. You'll find it in the URDF file. -->
+        <xacro:property name="total_mass_str" value="${str(total_mass).replace('.', '_')}" />
+        <link name="total_mass_${total_mass_str}" />
+        <xacro:fixed_joint name="total_mass_j" parent="$(arg prefix)base_link" child="total_mass_${total_mass_str}" />
+    </xacro:if>
+</robot>
diff --git a/submitted_models/ctu_cras_norlab_spot_sensor_config_2/.gitignore b/submitted_models/ctu_cras_norlab_spot_sensor_config_2/.gitignore
new file mode 100644
index 00000000..5a7699cc
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_spot_sensor_config_2/.gitignore
@@ -0,0 +1 @@
+model.sdf.urdf
\ No newline at end of file
diff --git a/submitted_models/ctu_cras_norlab_spot_sensor_config_2/CMakeLists.txt b/submitted_models/ctu_cras_norlab_spot_sensor_config_2/CMakeLists.txt
new file mode 100644
index 00000000..8378d226
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_spot_sensor_config_2/CMakeLists.txt
@@ -0,0 +1,14 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(ctu_cras_norlab_spot_sensor_config_2)
+
+find_package(catkin REQUIRED)
+
+catkin_package()
+
+install(DIRECTORY config launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
+
+install(FILES model.sdf model.config
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
+
+install(PROGRAMS scripts/print_robot_urdf
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/scripts)
diff --git a/submitted_models/ctu_cras_norlab_spot_sensor_config_2/config/model/common.yaml b/submitted_models/ctu_cras_norlab_spot_sensor_config_2/config/model/common.yaml
new file mode 100644
index 00000000..69ea9193
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_spot_sensor_config_2/config/model/common.yaml
@@ -0,0 +1 @@
+num_breadcrumbs: 12
\ No newline at end of file
diff --git a/submitted_models/ctu_cras_norlab_spot_sensor_config_2/launch/example.ign b/submitted_models/ctu_cras_norlab_spot_sensor_config_2/launch/example.ign
new file mode 100644
index 00000000..c997a41a
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_spot_sensor_config_2/launch/example.ign
@@ -0,0 +1,30 @@
+<?xml version="1.0"?>
+<%
+  base_launch = `rospack find bosdyn_spot`.chomp + "/launch"
+  base_dir = File.realpath(File.join(File.dirname(__FILE__), ".."))
+
+  ros_param=''
+  if defined?(ros) and ros
+    ros_param='ros:=true'
+  end
+
+  champ_param=''
+  if defined?(champ) and champ
+    champ_param='champ:=true'
+  end
+
+  headless_param=''
+  if defined?(headless) and headless
+    headless_param='headless:=true'
+  end
+
+  teleop_param=''
+  if defined?(teleop) and teleop
+    teleop_param='teleop:=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 %> <%= champ_param %> <%= headless_param %> <%= teleop_param %></command>
+  </executable>
+</ignition>
\ No newline at end of file
diff --git a/submitted_models/ctu_cras_norlab_spot_sensor_config_2/launch/spawner.rb b/submitted_models/ctu_cras_norlab_spot_sensor_config_2/launch/spawner.rb
new file mode 100644
index 00000000..28a53588
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_spot_sensor_config_2/launch/spawner.rb
@@ -0,0 +1,44 @@
+require 'yaml'
+confdir = File.join(__dir__, '..', 'config', 'model')
+config = YAML.load_file(File.join(confdir, 'common.yaml'))
+
+$num_breadcrumbs = config["num_breadcrumbs"]
+
+def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
+  base_spawn = `rospack find ctu_cras_norlab_spot_sensor_config_1`.chomp + "/launch/common.rb"
+  begin
+    load base_spawn
+  rescue LoadError
+    raise "Unknown robot configuration #{File.dirname(__FILE__)}. #{base_spawn} could not be found."
+  else
+    additionalSpawnPlugins = <<-HEREDOC
+      <plugin filename="ignition-gazebo-breadcrumbs-system"
+            name="ignition::gazebo::systems::Breadcrumbs">
+        <topic>/model/#{_name}/breadcrumb/deploy</topic>
+        <max_deployments>#{$num_breadcrumbs}</max_deployments>
+        <disable_physics_time>3.0</disable_physics_time>
+        <topic_statistics>true</topic_statistics>
+        <breadcrumb>
+          <sdf version="1.6">
+            <model name="#{_name}__breadcrumb__">
+              <pose>-0.6 0 0 -0.3 0 #{Math::PI/2}</pose>
+              <include>
+                <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Breadcrumb Node</uri>
+             </include>
+           </model>
+         </sdf>
+       </breadcrumb>
+      </plugin>
+    HEREDOC
+    _spawner2(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw, additionalSpawnPlugins)
+  end
+end
+
+def rosExecutables(_name, _worldName)
+  # description.launch is included from vehicle_topics.launch
+  <<-HEREDOC
+  <executable name='topics'>
+    <command>roslaunch --wait ctu_cras_norlab_spot_sensor_config_1 vehicle_topics.launch world_name:=#{_worldName} name:=#{_name} breadcrumbs:=#{$num_breadcrumbs} description_print_command:="#{File.dirname(__FILE__) + '/../scripts/print_robot_urdf'}"</command>
+  </executable>
+  HEREDOC
+end
diff --git a/submitted_models/ctu_cras_norlab_spot_sensor_config_2/model.config b/submitted_models/ctu_cras_norlab_spot_sensor_config_2/model.config
new file mode 100644
index 00000000..f9d16b81
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_spot_sensor_config_2/model.config
@@ -0,0 +1,14 @@
+<?xml version="1.0"?>
+<model>
+  <name>ctu_cras_norlab_spot_sensor_config_2</name>
+  <sdf version="1.7">model.sdf</sdf>
+  <description>
+    Boston Dynamics Spot of CTU-CRAS-Norlab team with 12 breadcrumbs.
+  </description>
+  <depend>
+    <model>
+      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_SPOT_SENSOR_CONFIG_1</uri>
+    </model>
+  </depend>
+</model>
+
diff --git a/submitted_models/ctu_cras_norlab_spot_sensor_config_2/model.sdf b/submitted_models/ctu_cras_norlab_spot_sensor_config_2/model.sdf
new file mode 100644
index 00000000..e155a1b6
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_spot_sensor_config_2/model.sdf
@@ -0,0 +1,2665 @@
+<?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 and is based on urdf/spot.urdf.xacro source file.
  Do all modifications there and then run the update script to regenerate the SDF. -->
+  <model name="ctu_cras_norlab_spot_sensor_config_1">
+    <link name="base_link">
+      <inertial>
+        <mass>16</mass>
+        <inertia>
+          <ixx>0.0973333</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>1.02467</iyy>
+          <iyz>0</iyz>
+          <izz>1.04493</izz>
+        </inertia>
+      </inertial>
+      <collision name="base_link_collision">
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/bosdyn_spot/tip/files/meshes/body_collision.stl</uri>
+          </mesh>
+        </geometry>
+      </collision>
+      <visual name="base_link_visual">
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/ctu_cras_norlab_spot_sensor_config_1/tip/files/meshes/body.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+    </link>
+    <link name="body">
+      <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="base_link_joint" type="fixed">
+      <child>body</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_rail">
+      <pose>0.223 0 0.0805 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="front_rail_joint" type="fixed">
+      <child>front_rail</child>
+      <parent>body</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_rail">
+      <pose>-0.223 0 0.0805 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_rail_joint" type="fixed">
+      <child>rear_rail</child>
+      <parent>body</parent>
+      <axis>
+        <dynamics>
+          <spring_reference>0</spring_reference>
+          <spring_stiffness>0</spring_stiffness>
+        </dynamics>
+        <xyz>0 0 1</xyz>
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+        <pose>0 0 0.0145 0 -0 0</pose>
+        <geometry>
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+          </mesh>
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+      </visual>
+      <visual name="camera_4_visual_1">
+        <pose>0.042964 0 0.0145 0 -0 0</pose>
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+            <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/ctu_cras_norlab_spot_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>
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+            <width>1920</width>
+            <height>1200</height>
+            <format>R8G8B8</format>
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+            <type>stereographic</type>
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+        </camera>
+      </sensor>
+    </link>
+    <joint name="camera_4_j" type="fixed">
+      <child>camera_4</child>
+      <parent>payload</parent>
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+        <limit>
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+      <sensor name="imu" type="imu">
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+                <dynamic_bias_correlation_time>400</dynamic_bias_correlation_time>
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+                <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>
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+                <dynamic_bias_stddev>2e-05</dynamic_bias_stddev>
+                <dynamic_bias_correlation_time>400</dynamic_bias_correlation_time>
+                <precision>0.00025</precision>
+              </noise>
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+          <linear_acceleration>
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+                <dynamic_bias_correlation_time>175</dynamic_bias_correlation_time>
+                <precision>0.005</precision>
+              </noise>
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+                <dynamic_bias_correlation_time>175</dynamic_bias_correlation_time>
+                <precision>0.005</precision>
+              </noise>
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+                <dynamic_bias_correlation_time>175</dynamic_bias_correlation_time>
+                <precision>0.005</precision>
+              </noise>
+            </z>
+          </linear_acceleration>
+        </imu>
+      </sensor>
+    </link>
+    <joint name="imu_vras_j" type="fixed">
+      <child>imu_vras</child>
+      <parent>payload</parent>
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+          <spring_stiffness>0</spring_stiffness>
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+        <limit>
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+      <collision name="laser_collision">
+        <pose>0 0 0.03675 0 -0 0</pose>
+        <geometry>
+          <cylinder>
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+            <radius>0.0435</radius>
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+      <visual name="laser_visual">
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+            <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/ctu_cras_norlab_spot_sensor_config_1/tip/files/meshes/ouster-os0.dae</uri>
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+      </visual>
+      <sensor name="laser" type="gpu_lidar">
+        <pose>0 0 0.035925 0 -0 0</pose>
+        <update_rate>10</update_rate>
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+    <joint name="laser_j" type="fixed">
+      <child>laser</child>
+      <parent>payload</parent>
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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>
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+          <izz>0.00170437</izz>
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+      </inertial>
+      <collision name="mote_deployer_collision">
+        <pose>0.0845 -0.024 0.0655 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.189 0.072 0.131</size>
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+      <visual name="mote_deployer_visual">
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/ctu_cras_norlab_spot_sensor_config_1/tip/files/meshes/mote_deployer.dae</uri>
+          </mesh>
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+      </visual>
+    </link>
+    <joint name="mote_deployer_j" type="fixed">
+      <child>mote_deployer</child>
+      <parent>payload</parent>
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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>
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+      <pose>0 0 -0.03 0 -0 0</pose>
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+          <izz>0.0444</izz>
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+      </inertial>
+      <collision name="battery_collision">
+        <geometry>
+          <box>
+            <size>0.324 0.168 0.093</size>
+          </box>
+        </geometry>
+      </collision>
+      <visual name="battery_visual">
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+          <box>
+            <size>0.324 0.168 0.093</size>
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+        <material>
+          <ambient>0 0.364706 0.678431 1</ambient>
+          <diffuse>0 0.364706 0.678431 1</diffuse>
+          <specular>0 0.364706 0.678431 1</specular>
+          <emissive>0 0 0 0</emissive>
+        </material>
+      </visual>
+    </link>
+    <joint name="battery_joint" type="fixed">
+      <child>battery</child>
+      <parent>base_link</parent>
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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>
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+            <erp>0.2</erp>
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+    <link name="camera_back">
+      <pose>-0.425 0 0.01 -0 0.3 3.1415926535897931</pose>
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+          <iyz>1e-06</iyz>
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+            <scale_to_hfov>1</scale_to_hfov>
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+        </camera>
+        <plugin name="subt::MonoCameraSystem" filename="mono-camera-system"/>
+      </sensor>
+      <sensor name="back_depth" type="depth_camera">
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+        <visualize>0</visualize>
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+    <joint name="camera_back_j" type="fixed">
+      <child>camera_back</child>
+      <parent>base_link</parent>
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+          <spring_stiffness>0</spring_stiffness>
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+        <xyz>0 0 1</xyz>
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+        <limit>
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+      <pose>0.415 0.037 -0.01 1.35556 0.353917 -0.554196</pose>
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+          <iyz>1e-06</iyz>
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+      <sensor name="frontleft_fisheye_image" type="camera">
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+          <clip>
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+            <scale_to_hfov>1</scale_to_hfov>
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+        <plugin name="subt::MonoCameraSystem" filename="mono-camera-system"/>
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+      <sensor name="frontleft_depth" type="depth_camera">
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+            <type>stereographic</type>
+            <scale_to_hfov>1</scale_to_hfov>
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+        </camera>
+      </sensor>
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+    <joint name="camera_frontleft_j" type="fixed">
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+      <parent>base_link</parent>
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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>
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+    <link name="camera_frontright">
+      <pose>0.415 -0.037 -0.01 -1.35556 0.353917 0.554196</pose>
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+          <iyz>1e-06</iyz>
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+      <sensor name="frontright_fisheye_image" type="camera">
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+        <plugin name="subt::MonoCameraSystem" filename="mono-camera-system"/>
+      </sensor>
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+        <visualize>0</visualize>
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+            </intrinsics>
+            <type>stereographic</type>
+            <scale_to_hfov>1</scale_to_hfov>
+          </lens>
+        </camera>
+      </sensor>
+    </link>
+    <joint name="camera_frontright_j" type="fixed">
+      <child>camera_frontright</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_left">
+      <pose>-0.125 0.12 0.035 0 0.2 1.5707963267948966</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>
+      <sensor name="left_fisheye_image" type="camera">
+        <pose>0 0.01 0 0 -0 0</pose>
+        <update_rate>30</update_rate>
+        <visualize>0</visualize>
+        <camera>
+          <horizontal_fov>1.78634</horizontal_fov>
+          <image>
+            <width>640</width>
+            <height>480</height>
+            <format>R8G8B8</format>
+          </image>
+          <clip>
+            <near>0.1</near>
+            <far>20</far>
+          </clip>
+          <noise>
+            <type>gaussian</type>
+            <mean>0</mean>
+            <stddev>0.007</stddev>
+          </noise>
+          <lens>
+            <intrinsics>
+              <fx>257.487</fx>
+              <fy>257.487</fy>
+              <cx>319.5</cx>
+              <cy>239.5</cy>
+              <s>0</s>
+            </intrinsics>
+            <type>stereographic</type>
+            <scale_to_hfov>1</scale_to_hfov>
+          </lens>
+        </camera>
+        <plugin name="subt::MonoCameraSystem" filename="mono-camera-system"/>
+      </sensor>
+      <sensor name="left_depth" type="depth_camera">
+        <update_rate>30</update_rate>
+        <visualize>0</visualize>
+        <camera>
+          <horizontal_fov>1.78634</horizontal_fov>
+          <image>
+            <width>424</width>
+            <height>240</height>
+            <format>R_FLOAT32</format>
+          </image>
+          <clip>
+            <near>0.1</near>
+            <far>4</far>
+          </clip>
+          <noise>
+            <type>gaussian</type>
+            <mean>0</mean>
+            <stddev>0.007</stddev>
+          </noise>
+          <lens>
+            <intrinsics>
+              <fx>170.6</fx>
+              <fy>170.6</fy>
+              <cx>211.5</cx>
+              <cy>119.5</cy>
+              <s>0</s>
+            </intrinsics>
+            <type>stereographic</type>
+            <scale_to_hfov>1</scale_to_hfov>
+          </lens>
+        </camera>
+      </sensor>
+    </link>
+    <joint name="camera_left_j" type="fixed">
+      <child>camera_left</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_right">
+      <pose>-0.125 -0.12 0.035 0 0.2 -1.5707963267948966</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>
+      <sensor name="right_fisheye_image" type="camera">
+        <pose>0 0.01 0 0 -0 0</pose>
+        <update_rate>30</update_rate>
+        <visualize>0</visualize>
+        <camera>
+          <horizontal_fov>1.78634</horizontal_fov>
+          <image>
+            <width>640</width>
+            <height>480</height>
+            <format>R8G8B8</format>
+          </image>
+          <clip>
+            <near>0.1</near>
+            <far>20</far>
+          </clip>
+          <noise>
+            <type>gaussian</type>
+            <mean>0</mean>
+            <stddev>0.007</stddev>
+          </noise>
+          <lens>
+            <intrinsics>
+              <fx>257.487</fx>
+              <fy>257.487</fy>
+              <cx>319.5</cx>
+              <cy>239.5</cy>
+              <s>0</s>
+            </intrinsics>
+            <type>stereographic</type>
+            <scale_to_hfov>1</scale_to_hfov>
+          </lens>
+        </camera>
+        <plugin name="subt::MonoCameraSystem" filename="mono-camera-system"/>
+      </sensor>
+      <sensor name="right_depth" type="depth_camera">
+        <update_rate>30</update_rate>
+        <visualize>0</visualize>
+        <camera>
+          <horizontal_fov>1.78634</horizontal_fov>
+          <image>
+            <width>424</width>
+            <height>240</height>
+            <format>R_FLOAT32</format>
+          </image>
+          <clip>
+            <near>0.1</near>
+            <far>4</far>
+          </clip>
+          <noise>
+            <type>gaussian</type>
+            <mean>0</mean>
+            <stddev>0.007</stddev>
+          </noise>
+          <lens>
+            <intrinsics>
+              <fx>170.6</fx>
+              <fy>170.6</fy>
+              <cx>211.5</cx>
+              <cy>119.5</cy>
+              <s>0</s>
+            </intrinsics>
+            <type>stereographic</type>
+            <scale_to_hfov>1</scale_to_hfov>
+          </lens>
+        </camera>
+      </sensor>
+    </link>
+    <joint name="camera_right_j" type="fixed">
+      <child>camera_right</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_left_hip">
+      <pose>0.29785 0.055 0 0 -0 0</pose>
+      <inertial>
+        <mass>2</mass>
+        <inertia>
+          <ixx>0.0027</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.00416667</iyy>
+          <iyz>0</iyz>
+          <izz>0.00416667</izz>
+        </inertia>
+      </inertial>
+      <collision name="front_left_hip_collision">
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/bosdyn_spot/tip/files/meshes/front_left_hip_collision.stl</uri>
+          </mesh>
+        </geometry>
+      </collision>
+      <visual name="front_left_hip_visual">
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/ctu_cras_norlab_spot_sensor_config_1/tip/files/meshes/front_left_hip.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+    </link>
+    <joint name="front_left_hip_x" type="revolute">
+      <child>front_left_hip</child>
+      <parent>base_link</parent>
+      <axis>
+        <xyz>1 0 0</xyz>
+        <limit>
+          <lower>-0.785398</lower>
+          <upper>0.785398</upper>
+          <effort>80</effort>
+          <velocity>15</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_upper_leg">
+      <pose>0.29785 0.165945 0 0 -0 0</pose>
+      <inertial>
+        <pose>0 0 -0.14 0 -0 0</pose>
+        <mass>1</mass>
+        <inertia>
+          <ixx>0.0155334</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.0155334</iyy>
+          <iyz>0</iyz>
+          <izz>0.000962667</izz>
+        </inertia>
+      </inertial>
+      <collision name="front_left_upper_leg_collision">
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/bosdyn_spot/tip/files/meshes/front_left_upper_leg_collision.stl</uri>
+          </mesh>
+        </geometry>
+      </collision>
+      <visual name="front_left_upper_leg_visual">
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/ctu_cras_norlab_spot_sensor_config_1/tip/files/meshes/front_left_upper_leg.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+    </link>
+    <joint name="front_left_hip_y" type="revolute">
+      <child>front_left_upper_leg</child>
+      <parent>front_left_hip</parent>
+      <axis>
+        <xyz>0 1 0</xyz>
+        <limit>
+          <lower>-0.898845</lower>
+          <upper>2.29511</upper>
+          <effort>80</effort>
+          <velocity>15</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_lower_leg">
+      <pose>0.32285 0.165945 -0.3205 0 -0 0</pose>
+      <inertial>
+        <pose>0 0 -0.16 0 -0 0</pose>
+        <mass>0.5</mass>
+        <inertia>
+          <ixx>0.00743438</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.00740104</iyy>
+          <iyz>0</iyz>
+          <izz>0.000135417</izz>
+        </inertia>
+      </inertial>
+      <collision name="front_left_lower_leg_collision">
+        <geometry>
+          <mesh>
+            <scale>0.82 0.97 0.98</scale>
+            <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/bosdyn_spot/tip/files/meshes/front_left_lower_leg_collision.stl</uri>
+          </mesh>
+        </geometry>
+        <surface>
+          <contact>
+            <ode>
+              <kp>1e+07</kp>
+              <kd>100</kd>
+            </ode>
+          </contact>
+          <friction>
+            <ode>
+              <mu>0.8</mu>
+              <mu2>0.8</mu2>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="front_left_lower_leg_collision_1">
+        <pose>0 0 -0.333 0 -0 0</pose>
+        <geometry>
+          <sphere>
+            <radius>0.04</radius>
+          </sphere>
+        </geometry>
+        <surface>
+          <contact>
+            <ode>
+              <kp>1e+07</kp>
+              <kd>100</kd>
+            </ode>
+          </contact>
+          <friction>
+            <ode>
+              <mu>0.8</mu>
+              <mu2>0.8</mu2>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <visual name="front_left_lower_leg_visual">
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/ctu_cras_norlab_spot_sensor_config_1/tip/files/meshes/front_left_lower_leg.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <sensor name="contact" type="contact">
+        <contact>
+          <collision>front_left_lower_leg_collision</collision>
+          <collision>front_left_lower_leg_collision_1</collision>
+          <topic>__default_topic__</topic>
+        </contact>
+      </sensor>
+    </link>
+    <joint name="front_left_knee" type="revolute">
+      <child>front_left_lower_leg</child>
+      <parent>front_left_upper_leg</parent>
+      <axis>
+        <xyz>0 1 0</xyz>
+        <limit>
+          <lower>-2.7929</lower>
+          <upper>-0.254801</upper>
+          <effort>80</effort>
+          <velocity>15</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_ee">
+      <pose>0.32285 0.165945 -0.6905 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="front_left_foot" type="fixed">
+      <child>front_left_ee</child>
+      <parent>front_left_lower_leg</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_hip">
+      <pose>0.29785 -0.055 0 0 -0 0</pose>
+      <inertial>
+        <mass>2</mass>
+        <inertia>
+          <ixx>0.0027</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.00416667</iyy>
+          <iyz>0</iyz>
+          <izz>0.00416667</izz>
+        </inertia>
+      </inertial>
+      <collision name="front_right_hip_collision">
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/bosdyn_spot/tip/files/meshes/front_right_hip_collision.stl</uri>
+          </mesh>
+        </geometry>
+      </collision>
+      <visual name="front_right_hip_visual">
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/ctu_cras_norlab_spot_sensor_config_1/tip/files/meshes/front_right_hip.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+    </link>
+    <joint name="front_right_hip_x" type="revolute">
+      <child>front_right_hip</child>
+      <parent>base_link</parent>
+      <axis>
+        <xyz>1 0 0</xyz>
+        <limit>
+          <lower>-0.785398</lower>
+          <upper>0.785398</upper>
+          <effort>80</effort>
+          <velocity>15</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_upper_leg">
+      <pose>0.29785 -0.165945 0 0 -0 0</pose>
+      <inertial>
+        <pose>0 0 -0.14 0 -0 0</pose>
+        <mass>1</mass>
+        <inertia>
+          <ixx>0.0155334</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.0155334</iyy>
+          <iyz>0</iyz>
+          <izz>0.000962667</izz>
+        </inertia>
+      </inertial>
+      <collision name="front_right_upper_leg_collision">
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/bosdyn_spot/tip/files/meshes/front_right_upper_leg_collision.stl</uri>
+          </mesh>
+        </geometry>
+      </collision>
+      <visual name="front_right_upper_leg_visual">
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/ctu_cras_norlab_spot_sensor_config_1/tip/files/meshes/front_right_upper_leg.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+    </link>
+    <joint name="front_right_hip_y" type="revolute">
+      <child>front_right_upper_leg</child>
+      <parent>front_right_hip</parent>
+      <axis>
+        <xyz>0 1 0</xyz>
+        <limit>
+          <lower>-0.898845</lower>
+          <upper>2.29511</upper>
+          <effort>80</effort>
+          <velocity>15</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_lower_leg">
+      <pose>0.32285 -0.165945 -0.3205 0 -0 0</pose>
+      <inertial>
+        <pose>0 0 -0.16 0 -0 0</pose>
+        <mass>0.5</mass>
+        <inertia>
+          <ixx>0.00743438</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.00740104</iyy>
+          <iyz>0</iyz>
+          <izz>0.000135417</izz>
+        </inertia>
+      </inertial>
+      <collision name="front_right_lower_leg_collision">
+        <geometry>
+          <mesh>
+            <scale>0.82 0.97 0.98</scale>
+            <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/bosdyn_spot/tip/files/meshes/front_right_lower_leg_collision.stl</uri>
+          </mesh>
+        </geometry>
+        <surface>
+          <contact>
+            <ode>
+              <kp>1e+07</kp>
+              <kd>100</kd>
+            </ode>
+          </contact>
+          <friction>
+            <ode>
+              <mu>0.8</mu>
+              <mu2>0.8</mu2>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="front_right_lower_leg_collision_1">
+        <pose>0 0 -0.333 0 -0 0</pose>
+        <geometry>
+          <sphere>
+            <radius>0.04</radius>
+          </sphere>
+        </geometry>
+        <surface>
+          <contact>
+            <ode>
+              <kp>1e+07</kp>
+              <kd>100</kd>
+            </ode>
+          </contact>
+          <friction>
+            <ode>
+              <mu>0.8</mu>
+              <mu2>0.8</mu2>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <visual name="front_right_lower_leg_visual">
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/ctu_cras_norlab_spot_sensor_config_1/tip/files/meshes/front_right_lower_leg.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <sensor name="contact" type="contact">
+        <contact>
+          <collision>front_right_lower_leg_collision</collision>
+          <collision>front_right_lower_leg_collision_1</collision>
+          <topic>__default_topic__</topic>
+        </contact>
+      </sensor>
+    </link>
+    <joint name="front_right_knee" type="revolute">
+      <child>front_right_lower_leg</child>
+      <parent>front_right_upper_leg</parent>
+      <axis>
+        <xyz>0 1 0</xyz>
+        <limit>
+          <lower>-2.7929</lower>
+          <upper>-0.254801</upper>
+          <effort>80</effort>
+          <velocity>15</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_ee">
+      <pose>0.32285 -0.165945 -0.6905 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="front_right_foot" type="fixed">
+      <child>front_right_ee</child>
+      <parent>front_right_lower_leg</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">
+      <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>
+      <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_left_hip">
+      <pose>-0.29785 0.055 0 0 -0 0</pose>
+      <inertial>
+        <mass>2</mass>
+        <inertia>
+          <ixx>0.0027</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.00416667</iyy>
+          <iyz>0</iyz>
+          <izz>0.00416667</izz>
+        </inertia>
+      </inertial>
+      <collision name="rear_left_hip_collision">
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/bosdyn_spot/tip/files/meshes/rear_left_hip_collision.stl</uri>
+          </mesh>
+        </geometry>
+      </collision>
+      <visual name="rear_left_hip_visual">
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/ctu_cras_norlab_spot_sensor_config_1/tip/files/meshes/rear_left_hip.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+    </link>
+    <joint name="rear_left_hip_x" type="revolute">
+      <child>rear_left_hip</child>
+      <parent>base_link</parent>
+      <axis>
+        <xyz>1 0 0</xyz>
+        <limit>
+          <lower>-0.785398</lower>
+          <upper>0.785398</upper>
+          <effort>80</effort>
+          <velocity>15</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_upper_leg">
+      <pose>-0.29785 0.165945 0 0 -0 0</pose>
+      <inertial>
+        <pose>0 0 -0.14 0 -0 0</pose>
+        <mass>1</mass>
+        <inertia>
+          <ixx>0.0155334</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.0155334</iyy>
+          <iyz>0</iyz>
+          <izz>0.000962667</izz>
+        </inertia>
+      </inertial>
+      <collision name="rear_left_upper_leg_collision">
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/bosdyn_spot/tip/files/meshes/rear_left_upper_leg_collision.stl</uri>
+          </mesh>
+        </geometry>
+      </collision>
+      <visual name="rear_left_upper_leg_visual">
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/ctu_cras_norlab_spot_sensor_config_1/tip/files/meshes/rear_left_upper_leg.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+    </link>
+    <joint name="rear_left_hip_y" type="revolute">
+      <child>rear_left_upper_leg</child>
+      <parent>rear_left_hip</parent>
+      <axis>
+        <xyz>0 1 0</xyz>
+        <limit>
+          <lower>-0.898845</lower>
+          <upper>2.29511</upper>
+          <effort>80</effort>
+          <velocity>15</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_lower_leg">
+      <pose>-0.27285 0.165945 -0.3205 0 -0 0</pose>
+      <inertial>
+        <pose>0 0 -0.16 0 -0 0</pose>
+        <mass>0.5</mass>
+        <inertia>
+          <ixx>0.00743438</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.00740104</iyy>
+          <iyz>0</iyz>
+          <izz>0.000135417</izz>
+        </inertia>
+      </inertial>
+      <collision name="rear_left_lower_leg_collision">
+        <geometry>
+          <mesh>
+            <scale>0.82 0.97 0.98</scale>
+            <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/bosdyn_spot/tip/files/meshes/rear_left_lower_leg_collision.stl</uri>
+          </mesh>
+        </geometry>
+        <surface>
+          <contact>
+            <ode>
+              <kp>1e+07</kp>
+              <kd>100</kd>
+            </ode>
+          </contact>
+          <friction>
+            <ode>
+              <mu>0.8</mu>
+              <mu2>0.8</mu2>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="rear_left_lower_leg_collision_1">
+        <pose>0 0 -0.333 0 -0 0</pose>
+        <geometry>
+          <sphere>
+            <radius>0.04</radius>
+          </sphere>
+        </geometry>
+        <surface>
+          <contact>
+            <ode>
+              <kp>1e+07</kp>
+              <kd>100</kd>
+            </ode>
+          </contact>
+          <friction>
+            <ode>
+              <mu>0.8</mu>
+              <mu2>0.8</mu2>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <visual name="rear_left_lower_leg_visual">
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/ctu_cras_norlab_spot_sensor_config_1/tip/files/meshes/rear_left_lower_leg.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <sensor name="contact" type="contact">
+        <contact>
+          <collision>rear_left_lower_leg_collision</collision>
+          <collision>rear_left_lower_leg_collision_1</collision>
+          <topic>__default_topic__</topic>
+        </contact>
+      </sensor>
+    </link>
+    <joint name="rear_left_knee" type="revolute">
+      <child>rear_left_lower_leg</child>
+      <parent>rear_left_upper_leg</parent>
+      <axis>
+        <xyz>0 1 0</xyz>
+        <limit>
+          <lower>-2.7929</lower>
+          <upper>-0.254801</upper>
+          <effort>80</effort>
+          <velocity>15</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_ee">
+      <pose>-0.27285 0.165945 -0.6905 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_left_foot" type="fixed">
+      <child>rear_left_ee</child>
+      <parent>rear_left_lower_leg</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_hip">
+      <pose>-0.29785 -0.055 0 0 -0 0</pose>
+      <inertial>
+        <mass>2</mass>
+        <inertia>
+          <ixx>0.0027</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.00416667</iyy>
+          <iyz>0</iyz>
+          <izz>0.00416667</izz>
+        </inertia>
+      </inertial>
+      <collision name="rear_right_hip_collision">
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/bosdyn_spot/tip/files/meshes/rear_right_hip_collision.stl</uri>
+          </mesh>
+        </geometry>
+      </collision>
+      <visual name="rear_right_hip_visual">
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/ctu_cras_norlab_spot_sensor_config_1/tip/files/meshes/rear_right_hip.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+    </link>
+    <joint name="rear_right_hip_x" type="revolute">
+      <child>rear_right_hip</child>
+      <parent>base_link</parent>
+      <axis>
+        <xyz>1 0 0</xyz>
+        <limit>
+          <lower>-0.785398</lower>
+          <upper>0.785398</upper>
+          <effort>80</effort>
+          <velocity>15</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_upper_leg">
+      <pose>-0.29785 -0.165945 0 0 -0 0</pose>
+      <inertial>
+        <pose>0 0 -0.14 0 -0 0</pose>
+        <mass>1</mass>
+        <inertia>
+          <ixx>0.0155334</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.0155334</iyy>
+          <iyz>0</iyz>
+          <izz>0.000962667</izz>
+        </inertia>
+      </inertial>
+      <collision name="rear_right_upper_leg_collision">
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/bosdyn_spot/tip/files/meshes/rear_right_upper_leg_collision.stl</uri>
+          </mesh>
+        </geometry>
+      </collision>
+      <visual name="rear_right_upper_leg_visual">
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/ctu_cras_norlab_spot_sensor_config_1/tip/files/meshes/rear_right_upper_leg.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+    </link>
+    <joint name="rear_right_hip_y" type="revolute">
+      <child>rear_right_upper_leg</child>
+      <parent>rear_right_hip</parent>
+      <axis>
+        <xyz>0 1 0</xyz>
+        <limit>
+          <lower>-0.898845</lower>
+          <upper>2.29511</upper>
+          <effort>80</effort>
+          <velocity>15</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_lower_leg">
+      <pose>-0.27285 -0.165945 -0.3205 0 -0 0</pose>
+      <inertial>
+        <pose>0 0 -0.16 0 -0 0</pose>
+        <mass>0.5</mass>
+        <inertia>
+          <ixx>0.00743438</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.00740104</iyy>
+          <iyz>0</iyz>
+          <izz>0.000135417</izz>
+        </inertia>
+      </inertial>
+      <collision name="rear_right_lower_leg_collision">
+        <geometry>
+          <mesh>
+            <scale>0.82 0.97 0.98</scale>
+            <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/bosdyn_spot/tip/files/meshes/rear_right_lower_leg_collision.stl</uri>
+          </mesh>
+        </geometry>
+        <surface>
+          <contact>
+            <ode>
+              <kp>1e+07</kp>
+              <kd>100</kd>
+            </ode>
+          </contact>
+          <friction>
+            <ode>
+              <mu>0.8</mu>
+              <mu2>0.8</mu2>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="rear_right_lower_leg_collision_1">
+        <pose>0 0 -0.333 0 -0 0</pose>
+        <geometry>
+          <sphere>
+            <radius>0.04</radius>
+          </sphere>
+        </geometry>
+        <surface>
+          <contact>
+            <ode>
+              <kp>1e+07</kp>
+              <kd>100</kd>
+            </ode>
+          </contact>
+          <friction>
+            <ode>
+              <mu>0.8</mu>
+              <mu2>0.8</mu2>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <visual name="rear_right_lower_leg_visual">
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/ctu_cras_norlab_spot_sensor_config_1/tip/files/meshes/rear_right_lower_leg.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <sensor name="contact" type="contact">
+        <contact>
+          <collision>rear_right_lower_leg_collision</collision>
+          <collision>rear_right_lower_leg_collision_1</collision>
+          <topic>__default_topic__</topic>
+        </contact>
+      </sensor>
+    </link>
+    <joint name="rear_right_knee" type="revolute">
+      <child>rear_right_lower_leg</child>
+      <parent>rear_right_upper_leg</parent>
+      <axis>
+        <xyz>0 1 0</xyz>
+        <limit>
+          <lower>-2.7929</lower>
+          <upper>-0.254801</upper>
+          <effort>80</effort>
+          <velocity>15</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_ee">
+      <pose>-0.27285 -0.165945 -0.6905 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_foot" type="fixed">
+      <child>rear_right_ee</child>
+      <parent>rear_right_lower_leg</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>
+  </model>
+</sdf>
+
diff --git a/submitted_models/ctu_cras_norlab_spot_sensor_config_2/package.xml b/submitted_models/ctu_cras_norlab_spot_sensor_config_2/package.xml
new file mode 100644
index 00000000..9c341dd5
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_spot_sensor_config_2/package.xml
@@ -0,0 +1,21 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>ctu_cras_norlab_spot_sensor_config_2</name>
+  <version>1.0.0</version>
+  <description>Boston Dynamics Spot of CTU-CRAS-Norlab team with 12 breadcrumbs</description>
+
+  <author email="peckama2@fel.cvut.cz">Martin Pecka</author>
+  <maintainer email="peckama2@fel.cvut.cz">Martin Pecka</maintainer>
+
+  <license>BSD-3</license>
+
+  <buildtool_depend>catkin</buildtool_depend>
+
+  <exec_depend>bosdyn_spot</exec_depend>
+  <exec_depend>ctu_cras_norlab_spot_sensor_config_1</exec_depend>
+  <exec_depend>ros_ign_bridge</exec_depend>
+  <exec_depend>ros_ign_image</exec_depend>
+  <exec_depend>roslaunch</exec_depend>
+  <exec_depend>subt_ros</exec_depend>
+  <exec_depend>xacro</exec_depend>
+</package>
diff --git a/submitted_models/ctu_cras_norlab_spot_sensor_config_2/scripts/print_robot_urdf b/submitted_models/ctu_cras_norlab_spot_sensor_config_2/scripts/print_robot_urdf
new file mode 100755
index 00000000..116897fc
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_spot_sensor_config_2/scripts/print_robot_urdf
@@ -0,0 +1,16 @@
+#!/usr/bin/env bash
+set -e
+
+DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null 2>&1 && pwd )"
+MODEL_DIR="${DIR}/.."
+BOSDYN_MODEL_DIR="${MODEL_DIR}/../bosdyn_spot"
+BASE_MODEL_DIR="${MODEL_DIR}/../ctu_cras_norlab_spot_sensor_config_1"
+
+# load local modifications of configuration and apply them over the config from ctu_cras_norlab_spot_sensor_config_1
+
+config=""
+for file in "${MODEL_DIR}/config/model/common.yaml" "${MODEL_DIR}/config/model/urdf.yaml"; do
+  [ -f "$file" ] && config="${config} $("${BOSDYN_MODEL_DIR}/scripts/yaml_to_xacro_args" "$file")"
+done
+
+"${BASE_MODEL_DIR}/scripts/print_robot_urdf" $config "$@"
\ No newline at end of file
diff --git a/submitted_models/ctu_cras_norlab_spot_sensor_config_2/scripts/update_robot_sdf b/submitted_models/ctu_cras_norlab_spot_sensor_config_2/scripts/update_robot_sdf
new file mode 100755
index 00000000..6262aded
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_spot_sensor_config_2/scripts/update_robot_sdf
@@ -0,0 +1,26 @@
+#!/usr/bin/env bash
+set -e
+
+# This script re-generates the model.sdf file in the root of this package based on the Xacro files.
+# This script is only intended to be run from the source space and is intentionally not a part of
+# the installed package.
+
+# If you want to test some local changes, you can pass arguments to this script and it will relay
+# them to the Xacro call (usually the key:=value pairs for setting xacro args).
+
+DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null 2>&1 && pwd )"
+MODEL_DIR="${DIR}/.."
+BOSDYN_MODEL_DIR="${MODEL_DIR}/../bosdyn_spot"
+BASE_MODEL_DIR="${MODEL_DIR}/../ctu_cras_norlab_spot_sensor_config_1"
+[ -z "${OUTPUT_FILE}" ] && OUTPUT_FILE="${MODEL_DIR}/model.sdf"
+
+# load local modifications of configuration and apply them over the config from ctu_cras_norlab_spot_sensor_config_1
+
+config=""
+for file in "${MODEL_DIR}/config/model/common.yaml" "${MODEL_DIR}/config/model/ign.yaml"; do
+  [ -f "$file" ] && config="${config} $("${BOSDYN_MODEL_DIR}/scripts/yaml_to_xacro_args" "$file")"
+done
+
+OUTPUT_FILE="$OUTPUT_FILE" "${BASE_MODEL_DIR}/scripts/update_robot_sdf" $config "$@"
+
+sed -i -e 's#<uri>\(meshes/[^>]*\)</uri>#<uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/ctu_cras_norlab_spot_sensor_config_1/tip/files/\1</uri>#' "${OUTPUT_FILE}"
\ No newline at end of file
diff --git a/submitted_models/ctu_cras_norlab_x500_sensor_config_1/CMakeLists.txt b/submitted_models/ctu_cras_norlab_x500_sensor_config_1/CMakeLists.txt
index f3a11fd7..44f47446 100644
--- a/submitted_models/ctu_cras_norlab_x500_sensor_config_1/CMakeLists.txt
+++ b/submitted_models/ctu_cras_norlab_x500_sensor_config_1/CMakeLists.txt
@@ -2,12 +2,7 @@ cmake_minimum_required(VERSION 3.1.2)
 
 project(ctu_cras_norlab_x500_sensor_config_1)
 
-find_package(catkin REQUIRED COMPONENTS
-  roscpp
-  message_runtime
-  std_msgs
-  geometry_msgs
-)
+find_package(catkin REQUIRED)
 
 find_package(ignition-gazebo4 REQUIRED)
 find_package(ignition-transport9 REQUIRED)
@@ -17,9 +12,7 @@ set(CMAKE_CXX_STANDARD 17)
 set(CMAKE_CXX_STANDARD_REQUIRED ON)
 set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
 
-catkin_package(
-  CATKIN_DEPENDS message_runtime roscpp std_msgs geometry_msgs
-)
+catkin_package()
 
 include_directories(
   include
diff --git a/submitted_models/ctu_cras_norlab_x500_sensor_config_1/launch/vehicle_topics.launch b/submitted_models/ctu_cras_norlab_x500_sensor_config_1/launch/vehicle_topics.launch
index d791ce33..d7116340 100755
--- a/submitted_models/ctu_cras_norlab_x500_sensor_config_1/launch/vehicle_topics.launch
+++ b/submitted_models/ctu_cras_norlab_x500_sensor_config_1/launch/vehicle_topics.launch
@@ -50,6 +50,13 @@
       args="/model/$(arg name)/cmd_vel@geometry_msgs/Twist]ignition.msgs.Twist">
       <remap from="/model/$(arg name)/cmd_vel" to="cmd_vel"/>
     </node>
+    <node
+      pkg="ros_ign_bridge"
+      type="parameter_bridge"
+      name="ros_ign_bridge_feedforward"
+      args="/model/$(arg name)/feedforward@geometry_msgs/Twist]ignition.msgs.Twist">
+      <remap from="/model/$(arg name)/feedforward" to="feedforward"/>
+    </node>
     <node
       pkg="ros_ign_bridge"
       type="parameter_bridge"
@@ -122,6 +129,11 @@
         <remap from="input/camera_info" to="depth/camera_info" />
         <remap from="output/camera_info" to="optical/depth/camera_info" />
       </node>
+      <include file="$(find subt_ros)/launch/models_common/set_rate_relay.launch">
+        <arg name="name" value="ros_ign_bridge_rgbd_up_set_rate" />
+        <arg name="ign_service" value="$(arg sensor_prefix)/rs_up/set_rate" />
+        <arg name="ros_service" value="set_rate" />
+      </include>
     </group>
 
     <!--DOWN RGBD camera -->
@@ -179,6 +191,11 @@
         <remap from="input/camera_info" to="depth/camera_info" />
         <remap from="output/camera_info" to="optical/depth/camera_info" />
       </node>
+      <include file="$(find subt_ros)/launch/models_common/set_rate_relay.launch">
+        <arg name="name" value="ros_ign_bridge_rgbd_down_set_rate" />
+        <arg name="ign_service" value="$(arg sensor_prefix)/rs_down/set_rate" />
+        <arg name="ros_service" value="set_rate" />
+      </include>
     </group>
 
     <!--Front RGB camera -->
@@ -206,6 +223,11 @@
       <remap from="input/camera_info" to="front/camera_info" />
       <remap from="output/camera_info" to="front/optical/camera_info" />
       </node>
+      <include file="$(find subt_ros)/launch/models_common/set_rate_relay.launch">
+        <arg name="name" value="ros_ign_bridge_camera_front_set_rate" />
+        <arg name="ign_service" value="$(arg sensor_prefix)/camera_front/image/set_rate" />
+        <arg name="ros_service" value="camera_front/set_rate" />
+      </include>
     </group>
 
     <!-- 3D lidar -->
@@ -217,6 +239,11 @@
         args="$(arg sensor_prefix)/front_laser/scan/points@sensor_msgs/PointCloud2[ignition.msgs.PointCloudPacked">
         <remap from="$(arg sensor_prefix)/front_laser/scan/points" to="points"/>
       </node>
+      <include file="$(find subt_ros)/launch/models_common/set_rate_relay.launch">
+        <arg name="name" value="ros_ign_bridge_front_laser_set_rate" />
+        <arg name="ign_service" value="$(arg sensor_prefix)/front_laser/scan/set_rate" />
+        <arg name="ros_service" value="front_laser/set_rate" />
+      </include>
     </group>
 
     <!-- UAV -->
diff --git a/submitted_models/ctu_cras_norlab_x500_sensor_config_1/model.sdf b/submitted_models/ctu_cras_norlab_x500_sensor_config_1/model.sdf
index 8748d465..32581d22 100644
--- a/submitted_models/ctu_cras_norlab_x500_sensor_config_1/model.sdf
+++ b/submitted_models/ctu_cras_norlab_x500_sensor_config_1/model.sdf
@@ -35,7 +35,7 @@
       </sensor>
 
       <sensor name="rs_up" type="rgbd_camera">
-          <pose>0.82 0 0.034 0 -1.57079632679 0</pose>
+          <pose>0.082 0 0.034 0 -1.57079632679 0</pose>
           <always_on>1</always_on>
           <update_rate>30</update_rate>
           <camera name="rs_up">
@@ -84,7 +84,7 @@
       </sensor>
 
       <sensor name="rs_down" type="rgbd_camera">
-          <pose>0.85 0 -0.20 0 1.57079632679 0</pose>
+          <pose>0.085 0 -0.20 0 1.57079632679 0</pose>
           <always_on>1</always_on>
           <update_rate>30</update_rate>
           <camera name="rs_down">
@@ -141,8 +141,8 @@
               <lens>
                   <intrinsics>
                       <!-- fx = fy = width / ( 2 * tan (hfov / 2 ) ) -->
-                      <fx>671.28</fx>
-                      <fy>671.28</fy>
+                      <fx>701.93225</fx>
+                      <fy>701.93225</fy>
                       <!-- cx = ( width - 1 ) / 2 -->
                       <cx>799.5</cx>
                       <!-- cy = ( height - 1 ) / 2 -->
diff --git a/submitted_models/ctu_cras_norlab_x500_sensor_config_1/src/MRSMultirotorController.cpp b/submitted_models/ctu_cras_norlab_x500_sensor_config_1/src/MRSMultirotorController.cpp
index 99a33e4e..31f5a30d 100644
--- a/submitted_models/ctu_cras_norlab_x500_sensor_config_1/src/MRSMultirotorController.cpp
+++ b/submitted_models/ctu_cras_norlab_x500_sensor_config_1/src/MRSMultirotorController.cpp
@@ -28,18 +28,11 @@
 #include <Eigen/Geometry>
 #include <memory>
 
-#include <ros/package.h>
-#include <ros/ros.h>
-
-#include <geometry_msgs/Twist.h>
-
 #include <limits>
 
 #include <Common.h>
 #include <SE3Controller.h>
 
-#include <thread>
-
 //}
 
 /* using //{ */
@@ -87,6 +80,7 @@ class IGNITION_GAZEBO_VISIBLE MRSMultirotorController : public System, public IS
   std::string _robot_namespace_;
   std::string _cmd_vel_topic_{"cmd_vel"};
   std::string _enable_topic_{"enable"};
+  std::string _feedforward_topic_{"feedforward"};
 
   std::string _gazebo_model_entity_name_;
 
@@ -113,27 +107,23 @@ class IGNITION_GAZEBO_VISIBLE MRSMultirotorController : public System, public IS
 
   std::atomic<bool> is_active_{true};
 
-  // | --------------------- spinner thread --------------------- |
-
-  std::thread thread_main_;
-  void        threadMain();
-
   // --------------------------------------------------------------
   // |               subscriber to velocity command               |
   // --------------------------------------------------------------
 
   std::optional<msgs::Twist> cmd_vel_;
   std::mutex                 mutex_cmd_vel_;
+  bool cmd_vel_received_ = false;
 
   // --------------------------------------------------------------
   // |            subscriber for feedforward reference            |
   // --------------------------------------------------------------
 
-  void callbackFeedForward(const geometry_msgs::TwistConstPtr &msg);
+  void callbackFeedForward(const msgs::Twist &msg);
 
-  ros::Subscriber                     subscriber_feedforward_;
-  std::optional<geometry_msgs::Twist> feedforward_;
-  std::mutex                          mutex_feedforward_;
+  std::optional<msgs::Twist> feedforward_;
+  std::mutex                 mutex_feedforward_;
+  bool feedforward_received_ = false;
 };
 
 }  // namespace systems
@@ -149,13 +139,10 @@ class IGNITION_GAZEBO_VISIBLE MRSMultirotorController : public System, public IS
 
 void MRSMultirotorController::Configure(const Entity &entity, const std::shared_ptr<const sdf::Element> &sdf, EntityComponentManager &ecm, EventManager &) {
 
-  // init ros node
   int    argc = 0;
   char **argv = NULL;
-  ros::init(argc, argv, "mrs_multirotor_controller", ros::init_options::NoSigintHandler);
-  ros::NodeHandle ros_nh = ros::NodeHandle("~");
 
-  ROS_INFO("[%s]: initializing", ros::this_node::getName().c_str());
+  ignmsg << "[mrs_multirotor_controller]: initializing" << std::endl;
 
   {  // gazebo model
 
@@ -343,22 +330,16 @@ void MRSMultirotorController::Configure(const Entity &entity, const std::shared_
   ecm.CreateComponent(_gazebo_model_.Entity(), components::Actuators(rotor_velocities_msg_));
 
   // --------------------------------------------------------------
-  // |                   custom ROS subscribers                   |
+  // |                   custom Ignition subscribers                   |
   // --------------------------------------------------------------
 
-  std::string robot_name = _gazebo_model_.Name(ecm);
-
-  subscriber_feedforward_ =
-      ros_nh.subscribe(robot_name + "/feedforward", 1, &MRSMultirotorController::callbackFeedForward, this, ros::TransportHints().tcpNoDelay());
-
-  // | --------------------- spinner thread --------------------- |
-
-  ROS_INFO("[%s]: initializing the main thread", ros::this_node::getName().c_str());
-  thread_main_ = std::thread(&MRSMultirotorController::threadMain, this);
+  std::string feedforwardTopic{_robot_namespace_ + "/" + _feedforward_topic_};
+  ignition_node_.Subscribe(feedforwardTopic, &MRSMultirotorController::callbackFeedForward, this);
+  ignmsg << "MRSMultirotorController subscribing to Twist messages on [" << feedforwardTopic << "]" << std::endl;
 
   // | ---------------- finish the initialization --------------- |
 
-  ROS_INFO("[%s]: initialized", ros::this_node::getName().c_str());
+  ignmsg << "[mrs_multirotor_controller]: initialized" << std::endl;
 
   is_initialized_ = true;
 }
@@ -387,14 +368,13 @@ void MRSMultirotorController::PreUpdate(const ignition::gazebo::UpdateInfo &_inf
     cmd_vel = cmd_vel_.value();
   }
 
-  geometry_msgs::Twist feedforward;
+  msgs::Twist feedforward;
 
   {
     std::scoped_lock lock(mutex_feedforward_);
 
     if (feedforward_.has_value()) {
       feedforward = feedforward_.value();
-      ROS_INFO_ONCE("[%s]: using the feedforward for control", ros::this_node::getName().c_str());
     }
   }
 
@@ -444,13 +424,13 @@ void MRSMultirotorController::PreUpdate(const ignition::gazebo::UpdateInfo &_inf
 
   SE3ControllerFeedforward cmd_feedforward;
 
-  cmd_feedforward.acceleration[0] = feedforward.linear.x;
-  cmd_feedforward.acceleration[1] = feedforward.linear.y;
-  cmd_feedforward.acceleration[2] = feedforward.linear.z;
+  cmd_feedforward.acceleration[0] = feedforward.linear().x();
+  cmd_feedforward.acceleration[1] = feedforward.linear().y();
+  cmd_feedforward.acceleration[2] = feedforward.linear().z();
 
-  cmd_feedforward.jerk[0] = feedforward.angular.x;
-  cmd_feedforward.jerk[1] = feedforward.angular.y;
-  cmd_feedforward.jerk[2] = feedforward.angular.z;
+  cmd_feedforward.jerk[0] = feedforward.angular().x();
+  cmd_feedforward.jerk[1] = feedforward.angular().y();
+  cmd_feedforward.jerk[2] = feedforward.angular().z();
 
   // | ------------ get the UAV model simulator data ------------ |
 
@@ -479,8 +459,11 @@ void MRSMultirotorController::OnTwist(const msgs::Twist &msg) {
 
     cmd_vel_ = msg;
   }
-
-  ROS_INFO_ONCE("[%s]: MRS controller at work", ros::this_node::getName().c_str());
+  
+  if (!cmd_vel_received_) {
+    ignmsg << "[mrs_multirotor_controller]: MRS controller at work" << std::endl;
+    cmd_vel_received_ = true;
+  }
 }
 
 //}
@@ -533,7 +516,7 @@ void MRSMultirotorController::PublishRotorVelocities(ignition::gazebo::EntityCom
 
 /* callbackFeedForward() //{ */
 
-void MRSMultirotorController::callbackFeedForward(const geometry_msgs::TwistConstPtr &msg) {
+void MRSMultirotorController::callbackFeedForward(const msgs::Twist &msg) {
 
   if (!is_initialized_) {
     return;
@@ -542,30 +525,18 @@ void MRSMultirotorController::callbackFeedForward(const geometry_msgs::TwistCons
   {
     std::scoped_lock lock(mutex_feedforward_);
 
-    feedforward_ = *msg;
+    feedforward_ = msg;
   }
 
-  ROS_INFO_ONCE("[%s]: getting feedforward reference", ros::this_node::getName().c_str());
+  if (!feedforward_received_) {
+    ignmsg << "[mrs_multirotor_controller]: getting feedforward reference"
+      << std::endl;
+    feedforward_received_ = true;
+  }
 }
 
 //}
 
-/* threadMain() //{ */
-
-void MRSMultirotorController::threadMain() {
-
-  ros::Rate thread_rate(MAIN_THREAD_RATE);
-
-  while (ros::ok()) {
-
-    ROS_INFO_ONCE("[%s]: main thread spinning", ros::this_node::getName().c_str());
-
-    thread_rate.sleep();
-
-    ros::spinOnce();
-  }
-}
-
 //}
 
 IGNITION_ADD_PLUGIN(MRSMultirotorController, ignition::gazebo::System, MRSMultirotorController::ISystemConfigure, MRSMultirotorController::ISystemPreUpdate)
diff --git a/submitted_models/emesent_hovermap_sensor_config_1/CMakeLists.txt b/submitted_models/emesent_hovermap_sensor_config_1/CMakeLists.txt
new file mode 100644
index 00000000..c7bee2c8
--- /dev/null
+++ b/submitted_models/emesent_hovermap_sensor_config_1/CMakeLists.txt
@@ -0,0 +1,27 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(emesent_hovermap_sensor_config_1)
+
+set(CMAKE_CXX_STANDARD 17)
+set(IGN_PLUGIN_VER 0)
+
+find_package(ignition-gazebo4 REQUIRED)
+find_package(ignition-common3 REQUIRED)
+ign_find_package(ignition-plugin0 REQUIRED COMPONENTS register)
+
+find_package(catkin REQUIRED)
+
+catkin_package()
+
+add_library(GimbalControlPlugin src/ign_gimbal.cpp)
+target_link_libraries(GimbalControlPlugin PRIVATE ignition-gazebo4::core ignition-common3::ignition-common3)
+
+install(TARGETS GimbalControlPlugin
+        ARCHIVE DESTINATION lib
+        LIBRARY DESTINATION lib
+        RUNTIME DESTINATION bin)
+
+install(DIRECTORY launch meshes urdf
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
+
+install(FILES model.sdf model.config
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
diff --git a/submitted_models/emesent_hovermap_sensor_config_1/launch/description.launch b/submitted_models/emesent_hovermap_sensor_config_1/launch/description.launch
new file mode 100644
index 00000000..98afeb81
--- /dev/null
+++ b/submitted_models/emesent_hovermap_sensor_config_1/launch/description.launch
@@ -0,0 +1,5 @@
+<?xml version="1.0"?>
+<launch>
+  <arg name="name" doc="Name of Vehicle"/>
+  <param name="$(arg name)/robot_description" command="$(find xacro)/xacro '$(find emesent_hovermap_sensor_config_1)/urdf/robot_from_sdf.xacro' name:=$(arg name)"/>
+</launch>
\ No newline at end of file
diff --git a/submitted_models/emesent_hovermap_sensor_config_1/launch/example.ign b/submitted_models/emesent_hovermap_sensor_config_1/launch/example.ign
new file mode 100644
index 00000000..141964fb
--- /dev/null
+++ b/submitted_models/emesent_hovermap_sensor_config_1/launch/example.ign
@@ -0,0 +1,173 @@
+<?xml version="1.0"?>
+<!-- Usage: ign launch path/to/example.ign robotName:=<X1>
+
+   Parameters:
+    robotName: Name to be assigned to model
+-->
+
+<%
+  require_relative 'spawner'
+  
+  # Modify these as needed
+  $enableGroundTruth = true
+  $headless =  local_variables.include?(:headless) ? :headless : false
+
+%>
+
+<%
+
+  unless local_variables.include?(:robotName)
+    raise "missing parameters. robotName is a required parameter"
+  end
+
+  # This assumes that this launch file is in a directory below the model
+  modelURI = File.expand_path("../", File.dirname(__FILE__))
+  $worldName = 'example'
+  worldFile = File.join(File.expand_path("../worlds", File.dirname(__FILE__)), "#{$worldName}.sdf")
+
+%>
+
+<ignition version='1.0'>
+  <env>
+    <name>IGN_GAZEBO_SYSTEM_PLUGIN_PATH</name>
+    <value>$LD_LIBRARY_PATH</value>
+  </env>
+
+  <!-- Start ROS first. This is a bit hacky for now. -->
+  <!-- Make sure to source /opt/ros/melodic/setup.bash -->
+  <executable name='ros'>
+    <command>roslaunch subt_ros competition_init.launch world_name:=<%=$worldName%> vehicle_topics:=0 enable_ground_truth:=<%=($enableGroundTruth)?"1":"0"%> robot_names:=<%=robotName%></command>
+  </executable>
+
+  <plugin name="ignition::launch::GazeboServer"
+          filename="libignition-launch-gazebo.so">
+    <world_file><%= worldFile %></world_file>
+    <run>true</run>
+    <levels>false</levels>
+    <record>
+      <enabled>false</enabled>
+    </record>
+
+    <plugin entity_name="<%= $worldName %>"
+            entity_type="world"
+            filename="libignition-gazebo-physics-system.so"
+            name="ignition::gazebo::systems::Physics">
+    </plugin>
+
+    <plugin entity_name="<%= $worldName %>"
+            entity_type="world"
+            filename="libignition-gazebo-sensors-system.so"
+            name="ignition::gazebo::systems::Sensors">
+            <render_engine>ogre2</render_engine>
+    </plugin>
+    <plugin entity_name="<%= $worldName %>"
+            entity_type="world"
+            filename="libignition-gazebo-user-commands-system.so"
+            name="ignition::gazebo::systems::UserCommands">
+    </plugin>
+    <plugin entity_name="<%= $worldName %>"
+            entity_type="world"
+            filename="libignition-gazebo-scene-broadcaster-system.so"
+            name="ignition::gazebo::systems::SceneBroadcaster">
+    </plugin>
+    <plugin entity_name="<%= $worldName %>"
+            entity_type="world"
+            filename="libignition-gazebo-imu-system.so"
+            name="ignition::gazebo::systems::Imu">
+    </plugin>
+
+    <plugin entity_name="<%= $worldName %>"
+            entity_type="world"
+            filename="libignition-gazebo-magnetometer-system.so"
+            name="ignition::gazebo::systems::Magnetometer">
+    </plugin>
+
+    <plugin entity_name="<%= $worldName %>"
+            entity_type="world"
+            filename="libignition-gazebo-air-pressure-system.so"
+            name="ignition::gazebo::systems::AirPressure">
+    </plugin>
+  </plugin>
+
+  <%if !$headless %>
+  <executable_wrapper>
+    <plugin name="ignition::launch::GazeboGui"
+          filename="libignition-launch-gazebogui.so">
+      <world_name><%= $worldName %></world_name>
+      <window_title>SubT Simulator</window_title>
+      <window_icon><%= ENV['SUBT_IMAGES_PATH'] %>/SubT_logo.svg</window_icon>
+      <plugin filename="GzScene3D" name="3D View">
+        <ignition-gui>
+          <title>3D View</title>
+          <property type="bool" key="showTitleBar">false</property>
+          <property type="string" key="state">docked</property>
+        </ignition-gui>
+
+        <engine>ogre2</engine>
+        <scene>scene</scene>
+        <ambient_light>0.2 0.2 0.1</ambient_light>
+        <background_color>0.8 0.8 0.8</background_color>
+        <camera_pose>-6.3 -4.2 3.6 0 0.268 0.304</camera_pose>
+        <service>/world/<%= $worldName %>/scene/info</service>
+        <pose_topic>/world/<%= $worldName %>/pose/info</pose_topic>
+        <scene_topic>/world/<%= $worldName %>/scene/info</scene_topic>
+        <deletion_topic>/world/<%= $worldName %>/scene/deletion</deletion_topic>
+      </plugin>
+      <plugin filename="WorldControl" name="World control">
+        <ignition-gui>
+          <title>World control</title>
+          <property type="bool" key="showTitleBar">false</property>
+          <property type="bool" key="resizable">false</property>
+          <property type="double" key="height">72</property>
+          <property type="double" key="width">121</property>
+          <property type="double" key="z">1</property>
+
+          <property type="string" key="state">floating</property>
+          <anchors target="3D View">
+            <line own="left" target="left"/>
+            <line own="bottom" target="bottom"/>
+          </anchors>
+        </ignition-gui>
+
+        <play_pause>true</play_pause>
+        <step>true</step>
+        <start_paused>true</start_paused>
+        <service>/world/<%= $worldName %>/control</service>
+        <stats_topic>/world/<%= $worldName %>/stats</stats_topic>
+
+      </plugin>
+
+      <plugin filename="WorldStats" name="World stats">
+        <ignition-gui>
+          <title>World stats</title>
+          <property type="bool" key="showTitleBar">false</property>
+          <property type="bool" key="resizable">false</property>
+          <property type="double" key="height">110</property>
+          <property type="double" key="width">290</property>
+          <property type="double" key="z">1</property>
+
+          <property type="string" key="state">floating</property>
+          <anchors target="3D View">
+            <line own="right" target="right"/>
+            <line own="bottom" target="bottom"/>
+          </anchors>
+        </ignition-gui>
+
+        <sim_time>true</sim_time>
+        <real_time>true</real_time>
+        <real_time_factor>true</real_time_factor>
+        <iterations>true</iterations>
+        <topic>/world/<%= $worldName %>/stats</topic>
+      </plugin>
+    </plugin>
+  </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>
+
+<%= rosExecutables(robotName, $worldName) %>
+ 
+</ignition>
\ No newline at end of file
diff --git a/submitted_models/emesent_hovermap_sensor_config_1/launch/spawner.rb b/submitted_models/emesent_hovermap_sensor_config_1/launch/spawner.rb
new file mode 100644
index 00000000..533425c6
--- /dev/null
+++ b/submitted_models/emesent_hovermap_sensor_config_1/launch/spawner.rb
@@ -0,0 +1,281 @@
+def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
+  <<-HEREDOC
+  <spawn name='#{_name}'>
+      <name>#{_name}</name>
+      <allow_renaming>false</allow_renaming>
+      <pose>#{_x} #{_y} #{_z + 0.26} #{_roll} #{_pitch} #{_yaw}</pose>
+      <world>#{_worldName}</world>
+      <is_performer>true</is_performer>
+      <sdf version='1.6'>
+      <include>
+      <name>#{_name}</name>
+      <uri>#{_modelURI}</uri>
+
+      <!-- Publish robot state information -->
+      <plugin filename="libignition-gazebo-pose-publisher-system.so"
+        name="ignition::gazebo::systems::PosePublisher">
+        <publish_link_pose>true</publish_link_pose>
+        <publish_sensor_pose>true</publish_sensor_pose>
+        <publish_collision_pose>false</publish_collision_pose>
+        <publish_visual_pose>false</publish_visual_pose>
+        <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
+        <use_pose_vector_msg>true</use_pose_vector_msg>
+        <static_pose_publisher>true</static_pose_publisher>
+        <static_pose_update_frequency>1</static_pose_update_frequency>
+      </plugin>
+
+      <!-- Publish rotor modelling system -->
+      <plugin filename="libignition-gazebo-multicopter-motor-model-system.so"
+        name="ignition::gazebo::systems::MulticopterMotorModel">
+        <robotNamespace>model/#{_name}</robotNamespace>
+        <jointName>rotor_0_joint</jointName>
+        <linkName>rotor_0</linkName>
+        <turningDirection>ccw</turningDirection>
+        <timeConstantUp>0.0182</timeConstantUp>
+        <timeConstantDown>0.0182</timeConstantDown>
+        <maxRotVelocity>1000.0</maxRotVelocity>
+        <motorConstant>0.02246</motorConstant>
+        <momentConstant>0.016754</momentConstant>
+        <commandSubTopic>command/motor_speed</commandSubTopic>
+        <motorNumber>0</motorNumber>
+        <rotorDragCoefficient>2.0673e-04</rotorDragCoefficient>
+        <rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
+        <motorSpeedPubTopic>motor_speed/0</motorSpeedPubTopic>
+        <rotorVelocitySlowdownSim>0.5</rotorVelocitySlowdownSim>
+        <motorType>velocity</motorType>
+      </plugin>
+      <plugin filename="libignition-gazebo-multicopter-motor-model-system.so"
+        name="ignition::gazebo::systems::MulticopterMotorModel">
+        <robotNamespace>model/#{_name}</robotNamespace>
+        <jointName>rotor_1_joint</jointName>
+        <linkName>rotor_1</linkName>
+        <turningDirection>ccw</turningDirection>
+        <timeConstantUp>0.0182</timeConstantUp>
+        <timeConstantDown>0.0182</timeConstantDown>
+        <maxRotVelocity>1500.0</maxRotVelocity>
+        <motorConstant>0.02246</motorConstant>
+        <momentConstant>0.016754</momentConstant>
+        <commandSubTopic>command/motor_speed</commandSubTopic>
+        <motorNumber>1</motorNumber>
+        <rotorDragCoefficient>2.0673e-04</rotorDragCoefficient>
+        <rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
+        <motorSpeedPubTopic>motor_speed/1</motorSpeedPubTopic>
+        <rotorVelocitySlowdownSim>0.5</rotorVelocitySlowdownSim>
+        <motorType>velocity</motorType>
+      </plugin>
+      <plugin filename="libignition-gazebo-multicopter-motor-model-system.so"
+        name="ignition::gazebo::systems::MulticopterMotorModel">
+        <robotNamespace>model/#{_name}</robotNamespace>
+        <jointName>rotor_2_joint</jointName>
+        <linkName>rotor_2</linkName>
+        <turningDirection>cw</turningDirection>
+        <timeConstantUp>0.0182</timeConstantUp>
+        <timeConstantDown>0.0182</timeConstantDown>
+        <maxRotVelocity>1500.0</maxRotVelocity>
+        <motorConstant>0.02246</motorConstant>
+        <momentConstant>0.016754</momentConstant>
+        <commandSubTopic>command/motor_speed</commandSubTopic>
+        <motorNumber>2</motorNumber>
+        <rotorDragCoefficient>2.0673e-04</rotorDragCoefficient>
+        <rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
+        <motorSpeedPubTopic>motor_speed/2</motorSpeedPubTopic>
+        <rotorVelocitySlowdownSim>0.5</rotorVelocitySlowdownSim>
+        <motorType>velocity</motorType>
+      </plugin>
+      <plugin filename="libignition-gazebo-multicopter-motor-model-system.so"
+        name="ignition::gazebo::systems::MulticopterMotorModel">
+        <robotNamespace>model/#{_name}</robotNamespace>
+        <jointName>rotor_3_joint</jointName>
+        <linkName>rotor_3</linkName>
+        <turningDirection>cw</turningDirection>
+        <timeConstantUp>0.0182</timeConstantUp>
+        <timeConstantDown>0.0182</timeConstantDown>
+        <maxRotVelocity>1500.0</maxRotVelocity>
+        <motorConstant>0.02246</motorConstant>
+        <momentConstant>0.016754</momentConstant>
+        <commandSubTopic>command/motor_speed</commandSubTopic>
+        <motorNumber>3</motorNumber>
+        <rotorDragCoefficient>2.0673e-04</rotorDragCoefficient>
+        <rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
+        <motorSpeedPubTopic>motor_speed/3</motorSpeedPubTopic>
+        <rotorVelocitySlowdownSim>0.5</rotorVelocitySlowdownSim>
+        <motorType>velocity</motorType>
+      </plugin>
+
+      <!-- MulticopterVelocityControl plugin -->
+      <plugin
+        filename="libignition-gazebo-multicopter-control-system.so"
+        name="ignition::gazebo::systems::MulticopterVelocityControl">
+        <robotNamespace>model/#{_name}</robotNamespace>
+        <commandSubTopic>cmd_vel</commandSubTopic>
+        <motorControlPubTopic>command/motor_speed</motorControlPubTopic>
+        <enableSubTopic>velocity_controller/enable</enableSubTopic>
+        <comLinkName>base_link</comLinkName>
+        <velocityGain>6 6 10</velocityGain>
+        <attitudeGain>4 4 2</attitudeGain>
+        <angularRateGain>0.7 0.7 0.7</angularRateGain>
+        <maximumLinearAcceleration>4 4 5</maximumLinearAcceleration>
+        <maximumLinearVelocity>5 5 3.0</maximumLinearVelocity>
+        <maximumAngularVelocity>3 3 1.75</maximumAngularVelocity>
+        <linearVelocityNoiseMean>0 0 0</linearVelocityNoiseMean>
+        <!-- linearVelocityNoiseStdDev based on error values reported in the paper Shen et. al., -->
+        <!-- Vision-Based State Estimation and Trajectory Control Towards High-Speed Flight with a Quadrotor -->
+        <!-- http://citeseerx.ist.psu.edu/viewdoc/download?doi=10.1.1.490.7958&rep=rep1&type=pdf -->
+        <linearVelocityNoiseStdDev>0.1105 0.1261 0.00947</linearVelocityNoiseStdDev>
+        <angularVelocityNoiseMean>0 0 0</angularVelocityNoiseMean>
+        <!-- angularVelocityNoiseStdDev values based on ADIS16448's Rate Noise Density with a sample  -->
+        <!-- time of 0.004 ms. -->
+        <angularVelocityNoiseStdDev>0.004 0.004 0.004</angularVelocityNoiseStdDev>
+        <rotorConfiguration>
+          <rotor>
+            <jointName>rotor_0_joint</jointName>
+            <forceConstant>0.02246</forceConstant>
+            <momentConstant>0.016754</momentConstant>
+            <direction>1</direction>
+          </rotor>
+          <rotor>
+            <jointName>rotor_1_joint</jointName>
+            <forceConstant>0.02246</forceConstant>
+            <momentConstant>0.016754</momentConstant>
+            <direction>1</direction>
+          </rotor>
+          <rotor>
+            <jointName>rotor_2_joint</jointName>
+            <forceConstant>0.02246</forceConstant>
+            <momentConstant>0.016754</momentConstant>
+            <direction>-1</direction>
+          </rotor>
+          <rotor>
+            <jointName>rotor_3_joint</jointName>
+            <forceConstant>0.02246</forceConstant>
+            <momentConstant>0.016754</momentConstant>
+            <direction>-1</direction>
+          </rotor>
+        </rotorConfiguration>
+      </plugin>
+
+      <!-- Joint state for lidar gimbal -->
+      <plugin
+        filename="libignition-gazebo-joint-controller-system.so"
+        name="ignition::gazebo::systems::JointController">
+        <joint_name>encoder_joint</joint_name>
+      </plugin>
+      <plugin
+        filename="libignition-gazebo-joint-state-publisher-system.so"
+        name="ignition::gazebo::systems::JointStatePublisher">
+        <joint_name>encoder_joint</joint_name>
+      </plugin>
+
+      <!-- Camera Gimbal Controller -->
+
+      <plugin filename="libGimbalControlPlugin.so"
+              name="emesent::hovermap::GimbalControlPlugin">
+        <pan>
+          <joint>gimbal_pan_joint</joint>
+          <limit>1.5707</limit>
+          <p_gain>20</p_gain>
+          <i_gain>1.5</i_gain>
+          <d_gain>0.8</d_gain>
+          <i_max>1</i_max>
+          <i_min>-1</i_min>
+          <cmd_max>20</cmd_max>
+          <cmd_min>-20</cmd_min>
+        </pan>
+        <roll>
+          <joint>gimbal_roll_joint</joint>
+          <limit>0.78539</limit>
+          <p_gain>20</p_gain>
+          <i_gain>0.6</i_gain>
+          <d_gain>0.07</d_gain>
+          <i_max>1</i_max>
+          <i_min>-1</i_min>
+          <cmd_max>20</cmd_max>
+          <cmd_min>-20</cmd_min>
+        </roll>
+        <tilt>
+          <joint>gimbal_tilt_joint</joint>
+          <limit>0.78539</limit>
+          <p_gain>10</p_gain>
+          <i_gain>0.5</i_gain>
+          <d_gain>0.03</d_gain>
+          <i_max>1</i_max>
+          <i_min>-1</i_min>
+          <cmd_max>20</cmd_max>
+          <cmd_min>-20</cmd_min>
+        </tilt>
+        <imu>world/#{_worldName}/model/#{_name}/link/gimbal_tilt/sensor/gimbal_imu/imu</imu>
+        <topic_js>world/#{_worldName}/model/#{_name}/joint_state</topic_js>
+        <topic_enable>/model/#{_name}/gimbal/enable</topic_enable>
+      </plugin>
+
+      <plugin
+        filename="libignition-gazebo-joint-controller-system.so"
+        name="ignition::gazebo::systems::JointController">
+        <joint_name>gimbal_pan_joint</joint_name>
+      </plugin>
+      <plugin
+        filename="libignition-gazebo-joint-controller-system.so"
+        name="ignition::gazebo::systems::JointController">
+        <joint_name>gimbal_roll_joint</joint_name>
+      </plugin>
+      <plugin
+        filename="libignition-gazebo-joint-controller-system.so"
+        name="ignition::gazebo::systems::JointController">
+        <joint_name>gimbal_tilt_joint</joint_name>
+      </plugin>
+
+      <plugin
+        filename="libignition-gazebo-joint-state-publisher-system.so"
+        name="ignition::gazebo::systems::JointStatePublisher">
+        <joint_name>gimbal_pan_joint</joint_name>
+      </plugin>
+      <plugin
+        filename="libignition-gazebo-joint-state-publisher-system.so"
+        name="ignition::gazebo::systems::JointStatePublisher">
+        <joint_name>gimbal_roll_joint</joint_name>
+      </plugin>
+      <plugin
+        filename="libignition-gazebo-joint-state-publisher-system.so"
+        name="ignition::gazebo::systems::JointStatePublisher">
+        <joint_name>gimbal_tilt_joint</joint_name>
+      </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>18.0</initial_charge>
+        <capacity>18.0</capacity>
+        <resistance>0.061523</resistance>
+        <smooth_current_tau>1.9499</smooth_current_tau>
+        <power_load>6.11</power_load>
+        <start_on_motion>true</start_on_motion>
+      </plugin>
+
+      <!-- Gas Sensor plugin -->"
+      <plugin filename="libGasEmitterDetectorPlugin.so"
+        name="subt::GasDetector">
+        <topic>/model/#{_name}/gas_detected</topic>
+        <update_rate>10</update_rate>
+        <type>gas</type>
+      </plugin>
+
+    </include>
+    </sdf>
+  </spawn>
+  HEREDOC
+end
+
+def rosExecutables(_name, _worldName)
+  <<-HEREDOC
+    <executable name='robot_description'>
+      <command>roslaunch --wait emesent_hovermap_sensor_config_1 description.launch world_name:=#{_worldName} name:=#{_name} </command>
+    </executable>
+    <executable name='topics'>
+      <command>roslaunch --wait emesent_hovermap_sensor_config_1 vehicle_topics.launch world_name:=#{_worldName} name:=#{_name} </command>
+  </executable>
+  HEREDOC
+end
diff --git a/submitted_models/emesent_hovermap_sensor_config_1/launch/vehicle_topics.launch b/submitted_models/emesent_hovermap_sensor_config_1/launch/vehicle_topics.launch
new file mode 100644
index 00000000..7e3509b3
--- /dev/null
+++ b/submitted_models/emesent_hovermap_sensor_config_1/launch/vehicle_topics.launch
@@ -0,0 +1,168 @@
+<?xml version="1.0"?>
+<launch>
+    <!-- <env name="IGN_TRANSPORT_TOPIC_STATISTICS" value="1"/> -->
+    <arg name="world_name"/>
+    <arg name="name"/>
+    <arg name="uav" default="0"/>
+    <arg name="link_name" value="base_link"/>
+    <arg name="model_prefix" value="/world/$(arg world_name)/model/$(arg name)"/>
+    <arg name="velodyne_prefix" value="$(arg model_prefix)/link/encoder_rotating"/>
+    <arg name="imu_prefix" value="$(arg model_prefix)/link/base_link"/>
+    <arg name="base_prefix" value="$(arg model_prefix)/link/base_link"/>
+    <arg name="camera_prefix" value="$(arg model_prefix)/link/gimbal_tilt"/>
+    <group ns="$(arg name)">
+        <!-- IMU -->
+        <node
+            pkg="ros_ign_bridge"
+            type="parameter_bridge"
+            name="ros_ign_bridge_imu"
+            args="$(arg imu_prefix)/sensor/imu/imu@sensor_msgs/Imu[ignition.msgs.IMU">
+            <remap from="$(arg imu_prefix)/sensor/imu/imu" to="imu/data"/>
+        </node>
+
+        <!-- POSE -->
+        <node
+            pkg="ros_ign_bridge"
+            type="parameter_bridge"
+            name="ros_ign_bridge_pose"
+            args="/model/$(arg name)/pose@tf2_msgs/TFMessage[ignition.msgs.Pose_V">
+            <remap from="/model/$(arg name)/pose" to="pose"/>
+        </node>
+        <node
+            pkg="ros_ign_bridge"
+            type="parameter_bridge"
+            name="ros_ign_bridge_pose_static"
+            args="/model/$(arg name)/pose_static@tf2_msgs/TFMessage[ignition.msgs.Pose_V">
+            <remap from="/model/$(arg name)/pose_static" to="pose_static"/>
+        </node>
+
+        <!-- Velocity Controller -->
+        <node
+            pkg="ros_ign_bridge"
+            type="parameter_bridge"
+            name="ros_ign_bridge_twist"
+            args="/model/$(arg name)/cmd_vel@geometry_msgs/Twist]ignition.msgs.Twist">
+            <remap from="/model/$(arg name)/cmd_vel" to="cmd_vel"/>
+        </node>
+        <node
+            pkg="ros_ign_bridge"
+            type="parameter_bridge"
+            name="ros_ign_bridge_velocity_control_enable"
+            args="/model/$(arg name)/velocity_controller/enable@std_msgs/Bool]ignition.msgs.Boolean">
+            <remap from="/model/$(arg name)/velocity_controller/enable" to="velocity_controller/enable"/>
+        </node>
+
+        <!-- UAV -->
+        <node
+            pkg="ros_ign_bridge"
+            type="parameter_bridge"
+            name="ros_ign_bridge_magnetometer"
+            args="$(arg base_prefix)/sensor/magnetometer/magnetometer@sensor_msgs/MagneticField[ignition.msgs.Magnetometer">
+        <remap from="$(arg base_prefix)/sensor/magnetometer/magnetometer" to="magnetic_field"/>
+        </node>
+        <node
+            pkg="ros_ign_bridge"
+            type="parameter_bridge"
+            name="ros_ign_bridge_fluid_pressure"
+            args="$(arg base_prefix)/sensor/air_pressure/air_pressure@sensor_msgs/FluidPressure[ignition.msgs.FluidPressure">
+        <remap from="$(arg base_prefix)/sensor/air_pressure/air_pressure" to="air_pressure"/>
+        </node>
+
+
+        <!-- LIDAR -->
+
+        <node
+            pkg="ros_ign_bridge"
+            type="parameter_bridge"
+            name="ros_ign_bridge_lidar3d"
+            args="$(arg velodyne_prefix)/sensor/gpu_lidar/scan/points@sensor_msgs/PointCloud2[ignition.msgs.PointCloudPacked">
+            <remap from="$(arg velodyne_prefix)/sensor/gpu_lidar/scan/points" to="points"/>
+        </node>
+        <node
+            pkg="ros_ign_bridge"
+            type="parameter_bridge"
+            name="ros_ign_bridge_encoder"
+            args="/model/$(arg name)/joint/encoder_joint/cmd_vel@std_msgs/Float64]ignition.msgs.Double">
+            <remap from="/model/$(arg name)/joint/encoder_joint/cmd_vel" to="lidar_gimbal/pan_rate_cmd_double"/>
+        </node>
+
+        <!-- BATTERY -->
+        <node
+            pkg="ros_ign_bridge"
+            type="parameter_bridge"
+            name="ros_ign_bridge_battery_state"
+            args="/model/$(arg name)/battery/linear_battery/state@sensor_msgs/BatteryState[ignition.msgs.BatteryState">
+            <remap from="/model/$(arg name)/battery/linear_battery/state" to="battery_state"/>
+        </node>
+
+        <!-- GAS SENSOR -->
+        <node
+            pkg="ros_ign_bridge"
+            type="parameter_bridge"
+            name="ros_ign_bridge_gas"
+            args="/model/$(arg name)/gas_detected@std_msgs/Bool[ignition.msgs.Boolean">
+            <remap from="/model/$(arg name)/gas_detected" to="gas_detected"/>
+        </node>
+
+        <!-- GIMBAL SYSTEM -->
+        <node
+            pkg="ros_ign_bridge"
+            type="parameter_bridge"
+            name="ros_ign_bridge_gimbal_cmd"
+            args="/model/$(arg name)/gimbal/cmd_vel@geometry_msgs/Twist]ignition.msgs.Twist">
+            <remap from="/model/$(arg name)/gimbal/cmd_vel" to="gimbal/cmd_vel"/>
+        </node>
+        <node
+            pkg="ros_ign_bridge"
+            type="parameter_bridge"
+            name="ros_ign_bridge_gimbal_enable"
+            args="/model/$(arg name)/gimbal/enable@std_msgs/Bool]ignition.msgs.Boolean">
+            <remap from="/model/$(arg name)/gimbal/enable" to="gimbal/enable"/>
+        </node>
+
+        <node
+            pkg="ros_ign_bridge"
+            type="parameter_bridge"
+            name="ros_ign_bridge_gimbal_camera"
+            args="$(arg camera_prefix)/sensor/gimbal_camera/camera_info@sensor_msgs/CameraInfo[ignition.msgs.CameraInfo">
+            <remap from="$(arg camera_prefix)/sensor/gimbal_camera/camera_info" to="gimbal/camera_info"/>
+        </node>
+        <node
+            pkg="ros_ign_image"
+            type="image_bridge"
+            name="ros_ign_image_gimbal_camera"
+            args="$(arg camera_prefix)/sensor/gimbal_camera/image">
+            <remap from="$(arg camera_prefix)/sensor/gimbal_camera/image" to="gimbal/image_raw"/>
+        </node>
+        <node
+            pkg="ros_ign_bridge"
+            type="parameter_bridge"
+            name="ros_ign_bridge_gimbal_imu"
+            args="$(arg camera_prefix)/sensor/gimbal_imu/imu@sensor_msgs/Imu[ignition.msgs.IMU">
+            <remap from="$(arg camera_prefix)/sensor/gimbal_imu/imu" to="gimbal/imu/data"/>
+        </node>
+        <node
+            pkg="subt_ros"
+            type="optical_frame_publisher"
+            name="rear_optical_frame_publisher">
+            <remap from="input/image" to="gimbal/image_raw" />
+            <remap from="output/image" to="gimbal/optical/image_raw" />
+            <remap from="input/camera_info" to="gimbal/camera_info" />
+            <remap from="output/camera_info" to="gimbal/optical/camera_info" />
+        </node>
+        
+        <!-- Joint Publisher (Publishes to topic but doesn't control...)-->
+        <node
+            pkg="ros_ign_bridge"
+            type="parameter_bridge"
+            name="ros_ign_bridge_joint_state_publisher"
+            args="$(arg model_prefix)/joint_state@sensor_msgs/JointState[ignition.msgs.Model">
+            <remap from="$(arg model_prefix)/joint_state" to="joint_state"/>
+        </node>
+
+        <node
+            pkg="subt_ros"
+            type="pose_tf_broadcaster"
+            name="pose_tf_broadcaster"/>
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Binary files /dev/null and b/submitted_models/emesent_hovermap_sensor_config_1/meshes/H-LIDAR-case-1024.png differ
diff --git a/submitted_models/emesent_hovermap_sensor_config_1/meshes/H-LIDAR-sensor-1024.png b/submitted_models/emesent_hovermap_sensor_config_1/meshes/H-LIDAR-sensor-1024.png
new file mode 100644
index 00000000..b4b4b83f
Binary files /dev/null and b/submitted_models/emesent_hovermap_sensor_config_1/meshes/H-LIDAR-sensor-1024.png differ
diff --git a/submitted_models/emesent_hovermap_sensor_config_1/meshes/ST-LIDAR-case-1024-blue.png b/submitted_models/emesent_hovermap_sensor_config_1/meshes/ST-LIDAR-case-1024-blue.png
new file mode 100644
index 00000000..133f172a
Binary files /dev/null and b/submitted_models/emesent_hovermap_sensor_config_1/meshes/ST-LIDAR-case-1024-blue.png differ
diff --git a/submitted_models/emesent_hovermap_sensor_config_1/meshes/ST-LIDAR-case-1024.png b/submitted_models/emesent_hovermap_sensor_config_1/meshes/ST-LIDAR-case-1024.png
new file mode 100644
index 00000000..a35c2896
Binary files /dev/null and b/submitted_models/emesent_hovermap_sensor_config_1/meshes/ST-LIDAR-case-1024.png differ
diff --git a/submitted_models/emesent_hovermap_sensor_config_1/meshes/ST-LIDAR-case-2.dae b/submitted_models/emesent_hovermap_sensor_config_1/meshes/ST-LIDAR-case-2.dae
new file mode 100644
index 00000000..bccb21be
--- /dev/null
+++ b/submitted_models/emesent_hovermap_sensor_config_1/meshes/ST-LIDAR-case-2.dae
@@ -0,0 +1,129 @@
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+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="st_lider_tex" name="st lider tex" type="NODE">
+        <matrix sid="transform">1 2.22045e-16 2.22045e-16 0 2.22045e-16 -4.37114e-8 -1 0 -2.22045e-16 1 -4.37114e-8 0 0 0 0 1</matrix>
+        <instance_geometry url="#D0006873_Hovermap_Mining_Payload_Rear_Panel_002-mesh" name="st lider tex">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="mat_1_001-material" target="#mat_1_001-material">
+                <bind_vertex_input semantic="D0006873_Hovermap_Mining_Payload_Rear_Panel_002-mesh-map-0" input_semantic="TEXCOORD" input_set="0"/>
+                <bind_vertex_input semantic="D0006873_Hovermap_Mining_Payload_Rear_Panel_002-mesh-map-1" input_semantic="TEXCOORD" input_set="1"/>
+              </instance_material>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
\ No newline at end of file
diff --git a/submitted_models/emesent_hovermap_sensor_config_1/meshes/ST-LIDAR-case.dae b/submitted_models/emesent_hovermap_sensor_config_1/meshes/ST-LIDAR-case.dae
new file mode 100644
index 00000000..a268d3b7
--- /dev/null
+++ b/submitted_models/emesent_hovermap_sensor_config_1/meshes/ST-LIDAR-case.dae
@@ -0,0 +1,129 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
+  <asset>
+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 2.91.0 commit date:2020-11-25, commit time:08:34, hash:0f45cab862b8</authoring_tool>
+    </contributor>
+    <created>2021-01-13T10:46:57</created>
+    <modified>2021-01-13T10:46:57</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_effects>
+    <effect id="mat_1_001-effect">
+      <profile_COMMON>
+        <newparam sid="ST-LIDAR-case-1024_png-surface">
+          <surface type="2D">
+            <init_from>ST-LIDAR-case-1024_png</init_from>
+          </surface>
+        </newparam>
+        <newparam sid="ST-LIDAR-case-1024_png-sampler">
+          <sampler2D>
+            <source>ST-LIDAR-case-1024_png-surface</source>
+          </sampler2D>
+        </newparam>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <texture texture="ST-LIDAR-case-1024_png-sampler" texcoord="D0006873_Hovermap_Mining_Payload_Rear_Panel_002-mesh-map-0"/>
+            </diffuse>
+            <reflectivity>
+              <float sid="specular">1</float>
+            </reflectivity>
+            <index_of_refraction>
+              <float sid="ior">1.45</float>
+            </index_of_refraction>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
+  <library_images>
+    <image id="ST-LIDAR-case-1024_png" name="ST-LIDAR-case-1024_png">
+      <init_from>ST-LIDAR-case-1024.png</init_from>
+    </image>
+  </library_images>
+  <library_materials>
+    <material id="mat_1_001-material" name="mat_1.001">
+      <instance_effect url="#mat_1_001-effect"/>
+    </material>
+  </library_materials>
+  <library_geometries>
+    <geometry id="D0006873_Hovermap_Mining_Payload_Rear_Panel_002-mesh" name="D0006873 Hovermap Mining Payload Rear Panel.002">
+      <mesh>
+        <source id="D0006873_Hovermap_Mining_Payload_Rear_Panel_002-mesh-positions">
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+          <bind_material>
+            <technique_common>
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+                <bind_vertex_input semantic="D0006873_Hovermap_Mining_Payload_Rear_Panel_002-mesh-map-1" input_semantic="TEXCOORD" input_set="1"/>
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+            </technique_common>
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+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
\ No newline at end of file
diff --git a/submitted_models/emesent_hovermap_sensor_config_1/meshes/ST-LIDAR-hipoly.dae b/submitted_models/emesent_hovermap_sensor_config_1/meshes/ST-LIDAR-hipoly.dae
new file mode 100644
index 00000000..f7b5c687
--- /dev/null
+++ b/submitted_models/emesent_hovermap_sensor_config_1/meshes/ST-LIDAR-hipoly.dae
@@ -0,0 +1,126 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
+  <asset>
+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 2.91.0 commit date:2020-11-25, commit time:08:34, hash:0f45cab862b8</authoring_tool>
+    </contributor>
+    <created>2021-01-05T14:07:46</created>
+    <modified>2021-01-05T14:07:46</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_effects>
+    <effect id="Material_005-effect">
+      <profile_COMMON>
+        <newparam sid="H-LIDAR-sensor_png-surface">
+          <surface type="2D">
+            <init_from>H-LIDAR-sensor_png</init_from>
+          </surface>
+        </newparam>
+        <newparam sid="H-LIDAR-sensor_png-sampler">
+          <sampler2D>
+            <source>H-LIDAR-sensor_png-surface</source>
+          </sampler2D>
+        </newparam>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <texture texture="H-LIDAR-sensor_png-sampler" texcoord="Cube_006-mesh-map-0"/>
+            </diffuse>
+            <index_of_refraction>
+              <float sid="ior">1.45</float>
+            </index_of_refraction>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
+  <library_images>
+    <image id="H-LIDAR-sensor_png" name="H-LIDAR-sensor_png">
+      <init_from>H-LIDAR-sensor-1024.png</init_from>
+    </image>
+  </library_images>
+  <library_materials>
+    <material id="Material_005-material" name="Material.005">
+      <instance_effect url="#Material_005-effect"/>
+    </material>
+  </library_materials>
+  <library_geometries>
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+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="logo_cap_002" name="logo cap.002" type="NODE">
+        <matrix sid="transform">1 0 0 -9.31323e-10 0 1 0 -7.57329e-4 0 0 1 0.001373625 0 0 0 1</matrix>
+        <instance_geometry url="#Cube_010-mesh" name="logo cap.002">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="Material_005-material" target="#Material_005-material">
+                <bind_vertex_input semantic="Cube_006-mesh-map-0" input_semantic="TEXCOORD" input_set="0"/>
+                <bind_vertex_input semantic="Cube_006-mesh-map-1" input_semantic="TEXCOORD" input_set="1"/>
+              </instance_material>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
\ No newline at end of file
diff --git a/submitted_models/emesent_hovermap_sensor_config_1/meshes/ST-LIDAR.dae b/submitted_models/emesent_hovermap_sensor_config_1/meshes/ST-LIDAR.dae
new file mode 100644
index 00000000..58e6cdde
--- /dev/null
+++ b/submitted_models/emesent_hovermap_sensor_config_1/meshes/ST-LIDAR.dae
@@ -0,0 +1,130 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
+  <asset>
+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 2.91.0 commit date:2020-11-25, commit time:08:34, hash:0f45cab862b8</authoring_tool>
+    </contributor>
+    <created>2020-12-24T10:31:59</created>
+    <modified>2020-12-24T10:31:59</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_effects>
+    <effect id="Material_001-effect">
+      <profile_COMMON>
+        <newparam sid="H_LIDAR_SENSOR_updated_UV_LAYOUT_tex_1__png-surface">
+          <surface type="2D">
+            <init_from>H_LIDAR_SENSOR_updated_UV_LAYOUT_tex_1__png</init_from>
+          </surface>
+        </newparam>
+        <newparam sid="H_LIDAR_SENSOR_updated_UV_LAYOUT_tex_1__png-sampler">
+          <sampler2D>
+            <source>H_LIDAR_SENSOR_updated_UV_LAYOUT_tex_1__png-surface</source>
+          </sampler2D>
+        </newparam>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <texture texture="H_LIDAR_SENSOR_updated_UV_LAYOUT_tex_1__png-sampler" texcoord="Cube_002-mesh-map-0"/>
+            </diffuse>
+            <index_of_refraction>
+              <float sid="ior">1.45</float>
+            </index_of_refraction>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
+  <library_images>
+    <image id="H_LIDAR_SENSOR_updated_UV_LAYOUT_tex_1__png" name="H_LIDAR_SENSOR_updated_UV_LAYOUT_tex_1__png">
+      <init_from>H-LIDAR-sensor-1024.png</init_from>
+    </image>
+  </library_images>
+  <library_materials>
+    <material id="Material_001-material" name="Material.001">
+      <instance_effect url="#Material_001-effect"/>
+    </material>
+  </library_materials>
+  <library_geometries>
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755 68 179 756 22 179 757 75 179 758 71 180 759 20 180 760 84 180 761 24 181 762 68 181 763 29 181 764 31 182 765 157 182 766 158 182 767 27 183 768 156 183 769 31 183 770 70 184 771 84 184 772 83 184 773 28 185 774 158 185 775 159 185 776 29 186 777 152 186 778 26 186 779 75 187 780 22 187 781 21 187 782 69 188 783 19 188 784 25 188 785 70 189 786 83 189 787 19 189 788 156 190 789 27 167 790 43 86 791 30 37 792 155 191 793 151 38 794 30 37 795 45 19 796 46 85 797 43 86 798 44 20 799 151 38 800 151 38 801 155 191 802 43 86 803 155 191 804 156 190 805 43 86 806 30 37 807 154 192 808 155 191 809 248 193 810 173 194 811 238 195 812 248 193 813 174 196 814 173 194 815 249 197 816 175 198 817 174 196 818 249 197 819 174 196 820 248 193 821 250 199 822 176 200 823 175 198 824 250 199 825 175 198 826 249 197 827 251 201 828 177 202 829 176 200 830 251 201 831 176 200 832 250 199 833 252 203 834 178 204 835 177 202 836 252 203 837 177 202 838 251 201 839 253 205 840 179 206 841 178 204 842 253 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926 235 227 927 236 229 928 190 233 929 189 234 930 235 227 931 190 233 932 234 225 933 235 227 934 189 234 935 233 223 936 189 234 937 188 235 938 233 223 939 234 225 940 189 234 941 232 221 942 188 235 943 187 236 944 232 221 945 233 223 946 188 235 947 186 237 948 232 221 949 187 236 950 231 219 951 232 221 952 186 237 953 185 238 954 231 219 955 186 237 956 230 217 957 231 219 958 185 238 959 229 215 960 185 238 961 184 239 962 229 215 963 230 217 964 185 238 965 183 240 966 229 215 967 184 239 968 228 214 969 229 215 970 183 240 971 184 239 972 218 241 973 183 240 974 219 242 975 218 241 976 184 239 977 185 238 978 219 242 979 184 239 980 220 243 981 219 242 982 185 238 983 221 244 984 185 238 985 186 237 986 221 244 987 220 243 988 185 238 989 187 236 990 221 244 991 186 237 992 222 245 993 221 244 994 187 236 995 223 246 996 187 236 997 188 235 998 223 246 999 222 245 1000 187 236 1001 224 247 1002 188 235 1003 189 234 1004 224 247 1005 223 246 1006 188 235 1007 190 233 1008 224 247 1009 189 234 1010 225 248 1011 224 247 1012 190 233 1013 191 231 1014 225 248 1015 190 233 1016 226 249 1017 225 248 1018 191 231 1019 192 232 1020 226 249 1021 191 231 1022 227 250 1023 226 249 1024 192 232 1025 268 251 1026 165 251 1027 267 251 1028 164 252 1029 266 252 1030 267 252 1031 164 253 1032 267 253 1033 165 253 1034 166 254 1035 165 254 1036 268 254 1037 269 255 1038 166 255 1039 268 255 1040 163 256 1041 265 256 1042 266 256 1043 163 257 1044 266 257 1045 164 257 1046 167 258 1047 166 258 1048 269 258 1049 270 259 1050 167 259 1051 269 259 1052 217 260 1053 265 260 1054 163 260 1055 217 261 1056 264 261 1057 265 261 1058 168 262 1059 167 262 1060 270 262 1061 271 263 1062 168 263 1063 270 263 1064 216 264 1065 263 264 1066 264 264 1067 216 265 1068 264 265 1069 217 265 1070 169 266 1071 168 266 1072 271 266 1073 215 267 1074 263 267 1075 216 267 1076 272 268 1077 170 268 1078 169 268 1079 272 269 1080 169 269 1081 271 269 1082 262 270 1083 263 270 1084 215 270 1085 214 271 1086 262 271 1087 215 271 1088 273 272 1089 170 272 1090 272 272 1091 273 273 1092 171 273 1093 170 273 1094 261 274 1095 262 274 1096 214 274 1097 213 275 1098 261 275 1099 214 275 1100 260 276 1101 261 276 1102 213 276 1103 256 277 1104 172 277 1105 171 277 1106 256 278 1107 171 278 1108 273 278 1109 212 279 1110 260 279 1111 213 279 1112 259 280 1113 260 280 1114 212 280 1115 257 281 1116 172 281 1117 256 281 1118 257 282 1119 210 282 1120 172 282 1121 211 283 1122 259 283 1123 212 283 1124 258 284 1125 210 284 1126 257 284 1127 258 285 1128 211 285 1129 210 285 1130 258 286 1131 259 286 1132 211 286 1133 193 287 1134 227 250 1135 192 232 1136 281 288 1137 227 250 1138 193 287 1139 194 289 1140 281 288 1141 193 287 1142 280 290 1143 281 288 1144 194 289 1145 195 291 1146 280 290 1147 194 289 1148 279 292 1149 280 290 1150 195 291 1151 196 293 1152 279 292 1153 195 291 1154 278 294 1155 279 292 1156 196 293 1157 197 295 1158 278 294 1159 196 293 1160 277 296 1161 278 294 1162 197 295 1163 198 297 1164 277 296 1165 197 295 1166 276 298 1167 277 296 1168 198 297 1169 199 299 1170 276 298 1171 198 297 1172 275 300 1173 276 298 1174 199 299 1175 200 301 1176 275 300 1177 199 299 1178 274 302 1179 275 300 1180 200 301 1181 183 240 1182 274 302 1183 200 301 1184 218 241 1185 274 302 1186 183 240 1187 200 301 1188 228 214 1189 183 240 1190 289 303 1191 228 214 1192 200 301 1193 199 299 1194 289 303 1195 200 301 1196 288 304 1197 289 303 1198 199 299 1199 198 297 1200 288 304 1201 199 299 1202 287 305 1203 288 304 1204 198 297 1205 197 295 1206 287 305 1207 198 297 1208 286 306 1209 287 305 1210 197 295 1211 196 293 1212 286 306 1213 197 295 1214 285 307 1215 286 306 1216 196 293 1217 195 291 1218 285 307 1219 196 293 1220 284 308 1221 285 307 1222 195 291 1223 194 289 1224 284 308 1225 195 291 1226 283 309 1227 284 308 1228 194 289 1229 193 287 1230 283 309 1231 194 289 1232 282 310 1233 283 309 1234 193 287 1235 192 232 1236 282 310 1237 193 287 1238 237 230 1239 282 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222 1317 205 315 1318 204 314 1319 243 222 1320 204 314 1321 244 224 1322 242 220 1323 206 316 1324 205 315 1325 242 220 1326 205 315 1327 243 222 1328 241 218 1329 207 317 1330 206 316 1331 241 218 1332 206 316 1333 242 220 1334 240 216 1335 208 318 1336 207 317 1337 240 216 1338 207 317 1339 241 218 1340 239 213 1341 209 319 1342 208 318 1343 239 213 1344 208 318 1345 240 216 1346 238 195 1347 209 319 1348 239 213 1349 238 195 1350 173 194 1351 209 319 1352 223 246 1353 261 320 1354 260 321 1355 218 241 1356 219 242 1357 257 322 1358 256 323 1359 218 241 1360 257 322 1361 219 242 1362 220 243 1363 258 324 1364 257 322 1365 219 242 1366 258 324 1367 220 243 1368 221 244 1369 259 325 1370 258 324 1371 220 243 1372 259 325 1373 221 244 1374 222 245 1375 260 321 1376 259 325 1377 221 244 1378 260 321 1379 222 245 1380 223 246 1381 260 321 1382 223 246 1383 224 247 1384 261 320 1385 224 247 1386 225 248 1387 262 326 1388 225 248 1389 226 249 1390 263 327 1391 226 249 1392 264 328 1393 263 327 1394 225 248 1395 263 327 1396 262 326 1397 224 247 1398 262 326 1399 261 320 1400 265 329 1401 264 328 1402 226 249 1403 226 249 1404 227 250 1405 265 329 1406 227 250 1407 281 288 1408 266 330 1409 281 288 1410 280 290 1411 267 331 1412 280 290 1413 279 292 1414 268 332 1415 279 292 1416 278 294 1417 269 333 1418 278 294 1419 277 296 1420 269 333 1421 277 296 1422 276 298 1423 270 334 1424 276 298 1425 275 300 1426 271 335 1427 275 300 1428 274 302 1429 272 336 1430 274 302 1431 218 241 1432 273 337 1433 218 241 1434 256 323 1435 273 337 1436 274 302 1437 273 337 1438 272 336 1439 265 329 1440 227 250 1441 266 330 1442 267 331 1443 266 330 1444 281 288 1445 275 300 1446 272 336 1447 271 335 1448 276 298 1449 271 335 1450 270 334 1451 267 331 1452 280 290 1453 268 332 1454 269 333 1455 268 332 1456 279 292 1457 277 296 1458 270 334 1459 269 333 1460 290 338 1461 303 338 1462 304 338 1463 290 339 1464 302 339 1465 303 339 1466 305 340 1467 290 340 1468 304 340 1469 311 341 1470 301 341 1471 290 341 1472 306 342 1473 290 342 1474 305 342 1475 290 343 1476 310 343 1477 314 343 1478 307 344 1479 290 344 1480 306 344 1481 309 345 1482 310 345 1483 290 345 1484 308 346 1485 290 346 1486 307 346 1487 308 347 1488 309 347 1489 290 347 1490 301 348 1491 302 348 1492 290 348 1493 314 349 1494 311 349 1495 290 349 1496 313 350 1497 301 350 1498 300 350 1499 302 351 1500 301 351 1501 313 351 1502 310 352 1503 298 353 1504 314 354 1505 291 355 1506 298 353 1507 310 352 1508 292 356 1509 310 352 1510 309 357 1511 292 356 1512 291 355 1513 310 352 1514 293 358 1515 309 357 1516 308 359 1517 293 358 1518 292 356 1519 309 357 1520 294 360 1521 308 359 1522 307 361 1523 294 360 1524 293 358 1525 308 359 1526 306 362 1527 294 360 1528 307 361 1529 295 363 1530 294 360 1531 306 362 1532 305 364 1533 295 363 1534 306 362 1535 296 365 1536 295 363 1537 305 364 1538 304 366 1539 296 365 1540 305 364 1541 297 367 1542 296 365 1543 304 366 1544 303 368 1545 297 367 1546 304 366 1547 312 369 1548 297 367 1549 303 368 1550 313 370 1551 303 368 1552 302 371 1553 313 370 1554 312 369 1555 303 368 1556 311 372 1557 298 372 1558 299 372 1559 311 373 1560 314 373 1561 298 373 1562 362 374 1563 361 375 1564 315 376 1565 326 377 1566 362 374 1567 315 376 1568 326 377 1569 315 376 1570 316 378 1571 325 379 1572 326 377 1573 316 378 1574 325 379 1575 316 378 1576 317 380 1577 324 381 1578 325 379 1579 317 380 1580 324 381 1581 317 380 1582 318 382 1583 323 383 1584 324 381 1585 318 382 1586 323 383 1587 318 382 1588 319 384 1589 322 385 1590 323 383 1591 319 384 1592 322 385 1593 319 384 1594 320 386 1595 321 387 1596 322 385 1597 320 386 1598 342 388 1599 353 389 1600 355 390 1601 328 391 1602 319 384 1603 318 382 1604 360 392 1605 342 388 1606 361 375 1607 331 393 1608 330 394 1609 317 380 1610 329 395 1611 328 391 1612 318 382 1613 332 396 1614 333 397 1615 340 398 1616 333 397 1617 341 399 1618 340 398 1619 335 400 1620 327 401 1621 328 391 1622 331 393 1623 332 396 1624 339 402 1625 332 396 1626 340 398 1627 339 402 1628 331 393 1629 339 402 1630 338 403 1631 337 404 1632 336 405 1633 328 391 1634 330 394 1635 331 393 1636 338 403 1637 337 404 1638 330 394 1639 338 403 1640 329 395 1641 330 394 1642 337 404 1643 335 400 1644 328 391 1645 336 405 1646 328 391 1647 329 395 1648 337 404 1649 356 406 1650 341 399 1651 342 388 1652 334 407 1653 327 401 1654 335 400 1655 334 407 1656 335 400 1657 346 408 1658 347 409 1659 346 408 1660 369 410 1661 347 409 1662 334 407 1663 346 408 1664 332 396 1665 331 393 1666 316 378 1667 317 380 1668 329 395 1669 318 382 1670 328 391 1671 327 401 1672 319 384 1673 330 394 1674 329 395 1675 317 380 1676 350 411 1677 353 411 1678 360 411 1679 349 412 1680 352 412 1681 353 412 1682 349 413 1683 353 413 1684 350 413 1685 359 414 1686 352 414 1687 349 414 1688 358 415 1689 352 415 1690 359 415 1691 347 409 1692 358 416 1693 348 417 1694 354 418 1695 371 418 1696 372 418 1697 354 418 1698 372 418 1699 344 418 1700 347 409 1701 352 419 1702 358 416 1703 347 409 1704 351 420 1705 352 419 1706 327 401 1707 334 407 1708 320 386 1709 345 421 1710 370 421 1711 351 421 1712 347 422 1713 345 422 1714 351 422 1715 369 423 1716 345 423 1717 347 423 1718 355 424 1719 357 424 1720 343 424 1721 342 425 1722 343 425 1723 356 425 1724 342 426 1725 355 426 1726 343 426 1727 321 387 1728 320 386 1729 348 417 1730 368 427 1731 321 387 1732 348 417 1733 368 427 1734 348 417 1735 358 416 1736 367 428 1737 368 427 1738 358 416 1739 367 428 1740 358 416 1741 359 429 1742 366 430 1743 367 428 1744 359 429 1745 365 431 1746 359 429 1747 349 432 1748 365 431 1749 366 430 1750 359 429 1751 364 433 1752 349 432 1753 350 434 1754 364 433 1755 365 431 1756 349 432 1757 363 435 1758 350 434 1759 360 392 1760 363 435 1761 364 433 1762 350 434 1763 362 374 1764 363 435 1765 360 392 1766 342 388 1767 333 397 1768 361 375 1769 361 375 1770 362 374 1771 360 392 1772 371 436 1773 370 436 1774 345 436 1775 371 437 1776 345 437 1777 372 437 1778 357 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466 1856 423 467 1857 420 468 1858 388 469 1859 415 443 1860 423 467 1861 418 470 1862 423 467 1863 388 469 1864 418 470 1865 407 471 1866 388 469 1867 387 472 1868 388 469 1869 407 471 1870 418 470 1871 421 473 1872 420 468 1873 423 467 1874 391 458 1875 390 464 1876 389 441 1877 406 445 1878 382 456 1879 381 453 1880 390 464 1881 380 457 1882 386 465 1883 390 464 1884 391 458 1885 380 457 1886 389 441 1887 384 466 1888 392 442 1889 389 441 1890 385 463 1891 384 466 1892 425 474 1893 422 475 1894 395 476 1895 422 475 1896 424 477 1897 395 476 1898 424 477 1899 393 478 1900 394 479 1901 396 480 1902 409 462 1903 383 459 1904 397 481 1905 396 480 1906 426 482 1907 397 481 1908 409 462 1909 396 480 1910 399 483 1911 410 484 1912 398 485 1913 379 455 1914 378 454 1915 399 483 1916 378 454 1917 410 484 1918 399 483 1919 426 482 1920 425 474 1921 395 476 1922 425 474 1923 416 486 1924 417 487 1925 417 487 1926 422 475 1927 425 474 1928 375 451 1929 376 488 1930 400 447 1931 401 452 1932 375 451 1933 400 447 1934 403 489 1935 402 450 1936 413 490 1937 373 444 1938 403 489 1939 413 490 1940 427 491 1941 405 461 1942 408 460 1943 412 448 1944 404 492 1945 427 491 1946 412 448 1947 427 491 1948 408 460 1949 418 470 1950 407 471 1951 377 493 1952 416 486 1953 387 472 1954 417 487 1955 420 468 1956 379 455 1957 417 487 1958 379 455 1959 399 483 1960 417 487 1961 417 487 1962 387 472 1963 388 469 1964 418 470 1965 403 489 1966 415 443 1967 380 457 1968 379 455 1969 420 468 1970 419 494 1971 380 457 1972 420 468 1973 386 465 1974 380 457 1975 419 494 1976 388 469 1977 420 468 1978 417 487 1979 421 473 1980 386 465 1981 419 494 1982 421 473 1983 384 466 1984 386 465 1985 392 442 1986 384 466 1987 421 473 1988 422 475 1989 417 487 1990 399 483 1991 422 475 1992 399 483 1993 398 485 1994 410 484 1995 424 477 1996 398 485 1997 423 467 1998 415 443 1999 392 442 2000 423 467 2001 392 442 2002 421 473 2003 394 479 2004 395 476 2005 424 477 2006 395 476 2007 394 479 2008 426 482 2009 394 479 2010 397 481 2011 426 482 2012 396 480 2013 425 474 2014 426 482 2015 416 486 2016 425 474 2017 396 480 2018 403 489 2019 373 444 2020 415 443 2021 383 459 2022 416 486 2023 396 480 2024 387 472 2025 416 486 2026 383 459 2027 403 489 2028 375 451 2029 402 450 2030 403 489 2031 418 470 2032 375 451 2033 401 452 2034 414 449 2035 402 450 2036 414 449 2037 413 490 2038 402 450 2039 387 472 2040 405 461 2041 407 471 2042 387 472 2043 383 459 2044 405 461 2045 400 447 2046 376 488 2047 404 492 2048 412 448 2049 400 447 2050 404 492 2051 404 492 2052 377 493 2053 427 491 2054 404 492 2055 376 488 2056 377 493 2057 427 491 2058 407 471 2059 405 461 2060 377 493 2061 407 471 2062 427 491 2063 381 453 2064 374 440 2065 406 445 2066 393 478 2067 424 477 2068 410 484 2069 424 477 2070 422 475 2071 398 485 2072 414 449 2073 401 452 2074 400 447 2075 375 451 2076 418 470 2077 376 488 2078 418 470 2079 377 493 2080 376 488 2081 421 473 2082 419 494 2083 420 468 2084 390 464 2085 385 463 2086 389 441 2087 389 441 2088 374 440 2089 381 453 2090 381 453 2091 391 458 2092 389 441 2093 461 495 2094 448 495 2095 459 495 2096 461 496 2097 459 496 2098 458 496 2099 449 497 2100 448 497 2101 461 497 2102 461 498 2103 458 498 2104 457 498 2105 461 499 2106 457 499 2107 460 499 2108 461 500 2109 460 500 2110 456 500 2111 450 501 2112 449 501 2113 461 501 2114 455 502 2115 461 502 2116 456 502 2117 451 503 2118 450 503 2119 461 503 2120 454 504 2121 461 504 2122 455 504 2123 452 505 2124 451 505 2125 461 505 2126 453 506 2127 461 506 2128 454 506 2129 453 507 2130 452 507 2131 461 507 2132 465 508 2133 499 509 2134 466 510 2135 480 511 2136 479 511 2137 432 512 2138 493 513 2139 439 514 2140 438 515 2141 492 516 2142 465 516 2143 486 516 2144 462 511 2145 490 511 2146 481 511 2147 438 515 2148 523 517 2149 493 513 2150 439 514 2151 493 513 2152 462 518 2153 440 519 2154 439 514 2155 432 512 2156 440 519 2157 432 512 2158 470 520 2159 440 519 2160 513 521 2161 438 515 2162 440 519 2163 438 515 2164 439 514 2165 441 522 2166 440 519 2167 470 520 2168 441 522 2169 470 520 2170 431 523 2171 463 524 2172 504 525 2173 503 526 2174 441 522 2175 437 527 2176 513 521 2177 506 528 2178 494 529 2179 504 525 2180 441 522 2181 513 521 2182 440 519 2183 442 530 2184 431 523 2185 430 531 2186 468 511 2187 472 511 2188 471 511 2189 442 530 2190 441 522 2191 431 523 2192 442 530 2193 436 532 2194 437 527 2195 442 530 2196 437 527 2197 441 522 2198 443 533 2199 442 530 2200 430 531 2201 443 533 2202 430 531 2203 429 534 2204 443 533 2205 435 535 2206 436 532 2207 443 533 2208 436 532 2209 442 530 2210 444 536 2211 429 534 2212 469 537 2213 444 536 2214 443 533 2215 429 534 2216 444 536 2217 434 538 2218 435 535 2219 444 536 2220 435 535 2221 443 533 2222 445 539 2223 469 537 2224 428 540 2225 445 539 2226 444 536 2227 469 537 2228 445 539 2229 512 541 2230 434 538 2231 445 539 2232 434 538 2233 444 536 2234 446 542 2235 445 539 2236 428 540 2237 446 542 2238 512 541 2239 445 539 2240 468 543 2241 471 511 2242 489 544 2243 447 545 2244 428 540 2245 468 543 2246 447 545 2247 446 542 2248 428 540 2249 447 545 2250 489 544 2251 433 546 2252 447 545 2253 512 541 2254 446 542 2255 447 545 2256 511 547 2257 512 541 2258 481 511 2259 463 511 2260 482 511 2261 464 548 2262 484 548 2263 483 548 2264 462 549 2265 481 549 2266 480 549 2267 492 550 2268 484 550 2269 491 550 2270 481 551 2271 490 551 2272 463 551 2273 487 552 2274 466 552 2275 467 552 2276 489 544 2277 447 545 2278 468 543 2279 439 514 2280 462 518 2281 432 512 2282 510 553 2283 499 509 2284 495 554 2285 462 518 2286 480 511 2287 432 512 2288 478 511 2289 470 511 2290 432 511 2291 478 555 2292 432 555 2293 479 555 2294 463 556 2295 464 556 2296 483 556 2297 507 517 2298 526 517 2299 527 517 2300 487 557 2301 467 557 2302 488 557 2303 431 511 2304 478 511 2305 477 511 2306 431 558 2307 470 558 2308 478 558 2309 524 517 2310 525 517 2311 494 517 2312 523 517 2313 524 517 2314 506 517 2315 476 559 2316 431 559 2317 477 559 2318 467 511 2319 471 511 2320 488 511 2321 430 511 2322 431 511 2323 476 511 2324 529 517 2325 530 517 2326 510 553 2327 429 560 2328 476 560 2329 475 560 2330 429 561 2331 430 561 2332 476 561 2333 468 562 2334 473 562 2335 472 562 2336 428 511 2337 473 511 2338 468 511 2339 469 563 2340 429 563 2341 475 563 2342 469 511 2343 475 511 2344 474 511 2345 469 564 2346 473 564 2347 428 564 2348 469 565 2349 474 565 2350 473 565 2351 497 566 2352 489 544 2353 467 567 2354 497 566 2355 433 546 2356 489 544 2357 497 566 2358 496 568 2359 433 546 2360 498 569 2361 467 567 2362 466 510 2363 498 569 2364 497 566 2365 467 567 2366 498 569 2367 510 553 2368 496 568 2369 498 569 2370 496 568 2371 497 566 2372 499 509 2373 498 569 2374 466 510 2375 487 511 2376 486 511 2377 465 508 2378 495 554 2379 529 517 2380 510 553 2381 499 509 2382 510 553 2383 498 569 2384 492 570 2385 486 570 2386 485 570 2387 500 571 2388 499 509 2389 465 508 2390 509 572 2391 529 572 2392 495 572 2393 500 571 2394 495 554 2395 499 509 2396 501 573 2397 500 571 2398 492 574 2399 501 573 2400 492 574 2401 491 575 2402 501 573 2403 509 576 2404 500 571 2405 507 577 2406 508 578 2407 502 579 2408 502 579 2409 501 573 2410 491 575 2411 507 580 2412 527 580 2413 508 580 2414 502 579 2415 508 578 2416 501 573 2417 503 526 2418 502 579 2419 464 581 2420 463 511 2421 483 511 2422 482 511 2423 503 526 2424 507 577 2425 502 579 2426 463 524 2427 503 526 2428 464 581 2429 504 525 2430 490 582 2431 505 583 2432 506 528 2433 504 525 2434 505 583 2435 503 526 2436 494 529 2437 507 577 2438 505 583 2439 490 582 2440 462 518 2441 524 517 2442 494 517 2443 506 517 2444 523 517 2445 506 517 2446 493 517 2447 495 554 2448 500 571 2449 509 576 2450 514 517 2451 496 568 2452 531 517 2453 514 517 2454 433 546 2455 496 568 2456 530 517 2457 496 568 2458 510 553 2459 500 571 2460 465 508 2461 492 574 2462 530 517 2463 531 517 2464 496 568 2465 509 576 2466 508 578 2467 527 517 2468 514 517 2469 511 547 2470 433 546 2471 511 547 2472 447 545 2473 433 546 2474 515 517 2475 511 547 2476 514 517 2477 512 517 2478 511 517 2479 515 517 2480 516 584 2481 512 584 2482 515 584 2483 434 585 2484 512 585 2485 516 585 2486 434 517 2487 516 517 2488 517 517 2489 525 517 2490 507 517 2491 494 517 2492 435 517 2493 517 517 2494 518 517 2495 435 586 2496 434 586 2497 517 586 2498 436 587 2499 518 587 2500 519 587 2501 436 588 2502 435 588 2503 518 588 2504 492 511 2505 485 511 2506 484 511 2507 467 589 2508 489 589 2509 471 589 2510 520 590 2511 436 590 2512 519 590 2513 464 591 2514 491 591 2515 484 591 2516 438 515 2517 522 517 2518 523 517 2519 525 592 2520 526 592 2521 507 592 2522 437 517 2523 436 517 2524 520 517 2525 466 510 2526 487 511 2527 465 508 2528 509 593 2529 528 593 2530 529 593 2531 513 517 2532 520 517 2533 521 517 2534 513 594 2535 437 594 2536 520 594 2537 513 595 2538 522 595 2539 438 595 2540 504 525 2541 463 524 2542 490 582 2543 503 526 2544 504 525 2545 494 529 2546 513 596 2547 521 596 2548 522 596 2549 502 579 2550 491 575 2551 464 581 2552 509 576 2553 501 573 2554 508 578 2555 527 517 2556 528 517 2557 509 576 2558 462 518 2559 493 513 2560 505 583 2561 493 513 2562 506 528 2563 505 583 2564</p>
+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="logo_cap" name="logo cap" type="NODE">
+        <matrix sid="transform">-0.9829353 0.1839516 0 -9.31323e-10 -0.1839516 -0.9829353 0 -7.57329e-4 0 0 1 0.001373625 0 0 0 1</matrix>
+        <instance_geometry url="#Cube_002-mesh" name="logo cap">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="Material_001-material" target="#Material_001-material">
+                <bind_vertex_input semantic="Cube_002-mesh-map-0" input_semantic="TEXCOORD" input_set="0"/>
+                <bind_vertex_input semantic="Cube_002-mesh-map-1" input_semantic="TEXCOORD" input_set="1"/>
+              </instance_material>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
\ No newline at end of file
diff --git a/submitted_models/emesent_hovermap_sensor_config_1/meshes/gimbal_pan.dae b/submitted_models/emesent_hovermap_sensor_config_1/meshes/gimbal_pan.dae
new file mode 100644
index 00000000..e3240565
--- /dev/null
+++ b/submitted_models/emesent_hovermap_sensor_config_1/meshes/gimbal_pan.dae
@@ -0,0 +1,115 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
+  <asset>
+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 2.91.0 commit date:2020-11-25, commit time:08:34, hash:0f45cab862b8</authoring_tool>
+    </contributor>
+    <created>2021-02-15T10:50:08</created>
+    <modified>2021-02-15T10:50:08</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_effects>
+    <effect id="Material_004-effect">
+      <profile_COMMON>
+        <newparam sid="gimbal_tex_png-surface">
+          <surface type="2D">
+            <init_from>gimbal_tex_png</init_from>
+          </surface>
+        </newparam>
+        <newparam sid="gimbal_tex_png-sampler">
+          <sampler2D>
+            <source>gimbal_tex_png-surface</source>
+          </sampler2D>
+        </newparam>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <texture texture="gimbal_tex_png-sampler" texcoord="gimbal_parts_-_E02-023-102_GIMBAL_PAN-1_STL_002-mesh-map-0"/>
+            </diffuse>
+            <index_of_refraction>
+              <float sid="ior">1.45</float>
+            </index_of_refraction>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
+  <library_images>
+    <image id="gimbal_tex_png" name="gimbal_tex_png">
+      <init_from>gimbal_tex.png</init_from>
+    </image>
+  </library_images>
+  <library_materials>
+    <material id="Material_004-material" name="Material.004">
+      <instance_effect url="#Material_004-effect"/>
+    </material>
+  </library_materials>
+  <library_geometries>
+    <geometry id="gimbal_parts_-_E02-023-102_GIMBAL_PAN-1_STL_002-mesh" name="gimbal_parts - E02-023-102 GIMBAL PAN-1.STL.002">
+      <mesh>
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+            <accessor source="#gimbal_parts_-_E02-023-102_GIMBAL_PAN-1_STL_002-mesh-map-0-array" count="11238" stride="2">
+              <param name="S" type="float"/>
+              <param name="T" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <vertices id="gimbal_parts_-_E02-023-102_GIMBAL_PAN-1_STL_002-mesh-vertices">
+          <input semantic="POSITION" source="#gimbal_parts_-_E02-023-102_GIMBAL_PAN-1_STL_002-mesh-positions"/>
+        </vertices>
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+          <input semantic="NORMAL" source="#gimbal_parts_-_E02-023-102_GIMBAL_PAN-1_STL_002-mesh-normals" offset="1"/>
+          <input semantic="TEXCOORD" source="#gimbal_parts_-_E02-023-102_GIMBAL_PAN-1_STL_002-mesh-map-0" offset="2" set="0"/>
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+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="gimbal_parts_-_E02-023-102_GIMBAL_PAN-1_STL" name="gimbal_parts - E02-023-102 GIMBAL PAN-1.STL" type="NODE">
+        <matrix sid="transform">-3.71913e-5 0.9999282 0.0119684 -0.05480129 -0.003107276 -0.01196846 0.9999233 0 0.9999951 -6.41324e-10 0.003107499 0.03964452 0 0 0 1</matrix>
+        <instance_geometry url="#gimbal_parts_-_E02-023-102_GIMBAL_PAN-1_STL_002-mesh" name="gimbal_parts - E02-023-102 GIMBAL PAN-1.STL">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="Material_004-material" target="#Material_004-material">
+                <bind_vertex_input semantic="gimbal_parts_-_E02-023-102_GIMBAL_PAN-1_STL_002-mesh-map-0" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
\ No newline at end of file
diff --git a/submitted_models/emesent_hovermap_sensor_config_1/meshes/gimbal_roll.dae b/submitted_models/emesent_hovermap_sensor_config_1/meshes/gimbal_roll.dae
new file mode 100644
index 00000000..42fb4516
--- /dev/null
+++ b/submitted_models/emesent_hovermap_sensor_config_1/meshes/gimbal_roll.dae
@@ -0,0 +1,119 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
+  <asset>
+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 2.91.0 commit date:2020-11-25, commit time:08:34, hash:0f45cab862b8</authoring_tool>
+    </contributor>
+    <created>2021-02-15T10:49:32</created>
+    <modified>2021-02-15T10:49:32</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_effects>
+    <effect id="Material_005-effect">
+      <profile_COMMON>
+        <newparam sid="gimbal_tex_png-surface">
+          <surface type="2D">
+            <init_from>gimbal_tex_png</init_from>
+          </surface>
+        </newparam>
+        <newparam sid="gimbal_tex_png-sampler">
+          <sampler2D>
+            <source>gimbal_tex_png-surface</source>
+          </sampler2D>
+        </newparam>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <texture texture="gimbal_tex_png-sampler" texcoord="gimbal_parts_-_E02-023-102_GIMBAL_ROLL-1_STL_002-mesh-map-0"/>
+            </diffuse>
+            <index_of_refraction>
+              <float sid="ior">1.45</float>
+            </index_of_refraction>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
+  <library_images>
+    <image id="gimbal_tex_png" name="gimbal_tex_png">
+      <init_from>gimbal_tex.png</init_from>
+    </image>
+  </library_images>
+  <library_materials>
+    <material id="Material_005-material" name="Material.005">
+      <instance_effect url="#Material_005-effect"/>
+    </material>
+  </library_materials>
+  <library_geometries>
+    <geometry id="gimbal_parts_-_E02-023-102_GIMBAL_ROLL-1_STL_002-mesh" name="gimbal_parts - E02-023-102 GIMBAL ROLL-1.STL.002">
+      <mesh>
+        <source id="gimbal_parts_-_E02-023-102_GIMBAL_ROLL-1_STL_002-mesh-positions">
+          <float_array id="gimbal_parts_-_E02-023-102_GIMBAL_ROLL-1_STL_002-mesh-positions-array" count="2001">0.003474414 -0.02662181 -0.05016696 -0.009032964 -0.02566272 -0.05111229 0.003303468 0.01354587 -0.04964888 -0.009195327 0.01250517 -0.0506199 0.002304375 0.01255446 -0.05065834 0.002466738 -0.0256133 -0.05115056 -0.005394876 0.01979023 -0.04753863 -0.007833242 0.0207715 -0.04751777 0.009536743 0.02212911 -0.04755926 0.01145327 0.02513217 -0.04752707 0.01443237 0.02972823 -0.04747796 0.01561266 0.03780692 -0.04737788 0.01265245 0.04541593 -0.04726982 0.01085031 0.04749143 -0.04723685 0.00373131 0.05148947 -0.04716134 0.001021206 0.05194818 -0.0471462 -0.009988963 0.02204531 -0.04749417 -0.0102272 0.02257001 -0.0474866 -0.01193094 0.0250318 -0.04744911 -0.01363688 0.02718681 -0.04741555 -0.01582819 0.03220599 -0.04734343 -0.01619786 0.03767037 -0.04727166 -0.01567757 0.04036927 -0.0472387 -0.01470279 0.04293912 -0.04720896 -0.01330274 0.04530441 -0.04718327 -0.009402394 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571 1096 3289 572 1096 3290 572 1097 3291 571 1097 3292 651 1097 3293 572 1098 3294 651 1098 3295 573 1098 3296 573 1099 3297 651 1099 3298 574 1099 3299 573 1100 3300 574 1100 3301 575 1100 3302 575 1101 3303 574 1101 3304 576 1101 3305 575 1102 3306 576 1102 3307 577 1102 3308 577 1103 3309 576 1103 3310 654 1103 3311 577 1104 3312 654 1104 3313 486 1104 3314 486 1105 3315 654 1105 3316 578 1105 3317 486 1106 3318 578 1106 3319 485 1106 3320 485 1107 3321 578 1107 3322 656 1107 3323 485 1108 3324 656 1108 3325 579 1108 3326 579 1109 3327 656 1109 3328 657 1109 3329 579 1110 3330 657 1110 3331 484 1110 3332 484 1111 3333 657 1111 3334 659 1111 3335 484 1112 3336 659 1112 3337 580 1112 3338 580 1113 3339 659 1113 3340 581 1113 3341 580 1114 3342 581 1114 3343 483 1114 3344 483 1115 3345 581 1115 3346 661 1115 3347 483 1116 3348 661 1116 3349 482 1116 3350 482 1117 3351 661 1117 3352 582 1117 3353 482 1118 3354 582 1118 3355 583 1118 3356 583 1119 3357 582 1119 3358 584 1119 3359 583 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612 1167 3503 622 1168 3504 612 1168 3505 613 1168 3506 613 1169 3507 612 1169 3508 625 1169 3509 625 1170 3510 612 1170 3511 614 1170 3512 625 1171 3513 614 1171 3514 626 1171 3515 615 1172 3516 629 1172 3517 614 1172 3518 614 1173 3519 629 1173 3520 616 1173 3521 614 1174 3522 616 1174 3523 626 1174 3524 553 1175 3525 557 1175 3526 473 1175 3527 473 1176 3528 617 1176 3529 553 1176 3530 553 1177 3531 617 1177 3532 619 1177 3533 553 1178 3534 619 1178 3535 615 1178 3536 615 1179 3537 619 1179 3538 618 1179 3539 615 1180 3540 618 1180 3541 629 1180 3542 619 1181 3543 617 1181 3544 628 1181 3545 611 1182 3546 622 1182 3547 623 1182 3548 623 1183 3549 622 1183 3550 613 1183 3551 623 1184 3552 613 1184 3553 624 1184 3554 624 1185 3555 613 1185 3556 625 1185 3557 624 1186 3558 625 1186 3559 637 1186 3560 637 1187 3561 625 1187 3562 626 1187 3563 637 1188 3564 626 1188 3565 616 1188 3566 620 1189 3567 621 1189 3568 474 1189 3569 474 1190 3570 621 1190 3571 627 1190 3572 474 1191 3573 627 1191 3574 628 1191 3575 616 1192 3576 629 1192 3577 637 1192 3578 637 1193 3579 629 1193 3580 618 1193 3581 637 1194 3582 618 1194 3583 638 1194 3584 638 1195 3585 618 1195 3586 619 1195 3587 638 1196 3588 619 1196 3589 639 1196 3590 639 1197 3591 619 1197 3592 628 1197 3593 639 1198 3594 628 1198 3595 630 1198 3596 630 1199 3597 628 1199 3598 627 1199 3599 561 1200 3600 560 1200 3601 611 1200 3602 506 1201 3603 532 1201 3604 632 1201 3605 632 1202 3606 532 1202 3607 633 1202 3608 632 1203 3609 633 1203 3610 495 1203 3611 495 1204 3612 633 1204 3613 635 1204 3614 495 1205 3615 635 1205 3616 634 1205 3617 634 1206 3618 635 1206 3619 636 1206 3620 636 1207 3621 635 1207 3622 499 1207 3623 499 1208 3624 635 1208 3625 536 1208 3626 499 1209 3627 536 1209 3628 501 1209 3629 501 1210 3630 536 1210 3631 500 1210 3632 500 1211 3633 536 1211 3634 538 1211 3635 500 1212 3636 538 1212 3637 491 1212 3638 620 1213 3639 491 1213 3640 538 1213 3641 620 1214 3642 538 1214 3643 540 1214 3644 620 1215 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1262 3788 657 1263 3789 523 1263 3790 659 1263 3791 659 1264 3792 523 1264 3793 660 1264 3794 659 1265 3795 660 1265 3796 581 1265 3797 581 1266 3798 660 1266 3799 524 1266 3800 581 1267 3801 524 1267 3802 661 1267 3803 661 1268 3804 524 1268 3805 525 1268 3806 661 1269 3807 525 1269 3808 582 1269 3809 582 1270 3810 525 1270 3811 662 1270 3812 582 1271 3813 662 1271 3814 584 1271 3815 584 1272 3816 662 1272 3817 663 1272 3818 584 1273 3819 663 1273 3820 586 1273 3821 586 1274 3822 663 1274 3823 664 1274 3824 586 1275 3825 664 1275 3826 588 1275 3827 588 1276 3828 664 1276 3829 529 1276 3830 588 1277 3831 529 1277 3832 665 1277 3833 665 1278 3834 529 1278 3835 531 1278 3836 665 1279 3837 531 1279 3838 591 1279 3839 591 1280 3840 531 1280 3841 532 1280 3842 591 1281 3843 532 1281 3844 666 1281 3845 666 1282 3846 532 1282 3847 506 1282 3848 666 1283 3849 506 1283 3850 505 1283 3851 587 1284 3852 565 1284 3853 573 1284 3854 376 1285 3855 374 1285 3856 290 1285 3857 219 1286 3858 372 1286 3859 366 1286 3860 371 1287 3861 304 1287 3862 370 1287 3863 370 1288 3864 305 1288 3865 368 1288 3866 278 1289 3867 280 1289 3868 262 1289 3869 368 1290 3870 369 1290 3871 219 1290 3872 257 1291 3873 243 1291 3874 232 1291 3875 278 1292 3876 262 1292 3877 232 1292 3878 369 1293 3879 292 1293 3880 219 1293 3881 383 1294 3882 373 1294 3883 381 1294 3884 365 1295 3885 371 1295 3886 370 1295 3887 318 1296 3888 378 1296 3889 319 1296 3890 229 1297 3891 367 1297 3892 315 1297 3893 319 1298 3894 379 1298 3895 383 1298 3896 370 1299 3897 368 1299 3898 366 1299 3899 315 1300 3900 317 1300 3901 318 1300 3902 373 1301 3903 391 1301 3904 381 1301 3905 319 1302 3906 383 1302 3907 381 1302 3908 380 1303 3909 375 1303 3910 376 1303 3911 287 1304 3912 230 1304 3913 380 1304 3914 219 1305 3915 360 1305 3916 357 1305 3917 366 1306 3918 365 1306 3919 370 1306 3920 219 1307 3921 353 1307 3922 355 1307 3923 377 1308 3924 385 1308 3925 381 1308 3926 219 1309 3927 357 1309 3928 372 1309 3929 386 1310 3930 377 1310 3931 381 1310 3932 383 1311 3933 321 1311 3934 373 1311 3935 230 1312 3936 375 1312 3937 380 1312 3938 382 1313 3939 386 1313 3940 381 1313 3941 374 1314 3942 229 1314 3943 290 1314 3944 315 1315 3945 318 1315 3946 319 1315 3947 210 1316 3948 83 1316 3949 160 1316 3950 368 1317 3951 219 1317 3952 366 1317 3953</p>
+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="gimbal_parts_-_E02-023-102_GIMBAL_ROLL-1_STL" name="gimbal_parts - E02-023-102 GIMBAL ROLL-1.STL" type="NODE">
+        <matrix sid="transform">3.8901e-5 0.9998392 0.0179296 -0.0164998 0.005817652 -0.01792953 0.9998223 -0.003151002 0.9999831 6.54141e-5 -0.005817414 0 0 0 0 1</matrix>
+        <instance_geometry url="#gimbal_parts_-_E02-023-102_GIMBAL_ROLL-1_STL_002-mesh" name="gimbal_parts - E02-023-102 GIMBAL ROLL-1.STL">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="Material_005-material" target="#Material_005-material">
+                <bind_vertex_input semantic="gimbal_parts_-_E02-023-102_GIMBAL_ROLL-1_STL_002-mesh-map-0" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
\ No newline at end of file
diff --git a/submitted_models/emesent_hovermap_sensor_config_1/meshes/gimbal_tex.png b/submitted_models/emesent_hovermap_sensor_config_1/meshes/gimbal_tex.png
new file mode 100644
index 00000000..c555cb41
Binary files /dev/null and b/submitted_models/emesent_hovermap_sensor_config_1/meshes/gimbal_tex.png differ
diff --git a/submitted_models/emesent_hovermap_sensor_config_1/meshes/gimbal_tilt.dae b/submitted_models/emesent_hovermap_sensor_config_1/meshes/gimbal_tilt.dae
new file mode 100644
index 00000000..e3cc1c4d
--- /dev/null
+++ b/submitted_models/emesent_hovermap_sensor_config_1/meshes/gimbal_tilt.dae
@@ -0,0 +1,115 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
+  <asset>
+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 2.91.0 commit date:2020-11-25, commit time:08:34, hash:0f45cab862b8</authoring_tool>
+    </contributor>
+    <created>2021-02-15T10:48:38</created>
+    <modified>2021-02-15T10:48:38</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_effects>
+    <effect id="Material_001-effect">
+      <profile_COMMON>
+        <newparam sid="gimbal_tex_png-surface">
+          <surface type="2D">
+            <init_from>gimbal_tex_png</init_from>
+          </surface>
+        </newparam>
+        <newparam sid="gimbal_tex_png-sampler">
+          <sampler2D>
+            <source>gimbal_tex_png-surface</source>
+          </sampler2D>
+        </newparam>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <texture texture="gimbal_tex_png-sampler" texcoord="FL2-020-R0_STL_003-mesh-map-0"/>
+            </diffuse>
+            <index_of_refraction>
+              <float sid="ior">1.45</float>
+            </index_of_refraction>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
+  <library_images>
+    <image id="gimbal_tex_png" name="gimbal_tex_png">
+      <init_from>gimbal_tex.png</init_from>
+    </image>
+  </library_images>
+  <library_materials>
+    <material id="Material_001-material" name="Material.001">
+      <instance_effect url="#Material_001-effect"/>
+    </material>
+  </library_materials>
+  <library_geometries>
+    <geometry id="FL2-020-R0_STL_001-mesh" name="FL2-020-R0.STL.001">
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11325 1921 3401 11326 2079 3401 11327 518 3402 11328 1906 3402 11329 2114 3402 11330 2114 795 11331 1906 795 11332 2080 795 11333 505 3403 11334 486 3403 11335 2113 3403 11336 2113 3404 11337 486 3404 11338 485 3404 11339 2113 3405 11340 485 3405 11341 2114 3405 11342 2114 795 11343 485 795 11344 504 795 11345 2114 3406 11346 504 3406 11347 518 3406 11348 510 795 11349 508 795 11350 2081 795 11351 507 3407 11352 501 3407 11353 2126 3407 11354 1939 3408 11355 1919 3408 11356 2121 3408 11357 496 3409 11358 497 3409 11359 2120 3409 11360 1910 3410 11361 1909 3410 11362 2116 3410 11363 2116 3411 11364 1909 3411 11365 1926 3411 11366 2116 795 11367 1926 795 11368 2082 795 11369 2082 3412 11370 1926 3412 11371 1913 3412 11372 2082 3413 11373 1913 3413 11374 1930 3413 11375 2081 3414 11376 508 3414 11377 2126 3414 11378 2126 3415 11379 508 3415 11380 507 3415 11381 501 3416 11382 500 3416 11383 2126 3416 11384 2126 3417 11385 500 3417 11386 487 3417 11387 2126 795 11388 487 795 11389 2113 795 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3473 11582 560 795 11583 558 795 11584 2087 795 11585 2087 3474 11586 558 3474 11587 555 3474 11588 2087 795 11589 555 795 11590 2091 795 11591 2091 795 11592 555 795 11593 553 795 11594 2091 3475 11595 553 3475 11596 552 3475 11597 1970 3476 11598 1943 3476 11599 2090 3476 11600 2090 795 11601 1943 795 11602 1959 795 11603 2090 795 11604 1959 795 11605 2089 795 11606 2089 3477 11607 1959 3477 11608 1949 3477 11609 2089 3478 11610 1949 3478 11611 1958 3478 11612 1946 3479 11613 1944 3479 11614 2088 3479 11615 2088 3480 11616 1944 3480 11617 1945 3480 11618 2088 795 11619 1945 795 11620 2133 795 11621 2133 3481 11622 1945 3481 11623 1947 3481 11624 2133 3482 11625 1947 3482 11626 1941 3482 11627 539 3483 11628 538 3483 11629 2136 3483 11630 2136 795 11631 538 795 11632 568 795 11633 2136 3484 11634 568 3484 11635 2086 3484 11636 2086 3485 11637 568 3485 11638 566 3485 11639 2086 795 11640 566 795 11641 564 795 11642 2014 3486 11643 2148 3486 11644 2021 3486 11645 2021 3487 11646 2148 3487 11647 2163 3487 11648 2037 3488 11649 2140 3488 11650 1990 3488 11651 1990 3489 11652 2140 3489 11653 2092 3489 11654 2209 3490 11655 589 3490 11656 2093 3490 11657 2093 3491 11658 589 3491 11659 2094 3491 11660 2093 3492 11661 2094 3492 11662 2095 3492 11663 2095 3492 11664 2094 3492 11665 2096 3492 11666 2095 3493 11667 2096 3493 11668 2097 3493 11669 2097 3493 11670 2096 3493 11671 2098 3493 11672 2097 3494 11673 2098 3494 11674 2210 3494 11675 2210 3495 11676 2098 3495 11677 2099 3495 11678 2210 3496 11679 2099 3496 11680 2211 3496 11681 2211 3497 11682 2099 3497 11683 2066 3497 11684 2211 3498 11685 2066 3498 11686 2212 3498 11687 2212 3498 11688 2066 3498 11689 2100 3498 11690 2212 3499 11691 2100 3499 11692 2213 3499 11693 2213 3500 11694 2100 3500 11695 2069 3500 11696 2213 3501 11697 2069 3501 11698 2101 3501 11699 2101 3502 11700 2069 3502 11701 2102 3502 11702 2101 3503 11703 2102 3503 11704 2222 3503 11705 2222 3503 11706 2102 3503 11707 2071 3503 11708 2222 3504 11709 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+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="FL2-020-R0_STL" name="FL2-020-R0.STL" type="NODE">
+        <matrix sid="transform">4.28395e-4 -5.33895e-4 0.9999999 -0.01449764 1 1.44154e-7 -4.28395e-4 0.004905588 8.45631e-8 0.9999999 5.33895e-4 -2.32831e-10 0 0 0 1</matrix>
+        <instance_geometry url="#FL2-020-R0_STL_001-mesh" name="FL2-020-R0.STL">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="Material_001-material" target="#Material_001-material">
+                <bind_vertex_input semantic="FL2-020-R0_STL_003-mesh-map-0" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
\ No newline at end of file
diff --git a/submitted_models/emesent_hovermap_sensor_config_1/meshes/led.dae b/submitted_models/emesent_hovermap_sensor_config_1/meshes/led.dae
new file mode 100644
index 00000000..01985bc7
--- /dev/null
+++ b/submitted_models/emesent_hovermap_sensor_config_1/meshes/led.dae
@@ -0,0 +1,529 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+  <asset><contributor><author></author><authoring_tool>FBX COLLADA exporter</authoring_tool><comments></comments></contributor><created>2018-08-21T21:36:07Z</created><keywords></keywords><modified>2018-08-21T21:36:07Z</modified><revision></revision><subject></subject><title></title><unit meter="1.000000" name="centimeter"></unit><up_axis>Z_UP</up_axis></asset>
+  <library_images>
+    <image id="LEDIndicator_ncl1_2-image" name="LEDIndicator_ncl1_2"><init_from>led.png</init_from></image>
+  </library_images>
+  <library_materials>
+    <material id="LEDIndicator_ncl1_1" name="LEDIndicator_ncl1_1">
+      <instance_effect url="#LEDIndicator_ncl1_1-fx"/>
+    </material>
+  </library_materials>
+  <library_effects>
+    <effect id="LEDIndicator_ncl1_1-fx" name="LEDIndicator_ncl1_1">
+      <profile_COMMON>
+        <technique sid="standard">
+          <phong>
+            <emission>
+              <color sid="emission">0.000000  0.000000 0.000000 1.000000</color>
+            </emission>
+            <ambient>
+              <color sid="ambient">0.588235  0.588235 0.588235 1.000000</color>
+            </ambient>
+            <diffuse>
+              <texture texture="LEDIndicator_ncl1_2-image" texcoord="CHANNEL0">
+                <extra>
+                  <technique profile="MAYA">
+                    <wrapU sid="wrapU0">TRUE</wrapU>
+                    <wrapV sid="wrapV0">TRUE</wrapV>
+                    <blend_mode>ADD</blend_mode>
+                  </technique>
+                </extra>
+              </texture>
+            </diffuse>
+            <specular>
+              <color sid="specular">0.000000  0.000000 0.000000 1.000000</color>
+            </specular>
+            <shininess>
+              <float sid="shininess">2.000000</float>
+            </shininess>
+            <reflective>
+              <color sid="reflective">0.000000  0.000000 0.000000 1.000000</color>
+            </reflective>
+            <reflectivity>
+              <float sid="reflectivity">1.000000</float>
+            </reflectivity>
+            <transparent opaque="RGB_ZERO">
+              <color sid="transparent">1.000000  1.000000 1.000000 1.000000</color>
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diff --git a/submitted_models/emesent_hovermap_sensor_config_1/meshes/led.png b/submitted_models/emesent_hovermap_sensor_config_1/meshes/led.png
new file mode 100644
index 00000000..c9f83402
Binary files /dev/null and b/submitted_models/emesent_hovermap_sensor_config_1/meshes/led.png differ
diff --git a/submitted_models/emesent_hovermap_sensor_config_1/meshes/navi-14in-CCW-tex.dae b/submitted_models/emesent_hovermap_sensor_config_1/meshes/navi-14in-CCW-tex.dae
new file mode 100644
index 00000000..c5fd42c7
--- /dev/null
+++ b/submitted_models/emesent_hovermap_sensor_config_1/meshes/navi-14in-CCW-tex.dae
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\ No newline at end of file
diff --git a/submitted_models/emesent_hovermap_sensor_config_1/meshes/navi-14in-CW-tex.dae b/submitted_models/emesent_hovermap_sensor_config_1/meshes/navi-14in-CW-tex.dae
new file mode 100644
index 00000000..d27cf9bc
--- /dev/null
+++ b/submitted_models/emesent_hovermap_sensor_config_1/meshes/navi-14in-CW-tex.dae
@@ -0,0 +1,118 @@
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+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
\ No newline at end of file
diff --git a/submitted_models/emesent_hovermap_sensor_config_1/meshes/navi-15in-CCW-tex.dae b/submitted_models/emesent_hovermap_sensor_config_1/meshes/navi-15in-CCW-tex.dae
new file mode 100644
index 00000000..8100ad53
--- /dev/null
+++ b/submitted_models/emesent_hovermap_sensor_config_1/meshes/navi-15in-CCW-tex.dae
@@ -0,0 +1,118 @@
+<?xml version="1.0" encoding="utf-8"?>
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+  <asset>
+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 2.91.0 commit date:2020-11-25, commit time:08:34, hash:0f45cab862b8</authoring_tool>
+    </contributor>
+    <created>2021-01-04T10:37:25</created>
+    <modified>2021-01-04T10:37:25</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_effects>
+    <effect id="mat_0_010-effect">
+      <profile_COMMON>
+        <newparam sid="SUBT-prop-128_png-surface">
+          <surface type="2D">
+            <init_from>SUBT-prop-128_png</init_from>
+          </surface>
+        </newparam>
+        <newparam sid="SUBT-prop-128_png-sampler">
+          <sampler2D>
+            <source>SUBT-prop-128_png-surface</source>
+          </sampler2D>
+        </newparam>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <texture texture="SUBT-prop-128_png-sampler" texcoord="_5inch_prop_001-mesh-map-0"/>
+            </diffuse>
+            <reflectivity>
+              <float sid="specular">1</float>
+            </reflectivity>
+            <index_of_refraction>
+              <float sid="ior">1.45</float>
+            </index_of_refraction>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
+  <library_images>
+    <image id="SUBT-prop-128_png" name="SUBT-prop-128_png">
+      <init_from>naviST-prop-128.png</init_from>
+    </image>
+  </library_images>
+  <library_materials>
+    <material id="mat_0_010-material" name="mat_0.010">
+      <instance_effect url="#mat_0_010-effect"/>
+    </material>
+  </library_materials>
+  <library_geometries>
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diff --git a/submitted_models/emesent_hovermap_sensor_config_1/meshes/navi-15in-CW-tex.dae b/submitted_models/emesent_hovermap_sensor_config_1/meshes/navi-15in-CW-tex.dae
new file mode 100644
index 00000000..fff70151
--- /dev/null
+++ b/submitted_models/emesent_hovermap_sensor_config_1/meshes/navi-15in-CW-tex.dae
@@ -0,0 +1,118 @@
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+</COLLADA>
\ No newline at end of file
diff --git a/submitted_models/emesent_hovermap_sensor_config_1/meshes/navi-drone-hipoly-mount.dae b/submitted_models/emesent_hovermap_sensor_config_1/meshes/navi-drone-hipoly-mount.dae
new file mode 100644
index 00000000..765cef7d
--- /dev/null
+++ b/submitted_models/emesent_hovermap_sensor_config_1/meshes/navi-drone-hipoly-mount.dae
@@ -0,0 +1,199 @@
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+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 2.91.0 commit date:2020-11-25, commit time:08:34, hash:0f45cab862b8</authoring_tool>
+    </contributor>
+    <created>2021-01-21T11:36:20</created>
+    <modified>2021-01-21T11:36:20</modified>
+    <unit name="meter" meter="1"/>
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+            <diffuse>
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+  </library_effects>
+  <library_images>
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+      <init_from>naviST-drone-tex-4096.png</init_from>
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+  <scene>
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diff --git a/submitted_models/emesent_hovermap_sensor_config_1/meshes/navi-drone-hipoly.dae b/submitted_models/emesent_hovermap_sensor_config_1/meshes/navi-drone-hipoly.dae
new file mode 100644
index 00000000..08fc3f5c
--- /dev/null
+++ b/submitted_models/emesent_hovermap_sensor_config_1/meshes/navi-drone-hipoly.dae
@@ -0,0 +1,118 @@
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+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 2.91.0 commit date:2020-11-25, commit time:08:34, hash:0f45cab862b8</authoring_tool>
+    </contributor>
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+    <modified>2021-01-13T11:41:11</modified>
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+            <diffuse>
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+  </library_effects>
+  <library_images>
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+      <init_from>naviST-drone-tex-4096.png</init_from>
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+  </library_images>
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1861 1187 347 1862 1165 346 1863 1168 358 1864 1190 341 1865 1165 346 1866 1162 344 1867 1168 358 1868 1161 343 1869 1188 359 1870 1156 333 1871 1162 344 1872 1161 343 1873 1156 333 1874 1162 344 1875 1180 348 1876 1168 358 1877 1181 335 1878 1162 344 1879 1156 333 1880 1211 349 1881 1152 353 1882 1153 339 1883 1211 349 1884 1157 351 1885 1152 353 1886 1152 353 1887 1150 332 1888 1153 339 1889 1152 353 1890 1154 330 1891 1150 332 1892 1163 355 1893 1152 353 1894 1148 354 1895 1148 354 1896 1164 360 1897 1163 355 1898 1164 360 1899 1148 354 1900 1155 357 1901 1164 360 1902 1155 357 1903 1160 342 1904 1164 360 1905 1160 342 1906 1166 356 1907 1154 330 1908 1158 340 1909 1189 331 1910 1166 356 1911 1163 355 1912 1164 360 1913 1154 330 1914 1166 356 1915 1158 340 1916 1178 361 1917 1169 362 1918 1185 363 1919 1171 364 1920 1182 334 1921 1191 365 1922 1170 366 1923 1183 367 1924 1171 364 1925 1170 366 1926 1171 364 1927 1232 368 1928 1172 369 1929 1233 370 1930 1232 368 1931 1171 364 1932 1183 367 1933 1182 334 1934 1172 369 1935 1171 364 1936 1191 365 1937 1172 369 1938 1232 368 1939 1171 364 1940 1167 371 1941 1191 365 1942 1192 372 1943 1173 373 1944 1167 371 1945 1168 358 1946 1173 373 1947 1168 358 1948 1169 362 1949 1173 373 1950 1172 369 1951 1191 365 1952 1173 373 1953 1191 365 1954 1167 371 1955 1174 374 1956 1230 375 1957 1173 373 1958 1173 373 1959 1169 362 1960 1174 374 1961 1178 361 1962 1185 363 1963 1184 376 1964 1179 377 1965 1174 374 1966 1169 362 1967 1179 377 1968 1175 378 1969 1174 374 1970 1179 377 1971 1169 362 1972 1178 361 1973 1178 361 1974 1175 378 1975 1179 377 1976 1178 361 1977 1176 379 1978 1175 378 1979 1228 380 1980 1176 379 1981 1178 361 1982 1228 380 1983 1177 381 1984 1176 379 1985 1170 366 1986 1229 382 1987 1183 367 1988 1229 382 1989 1184 376 1990 1183 367 1991 1215 383 1992 1213 329 1993 1218 384 1994 1184 376 1995 1181 335 1996 1183 367 1997 1183 367 1998 1181 335 1999 1182 334 2000 1169 362 2001 1168 358 2002 1180 348 2003 1180 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9331 1623 1669 9332 1639 1668 9333 1624 1666 9334 1669 1665 9335 1623 1669 9336 1638 1670 9337 1639 1668 9338 1638 1670 9339 1623 1669 9340 1659 1671 9341 1628 1672 9342 1638 1670 9343 1659 1671 9344 1630 1673 9345 1633 1674 9346 1628 1672 9347 1629 1675 9348 1627 1676 9349 1633 1674 9350 1629 1675 9351 1633 1674 9352 1630 1673 9353 1625 1677 9354 1626 1678 9355 1627 1676 9356 1631 1667 9357 1637 1679 9358 1669 1665 9359 1662 1680 9360 1661 1681 9361 1636 1682 9362 1628 1672 9363 1646 1683 9364 1638 1670 9365 1628 1672 9366 1644 1684 9367 1646 1683 9368 1633 1674 9369 1644 1684 9370 1628 1672 9371 1621 1663 9372 1634 1685 9373 1625 1677 9374 1635 1686 9375 1621 1663 9376 1620 1662 9377 1632 1664 9378 1612 1654 9379 1644 1684 9380 1632 1664 9381 1633 1674 9382 1635 1686 9383 1632 1664 9384 1635 1686 9385 1620 1662 9386 1632 1664 9387 1644 1684 9388 1633 1674 9389 1635 1686 9390 1626 1678 9391 1634 1685 9392 1635 1686 9393 1627 1676 9394 1626 1678 9395 1627 1676 9396 1635 1686 9397 1633 1674 9398 1631 1667 9399 1636 1682 9400 1637 1679 9401 1524 1481 9402 1443 1492 9403 1662 1680 9404 1624 1666 9405 1647 1687 9406 1640 1688 9407 1624 1666 9408 1648 1689 9409 1631 1667 9410 1624 1666 9411 1640 1688 9412 1648 1689 9413 1639 1668 9414 1641 1690 9415 1647 1687 9416 1639 1668 9417 1647 1687 9418 1624 1666 9419 1638 1670 9420 1646 1683 9421 1641 1690 9422 1638 1670 9423 1641 1690 9424 1639 1668 9425 1641 1690 9426 1646 1683 9427 1644 1684 9428 1661 1681 9429 1660 1691 9430 1636 1682 9431 1636 1682 9432 1631 1667 9433 1651 1692 9434 1643 1652 9435 1642 1590 9436 1645 1693 9437 1645 1693 9438 1644 1684 9439 1612 1654 9440 1640 1688 9441 1642 1590 9442 1652 1694 9443 1640 1688 9444 1641 1690 9445 1645 1693 9446 1640 1688 9447 1645 1693 9448 1642 1590 9449 1640 1688 9450 1647 1687 9451 1641 1690 9452 1645 1693 9453 1641 1690 9454 1644 1684 9455 1648 1689 9456 1640 1688 9457 1652 1694 9458 1651 1692 9459 1524 1481 9460 1662 1680 9461 1516 1591 9462 1524 1481 9463 1650 1695 9464 1516 1591 9465 1650 1695 9466 1652 1694 9467 1516 1591 9468 1652 1694 9469 1642 1590 9470 1524 1481 9471 1651 1692 9472 1650 1695 9473 1652 1694 9474 1649 1696 9475 1648 1689 9476 1650 1695 9477 1649 1696 9478 1652 1694 9479 1651 1692 9480 1649 1696 9481 1650 1695 9482 1656 1697 9483 1660 1691 9484 1653 1698 9485 1649 1696 9486 1651 1692 9487 1631 1667 9488 1663 1699 9489 1659 1671 9490 1657 1700 9491 1657 1700 9492 1655 1701 9493 1654 1702 9494 1657 1700 9495 1654 1702 9496 1663 1699 9497 1658 1703 9498 1656 1697 9499 1655 1701 9500 1658 1703 9501 1636 1682 9502 1660 1691 9503 1658 1703 9504 1655 1701 9505 1657 1700 9506 1658 1703 9507 1660 1691 9508 1656 1697 9509 1648 1689 9510 1649 1696 9511 1631 1667 9512 1653 1698 9513 1661 1681 9514 1662 1680 9515 1653 1698 9516 1660 1691 9517 1661 1681 9518 1443 1492 9519 1653 1698 9520 1662 1680 9521 1653 1698 9522 1443 1492 9523 1518 1514 9524 1517 1592 9525 1653 1698 9526 1518 1514 9527 1654 1702 9528 1673 1704 9529 1663 1699 9530 1666 1705 9531 1609 1650 9532 1664 1649 9533 1665 1651 9534 1609 1650 9535 1666 1705 9536 1656 1697 9537 1653 1698 9538 1517 1592 9539 1656 1697 9540 1517 1592 9541 1665 1651 9542 1656 1697 9543 1654 1702 9544 1655 1701 9545 1656 1697 9546 1665 1651 9547 1654 1702 9548 1666 1705 9549 1673 1704 9550 1654 1702 9551 1666 1705 9552 1664 1649 9553 1673 1704 9554 1666 1705 9555 1654 1702 9556 1665 1651 9557 1636 1682 9558 1651 1692 9559 1662 1680 9560 1669 1665 9561 1637 1679 9562 1636 1682 9563 1630 1673 9564 1628 1672 9565 1659 1671 9566 1667 1706 9567 1625 1677 9568 1627 1676 9569 1668 1707 9570 1627 1676 9571 1629 1675 9572 1668 1707 9573 1667 1706 9574 1627 1676 9575 1659 1671 9576 1623 1669 9577 1657 1700 9578 1669 1665 9579 1658 1703 9580 1657 1700 9581 1670 1708 9582 1669 1665 9583 1657 1700 9584 1623 1669 9585 1670 1708 9586 1657 1700 9587 1658 1703 9588 1669 1665 9589 1636 1682 9590 1630 1673 9591 1659 1671 9592 1663 1699 9593 1630 1673 9594 1663 1699 9595 1673 1704 9596 1674 1709 9597 1615 1657 9598 1672 1658 9599 1674 1709 9600 1671 1660 9601 1615 1657 9602 1675 1710 9603 1671 1660 9604 1674 1709 9605 1668 1707 9606 1674 1709 9607 1667 1706 9608 1629 1675 9609 1630 1673 9610 1673 1704 9611 1676 1711 9612 1673 1704 9613 1664 1649 9614 1676 1711 9615 1664 1649 9616 1616 1661 9617 1645 1693 9618 1612 1654 9619 1643 1652 9620 1676 1711 9621 1675 1710 9622 1629 1675 9623 1676 1711 9624 1616 1661 9625 1671 1660 9626 1676 1711 9627 1629 1675 9628 1673 1704 9629 1676 1711 9630 1671 1660 9631 1675 1710 9632 1675 1710 9633 1674 1709 9634 1668 1707 9635 1668 1707 9636 1629 1675 9637 1675 1710 9638 1625 1677 9639 1672 1658 9640 1621 1663 9641 1621 1663 9642 1635 1686 9643 1634 1685 9644 1634 1685 9645 1626 1678 9646 1625 1677 9647 1674 1709 9648 1672 1658 9649 1625 1677 9650 1667 1706 9651 1674 1709 9652 1625 1677 9653 1483 1552 9654 1599 1640 9655 1598 1470 9656 1598 1470 9657 1441 1469 9658 1482 1550 9659 1442 1490 9660 1443 1492 9661 1523 1480 9662 1443 1492 9663 1524 1481 9664 1523 1480 9665 1441 1469 9666 1442 1490 9667 1522 1593 9668 1442 1490 9669 1523 1480 9670 1522 1593 9671 1481 1488 9672 1482 1550 9673 1441 1469 9674 1480 1486 9675 1481 1488 9676 1441 1469 9677 1522 1593 9678 1582 1595 9679 1548 1612 9680 1582 1595 9681 1581 1636 9682 1547 1615 9683 1548 1612 9684 1582 1595 9685 1547 1615 9686 1480 1486 9687 1441 1469 9688 1538 1476 9689 1441 1469 9690 1522 1593 9691 1538 1476 9692 1479 1484 9693 1480 1486 9694 1538 1476 9695 1522 1593 9696 1548 1612 9697 1549 1487 9698 1522 1593 9699 1549 1487 9700 1538 1476 9701 1491 1489 9702 1479 1484 9703 1539 1478 9704 1539 1478 9705 1479 1484 9706 1538 1476 9707 1603 1643 9708 1490 1554 9709 1452 1521 9710 1490 1554 9711 1491 1489 9712 1452 1521 9713 1464 1519 9714 1452 1521 9715 1491 1489 9716 1462 1493 9717 1463 1518 9718 1491 1489 9719 1463 1518 9720 1464 1519 9721 1491 1489 9722 1558 1523 9723 1461 1525 9724 1491 1489 9725 1461 1525 9726 1462 1493 9727 1491 1489 9728 1566 1517 9729 1567 1626 9730 1540 1479 9731 1567 1626 9732 1558 1523 9733 1540 1479 9734 1562 1634 9735 1565 1475 9736 1540 1479 9737 1565 1475 9738 1566 1517 9739 1540 1479 9740 1540 1479 9741 1541 1610 9742 1562 1634 9743 1539 1478 9744 1540 1479 9745 1558 1523 9746</p>
+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="SOLID" name="SOLID" type="NODE">
+        <matrix sid="transform">1 2.22045e-16 2.22045e-16 0 2.22045e-16 -4.37114e-8 -1 0 -2.22045e-16 1 -4.37114e-8 0 0 0 0 1</matrix>
+        <instance_geometry url="#SOLID_036-mesh" name="SOLID">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="mat_6_005-material" target="#mat_6_005-material">
+                <bind_vertex_input semantic="SOLID_036-mesh-map-0" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
\ No newline at end of file
diff --git a/submitted_models/emesent_hovermap_sensor_config_1/meshes/navi-guard.dae b/submitted_models/emesent_hovermap_sensor_config_1/meshes/navi-guard.dae
new file mode 100644
index 00000000..1679f49b
--- /dev/null
+++ b/submitted_models/emesent_hovermap_sensor_config_1/meshes/navi-guard.dae
@@ -0,0 +1,118 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
+  <asset>
+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 2.91.0 commit date:2020-11-25, commit time:08:34, hash:0f45cab862b8</authoring_tool>
+    </contributor>
+    <created>2020-12-23T13:54:22</created>
+    <modified>2020-12-23T13:54:22</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_effects>
+    <effect id="mat_3_001-effect">
+      <profile_COMMON>
+        <newparam sid="subt_guard_tex_128_png-surface">
+          <surface type="2D">
+            <init_from>subt_guard_tex_128_png</init_from>
+          </surface>
+        </newparam>
+        <newparam sid="subt_guard_tex_128_png-sampler">
+          <sampler2D>
+            <source>subt_guard_tex_128_png-surface</source>
+          </sampler2D>
+        </newparam>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <texture texture="subt_guard_tex_128_png-sampler" texcoord="UVMap"/>
+            </diffuse>
+            <reflectivity>
+              <float sid="specular">0.4925373</float>
+            </reflectivity>
+            <index_of_refraction>
+              <float sid="ior">1.45</float>
+            </index_of_refraction>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
+  <library_images>
+    <image id="subt_guard_tex_128_png" name="subt_guard_tex_128_png">
+      <init_from>naviST-guard-1024.png</init_from>
+    </image>
+  </library_images>
+  <library_materials>
+    <material id="mat_3_001-material" name="mat_3.001">
+      <instance_effect url="#mat_3_001-effect"/>
+    </material>
+  </library_materials>
+  <library_geometries>
+    <geometry id="SOLID_006-mesh" name="SOLID.006">
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+          <technique_common>
+            <accessor source="#SOLID_006-mesh-map-0-array" count="1464" stride="2">
+              <param name="S" type="float"/>
+              <param name="T" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <vertices id="SOLID_006-mesh-vertices">
+          <input semantic="POSITION" source="#SOLID_006-mesh-positions"/>
+        </vertices>
+        <triangles material="mat_3_001-material" count="488">
+          <input semantic="VERTEX" source="#SOLID_006-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#SOLID_006-mesh-normals" offset="1"/>
+          <input semantic="TEXCOORD" source="#SOLID_006-mesh-map-0" offset="2" set="0"/>
+          <p>54 0 0 50 1 1 57 2 2 51 3 3 56 4 4 52 5 5 58 6 6 56 4 7 53 7 8 55 8 9 58 6 10 53 7 11 57 2 12 58 6 13 55 8 14 54 0 15 57 2 16 55 8 17 54 0 18 59 9 19 50 1 20 51 3 21 53 7 22 56 4 23 61 10 24 64 11 25 63 12 26 64 11 27 61 10 28 62 13 29 67 14 30 60 15 31 63 12 32 69 16 33 68 17 34 65 18 35 67 14 36 66 19 37 60 15 38 69 16 39 65 18 40 62 13 41 64 11 42 62 13 43 65 18 44 61 10 45 63 12 46 60 15 47 75 20 48 78 21 49 71 22 50 79 23 51 76 24 52 70 25 53 73 26 54 77 27 55 76 24 56 75 20 57 74 28 58 72 29 59 75 20 60 72 29 61 78 21 62 79 23 63 73 26 64 76 24 65 73 26 66 74 28 67 77 27 68 75 20 69 77 27 70 74 28 71 81 30 72 84 31 73 83 32 74 84 31 75 81 30 76 82 33 77 87 34 78 80 35 79 83 32 80 89 36 81 88 37 82 85 38 83 87 34 84 86 39 85 80 35 86 89 36 87 85 38 88 82 33 89 84 31 90 82 33 91 85 38 92 81 30 93 83 32 94 80 35 95 21 40 96 26 41 97 27 42 98 13 43 99 21 40 100 27 42 101 12 44 102 13 43 103 27 42 104 36 45 105 23 46 106 18 47 107 10 48 108 11 49 109 29 50 110 36 45 111 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727 230 237 728 200 198 729 220 211 730 221 213 731 294 240 732 297 241 733 290 242 734 291 243 735 292 244 736 296 245 737 298 246 738 293 247 739 296 245 740 295 248 741 293 247 742 298 246 743 297 241 744 295 248 745 298 246 746 294 240 747 295 248 748 297 241 749 294 240 750 290 242 751 299 249 752 291 243 753 296 245 754 293 247 755 301 250 756 303 251 757 304 252 758 304 252 759 302 253 760 301 250 761 307 254 762 303 251 763 300 255 764 309 256 765 305 257 766 308 258 767 307 254 768 300 255 769 306 259 770 309 256 771 302 253 772 305 257 773 304 252 774 305 257 775 302 253 776 301 250 777 300 255 778 303 251 779 315 260 780 311 261 781 318 262 782 319 263 783 310 264 784 316 265 785 313 266 786 316 265 787 317 267 788 315 260 789 312 268 790 314 269 791 315 260 792 318 262 793 312 268 794 319 263 795 316 265 796 313 266 797 313 266 798 317 267 799 314 269 800 315 260 801 314 269 802 317 267 803 321 270 804 323 271 805 324 272 806 324 272 807 322 273 808 321 270 809 327 274 810 323 271 811 320 275 812 329 276 813 325 277 814 328 278 815 327 274 816 320 275 817 326 279 818 329 276 819 322 273 820 325 277 821 324 272 822 325 277 823 322 273 824 321 270 825 320 275 826 323 271 827 261 280 828 267 281 829 266 282 830 253 283 831 267 281 832 261 280 833 252 284 834 267 281 835 253 283 836 276 285 837 258 286 838 263 287 839 250 288 840 269 289 841 251 290 842 276 285 843 275 291 844 287 292 845 268 293 846 251 290 847 269 289 848 268 293 849 252 284 850 251 290 851 258 286 852 284 294 853 257 295 854 284 294 855 258 286 856 286 296 857 267 281 858 252 284 859 268 293 860 263 287 861 258 286 862 259 297 863 287 292 864 246 298 865 288 299 866 260 300 867 261 280 868 266 282 869 250 288 870 270 301 871 269 289 872 265 302 873 260 300 874 266 282 875 250 288 876 249 303 877 271 304 878 265 302 879 259 297 880 260 300 881 272 305 882 271 304 883 249 303 884 264 306 885 259 297 886 265 302 887 248 307 888 272 305 889 249 303 890 274 308 891 272 305 892 248 307 893 263 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373 1133 333 371 1134 332 376 1135 372 373 1136 369 375 1137 331 377 1138 330 374 1139 332 376 1140 370 378 1141 371 379 1142 340 338 1143 361 354 1144 360 351 1145 401 380 1146 407 381 1147 406 382 1148 393 383 1149 407 381 1150 401 380 1151 392 384 1152 407 381 1153 393 383 1154 416 385 1155 398 386 1156 403 387 1157 390 388 1158 409 389 1159 391 390 1160 416 385 1161 415 391 1162 427 392 1163 408 393 1164 391 390 1165 409 389 1166 408 393 1167 392 384 1168 391 390 1169 398 386 1170 424 394 1171 397 395 1172 424 394 1173 398 386 1174 426 396 1175 407 381 1176 392 384 1177 408 393 1178 403 387 1179 398 386 1180 399 397 1181 427 392 1182 386 398 1183 428 399 1184 400 400 1185 401 380 1186 406 382 1187 390 388 1188 410 401 1189 409 389 1190 405 402 1191 400 400 1192 406 382 1193 390 388 1194 389 403 1195 411 404 1196 405 402 1197 399 397 1198 400 400 1199 412 405 1200 411 404 1201 389 403 1202 404 406 1203 399 397 1204 405 402 1205 388 407 1206 412 405 1207 389 403 1208 414 408 1209 412 405 1210 388 407 1211 403 387 1212 399 397 1213 404 406 1214 386 398 1215 415 391 1216 413 409 1217 426 396 1218 416 385 1219 427 392 1220 387 410 1221 414 408 1222 388 407 1223 413 409 1224 414 408 1225 387 410 1226 428 399 1227 386 398 1228 385 411 1229 426 396 1230 398 386 1231 416 385 1232 425 412 1233 397 395 1234 424 394 1235 396 413 1236 397 395 1237 425 412 1238 386 398 1239 413 409 1240 387 410 1241 427 392 1242 415 391 1243 386 398 1244 429 414 1245 428 399 1246 385 411 1247 425 412 1248 417 415 1249 396 413 1250 395 416 1251 396 413 1252 417 415 1253 384 417 1254 429 414 1255 385 411 1256 423 418 1257 429 414 1258 384 417 1259 402 419 1260 395 416 1261 417 415 1262 394 420 1263 395 416 1264 402 419 1265 383 421 1266 423 418 1267 384 417 1268 418 422 1269 402 419 1270 417 415 1271 418 422 1272 394 420 1273 402 419 1274 383 421 1275 422 423 1276 423 418 1277 418 422 1278 380 424 1279 394 420 1280 419 425 1281 380 424 1282 418 422 1283 382 426 1284 381 427 1285 420 428 1286 419 425 1287 420 428 1288 381 427 1289 382 426 1290 421 429 1291 422 423 1292 383 421 1293 382 426 1294 422 423 1295 419 425 1296 381 427 1297 380 424 1298 382 426 1299 420 428 1300 421 429 1301 390 388 1302 411 404 1303 410 401 1304 451 430 1305 457 431 1306 456 432 1307 443 433 1308 457 431 1309 451 430 1310 442 434 1311 457 431 1312 443 433 1313 466 435 1314 448 436 1315 453 437 1316 440 438 1317 459 439 1318 441 440 1319 466 435 1320 465 441 1321 477 442 1322 458 443 1323 441 440 1324 459 439 1325 458 443 1326 442 434 1327 441 440 1328 448 436 1329 474 444 1330 447 445 1331 474 444 1332 448 436 1333 476 446 1334 457 431 1335 442 434 1336 458 443 1337 453 437 1338 448 436 1339 449 447 1340 477 442 1341 436 448 1342 478 449 1343 450 450 1344 451 430 1345 456 432 1346 440 438 1347 460 451 1348 459 439 1349 455 452 1350 450 450 1351 456 432 1352 440 438 1353 439 453 1354 461 454 1355 455 452 1356 449 447 1357 450 450 1358 462 455 1359 461 454 1360 439 453 1361 454 456 1362 449 447 1363 455 452 1364 438 457 1365 462 455 1366 439 453 1367 464 458 1368 462 455 1369 438 457 1370 453 437 1371 449 447 1372 454 456 1373 436 448 1374 465 441 1375 463 459 1376 476 446 1377 466 435 1378 477 442 1379 437 460 1380 464 458 1381 438 457 1382 463 459 1383 464 458 1384 437 460 1385 478 449 1386 436 448 1387 435 461 1388 476 446 1389 448 436 1390 466 435 1391 475 462 1392 447 445 1393 474 444 1394 446 463 1395 447 445 1396 475 462 1397 436 448 1398 463 459 1399 437 460 1400 477 442 1401 465 441 1402 436 448 1403 479 464 1404 478 449 1405 435 461 1406 475 462 1407 467 465 1408 446 463 1409 445 466 1410 446 463 1411 467 465 1412 434 467 1413 479 464 1414 435 461 1415 473 468 1416 479 464 1417 434 467 1418 452 469 1419 445 466 1420 467 465 1421 444 470 1422 445 466 1423 452 469 1424 433 471 1425 473 468 1426 434 467 1427 468 472 1428 452 469 1429 467 465 1430 468 472 1431 444 470 1432 452 469 1433 433 471 1434 472 473 1435 473 468 1436 468 472 1437 430 474 1438 444 470 1439 469 475 1440 430 474 1441 468 472 1442 432 476 1443 431 477 1444 470 478 1445 469 475 1446 470 478 1447 431 477 1448 432 476 1449 471 479 1450 472 473 1451 433 471 1452 432 476 1453 472 473 1454 469 475 1455 431 477 1456 430 474 1457 432 476 1458 470 478 1459 471 479 1460 440 438 1461 461 454 1462 460 451 1463</p>
+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="SOLID_006" name="SOLID.006" type="NODE">
+        <matrix sid="transform">1 2.22045e-16 2.22045e-16 0 2.22045e-16 -4.37114e-8 -1 0 -2.22045e-16 1 -4.37114e-8 0 0 0 0 1</matrix>
+        <instance_geometry url="#SOLID_006-mesh" name="SOLID.006">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="mat_3_001-material" target="#mat_3_001-material">
+                <bind_vertex_input semantic="UVMap" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
\ No newline at end of file
diff --git a/submitted_models/emesent_hovermap_sensor_config_1/meshes/navi-test.dae b/submitted_models/emesent_hovermap_sensor_config_1/meshes/navi-test.dae
new file mode 100644
index 00000000..cff64482
--- /dev/null
+++ b/submitted_models/emesent_hovermap_sensor_config_1/meshes/navi-test.dae
@@ -0,0 +1,104 @@
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diff --git a/submitted_models/emesent_hovermap_sensor_config_1/meshes/spotlight.dae b/submitted_models/emesent_hovermap_sensor_config_1/meshes/spotlight.dae
new file mode 100644
index 00000000..8d5ab33f
--- /dev/null
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303 192 636 306 191 637 305 175 638 304 175 639 304 191 640 305 193 641 308 179 642 307 179 643 307 193 644 308 194 645 310 183 646 309 183 647 309 194 648 310 195 649 312 187 650 311 187 651 311 195 652 312 190 653 313 190 654 314 195 655 312 165 656 273 166 657 274 196 658 316 188 659 315 188 660 317 196 661 316 184 662 318 184 663 318 196 664 316 197 665 320 180 666 319 180 667 319 197 668 320 198 669 322 176 670 321 176 671 321 198 672 322 199 673 324 169 674 323 169 675 323 199 676 324 73 677 326 62 678 325 89 679 267 73 680 326 199 681 324 159 682 266 158 683 265 191 684 305 192 685 306 160 686 268 159 687 266 199 688 324 198 689 322 162 690 270 161 691 269 193 692 308 191 693 305 158 694 265 162 695 270 198 696 322 197 697 320 164 698 272 163 699 271 194 700 310 193 701 308 161 702 269 164 703 272 197 704 320 196 705 316 166 706 274 165 707 273 195 708 312 194 709 310 163 710 271 185 711 327 200 712 329 189 713 328 200 714 329 398 715 331 168 716 330 189 717 328 200 718 329 185 719 327 181 720 332 168 721 330 398 722 331 368 723 333 201 724 334 177 725 336 170 726 335 181 727 337 201 728 334 200 729 338 201 730 334 170 731 335 171 732 339 177 733 336 201 734 334 181 735 337 201 736 334 171 737 339 202 738 340 204 739 344 203 740 343 173 741 342 174 742 341 174 743 341 178 744 346 205 745 345 204 746 344 205 747 345 178 748 346 182 749 348 206 750 347 182 751 348 186 752 350 207 753 349 206 754 347 207 755 349 186 756 350 167 757 352 208 758 351 208 759 351 167 760 352 369 761 354 405 762 353 167 763 275 190 764 356 188 765 355 168 766 278 168 767 278 188 768 355 189 769 357 209 770 358 212 771 361 211 772 360 210 773 359 210 774 359 211 775 360 214 776 363 213 777 362 213 778 362 214 779 363 216 780 365 215 781 364 215 782 364 216 783 365 218 784 367 217 785 366 217 786 366 218 787 367 9 788 369 4 789 368 212 790 361 220 791 371 219 792 370 211 793 360 211 794 360 219 795 370 221 796 372 214 797 363 214 798 363 221 799 372 222 800 373 216 801 365 216 802 365 222 803 373 223 804 374 218 805 367 218 806 367 223 807 374 15 808 375 9 809 369 220 810 371 225 811 377 224 812 376 219 813 370 219 814 370 224 815 376 226 816 378 221 817 372 221 818 372 226 819 378 227 820 379 222 821 373 222 822 373 227 823 379 228 824 380 223 825 374 223 826 374 228 827 380 20 828 381 15 829 375 225 830 377 230 831 383 229 832 382 224 833 376 224 834 376 229 835 382 231 836 384 226 837 378 226 838 378 231 839 384 232 840 385 227 841 379 227 842 379 232 843 385 233 844 386 228 845 380 228 846 380 233 847 386 25 848 387 20 849 381 234 850 388 237 851 391 236 852 390 235 853 389 235 854 389 236 855 390 239 856 393 238 857 392 238 858 392 239 859 393 241 860 395 240 861 394 240 862 394 241 863 395 243 864 397 242 865 396 242 866 396 243 867 397 35 868 399 30 869 398 237 870 400 245 871 403 244 872 402 236 873 401 236 874 401 244 875 402 246 876 405 239 877 404 239 878 404 246 879 405 247 880 407 241 881 406 241 882 406 247 883 407 248 884 409 243 885 408 243 886 408 248 887 409 40 888 411 35 889 410 250 890 415 234 891 414 235 892 413 249 893 412 252 894 417 229 895 382 230 896 383 251 897 416 249 898 412 235 899 413 238 900 419 253 901 418 254 902 420 231 903 384 229 904 382 252 905 417 253 906 418 238 907 419 240 908 422 255 909 421 256 910 423 232 911 385 231 912 384 254 913 420 255 914 421 240 915 422 242 916 425 257 917 424 258 918 426 233 919 386 232 920 385 256 921 423 257 922 424 242 923 425 30 924 428 50 925 427 49 926 429 25 927 387 233 928 386 258 929 426 4 930 430 259 931 432 217 932 431 217 933 431 259 934 432 215 935 433 215 936 433 259 937 432 213 938 434 213 939 434 259 940 432 210 941 435 210 942 435 259 943 432 209 944 436 245 945 437 157 946 439 244 947 438 244 948 438 157 949 439 246 950 440 246 951 440 157 952 439 247 953 441 247 954 441 157 955 439 248 956 442 248 957 442 157 958 439 40 959 443 263 960 447 262 961 446 261 962 445 260 963 444 260 964 444 261 965 445 265 966 449 264 967 448 264 968 448 265 969 449 267 970 451 266 971 450 266 972 450 267 973 451 269 974 453 268 975 452 273 976 457 272 977 456 271 978 455 270 979 454 277 980 461 276 981 460 275 982 459 274 983 458 281 984 465 280 985 464 279 986 463 278 987 462 274 988 458 275 989 459 283 990 467 282 991 466 285 992 469 284 993 468 280 994 464 281 995 465 282 996 466 283 997 467 287 998 471 286 999 470 289 1000 473 288 1001 472 284 1002 468 285 1003 469 286 1004 470 287 1005 471 291 1006 475 290 1007 474 293 1008 477 292 1009 476 288 1010 472 289 1011 473 290 1012 474 291 1013 475 295 1014 479 294 1015 478 296 1016 481 270 1017 480 292 1018 476 293 1019 477 278 1020 482 298 1021 485 297 1022 484 281 1023 483 281 1024 483 297 1025 484 299 1026 487 285 1027 486 285 1028 486 299 1029 487 300 1030 489 289 1031 488 289 1032 488 300 1033 489 301 1034 491 293 1035 490 293 1036 490 301 1037 491 296 1038 492 296 1039 493 301 1040 491 268 1041 452 269 1042 453 302 1043 495 294 1044 494 294 1045 496 302 1046 495 290 1047 497 290 1048 497 302 1049 495 303 1050 499 286 1051 498 286 1052 498 303 1053 499 304 1054 501 282 1055 500 282 1056 500 304 1057 501 305 1058 503 274 1059 502 274 1060 502 305 1061 503 306 1062 505 277 1063 504 262 1064 446 306 1065 505 305 1066 503 261 1067 445 260 1068 444 297 1069 484 298 1070 485 263 1071 447 261 1072 445 305 1073 503 304 1074 501 265 1075 449 264 1076 448 299 1077 487 297 1078 484 260 1079 444 265 1080 449 304 1081 501 303 1082 499 267 1083 451 266 1084 450 300 1085 489 299 1086 487 264 1087 448 267 1088 451 303 1089 499 302 1090 495 269 1091 453 268 1092 452 301 1093 491 300 1094 489 266 1095 450 291 1096 506 307 1097 508 295 1098 507 307 1099 508 308 1100 510 273 1101 509 295 1102 507 307 1103 508 291 1104 506 287 1105 511 273 1106 509 308 1107 510 272 1108 512 309 1109 513 283 1110 515 275 1111 514 287 1112 516 309 1113 513 307 1114 517 309 1115 513 275 1116 514 276 1117 518 283 1118 515 309 1119 513 287 1120 516 309 1121 513 276 1122 518 310 1123 519 312 1124 523 311 1125 522 279 1126 521 280 1127 520 280 1128 520 284 1129 525 313 1130 524 312 1131 523 313 1132 524 284 1133 525 288 1134 527 314 1135 526 288 1136 527 292 1137 529 315 1138 528 314 1139 526 315 1140 528 292 1141 529 270 1142 531 316 1143 530 316 1144 530 270 1145 531 271 1146 533 317 1147 532 270 1148 454 296 1149 535 294 1150 534 273 1151 457 273 1152 457 294 1153 534 295 1154 536 209 1155 537 319 1156 540 318 1157 539 212 1158 538 319 1159 540 321 1160 542 320 1161 541 318 1162 539 321 1163 542 323 1164 544 322 1165 543 320 1166 541 323 1167 544 325 1168 546 324 1169 545 322 1170 543 325 1171 546 108 1172 548 109 1173 547 324 1174 545 212 1175 538 318 1176 539 326 1177 550 220 1178 549 318 1179 539 320 1180 541 327 1181 551 326 1182 550 320 1183 541 322 1184 543 328 1185 552 327 1186 551 322 1187 543 324 1188 545 329 1189 553 328 1190 552 324 1191 545 109 1192 547 114 1193 554 329 1194 553 220 1195 549 326 1196 550 330 1197 556 225 1198 555 326 1199 550 327 1200 551 331 1201 557 330 1202 556 327 1203 551 328 1204 552 332 1205 558 331 1206 557 328 1207 552 329 1208 553 333 1209 559 332 1210 558 329 1211 553 114 1212 554 120 1213 560 333 1214 559 225 1215 555 330 1216 556 334 1217 562 230 1218 561 330 1219 556 331 1220 557 335 1221 563 334 1222 562 331 1223 557 332 1224 558 336 1225 564 335 1226 563 332 1227 558 333 1228 559 337 1229 565 336 1230 564 333 1231 559 120 1232 560 126 1233 566 337 1234 565 234 1235 567 339 1236 570 338 1237 569 237 1238 568 339 1239 570 341 1240 572 340 1241 571 338 1242 569 341 1243 572 343 1244 574 342 1245 573 340 1246 571 343 1247 574 345 1248 576 344 1249 575 342 1250 573 345 1251 576 137 1252 578 138 1253 577 344 1254 575 237 1255 579 338 1256 582 346 1257 581 245 1258 580 338 1259 582 340 1260 584 347 1261 583 346 1262 581 340 1263 584 342 1264 586 348 1265 585 347 1266 583 342 1267 586 344 1268 588 349 1269 587 348 1270 585 344 1271 588 138 1272 590 144 1273 589 349 1274 587 339 1275 594 234 1276 593 250 1277 592 350 1278 591 230 1279 561 334 1280 562 351 1281 596 251 1282 595 341 1283 598 339 1284 594 350 1285 591 352 1286 597 334 1287 562 335 1288 563 353 1289 599 351 1290 596 343 1291 601 341 1292 598 352 1293 597 354 1294 600 335 1295 563 336 1296 564 355 1297 602 353 1298 599 345 1299 604 343 1300 601 354 1301 600 356 1302 603 336 1303 564 337 1304 565 357 1305 605 355 1306 602 137 1307 607 345 1308 604 356 1309 603 155 1310 606 337 1311 565 126 1312 566 156 1313 608 357 1314 605 108 1315 609 325 1316 611 259 1317 610 325 1318 611 323 1319 612 259 1320 610 323 1321 612 321 1322 613 259 1323 610 321 1324 613 319 1325 614 259 1326 610 319 1327 614 209 1328 615 259 1329 610 245 1330 616 346 1331 618 157 1332 617 346 1333 618 347 1334 619 157 1335 617 347 1336 619 348 1337 620 157 1338 617 348 1339 620 349 1340 621 157 1341 617 349 1342 621 144 1343 622 157 1344 617 359 1345 626 262 1346 625 263 1347 624 358 1348 623 361 1349 628 359 1350 626 358 1351 623 360 1352 627 363 1353 630 361 1354 628 360 1355 627 362 1356 629 365 1357 632 363 1358 630 362 1359 629 364 1360 631 369 1361 636 368 1362 635 367 1363 634 366 1364 633 371 1365 640 276 1366 639 277 1367 638 370 1368 637 279 1369 644 373 1370 643 372 1371 642 278 1372 641 375 1373 646 371 1374 640 370 1375 637 374 1376 645 373 1377 643 377 1378 648 376 1379 647 372 1380 642 379 1381 650 375 1382 646 374 1383 645 378 1384 649 377 1385 648 381 1386 652 380 1387 651 376 1388 647 383 1389 654 379 1390 650 378 1391 649 382 1392 653 381 1393 652 385 1394 656 384 1395 655 380 1396 651 387 1397 658 383 1398 654 382 1399 653 386 1400 657 385 1401 656 366 1402 660 388 1403 659 384 1404 655 278 1405 661 372 1406 664 389 1407 663 298 1408 662 372 1409 664 376 1410 666 390 1411 665 389 1412 663 376 1413 666 380 1414 668 391 1415 667 390 1416 665 380 1417 668 384 1418 670 392 1419 669 391 1420 667 384 1421 670 388 1422 671 392 1423 669 388 1424 672 386 1425 674 393 1426 673 365 1427 632 364 1428 631 392 1429 669 386 1430 675 382 1431 676 393 1432 673 382 1433 676 378 1434 678 394 1435 677 393 1436 673 378 1437 678 374 1438 680 395 1439 679 394 1440 677 374 1441 680 370 1442 682 396 1443 681 395 1444 679 370 1445 682 277 1446 684 306 1447 683 396 1448 681 396 1449 681 306 1450 683 262 1451 625 359 1452 626 298 1453 662 389 1454 663 358 1455 623 263 1456 624 395 1457 679 396 1458 681 359 1459 626 361 1460 628 389 1461 663 390 1462 665 360 1463 627 358 1464 623 394 1465 677 395 1466 679 361 1467 628 363 1468 630 390 1469 665 391 1470 667 362 1471 629 360 1472 627 393 1473 673 394 1474 677 363 1475 630 365 1476 632 391 1477 667 392 1478 669 364 1479 631 362 1480 629 383 1481 685 387 1482 687 397 1483 686 367 1484 689 398 1485 688 397 1486 686 387 1487 687 397 1488 686 379 1489 690 383 1490 685 367 1491 689 368 1492 691 398 1493 688 399 1494 692 371 1495 694 375 1496 693 379 1497 695 397 1498 696 399 1499 692 399 1500 692 276 1501 697 371 1502 694 375 1503 693 379 1504 695 399 1505 692 399 1506 692 310 1507 698 276 1508 697 279 1509 702 311 1510 701 400 1511 700 373 1512 699 401 1513 704 377 1514 703 373 1515 699 400 1516 700 401 1517 704 402 1518 706 381 1519 705 377 1520 703 403 1521 708 385 1522 707 381 1523 705 402 1524 706 403 1525 708 404 1526 710 366 1527 709 385 1528 707 404 1529 710 405 1530 712 369 1531 711 366 1532 709 366 1533 633 367 1534 634 386 1535 714 388 1536 713 367 1537 634 387 1538 715 386 1539 714</p></polylist>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="Spotlight_Drone" name="Spotlight_Drone">
+      <node name="Spotlight_Drone" id="Spotlight_Drone" sid="Spotlight_Drone"><matrix sid="matrix">1.000000 0.000000 0.000000 0.000000 0.000000 1.000000 0.000000 -0.000000 0.000000 0.000000 1.000000 0.000000 0.000000 0.000000 0.000000 1.000000</matrix><instance_geometry url="#Spotlight_Drone-lib"><bind_material><technique_common><instance_material symbol="Spotlight_Drone_ncl1_1" target="#Spotlight_Drone_ncl1_1"/></technique_common></bind_material></instance_geometry><extra><technique profile="FCOLLADA"><visibility>1.000000</visibility></technique></extra></node>
+      <extra><technique profile="MAX3D"><frame_rate>30.000000</frame_rate></technique><technique profile="FCOLLADA"><start_time>0.000000</start_time><end_time>3.333333</end_time></technique></extra>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Spotlight_Drone"></instance_visual_scene>
+  </scene>
+</COLLADA>
diff --git a/submitted_models/emesent_hovermap_sensor_config_1/meshes/spotlight.png b/submitted_models/emesent_hovermap_sensor_config_1/meshes/spotlight.png
new file mode 100644
index 00000000..dd699c95
Binary files /dev/null and b/submitted_models/emesent_hovermap_sensor_config_1/meshes/spotlight.png differ
diff --git a/submitted_models/emesent_hovermap_sensor_config_1/model.config b/submitted_models/emesent_hovermap_sensor_config_1/model.config
new file mode 100644
index 00000000..235a80a3
--- /dev/null
+++ b/submitted_models/emesent_hovermap_sensor_config_1/model.config
@@ -0,0 +1,11 @@
+<?xml version='1.0'?>  
+<model>  
+
+  <name>Emesent Hovermap Sensor Config 1</name>
+  <version>1.0</version>
+  <sdf version='1.6'>model.sdf</sdf>
+
+  <description>
+    The standard Emesent Hovermap in DARPA SubT systems track configuration.
+  </description>
+</model>
diff --git a/submitted_models/emesent_hovermap_sensor_config_1/model.sdf b/submitted_models/emesent_hovermap_sensor_config_1/model.sdf
new file mode 100644
index 00000000..9628f285
--- /dev/null
+++ b/submitted_models/emesent_hovermap_sensor_config_1/model.sdf
@@ -0,0 +1,853 @@
+<?xml version='1.0' encoding='utf-8'?>
+<sdf version='1.6'>
+  <model name='emesent_hovermap_sensor_config_1'>
+    <pose>0 0 0.2 0 0 0</pose>
+    <link name='base_link'>
+      <pose>0 0 0 0 -0 0</pose>
+      <inertial>
+        <pose>0 0 0 0 -0 0</pose>
+        <mass>5.281</mass>
+        <inertia>
+          <ixx>0.105225</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.11353</iyy>
+          <iyz>0</iyz>
+          <izz>0.133861</izz>
+        </inertia>
+      </inertial>
+      <collision name='base_link_fixed_joint_lump__body_collision'>
+        <pose>0.11 -0 0 0 -0 1.5708</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>meshes/navi-drone-hipoly.dae</uri>
+          </mesh>
+        </geometry>
+      </collision>
+      <collision name='base_link_fixed_joint_lump__body_collision_1'>
+        <pose>0.11 -0 0 0 -0 1.5708</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>meshes/navi-guard.dae</uri>
+          </mesh>
+        </geometry>
+      </collision>
+      <collision name='base_link_fixed_joint_lump__hovermap_base_collision_2'>
+        <pose>0.1195 -0 -0.0115 0 -0 1.5708</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>meshes/ST-LIDAR-case-2.dae</uri>
+          </mesh>
+        </geometry>
+      </collision>
+      <collision name='base_link_fixed_joint_lump__gimbal_base_collision_3'>
+        <pose>0.18 0 0.035 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.07 0.05 0.03</size>
+          </box>
+        </geometry>
+      </collision>
+      <visual name='base_link_fixed_joint_lump__body_visual'>
+        <pose>0.11 -0 0 0 -0 1.5708</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>meshes/navi-drone-hipoly-mount.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <visual name='base_link_fixed_joint_lump__body_visual_1'>
+        <pose>0.11 -0 0 0 -0 1.5708</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>meshes/navi-guard.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <visual name='base_link_fixed_joint_lump__hovermap_base_visual_2'>
+        <pose>0.1195 -0 -0.0115 0 -0 1.5708</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>meshes/ST-LIDAR-case-2.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <visual name='base_link_fixed_joint_lump__gimbal_base_visual_3'>
+          <pose>0.18 0 0.035 0 -0 0</pose>
+          <geometry>
+              <box>
+                  <size>0.07 0.05 0.03</size>
+              </box>
+          </geometry>
+      </visual>
+      <velocity_decay/>
+      <gravity>1</gravity>
+      <velocity_decay/>
+      <sensor name='imu' type='imu'>
+          <always_on>1</always_on>
+          <update_rate>100</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>0.00002</dynamic_bias_stddev>
+                          <dynamic_bias_correlation_time>400.0</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>0.00002</dynamic_bias_stddev>
+                          <dynamic_bias_correlation_time>400.0</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>0.00002</dynamic_bias_stddev>
+                          <dynamic_bias_correlation_time>400.0</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>175.0</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>175.0</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>175.0</dynamic_bias_correlation_time>
+                          <precision>0.005</precision>
+                      </noise>
+                  </z>
+              </linear_acceleration>
+          </imu>
+      </sensor>
+      <sensor name="air_pressure" type="air_pressure">
+        <always_on>1</always_on>
+        <update_rate>20</update_rate>
+        <air_pressure>
+          <reference_altitude>0</reference_altitude>
+          <noise type="gaussian">
+            <mean>0.00000008</mean>
+          </noise>
+        </air_pressure>
+      </sensor>
+      <sensor name="magnetometer" type="magnetometer">
+        <always_on>1</always_on>
+        <update_rate>20</update_rate>
+        <magnetometer>
+          <x>
+            <noise type="gaussian">
+              <mean>0.000000080</mean>
+              <bias_mean>0.000000400</bias_mean>
+            </noise>
+          </x>
+          <y>
+            <noise type="gaussian">
+              <mean>0.000000080</mean>
+              <bias_mean>0.000000400</bias_mean>
+            </noise>
+          </y>
+          <z>
+            <noise type="gaussian">
+              <mean>0.000000080</mean>
+              <bias_mean>0.000000400</bias_mean>
+            </noise>
+          </z>
+        </magnetometer>
+      </sensor>
+    </link>
+    <link name='gimbal_pan'>
+      <pose>0.2 0 0.05 0 -0 0</pose>
+      <inertial>
+        <pose>0 0 0 0 -0 0</pose>
+        <mass>0.0001</mass>
+        <inertia>
+          <ixx>0.00058083</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.0005</iyy>
+          <iyz>0</iyz>
+          <izz>0.00059083</izz>
+        </inertia>
+      </inertial>
+      <collision name='gimbal_pan_collision'>
+        <pose>0 0 0 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.001 0.001 0.001</size>
+          </box>
+        </geometry>
+        <surface>
+          <contact>
+            <ode/>
+          </contact>
+          <friction>
+            <ode/>
+          </friction>
+        </surface>
+      </collision>
+      <visual name='gimbal_pan_visual'>
+        <pose>0 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>meshes/gimbal_pan.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <gravity>1</gravity>
+      <velocity_decay/>
+    </link>
+    <joint name='gimbal_pan_joint' type='revolute'>
+      <child>gimbal_pan</child>
+      <parent>base_link</parent>
+      <axis>
+        <xyz>0 0 1</xyz>
+        <limit>
+          <lower>-1.5708</lower>
+          <upper>1.5708</upper>
+          <effort>10</effort>
+          <velocity>5</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='gimbal_roll'>
+      <pose>0.2 0 0.125 0 -0 0</pose>
+      <inertial>
+        <pose>0 0 0 0 -0 0</pose>
+        <mass>0.0001</mass>
+        <inertia>
+          <ixx>0.00058083</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.0005</iyy>
+          <iyz>0</iyz>
+          <izz>0.00059083</izz>
+        </inertia>
+      </inertial>
+      <collision name='gimbal_roll_collision'>
+        <pose>0 0 0 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.001 0.001 0.001</size>
+          </box>
+        </geometry>
+        <surface>
+          <contact>
+            <ode/>
+          </contact>
+          <friction>
+            <ode/>
+          </friction>
+        </surface>
+      </collision>
+      <visual name='gimbal_roll_visual'>
+        <pose>0 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>meshes/gimbal_roll.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <gravity>1</gravity>
+      <velocity_decay/>
+    </link>
+    <joint name='gimbal_roll_joint' type='revolute'>
+      <child>gimbal_roll</child>
+      <parent>gimbal_pan</parent>
+      <axis>
+        <xyz>1 0 0</xyz>
+        <limit>
+          <lower>-0.785398</lower>
+          <upper>0.785398</upper>
+          <effort>10</effort>
+          <velocity>5</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='gimbal_tilt'>
+      <pose>0.218 0 0.125 0 -0 0</pose>
+      <inertial>
+        <pose>-2.4e-05 0.002445 -2e-05 0 -0 0</pose>
+        <mass>0.0001</mass>
+        <inertia>
+          <ixx>0.00216206</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.00106169</iyy>
+          <iyz>0</iyz>
+          <izz>0.00218206</izz>
+        </inertia>
+      </inertial>
+      <collision name='gimbal_tilt_collision'>
+        <pose>0 0 0 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.001 0.001 0.001</size>
+          </box>
+        </geometry>
+        <surface>
+          <contact>
+            <ode/>
+          </contact>
+          <friction>
+            <ode/>
+          </friction>
+        </surface>
+      </collision>
+      <visual name='gimbal_tilt_visual'>
+        <pose>0 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>meshes/gimbal_tilt.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <visual name='gimbal_tilt_fixed_joint_lump__gimbal_flashlight_visual_2'>
+        <pose>-0.012 -0.025 -0.01 0 0 -1.57</pose>
+        <geometry>
+          <mesh>
+            <scale>0.005 0.005 0.005</scale>
+            <uri>meshes/spotlight.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <velocity_decay/>
+      <velocity_decay/>
+      <sensor name='gimbal_camera' type='camera'>
+        <update_rate>10</update_rate>
+        <camera name='gimbal_camera_sensor'>
+          <horizontal_fov>1.287</horizontal_fov>
+          <image>
+            <width>4096</width>
+            <height>2160</height>
+          </image>
+          <clip>
+            <near>0.02</near>
+            <far>300</far>
+          </clip>
+          <noise>
+            <type>gaussian</type>
+            <mean>0</mean>
+            <stddev>0.007</stddev>
+          </noise>
+        </camera>
+        <pose>0 0.005 0.002 0 -0 0</pose>
+      </sensor>
+      <gravity>1</gravity>
+      <velocity_decay/>
+      <light name='light_source' type='spot'>
+        <pose>0.03 -0.02 -0.01 0 -1.57 0</pose>
+        <attenuation>
+          <range>40</range>
+          <linear>0</linear>
+          <constant>0.02</constant>
+          <quadratic>0.02</quadratic>
+        </attenuation>
+        <diffuse>220 210 175 1</diffuse>
+        <specular>220 210 175 1</specular>
+        <spot>
+          <inner_angle>0.7</inner_angle>
+          <outer_angle>1</outer_angle>
+          <falloff>1</falloff>
+        </spot>
+        <cast_shadows>1</cast_shadows>
+        <direction>0 0 -1</direction>
+      </light>
+      <sensor name='gimbal_imu' type='imu'>
+        <always_on>1</always_on>
+        <update_rate>100</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>0.00002</dynamic_bias_stddev>
+                        <dynamic_bias_correlation_time>400.0</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>0.00002</dynamic_bias_stddev>
+                        <dynamic_bias_correlation_time>400.0</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>0.00002</dynamic_bias_stddev>
+                        <dynamic_bias_correlation_time>400.0</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>175.0</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>175.0</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>175.0</dynamic_bias_correlation_time>
+                        <precision>0.005</precision>
+                    </noise>
+                </z>
+            </linear_acceleration>
+        </imu>
+    </sensor>
+    </link>
+    <joint name='gimbal_tilt_joint' type='revolute'>
+      <child>gimbal_tilt</child>
+      <parent>gimbal_roll</parent>
+      <axis>
+        <xyz>0 1 0</xyz>
+        <limit>
+          <lower>-0.785398</lower>
+          <upper>0.785398</upper>
+          <effort>10</effort>
+          <velocity>5</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='encoder_rotating'>
+      <pose>0.1745 -0 -0.0525 0 -1.0472 -0</pose>
+      <inertial>
+        <pose>0 0 -0.000891 -3.14159 -0 0</pose>
+        <mass>0.0001</mass>
+        <inertia>
+          <ixx>2.46865e-05</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>2.46865e-05</iyy>
+          <iyz>-1.65708e-18</iyz>
+          <izz>1.66667e-05</izz>
+        </inertia>
+      </inertial>
+      <collision name='encoder_rotating_collision'>
+        <pose>0 0 -0.0125 -3.14159 -0 1.5708</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>meshes/ST-LIDAR-hipoly.dae</uri>
+          </mesh>
+        </geometry>
+      </collision>
+      <visual name='encoder_rotating_visual'>
+        <pose>0 0 -0.0125 -3.14159 -0 1.5708</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>meshes/ST-LIDAR-hipoly.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <gravity>1</gravity>
+      <velocity_decay/>
+      <sensor name='gpu_lidar' type='gpu_lidar'>
+        <always_on>1</always_on>
+        <update_rate>20</update_rate>
+        <pose>0 0 -0.1 0 1.5707963267 0</pose>
+        <visualize>false</visualize>
+        <lidar>
+          <scan>
+            <horizontal>
+              <samples>900</samples>
+              <resolution>1</resolution>
+              <min_angle>-3.141592</min_angle>
+              <max_angle>3.141592</max_angle>
+            </horizontal>
+            <vertical>
+              <samples>16</samples>
+              <resolution>1</resolution>
+              <min_angle>-0.261799</min_angle>
+              <max_angle>0.261799</max_angle>
+            </vertical>
+          </scan>
+          <range>
+            <min>0.05</min>
+            <max>100</max>
+            <resolution>0.01</resolution>
+          </range>
+          <noise>
+            <type>gaussian</type>
+            <mean>0</mean>
+            <stddev>0.01</stddev>
+          </noise>
+        </lidar>
+      </sensor>
+    </link>
+    <joint name='encoder_joint' type='revolute'>
+      <child>encoder_rotating</child>
+      <parent>base_link</parent>
+      <axis>
+        <xyz>0 0 1</xyz>
+        <limit>
+          <lower>-1e+16</lower>
+          <upper>1e+16</upper>
+          <velocity>5</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='rotor_0'>
+      <pose>0.24 -0.24 0.035 0 -0 0</pose>
+      <inertial>
+        <pose>0 0 0 0 -0 1.5708</pose>
+        <mass>0.02</mass>
+        <inertia>
+          <ixx>2.32667e-06</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>6.03333e-05</iyy>
+          <iyz>0</iyz>
+          <izz>6.23266e-05</izz>
+        </inertia>
+      </inertial>
+      <collision name='rotor_0_collision_collision'>
+        <pose>0 0 0.04 0 -0 1.01342</pose>
+        <geometry>
+          <box>
+            <size>0.38 0.036 0.01</size>
+          </box>
+        </geometry>
+      </collision>
+      <collision name='rotor_0_collision_collision_1'>
+        <pose>0 0 -0.0375 0 0 -0.604152</pose>
+        <geometry>
+          <box>
+            <size>0.35492 0.036 0.01</size>
+          </box>
+        </geometry>
+      </collision>
+      <visual name='rotor_0_visual_visual'>
+        <pose>0 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>meshes/navi-15in-CW-tex.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <visual name='rotor_0_visual_visual_1'>
+        <pose>0 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>meshes/navi-14in-CW-tex.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+    </link>
+    <joint name='rotor_0_joint' type='revolute'>
+      <child>rotor_0</child>
+      <parent>base_link</parent>
+      <axis>
+        <xyz>0 0 1</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='rotor_1'>
+      <pose>-0.24 0.24 0.035 0 -0 0</pose>
+      <inertial>
+        <pose>0 0 0 0 -0 1.5708</pose>
+        <mass>0.02</mass>
+        <inertia>
+          <ixx>2.32667e-06</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>6.03333e-05</iyy>
+          <iyz>0</iyz>
+          <izz>6.23266e-05</izz>
+        </inertia>
+      </inertial>
+      <collision name='rotor_1_collision_collision'>
+        <pose>0 0 0.04 0 -0 1.01342</pose>
+        <geometry>
+          <box>
+            <size>0.38 0.036 0.01</size>
+          </box>
+        </geometry>
+      </collision>
+      <collision name='rotor_1_collision_collision_1'>
+        <pose>0 0 -0.0375 0 0 -0.604152</pose>
+        <geometry>
+          <box>
+            <size>0.35492 0.036 0.01</size>
+          </box>
+        </geometry>
+      </collision>
+      <visual name='rotor_1_visual_visual'>
+        <pose>0 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>meshes/navi-15in-CW-tex.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <visual name='rotor_1_visual_visual_1'>
+        <pose>0 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>meshes/navi-14in-CW-tex.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+    </link>
+    <joint name='rotor_1_joint' type='revolute'>
+      <child>rotor_1</child>
+      <parent>base_link</parent>
+      <axis>
+        <xyz>0 0 1</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='rotor_2'>
+      <pose>0.24 0.24 0.035 0 -0 0</pose>
+      <inertial>
+        <pose>0 0 0 0 -0 1.5708</pose>
+        <mass>0.02</mass>
+        <inertia>
+          <ixx>2.32667e-06</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>6.03333e-05</iyy>
+          <iyz>0</iyz>
+          <izz>6.23266e-05</izz>
+        </inertia>
+      </inertial>
+      <collision name='rotor_2_collision_collision'>
+        <pose>0 0 0.04 0 0 -1.01342</pose>
+        <geometry>
+          <box>
+            <size>0.38 0.036 0.01</size>
+          </box>
+        </geometry>
+      </collision>
+      <collision name='rotor_2_collision_collision_1'>
+        <pose>0 0 -0.0375 0 -0 0.604152</pose>
+        <geometry>
+          <box>
+            <size>0.35492 0.036 0.01</size>
+          </box>
+        </geometry>
+      </collision>
+      <visual name='rotor_2_visual_visual'>
+        <pose>0 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>meshes/navi-15in-CCW-tex.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <visual name='rotor_2_visual_visual_1'>
+        <pose>0 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>meshes/navi-14in-CCW-tex.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+    </link>
+    <joint name='rotor_2_joint' type='revolute'>
+      <child>rotor_2</child>
+      <parent>base_link</parent>
+      <axis>
+        <xyz>0 0 1</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='rotor_3'>
+      <pose>-0.24 -0.24 0.035 0 -0 0</pose>
+      <inertial>
+        <pose>0 0 0 0 -0 1.5708</pose>
+        <mass>0.02</mass>
+        <inertia>
+          <ixx>2.32667e-06</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>6.03333e-05</iyy>
+          <iyz>0</iyz>
+          <izz>6.23266e-05</izz>
+        </inertia>
+      </inertial>
+      <collision name='rotor_3_collision_collision'>
+        <pose>0 0 0.04 0 0 -1.01342</pose>
+        <geometry>
+          <box>
+            <size>0.38 0.036 0.01</size>
+          </box>
+        </geometry>
+      </collision>
+      <collision name='rotor_3_collision_collision_1'>
+        <pose>0 0 -0.0375 0 -0 0.604152</pose>
+        <geometry>
+          <box>
+            <size>0.35492 0.036 0.01</size>
+          </box>
+        </geometry>
+      </collision>
+      <visual name='rotor_3_visual_visual'>
+        <pose>0 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>meshes/navi-15in-CCW-tex.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <visual name='rotor_3_visual_visual_1'>
+        <pose>0 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>meshes/navi-14in-CCW-tex.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+    </link>
+    <joint name='rotor_3_joint' type='revolute'>
+      <child>rotor_3</child>
+      <parent>base_link</parent>
+      <axis>
+        <xyz>0 0 1</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>
+  </model>
+</sdf>
diff --git a/submitted_models/emesent_hovermap_sensor_config_1/package.xml b/submitted_models/emesent_hovermap_sensor_config_1/package.xml
new file mode 100644
index 00000000..4b816edc
--- /dev/null
+++ b/submitted_models/emesent_hovermap_sensor_config_1/package.xml
@@ -0,0 +1,24 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>emesent_hovermap_sensor_config_1</name>
+  <version>0.0.1</version>
+  <description>
+    The emesent_hovermap_sensor_config_1 package
+  </description>
+
+  <maintainer email="peter.milani@emesent.io">Peter Milani</maintainer>
+
+
+  <license>BSD</license>
+
+  <buildtool_depend>catkin</buildtool_depend>
+  <buildtool_depend>roslaunch</buildtool_depend>
+  <buildtool_depend>urdf</buildtool_depend>
+  <buildtool_depend>xacro</buildtool_depend>
+
+  <build_depend>ignition-common3</build_depend>
+  <exec_depend>ignition-common3</exec_depend>
+  <build_depend>ignition-gazebo4</build_depend>
+  <exec_depend>ignition-gazebo4</exec_depend>
+
+</package>
\ No newline at end of file
diff --git a/submitted_models/emesent_hovermap_sensor_config_1/specifications.md b/submitted_models/emesent_hovermap_sensor_config_1/specifications.md
new file mode 100644
index 00000000..885713ec
--- /dev/null
+++ b/submitted_models/emesent_hovermap_sensor_config_1/specifications.md
@@ -0,0 +1,111 @@
+<!---This is a Markdown description of a robot model submitted for inclusion in the DARPA Subterranean Challenge Technology Repository -->
+
+# Emesent Hovermap Sensor Config 1
+This specifications.md file is a description and proof of virtual model validation for the Emesent Hovermap with Sensor Configuration 1. This robot may be launched using an `ign launch` command with the variable name `EMESENT_HOVERMAP_SENSOR_CONFIG_1`.
+
+## Description
+The Emesent Hovermap is an autonomous system capable of being deployed in an unknown environment. It has a standardised perception payload mounted on the bottom of the vehicle including a gimbal mounted lidar and a gimbal mounted camera system.
+
+## Usage Instructions
+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 gimbal controlling camera pose can be controlled on the following topic where each component of the angualr velocity is used to control the roll, pitch and yaw respectively:
+* `gimbal/cmd_vel` (geometry_msgs/Twist)
+
+The vehicle can be launched with the following command:
+```
+ign launch -v 4 competition.ign worldName:=simple_cave_01 circuit:=cave robotName1:=HM robotConfig1:=EMESENT_HOVERMAP_SENSOR_CONFIG_1 localModel:=true
+```
+
+The velocity of the robot can be controlled with following command:
+```
+rostopic pub /HM/cmd_vel geometry_msgs/Twist "linear:
+  x: -0.1
+  y: 0.1
+  z: 0.1
+angular:
+  x: 0.0
+  y: 0.0
+  z: 0.1"
+```
+To arm and control the gimbal use the following commands: (Only needs to be armed once)
+```
+rostopic pub /HM/gimbal/enable std_msgs/Bool true 
+rostopic pub /HM/gimbal/cmd_vel geometry_msgs/Twist "linear:
+  x: 0.0
+  y: 0.0
+  z: 0.0
+angular:
+  x: 0.0
+  y: 0.1
+  z: 0.1"
+```
+
+## Usage Rights
+This software is released under a [BSD 3-Clause license](LICENSE).
+
+### Cost and Scale
+The Emesent Hovermap has the following estimate commercial cost components:
+* Base vehicle: $12,000
+* Sensor suite: $15,000
+* Total: ~ $27,000
+
+Its weight is approximately 5.36 kg. 
+
+### Sensors
+This Emesent Hovermap with sensor configuration 1 includes the following sensors. The specifications for these instruments are provided below in the [Validation Links](#validation_links) section.
+
+The following specific sensors are declared payloads of this vehicle:
+* IMU - Microstrain 3DM-CV5-25 AHRS, modeled by `imu` plugin
+* LIDAR - Velodyne VLP-16, modeled by `gpu_lidar` plugin
+* IMU - BaseCam IMU Rev.B, modeled by `imu` plugin
+* Color Camera - FLIR Blackfly S, modeled by `camera` plugin
+
+### Control
+This Emesent Hoverpmap is controlled by the MulticopterVelocityControl plugin.  It accepts twist inputs which drive the vehicle in the simulation environment.  
+
+### 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:
+
+* _x_ linear velocity range from -5.0 m/s to 5.0 m/s
+* _y_ linear velocity range from -5.0 m/s to 5.0 m/s
+* _z_ linear velocity range from -3.0 m/s to 3.0 m/s
+* _x_ linear acceleration range from -4.0 m/s<sup>2</sup> to 4.0 m/s<sup>2</sup>
+* _y_ linear acceleration range from -4.0 m/s<sup>2</sup> to 4.0 m/s<sup>2</sup>
+* _z_ linear acceleration range from -5.0 m/s<sup>2</sup> to 5.0 m/s<sup>2</sup>
+* _x_ angular velocity range from -3.0 rad/s to 3.0 rad/s
+* _y_ angular velocity range from -3.0 rad/s to 3.0 rad/s
+* _z_ angular velocity range from -1.75 rad/s to 1.75 rad/s
+* _x_ angular acceleration range from -15.0 rad/s<sup>2</sup> to 15 rad/s<sup>2</sup>
+* _y_ angular acceleration range from -15.0 rad/s<sup>2</sup> to 15.0 rad/s<sup>2</sup>
+* _z_ angular acceleration range from -5.0 rad/s<sup>2</sup> to 5.0 rad/s<sup>2</sup>
+
+The constraints can be found in the following locations within the simulation model
+package ignition::gazebo::systems::MulticopterVelocityControl (file src/subt/submitted_models/emesent_hovermap_sensor_config_1/launch/spawner.rb)
+* Linear acceleration - <maximumLinearAcceleration>4 4 5</maximumLinearAcceleration>
+* Linear velocity - <maximumLinearVelocity>5 5 2.8</maximumLinearVelocity>
+* Angular velocity - <maximumAngularVelocity>3 3 2.1</maximumAngularVelocity>
+
+We were unable to perform additional validation tests due to access restrictions.
+
+### Endurance Characteristics
+Based on the tests specified in the DARPA SubTChallenge [Model Preparation Guide](https://subtchallenge.comresources/Simulation_Model_Preparation_Guide.pdf), this vehicle has the following endurance characteristics. 
+* Battery life of 1200 seconds 
+
+### Diversions from Physical Hardware of Emesent Hovermap
+
+
+## Validation and Specification Links
+* [Navi Drone]()
+* [Hovermap](https://www.emesent.io/hovermap/)
+* [Validation Video](https://youtu.be/xxxxxxxxx/)
+* [Validation Data](https://drive.google.com/file/xxxxxxxxx/)
+
+* Sensor Specification Links:
+  * [LIDAR - Velodyne PuckLITE](https://velodynelidar.com/products/puck-lite/)
+  * [IMU - MicroStrain 3DM-CV5-25 AHRS](https://www.microstrain.com/inertial/3dm-cv5-25)
+  * [Gimbal IMU - Basecam I2C IMU Rev.B](https://www.basecamelectronics.com/i2c_imu/)
+  * [Camera - FLIR BFS-U3-88S6C-C](https://www.flir.com.au/products/blackfly-s-usb3/?model=BFS-U3-88S6C-C)
diff --git a/submitted_models/emesent_hovermap_sensor_config_1/src/ign_gimbal.cpp b/submitted_models/emesent_hovermap_sensor_config_1/src/ign_gimbal.cpp
new file mode 100644
index 00000000..2158b07d
--- /dev/null
+++ b/submitted_models/emesent_hovermap_sensor_config_1/src/ign_gimbal.cpp
@@ -0,0 +1,233 @@
+/*
+ * ign_gimbal.cpp
+ * 
+ * Created on:11Feb, 2021
+ *      Author: Rowan Ramamurthy
+ * 
+*/
+
+#include <memory>
+#include <iostream>
+#include <ignition/gazebo/System.hh>
+#include <ignition/gazebo/Model.hh>
+#include <ignition/gazebo/Util.hh>
+#include <ignition/gazebo/Link.hh>
+
+#include <ignition/common/Util.hh>
+
+#include <ignition/plugin/Register.hh>
+#include <ignition/transport/Node.hh>
+
+using namespace ignition;
+using namespace gazebo;
+using namespace systems;
+
+namespace hovermap
+{
+/// \brief Plugin for stabalisation of 3-link gimbal used on the emesent_hovermap system
+/// This plugin listens to cmd_vel msgs coming from ros to rotate the camera at a particular 
+/// rate about the roll and tilt axis while maintaining stabilisation
+///
+/// # Parameters
+///
+/// `<pan>`, `<roll>`, `<tilt>`: Joint parameters header
+///
+///     `<joint>`: Name of the Joint linking to its parent link
+///
+///     `<limit>`: Limit on the movement of the joint (rad)
+///
+///     `<p_gain>`: Proprtional parameter for joint PID controller
+///
+///     `<i_gain>`: Integral parameter for joint PID controller
+///
+///     `<d_gain>`: Derivative parameter for joint PID controller
+///
+///     `<i_max>`: The integral upper limit of the PID
+///
+///     `<i_min>`: The integral lower limit of the PID
+///
+///     `<cmd_max>`: Output max value of the PID
+///
+///     `<cmd_min>`: Output min value of the PID
+///
+/// `<imu>`: imu topic name on the balance point of the gimbal
+///
+/// `<topic_js>`: Topic to recieve joint state parameter (Only yaw joint is required to be published for controller to work)
+///
+/// `<topic_cmd>`: Topic to receive commands from the gimbal system
+/// This element is optional, and the default value is `/model/{name_of_model}/gimbal/cmd_vel`.
+///
+/// `<topic_enable>`: Topic to enable and disable the gimbal system
+/// This element is optional, and the default value is `/model/{name_of_model}/gimbal/enable`.
+///
+
+
+class IGNGimbalControlPlugin: 
+                public System, 
+                public ISystemConfigure, 
+                public ISystemPreUpdate
+{
+
+    public: IGNGimbalControlPlugin():System(){};
+
+    public: ~IGNGimbalControlPlugin() override {};
+
+    public: void Configure(const Entity &_entity,
+                const std::shared_ptr<const sdf::Element> &_sdf,
+                EntityComponentManager &_ecm,
+                EventManager& _eventMgr) override
+    {
+        this->model = Model(_entity);
+        if(!this->model.Valid(_ecm))
+        {
+            ignerr << "Gimbal Control plugin should be attached to the entity. Failed to initialize." << std::endl;
+            return;
+        }
+
+        if(!_sdf->HasElement("pan") && !_sdf->HasElement("roll") && !_sdf->HasElement("tilt") && !_sdf->HasElement("imu"))
+        {
+            ignerr << "GimbalControlPlugin has missing or incorrect parameters <PAN> <ROLL> <TILT> <imu>" <<std::endl;
+            return;
+        }
+
+        auto sdfClone = _sdf->Clone();
+
+        sdf::ElementPtr joints[static_cast<int>(link::links)];
+
+        joints[static_cast<int>(link::yaw)] = sdfClone->GetElement("pan");
+        joints[static_cast<int>(link::roll)] = sdfClone->GetElement("roll");
+        joints[static_cast<int>(link::pitch)] = sdfClone->GetElement("tilt");
+
+        for(int i=0; i<static_cast<int>(link::links); i++)
+        {
+            this->_jointName[i] = joints[i]->Get<std::string>("joint");
+            this->_limit[i] = joints[i]->Get<double>("limit");
+
+            double p = joints[i]->Get<double>("p_gain");
+            double in = joints[i]->Get<double>("i_gain");
+            double d = joints[i]->Get<double>("d_gain");
+            double i_max = joints[i]->Get<double>("i_max");
+            double i_min = joints[i]->Get<double>("i_min");
+            double cmd_max = joints[i]->Get<double>("cmd_max");
+            double cmd_min = joints[i]->Get<double>("cmd_min");
+            _pid[i] = ignition::math::PID(p, in, d, i_max, i_min, cmd_max, cmd_min, 0);
+
+            this->_jointPub[i] = this->node.Advertise<ignition::msgs::Double>("/model/" + this->model.Name(_ecm) + "/joint/" + _jointName[i] + "/cmd_vel");
+            this->_setPoint[i]=0;
+            this->_speed[i]=0;
+            this->_currState[i]=0;
+        }
+
+        std::string imuTopic = _sdf->Get<std::string>("imu");
+        this->node.Subscribe(imuTopic, &IGNGimbalControlPlugin::OnImuCB, this);
+
+        std::string topicJS = _sdf->Get<std::string>("topic_js");
+        this->node.Subscribe(topicJS, &IGNGimbalControlPlugin::OnJointCB, this);
+
+        std::string topicVelCmd {"/model/" + this->model.Name(_ecm) + "/gimbal/cmd_vel"};
+        if (_sdf->HasElement("topic_cmd"))
+            topicVelCmd = _sdf->Get<std::string>("topic_cmd");
+        this->node.Subscribe(topicVelCmd, &IGNGimbalControlPlugin::OnCmdCB, this);
+        
+        std::string topicEnable {"/model/" + this->model.Name(_ecm) + "/gimbal/enable"};
+        if (_sdf->HasElement("topic_enable"))
+            topicEnable = _sdf->Get<std::string>("topic_enable");
+        this->node.Subscribe(topicEnable, &IGNGimbalControlPlugin::EnableCB, this);
+
+        ignmsg  << "IGNGimbalControl subscribing to cmd_vel messages on [" << topicVelCmd << "]" << std::endl;
+
+    }
+
+    public: void PreUpdate(const ignition::gazebo::UpdateInfo &_info,
+                ignition::gazebo::EntityComponentManager &_ecm) override
+    {
+        if (_info.dt < std::chrono::steady_clock::duration::zero())
+        {
+            ignwarn << "Detected jump back in time ["
+                    << std::chrono::duration_cast<std::chrono::seconds>(_info.dt).count()
+                    << "s]. GimbalControlPlugin may not work as expected." << std::endl;
+            return;
+        }
+
+        if(_armed){
+            
+            this->_currState[static_cast<int>(link::roll)] = _rpy.Roll();
+            this->_currState[static_cast<int>(link::pitch)] = _rpy.Pitch();
+
+            double dt = std::chrono::duration<double>(_info.dt).count();
+
+            double force;
+            double error;
+
+            for(int i = 0; i < static_cast<int>(link::links); i++)
+            {
+
+                this->_setPoint[i] += dt*_speed[i];
+                
+                if(_limit[i]>0.0001 && abs(this->_setPoint[i])>this->_limit[i])
+                    this->_setPoint[i] = _limit[i]*((this->_setPoint[i]<0)?-1:1);
+
+                error = this->_currState[i] + this->_setPoint[i];
+                force = _pid[i].Update(error,_info.dt);
+
+                ignition::msgs::Double _msg;
+                _msg.set_data(force);
+                this->_jointPub[i].Publish(_msg);
+            }
+        }
+    }
+
+    public: void EnableCB(const msgs::Boolean &_msg)
+    {
+        this->_armed=_msg.data();
+    }
+
+    public: void OnImuCB(const msgs::IMU &_msg)
+    {
+        ignition::msgs::Quaternion wxyz = _msg.orientation();
+        this->_rpy.Set(wxyz.w(),wxyz.x(),wxyz.y(),wxyz.z());
+    }
+
+    public: void OnCmdCB(const msgs::Twist &_msg)
+    {
+        this->_speed[static_cast<int>(link::roll)] = _msg.angular().x();
+        this->_speed[static_cast<int>(link::pitch)] = _msg.angular().y();
+        this->_speed[static_cast<int>(link::yaw)] = _msg.angular().z();
+    }
+
+    public: void OnJointCB(const msgs::Model &_msg)
+    {
+        for(auto joint : _msg.joint())
+        {
+            if(joint.name().compare(_jointName[static_cast<int>(link::yaw)])==0){
+                this->_currState[static_cast<int>(link::yaw)] = joint.axis1().position();
+                return;
+            }
+        }
+    }
+    
+    protected: enum class link{roll,pitch,yaw,links};
+    
+    protected: ignition::gazebo::Model model{kNullEntity};
+    protected: std::string _jointName[static_cast<int>(link::links)];
+
+    protected: ignition::math::Quaternion<double> _rpy;
+    protected: ignition::transport::Node node;
+    protected: ignition::transport::Node::Publisher _jointPub[static_cast<int>(link::links)];
+
+    protected: bool _armed=false;
+    protected: double _currState[static_cast<int>(link::links)];
+    protected: double _setPoint[static_cast<int>(link::links)];
+    protected: double _speed[static_cast<int>(link::links)];
+    protected: double _limit[static_cast<int>(link::links)];
+    protected: ignition::math::PID _pid[static_cast<int>(link::links)];
+};
+
+}
+
+IGNITION_ADD_PLUGIN(hovermap::IGNGimbalControlPlugin,
+                    ignition::gazebo::System,
+                    hovermap::IGNGimbalControlPlugin::ISystemConfigure,
+                    hovermap::IGNGimbalControlPlugin::ISystemPreUpdate)
+
+IGNITION_ADD_PLUGIN_ALIAS(hovermap::IGNGimbalControlPlugin, "emesent::hovermap::GimbalControlPlugin")
\ No newline at end of file
diff --git a/submitted_models/emesent_hovermap_sensor_config_1/src/ign_gimbal_pos_controller.cpp b/submitted_models/emesent_hovermap_sensor_config_1/src/ign_gimbal_pos_controller.cpp
new file mode 100644
index 00000000..2e0e4af0
--- /dev/null
+++ b/submitted_models/emesent_hovermap_sensor_config_1/src/ign_gimbal_pos_controller.cpp
@@ -0,0 +1,190 @@
+/*
+ * ign_gimbal.cpp
+ * 
+ * Created on:11Feb, 2021
+ *      Author: Rowan Ramamurthy
+ * 
+*/
+
+#include <memory>
+#include <iostream>
+#include <ignition/gazebo/System.hh>
+#include <ignition/gazebo/Model.hh>
+#include <ignition/gazebo/Util.hh>
+#include <ignition/gazebo/Link.hh>
+
+#include <ignition/common/Util.hh>
+
+#include <ignition/plugin/Register.hh>
+#include <ignition/transport/Node.hh>
+
+using namespace ignition;
+using namespace gazebo;
+using namespace systems;
+
+namespace hovermap
+{
+/// \brief Plugin for stabalisation of 3-link gimbal used on the emesent_hovermap system
+/// This plugin listens to cmd_vel msgs coming from ros to rotate the camera at a particular 
+/// rate about the roll and tilt axis while maintaining stabilisation
+///
+/// # Parameters
+///
+/// `<pan>`: Name of the link linking the pan link to its parent link
+///
+/// `<roll>`: Name of the link linking the roll link to its parent link
+///
+/// `<tilt>`: Name of the link linking the tilt link to its parent link
+///
+/// `<pan_limit>`: Name of the link linking the pan link to its parent link
+///
+/// `<roll_limit>`: Name of the link linking the roll link to its parent link
+///
+/// `<tilt_limit>`: Name of the link linking the tilt link to its parent link
+///
+/// `<imu>`: imu topic name on the balance point of the gimbal
+///
+/// `<topic_cmd>`: Topic to receive commands from the gimbal system
+/// This element is optional, and the default value is `/model/{name_of_model}/gimbal/cmd_vel`.
+///
+/// `<topic_enable>`: Topic to enable and disable the gimbal system
+/// This element is optional, and the default value is `/model/{name_of_model}/velocity_controller/enable`.
+
+class IGNGimbalControlPlugin: 
+                public System, 
+                public ISystemConfigure, 
+                public ISystemPreUpdate
+{
+
+    public: IGNGimbalControlPlugin():System(){};
+
+    public: ~IGNGimbalControlPlugin() override {};
+
+    public: void Configure(const Entity &_entity,
+                const std::shared_ptr<const sdf::Element> &_sdf,
+                EntityComponentManager &_ecm,
+                EventManager& _eventMgr) override
+    {
+        this->model = Model(_entity);
+        if(!this->model.Valid(_ecm))
+        {
+            ignerr << "Gimbal Control plugin should be attached to the entity. Failed to initialize." << std::endl;
+            return;
+        }
+
+        if(!_sdf->HasElement("pan") && !_sdf->HasElement("roll") && !_sdf->HasElement("tilt") && !_sdf->HasElement("imu"))
+        {
+            ignerr << "GimbalControlPlugin has missing or incorrect parameters <PAN> <ROLL> <TILT> <imu>" <<std::endl;
+            return;
+        }
+        this->_jointName[static_cast<int>(link::yaw)] = _sdf->Get<std::string>("pan");
+        this->_jointName[static_cast<int>(link::roll)] = _sdf->Get<std::string>("roll");
+        this->_jointName[static_cast<int>(link::pitch)] = _sdf->Get<std::string>("tilt");
+
+        if (_sdf->HasElement("pan_limit"))
+            this->_limit[static_cast<int>(link::yaw)] = _sdf->Get<double>("pan_limit");
+
+        if (_sdf->HasElement("roll_limit"))
+            this->_limit[static_cast<int>(link::roll)] = _sdf->Get<double>("roll_limit");
+        
+        if (_sdf->HasElement("tilt_limit"))
+            this->_limit[static_cast<int>(link::pitch)] = _sdf->Get<double>("tilt_limit");
+
+        std::string imuTopic = _sdf->Get<std::string>("imu");
+        this->node.Subscribe(imuTopic, &IGNGimbalControlPlugin::OnImuCB, this);
+
+        std::string topicVelCmd {"/model/" + this->model.Name(_ecm) + "/gimbal/cmd_vel"};
+        if (_sdf->HasElement("topic_cmd"))
+            topicVelCmd = _sdf->Get<std::string>("topic_cmd");
+        this->node.Subscribe(topicVelCmd, &IGNGimbalControlPlugin::OnCmdCB, this);
+        
+        // std::string topicEnable {"/model/" + this->model.Name(_ecm) + "/velocity_controller/enable"};
+        // if (_sdf->HasElement("topic_enable"))
+        //     topicEnable = _sdf->Get<std::string>("topic_enable");
+        // this->node.Subscribe(topicEnable, &IGNGimbalControlPlugin::EnableCB, this);
+
+        for(int i=0; i<static_cast<int>(link::links); i++){
+            this->_jointPub[i] = this->node.Advertise<ignition::msgs::Double>("/model/" + this->model.Name(_ecm) + "/joint/" + _jointName[i] + "/0/cmd_pos");
+            this->_setPoint[i]=0;
+            this->_speed[i]=0;
+            this->_currState[i]=0;
+        }
+
+        ignmsg  << "IGNGimbalControl subscribing to cmd_vel messages on [" << topicVelCmd << "]" << std::endl;
+
+    }
+
+    public: void PreUpdate(const ignition::gazebo::UpdateInfo &_info,
+                ignition::gazebo::EntityComponentManager &_ecm) override
+    {
+        if (_info.dt < std::chrono::steady_clock::duration::zero())
+        {
+            ignwarn << "Detected jump back in time ["
+                    << std::chrono::duration_cast<std::chrono::seconds>(_info.dt).count()
+                    << "s]. GimbalControlPlugin may not work as expected." << std::endl;
+            return;
+        }
+
+        //if(_active){
+        this->_currState[static_cast<int>(link::roll)] = -_rpy.Roll();
+        this->_currState[static_cast<int>(link::pitch)] = -_rpy.Pitch();
+
+        double dt = std::chrono::duration<double>(_info.dt).count();
+
+        for(int i = 0; i < static_cast<int>(link::links); i++)
+        {
+            this->_setPoint[i] += dt*_speed[i];
+            
+            if(_limit[i]>0.0001 && abs(this->_setPoint[i])>this->_limit[i])
+                this->_setPoint[i] = _limit[i]*((this->_setPoint[i]<0)?-1:1);
+
+            ignition::msgs::Double _msg;
+            _msg.set_data(this->_setPoint[i]+_currState[i]);
+            this->_jointPub[i].Publish(_msg);
+        }
+        //}
+    }
+
+    // public: void EnableCB(const msgs::Boolean &_msg)
+    // {
+    //     this->_active=_msg.data();
+    // }
+
+    public: void OnImuCB(const msgs::IMU &_msg)
+    {
+        ignition::msgs::Quaternion wxyz = _msg.orientation();
+        this->_rpy.Set(wxyz.w(),wxyz.x(),wxyz.y(),wxyz.z());
+    }
+
+    public: void OnCmdCB(const msgs::Twist &_msg)
+    {
+        this->_speed[static_cast<int>(link::roll)] = _msg.angular().x();
+        this->_speed[static_cast<int>(link::pitch)] = _msg.angular().y();
+        this->_speed[static_cast<int>(link::yaw)] = _msg.angular().z();
+    }
+    
+    protected: enum class link{roll,pitch,yaw,links};
+    
+    protected: ignition::gazebo::Model model{kNullEntity};
+    protected: std::string _jointName[static_cast<int>(link::links)];
+
+    protected: ignition::math::Quaternion<double> _rpy;
+    protected: ignition::transport::Node node;
+    protected: ignition::transport::Node::Publisher _jointPub[static_cast<int>(link::links)];
+
+    // protected: bool _active=false;
+    protected: double _currState[static_cast<int>(link::links)];
+    protected: double _setPoint[static_cast<int>(link::links)];
+    protected: double _speed[static_cast<int>(link::links)];
+    protected: double _limit[static_cast<int>(link::links)];
+    
+};
+
+}
+
+IGNITION_ADD_PLUGIN(hovermap::IGNGimbalControlPlugin,
+                    ignition::gazebo::System,
+                    hovermap::IGNGimbalControlPlugin::ISystemConfigure,
+                    hovermap::IGNGimbalControlPlugin::ISystemPreUpdate)
+
+IGNITION_ADD_PLUGIN_ALIAS(hovermap::IGNGimbalControlPlugin, "emesent::hovermap::GimbalControlPlugin")
\ No newline at end of file
diff --git a/submitted_models/emesent_hovermap_sensor_config_1/thumbnails/1.png b/submitted_models/emesent_hovermap_sensor_config_1/thumbnails/1.png
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new file mode 100644
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diff --git a/submitted_models/emesent_hovermap_sensor_config_1/thumbnails/3.png b/submitted_models/emesent_hovermap_sensor_config_1/thumbnails/3.png
new file mode 100644
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diff --git a/submitted_models/emesent_hovermap_sensor_config_1/thumbnails/4.png b/submitted_models/emesent_hovermap_sensor_config_1/thumbnails/4.png
new file mode 100644
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diff --git a/submitted_models/emesent_hovermap_sensor_config_1/thumbnails/5.png b/submitted_models/emesent_hovermap_sensor_config_1/thumbnails/5.png
new file mode 100644
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diff --git a/submitted_models/emesent_hovermap_sensor_config_1/urdf/original.xacro.urdf b/submitted_models/emesent_hovermap_sensor_config_1/urdf/original.xacro.urdf
new file mode 100644
index 00000000..67f723df
--- /dev/null
+++ b/submitted_models/emesent_hovermap_sensor_config_1/urdf/original.xacro.urdf
@@ -0,0 +1,949 @@
+<?xml version="1.0" ?>
+<!-- =================================================================================== -->
+<!-- |    This document was autogenerated by xacro from urdf/navi_ardupilot.xacro      | -->
+<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
+<!-- =================================================================================== -->
+<!--
+  Copyright 2015 Fadri Furrer, ASL, ETH Zurich, Switzerland
+  Copyright 2015 Michael Burri, ASL, ETH Zurich, Switzerland
+  Copyright 2015 Mina Kamel, ASL, ETH Zurich, Switzerland
+  Copyright 2015 Janosch Nikolic, ASL, ETH Zurich, Switzerland
+  Copyright 2015 Markus Achtelik, ASL, ETH Zurich, Switzerland
+
+  Licensed under the Apache License, Version 2.0 (the "License");
+  you may not use this file except in compliance with the License.
+  You may obtain a copy of the License at
+
+  http://www.apache.org/licenses/LICENSE-2.0
+
+  Unless required by applicable law or agreed to in writing, software
+  distributed under the License is distributed on an "AS IS" BASIS,
+  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+  See the License for the specific language governing permissions and
+  limitations under the License.
+-->
+<robot name="emesent_hovermap_sensor_config_1" xmlns:xacro="http://ros.org/wiki/xacro">
+  <!-- Included URDF Files -->
+  <!--xacro:include
+		filename="$(find rotors_description)/urdf/multirotor_base.xacro" /-->
+  <link name="base_link"/>
+  <joint name="base_joint" type="fixed">
+    <origin rpy="0 0 1.57079632679" xyz="0 0 0"/>
+    <parent link="base_link"/>
+    <child link="body"/>
+  </joint>
+  <link name="body">
+    <inertial>
+      <mass value="4.57"/>
+      <!-- [kg] -->
+      <origin xyz="-0.0 0.0185 -0.05"/>
+      <!-- xyz="-0.0 0.13 0.0" or xyz="0.00 0.13 -0.1" -->
+      <inertia ixx="0.1052111083" ixy="0.0" ixz="0.0" iyy="0.1052111083" iyz="0.0" izz="0.12542375"/>
+      <!-- [kg m^2] [kg m^2] [kg m^2] [kg m^2] [kg m^2] [kg m^2] -->
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0.0 -0.11 0"/>
+      <geometry>
+        <mesh filename="package://hovermap_subt/meshes/navi-drone-hipoly-mount.dae" scale="1 1 1"/>
+      </geometry>
+    </visual>
+    <!-- visual and collision for the prop guard are seperate from the main body -->
+    <visual>
+      <origin rpy="0 0 0" xyz="0.0 -0.11 0"/>
+      <geometry>
+        <mesh filename="package://hovermap_subt/meshes/navi-guard.dae" scale="1 1 1"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.0 -0.11 0"/>
+      <geometry>
+        <mesh filename="package://hovermap_subt/meshes/navi-drone-hipoly-mount.dae" scale="1 1 1"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.0 -0.11 0"/>
+      <geometry>
+        <mesh filename="package://hovermap_subt/meshes/navi-guard.dae" scale="1 1 1"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="rotor_0">
+    <inertial>
+      <mass value="0.02"/>
+      <origin rpy="0. 0. 1.57079632679" xyz="0. 0. 0."/>
+      <inertia ixx="2.326665736e-06" ixy="0.0" ixz="0.0" iyy="6.03333092e-05" iyz="0.0" izz="6.2326641736e-05"/>
+    </inertial>
+    <collision name="rotor_0_collision">
+      <geometry>
+        <box size="0.38 0.036 0.01"/>
+      </geometry>
+      <origin rpy="0. 0. 1.01341698503" xyz="0. 0. 0.04"/>
+    </collision>
+    <collision name="rotor_0_collision">
+      <geometry>
+        <box size="0.35492 0.036 0.01"/>
+      </geometry>
+      <origin rpy="0. 0. -0.604152433383" xyz="0. 0. -0.0375"/>
+    </collision>
+    <!-- top rotor (15in)-->
+    <visual name="rotor_0_visual">
+      <geometry>
+        <mesh filename="package://hovermap_subt/meshes/navi-15in-CW-tex.dae" scale="1 1 1"/>
+        <origin rpy="0. 0. 0." xyz="-1. 0. 0."/>
+      </geometry>
+    </visual>
+    <!-- bottom rotor (14in)-->
+    <visual name="rotor_0_visual">
+      <geometry>
+        <mesh filename="package://hovermap_subt/meshes/navi-14in-CW-tex.dae" scale="1 1 1"/>
+        <origin rpy="0. 0. 0" xyz="-1. 0. 0."/>
+      </geometry>
+    </visual>
+  </link>
+  <joint name="rotor_0_joint" type="continuous">
+    <origin rpy="0 0 0" xyz="0.24 -0.24 0.035"/>
+    <child link="rotor_0"/>
+    <parent link="base_link"/>
+    <axis xyz="0 0 1"/>
+    <gazebo>
+      <physics>
+        <ode>
+          <implicit_spring_damper>1</implicit_spring_damper>
+        </ode>
+      </physics>
+    </gazebo>
+  </joint>
+  <gazebo>
+    <plugin filename="libLiftDragPlugin.so" name="rotor_0_blade_1">
+      <a0>0.3</a0>
+      <alpha_stall>1.4</alpha_stall>
+      <cla>0.06</cla>
+      <cda>0.10</cda>
+      <cma>0.00</cma>
+      <cla_stall>-0.025</cla_stall>
+      <cda_stall>0.0</cda_stall>
+      <cma_stall>0.0</cma_stall>
+      <area>0.02345</area>
+      <air_density>1.2041</air_density>
+      <cp>0.084 0 0</cp>
+      <forward>0 1 0</forward>
+      <upward>0 0 1</upward>
+      <link_name>rotor_0</link_name>
+    </plugin>
+    <plugin filename="libLiftDragPlugin.so" name="rotor_0_blade_2">
+      <a0>0.3</a0>
+      <alpha_stall>1.4</alpha_stall>
+      <cla>0.06</cla>
+      <cda>0.10</cda>
+      <cma>0.00</cma>
+      <cla_stall>-0.025</cla_stall>
+      <cda_stall>0.0</cda_stall>
+      <cma_stall>0.0</cma_stall>
+      <area>0.02345</area>
+      <air_density>1.2041</air_density>
+      <cp>-0.084 0 0</cp>
+      <forward>0 -1 0</forward>
+      <upward>0 0 1</upward>
+      <link_name>rotor_0</link_name>
+    </plugin>
+  </gazebo>
+  <link name="rotor_1">
+    <inertial>
+      <mass value="0.02"/>
+      <origin rpy="0. 0. 1.57079632679" xyz="0. 0. 0."/>
+      <inertia ixx="2.326665736e-06" ixy="0.0" ixz="0.0" iyy="6.03333092e-05" iyz="0.0" izz="6.2326641736e-05"/>
+    </inertial>
+    <collision name="rotor_1_collision">
+      <geometry>
+        <box size="0.38 0.036 0.01"/>
+      </geometry>
+      <origin rpy="0. 0. 1.01341698503" xyz="0. 0. 0.04"/>
+    </collision>
+    <collision name="rotor_1_collision">
+      <geometry>
+        <box size="0.35492 0.036 0.01"/>
+      </geometry>
+      <origin rpy="0. 0. -0.604152433383" xyz="0. 0. -0.0375"/>
+    </collision>
+    <!-- top rotor (15in)-->
+    <visual name="rotor_1_visual">
+      <geometry>
+        <mesh filename="package://hovermap_subt/meshes/navi-15in-CW-tex.dae" scale="1 1 1"/>
+        <origin rpy="0. 0. 0." xyz="-1. 0. 0."/>
+      </geometry>
+    </visual>
+    <!-- bottom rotor (14in)-->
+    <visual name="rotor_1_visual">
+      <geometry>
+        <mesh filename="package://hovermap_subt/meshes/navi-14in-CW-tex.dae" scale="1 1 1"/>
+        <origin rpy="0. 0. 0" xyz="-1. 0. 0."/>
+      </geometry>
+    </visual>
+  </link>
+  <joint name="rotor_1_joint" type="continuous">
+    <origin rpy="0 0 0" xyz="-0.24 0.24 0.035"/>
+    <child link="rotor_1"/>
+    <parent link="base_link"/>
+    <axis xyz="0 0 1"/>
+    <gazebo>
+      <physics>
+        <ode>
+          <implicit_spring_damper>1</implicit_spring_damper>
+        </ode>
+      </physics>
+    </gazebo>
+  </joint>
+  <gazebo>
+    <plugin filename="libLiftDragPlugin.so" name="rotor_1_blade_1">
+      <a0>0.3</a0>
+      <alpha_stall>1.4</alpha_stall>
+      <cla>0.06</cla>
+      <cda>0.10</cda>
+      <cma>0.00</cma>
+      <cla_stall>-0.025</cla_stall>
+      <cda_stall>0.0</cda_stall>
+      <cma_stall>0.0</cma_stall>
+      <area>0.02345</area>
+      <air_density>1.2041</air_density>
+      <cp>0.084 0 0</cp>
+      <forward>0 1 0</forward>
+      <upward>0 0 1</upward>
+      <link_name>rotor_1</link_name>
+    </plugin>
+    <plugin filename="libLiftDragPlugin.so" name="rotor_1_blade_2">
+      <a0>0.3</a0>
+      <alpha_stall>1.4</alpha_stall>
+      <cla>0.06</cla>
+      <cda>0.10</cda>
+      <cma>0.00</cma>
+      <cla_stall>-0.025</cla_stall>
+      <cda_stall>0.0</cda_stall>
+      <cma_stall>0.0</cma_stall>
+      <area>0.02345</area>
+      <air_density>1.2041</air_density>
+      <cp>-0.084 0 0</cp>
+      <forward>0 -1 0</forward>
+      <upward>0 0 1</upward>
+      <link_name>rotor_1</link_name>
+    </plugin>
+  </gazebo>
+  <link name="rotor_2">
+    <inertial>
+      <mass value="0.02"/>
+      <origin rpy="0. 0. 1.57079632679" xyz="0. 0. 0."/>
+      <inertia ixx="2.326665736e-06" ixy="0.0" ixz="0.0" iyy="6.03333092e-05" iyz="0.0" izz="6.2326641736e-05"/>
+    </inertial>
+    <collision name="rotor_2_collision">
+      <geometry>
+        <box size="0.38 0.036 0.01"/>
+      </geometry>
+      <origin rpy="0. 0. -1.01341698503" xyz="0. 0. 0.04"/>
+    </collision>
+    <collision name="rotor_2_collision">
+      <geometry>
+        <box size="0.35492 0.036 0.01"/>
+      </geometry>
+      <origin rpy="0. 0. 0.604152433383" xyz="0. 0. -0.0375"/>
+    </collision>
+    <!-- top rotor (15in)-->
+    <visual name="rotor_2_visual">
+      <geometry>
+        <mesh filename="package://hovermap_subt/meshes/navi-15in-CCW-tex.dae" scale="1 1 1"/>
+        <origin rpy="0. 0. 0." xyz="-1. 0. 0."/>
+      </geometry>
+    </visual>
+    <!-- bottom rotor (14in)-->
+    <visual name="rotor_2_visual">
+      <geometry>
+        <mesh filename="package://hovermap_subt/meshes/navi-14in-CCW-tex.dae" scale="1 1 1"/>
+        <origin rpy="0. 0. 0" xyz="-1. 0. 0."/>
+      </geometry>
+    </visual>
+  </link>
+  <joint name="rotor_2_joint" type="continuous">
+    <origin rpy="0 0 0" xyz="0.24 0.24 0.035"/>
+    <child link="rotor_2"/>
+    <parent link="base_link"/>
+    <axis xyz="0 0 1"/>
+    <gazebo>
+      <physics>
+        <ode>
+          <implicit_spring_damper>1</implicit_spring_damper>
+        </ode>
+      </physics>
+    </gazebo>
+  </joint>
+  <gazebo>
+    <plugin filename="libLiftDragPlugin.so" name="rotor_2_blade_1">
+      <a0>0.3</a0>
+      <alpha_stall>1.4</alpha_stall>
+      <cla>0.06</cla>
+      <cda>0.10</cda>
+      <cma>0.00</cma>
+      <cla_stall>-0.025</cla_stall>
+      <cda_stall>0.0</cda_stall>
+      <cma_stall>0.0</cma_stall>
+      <area>0.02345</area>
+      <air_density>1.2041</air_density>
+      <cp>0.084 0 0</cp>
+      <forward>0 -1 0</forward>
+      <upward>0 0 1</upward>
+      <link_name>rotor_2</link_name>
+    </plugin>
+    <plugin filename="libLiftDragPlugin.so" name="rotor_2_blade_2">
+      <a0>0.3</a0>
+      <alpha_stall>1.4</alpha_stall>
+      <cla>0.06</cla>
+      <cda>0.10</cda>
+      <cma>0.00</cma>
+      <cla_stall>-0.025</cla_stall>
+      <cda_stall>0.0</cda_stall>
+      <cma_stall>0.0</cma_stall>
+      <area>0.02345</area>
+      <air_density>1.2041</air_density>
+      <cp>-0.084 0 0</cp>
+      <forward>0 1 0</forward>
+      <upward>0 0 1</upward>
+      <link_name>rotor_2</link_name>
+    </plugin>
+  </gazebo>
+  <link name="rotor_3">
+    <inertial>
+      <mass value="0.02"/>
+      <origin rpy="0. 0. 1.57079632679" xyz="0. 0. 0."/>
+      <inertia ixx="2.326665736e-06" ixy="0.0" ixz="0.0" iyy="6.03333092e-05" iyz="0.0" izz="6.2326641736e-05"/>
+    </inertial>
+    <collision name="rotor_3_collision">
+      <geometry>
+        <box size="0.38 0.036 0.01"/>
+      </geometry>
+      <origin rpy="0. 0. -1.01341698503" xyz="0. 0. 0.04"/>
+    </collision>
+    <collision name="rotor_3_collision">
+      <geometry>
+        <box size="0.35492 0.036 0.01"/>
+      </geometry>
+      <origin rpy="0. 0. 0.604152433383" xyz="0. 0. -0.0375"/>
+    </collision>
+    <!-- top rotor (15in)-->
+    <visual name="rotor_3_visual">
+      <geometry>
+        <mesh filename="package://hovermap_subt/meshes/navi-15in-CCW-tex.dae" scale="1 1 1"/>
+        <origin rpy="0. 0. 0." xyz="-1. 0. 0."/>
+      </geometry>
+    </visual>
+    <!-- bottom rotor (14in)-->
+    <visual name="rotor_3_visual">
+      <geometry>
+        <mesh filename="package://hovermap_subt/meshes/navi-14in-CCW-tex.dae" scale="1 1 1"/>
+        <origin rpy="0. 0. 0" xyz="-1. 0. 0."/>
+      </geometry>
+    </visual>
+  </link>
+  <joint name="rotor_3_joint" type="continuous">
+    <origin rpy="0 0 0" xyz="-0.24 -0.24 0.035"/>
+    <child link="rotor_3"/>
+    <parent link="base_link"/>
+    <axis xyz="0 0 1"/>
+    <gazebo>
+      <physics>
+        <ode>
+          <implicit_spring_damper>1</implicit_spring_damper>
+        </ode>
+      </physics>
+    </gazebo>
+  </joint>
+  <gazebo>
+    <plugin filename="libLiftDragPlugin.so" name="rotor_3_blade_1">
+      <a0>0.3</a0>
+      <alpha_stall>1.4</alpha_stall>
+      <cla>0.06</cla>
+      <cda>0.10</cda>
+      <cma>0.00</cma>
+      <cla_stall>-0.025</cla_stall>
+      <cda_stall>0.0</cda_stall>
+      <cma_stall>0.0</cma_stall>
+      <area>0.02345</area>
+      <air_density>1.2041</air_density>
+      <cp>0.084 0 0</cp>
+      <forward>0 -1 0</forward>
+      <upward>0 0 1</upward>
+      <link_name>rotor_3</link_name>
+    </plugin>
+    <plugin filename="libLiftDragPlugin.so" name="rotor_3_blade_2">
+      <a0>0.3</a0>
+      <alpha_stall>1.4</alpha_stall>
+      <cla>0.06</cla>
+      <cda>0.10</cda>
+      <cma>0.00</cma>
+      <cla_stall>-0.025</cla_stall>
+      <cda_stall>0.0</cda_stall>
+      <cma_stall>0.0</cma_stall>
+      <area>0.02345</area>
+      <air_density>1.2041</air_density>
+      <cp>-0.084 0 0</cp>
+      <forward>0 1 0</forward>
+      <upward>0 0 1</upward>
+      <link_name>rotor_3</link_name>
+    </plugin>
+  </gazebo>
+  <gazebo reference="base_link">
+    <sensor name="imu_sensor" type="imu">
+      <pose>0 0 0 3.141593 0 0</pose>
+      <always_on>1</always_on>
+      <update_rate>1000.0</update_rate>
+    </sensor>
+  </gazebo>
+  <!-- Ardupilot position -->
+  <gazebo>
+    <plugin filename="libArduPilotPlugin.so" name="arducopter_plugin">
+      <fdm_addr>127.0.0.1</fdm_addr>
+      <fdm_port_in>9002</fdm_port_in>
+      <fdm_port_out>9003</fdm_port_out>
+      <!--
+            Require by APM :
+            Only change model and gazebo from XYZ to XY-Z coordinates
+        -->
+      <modelXYZToAirplaneXForwardZDown>0 0 0 3.141593 0 0</modelXYZToAirplaneXForwardZDown>
+      <gazeboXYZToNED>0 0 0 3.141593 0 0</gazeboXYZToNED>
+      <imuName>navi::base_link::imu_sensor</imuName>
+      <connectionTimeoutMaxCount>5</connectionTimeoutMaxCount>
+      <control channel="0">
+        <!--
+            incoming control command [0, 1]
+            so offset it by 0 to get [0, 1]
+            and divide max target by 1.
+            offset = 0
+            multiplier = 838 max rpm / 1 = 838
+          -->
+        <type>VELOCITY</type>
+        <offset>0</offset>
+        <p_gain>0.20</p_gain>
+        <i_gain>0</i_gain>
+        <d_gain>0</d_gain>
+        <i_max>0</i_max>
+        <i_min>0</i_min>
+        <cmd_max>2.5</cmd_max>
+        <cmd_min>-2.5</cmd_min>
+        <jointName>rotor_0_joint</jointName>
+        <multiplier>6340</multiplier>
+        <controlVelocitySlowdownSim>1</controlVelocitySlowdownSim>
+      </control>
+      <control channel="1">
+        <type>VELOCITY</type>
+        <offset>0</offset>
+        <p_gain>0.20</p_gain>
+        <i_gain>0</i_gain>
+        <d_gain>0</d_gain>
+        <i_max>0</i_max>
+        <i_min>0</i_min>
+        <cmd_max>2.5</cmd_max>
+        <cmd_min>-2.5</cmd_min>
+        <jointName>rotor_1_joint</jointName>
+        <multiplier>6340</multiplier>
+        <controlVelocitySlowdownSim>1</controlVelocitySlowdownSim>
+      </control>
+      <control channel="2">
+        <type>VELOCITY</type>
+        <offset>0</offset>
+        <p_gain>0.20</p_gain>
+        <i_gain>0</i_gain>
+        <d_gain>0</d_gain>
+        <i_max>0</i_max>
+        <i_min>0</i_min>
+        <cmd_max>2.5</cmd_max>
+        <cmd_min>-2.5</cmd_min>
+        <jointName>rotor_2_joint</jointName>
+        <multiplier>-6340</multiplier>
+        <controlVelocitySlowdownSim>1</controlVelocitySlowdownSim>
+      </control>
+      <control channel="3">
+        <type>VELOCITY</type>
+        <offset>0</offset>
+        <p_gain>0.20</p_gain>
+        <i_gain>0</i_gain>
+        <d_gain>0</d_gain>
+        <i_max>0</i_max>
+        <i_min>0</i_min>
+        <cmd_max>2.5</cmd_max>
+        <cmd_min>-2.5</cmd_min>
+        <jointName>rotor_3_joint</jointName>
+        <multiplier>-6340</multiplier>
+        <controlVelocitySlowdownSim>1</controlVelocitySlowdownSim>
+      </control>
+    </plugin>    
+  </gazebo>
+    <!-- Gimbal position params -->
+  <!-- Pan Bracket -->
+  <link name="gimbal_pan">
+    <inertial>
+      <mass value="0.025"/>
+      <inertia ixx="5.8083e-4" ixy="0" ixz="0" iyy="3.0833e-5" iyz="0" izz="5.9083e-4"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/gimbal_pan.dae" scale="1 1 1"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+  </link>
+  <gazebo reference="gimbal_pan">
+    <material>Gazebo/DarkGrey</material>
+  </gazebo>
+  <joint name="base_to_pan" type="revolute">
+    <origin rpy="0 0 0" xyz="0 0 0.015"/>
+    <axis xyz="0 0 1"/>
+    <parent link="base_link"/>
+    <child link="gimbal_pan"/>
+    <limit effort="10" lower="-1.57079632679" upper="1.57079632679" velocity="20"/>
+  </joint>
+  <!-- Roll Bracket -->
+  <link name="gimbal_roll">
+    <inertial>
+      <mass value="0.025"/>
+      <inertia ixx="5.8083e-4" ixy="0" ixz="0" iyy="3.0833e-5" iyz="0" izz="5.9083e-4"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/gimbal_roll.dae" scale="1 1 1"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+  </link>
+  <gazebo reference="gimbal_roll">
+    <material>Gazebo/DarkGrey</material>
+  </gazebo>
+  <joint name="pan_to_roll" type="revolute">
+    <origin rpy="0 0 0" xyz="0 0 0.075"/>
+    <axis xyz="1 0 0"/>
+    <parent link="gimbal_pan"/>
+    <child link="gimbal_roll"/>
+    <limit effort="10" lower="-0.785398163397" upper="0.785398163397" velocity="20"/>
+  </joint>
+  <!-- Tilt Bracket-->
+  <link name="gimbal_tilt">
+    <inertial>
+      <mass value="0.025"/>
+      <inertia ixx="5.8083e-4" ixy="0" ixz="0" iyy="3.0833e-5" iyz="0" izz="5.9083e-4"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/gimbal_tilt.dae" scale="1 1 1"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+  </link>
+  <gazebo reference="gimbal_tilt">
+    <material>Gazebo/DarkGrey</material>
+  </gazebo>
+  <joint name="roll_to_tilt" type="revolute">
+    <origin rpy="0 0 0" xyz="0.018 0 0"/>
+    <axis xyz="0 1 0"/>
+    <parent link="gimbal_roll"/>
+    <child link="gimbal_tilt"/>
+    <limit effort="10" lower="-0.785398163397" upper="0.785398163397" velocity="20"/>
+  </joint>
+  <link name="gimbal_camera">
+    <inertial>
+      <mass value="0.025"/>
+      <inertia ixx="5.8083e-4" ixy="0" ixz="0" iyy="3.0833e-5" iyz="0" izz="5.9083e-4"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.001 0.001 0.001"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+  </link>
+  <gazebo reference="gimbal_base">
+    <material>Gazebo/DarkGrey</material>
+  </gazebo>
+  <joint name="gimbal_camera_joint" type="fixed">
+    <parent link="gimbal_tilt"/>
+    <child link="gimbal_camera"/>
+    <origin rpy="0 0 0" xyz="0 0.005 0"/>
+  </joint>
+  <!-- Gimbal Controller Plugin -->
+  <gazebo>
+    <plugin filename="libhm_gimbal.so" name="gimbal_controller">
+      <gimbalName>gimbal</gimbalName>
+      <topicName>/gimbal/joints</topicName>
+      <pitch>roll_to_tilt</pitch>
+      <roll>pan_to_roll</roll>
+      <yaw>base_to_pan</yaw>
+      <balance_target>gimbal_camera</balance_target>
+      <!-- Position Based PID Parameters -->
+      <kp0>20</kp0>
+      <ki0>1.5</ki0>
+      <kd0>0.8</kd0>
+      <imax0>1.0</imax0>
+      <imin0>-1.0</imin0>
+      <driveMax0>20.0</driveMax0>
+      <driveMin0>-20.0</driveMin0>
+      <kp1>20</kp1>
+      <ki1>1</ki1>
+      <kd1>0.3</kd1>
+      <imax1>1.0</imax1>
+      <imin1>-1.0</imin1>
+      <driveMax1>20.0</driveMax1>
+      <driveMin1>-20.0</driveMin1>
+      <kp2>20</kp2>
+      <ki2>1.5</ki2>
+      <kd2>0.8</kd2>
+      <imax2>1</imax2>
+      <imin2>-1</imin2>
+      <driveMax2>20.0</driveMax2>
+      <driveMin2>-20.0</driveMin2>
+    </plugin>
+  </gazebo>
+  <!-- Camera sensor -->
+  <gazebo reference="gimbal_camera">
+    <sensor name="gimbal_camera" type="camera">
+      <update_rate>10.0</update_rate>
+      <camera name="gimbal">
+        <horizontal_fov>1.287</horizontal_fov>
+        <image>
+          <width>300</width>
+          <height>300</height>
+          <format>B8G8R8</format>
+        </image>
+        <clip>
+          <near>0.02</near>
+          <far>300</far>
+        </clip>
+      </camera>
+      <plugin filename="libhm_camera.so" name="camera_controller">
+        <topicName>/gimbal/image_raw</topicName>
+        <namespace>/h1</namespace>
+      </plugin>
+    </sensor>
+  </gazebo>
+  <link name="gimbal_flashlight">
+    <visual>
+      <origin rpy="0 0 -1.57" xyz="0.0 0.0 0"/>
+      <geometry>
+        <mesh filename="package://hm_sensor_description/meshes/spotlight.dae" scale="0.005 0.005 0.005"/>
+      </geometry>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.0001"/>
+      <inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001"/>
+    </inertial>
+  </link>
+  <joint name="gimbal_flashlight_joint" type="fixed">
+    <parent link="gimbal_tilt"/>
+    <child link="gimbal_flashlight"/>
+    <origin rpy="0 0 0" xyz="-0.012 -0.025 -0.01"/>
+  </joint>
+  <gazebo reference="gimbal_flashlight">
+    <light name="light_source" type="spot">
+      <pose>0.03 -0.02 -0.01 0 -1.57 0</pose>
+      <attenuation>
+        <range>40</range>
+        <linear>0</linear>
+        <constant>0.02</constant>
+        <quadratic>0.02</quadratic>
+      </attenuation>
+      <diffuse>220 210 175 1</diffuse>
+      <specular>220 210 175 1</specular>
+      <spot>
+        <inner_angle>0.7</inner_angle>
+        <outer_angle>1</outer_angle>
+        <falloff>1</falloff>
+      </spot>
+      <cast_shadows>true</cast_shadows>
+    </light>
+  </gazebo>
+  <!-- Attach hovermap to the subt body -->
+  <link name="hovermap_base">
+    <inertial>
+      <mass value="0.7"/>
+      <origin rpy="0 0 1.57079632679" xyz="0 0 0"/>
+      <inertia ixx="0.000169166666667" ixy="0.0" ixz="0.0" iyy="9.57547169811e-06" iyz="0.0" izz="0.000291666666667"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 1.57079632679" xyz="0.0245 0 0.041"/>
+      <geometry>
+        <mesh filename="package://hm_sensor_description/meshes/ST-LIDAR-case-2.dae" scale="1 1 1"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 1.57079632679" xyz="0.0245 0 0.041"/>
+      <geometry>
+        <mesh filename="package://hm_sensor_description/meshes/ST-LIDAR-case-2.dae" scale="1 1 1"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="duck_joint" type="fixed">
+    <origin rpy="0 0 -1.57079632679" xyz="-0.0 -0.095 -0.0525"/>
+    <parent link="body"/>
+    <child link="hovermap_base"/>
+  </joint>
+  <!-- Encoder base added in other macro depending on horizontal or vertical -->
+  <link name="encoder_rotating">
+    <inertial>
+      <mass value="0.1"/>
+      <origin rpy="3.14159265359 0 0" xyz="0 0 0"/>
+      <inertia ixx="6.66666666667e-06" ixy="0.0" ixz="0.0" iyy="6.66666666667e-06" iyz="0.0" izz="6.66666666667e-06"/>
+    </inertial>
+    <visual>
+      <origin rpy="3.14159265359 0 1.57079632679" xyz="0 0 -0.0125"/>
+      <geometry>
+        <mesh filename="package://hm_sensor_description/meshes/ST-LIDAR-hipoly.dae" scale="1 1 1"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="3.14159265359 0 1.57079632679" xyz="0 0 -0.0125"/>
+      <geometry>
+        <mesh filename="package://hm_sensor_description/meshes/ST-LIDAR-hipoly.dae" scale="1 1 1"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- <joint name="encoder_joint" type="revolute"> -->
+  <joint name="encoder_joint" type="continuous">
+    <origin rpy="0 -1.0471975512 0" xyz="0 0 0"/>
+    <parent link="encoder"/>
+    <child link="encoder_rotating"/>
+    <axis xyz="0 0 1"/>
+    <!-- <limit effort="0" lower="0" upper="0" velocity="0"/> -->
+    <limit effort="2.01" velocity="1.0"/>
+  </joint>
+  <link name="velodyne">
+    <inertial>
+      <mass value="0.001"/>
+      <origin xyz="0 0 0"/>
+      <inertia ixx="1e-5" ixy="0.0" ixz="0.0" iyy="1e-5" iyz="0.0" izz="1e-5"/>
+    </inertial>
+    <!-- not displaying the visuals here
+            <visual>
+                <origin xyz="0 0 0" rpy="0 0 ${pi/2}" />
+                <geometry>
+                    <mesh
+                        filename="package://hm_sensor_description/meshes/H LIDAR sensor.dae"
+                        scale="1 1 1" />
+                </geometry>
+            </visual> -->
+    <!-- using a mesh collider instead
+            <collision>
+                <origin xyz="0.001 0.007 0" rpy="${pi/2} 0 0" />
+                <geometry>
+                    <cylinder length="${height}" radius="${radius}" />
+                </geometry>
+            </collision>-->
+  </link>
+  <!-- Joint connecting the lidar sensor to its parent (the velodyne cylinder) -->
+  <joint name="velodyne_joint" type="fixed">
+    <origin rpy="0 1.57079632679 0" xyz="0.0 0.0 -0.09"/>
+    <parent link="encoder_rotating"/>
+    <child link="velodyne"/>
+  </joint>
+  <!-- The actual sensor is inside the link -->
+  <!-- NOTE: The pose should be set to 0 / it has no effect if it isn't set to 0 -->
+  <gazebo reference="velodyne">
+    <sensor name="velodyne" type="gpu_ray">
+      <always_on>true</always_on>
+      <update_rate>20</update_rate>
+      <pose>0 0 0 0 0 0</pose>
+      <visualize>false</visualize>
+      <ray>
+        <scan>
+          <horizontal>
+            <samples>360</samples>
+            <resolution>1</resolution>
+            <min_angle>0.0</min_angle>
+            <max_angle>6.28318530718</max_angle>
+          </horizontal>
+          <vertical>
+            <samples>16</samples>
+            <resolution>1</resolution>
+            <min_angle>-0.261799387799</min_angle>
+            <max_angle>0.261799387799</max_angle>
+          </vertical>
+        </scan>
+        <range>
+          <min>0.08</min>
+          <max>100.0</max>
+          <resolution>1</resolution>
+        </range>
+        <noise>
+          <type>gaussian</type>
+          <mean>0.0</mean>
+          <stddev>0.01</stddev>
+        </noise>
+      </ray>
+      <plugin filename="libhm_gpu_laser.so" name="hm_velodyne_controller">
+        <modelName>navi</modelName>
+        <encoderJoint>encoder_joint</encoderJoint>
+        <topicName>/velodyne_points</topicName>
+        <correction>0.0</correction>
+      </plugin>
+    </sensor>
+  </gazebo>
+  <gazebo>
+    <plugin filename="libhm_joint_controller.so" name="encoder_joint_controller">
+      <jointName>encoder_joint</jointName>
+      <frameName>hovermap_base</frameName>
+      <kp>0.001</kp>
+      <!--reduced according the lidar mass -->
+      <ki>0.0</ki>
+      <kd>0.0</kd>
+      <imax>1.0</imax>
+      <imin>-1.0</imin>
+      <driveMax>100.0</driveMax>
+      <driveMin>-100.0</driveMin>
+      <velocitySetpoint>3.14159265359</velocitySetpoint>
+      <updateRate>100</updateRate>
+    </plugin>
+  </gazebo>
+  <link name="imu">
+    <inertial>
+      <mass value="0.001"/>
+      <origin xyz="0 0 0"/>
+      <inertia ixx="1.66666666667e-08" ixy="0.0" ixz="0.0" iyy="1.66666666667e-08" iyz="0.0" izz="1.66666666667e-08"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.01 0.01 0.01"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.01 0.01 0.01"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="imu_joint" type="fixed">
+    <origin rpy="3.14159265359 0 0" xyz="0 0 0"/>
+    <parent link="hovermap_base"/>
+    <child link="imu"/>
+  </joint>
+  <gazebo reference="imu">
+    <sensor name="imu" type="imu">
+      <always_on>true</always_on>
+      <update_rate>100</update_rate>
+      <pose>0 0 0 0 0 0</pose>
+      <visualize>true</visualize>
+      <imu>
+        <topic>imu</topic>
+        <angular_velocity>
+          <x>
+            <noise type="none"/>
+          </x>
+          <y>
+            <noise type="none"/>
+          </y>
+          <z>
+            <noise type="none"/>
+          </z>
+        </angular_velocity>
+        <linear_acceleration>
+          <x>
+            <noise type="none"/>
+          </x>
+          <y>
+            <noise type="none"/>
+          </y>
+          <z>
+            <noise type="none"/>
+          </z>
+        </linear_acceleration>
+      </imu>
+      <plugin filename="libhm_imu.so" name="hm_imu_controller">
+        <topicName>imu</topicName>
+        <frameName>imu</frameName>
+        <noiseFree>true</noiseFree>
+        <useROS>0</useROS>
+      </plugin>
+    </sensor>
+  </gazebo>
+  <!-- LEDs -->
+  <!-- <xacro:led led_prefix="center" parent_link="${name}_base" ns="${model}" xyz="-0.10 0 0" rpy="0 ${-pi/2} 0" range="0.0" brightness="0.5" default_color='0 0.8 0' lightShape="box"/>
+    <xacro:led led_prefix="left" parent_link="${name}_base" ns="${model}" xyz="-0.10 0.05 0" rpy="0 ${-pi/2} 0" range="0.015" brightness="0.2" default_color='0.7 0.7 0'/> -->
+  <!-- <gazebo reference="hovermap_base">
+      <material>Gazebo/DarkGrey</material>
+    </gazebo> -->
+  <!-- Battery - data from https://www.dji.com/au/matrice-200-series/info#specs using 2 x TB55 -->
+  <gazebo>
+    <plugin filename="libhm_battery.so" name="battery_controller">
+      <actuatorTopic>/M210/command/motor_speed</actuatorTopic>
+      <voltage>22.8</voltage>
+      <noCapacityVoltage>18</noCapacityVoltage>
+      <capacityJoules>1273896</capacityJoules>
+      <!-- 2 x 176.93 Wh in Joules -->
+      <constantLoadWatts>36</constantLoadWatts>
+      <!-- Watts [velodyne + NUC - should be increased for other power sinks] -->
+      <updateRate>100</updateRate>
+    </plugin>
+  </gazebo>
+  <link name="encoder">
+    <inertial>
+      <mass value="0.01"/>
+      <origin xyz="0 0 0"/>
+      <inertia ixx="1.66666666667e-07" ixy="0.0" ixz="0.0" iyy="1.66666666667e-07" iyz="0.0" izz="1.66666666667e-07"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.01 0.01 0.01"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.01 0.01 0.01"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="base_to_encoder" type="fixed">
+    <origin rpy="0 0 0" xyz="0.0795 0 0.0"/>
+    <parent link="hovermap_base"/>
+    <child link="encoder"/>
+  </joint>
+  <!-- display a box at aircraft center position specified by the stfs for the subterra  -->
+  <!-- <xacro:rect_prism name="aircraft_center" xlength="0.01" ywidth="0.01" zheight="0.01" mass="0.01" />
+
+    <joint name="base_to_aircraft_center" type="fixed">
+      <origin xyz="-0.075 0 0.10" rpy="0 0 0" />
+      <parent link="${name}_base" />
+      <child link="aircraft_center" />
+    </joint> -->
+  <gazebo>
+    <plugin filename="libhm_ekf_output.so" name="tf_plugin">
+      <hitlKinematicFrame>base_link</hitlKinematicFrame>
+      <odomFrame>slam_wildcat</odomFrame>
+      <odomChildFrame>imu</odomChildFrame>
+      <odomRefFrame>hovermap_base</odomRefFrame>
+      <cmdVelTopic>/cmd_vel</cmdVelTopic>
+      <odomInTopic>/dji_bridge/odometry</odomInTopic>
+      <useHITL>0</useHITL>
+      <odomOutTopic>/odometry</odomOutTopic>
+    </plugin>
+  </gazebo>
+</robot>
diff --git a/submitted_models/emesent_hovermap_sensor_config_1/urdf/robot_from_sdf.xacro b/submitted_models/emesent_hovermap_sensor_config_1/urdf/robot_from_sdf.xacro
new file mode 100644
index 00000000..50f0724c
--- /dev/null
+++ b/submitted_models/emesent_hovermap_sensor_config_1/urdf/robot_from_sdf.xacro
@@ -0,0 +1,345 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name='emesent_hovermap_sensor_config_1' xmlns:xacro='http://ros.org/wiki/xacro'>
+  <xacro:arg name="name" default="emesent_hovermap_sensor_config_1"/>
+  <xacro:property name="robot_namespace" value="$(arg name)"/>
+  <link name='${robot_namespace}/base_link'>
+    <inertial>
+      <origin xyz='-0.003069 0 -0.050337' rpy='0 -0 0'/>
+      <mass value='5.281'/>
+      <inertia ixx='0.105225' ixy='0' ixz='0' iyy='0.11353' iyz='0' izz='0.133861'/>
+    </inertial>
+    <collision name='base_link_fixed_joint_lump__body_collision'>
+      <origin xyz='0.11 0 0' rpy='0 -0 1.5708'/>
+      <geometry>
+        <mesh filename='package://emesent_hovermap_sensor_config_1/meshes/navi-drone-hipoly-mount.dae' scale='1 1 1'/>
+      </geometry>
+    </collision>
+    <collision name='base_link_fixed_joint_lump__body_collision_1'>
+      <origin xyz='0.11 0 0' rpy='0 -0 1.5708'/>
+      <geometry>
+        <mesh filename='package://emesent_hovermap_sensor_config_1/meshes/navi-guard.dae' scale='1 1 1'/>
+      </geometry>
+    </collision>
+    <collision name='base_link_fixed_joint_lump__hovermap_base_collision_2'>
+      <origin xyz='0.1195 0 -0.0115' rpy='0 -0 1.5708'/>
+      <geometry>
+        <mesh filename='package://emesent_hovermap_sensor_config_1/meshes/ST-LIDAR-case-2.dae' scale='1 1 1'/>
+      </geometry>
+    </collision>
+    <collision name='base_link_fixed_joint_lump__gimbal_base_collision_3'>
+      <origin xyz='0.18 0 0.035' rpy='0 -0 0'/>
+      <geometry>
+        <box size='0.07 0.05 0.03'/>
+      </geometry>
+    </collision>
+    <visual name='base_link_fixed_joint_lump__body_visual'>
+      <origin xyz='0.11 0 0' rpy='0 -0 1.5708'/>
+      <geometry>
+        <mesh filename='package://emesent_hovermap_sensor_config_1/meshes/navi-drone-hipoly-mount.dae' scale='1 1 1'/>
+      </geometry>
+    </visual>
+    <visual name='base_link_fixed_joint_lump__body_visual_1'>
+      <origin xyz='0.11 0 0' rpy='0 -0 1.5708'/>
+      <geometry>
+        <mesh filename='package://emesent_hovermap_sensor_config_1/meshes/navi-guard.dae' scale='1 1 1'/>
+      </geometry>
+    </visual>
+    <visual name='base_link_fixed_joint_lump__hovermap_base_visual_2'>
+      <origin xyz='0.1195 0 -0.0115' rpy='0 -0 1.5708'/>
+      <geometry>
+        <mesh filename='package://emesent_hovermap_sensor_config_1/meshes/ST-LIDAR-case-2.dae' scale='1 1 1'/>
+      </geometry>
+    </visual>
+    <visual name='base_link_fixed_joint_lump__gimbal_base_visual_3'>
+      <origin xyz='0.18 0 0.035' rpy='0 -0 0'/>
+      <geometry>
+        <box size='0.07 0.05 0.03'/>
+      </geometry>
+    </visual>
+  </link>
+  <sensor name='imu' update_rate='100'>
+    <parent link='${robot_namespace}/base_link'/>
+    <origin xyz='0 0 0' rpy='0 -0 0'/>
+  </sensor>
+  <link name='${robot_namespace}/gimbal_pan'>
+    <inertial>
+      <origin xyz='0 0 0' rpy='0 -0 0'/>
+      <mass value='0.025'/>
+      <inertia ixx='0.00058083' ixy='0' ixz='0' iyy='3.0833e-05' iyz='0' izz='0.00059083'/>
+    </inertial>
+    <collision name='gimbal_pan_collision'>
+      <origin xyz='0 0 0' rpy='0 -0 0'/>
+      <geometry>
+        <box size='0.001 0.001 0.001'/>
+      </geometry>
+    </collision>
+    <visual name='gimbal_pan_visual'>
+      <origin xyz='0 0 0' rpy='0 -0 0'/>
+      <geometry>
+        <mesh filename='package://emesent_hovermap_sensor_config_1/meshes/gimbal_pan.dae' scale='1 1 1'/>
+      </geometry>
+    </visual>
+  </link>
+  <link name='${robot_namespace}/gimbal_roll'>
+    <inertial>
+      <origin xyz='0 0 0' rpy='0 -0 0'/>
+      <mass value='0.025'/>
+      <inertia ixx='0.00058083' ixy='0' ixz='0' iyy='3.0833e-05' iyz='0' izz='0.00059083'/>
+    </inertial>
+    <collision name='gimbal_roll_collision'>
+      <origin xyz='0 0 0' rpy='0 -0 0'/>
+      <geometry>
+        <box size='0.001 0.001 0.001'/>
+      </geometry>
+    </collision>
+    <visual name='gimbal_roll_visual'>
+      <origin xyz='0 0 0' rpy='0 -0 0'/>
+      <geometry>
+        <mesh filename='package://emesent_hovermap_sensor_config_1/meshes/gimbal_roll.dae' scale='1 1 1'/>
+      </geometry>
+    </visual>
+  </link>
+  <link name='${robot_namespace}/gimbal_tilt'>
+    <inertial>
+      <origin xyz='-2.4e-05 0.002445 -2e-05' rpy='0 -0 0'/>
+      <mass value='0.0501'/>
+      <inertia ixx='0.00216206' ixy='0' ixz='0' iyy='0.00106169' iyz='0' izz='0.00218206'/>
+    </inertial>
+    <collision name='gimbal_tilt_collision'>
+      <origin xyz='0 0 0' rpy='0 -0 0'/>
+      <geometry>
+        <box size='0.001 0.001 0.001'/>
+      </geometry>
+    </collision>
+    <visual name='gimbal_tilt_visual'>
+      <origin xyz='0 0 0' rpy='0 -0 0'/>
+      <geometry>
+        <mesh filename='package://emesent_hovermap_sensor_config_1/meshes/gimbal_tilt.dae' scale='1 1 1'/>
+      </geometry>
+    </visual>
+    <visual name='gimbal_tilt_fixed_joint_lump__gimbal_flashlight_visual_2'>
+      <origin xyz='-0.012 -0.025 -0.01' rpy='0 0 -1.57'/>
+      <geometry>
+        <mesh filename='package://emesent_hovermap_sensor_config_1/meshes/spotlight.dae' scale='0.005 0.005 0.005'/>
+      </geometry>
+    </visual>
+  </link>
+  <sensor name='gimbal_camera' update_rate='10'>
+    <parent link='${robot_namespace}/gimbal_tilt'/>
+    <origin xyz='0 0.005 0' rpy='0 -0 0'/>
+    <camera>
+      <image width='300' height='300' hfov='1.287' near='0.02' far='300' />
+    </camera>
+  </sensor>
+  <link name='${robot_namespace}/encoder_rotating'>
+    <inertial>
+      <origin xyz='0 0 -0.000891' rpy='-3.14159 0 0'/>
+      <mass value='0.101'/>
+      <inertia ixx='2.46865e-05' ixy='0' ixz='0' iyy='2.46865e-05' iyz='-1.65708e-18' izz='1.66667e-05'/>
+    </inertial>
+    <collision name='encoder_rotating_collision'>
+      <origin xyz='0 0 -0.0125' rpy='-3.14159 -0 1.5708'/>
+      <geometry>
+        <mesh filename='package://emesent_hovermap_sensor_config_1/meshes/ST-LIDAR-hipoly.dae' scale='1 1 1'/>
+      </geometry>
+    </collision>
+    <visual name='encoder_rotating_visual'>
+      <origin xyz='0 0 -0.0125' rpy='-3.14159 -0 1.5708'/>
+      <geometry>
+        <mesh filename='package://emesent_hovermap_sensor_config_1/meshes/ST-LIDAR-hipoly.dae' scale='1 1 1'/>
+      </geometry>
+    </visual>
+  </link>
+  <sensor name='gpu_lidar' update_rate='20'>
+    <parent link='${robot_namespace}/encoder_rotating'/>
+    <origin xyz='0 0 0' rpy='0 -0 0'/>
+  </sensor>
+  <link name='${robot_namespace}/rotor_0'>
+    <inertial>
+      <origin xyz='0 0 0' rpy='0 -0 1.5708'/>
+      <mass value='0.02'/>
+      <inertia ixx='2.32667e-06' ixy='0' ixz='0' iyy='6.03333e-05' iyz='0' izz='6.23266e-05'/>
+    </inertial>
+    <collision name='rotor_0_collision_collision'>
+      <origin xyz='0 0 0.04' rpy='0 -0 1.01342'/>
+      <geometry>
+        <box size='0.38 0.036 0.01'/>
+      </geometry>
+    </collision>
+    <collision name='rotor_0_collision_collision_1'>
+      <origin xyz='0 0 -0.0375' rpy='0 0 -0.604152'/>
+      <geometry>
+        <box size='0.35492 0.036 0.01'/>
+      </geometry>
+    </collision>
+    <visual name='rotor_0_visual_visual'>
+      <origin xyz='0 0 0' rpy='0 -0 0'/>
+      <geometry>
+        <mesh filename='package://emesent_hovermap_sensor_config_1/meshes/navi-15in-CW-tex.dae' scale='1 1 1'/>
+      </geometry>
+    </visual>
+    <visual name='rotor_0_visual_visual_1'>
+      <origin xyz='0 0 0' rpy='0 -0 0'/>
+      <geometry>
+        <mesh filename='package://emesent_hovermap_sensor_config_1/meshes/navi-14in-CW-tex.dae' scale='1 1 1'/>
+      </geometry>
+    </visual>
+  </link>
+  <link name='${robot_namespace}/rotor_1'>
+    <inertial>
+      <origin xyz='0 0 0' rpy='0 -0 1.5708'/>
+      <mass value='0.02'/>
+      <inertia ixx='2.32667e-06' ixy='0' ixz='0' iyy='6.03333e-05' iyz='0' izz='6.23266e-05'/>
+    </inertial>
+    <collision name='rotor_1_collision_collision'>
+      <origin xyz='0 0 0.04' rpy='0 -0 1.01342'/>
+      <geometry>
+        <box size='0.38 0.036 0.01'/>
+      </geometry>
+    </collision>
+    <collision name='rotor_1_collision_collision_1'>
+      <origin xyz='0 0 -0.0375' rpy='0 0 -0.604152'/>
+      <geometry>
+        <box size='0.35492 0.036 0.01'/>
+      </geometry>
+    </collision>
+    <visual name='rotor_1_visual_visual'>
+      <origin xyz='0 0 0' rpy='0 -0 0'/>
+      <geometry>
+        <mesh filename='package://emesent_hovermap_sensor_config_1/meshes/navi-15in-CW-tex.dae' scale='1 1 1'/>
+      </geometry>
+    </visual>
+    <visual name='rotor_1_visual_visual_1'>
+      <origin xyz='0 0 0' rpy='0 -0 0'/>
+      <geometry>
+        <mesh filename='package://emesent_hovermap_sensor_config_1/meshes/navi-14in-CW-tex.dae' scale='1 1 1'/>
+      </geometry>
+    </visual>
+  </link>
+  <link name='${robot_namespace}/rotor_2'>
+    <inertial>
+      <origin xyz='0 0 0' rpy='0 -0 1.5708'/>
+      <mass value='0.02'/>
+      <inertia ixx='2.32667e-06' ixy='0' ixz='0' iyy='6.03333e-05' iyz='0' izz='6.23266e-05'/>
+    </inertial>
+    <collision name='rotor_2_collision_collision'>
+      <origin xyz='0 0 0.04' rpy='0 0 -1.01342'/>
+      <geometry>
+        <box size='0.38 0.036 0.01'/>
+      </geometry>
+    </collision>
+    <collision name='rotor_2_collision_collision_1'>
+      <origin xyz='0 0 -0.0375' rpy='0 -0 0.604152'/>
+      <geometry>
+        <box size='0.35492 0.036 0.01'/>
+      </geometry>
+    </collision>
+    <visual name='rotor_2_visual_visual'>
+      <origin xyz='0 0 0' rpy='0 -0 0'/>
+      <geometry>
+        <mesh filename='package://emesent_hovermap_sensor_config_1/meshes/navi-15in-CCW-tex.dae' scale='1 1 1'/>
+      </geometry>
+    </visual>
+    <visual name='rotor_2_visual_visual_1'>
+      <origin xyz='0 0 0' rpy='0 -0 0'/>
+      <geometry>
+        <mesh filename='package://emesent_hovermap_sensor_config_1/meshes/navi-14in-CCW-tex.dae' scale='1 1 1'/>
+      </geometry>
+    </visual>
+  </link>
+  <link name='${robot_namespace}/rotor_3'>
+    <inertial>
+      <origin xyz='0 0 0' rpy='0 -0 1.5708'/>
+      <mass value='0.02'/>
+      <inertia ixx='2.32667e-06' ixy='0' ixz='0' iyy='6.03333e-05' iyz='0' izz='6.23266e-05'/>
+    </inertial>
+    <collision name='rotor_3_collision_collision'>
+      <origin xyz='0 0 0.04' rpy='0 0 -1.01342'/>
+      <geometry>
+        <box size='0.38 0.036 0.01'/>
+      </geometry>
+    </collision>
+    <collision name='rotor_3_collision_collision_1'>
+      <origin xyz='0 0 -0.0375' rpy='0 -0 0.604152'/>
+      <geometry>
+        <box size='0.35492 0.036 0.01'/>
+      </geometry>
+    </collision>
+    <visual name='rotor_3_visual_visual'>
+      <origin xyz='0 0 0' rpy='0 -0 0'/>
+      <geometry>
+        <mesh filename='package://emesent_hovermap_sensor_config_1/meshes/navi-15in-CCW-tex.dae' scale='1 1 1'/>
+      </geometry>
+    </visual>
+    <visual name='rotor_3_visual_visual_1'>
+      <origin xyz='0 0 0' rpy='0 -0 0'/>
+      <geometry>
+        <mesh filename='package://emesent_hovermap_sensor_config_1/meshes/navi-14in-CCW-tex.dae' scale='1 1 1'/>
+      </geometry>
+    </visual>
+  </link>
+  <joint name='gimbal_pan_joint' type='revolute'>
+    <origin xyz='0.2 0 0.5' rpy='0 -0 0'/>
+    <parent link='${robot_namespace}/base_link'/>
+    <child link='${robot_namespace}/gimbal_pan'/>
+    <dynamics damping='0' friction='0' />
+    <axis xyz='0 0 1'/>
+    <limit lower='-1.5708' upper='1.5708' effort='10' velocity='20'/>
+  </joint>
+  <joint name='gimbal_roll_joint' type='revolute'>
+    <origin xyz='0 0 0.09' rpy='0 -0 0'/>
+    <parent link='${robot_namespace}/gimbal_pan'/>
+    <child link='${robot_namespace}/gimbal_roll'/>
+    <dynamics damping='0' friction='0' />
+    <axis xyz='1 0 0'/>
+    <limit lower='-0.785398' upper='0.785398' effort='10' velocity='20'/>
+  </joint>
+  <joint name='gimbal_tilt_joint' type='revolute'>
+    <origin xyz='0.018 0 0.09' rpy='0 -0 0'/>
+    <parent link='${robot_namespace}/gimbal_roll'/>
+    <child link='${robot_namespace}/gimbal_tilt'/>
+    <dynamics damping='0' friction='0' />
+    <axis xyz='0 1 0'/>
+    <limit lower='-0.785398' upper='0.785398' effort='10' velocity='20'/>
+  </joint>
+  <joint name='encoder_joint' type='revolute'>
+    <origin xyz='0.1745 0 -0.0525' rpy='0 -1.0472 0'/>
+    <parent link='${robot_namespace}/base_link'/>
+    <child link='${robot_namespace}/encoder_rotating'/>
+    <dynamics damping='0' friction='0' />
+    <axis xyz='0 0 1'/>
+    <limit lower='-1e+16' upper='1e+16' effort='-1' velocity='-1'/>
+  </joint>
+  <joint name='rotor_0_joint' type='revolute'>
+    <origin xyz='0.24 -0.24 0.035' rpy='0 -0 0'/>
+    <parent link='${robot_namespace}/base_link'/>
+    <child link='${robot_namespace}/rotor_0'/>
+    <dynamics damping='0' friction='0' />
+    <axis xyz='0 0 1'/>
+    <limit lower='-1e+16' upper='1e+16' effort='-1' velocity='-1'/>
+  </joint>
+  <joint name='rotor_1_joint' type='revolute'>
+    <origin xyz='-0.24 0.24 0.035' rpy='0 -0 0'/>
+    <parent link='${robot_namespace}/base_link'/>
+    <child link='${robot_namespace}/rotor_1'/>
+    <dynamics damping='0' friction='0' />
+    <axis xyz='0 0 1'/>
+    <limit lower='-1e+16' upper='1e+16' effort='-1' velocity='-1'/>
+  </joint>
+  <joint name='rotor_2_joint' type='revolute'>
+    <origin xyz='0.24 0.24 0.035' rpy='0 -0 0'/>
+    <parent link='${robot_namespace}/base_link'/>
+    <child link='${robot_namespace}/rotor_2'/>
+    <dynamics damping='0' friction='0' />
+    <axis xyz='0 0 1'/>
+    <limit lower='-1e+16' upper='1e+16' effort='-1' velocity='-1'/>
+  </joint>
+  <joint name='rotor_3_joint' type='revolute'>
+    <origin xyz='-0.24 -0.24 0.035' rpy='0 -0 0'/>
+    <parent link='${robot_namespace}/base_link'/>
+    <child link='${robot_namespace}/rotor_3'/>
+    <dynamics damping='0' friction='0' />
+    <axis xyz='0 0 1'/>
+    <limit lower='-1e+16' upper='1e+16' effort='-1' velocity='-1'/>
+  </joint>
+</robot>
diff --git a/submitted_models/emesent_hovermap_sensor_config_1/worlds/example.sdf b/submitted_models/emesent_hovermap_sensor_config_1/worlds/example.sdf
new file mode 100644
index 00000000..9ea5042c
--- /dev/null
+++ b/submitted_models/emesent_hovermap_sensor_config_1/worlds/example.sdf
@@ -0,0 +1,183 @@
+<?xml version="1.0" ?>
+<sdf version="1.6">
+  <world name="example">
+    <physics name="4ms" type="dart">
+      <max_step_size>0.004</max_step_size>
+      <real_time_factor>1.0</real_time_factor>
+    </physics>
+
+    <scene>
+      <ambient>0.2 0.2 0.2</ambient>
+      <background>0.8 0.8 0.8</background>
+    </scene>
+
+
+    <light type="directional" name="sun">
+      <cast_shadows>true</cast_shadows>
+      <pose>0 0 10 0 0 0</pose>
+      <diffuse>0.8 0.8 0.8 1</diffuse>
+      <specular>0.8 0.8 0.8 1</specular>
+      <attenuation>
+        <range>1</range>
+        <constant>0.9</constant>
+        <linear>1</linear>
+        <quadratic>0.001</quadratic>
+      </attenuation>
+      <direction>0.0 0.0 -1.0</direction>
+    </light>
+
+  <light name="light1" type="point">
+      <pose>0 0 4 0 0 0</pose>
+      <attenuation>
+        <range>1000</range>
+        <linear>0</linear>
+        <constant>0.1</constant>
+        <quadratic>0.005</quadratic>
+      </attenuation>
+      <diffuse>0.8 0.8 0.8 1</diffuse>
+      <specular>0.8 0.8 0.8 1</specular>
+      <spot>
+        <inner_angle>5</inner_angle>
+        <outer_angle>10.1</outer_angle>
+        <falloff>.1</falloff>
+      </spot>
+      <direction>0 0 -1</direction>
+    </light>
+    <light name="light2" type="spot">
+      <pose>0 0 4 0 0 0</pose>
+      <attenuation>
+        <range>1000</range>
+        <linear>0.1</linear>
+        <constant>0.2</constant>
+        <quadratic>0.005</quadratic>
+      </attenuation>
+      <diffuse>0.8 0.8 0.5 1</diffuse>
+      <specular>0.8 0.8 0.5 1</specular>
+      <spot>
+        <inner_angle>5</inner_angle>
+        <outer_angle>10.1</outer_angle>
+        <falloff>.1</falloff>
+      </spot>
+      <direction>0 0 -1</direction>
+    </light>
+    <!-- The staging area -->
+    <include>
+      <static>true</static>
+      <name>staging_area</name>
+      <pose>0 0 0 0 0 0</pose>
+      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/subt_tunnel_staging_area</uri>
+    </include>
+
+    <!-- Barriers -->
+    <include>
+      <name>barrier_0_-1</name>
+      <pose>8.0 -11 0 0 0 0</pose>
+      <uri> https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier </uri>
+    </include>
+  
+    <include>
+      <name>barrier_0_1</name>
+      <pose>8.0 11 0 0 0 0 </pose>
+      <uri> https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier </uri>
+    </include>
+  
+    <include>
+      <name>barrier_1_-1</name>
+      <pose>3.7 -11 0 0 0 0</pose>
+      <uri> https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier </uri>
+    </include>
+  
+    <include>
+      <name>barrier_1_1</name>
+      <pose>3.7 11 0 0 0 0</pose>
+      <uri> https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier </uri>
+    </include>
+  
+    <include>
+      <name>barrier_2_-1</name>
+      <pose>-0.5999999999999996 -11 0 0 0 0</pose>
+      <uri> https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier </uri>
+    </include>
+  
+    <include>
+      <name>barrier_2_1</name>
+      <pose>-0.5999999999999996 11 0 0 0 0</pose>
+      <uri> https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier </uri>
+    </include>
+  
+    <include>
+      <name>barrier_3_-1</name>
+      <pose>-4.899999999999999 -11 0 0 0 0</pose>
+      <uri> https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier </uri>
+    </include>
+  
+    <include>
+      <name>barrier_3_1</name>
+      <pose>-4.899999999999999 11 0 0 0 0</pose>
+      <uri> https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier </uri>
+    </include>
+  
+    <include>
+      <name>barrier_4_-1</name>
+      <pose>-9.2 -11 0 0 0 0</pose>
+      <uri> https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier </uri>
+    </include>
+  
+    <include>
+      <name>barrier_4_1</name>
+      <pose>-9.2 11 0 0 0 0</pose>
+      <uri> https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier </uri>
+    </include>
+  
+    <include>
+      <name>barrier_-9.5_-2</name>
+      <pose>10.5 -8.6 0 0 0 1.5707963267948966</pose>
+      <uri> https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier </uri>
+    </include>
+  
+    <include>
+      <name>barrier_-9.5_2</name>
+      <pose>10.5 8.6 0 0 0 1.5707963267948966</pose>
+      <uri> https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier </uri>
+    </include>
+  
+    <include>
+      <name>barrier_-32_-2</name>
+      <pose>-12 -8.6 0 0 0 1.5707963267948966</pose>
+      <uri> https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier </uri>
+    </include>
+  
+    <include>
+      <name>barrier_-32_-1</name>
+      <pose>-12 -4.3 0 0 0 1.5707963267948966</pose>
+      <uri> https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier </uri>
+    </include>
+  
+    <include>
+      <name>barrier_-32_0</name>
+      <pose>-12 0.0 0 0 0 1.5707963267948966</pose>
+      <uri> https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier </uri>
+    </include>
+  
+    <include>
+      <name>barrier_-32_1</name>
+      <pose>-12 4.3 0 0 0 1.5707963267948966</pose>
+      <uri> https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier </uri>
+    </include>
+
+    <include>
+      <name>barrier_-32_2</name>
+      <pose>-12 8.6 0 0 0 1.5707963267948966</pose>
+      <uri> https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier </uri>
+    </include>
+
+
+    <!-- The base station -->
+    <include>
+      <static>true</static>
+      <name>base_station</name>
+      <pose>-8 0 0 0 0 -1.5708</pose>
+      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Base Station</uri>
+    </include>
+  </world>
+</sdf>
diff --git a/subt_ign/include/subt_ign/RobotPlatformTypes.hh b/subt_ign/include/subt_ign/RobotPlatformTypes.hh
index 875823c7..e9cf7054 100644
--- a/subt_ign/include/subt_ign/RobotPlatformTypes.hh
+++ b/subt_ign/include/subt_ign/RobotPlatformTypes.hh
@@ -19,23 +19,39 @@
 /// \brief List of robot platform types. This is used to count unique robot
 /// types.
 const std::vector<std::string> robotPlatformTypes = {
-  "X1",
-  "X2",
-  "X3",
-  "X4",
-  "HUSKY",
-  "TEAMBASE",
+  "ABSOLEM",
+  "ALLIE",
   "ANYMAL_B",
-  "M100",
+  "ANYMAL_C",
+  "CRYSTAL",
+  "DS1",
+  "DTR",
   "FREYJA",
-  "KLOUBAK",
+  "GAGARIN"
   "HD2",
+  "HOVERMAP",
+  "HUSKY",
+  "KAREN",
+  "KLOUBAK",
+  "LILY",
+  "M100",
+  "MARV",
+  "MIKE",
+  "OZBOT_ATR",
+  "PAM",
   "QAV500",
   "R2",
-  "DS1",
-  "OZBOT_ATR",
-  "ABSOLEM",
-  "GAGARIN"
+  "R3",
+  "RMF",
+  "ROCKY",
+  "SHAFTER",
+  "SPOT",
+  "TEAMBASE",
+  "X1",
+  "X2",
+  "X3",
+  "X4",
+  "X500",
 };
 
 #endif
diff --git a/subt_ign/launch/cloudsim_sim.ign b/subt_ign/launch/cloudsim_sim.ign
index f3187efd..ec3380c0 100644
--- a/subt_ign/launch/cloudsim_sim.ign
+++ b/subt_ign/launch/cloudsim_sim.ign
@@ -127,28 +127,40 @@
      "X1" => "base_link",
      "EXPLORER_X1" => "base_link",
      "EXPLORER_R2" => "Rear_Rocker_Link",
-     "CSIRO_DATA61_OZBOT_ATR" => "base_link"
+     "CSIRO_DATA61_OZBOT_ATR" => "base_link",
+     "CORO_ALLIE" => "base_link",
+     "CORO_KAREN" => "base_link",
+     "CORO_MIKE" => "base_link",
    }
 
   MARSUPIAL_VALID_ROBOT_PAIRS = {
-    "X1" => ["X3", "MARBLE_QAV500", "CERBERUS_GAGARIN", "CERBERUS_RMF", "COSTAR_SHAFTER", "CORO_PAM", "CTU_CRAS_NORLAB_X500"],
-    "EXPLORER_X1" =>["X3", "MARBLE_QAV500", "CERBERUS_GAGARIN", "CERBERUS_RMF", "COSTAR_SHAFTER", "CORO_PAM", "CTU_CRAS_NORLAB_X500"],
-    "EXPLORER_R2" =>["X3", "X4", "SSCI_X4", "SOPHISTICATED_ENGINEERING_X4", "EXPLORER_DS1", "MARBLE_QAV500", "CERBERUS_M100", "CERBERUS_GAGARIN", "CERBERUS_RMF", "COSTAR_SHAFTER", "CORO_PAM", "CTU_CRAS_NORLAB_X500"],
-    "CSIRO_DATA61_OZBOT_ATR" =>["X3", "X4", "SSCI_X4", "SOPHISTICATED_ENGINEERING_X4","EXPLORER_DS1", "MARBLE_QAV500", "CERBERUS_M100", "CERBERUS_GAGARIN", "CERBERUS_RMF", "COSTAR_SHAFTER", "CORO_PAM", "CTU_CRAS_NORLAB_X500"]
+    "X1" => ["X3", "MARBLE_QAV500", "CERBERUS_GAGARIN", "CERBERUS_RMF", "COSTAR_SHAFTER", "CORO_PAM", "CTU_CRAS_NORLAB_X500", "CORO_CRYSTAL"],
+    "CORO_ALLIE" => ["CERBERUS_RMF", "CORO_CRYSTAL"],
+    "CORO_KAREN" => ["CERBERUS_RMF", "CORO_PAM", "CTU_CRAS_NORLAB_X500","CORO_CRYSTAL"],
+    "CORO_MIKE" => ["X3", "X4", "SSCI_X4", "SOPHISTICATED_ENGINEERING_X4", "CERBERUS_M100", "CERBERUS_GAGARIN", "CERBERUS_RMF", "COSTAR_SHAFTER", "CORO_PAM", "CTU_CRAS_NORLAB_X500", "CORO_CRYSTAL"],
+    "EXPLORER_X1" =>["X3", "MARBLE_QAV500", "CERBERUS_GAGARIN", "CERBERUS_RMF", "COSTAR_SHAFTER", "CORO_PAM", "CTU_CRAS_NORLAB_X500", "CORO_CRYSTAL"],
+    "EXPLORER_R2" => ["X3", "X4", "SSCI_X4", "SOPHISTICATED_ENGINEERING_X4", "EXPLORER_DS1", "MARBLE_QAV500", "CERBERUS_M100", "CERBERUS_GAGARIN", "CERBERUS_RMF", "COSTAR_SHAFTER", "CORO_PAM", "CTU_CRAS_NORLAB_X500", "CORO_CRYSTAL"],
+    "CSIRO_DATA61_OZBOT_ATR" =>["X3", "X4", "SSCI_X4", "SOPHISTICATED_ENGINEERING_X4","EXPLORER_DS1", "MARBLE_QAV500", "CERBERUS_M100", "CERBERUS_GAGARIN", "CERBERUS_RMF", "COSTAR_SHAFTER", "CORO_PAM", "CTU_CRAS_NORLAB_X500", "CORO_CRYSTAL"]
   }
 
   MARSUPIAL_PARENT_ROBOT_POSITION_OFFSETS = {
     "X1" => Vector3d.new(0, 0, 0.717),
     "EXPLORER_X1" => Vector3d.new(0, 0, 0.717),
     "EXPLORER_R2" => Vector3d.new(-0.402375, 0, 0.6874),
-    "CSIRO_DATA61_OZBOT_ATR" => Vector3d.new(-0.15, 0, 0.528)
+    "CSIRO_DATA61_OZBOT_ATR" => Vector3d.new(-0.15, 0, 0.528),
+    "CORO_ALLIE" => Vector3d.new(-0.18, 0, 0.320),
+    "CORO_KAREN" => Vector3d.new(-0.18, 0, 0.5),
+    "CORO_MIKE" => Vector3d.new(-0.2, 0, 0.5775)
   }
 
   MARSUPIAL_PARENT_ROBOT_ROTATION_OFFSETS = {
     "X1" => AngularVector3d.new(0, 0, 0),
     "EXPLORER_X1" => AngularVector3d.new(0, 0, 0),
     "EXPLORER_R2" => AngularVector3d.new(0, 0, -3.1416),
-    "CSIRO_DATA61_OZBOT_ATR" => AngularVector3d.new(0, 0, -3.1416)
+    "CSIRO_DATA61_OZBOT_ATR" => AngularVector3d.new(0, 0, -3.1416),
+    "CORO_ALLIE" => AngularVector3d.new(0, 0, 0),
+    "CORO_KAREN" => AngularVector3d.new(0, 0, 0),
+    "CORO_MIKE" => AngularVector3d.new(0, 0, 0)
   }
   
   allExecutables = ""
@@ -412,6 +424,12 @@
             name="ignition::gazebo::systems::Contact">
     </plugin>
 
+    <plugin entity_name="<%= $worldName %>"
+            entity_type="world"
+            filename="ignition-gazebo-particle-emitter2-system"
+            name="ignition::gazebo::systems::ParticleEmitter2">
+    </plugin>
+
     <!-- The SubT challenge logic plugin -->
     <plugin entity_name="<%= $worldName %>"
             entity_type="world"
diff --git a/subt_ign/launch/competition.ign b/subt_ign/launch/competition.ign
index 277e01db..8bcf4b63 100644
--- a/subt_ign/launch/competition.ign
+++ b/subt_ign/launch/competition.ign
@@ -67,14 +67,9 @@
 
   # CommsBrokerPlugin parameters
   # (default parameters can be found in subt_rf_model.h)
-  $commsFadingExponent = 2.5
-  $commsScalingFactor = 1.0
+  $commsFadingExponent = 1.5
+  $commsScalingFactor = 0.55
   $commsRangePerHop = 2.0
-  if $circuit == "cave" || $circuit == "finals"
-    $commsFadingExponent = 1.5
-    $commsScalingFactor = 0.55
-    $commsRangePerHop = 2.0
-  end
 
   # spawn world offset
   if $circuit == "urban"
@@ -123,28 +118,40 @@
      "X1" => "base_link",
      "EXPLORER_X1" => "base_link",
      "EXPLORER_R2" => "Rear_Rocker_Link",
-     "CSIRO_DATA61_OZBOT_ATR" => "base_link"
+     "CSIRO_DATA61_OZBOT_ATR" => "base_link",
+     "CORO_ALLIE" => "base_link",
+     "CORO_KAREN" => "base_link",
+     "CORO_MIKE" => "base_link",
    }
 
   MARSUPIAL_VALID_ROBOT_PAIRS = {
-    "X1" => ["X3", "MARBLE_QAV500", "CERBERUS_GAGARIN", "CERBERUS_RMF", "COSTAR_SHAFTER", "CORO_PAM", "CTU_CRAS_NORLAB_X500"],
-    "EXPLORER_X1" =>["X3", "MARBLE_QAV500", "CERBERUS_GAGARIN", "CERBERUS_RMF", "COSTAR_SHAFTER", "CORO_PAM", "CTU_CRAS_NORLAB_X500"],
-    "EXPLORER_R2" =>["X3", "X4", "SSCI_X4", "SOPHISTICATED_ENGINEERING_X4", "EXPLORER_DS1", "MARBLE_QAV500", "CERBERUS_M100", "CERBERUS_GAGARIN", "CERBERUS_RMF", "COSTAR_SHAFTER", "CORO_PAM", "CTU_CRAS_NORLAB_X500"],
-    "CSIRO_DATA61_OZBOT_ATR" =>["X3", "X4", "SSCI_X4", "SOPHISTICATED_ENGINEERING_X4","EXPLORER_DS1", "MARBLE_QAV500", "CERBERUS_M100", "CERBERUS_GAGARIN", "CERBERUS_RMF", "COSTAR_SHAFTER", "CORO_PAM", "CTU_CRAS_NORLAB_X500"]
+    "X1" => ["X3", "MARBLE_QAV500", "CERBERUS_GAGARIN", "CERBERUS_RMF", "COSTAR_SHAFTER", "CORO_PAM", "CTU_CRAS_NORLAB_X500", "CORO_CRYSTAL"],
+    "CORO_ALLIE" => ["CERBERUS_RMF", "CORO_CRYSTAL"],
+    "CORO_KAREN" => ["CERBERUS_RMF", "CORO_PAM", "CTU_CRAS_NORLAB_X500","CORO_CRYSTAL"],
+    "CORO_MIKE" => ["X3", "X4", "SSCI_X4", "SOPHISTICATED_ENGINEERING_X4", "CERBERUS_M100", "CERBERUS_GAGARIN", "CERBERUS_RMF", "COSTAR_SHAFTER", "CORO_PAM", "CTU_CRAS_NORLAB_X500", "CORO_CRYSTAL"],
+    "EXPLORER_X1" =>["X3", "MARBLE_QAV500", "CERBERUS_GAGARIN", "CERBERUS_RMF", "COSTAR_SHAFTER", "CORO_PAM", "CTU_CRAS_NORLAB_X500", "CORO_CRYSTAL"],
+    "EXPLORER_R2" =>["X3", "X4", "SSCI_X4", "SOPHISTICATED_ENGINEERING_X4", "EXPLORER_DS1", "MARBLE_QAV500", "CERBERUS_M100", "CERBERUS_GAGARIN", "CERBERUS_RMF", "COSTAR_SHAFTER", "CORO_PAM", "CTU_CRAS_NORLAB_X500", "CORO_CRYSTAL"],
+    "CSIRO_DATA61_OZBOT_ATR" =>["X3", "X4", "SSCI_X4", "SOPHISTICATED_ENGINEERING_X4","EXPLORER_DS1", "MARBLE_QAV500", "CERBERUS_M100", "CERBERUS_GAGARIN", "CERBERUS_RMF", "COSTAR_SHAFTER", "CORO_PAM", "CTU_CRAS_NORLAB_X500", "CORO_CRYSTAL"]
   }
 
   MARSUPIAL_PARENT_ROBOT_POSITION_OFFSETS = {
     "X1" => Vector3d.new(0, 0, 0.717),
     "EXPLORER_X1" => Vector3d.new(0, 0, 0.717),
     "EXPLORER_R2" => Vector3d.new(-0.402375, 0, 0.6874),
-    "CSIRO_DATA61_OZBOT_ATR" => Vector3d.new(-0.15, 0, 0.528)
+    "CSIRO_DATA61_OZBOT_ATR" => Vector3d.new(-0.15, 0, 0.528),
+    "CORO_ALLIE" => Vector3d.new(-0.18, 0, 0.320),
+    "CORO_KAREN" => Vector3d.new(-0.18, 0, 0.5),
+    "CORO_MIKE" => Vector3d.new(-0.2, 0, 0.5775)
   }
 
   MARSUPIAL_PARENT_ROBOT_ROTATION_OFFSETS = {
     "X1" => AngularVector3d.new(0, 0, 0),
     "EXPLORER_X1" => AngularVector3d.new(0, 0, 0),
     "EXPLORER_R2" => AngularVector3d.new(0, 0, -3.1416),
-    "CSIRO_DATA61_OZBOT_ATR" => AngularVector3d.new(0, 0, -3.1416)
+    "CSIRO_DATA61_OZBOT_ATR" => AngularVector3d.new(0, 0, -3.1416),
+    "CORO_ALLIE" => AngularVector3d.new(0, 0, 0),
+    "CORO_KAREN" => AngularVector3d.new(0, 0, 0),
+    "CORO_MIKE" => AngularVector3d.new(0, 0, 0)
   }
 
   allExecutables = ""
@@ -342,6 +349,12 @@
             name="ignition::gazebo::systems::Contact">
     </plugin>
 
+    <plugin entity_name="<%= $worldName %>"
+            entity_type="world"
+            filename="ignition-gazebo-particle-emitter2-system"
+            name="ignition::gazebo::systems::ParticleEmitter2">
+    </plugin>
+
     <!-- The SubT challenge logic plugin -->
     <plugin entity_name="<%= $worldName %>"
             entity_type="world"
diff --git a/subt_ign/src/ConnectionHelper.cc b/subt_ign/src/ConnectionHelper.cc
index 6dfd4d02..4389d8c9 100644
--- a/subt_ign/src/ConnectionHelper.cc
+++ b/subt_ign/src/ConnectionHelper.cc
@@ -364,6 +364,160 @@ std::map<std::string, subt::ConnectionHelper::ConnectionType>
     {"4-Way Finals Transition 2 Lights", subt::ConnectionHelper::TURN},
   };
 
+  std::map<std::string, subt::ConnectionHelper::CircuitType>
+  subt::ConnectionHelper::circuitTypes =
+  {
+    {"Tunnel Tile 1", subt::ConnectionHelper::TUNNEL},
+    {"Tunnel Tile 1 Lights", subt::ConnectionHelper::TUNNEL},
+    {"Tunnel Tile 2", subt::ConnectionHelper::TUNNEL},
+    {"Tunnel Tile 2 Lights", subt::ConnectionHelper::TUNNEL},
+    {"Tunnel Tile 3", subt::ConnectionHelper::TUNNEL},
+    {"Tunnel Tile 3 Lights", subt::ConnectionHelper::TUNNEL},
+    {"Tunnel Tile 4", subt::ConnectionHelper::TUNNEL},
+    {"Tunnel Tile 4 Lights", subt::ConnectionHelper::TUNNEL},
+    {"Tunnel Tile 5", subt::ConnectionHelper::TUNNEL},
+    {"Tunnel Tile 5 Lights", subt::ConnectionHelper::TUNNEL},
+    {"Tunnel Tile 6", subt::ConnectionHelper::TUNNEL},
+    {"Tunnel Tile 6 Lights", subt::ConnectionHelper::TUNNEL},
+    {"Tunnel Tile 7", subt::ConnectionHelper::TUNNEL},
+    {"Tunnel Tile 7 Lights", subt::ConnectionHelper::TUNNEL},
+    {"Urban Straight", subt::ConnectionHelper::URBAN},
+    {"Urban Straight Lights", subt::ConnectionHelper::URBAN},
+    {"Urban Bend Right", subt::ConnectionHelper::URBAN},
+    {"Urban Bend Left", subt::ConnectionHelper::URBAN},
+    {"Urban Bend Left Lights", subt::ConnectionHelper::URBAN},
+    {"Urban Superpose", subt::ConnectionHelper::URBAN},
+    {"Urban 3-Way Right Intersection", subt::ConnectionHelper::URBAN},
+    {"Urban Straight Door Right", subt::ConnectionHelper::URBAN},
+    {"Urban Straight Door Left", subt::ConnectionHelper::URBAN},
+    {"Urban Straight Door Right Flipped", subt::ConnectionHelper::URBAN},
+    {"Urban Straight Door Right Flipped Lights",
+        subt::ConnectionHelper::URBAN},
+    {"Urban Straight Door Left Flipped", subt::ConnectionHelper::URBAN},
+    {"Urban Straight Door Right Extension", subt::ConnectionHelper::URBAN},
+    {"Urban Straight Door Right Extension Lights",
+        subt::ConnectionHelper::URBAN},
+    {"Urban Service Room Centered", subt::ConnectionHelper::URBAN},
+    {"Urban Service Room Centered Lights", subt::ConnectionHelper::URBAN},
+    {"Urban Service Room", subt::ConnectionHelper::URBAN},
+    {"Urban Service Room Lights", subt::ConnectionHelper::URBAN},
+    {"Urban Service Room Straight", subt::ConnectionHelper::URBAN},
+    {"Urban Service Room Straight Lights", subt::ConnectionHelper::URBAN},
+    {"Urban Platform", subt::ConnectionHelper::URBAN},
+    {"Urban Platform Open", subt::ConnectionHelper::URBAN},
+    {"Urban Stairwell Platform", subt::ConnectionHelper::URBAN},
+    {"Urban Stairwell Platform Lights", subt::ConnectionHelper::URBAN},
+    {"Urban Stairwell Platform Centered", subt::ConnectionHelper::URBAN},
+    {"Urban Stairwell Platform Centered Lights",
+      subt::ConnectionHelper::URBAN},
+    {"Urban Starting Area", subt::ConnectionHelper::URBAN},
+    {"Urban Elevation Up", subt::ConnectionHelper::URBAN},
+    {"Urban Elevation Up Lights", subt::ConnectionHelper::URBAN},
+    {"Urban Elevation Down", subt::ConnectionHelper::URBAN},
+    {"Urban 2 Story", subt::ConnectionHelper::URBAN},
+    {"Urban 2 Story Lights", subt::ConnectionHelper::URBAN},
+    {"Urban 2 Story Large Side 1 Lights", subt::ConnectionHelper::URBAN},
+    {"Urban 2 Story Large Side 2 Lights", subt::ConnectionHelper::URBAN},
+    {"Urban 2 Story Large Side 1", subt::ConnectionHelper::URBAN},
+    {"Urban 2 Story Large Side 2", subt::ConnectionHelper::URBAN},
+    {"Urban Large Room Split", subt::ConnectionHelper::URBAN},
+    {"Urban Large Room Split Lights", subt::ConnectionHelper::URBAN},
+    {"Cave Starting Area Type B", subt::ConnectionHelper::CAVE},
+    {"Cave Straight 01 Type B", subt::ConnectionHelper::CAVE},
+    {"Cave Straight 01 Lights Type B", subt::ConnectionHelper::CAVE},
+    {"Cave Straight 02 Type B", subt::ConnectionHelper::CAVE},
+    {"Cave Straight 02 Lights Type B", subt::ConnectionHelper::CAVE},
+    {"Cave Straight 03 Type B", subt::ConnectionHelper::CAVE},
+    {"Cave Straight 04 Type B", subt::ConnectionHelper::CAVE},
+    {"Cave Straight 04 Lights Type B", subt::ConnectionHelper::CAVE},
+    {"Cave Straight 05 Type B", subt::ConnectionHelper::CAVE},
+    {"Cave Straight 05 Lights Type B", subt::ConnectionHelper::CAVE},
+    {"Cave Corner 01 Type B", subt::ConnectionHelper::CAVE},
+    {"Cave Corner 01 Lights Type B", subt::ConnectionHelper::CAVE},
+    {"Cave Corner 02 Type B", subt::ConnectionHelper::CAVE},
+    {"Cave Corner 02 Lights Type B", subt::ConnectionHelper::CAVE},
+    {"Cave 3 Way 01 Type B", subt::ConnectionHelper::CAVE},
+    {"Cave 3 Way 01 Lights Type B", subt::ConnectionHelper::CAVE},
+    {"Cave Elevation Type B", subt::ConnectionHelper::CAVE},
+    {"Cave Elevation Lights Type B", subt::ConnectionHelper::CAVE},
+    {"Cave Vertical Shaft Type B", subt::ConnectionHelper::CAVE},
+    {"Cave Vertical Shaft Lights Type B", subt::ConnectionHelper::CAVE},
+    {"Cave Cavern Split 01 Type B", subt::ConnectionHelper::CAVE},
+    {"Cave Cavern Split 02 Type B", subt::ConnectionHelper::CAVE},
+    {"Cave Corner 30 Type B", subt::ConnectionHelper::CAVE},
+    {"Cave Corner 30F Type B", subt::ConnectionHelper::CAVE},
+    {"Cave Corner 30 D Type B", subt::ConnectionHelper::CAVE},
+    {"Cave Corner 30 D Lights Type B", subt::ConnectionHelper::CAVE},
+    {"Cave Corner 30F D Type B", subt::ConnectionHelper::CAVE},
+    {"Cave Corner 30F D Lights Type B", subt::ConnectionHelper::CAVE},
+
+    {"Cave 2 Way 01 Type A", subt::ConnectionHelper::CAVE},
+    {"Cave 3 Way 01 Type A", subt::ConnectionHelper::CAVE},
+    {"Cave 3 Way 02 Type A", subt::ConnectionHelper::CAVE},
+    {"Cave 3 Way Elevation 01 Type A", subt::ConnectionHelper::CAVE},
+    {"Cave 3 Way Elevation 02 Type A", subt::ConnectionHelper::CAVE},
+    {"Cave 3 Way Elevation 03 Type A", subt::ConnectionHelper::CAVE},
+    {"Cave 4 Way 01 Type A", subt::ConnectionHelper::CAVE},
+    {"Cave Cavern Type A", subt::ConnectionHelper::CAVE},
+    {"Cave Corner 01 Type A", subt::ConnectionHelper::CAVE},
+    {"Cave Corner 02 Type A", subt::ConnectionHelper::CAVE},
+    {"Cave Corner 03 Type A", subt::ConnectionHelper::CAVE},
+    {"Cave Corner 03 Type A Lights", subt::ConnectionHelper::CAVE},
+    {"Cave Corner 04 Type A", subt::ConnectionHelper::CAVE},
+    {"Cave Cap Type A", subt::ConnectionHelper::CAVE},
+    {"Cave Elevation 01 Type A", subt::ConnectionHelper::CAVE},
+    {"Cave Elevation 02 Type A", subt::ConnectionHelper::CAVE},
+    {"Cave Elevation Corner Type A", subt::ConnectionHelper::CAVE},
+    {"Cave Elevation Straight Type A", subt::ConnectionHelper::CAVE},
+    {"Cave Split Type A", subt::ConnectionHelper::CAVE},
+    {"Cave Straight Shift Type A", subt::ConnectionHelper::CAVE},
+    {"Cave Straight Type A", subt::ConnectionHelper::CAVE},
+    {"Cave U Turn 01 Type A", subt::ConnectionHelper::CAVE},
+    {"Cave U Turn Elevation Type A", subt::ConnectionHelper::CAVE},
+    {"Cave Vertical Shaft Cantilevered Type A", subt::ConnectionHelper::CAVE},
+    {"Cave Vertical Shaft Straight Bottom Type A", subt::ConnectionHelper::CAVE},
+    {"Cave Vertical Shaft Straight Top Type A", subt::ConnectionHelper::CAVE},
+    {"Cave Vertical Shaft Type A", subt::ConnectionHelper::CAVE},
+    {"Cave Vertical Shaft Dead End Type A", subt::ConnectionHelper::CAVE},
+    {"Cave 3 Way Elevation 02 Lights Type A", subt::ConnectionHelper::CAVE},
+    {"Cave 4 Way 01 Lights Type A", subt::ConnectionHelper::CAVE},
+    {"Cave Corner 01 Lights Type A", subt::ConnectionHelper::CAVE},
+    {"Cave Corner 02 Lights Type A", subt::ConnectionHelper::CAVE},
+    {"Cave Corner 04 Lights Type A", subt::ConnectionHelper::CAVE},
+    {"Cave Elevation Straight Lights Type A", subt::ConnectionHelper::CAVE},
+    {"Cave Straight Lights Type A", subt::ConnectionHelper::CAVE},
+    {"Cave U Turn Elevation Lights Type A", subt::ConnectionHelper::CAVE},
+    {"Cave Vertical Shaft Straight Bottom Lights Type A", subt::ConnectionHelper::CAVE},
+    {"Cave Transition Type A to and from Type B", subt::ConnectionHelper::CAVE},
+    {"Cave Transition Type A to and from Type B Lights", subt::ConnectionHelper::CAVE},
+
+    {"Jenolan Section 01", subt::ConnectionHelper::CAVE},
+    {"Jenolan Section 02", subt::ConnectionHelper::CAVE},
+    {"Jenolan Section 03", subt::ConnectionHelper::CAVE},
+    {"Jenolan Section 04", subt::ConnectionHelper::CAVE},
+    {"Jenolan Section 05", subt::ConnectionHelper::CAVE},
+    {"Jenolan Section 06", subt::ConnectionHelper::CAVE},
+    {"Jenolan Section 07", subt::ConnectionHelper::CAVE},
+    {"Jenolan Section 08", subt::ConnectionHelper::CAVE},
+    {"Jenolan Section 09", subt::ConnectionHelper::CAVE},
+    {"Jenolan Section 10", subt::ConnectionHelper::CAVE},
+    {"Jenolan Section 11", subt::ConnectionHelper::CAVE},
+    {"Universal Straight 10", subt::ConnectionHelper::UNIVERSAL},
+    {"Universal Straight 5", subt::ConnectionHelper::UNIVERSAL},
+    {"Universal Straight 2.5", subt::ConnectionHelper::UNIVERSAL},
+    {"Universal Shift 5x5", subt::ConnectionHelper::UNIVERSAL},
+    {"Universal Shift 2.5x2.5", subt::ConnectionHelper::UNIVERSAL},
+    {"Cave Tunnel Transition", subt::ConnectionHelper::TRANSITION},
+    {"Cave Tunnel Transition Lights", subt::ConnectionHelper::TRANSITION},
+    {"Urban Cave Transition", subt::ConnectionHelper::TRANSITION},
+    {"Urban Cave Transition Straight", subt::ConnectionHelper::TRANSITION},
+    {"Urban Tunnel Transition", subt::ConnectionHelper::TRANSITION},
+    {"Finals Staging Area", subt::ConnectionHelper::STAGING_AREA},
+    {"4-Way Finals Transition", subt::ConnectionHelper::TRANSITION},
+    {"4-Way Finals Transition 2", subt::ConnectionHelper::TRANSITION},
+    {"4-Way Finals Transition 2 Lights", subt::ConnectionHelper::TRANSITION},
+  };
+
 using namespace ignition;
 using namespace subt;
 
diff --git a/subt_ign/src/ConnectionHelper.hh b/subt_ign/src/ConnectionHelper.hh
index 28c41033..354ac200 100644
--- a/subt_ign/src/ConnectionHelper.hh
+++ b/subt_ign/src/ConnectionHelper.hh
@@ -55,6 +55,23 @@ namespace subt
               TURN = 1,
             };
 
+    /// \brief Enum of circuit type
+    public: enum CircuitType
+            {
+              /// \brief Tunnel tiles
+              TUNNEL       = 0,
+              /// \brief Urban tiles
+              URBAN        = 1,
+              /// \brief Cave tiles
+              CAVE         = 2,
+              /// \brief Universal tiles
+              UNIVERSAL    = 3,
+              /// \brief Transition tiles
+              TRANSITION   = 4,
+              /// \brief Staging are
+              STAGING_AREA = 5,
+            };
+
     /// \brief Compute the connection point between two tiles.
     /// This uses a reference list of connection points for each tile type.
     /// The function iterates over the connection points transformed into the
@@ -75,6 +92,10 @@ namespace subt
     /// \brief Map of tile type to connection type
     public: static std::map<std::string, subt::ConnectionHelper::ConnectionType>
                       connectionTypes;
+
+    /// \brief Map of tile type to circuit type
+    public: static std::map<std::string, subt::ConnectionHelper::CircuitType>
+                      circuitTypes;
   };
 }
 #endif
diff --git a/subt_ign/src/GameLogicPlugin.cc b/subt_ign/src/GameLogicPlugin.cc
index 260af8d5..3d679ef9 100644
--- a/subt_ign/src/GameLogicPlugin.cc
+++ b/subt_ign/src/GameLogicPlugin.cc
@@ -2206,6 +2206,7 @@ void GameLogicPluginPrivate::Finish(const ignition::msgs::Time &_simTime)
       completeMsg.mutable_header()->mutable_stamp()->CopyFrom(
           this->simTime);
       completeMsg.set_data("recording_complete");
+      this->state = "recording_complete";
       this->startPub.Publish(completeMsg);
 
       std::lock_guard<std::mutex> lock(this->eventCounterMutex);
diff --git a/subt_ign/src/apps/dot_generator.cc b/subt_ign/src/apps/dot_generator.cc
index a46a441a..7ad499d0 100644
--- a/subt_ign/src/apps/dot_generator.cc
+++ b/subt_ign/src/apps/dot_generator.cc
@@ -22,10 +22,19 @@
 using namespace subt;
 using namespace ignition;
 
+/// \brief Print usage
+void usage()
+{
+  std::cerr << "Usage: dot_generator [--finals] <path_to_world_sdf_file>"
+            << std::endl;
+}
+
 /// \brief Print the DOT file
 /// \param[in] _vertexData vector of vertex data containing
 /// vertex and edge info
-void printGraph(std::vector<VertexData> &_vertexData)
+/// \param[in] _circuit Empty string or "--finals" .
+void printGraph(std::vector<VertexData> &_vertexData,
+                const std::string &_circuit)
 {
   std::stringstream out;
   out << "/* Visibility graph generated by dot_generator */\n\n";
@@ -80,6 +89,22 @@ void printGraph(std::vector<VertexData> &_vertexData)
           auto tp2 =
             subt::ConnectionHelper::connectionTypes[_vertexData[j].tileType];
 
+          // Get the circuit type for each tile (cave, urban, etc.)
+          auto ct1It = subt::ConnectionHelper::circuitTypes.find(
+            _vertexData[i].tileType);
+          if (ct1It == subt::ConnectionHelper::circuitTypes.end())
+          {
+            ignwarn << "No circuit information for: " << _vertexData[i].tileType
+                    << std::endl;
+          }
+          auto ct2It = subt::ConnectionHelper::circuitTypes.find(
+            _vertexData[j].tileType);
+          if (ct2It == subt::ConnectionHelper::circuitTypes.end())
+          {
+            ignwarn << "No circuit information for: " << _vertexData[j].tileType
+                    << std::endl;
+          }
+
           // Is one of the tile a starting area? If so, the cost should be 1.
           bool connectsToStaging =
             _vertexData[i].tileType == "Cave Starting Area Type B" ||
@@ -93,12 +118,42 @@ void printGraph(std::vector<VertexData> &_vertexData)
             cost = 1;
           else if (tp1 == subt::ConnectionHelper::TURN &&
               tp2 == subt::ConnectionHelper::STRAIGHT)
-            cost = 3;
+          {
+            // Both tiles are tunnels
+            if (_circuit == "--finals"                              &&
+                ct1It != subt::ConnectionHelper::circuitTypes.end() &&
+                ct1It->second == subt::ConnectionHelper::TUNNEL     &&
+                ct2It != subt::ConnectionHelper::circuitTypes.end() &&
+                ct2It->second == subt::ConnectionHelper::TUNNEL)
+              cost = 2;
+            else
+              cost = 3;
+          }
           else if (tp1 == subt::ConnectionHelper::STRAIGHT &&
               tp2 == subt::ConnectionHelper::TURN)
-            cost = 3;
+          {
+            // Both tiles are tunnels
+            if (_circuit == "--finals"                              &&
+                ct1It != subt::ConnectionHelper::circuitTypes.end() &&
+                ct1It->second == subt::ConnectionHelper::TUNNEL     &&
+                ct2It != subt::ConnectionHelper::circuitTypes.end() &&
+                ct2It->second == subt::ConnectionHelper::TUNNEL)
+              cost = 2;
+            else
+              cost = 3;
+          }
           else
-            cost = 6;
+          {
+            // Both tiles are tunnels
+            if (_circuit == "--finals"                              &&
+                ct1It != subt::ConnectionHelper::circuitTypes.end() &&
+                ct1It->second == subt::ConnectionHelper::TUNNEL     &&
+                ct2It != subt::ConnectionHelper::circuitTypes.end() &&
+                ct2It->second == subt::ConnectionHelper::TUNNEL)
+              cost = 3;
+            else
+              cost = 6;
+          }
 
           if (connectsToStaging)
             out << "  /* Base station */\n";
@@ -120,7 +175,7 @@ void printGraph(std::vector<VertexData> &_vertexData)
 
 /// \brief Main function to generate DOT from input sdf file
 /// \param[in] _sdfFile Input sdf file.
-void generateDOT(const std::string &_sdfFile)
+void generateDOT(const std::string &_sdfFile, const std::string &_circuit)
 {
   std::ifstream file(_sdfFile);
   if (!file.is_open())
@@ -155,7 +210,7 @@ void generateDOT(const std::string &_sdfFile)
     str = str.substr(result);
   }
 
-  printGraph(vertexData);
+  printGraph(vertexData, _circuit);
 
   file.close();
 }
@@ -163,14 +218,41 @@ void generateDOT(const std::string &_sdfFile)
 //////////////////////////////////////////////////
 int main(int argc, char **argv)
 {
-  if (argc != 2)
+  if (argc != 2 && argc != 3)
   {
-    std::cerr << "Usage: dot_generator <path_to_world_sdf_file>"
-              << std::endl;
+    usage();
     return -1;
   }
+
+  std::string circuit = "";
   std::string sdfFile = argv[1];
-  generateDOT(sdfFile);
+
+  if (argc == 2)
+  {
+    // Sanity check: --finals can't be used without the sdfFile argument.
+    if (argv[1] == std::string("--finals"))
+    {
+      usage();
+      return -1;
+    }
+  }
+
+  if (argc == 3)
+  {
+    // Sanity check: One of the two arguments needs to be --finals.
+    if (argv[1] != std::string("--finals") &&
+        argv[2] != std::string("--finals"))
+    {
+      usage();
+      return -1;
+    }
+
+    circuit = "--finals";
+    if (argv[1] == std::string("--finals"))
+      sdfFile = argv[2];
+  }
+
+  generateDOT(sdfFile, circuit);
 
   return 0;
 }
diff --git a/subt_ign/worlds/finals_practice_01.sdf b/subt_ign/worlds/finals_practice_01.sdf
index 45761dc6..763917ec 100644
--- a/subt_ign/worlds/finals_practice_01.sdf
+++ b/subt_ign/worlds/finals_practice_01.sdf
@@ -2502,8 +2502,8 @@
     <include>
       <name>fog_emitter_1</name>
       <static>true</static>
-      <pose>22 -40 0 0 -1.57 0</pose>
-      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Fog Emitter</uri>
+      <pose>22 -40 0 0 0 0</pose>
+      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Fog Emitter2</uri>
     </include>
     <model name="fog_emitter_1_detector">
       <pose>22 -40 0 0 -1.57 0</pose>
@@ -2563,7 +2563,7 @@
             }
           </match>
         </input>
-        <output type="ignition.msgs.ParticleEmitter" topic="/model/fog_emitter_1/particle_emitter/fog_generator">
+        <output type="ignition.msgs.ParticleEmitter" topic="/model/fog_emitter_1/link/link/particle_emitter/fog_generator/cmd">
           emitting:{data: 1}
         </output>
       </plugin>
@@ -2597,7 +2597,7 @@
             }
           </match>
         </input>
-        <output type="ignition.msgs.ParticleEmitter" topic="/model/fog_emitter_1/particle_emitter/fog_generator">
+        <output type="ignition.msgs.ParticleEmitter" topic="/model/fog_emitter_1/link/link/particle_emitter/fog_generator/cmd">
           emitting:{data: 0}
         </output>
       </plugin>
@@ -2608,8 +2608,8 @@
     <include>
       <name>fog_emitter_2</name>
       <static>true</static>
-      <pose>422 60 -20 0 -1.57 0</pose>
-      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Fog Emitter</uri>
+      <pose>422 60 -20 0 0 0</pose>
+      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Fog Emitter2</uri>
     </include>
     <model name="fog_emitter_2_detector">
       <pose>422 60 -20 0 -1.57 0</pose>
@@ -2669,7 +2669,7 @@
             }
           </match>
         </input>
-        <output type="ignition.msgs.ParticleEmitter" topic="/model/fog_emitter_2/particle_emitter/fog_generator_1">
+        <output type="ignition.msgs.ParticleEmitter" topic="/model/fog_emitter_2/link/link/particle_emitter/fog_generator/cmd">
           emitting:{data: 1}
         </output>
       </plugin>
@@ -2703,7 +2703,7 @@
             }
           </match>
         </input>
-        <output type="ignition.msgs.ParticleEmitter" topic="/model/fog_emitter_2/particle_emitter/fog_generator_1">
+        <output type="ignition.msgs.ParticleEmitter" topic="/model/fog_emitter_2/link/link/particle_emitter/fog_generator/cmd">
           emitting:{data: 0}
         </output>
       </plugin>
diff --git a/subt_ign/worlds/finals_practice_02.sdf b/subt_ign/worlds/finals_practice_02.sdf
index 0596913d..052479f8 100644
--- a/subt_ign/worlds/finals_practice_02.sdf
+++ b/subt_ign/worlds/finals_practice_02.sdf
@@ -416,8 +416,8 @@
     <include>
       <name>fog_emitter_1</name>
       <static>true</static>
-      <pose>32 80 -9.98 0 -1.57 1.57</pose>
-      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Fog Emitter</uri>
+      <pose>32 80 -9.98 0 0 0</pose>
+      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Fog Emitter2</uri>
     </include>
     <model name="fog_emitter_1_detector">
       <pose>32 80 -9.98 0 -1.57 1.57</pose>
@@ -461,7 +461,7 @@
             }
           </match>
         </input>
-        <output type="ignition.msgs.ParticleEmitter" topic="/model/fog_emitter_1/particle_emitter/fog_generator">
+        <output type="ignition.msgs.ParticleEmitter" topic="/model/fog_emitter_1/link/link/particle_emitter/fog_generator/cmd">
           emitting:{data: 1}
         </output>
       </plugin>
@@ -495,7 +495,7 @@
             }
           </match>
         </input>
-        <output type="ignition.msgs.ParticleEmitter" topic="/model/fog_emitter_1/particle_emitter/fog_generator">
+        <output type="ignition.msgs.ParticleEmitter" topic="/model/fog_emitter_1/link/link/particle_emitter/fog_generator/cmd">
           emitting:{data: 0}
         </output>
       </plugin>
@@ -506,8 +506,8 @@
     <include>
       <name>fog_emitter_2</name>
       <static>true</static>
-      <pose>92 -40 0.02 0.0 -1.57 0.0</pose>
-      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Fog Emitter</uri>
+      <pose>92 -40 0.02 0.0 0 0.0</pose>
+      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Fog Emitter2</uri>
     </include>
     <model name="fog_emitter_2_detector">
       <pose>92 -40 0.02 0.0 -1.57 0.0</pose>
@@ -551,7 +551,7 @@
             }
           </match>
         </input>
-        <output type="ignition.msgs.ParticleEmitter" topic="/model/fog_emitter_2/particle_emitter/fog_generator_1">
+        <output type="ignition.msgs.ParticleEmitter" topic="/model/fog_emitter_2/link/link/particle_emitter/fog_generator/cmd">
           emitting:{data: 1}
         </output>
       </plugin>
@@ -585,7 +585,7 @@
             }
           </match>
         </input>
-        <output type="ignition.msgs.ParticleEmitter" topic="/model/fog_emitter_2/particle_emitter/fog_generator_1">
+        <output type="ignition.msgs.ParticleEmitter" topic="/model/fog_emitter_2/link/link/particle_emitter/fog_generator/cmd">
           emitting:{data: 0}
         </output>
       </plugin>
diff --git a/subt_ign/worlds/finals_practice_03.sdf b/subt_ign/worlds/finals_practice_03.sdf
index 2548a967..6d805b64 100644
--- a/subt_ign/worlds/finals_practice_03.sdf
+++ b/subt_ign/worlds/finals_practice_03.sdf
@@ -215,8 +215,8 @@
     <include>
       <name>fog_emitter_1</name>
       <static>true</static>
-      <pose>127.692 68.234 75.65 -0.2 -1.57 0</pose>
-      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Fog Emitter</uri>
+      <pose>127.692 68.234 75.65 -0.2 0 0</pose>
+      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Fog Emitter2</uri>
     </include>
     <model name="fog_emitter_1_detector">
       <pose>127.692 68.234 75.65 -0.2 0.0 0</pose>
@@ -276,7 +276,7 @@
             }
           </match>
         </input>
-        <output type="ignition.msgs.ParticleEmitter" topic="/model/fog_emitter_1/particle_emitter/fog_generator">
+        <output type="ignition.msgs.ParticleEmitter" topic="/model/fog_emitter_1/link/link/particle_emitter/fog_generator/cmd">
           emitting:{data: 1}
         </output>
       </plugin>
@@ -310,7 +310,7 @@
             }
           </match>
         </input>
-        <output type="ignition.msgs.ParticleEmitter" topic="/model/fog_emitter_1/particle_emitter/fog_generator">
+        <output type="ignition.msgs.ParticleEmitter" topic="/model/fog_emitter_1/link/link/particle_emitter/fog_generator/cmd">
           emitting:{data: 0}
         </output>
       </plugin>
@@ -321,8 +321,8 @@
     <include>
       <name>fog_emitter_2</name>
       <static>true</static>
-      <pose>350.3 -150 -100.54 0.0 -1.57 0.0</pose>
-      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Fog Emitter</uri>
+      <pose>350.3 -150 -100.54 0.0 0 0.0</pose>
+      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Fog Emitter2</uri>
     </include>
     <model name="fog_emitter_2_detector">
       <pose>350.3 -150 -100.54 0.0 -1.57 1.57</pose>
@@ -382,7 +382,7 @@
             }
           </match>
         </input>
-        <output type="ignition.msgs.ParticleEmitter" topic="/model/fog_emitter_2/particle_emitter/fog_generator_1">
+        <output type="ignition.msgs.ParticleEmitter" topic="/model/fog_emitter_2/link/link/particle_emitter/fog_generator/cmd">
           emitting:{data: 1}
         </output>
       </plugin>
@@ -416,7 +416,7 @@
             }
           </match>
         </input>
-        <output type="ignition.msgs.ParticleEmitter" topic="/model/fog_emitter_2/particle_emitter/fog_generator_1">
+        <output type="ignition.msgs.ParticleEmitter" topic="/model/fog_emitter_2/link/link/particle_emitter/fog_generator/cmd">
           emitting:{data: 0}
         </output>
       </plugin>
diff --git a/subt_ign/worlds/finals_qual.dot b/subt_ign/worlds/finals_qual.dot
index 861222dc..74504fe2 100644
--- a/subt_ign/worlds/finals_qual.dot
+++ b/subt_ign/worlds/finals_qual.dot
@@ -22,7 +22,6 @@ graph {
   14  [label="14::Universal Shift 5x5::tile_14"];
   15  [label="15::Universal Straight 2.5::tile_15"];
   16  [label="16::Universal Straight 5::tile_16"];
-  17  [label="17::Tunnel Tile Blocker::tile_17"];
   18  [label="18::Cave Cap Type A::tile_18"];
   19  [label="19::Cave Corner 01 Type A::tile_19"];
   20  [label="20::Cave 3 Way 01 Type A::tile_20"];
@@ -43,9 +42,7 @@ graph {
   36  [label="36::Cave Cap Type A::tile_36"];
   37  [label="37::Cave 2 Way 01 Type A::tile_37"];
   38  [label="38::Cave Elevation 02 Type A::tile_38"];
-  39  [label="39::Tunnel Tile Blocker::tile_39"];
   40  [label="40::Tunnel Tile 5::tile_40"];
-  41  [label="41::Tunnel Tile Blocker::tile_41"];
   42  [label="42::Tunnel Tile 5::tile_42"];
   43  [label="43::Tunnel Tile 2::tile_43"];
   44  [label="44::Tunnel Tile 6::tile_44"];
@@ -53,7 +50,6 @@ graph {
   46  [label="46::Cave Transition Type A to and from Type B::tile_46"];
   47  [label="47::Tunnel Tile 6::tile_47"];
   48  [label="48::Tunnel Tile 2::tile_48"];
-  49  [label="49::Tunnel Tile Blocker::tile_49"];
   50  [label="50::Tunnel Tile 6::tile_50"];
   51  [label="51::Tunnel Tile 2::tile_51"];
   52  [label="52::Tunnel Tile 4::tile_52"];
@@ -62,7 +58,6 @@ graph {
   55  [label="55::Cave Corner 03 Type A Lights::tile_55"];
   56  [label="56::Cave Cap Type A::tile_56"];
   57  [label="57::Cave Tunnel Transition Lights::tile_57"];
-  58  [label="58::Tunnel Tile Blocker::tile_58"];
   59  [label="59::Tunnel Tile 7 Lights::tile_59"];
   60  [label="60::Tunnel Tile 1 Lights::tile_60"];
   61  [label="61::Tunnel Tile 5 Lights::tile_61"];
@@ -77,15 +72,10 @@ graph {
   70  [label="70::Urban Large Room Split Lights::tile_70"];
   71  [label="71::Urban Cave Transition::tile_71"];
   72  [label="72::Urban Elevation Up::tile_72"];
-  73  [label="73::Tunnel Tile Blocker::tile_73"];
   74  [label="74::Urban 3-Way Right Intersection::tile_74"];
   75  [label="75::Urban Service Room Straight Lights::tile_75"];
   76  [label="76::Urban Service Room Straight Lights::tile_76"];
   77  [label="77::Urban 2 Story Lights::tile_77"];
-  78  [label="78::Tunnel Tile Blocker::tile_78"];
-  79  [label="79::Tunnel Tile Blocker::tile_79"];
-  80  [label="80::Tunnel Tile Blocker::tile_80"];
-  81  [label="81::Tunnel Tile Blocker::tile_81"];
   82  [label="82::Cave Cap Type A::tile_82"];
 
   /* ==== Edges ==== */
@@ -114,9 +104,9 @@ graph {
   18 -- 57  [label=3];
   20 -- 21  [label=6];
   20 -- 55  [label=6];
-  22 -- 23  [label=6];
+  22 -- 23  [label=2];
   22 -- 57  [label=3];
-  23 -- 59  [label=6];
+  23 -- 59  [label=2];
   24 -- 31  [label=3];
   25 -- 32  [label=3];
   26 -- 66  [label=1];
@@ -136,26 +126,26 @@ graph {
   38 -- 64  [label=3];
   40 -- 42  [label=1];
   42 -- 47  [label=1];
-  43 -- 50  [label=3];
-  43 -- 51  [label=6];
-  44 -- 45  [label=3];
-  44 -- 51  [label=3];
-  45 -- 52  [label=6];
-  45 -- 53  [label=6];
+  43 -- 50  [label=2];
+  43 -- 51  [label=2];
+  44 -- 45  [label=2];
+  44 -- 51  [label=2];
+  45 -- 52  [label=2];
+  45 -- 53  [label=2];
   46 -- 65  [label=3];
   46 -- 71  [label=1];
-  47 -- 48  [label=3];
-  48 -- 54  [label=6];
-  50 -- 52  [label=3];
-  52 -- 54  [label=6];
-  53 -- 54  [label=6];
-  54 -- 61  [label=3];
+  47 -- 48  [label=2];
+  48 -- 54  [label=2];
+  50 -- 52  [label=2];
+  52 -- 54  [label=2];
+  53 -- 54  [label=2];
+  54 -- 61  [label=2];
   55 -- 57  [label=3];
   56 -- 64  [label=6];
-  59 -- 60  [label=6];
-  60 -- 61  [label=3];
-  60 -- 62  [label=6];
-  62 -- 63  [label=3];
+  59 -- 60  [label=2];
+  60 -- 61  [label=2];
+  60 -- 62  [label=2];
+  62 -- 63  [label=2];
   66 -- 67  [label=3];
   67 -- 70  [label=6];
   68 -- 69  [label=3];
diff --git a/subt_ign/worlds/finals_qual.sdf b/subt_ign/worlds/finals_qual.sdf
index c1404ecf..85093b70 100644
--- a/subt_ign/worlds/finals_qual.sdf
+++ b/subt_ign/worlds/finals_qual.sdf
@@ -556,9 +556,9 @@
     <include>
       <name>fog_emitter_1</name>
       <static>true</static>
-      <pose>186 -10 0 0 -1.57 0</pose>
+      <pose>186 -10 0 0 0 0</pose>
 
-      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Fog Emitter</uri>
+      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Fog Emitter2</uri>
     </include>  
 
     <model name="fog_emitter_1_detector">
@@ -598,7 +598,7 @@
             }
           </match>
         </input>
-        <output type="ignition.msgs.ParticleEmitter" topic="/model/fog_emitter_1/particle_emitter/fog_generator">
+        <output type="ignition.msgs.ParticleEmitter" topic="/model/fog_emitter_1/link/link/particle_emitter/fog_generator/cmd">
           emitting:{data: 1}
         </output>
       </plugin>
@@ -626,7 +626,7 @@
             }
           </match>
         </input>
-        <output type="ignition.msgs.ParticleEmitter" topic="/model/fog_emitter_1/particle_emitter/fog_generator">
+        <output type="ignition.msgs.ParticleEmitter" topic="/model/fog_emitter_1/link/link/particle_emitter/fog_generator/cmd">
           emitting:{data: 0}
         </output>
       </plugin>
diff --git a/subt_ros/launch/models_common/depth_camera.launch b/subt_ros/launch/models_common/depth_camera.launch
new file mode 100644
index 00000000..ace0ec22
--- /dev/null
+++ b/subt_ros/launch/models_common/depth_camera.launch
@@ -0,0 +1,49 @@
+<?xml version="1.0"?>
+<launch>
+    <!-- Includes nodes necessary for using a depth camera. Can be used multiple times. -->
+
+    <arg name="gazebo_topic" doc="The Gazebo 'base' topic (i.e. the prefix before /depth_image and /camera_info)." />
+    <arg name="ros_topic" doc="The ROS topic to publish the camera on (prefix without /image_raw or /camera_info)." />
+    <arg name="node_name_suffix" doc="Suffix of the generated nodes. Use to disambiguate if multiple cameras of any type are used." />
+    <arg name="relay_points" default="1" doc="If 1, also the pointcloud is transmitted. If 0, only the depth image is." />
+
+    <arg name="publish_optical_frame" default="1" doc="If true, optical frame publisher will be created. Otherwise you have to provide the optical publisher by some other means." />
+
+    <!-- Depth camera info -->
+    <node pkg="ros_ign_bridge" type="parameter_bridge" respawn="true"
+      name="ros_ign_bridge_$(arg node_name_suffix)"
+      args="$(arg gazebo_topic)/camera_info@sensor_msgs/CameraInfo[ignition.msgs.CameraInfo">
+      <remap from="$(arg gazebo_topic)/camera_info" to="$(arg ros_topic)/camera_info"/>
+    </node>
+
+    <!-- Depth image -->
+    <node pkg="ros_ign_image" type="image_bridge" respawn="true"
+      name="ros_ign_image_$(arg node_name_suffix)"
+      args="$(arg gazebo_topic)/depth_image">
+      <remap from="$(arg gazebo_topic)/depth_image" to="$(arg ros_topic)/depth"/>
+    </node>
+
+    <!-- Depth optical publisher -->
+    <node pkg="subt_ros" type="optical_frame_publisher" respawn="true"
+      name="optical_frame_publisher_$(arg node_name_suffix)" if="$(arg publish_optical_frame)">
+      <remap from="input/image" to="$(arg ros_topic)/depth" />
+      <remap from="output/image" to="$(arg ros_topic)/optical/depth" />
+      <remap from="input/camera_info" to="$(arg ros_topic)/camera_info" />
+      <remap from="output/camera_info" to="$(arg ros_topic)/optical/camera_info" />
+    </node>
+
+    <!-- 3D cloud -->
+    <node pkg="ros_ign_bridge" type="parameter_bridge" respawn="true"
+          name="ros_ign_bridge_points_$(arg node_name_suffix)"
+          args="$(arg gazebo_topic)/depth_image/points@sensor_msgs/PointCloud2[ignition.msgs.PointCloudPacked"
+          if="$(arg relay_points)">
+        <remap from="$(arg gazebo_topic)/depth_image/points" to="$(arg ros_topic)/depth/points"/>
+    </node>
+
+    <!-- Allow slowing down framerate of the camera. -->
+    <include file="$(dirname)/set_rate_relay.launch">
+      <arg name="name" value="ros_ign_bridge_$(arg node_name_suffix)_set_rate" />
+      <arg name="ign_service" value="$(arg gazebo_topic)/depth_image/set_rate" />
+      <arg name="ros_service" value="$(arg ros_topic)/set_rate" />
+    </include>
+</launch>
\ No newline at end of file