diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/config/common.yaml b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/config/common.yaml
index 18777307..bec5074d 100644
--- a/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/config/common.yaml
+++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/config/common.yaml
@@ -1,5 +1,8 @@
 revision: 2014  # 2014 for TRADR robot, 2021 for upgraded robot
 
+wheels_instead_of_tracks: False
+track_mu: 10
+
 big_collision_box_on_top: False
 big_collision_box_height: 0.5
 big_collision_box_width: 0.5
diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/launch/common.rb b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/launch/common.rb
index c4544cbf..48f1ac79 100644
--- a/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/launch/common.rb
+++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/launch/common.rb
@@ -1,4 +1,16 @@
 def _spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw, _additionalSDF, _max_velocity=0.4, _max_acceleration=3)
+  # read robot configuration from the config/ dir to access robot geometry information
+  require 'yaml'
+  confdir = File.join(__dir__, '..', 'config')
+  config_yamls = [ File.join(confdir, 'common.yaml'), File.join(confdir, 'sdf.yaml') ]
+  config = Hash.new
+  for config_yaml in config_yamls
+    conf = YAML.load_file(config_yaml)
+    config.merge!(conf)
+  end
+
+  useWheels = config["wheels_instead_of_tracks"]
+
   numTrackWheels = 8
   numFlipperWheels = 5
 
@@ -22,53 +34,109 @@ def _spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw, _add
     diffdriveJoints[i] = ""
   end
   wheelSlip = ""
+  trackControllers = ""
+  trackLinks = ""
+  power_draining_topics = ""
 
   for track in tracks
-    for wheel in 1..numTrackWheels
-      diffdriveJoints[0] += "<#{track}_joint>#{track}_track_wheel#{wheel}_j</#{track}_joint>\n"
-      wheelSlip += <<-HEREDOC
-        <wheel link_name="#{track}_track_wheel#{wheel}">
-          <slip_compliance_lateral>#{slipCompliance}</slip_compliance_lateral>
-          <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-          <wheel_normal_force>#{wheelNormalForce}</wheel_normal_force>
-          <wheel_radius>#{wheelRadiuses[0]}</wheel_radius>
-        </wheel>
-      HEREDOC
+    if useWheels
+        for wheel in 1..numTrackWheels
+          diffdriveJoints[0] += "<#{track}_joint>#{track}_track_wheel#{wheel}_j</#{track}_joint>\n"
+          wheelSlip += <<-HEREDOC
+            <wheel link_name="#{track}_track_wheel#{wheel}">
+              <slip_compliance_lateral>#{slipCompliance}</slip_compliance_lateral>
+              <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
+              <wheel_normal_force>#{wheelNormalForce}</wheel_normal_force>
+              <wheel_radius>#{wheelRadiuses[0]}</wheel_radius>
+            </wheel>
+          HEREDOC
+        end
+    else
+        trackControllers += <<-HEREDOC
+          <plugin name='ignition::gazebo::systems::TrackController' filename='libignition-gazebo-track-controller-system.so'>
+              <link>#{track}_track</link>
+              <min_velocity>-#{_max_velocity}</min_velocity>
+              <max_velocity>#{_max_velocity}</max_velocity>
+              <min_acceleration>-#{_max_acceleration}</min_acceleration>
+              <max_acceleration>#{_max_acceleration}</max_acceleration>
+          </plugin>
+        HEREDOC
+        trackLinks += "<#{track}_track><link>#{track}_track</link></#{track}_track>"
+        power_draining_topics += "<power_draining_topic>/model/#{_name}/link/#{track}_track/track_cmd_vel</power_draining_topic>"
     end
     for flipper in flippersOfTrack[track]
-      for wheel in 1..numFlipperWheels
-        diffdriveJoints[wheel-1] += "<#{track}_joint>#{flipper}_flipper_wheel#{wheel}_j</#{track}_joint>\n"
-        wheelSlip += <<-HEREDOC
-          <wheel link_name="#{flipper}_flipper_wheel#{wheel}">
-            <slip_compliance_lateral>#{slipCompliance}</slip_compliance_lateral>
-            <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
-            <wheel_normal_force>#{wheelNormalForce}</wheel_normal_force>
-            <wheel_radius>#{wheelRadiuses[wheel-1]}</wheel_radius>
-          </wheel>
+      if useWheels
+          for wheel in 1..numFlipperWheels
+            diffdriveJoints[wheel-1] += "<#{track}_joint>#{flipper}_flipper_wheel#{wheel}_j</#{track}_joint>\n"
+            wheelSlip += <<-HEREDOC
+              <wheel link_name="#{flipper}_flipper_wheel#{wheel}">
+                <slip_compliance_lateral>#{slipCompliance}</slip_compliance_lateral>
+                <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
+                <wheel_normal_force>#{wheelNormalForce}</wheel_normal_force>
+                <wheel_radius>#{wheelRadiuses[wheel-1]}</wheel_radius>
+              </wheel>
+            HEREDOC
+          end
+      else
+        trackControllers += <<-HEREDOC
+          <plugin name='ignition::gazebo::systems::TrackController' filename='libignition-gazebo-track-controller-system.so'>
+              <link>#{flipper}_flipper</link>
+              <min_velocity>-#{_max_velocity}</min_velocity>
+              <max_velocity>#{_max_velocity}</max_velocity>
+              <min_acceleration>-#{_max_acceleration}</min_acceleration>
+              <max_acceleration>#{_max_acceleration}</max_acceleration>
+          </plugin>
         HEREDOC
+        trackLinks += "<#{track}_track><link>#{flipper}_flipper</link></#{track}_track>"
+        power_draining_topics += "<power_draining_topic>/model/#{_name}/link/#{flipper}_flipper/track_cmd_vel</power_draining_topic>"
       end
     end
   end
 
   diffDrive = ""
-  for wheel in 0...numFlipperWheels
-    # we only want odometry from the first diffdrive
-    no_odom = ""
-    if wheel > 0
-      no_odom = "<odom_topic>unused_odom</odom_topic>\n"
-    end
-    diffDrive += <<-HEREDOC
-      <plugin filename="ignition-gazebo-diff-drive-system" name="ignition::gazebo::systems::DiffDrive">
-        #{diffdriveJoints[wheel]}
-        <wheel_separation>#{wheelSeparation}</wheel_separation>
-        <wheel_radius>#{wheelRadiuses[wheel]}</wheel_radius>
-        <topic>/model/#{_name}/cmd_vel_relay</topic>
-        <min_velocity>-#{_max_velocity}</min_velocity>
-        <max_velocity>#{_max_velocity}</max_velocity>
-        <min_acceleration>-#{_max_acceleration}</min_acceleration>
-        <max_acceleration>#{_max_acceleration}</max_acceleration>
-        #{no_odom}
-      </plugin>
+  trackedVehicle = ""
+  wheelSlipPlugin = ""
+  if useWheels
+      for wheel in 0...numFlipperWheels
+        # we only want odometry from the first diffdrive
+        no_odom = ""
+        if wheel > 0
+          no_odom = "<odom_topic>unused_odom</odom_topic>\n"
+        end
+        diffDrive += <<-HEREDOC
+          <plugin filename="ignition-gazebo-diff-drive-system" name="ignition::gazebo::systems::DiffDrive">
+            #{diffdriveJoints[wheel]}
+            <wheel_separation>#{wheelSeparation}</wheel_separation>
+            <wheel_radius>#{wheelRadiuses[wheel]}</wheel_radius>
+            <topic>/model/#{_name}/cmd_vel_relay</topic>
+            <min_velocity>-#{_max_velocity}</min_velocity>
+            <max_velocity>#{_max_velocity}</max_velocity>
+            <min_acceleration>-#{_max_acceleration}</min_acceleration>
+            <max_acceleration>#{_max_acceleration}</max_acceleration>
+            #{no_odom}
+          </plugin>
+        HEREDOC
+      end
+      wheelSlipPlugin = <<-HEREDOC
+        <plugin filename="ignition-gazebo-wheel-slip-system" name="ignition::gazebo::systems::WheelSlip">
+          #{wheelSlip}
+        </plugin>
+      HEREDOC
+  else
+    trackedVehicle += <<-HEREDOC
+        <plugin name="ignition::gazebo::systems::TrackedVehicle" filename="ignition-gazebo-tracked-vehicle-system">
+              #{trackLinks}
+              <tracks_separation>#{wheelSeparation}</tracks_separation>
+              <tracks_height>0.18094</tracks_height>
+              <steering_efficiency>0.5</steering_efficiency>
+              <topic>/model/#{_name}/cmd_vel_relay</topic>
+              <linear_velocity>
+                  <min_velocity>-#{_max_velocity}</min_velocity>
+                  <max_velocity>#{_max_velocity}</max_velocity>
+                  <min_acceleration>-#{_max_acceleration}</min_acceleration>
+                  <max_acceleration>#{_max_acceleration}</max_acceleration>
+              </linear_velocity>
+          </plugin>
     HEREDOC
   end
 
@@ -85,6 +153,8 @@ def _spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw, _add
       <uri>#{_modelURI}</uri>
       <!-- Diff drive -->
       #{diffDrive}
+      #{trackedVehicle}
+      #{trackControllers}
       <!-- Publish robot state information -->
       <plugin filename="libignition-gazebo-pose-publisher-system.so"
         name="ignition::gazebo::systems::PosePublisher">
@@ -110,6 +180,7 @@ def _spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw, _add
         <smooth_current_tau>1.9499</smooth_current_tau>
         <power_load>4.95</power_load>
         <start_on_motion>true</start_on_motion>
+        #{power_draining_topics}
       </plugin>
       <!-- Gas Sensor plugin -->
       <plugin filename="libGasEmitterDetectorPlugin.so"
@@ -119,9 +190,7 @@ def _spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw, _add
         <type>gas</type>
       </plugin>
       <!-- Wheel slip -->
-      <plugin filename="ignition-gazebo-wheel-slip-system" name="ignition::gazebo::systems::WheelSlip">
-        #{wheelSlip}
-      </plugin>
+      #{wheelSlipPlugin}
       #{_additionalSDF}
     </include>
     </sdf>
diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/model.sdf b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/model.sdf
index e0ed7dab..3bff28f4 100644
--- a/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/model.sdf
+++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/model.sdf
@@ -407,7 +407,6 @@
         <always_on>1</always_on>
         <update_rate>50</update_rate>
         <imu>
-          <enable_orientation>0</enable_orientation>
           <angular_velocity>
             <x>
               <noise type="gaussian">
@@ -478,6 +477,7 @@
               </noise>
             </z>
           </linear_acceleration>
+          <enable_orientation>0</enable_orientation>
         </imu>
         <pose>0 0 0.15 -3.1415926535897931 -0 0</pose>
       </sensor>
@@ -850,26 +850,64 @@
     <link name="left_track">
       <pose>0 0.1985 0 0 -0 0</pose>
       <inertial>
-        <mass>1e-05</mass>
+        <pose>0 0 0.0141 0 -0 0</pose>
+        <mass>6.06</mass>
         <inertia>
-          <ixx>0.001</ixx>
-          <ixy>1e-06</ixy>
-          <ixz>1e-06</ixz>
-          <iyy>0.001</iyy>
-          <iyz>1e-06</iyz>
-          <izz>0.001</izz>
+          <ixx>0.002731</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.032554</iyy>
+          <iyz>1.5e-05</iyz>
+          <izz>0.031391</izz>
         </inertia>
       </inertial>
       <collision name="left_track_collision">
+        <pose>0 0 0.01855 1.5707963267948966 -0 1.5707963267948966</pose>
         <geometry>
           <box>
-            <size>0.01 0.01 0.01</size>
+            <size>0.097 0.178 0.5</size>
           </box>
         </geometry>
         <surface>
           <friction>
             <ode>
-              <mu>0.7</mu>
+              <mu>10</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="left_track_collision_1">
+        <pose>0.25 -0.015 0.01855 1.5707963267948966 -0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.112</length>
+            <radius>0.089</radius>
+          </cylinder>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>10</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="left_track_collision_2">
+        <pose>-0.25 0 0.01855 1.5707963267948966 -0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.097</length>
+            <radius>0.089</radius>
+          </cylinder>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>10</mu>
               <mu2>150</mu2>
               <fdir1>0 0 1</fdir1>
             </ode>
@@ -921,26 +959,98 @@
     <link name="front_left_flipper">
       <pose>0.25 0.272 0.0195 0 0.193732 0</pose>
       <inertial>
-        <mass>1e-05</mass>
+        <pose>0.08 0 0 0 -0 0</pose>
+        <mass>0.75</mass>
         <inertia>
-          <ixx>0.001</ixx>
-          <ixy>1e-06</ixy>
-          <ixz>1e-06</ixz>
-          <iyy>0.001</iyy>
-          <iyz>1e-06</iyz>
-          <izz>0.001</izz>
+          <ixx>0.0017491</ixx>
+          <ixy>2.8512e-07</ixy>
+          <ixz>0.0018277</ixz>
+          <iyy>0.012277</iyy>
+          <iyz>-3.6288e-07</iyz>
+          <izz>0.010941</izz>
         </inertia>
       </inertial>
-      <collision name="front_left_flipper_collision">
+      <collision name="front_left_flipper_collision_large_wheel_collision">
+        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.04981</length>
+            <radius>0.089</radius>
+          </cylinder>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>10</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="front_left_flipper_collision_small_wheel_collision_1">
+        <pose>0.33 0 0 1.5707963267948966 -0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.04981</length>
+            <radius>0.029</radius>
+          </cylinder>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>10</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="front_left_flipper_collision_top_bar_collision_2">
+        <pose>0.165 0 0.0325 0 0.184162 0</pose>
+        <geometry>
+          <box>
+            <size>0.33 0.04981 0.055</size>
+          </box>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>10</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="front_left_flipper_collision_bottom_bar_collision_3">
+        <pose>0.165 0 -0.0325 0 -0.184162 0</pose>
+        <geometry>
+          <box>
+            <size>0.33 0.04981 0.055</size>
+          </box>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>10</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="front_left_flipper_collision_middle_bar_collision_4">
+        <pose>0.166 0 0.004 0 -0.02 0</pose>
         <geometry>
           <box>
-            <size>0.01 0.01 0.01</size>
+            <size>0.2 0.04981 0.07</size>
           </box>
         </geometry>
         <surface>
           <friction>
             <ode>
-              <mu>0.7</mu>
+              <mu>10</mu>
               <mu2>150</mu2>
               <fdir1>0 0 1</fdir1>
             </ode>
@@ -984,11 +1094,11 @@
         </ode>
       </physics>
     </joint>
-    <link name="front_left_flipper_wheel1">
-      <pose>0.25 0.272 0.0195 0 0.193732 0</pose>
+    <link name="rear_left_flipper">
+      <pose>-0.25 0.272 0.0195 3.1415926535897931 0.193732 3.1415926535897931</pose>
       <inertial>
         <pose>0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
+        <mass>0.75</mass>
         <inertia>
           <ixx>0.0017491</ixx>
           <ixy>2.8512e-07</ixy>
@@ -998,7 +1108,7 @@
           <izz>0.010941</izz>
         </inertia>
       </inertial>
-      <collision name="front_left_flipper_wheel1_collision_collision">
+      <collision name="rear_left_flipper_collision_large_wheel_collision">
         <pose>0 0 0 1.5707963267948966 -0 0</pose>
         <geometry>
           <cylinder>
@@ -1007,146 +1117,103 @@
           </cylinder>
         </geometry>
         <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
           <friction>
             <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
+              <mu>10</mu>
+              <mu2>150</mu2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
-    </link>
-    <joint name="front_left_flipper_wheel1_j" type="revolute">
-      <child>front_left_flipper_wheel1</child>
-      <parent>front_left_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="front_left_flipper_wheel2">
-      <pose>0.330957 0.272 0.003617 0 0.193732 0</pose>
-      <inertial>
-        <pose>0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
-        <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
-        </inertia>
-      </inertial>
-      <collision name="front_left_flipper_wheel2_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="rear_left_flipper_collision_small_wheel_collision_1">
+        <pose>0.33 0 0 1.5707963267948966 -0 0</pose>
         <geometry>
           <cylinder>
             <length>0.04981</length>
-            <radius>0.074</radius>
+            <radius>0.029</radius>
           </cylinder>
         </geometry>
         <surface>
-          <contact>
+          <friction>
             <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
+              <mu>10</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
             </ode>
-          </contact>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="rear_left_flipper_collision_top_bar_collision_2">
+        <pose>0.165 0 0.0325 0 0.184162 0</pose>
+        <geometry>
+          <box>
+            <size>0.33 0.04981 0.055</size>
+          </box>
+        </geometry>
+        <surface>
           <friction>
             <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
+              <mu>10</mu>
+              <mu2>150</mu2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
-    </link>
-    <joint name="front_left_flipper_wheel2_j" type="revolute">
-      <child>front_left_flipper_wheel2</child>
-      <parent>front_left_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="front_left_flipper_wheel3">
-      <pose>0.411913 0.272 -0.012266 0 0.193732 0</pose>
-      <inertial>
-        <pose>0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
-        <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
-        </inertia>
-      </inertial>
-      <collision name="front_left_flipper_wheel3_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="rear_left_flipper_collision_bottom_bar_collision_3">
+        <pose>0.165 0 -0.0325 0 -0.184162 0</pose>
         <geometry>
-          <cylinder>
-            <length>0.04981</length>
-            <radius>0.059</radius>
-          </cylinder>
+          <box>
+            <size>0.33 0.04981 0.055</size>
+          </box>
         </geometry>
         <surface>
-          <contact>
+          <friction>
             <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
+              <mu>10</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
             </ode>
-          </contact>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="rear_left_flipper_collision_middle_bar_collision_4">
+        <pose>0.166 0 0.004 0 -0.02 0</pose>
+        <geometry>
+          <box>
+            <size>0.2 0.04981 0.07</size>
+          </box>
+        </geometry>
+        <surface>
           <friction>
             <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
+              <mu>10</mu>
+              <mu2>150</mu2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
+      <visual name="rear_left_flipper_visual">
+        <pose>0 0 0 -2.95743 -0 1.5707963267948966</pose>
+        <geometry>
+          <mesh>
+            <uri>meshes/flipper.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
     </link>
-    <joint name="front_left_flipper_wheel3_j" type="revolute">
-      <child>front_left_flipper_wheel3</child>
-      <parent>front_left_flipper</parent>
+    <joint name="rear_left_flipper_j" type="revolute">
+      <child>rear_left_flipper</child>
+      <parent>left_track</parent>
       <axis>
         <xyz>0 1 0</xyz>
         <limit>
           <lower>-1e+16</lower>
           <upper>1e+16</upper>
+          <effort>20</effort>
+          <velocity>0.785398</velocity>
         </limit>
         <dynamics>
           <spring_reference>0</spring_reference>
@@ -1154,251 +1221,68 @@
         </dynamics>
         <use_parent_model_frame>0</use_parent_model_frame>
       </axis>
+      <physics>
+        <ode>
+          <implicit_spring_damper>1</implicit_spring_damper>
+          <cfm_damping>1</cfm_damping>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+        </ode>
+      </physics>
     </joint>
-    <link name="front_left_flipper_wheel4">
-      <pose>0.49287 0.272 -0.028149 0 0.193732 0</pose>
+    <link name="right_track">
+      <pose>0 -0.1985 0 0 -0 0</pose>
       <inertial>
-        <pose>0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
+        <pose>0 0 0.0141 0 -0 0</pose>
+        <mass>6.06</mass>
         <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
+          <ixx>0.002731</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.032554</iyy>
+          <iyz>1.5e-05</iyz>
+          <izz>0.031391</izz>
         </inertia>
       </inertial>
-      <collision name="front_left_flipper_wheel4_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="right_track_collision">
+        <pose>0 0 0.01855 1.5707963267948966 -0 1.5707963267948966</pose>
         <geometry>
-          <cylinder>
-            <length>0.04981</length>
-            <radius>0.044</radius>
-          </cylinder>
+          <box>
+            <size>0.097 0.178 0.5</size>
+          </box>
         </geometry>
         <surface>
-          <contact>
+          <friction>
             <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
+              <mu>10</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
             </ode>
-          </contact>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="right_track_collision_1">
+        <pose>0.25 0.015 0.01855 1.5707963267948966 -0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.112</length>
+            <radius>0.089</radius>
+          </cylinder>
+        </geometry>
+        <surface>
           <friction>
             <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
+              <mu>10</mu>
+              <mu2>150</mu2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
-    </link>
-    <joint name="front_left_flipper_wheel4_j" type="revolute">
-      <child>front_left_flipper_wheel4</child>
-      <parent>front_left_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="front_left_flipper_wheel5">
-      <pose>0.573827 0.272 -0.044032 0 0.193732 0</pose>
-      <inertial>
-        <pose>0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
-        <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
-        </inertia>
-      </inertial>
-      <collision name="front_left_flipper_wheel5_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.04981</length>
-            <radius>0.029</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-    </link>
-    <joint name="front_left_flipper_wheel5_j" type="revolute">
-      <child>front_left_flipper_wheel5</child>
-      <parent>front_left_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="left_track_wheel1">
-      <pose>0.25 0.1985 0.01855 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0.0141 0 -0 0</pose>
-        <mass>0.7575</mass>
-        <inertia>
-          <ixx>0.002731</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.032554</iyy>
-          <iyz>1.5e-05</iyz>
-          <izz>0.031391</izz>
-        </inertia>
-      </inertial>
-      <collision name="left_track_wheel1_collision">
-        <pose>0 -0.015 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.112</length>
-            <radius>0.089</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-    </link>
-    <joint name="left_track_wheel1_j" type="revolute">
-      <child>left_track_wheel1</child>
-      <parent>left_track</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="left_track_wheel2">
-      <pose>0.178571 0.1985 0.01855 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0.0141 0 -0 0</pose>
-        <mass>0.7575</mass>
-        <inertia>
-          <ixx>0.002731</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.032554</iyy>
-          <iyz>1.5e-05</iyz>
-          <izz>0.031391</izz>
-        </inertia>
-      </inertial>
-      <collision name="left_track_wheel2_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.097</length>
-            <radius>0.089</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-    </link>
-    <joint name="left_track_wheel2_j" type="revolute">
-      <child>left_track_wheel2</child>
-      <parent>left_track</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="left_track_wheel3">
-      <pose>0.107143 0.1985 0.01855 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0.0141 0 -0 0</pose>
-        <mass>0.7575</mass>
-        <inertia>
-          <ixx>0.002731</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.032554</iyy>
-          <iyz>1.5e-05</iyz>
-          <izz>0.031391</izz>
-        </inertia>
-      </inertial>
-      <collision name="left_track_wheel3_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="right_track_collision_2">
+        <pose>-0.25 0 0.01855 1.5707963267948966 -0 0</pose>
         <geometry>
           <cylinder>
             <length>0.097</length>
@@ -1406,89 +1290,34 @@
           </cylinder>
         </geometry>
         <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
           <friction>
             <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
+              <mu>10</mu>
+              <mu2>150</mu2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
-    </link>
-    <joint name="left_track_wheel3_j" type="revolute">
-      <child>left_track_wheel3</child>
-      <parent>left_track</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="left_track_wheel4">
-      <pose>0.035714 0.1985 0.01855 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0.0141 0 -0 0</pose>
-        <mass>0.7575</mass>
-        <inertia>
-          <ixx>0.002731</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.032554</iyy>
-          <iyz>1.5e-05</iyz>
-          <izz>0.031391</izz>
-        </inertia>
-      </inertial>
-      <collision name="left_track_wheel4_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <visual name="right_track_visual">
+        <pose>0 0 -0.0705 1.5707963267948966 0 -1.5707963267948966</pose>
         <geometry>
-          <cylinder>
-            <length>0.097</length>
-            <radius>0.089</radius>
-          </cylinder>
+          <mesh>
+            <uri>meshes/bogie.dae</uri>
+          </mesh>
         </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
+      </visual>
     </link>
-    <joint name="left_track_wheel4_j" type="revolute">
-      <child>left_track_wheel4</child>
-      <parent>left_track</parent>
+    <joint name="right_track_j" type="revolute">
+      <child>right_track</child>
+      <parent>base_link</parent>
       <axis>
         <xyz>0 1 0</xyz>
         <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
+          <lower>0</lower>
+          <upper>0</upper>
+          <effort>0</effort>
+          <velocity>4</velocity>
         </limit>
         <dynamics>
           <spring_reference>0</spring_reference>
@@ -1496,1636 +1325,142 @@
         </dynamics>
         <use_parent_model_frame>0</use_parent_model_frame>
       </axis>
+      <physics>
+        <ode>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+        </ode>
+      </physics>
+      <physics>
+        <ode>
+          <implicit_spring_damper>1</implicit_spring_damper>
+          <cfm>0</cfm>
+          <erp>0.95</erp>
+        </ode>
+      </physics>
     </joint>
-    <link name="left_track_wheel5">
-      <pose>-0.035714 0.1985 0.01855 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0.0141 0 -0 0</pose>
-        <mass>0.7575</mass>
-        <inertia>
-          <ixx>0.002731</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.032554</iyy>
-          <iyz>1.5e-05</iyz>
-          <izz>0.031391</izz>
-        </inertia>
-      </inertial>
-      <collision name="left_track_wheel5_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.097</length>
-            <radius>0.089</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-    </link>
-    <joint name="left_track_wheel5_j" type="revolute">
-      <child>left_track_wheel5</child>
-      <parent>left_track</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="left_track_wheel6">
-      <pose>-0.107143 0.1985 0.01855 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0.0141 0 -0 0</pose>
-        <mass>0.7575</mass>
-        <inertia>
-          <ixx>0.002731</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.032554</iyy>
-          <iyz>1.5e-05</iyz>
-          <izz>0.031391</izz>
-        </inertia>
-      </inertial>
-      <collision name="left_track_wheel6_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.097</length>
-            <radius>0.089</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-    </link>
-    <joint name="left_track_wheel6_j" type="revolute">
-      <child>left_track_wheel6</child>
-      <parent>left_track</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="left_track_wheel7">
-      <pose>-0.178571 0.1985 0.01855 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0.0141 0 -0 0</pose>
-        <mass>0.7575</mass>
-        <inertia>
-          <ixx>0.002731</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.032554</iyy>
-          <iyz>1.5e-05</iyz>
-          <izz>0.031391</izz>
-        </inertia>
-      </inertial>
-      <collision name="left_track_wheel7_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.097</length>
-            <radius>0.089</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-    </link>
-    <joint name="left_track_wheel7_j" type="revolute">
-      <child>left_track_wheel7</child>
-      <parent>left_track</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="left_track_wheel8">
-      <pose>-0.25 0.1985 0.01855 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0.0141 0 -0 0</pose>
-        <mass>0.7575</mass>
-        <inertia>
-          <ixx>0.002731</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.032554</iyy>
-          <iyz>1.5e-05</iyz>
-          <izz>0.031391</izz>
-        </inertia>
-      </inertial>
-      <collision name="left_track_wheel8_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.097</length>
-            <radius>0.089</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-    </link>
-    <joint name="left_track_wheel8_j" type="revolute">
-      <child>left_track_wheel8</child>
-      <parent>left_track</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="rear_left_flipper">
-      <pose>-0.25 0.272 0.0195 3.1415926535897931 0.193732 3.1415926535897931</pose>
-      <inertial>
-        <mass>1e-05</mass>
-        <inertia>
-          <ixx>0.001</ixx>
-          <ixy>1e-06</ixy>
-          <ixz>1e-06</ixz>
-          <iyy>0.001</iyy>
-          <iyz>1e-06</iyz>
-          <izz>0.001</izz>
-        </inertia>
-      </inertial>
-      <collision name="rear_left_flipper_collision">
-        <geometry>
-          <box>
-            <size>0.01 0.01 0.01</size>
-          </box>
-        </geometry>
-        <surface>
-          <friction>
-            <ode>
-              <mu>0.7</mu>
-              <mu2>150</mu2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-      <visual name="rear_left_flipper_visual">
-        <pose>0 0 0 -2.95743 -0 1.5707963267948966</pose>
-        <geometry>
-          <mesh>
-            <uri>meshes/flipper.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-    </link>
-    <joint name="rear_left_flipper_j" type="revolute">
-      <child>rear_left_flipper</child>
-      <parent>left_track</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>20</effort>
-          <velocity>0.785398</velocity>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-      <physics>
-        <ode>
-          <implicit_spring_damper>1</implicit_spring_damper>
-          <cfm_damping>1</cfm_damping>
-          <limit>
-            <cfm>0</cfm>
-            <erp>0.2</erp>
-          </limit>
-        </ode>
-      </physics>
-    </joint>
-    <link name="rear_left_flipper_wheel1">
-      <pose>-0.25 0.272 0.0195 3.1415926535897931 0.193732 3.1415926535897931</pose>
-      <inertial>
-        <pose>0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
-        <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
-        </inertia>
-      </inertial>
-      <collision name="rear_left_flipper_wheel1_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.04981</length>
-            <radius>0.089</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-    </link>
-    <joint name="rear_left_flipper_wheel1_j" type="revolute">
-      <child>rear_left_flipper_wheel1</child>
-      <parent>rear_left_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="rear_left_flipper_wheel2">
-      <pose>-0.330957 0.272 0.003617 3.1415926535897931 0.193732 3.1415926535897931</pose>
-      <inertial>
-        <pose>0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
-        <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
-        </inertia>
-      </inertial>
-      <collision name="rear_left_flipper_wheel2_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.04981</length>
-            <radius>0.074</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-    </link>
-    <joint name="rear_left_flipper_wheel2_j" type="revolute">
-      <child>rear_left_flipper_wheel2</child>
-      <parent>rear_left_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="rear_left_flipper_wheel3">
-      <pose>-0.411913 0.272 -0.012266 3.1415926535897931 0.193732 3.1415926535897931</pose>
-      <inertial>
-        <pose>0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
-        <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
-        </inertia>
-      </inertial>
-      <collision name="rear_left_flipper_wheel3_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.04981</length>
-            <radius>0.059</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-    </link>
-    <joint name="rear_left_flipper_wheel3_j" type="revolute">
-      <child>rear_left_flipper_wheel3</child>
-      <parent>rear_left_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="rear_left_flipper_wheel4">
-      <pose>-0.49287 0.272 -0.028149 3.1415926535897931 0.193732 3.1415926535897931</pose>
-      <inertial>
-        <pose>0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
-        <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
-        </inertia>
-      </inertial>
-      <collision name="rear_left_flipper_wheel4_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.04981</length>
-            <radius>0.044</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-    </link>
-    <joint name="rear_left_flipper_wheel4_j" type="revolute">
-      <child>rear_left_flipper_wheel4</child>
-      <parent>rear_left_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="rear_left_flipper_wheel5">
-      <pose>-0.573827 0.272 -0.044032 3.1415926535897931 0.193732 3.1415926535897931</pose>
-      <inertial>
-        <pose>0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
-        <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
-        </inertia>
-      </inertial>
-      <collision name="rear_left_flipper_wheel5_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.04981</length>
-            <radius>0.029</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-    </link>
-    <joint name="rear_left_flipper_wheel5_j" type="revolute">
-      <child>rear_left_flipper_wheel5</child>
-      <parent>rear_left_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="right_track">
-      <pose>0 -0.1985 0 0 -0 0</pose>
-      <inertial>
-        <mass>1e-05</mass>
-        <inertia>
-          <ixx>0.001</ixx>
-          <ixy>1e-06</ixy>
-          <ixz>1e-06</ixz>
-          <iyy>0.001</iyy>
-          <iyz>1e-06</iyz>
-          <izz>0.001</izz>
-        </inertia>
-      </inertial>
-      <collision name="right_track_collision">
-        <geometry>
-          <box>
-            <size>0.01 0.01 0.01</size>
-          </box>
-        </geometry>
-        <surface>
-          <friction>
-            <ode>
-              <mu>0.7</mu>
-              <mu2>150</mu2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-      <visual name="right_track_visual">
-        <pose>0 0 -0.0705 1.5707963267948966 0 -1.5707963267948966</pose>
-        <geometry>
-          <mesh>
-            <uri>meshes/bogie.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-    </link>
-    <joint name="right_track_j" type="revolute">
-      <child>right_track</child>
-      <parent>base_link</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>0</lower>
-          <upper>0</upper>
-          <effort>0</effort>
-          <velocity>4</velocity>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-      <physics>
-        <ode>
-          <limit>
-            <cfm>0</cfm>
-            <erp>0.2</erp>
-          </limit>
-        </ode>
-      </physics>
-      <physics>
-        <ode>
-          <implicit_spring_damper>1</implicit_spring_damper>
-          <cfm>0</cfm>
-          <erp>0.95</erp>
-        </ode>
-      </physics>
-    </joint>
-    <link name="front_right_flipper">
-      <pose>0.25 -0.272 0.0195 3.1415926535897931 -0.193732 3.1415926535897931</pose>
-      <inertial>
-        <mass>1e-05</mass>
-        <inertia>
-          <ixx>0.001</ixx>
-          <ixy>1e-06</ixy>
-          <ixz>1e-06</ixz>
-          <iyy>0.001</iyy>
-          <iyz>1e-06</iyz>
-          <izz>0.001</izz>
-        </inertia>
-      </inertial>
-      <collision name="front_right_flipper_collision">
-        <geometry>
-          <box>
-            <size>0.01 0.01 0.01</size>
-          </box>
-        </geometry>
-        <surface>
-          <friction>
-            <ode>
-              <mu>0.7</mu>
-              <mu2>150</mu2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-      <visual name="front_right_flipper_visual">
-        <pose>0 0 0 -2.95743 -0 -1.5707963267948966</pose>
-        <geometry>
-          <mesh>
-            <uri>meshes/flipper.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-    </link>
-    <joint name="front_right_flipper_j" type="revolute">
-      <child>front_right_flipper</child>
-      <parent>right_track</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>20</effort>
-          <velocity>0.785398</velocity>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-      <physics>
-        <ode>
-          <implicit_spring_damper>1</implicit_spring_damper>
-          <cfm_damping>1</cfm_damping>
-          <limit>
-            <cfm>0</cfm>
-            <erp>0.2</erp>
-          </limit>
-        </ode>
-      </physics>
-    </joint>
-    <link name="front_right_flipper_wheel1">
-      <pose>0.25 -0.272 0.0195 3.1415926535897931 -0.193732 3.1415926535897931</pose>
-      <inertial>
-        <pose>-0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
-        <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
-        </inertia>
-      </inertial>
-      <collision name="front_right_flipper_wheel1_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.04981</length>
-            <radius>0.089</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-    </link>
-    <joint name="front_right_flipper_wheel1_j" type="revolute">
-      <child>front_right_flipper_wheel1</child>
-      <parent>front_right_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="front_right_flipper_wheel2">
-      <pose>0.330957 -0.272 0.003617 3.1415926535897931 -0.193732 3.1415926535897931</pose>
-      <inertial>
-        <pose>-0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
-        <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
-        </inertia>
-      </inertial>
-      <collision name="front_right_flipper_wheel2_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.04981</length>
-            <radius>0.074</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-    </link>
-    <joint name="front_right_flipper_wheel2_j" type="revolute">
-      <child>front_right_flipper_wheel2</child>
-      <parent>front_right_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="front_right_flipper_wheel3">
-      <pose>0.411913 -0.272 -0.012266 3.1415926535897931 -0.193732 3.1415926535897931</pose>
-      <inertial>
-        <pose>-0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
-        <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
-        </inertia>
-      </inertial>
-      <collision name="front_right_flipper_wheel3_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.04981</length>
-            <radius>0.059</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-    </link>
-    <joint name="front_right_flipper_wheel3_j" type="revolute">
-      <child>front_right_flipper_wheel3</child>
-      <parent>front_right_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="front_right_flipper_wheel4">
-      <pose>0.49287 -0.272 -0.028149 3.1415926535897931 -0.193732 3.1415926535897931</pose>
-      <inertial>
-        <pose>-0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
-        <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
-        </inertia>
-      </inertial>
-      <collision name="front_right_flipper_wheel4_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.04981</length>
-            <radius>0.044</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-    </link>
-    <joint name="front_right_flipper_wheel4_j" type="revolute">
-      <child>front_right_flipper_wheel4</child>
-      <parent>front_right_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="front_right_flipper_wheel5">
-      <pose>0.573827 -0.272 -0.044032 3.1415926535897931 -0.193732 3.1415926535897931</pose>
-      <inertial>
-        <pose>-0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
-        <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
-        </inertia>
-      </inertial>
-      <collision name="front_right_flipper_wheel5_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.04981</length>
-            <radius>0.029</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-    </link>
-    <joint name="front_right_flipper_wheel5_j" type="revolute">
-      <child>front_right_flipper_wheel5</child>
-      <parent>front_right_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="rear_right_flipper">
-      <pose>-0.25 -0.272 0.0195 0 -0.193732 0</pose>
-      <inertial>
-        <mass>1e-05</mass>
-        <inertia>
-          <ixx>0.001</ixx>
-          <ixy>1e-06</ixy>
-          <ixz>1e-06</ixz>
-          <iyy>0.001</iyy>
-          <iyz>1e-06</iyz>
-          <izz>0.001</izz>
-        </inertia>
-      </inertial>
-      <collision name="rear_right_flipper_collision">
-        <geometry>
-          <box>
-            <size>0.01 0.01 0.01</size>
-          </box>
-        </geometry>
-        <surface>
-          <friction>
-            <ode>
-              <mu>0.7</mu>
-              <mu2>150</mu2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-      <visual name="rear_right_flipper_visual">
-        <pose>0 0 0 -2.95743 -0 -1.5707963267948966</pose>
-        <geometry>
-          <mesh>
-            <uri>meshes/flipper.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-    </link>
-    <joint name="rear_right_flipper_j" type="revolute">
-      <child>rear_right_flipper</child>
-      <parent>right_track</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>20</effort>
-          <velocity>0.785398</velocity>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-      <physics>
-        <ode>
-          <implicit_spring_damper>1</implicit_spring_damper>
-          <cfm_damping>1</cfm_damping>
-          <limit>
-            <cfm>0</cfm>
-            <erp>0.2</erp>
-          </limit>
-        </ode>
-      </physics>
-    </joint>
-    <link name="rear_right_flipper_wheel1">
-      <pose>-0.25 -0.272 0.0195 0 -0.193732 0</pose>
-      <inertial>
-        <pose>-0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
-        <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
-        </inertia>
-      </inertial>
-      <collision name="rear_right_flipper_wheel1_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.04981</length>
-            <radius>0.089</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-    </link>
-    <joint name="rear_right_flipper_wheel1_j" type="revolute">
-      <child>rear_right_flipper_wheel1</child>
-      <parent>rear_right_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="rear_right_flipper_wheel2">
-      <pose>-0.330957 -0.272 0.003617 0 -0.193732 0</pose>
-      <inertial>
-        <pose>-0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
-        <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
-        </inertia>
-      </inertial>
-      <collision name="rear_right_flipper_wheel2_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.04981</length>
-            <radius>0.074</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-    </link>
-    <joint name="rear_right_flipper_wheel2_j" type="revolute">
-      <child>rear_right_flipper_wheel2</child>
-      <parent>rear_right_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="rear_right_flipper_wheel3">
-      <pose>-0.411913 -0.272 -0.012266 0 -0.193732 0</pose>
-      <inertial>
-        <pose>-0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
-        <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
-        </inertia>
-      </inertial>
-      <collision name="rear_right_flipper_wheel3_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.04981</length>
-            <radius>0.059</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-    </link>
-    <joint name="rear_right_flipper_wheel3_j" type="revolute">
-      <child>rear_right_flipper_wheel3</child>
-      <parent>rear_right_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="rear_right_flipper_wheel4">
-      <pose>-0.49287 -0.272 -0.028149 0 -0.193732 0</pose>
-      <inertial>
-        <pose>-0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
-        <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
-        </inertia>
-      </inertial>
-      <collision name="rear_right_flipper_wheel4_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.04981</length>
-            <radius>0.044</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-    </link>
-    <joint name="rear_right_flipper_wheel4_j" type="revolute">
-      <child>rear_right_flipper_wheel4</child>
-      <parent>rear_right_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="rear_right_flipper_wheel5">
-      <pose>-0.573827 -0.272 -0.044032 0 -0.193732 0</pose>
-      <inertial>
-        <pose>-0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
-        <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
-        </inertia>
-      </inertial>
-      <collision name="rear_right_flipper_wheel5_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.04981</length>
-            <radius>0.029</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-    </link>
-    <joint name="rear_right_flipper_wheel5_j" type="revolute">
-      <child>rear_right_flipper_wheel5</child>
-      <parent>rear_right_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="right_track_wheel1">
-      <pose>0.25 -0.1985 0.01855 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0.0141 0 -0 0</pose>
-        <mass>0.7575</mass>
-        <inertia>
-          <ixx>0.002731</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.032554</iyy>
-          <iyz>1.5e-05</iyz>
-          <izz>0.031391</izz>
-        </inertia>
-      </inertial>
-      <collision name="right_track_wheel1_collision">
-        <pose>0 0.015 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.112</length>
-            <radius>0.089</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-    </link>
-    <joint name="right_track_wheel1_j" type="revolute">
-      <child>right_track_wheel1</child>
-      <parent>right_track</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="right_track_wheel2">
-      <pose>0.178571 -0.1985 0.01855 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0.0141 0 -0 0</pose>
-        <mass>0.7575</mass>
-        <inertia>
-          <ixx>0.002731</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.032554</iyy>
-          <iyz>1.5e-05</iyz>
-          <izz>0.031391</izz>
-        </inertia>
-      </inertial>
-      <collision name="right_track_wheel2_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.097</length>
-            <radius>0.089</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-    </link>
-    <joint name="right_track_wheel2_j" type="revolute">
-      <child>right_track_wheel2</child>
-      <parent>right_track</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="right_track_wheel3">
-      <pose>0.107143 -0.1985 0.01855 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0.0141 0 -0 0</pose>
-        <mass>0.7575</mass>
-        <inertia>
-          <ixx>0.002731</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.032554</iyy>
-          <iyz>1.5e-05</iyz>
-          <izz>0.031391</izz>
+    <link name="front_right_flipper">
+      <pose>0.25 -0.272 0.0195 3.1415926535897931 -0.193732 3.1415926535897931</pose>
+      <inertial>
+        <pose>-0.08 0 0 0 -0 0</pose>
+        <mass>0.75</mass>
+        <inertia>
+          <ixx>0.0017491</ixx>
+          <ixy>2.8512e-07</ixy>
+          <ixz>0.0018277</ixz>
+          <iyy>0.012277</iyy>
+          <iyz>-3.6288e-07</iyz>
+          <izz>0.010941</izz>
         </inertia>
       </inertial>
-      <collision name="right_track_wheel3_collision">
+      <collision name="front_right_flipper_collision_large_wheel_collision">
         <pose>0 0 0 1.5707963267948966 -0 0</pose>
         <geometry>
           <cylinder>
-            <length>0.097</length>
+            <length>0.04981</length>
             <radius>0.089</radius>
           </cylinder>
         </geometry>
         <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
           <friction>
             <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
+              <mu>10</mu>
+              <mu2>150</mu2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
-    </link>
-    <joint name="right_track_wheel3_j" type="revolute">
-      <child>right_track_wheel3</child>
-      <parent>right_track</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="right_track_wheel4">
-      <pose>0.035714 -0.1985 0.01855 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0.0141 0 -0 0</pose>
-        <mass>0.7575</mass>
-        <inertia>
-          <ixx>0.002731</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.032554</iyy>
-          <iyz>1.5e-05</iyz>
-          <izz>0.031391</izz>
-        </inertia>
-      </inertial>
-      <collision name="right_track_wheel4_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="front_right_flipper_collision_small_wheel_collision_1">
+        <pose>-0.33 0 0 1.5707963267948966 -0 0</pose>
         <geometry>
           <cylinder>
-            <length>0.097</length>
-            <radius>0.089</radius>
+            <length>0.04981</length>
+            <radius>0.029</radius>
           </cylinder>
         </geometry>
         <surface>
-          <contact>
+          <friction>
             <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
+              <mu>10</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
             </ode>
-          </contact>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="front_right_flipper_collision_top_bar_collision_2">
+        <pose>-0.165 0 0.0325 0 0.184162 -3.1415926535897931</pose>
+        <geometry>
+          <box>
+            <size>0.33 0.04981 0.055</size>
+          </box>
+        </geometry>
+        <surface>
           <friction>
             <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
+              <mu>10</mu>
+              <mu2>150</mu2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
-    </link>
-    <joint name="right_track_wheel4_j" type="revolute">
-      <child>right_track_wheel4</child>
-      <parent>right_track</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="right_track_wheel5">
-      <pose>-0.035714 -0.1985 0.01855 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0.0141 0 -0 0</pose>
-        <mass>0.7575</mass>
-        <inertia>
-          <ixx>0.002731</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.032554</iyy>
-          <iyz>1.5e-05</iyz>
-          <izz>0.031391</izz>
-        </inertia>
-      </inertial>
-      <collision name="right_track_wheel5_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="front_right_flipper_collision_bottom_bar_collision_3">
+        <pose>-0.165 0 -0.0325 0 -0.184162 -3.1415926535897931</pose>
         <geometry>
-          <cylinder>
-            <length>0.097</length>
-            <radius>0.089</radius>
-          </cylinder>
+          <box>
+            <size>0.33 0.04981 0.055</size>
+          </box>
         </geometry>
         <surface>
-          <contact>
+          <friction>
             <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
+              <mu>10</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
             </ode>
-          </contact>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="front_right_flipper_collision_middle_bar_collision_4">
+        <pose>-0.166 0 0.004 0 -0.02 -3.1415926535897931</pose>
+        <geometry>
+          <box>
+            <size>0.2 0.04981 0.07</size>
+          </box>
+        </geometry>
+        <surface>
           <friction>
             <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
+              <mu>10</mu>
+              <mu2>150</mu2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
+      <visual name="front_right_flipper_visual">
+        <pose>0 0 0 -2.95743 -0 -1.5707963267948966</pose>
+        <geometry>
+          <mesh>
+            <uri>meshes/flipper.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
     </link>
-    <joint name="right_track_wheel5_j" type="revolute">
-      <child>right_track_wheel5</child>
+    <joint name="front_right_flipper_j" type="revolute">
+      <child>front_right_flipper</child>
       <parent>right_track</parent>
       <axis>
         <xyz>0 1 0</xyz>
         <limit>
           <lower>-1e+16</lower>
           <upper>1e+16</upper>
+          <effort>20</effort>
+          <velocity>0.785398</velocity>
         </limit>
         <dynamics>
           <spring_reference>0</spring_reference>
@@ -3133,170 +1468,137 @@
         </dynamics>
         <use_parent_model_frame>0</use_parent_model_frame>
       </axis>
+      <physics>
+        <ode>
+          <implicit_spring_damper>1</implicit_spring_damper>
+          <cfm_damping>1</cfm_damping>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+        </ode>
+      </physics>
     </joint>
-    <link name="right_track_wheel6">
-      <pose>-0.107143 -0.1985 0.01855 0 -0 0</pose>
+    <link name="rear_right_flipper">
+      <pose>-0.25 -0.272 0.0195 0 -0.193732 0</pose>
       <inertial>
-        <pose>0 0 0.0141 0 -0 0</pose>
-        <mass>0.7575</mass>
+        <pose>-0.08 0 0 0 -0 0</pose>
+        <mass>0.75</mass>
         <inertia>
-          <ixx>0.002731</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.032554</iyy>
-          <iyz>1.5e-05</iyz>
-          <izz>0.031391</izz>
+          <ixx>0.0017491</ixx>
+          <ixy>2.8512e-07</ixy>
+          <ixz>0.0018277</ixz>
+          <iyy>0.012277</iyy>
+          <iyz>-3.6288e-07</iyz>
+          <izz>0.010941</izz>
         </inertia>
       </inertial>
-      <collision name="right_track_wheel6_collision">
+      <collision name="rear_right_flipper_collision_large_wheel_collision">
         <pose>0 0 0 1.5707963267948966 -0 0</pose>
         <geometry>
           <cylinder>
-            <length>0.097</length>
+            <length>0.04981</length>
             <radius>0.089</radius>
           </cylinder>
         </geometry>
         <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
           <friction>
             <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
+              <mu>10</mu>
+              <mu2>150</mu2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
-    </link>
-    <joint name="right_track_wheel6_j" type="revolute">
-      <child>right_track_wheel6</child>
-      <parent>right_track</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="right_track_wheel7">
-      <pose>-0.178571 -0.1985 0.01855 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0.0141 0 -0 0</pose>
-        <mass>0.7575</mass>
-        <inertia>
-          <ixx>0.002731</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.032554</iyy>
-          <iyz>1.5e-05</iyz>
-          <izz>0.031391</izz>
-        </inertia>
-      </inertial>
-      <collision name="right_track_wheel7_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="rear_right_flipper_collision_small_wheel_collision_1">
+        <pose>-0.33 0 0 1.5707963267948966 -0 0</pose>
         <geometry>
           <cylinder>
-            <length>0.097</length>
-            <radius>0.089</radius>
+            <length>0.04981</length>
+            <radius>0.029</radius>
           </cylinder>
         </geometry>
         <surface>
-          <contact>
+          <friction>
             <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
+              <mu>10</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
             </ode>
-          </contact>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="rear_right_flipper_collision_top_bar_collision_2">
+        <pose>-0.165 0 0.0325 0 0.184162 -3.1415926535897931</pose>
+        <geometry>
+          <box>
+            <size>0.33 0.04981 0.055</size>
+          </box>
+        </geometry>
+        <surface>
           <friction>
             <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
+              <mu>10</mu>
+              <mu2>150</mu2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
-    </link>
-    <joint name="right_track_wheel7_j" type="revolute">
-      <child>right_track_wheel7</child>
-      <parent>right_track</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="right_track_wheel8">
-      <pose>-0.25 -0.1985 0.01855 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0.0141 0 -0 0</pose>
-        <mass>0.7575</mass>
-        <inertia>
-          <ixx>0.002731</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.032554</iyy>
-          <iyz>1.5e-05</iyz>
-          <izz>0.031391</izz>
-        </inertia>
-      </inertial>
-      <collision name="right_track_wheel8_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="rear_right_flipper_collision_bottom_bar_collision_3">
+        <pose>-0.165 0 -0.0325 0 -0.184162 -3.1415926535897931</pose>
         <geometry>
-          <cylinder>
-            <length>0.097</length>
-            <radius>0.089</radius>
-          </cylinder>
+          <box>
+            <size>0.33 0.04981 0.055</size>
+          </box>
         </geometry>
         <surface>
-          <contact>
+          <friction>
             <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
+              <mu>10</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
             </ode>
-          </contact>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="rear_right_flipper_collision_middle_bar_collision_4">
+        <pose>-0.166 0 0.004 0 -0.02 -3.1415926535897931</pose>
+        <geometry>
+          <box>
+            <size>0.2 0.04981 0.07</size>
+          </box>
+        </geometry>
+        <surface>
           <friction>
             <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
+              <mu>10</mu>
+              <mu2>150</mu2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
+      <visual name="rear_right_flipper_visual">
+        <pose>0 0 0 -2.95743 -0 -1.5707963267948966</pose>
+        <geometry>
+          <mesh>
+            <uri>meshes/flipper.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
     </link>
-    <joint name="right_track_wheel8_j" type="revolute">
-      <child>right_track_wheel8</child>
+    <joint name="rear_right_flipper_j" type="revolute">
+      <child>rear_right_flipper</child>
       <parent>right_track</parent>
       <axis>
         <xyz>0 1 0</xyz>
         <limit>
           <lower>-1e+16</lower>
           <upper>1e+16</upper>
+          <effort>20</effort>
+          <velocity>0.785398</velocity>
         </limit>
         <dynamics>
           <spring_reference>0</spring_reference>
@@ -3304,6 +1606,16 @@
         </dynamics>
         <use_parent_model_frame>0</use_parent_model_frame>
       </axis>
+      <physics>
+        <ode>
+          <implicit_spring_damper>1</implicit_spring_damper>
+          <cfm_damping>1</cfm_damping>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+        </ode>
+      </physics>
     </joint>
     <plugin name="cras::FlipperControlPlugin" filename="libflipper_control_plugin.so">
       <joint_name>front_left_flipper_j</joint_name>
diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/urdf/nifti_robot.xacro b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/urdf/nifti_robot.xacro
index 5bd60a65..c192b192 100644
--- a/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/urdf/nifti_robot.xacro
+++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/urdf/nifti_robot.xacro
@@ -2,12 +2,12 @@
 <robot name="ctu_cras_norlab_absolem_sensor_config_1" xmlns:xacro="http://www.ros.org/wiki/xacro">
 	<xacro:arg name="name" default="" />
 	<xacro:if value="${len('$(arg name)') == 0}">
-		<xacro:arg name="prefix" default="" />	
+		<xacro:arg name="prefix" default="" />
 	</xacro:if>
 	<xacro:unless value="${len('$(arg name)') == 0}">
-		<xacro:arg name="prefix" default="$(arg name)/" />	
+		<xacro:arg name="prefix" default="$(arg name)/" />
 	</xacro:unless>
-	
+
 	<xacro:arg default="744.85132" name="camera_4_fy"/>
 	<xacro:arg default="747.96984" name="camera_4_fx"/>
 	<xacro:arg default="1616" name="camera_3_height"/>
@@ -317,8 +317,9 @@
 	<!-- ARGUMENTS FOR SAFE EXPLORATION -->
 	<xacro:arg name="base_link_cog_offset" default="0.0" />
 
-	
+
 	<xacro:arg name="rendering_target" default="urdf" /> <!-- Pass either "urdf" or "sdf" to tell the parser what is the desired target format. -->
+	<xacro:arg name="wheels_instead_of_tracks" default="true" />
 
     <!-- 17.0 for real max torque, 3.0; 40.0 for real 6.0 -->
     <xacro:arg name="max_flipper_torque" default="17.0" />
@@ -357,7 +358,7 @@
 
     <xacro:arg name="laser_update_rate" default="1000.0" />
 
-	
+
 	<!-- MEASURED CONSTANTS -->
 
 	<xacro:property name="body_scale" value="1.0" />
@@ -946,13 +947,45 @@
 									</material>
 							</visual>
 					</xacro:if>
-					<collision>
-							<origin rpy="0 0 0" xyz="0 0 0"/>
+					<xacro:if value="${$(arg wheels_instead_of_tracks)}">
+						<collision>
+								<origin rpy="0 0 0" xyz="0 0 0"/>
+								<geometry>
+										<box size="0.01 0.01 0.01"/>
+								</geometry>
+						</collision>
+						<xacro:default_inertial />
+					</xacro:if>
+					<xacro:unless value="${$(arg wheels_instead_of_tracks)}">
+						<collision>
+							<origin xyz="0 0 0.01855" rpy="${pi/2} 0 ${pi/2}" />
 							<geometry>
-									<box size="0.01 0.01 0.01"/>
+								<box size="$(arg rover_trackWidth) ${2*$(arg rover_trackWheelRadius)} $(arg rover_trackLength)"/>
 							</geometry>
-					</collision>
-					<xacro:default_inertial />
+						</collision>
+						<collision>
+							<origin rpy="${pi/2} 0 0" xyz="${$(arg rover_trackLength)/2} ${-reflect*$(arg track_inward_enlargement)} 0.01855"/>
+							<geometry>
+								<!-- enlarged because of laser filtering problems -->
+								<cylinder radius="$(arg rover_trackWheelRadius)" length="${$(arg rover_trackWidth)+$(arg track_inward_enlargement)}"/>
+							</geometry>
+						</collision>
+						<collision>
+							<origin rpy="${pi/2} 0 0" xyz="${-$(arg rover_trackLength)/2} 0 0.01855"/>
+							<geometry>
+								<cylinder radius="$(arg rover_trackWheelRadius)" length="$(arg rover_trackWidth)"/>
+							</geometry>
+						</collision>
+						<inertial>
+							<origin xyz="0 0 0.0141" rpy="0 0 0"/>
+							<mass value="${track_mass}"/>
+							<xacro:inertia_meshlab
+									ixx="0.002731" ixy="0" ixz="0"
+									iyy="0.032554" iyz="0.000015"
+									izz="0.031391"
+									scale="${track_scale}" mass="${track_mass}" />
+						</inertial>
+					</xacro:unless>
 			</link>
 			<joint name="${prefix}_track_j" type="revolute">
 					<parent link="$(arg prefix)base_link"/>
@@ -966,15 +999,17 @@
 							<xacro:track_joint_properties track_fixed="$(arg robot_fixed)" track_angle="$(arg right_track_angle)" />
 					</xacro:if>
 			</joint>
-		
-			<xacro:fake_wheel prefix="${prefix}" reflect="${reflect}" num_wheels="8" wheel_num="1" />
-			<xacro:fake_wheel prefix="${prefix}" reflect="${reflect}" num_wheels="8" wheel_num="2" />
-			<xacro:fake_wheel prefix="${prefix}" reflect="${reflect}" num_wheels="8" wheel_num="3" />
-			<xacro:fake_wheel prefix="${prefix}" reflect="${reflect}" num_wheels="8" wheel_num="4" />
-			<xacro:fake_wheel prefix="${prefix}" reflect="${reflect}" num_wheels="8" wheel_num="5" />
-			<xacro:fake_wheel prefix="${prefix}" reflect="${reflect}" num_wheels="8" wheel_num="6" />
-			<xacro:fake_wheel prefix="${prefix}" reflect="${reflect}" num_wheels="8" wheel_num="7" />
-			<xacro:fake_wheel prefix="${prefix}" reflect="${reflect}" num_wheels="8" wheel_num="8" />
+
+			<xacro:if value="${$(arg wheels_instead_of_tracks)}">
+				<xacro:fake_wheel prefix="${prefix}" reflect="${reflect}" num_wheels="8" wheel_num="1" />
+				<xacro:fake_wheel prefix="${prefix}" reflect="${reflect}" num_wheels="8" wheel_num="2" />
+				<xacro:fake_wheel prefix="${prefix}" reflect="${reflect}" num_wheels="8" wheel_num="3" />
+				<xacro:fake_wheel prefix="${prefix}" reflect="${reflect}" num_wheels="8" wheel_num="4" />
+				<xacro:fake_wheel prefix="${prefix}" reflect="${reflect}" num_wheels="8" wheel_num="5" />
+				<xacro:fake_wheel prefix="${prefix}" reflect="${reflect}" num_wheels="8" wheel_num="6" />
+				<xacro:fake_wheel prefix="${prefix}" reflect="${reflect}" num_wheels="8" wheel_num="7" />
+				<xacro:fake_wheel prefix="${prefix}" reflect="${reflect}" num_wheels="8" wheel_num="8" />
+			</xacro:if>
 	</xacro:macro>
 
 	<xacro:macro name="fake_wheel" params="prefix reflect num_wheels wheel_num">
@@ -983,10 +1018,10 @@
 						<xacro:if value="${wheel_num == 1}">
 							<origin rpy="${pi/2} 0 0" xyz="0 ${-reflect*$(arg track_inward_enlargement)} 0"/>
 							<geometry>
-									<cylinder radius="$(arg rover_trackWheelRadius)" length="${$(arg rover_trackWidth)+$(arg track_inward_enlargement)}"/>									
+									<cylinder radius="$(arg rover_trackWheelRadius)" length="${$(arg rover_trackWidth)+$(arg track_inward_enlargement)}"/>
 							</geometry>
 						</xacro:if>
-						
+
 						<xacro:unless value="${wheel_num == 1}">
 							<origin rpy="${pi/2} 0 0" xyz="0 0 0"/>
 							<geometry>
@@ -994,7 +1029,7 @@
 							</geometry>
 						</xacro:unless>
 					</collision>
-				
+
 					<inertial>
 							<origin xyz="0 0 0.0141" rpy="0 0 0"/>
 							<mass value="${track_mass/num_wheels}"/>
@@ -1012,7 +1047,7 @@
 					<origin xyz="${$(arg rover_trackLength)/2 - (wheel_num-1)*$(arg rover_trackLength)/(num_wheels-1)} 0 0.01855" rpy="0 0 0" />
 			</joint>
 	</xacro:macro>
-	
+
 	<xacro:macro name="track_joint_properties" params="track_fixed track_angle reflect:=^">
 			<origin xyz="0 ${reflect*$(arg rover_trackDistance)/2.0} 0" rpy="0 ${track_angle} 0" />
 
@@ -1045,13 +1080,57 @@
 												filename="package://ctu_cras_norlab_absolem_sensor_config_1/meshes/flipper.dae"/>
 							</geometry>
 					</visual>
-					<collision>
-							<origin rpy="0 0 0" xyz="0 0 0"/>
+
+					<xacro:if value="${$(arg wheels_instead_of_tracks)}">
+						<collision>
+								<origin rpy="0 0 0" xyz="0 0 0"/>
+								<geometry>
+										<box size="0.01 0.01 0.01"/>
+								</geometry>
+						</collision>
+						<xacro:default_inertial />
+					</xacro:if>
+					<xacro:unless value="${$(arg wheels_instead_of_tracks)}">
+						<collision name="${prefix1}_${prefix2}_flipper_collision_large_wheel">
+							<origin rpy="${pi/2} 0 0" xyz="0 ${-reflect_y*$(arg flipper_inward_enlargement)*do_inward_enlargement/2.0} 0"/>
 							<geometry>
-									<box size="0.01 0.01 0.01"/>
+								<cylinder length="${$(arg rover_flipperWidth)+$(arg flipper_inward_enlargement)*do_inward_enlargement}" radius="$(arg rover_trackWheelRadius)" />
 							</geometry>
-					</collision>
-					<xacro:default_inertial />
+						</collision>
+						<collision name="${prefix1}_${prefix2}_flipper_collision_small_wheel">
+							<origin rpy="${pi/2} 0 0" xyz="${reflect_y*$(arg rover_flipperLength)} ${-reflect_y*$(arg flipper_inward_enlargement)*do_inward_enlargement/2.0} 0.0"/>
+							<geometry>
+								<cylinder length="${$(arg rover_flipperWidth)+$(arg flipper_inward_enlargement)*do_inward_enlargement}" radius="${0.029 + 0.029*($(arg flipper_inflation_ratio)-1)*do_inward_enlargement}" />
+							</geometry>
+						</collision>
+						<collision name="${prefix1}_${prefix2}_flipper_collision_top_bar">
+							<origin rpy="0 0.184162095 ${(1-reflect_y)*pi/2}" xyz="${reflect_y*$(arg rover_flipperLength)/2.0} ${-reflect_y*$(arg flipper_inward_enlargement)*do_inward_enlargement/2.0} 0.0325"/>
+							<geometry>
+								<box size="$(arg rover_flipperLength) ${$(arg rover_flipperWidth)+$(arg flipper_inward_enlargement)*do_inward_enlargement} ${0.055 + 0.055*($(arg flipper_inflation_ratio)-1)*do_inward_enlargement}" />
+							</geometry>
+						</collision>
+						<collision name="${prefix1}_${prefix2}_flipper_collision_bottom_bar">
+							<origin rpy="0 -0.184162095 ${(1-reflect_y)*pi/2}" xyz="${reflect_y*$(arg rover_flipperLength)/2} ${-reflect_y*$(arg flipper_inward_enlargement)*do_inward_enlargement/2.0} -0.0325"/>
+							<geometry>
+								<box size="$(arg rover_flipperLength) ${$(arg rover_flipperWidth)+$(arg flipper_inward_enlargement)*do_inward_enlargement} ${0.055 + 0.055*($(arg flipper_inflation_ratio)-1)*do_inward_enlargement}" />
+							</geometry>
+						</collision>
+						<collision name="${prefix1}_${prefix2}_flipper_collision_middle_bar">
+							<origin rpy="0 -0.02 ${(1-reflect_y)*pi/2}" xyz="${reflect_y*($(arg rover_flipperLength)/2.0 + 0.001)} ${-reflect_y*$(arg flipper_inward_enlargement)*do_inward_enlargement/2.0} 0.004"/>
+							<geometry>
+								<box size="0.20 ${$(arg rover_flipperWidth)+$(arg flipper_inward_enlargement)*do_inward_enlargement} 0.07" />
+							</geometry>
+						</collision>
+						<inertial>
+							<origin xyz="${reflect_y*0.08} 0 0.0" rpy="0 0 0"/>
+							<mass value="${flipper_mass}"/>
+							<xacro:inertia_meshlab
+									ixx="1.7491e-003" ixy="2.8512e-007" ixz="1.8277e-003"
+									iyy="1.2277e-002" iyz="-3.6288e-007"
+									izz="1.0941e-002"
+									scale="${flipper_scale}" mass="${flipper_mass}" />
+						</inertial>
+					</xacro:unless>
 <!--					<sensor name="${prefix1}_${prefix2}_flipper_contact" type="contact">-->
 <!--							<contact>-->
 <!--									<collision>${prefix1}_${prefix2}_flipper_collision_wheel1</collision>-->
@@ -1074,12 +1153,14 @@
 			<xacro:if value="${reflect_x == -1 and reflect_y == -1}">
 					<xacro:flipper_joint flipper_fixed="$(arg robot_fixed)" flipper_angle="$(arg rear_right_flipper_angle)" />
 			</xacro:if>
-		
-			<xacro:flipper_fake_wheel prefix1="${prefix1}" prefix2="${prefix2}" reflect_y="${reflect_y}" do_inward_enlargement="${do_inward_enlargement}" num_wheels="5" wheel_num="1" />
-			<xacro:flipper_fake_wheel prefix1="${prefix1}" prefix2="${prefix2}" reflect_y="${reflect_y}" do_inward_enlargement="${do_inward_enlargement}" num_wheels="5" wheel_num="2" />
-			<xacro:flipper_fake_wheel prefix1="${prefix1}" prefix2="${prefix2}" reflect_y="${reflect_y}" do_inward_enlargement="${do_inward_enlargement}" num_wheels="5" wheel_num="3" />
-			<xacro:flipper_fake_wheel prefix1="${prefix1}" prefix2="${prefix2}" reflect_y="${reflect_y}" do_inward_enlargement="${do_inward_enlargement}" num_wheels="5" wheel_num="4" />
-			<xacro:flipper_fake_wheel prefix1="${prefix1}" prefix2="${prefix2}" reflect_y="${reflect_y}" do_inward_enlargement="${do_inward_enlargement}" num_wheels="5" wheel_num="5" />
+
+			<xacro:if value="${$(arg wheels_instead_of_tracks)}">
+				<xacro:flipper_fake_wheel prefix1="${prefix1}" prefix2="${prefix2}" reflect_y="${reflect_y}" do_inward_enlargement="${do_inward_enlargement}" num_wheels="5" wheel_num="1" />
+				<xacro:flipper_fake_wheel prefix1="${prefix1}" prefix2="${prefix2}" reflect_y="${reflect_y}" do_inward_enlargement="${do_inward_enlargement}" num_wheels="5" wheel_num="2" />
+				<xacro:flipper_fake_wheel prefix1="${prefix1}" prefix2="${prefix2}" reflect_y="${reflect_y}" do_inward_enlargement="${do_inward_enlargement}" num_wheels="5" wheel_num="3" />
+				<xacro:flipper_fake_wheel prefix1="${prefix1}" prefix2="${prefix2}" reflect_y="${reflect_y}" do_inward_enlargement="${do_inward_enlargement}" num_wheels="5" wheel_num="4" />
+				<xacro:flipper_fake_wheel prefix1="${prefix1}" prefix2="${prefix2}" reflect_y="${reflect_y}" do_inward_enlargement="${do_inward_enlargement}" num_wheels="5" wheel_num="5" />
+			</xacro:if>
 
 			<link name="$(arg prefix)${prefix1}_${prefix2}_flipper_end_point"/>
 			<joint name="${prefix1}_${prefix2}_flipper_end_point_j" type="fixed">
@@ -1088,7 +1169,7 @@
 					<origin xyz="${reflect_y * ($(arg rover_flipperLength) + 0.0176)} 0 0" rpy="0 $(arg rover_flipperOffset) 0"/>
 			</joint>
 	</xacro:macro>
-	
+
 	<xacro:macro name="flipper_fake_wheel" params="prefix1 prefix2 reflect_y do_inward_enlargement num_wheels wheel_num">
 			<link name="$(arg prefix)${prefix1}_${prefix2}_flipper_wheel${wheel_num}">
 					<collision name="${prefix1}_${prefix2}_flipper_wheel${wheel_num}_collision">
@@ -1279,7 +1360,7 @@
 
 			<xacro:empty_link name="$(arg prefix)omnicam_bottom" />
 			<xacro:fixed_joint name="omnicam_bottom_j" parent="$(arg prefix)omnicam_forward" child="$(arg prefix)omnicam_bottom" xyz="0 0 -0.066" rpy="0 0 0" />
-			
+
 			<xacro:empty_link name="$(arg prefix)camera_0" />
 			<xacro:calibrated_fixed_joint name="camera_0_j" parent="omnicam" child="camera_0" />
 			<xacro:empty_link name="$(arg prefix)camera_1" />
@@ -1418,7 +1499,7 @@
 						<rotation_angular_limit>1.618994</rotation_angular_limit>
 					</plugin>
         </xacro:if>
-			
+
 				<plugin filename="libignition-gazebo-joint-state-publisher-system.so" name="ignition::gazebo::systems::JointStatePublisher">
 					<!--joint_name>left_track_j</joint_name>
 					<joint_name>right_track_j</joint_name-->
@@ -1428,7 +1509,7 @@
 						<joint_name>rear_left_flipper_j</joint_name>
 						<joint_name>rear_right_flipper_j</joint_name>
 					</xacro:if>
-					<xacro:if value="$(arg has_sick_lidar)">	
+					<xacro:if value="$(arg has_sick_lidar)">
 						<joint_name>laser_j</joint_name>
 					</xacro:if>
 				</plugin>
@@ -1539,22 +1620,24 @@
 	<gazebo reference="$(arg prefix)left_track"><xacro:gazebo_track_tags /></gazebo>
 	<gazebo reference="$(arg prefix)right_track"><xacro:gazebo_track_tags /></gazebo>
 
-	<gazebo reference="$(arg prefix)left_track_wheel1"><xacro:gazebo_track_wheel_tags /></gazebo>
-	<gazebo reference="$(arg prefix)right_track_wheel1"><xacro:gazebo_track_wheel_tags /></gazebo>
-	<gazebo reference="$(arg prefix)left_track_wheel2"><xacro:gazebo_track_wheel_tags /></gazebo>
-	<gazebo reference="$(arg prefix)right_track_wheel2"><xacro:gazebo_track_wheel_tags /></gazebo>
-	<gazebo reference="$(arg prefix)left_track_wheel3"><xacro:gazebo_track_wheel_tags /></gazebo>
-	<gazebo reference="$(arg prefix)right_track_wheel3"><xacro:gazebo_track_wheel_tags /></gazebo>
-	<gazebo reference="$(arg prefix)left_track_wheel4"><xacro:gazebo_track_wheel_tags /></gazebo>
-	<gazebo reference="$(arg prefix)right_track_wheel4"><xacro:gazebo_track_wheel_tags /></gazebo>
-	<gazebo reference="$(arg prefix)left_track_wheel5"><xacro:gazebo_track_wheel_tags /></gazebo>
-	<gazebo reference="$(arg prefix)right_track_wheel5"><xacro:gazebo_track_wheel_tags /></gazebo>
-	<gazebo reference="$(arg prefix)left_track_wheel6"><xacro:gazebo_track_wheel_tags /></gazebo>
-	<gazebo reference="$(arg prefix)right_track_wheel6"><xacro:gazebo_track_wheel_tags /></gazebo>
-	<gazebo reference="$(arg prefix)left_track_wheel7"><xacro:gazebo_track_wheel_tags /></gazebo>
-	<gazebo reference="$(arg prefix)right_track_wheel7"><xacro:gazebo_track_wheel_tags /></gazebo>
-	<gazebo reference="$(arg prefix)left_track_wheel8"><xacro:gazebo_track_wheel_tags /></gazebo>
-	<gazebo reference="$(arg prefix)right_track_wheel8"><xacro:gazebo_track_wheel_tags /></gazebo>
+	<xacro:if value="${$(arg wheels_instead_of_tracks)}">
+		<gazebo reference="$(arg prefix)left_track_wheel1"><xacro:gazebo_track_wheel_tags /></gazebo>
+		<gazebo reference="$(arg prefix)right_track_wheel1"><xacro:gazebo_track_wheel_tags /></gazebo>
+		<gazebo reference="$(arg prefix)left_track_wheel2"><xacro:gazebo_track_wheel_tags /></gazebo>
+		<gazebo reference="$(arg prefix)right_track_wheel2"><xacro:gazebo_track_wheel_tags /></gazebo>
+		<gazebo reference="$(arg prefix)left_track_wheel3"><xacro:gazebo_track_wheel_tags /></gazebo>
+		<gazebo reference="$(arg prefix)right_track_wheel3"><xacro:gazebo_track_wheel_tags /></gazebo>
+		<gazebo reference="$(arg prefix)left_track_wheel4"><xacro:gazebo_track_wheel_tags /></gazebo>
+		<gazebo reference="$(arg prefix)right_track_wheel4"><xacro:gazebo_track_wheel_tags /></gazebo>
+		<gazebo reference="$(arg prefix)left_track_wheel5"><xacro:gazebo_track_wheel_tags /></gazebo>
+		<gazebo reference="$(arg prefix)right_track_wheel5"><xacro:gazebo_track_wheel_tags /></gazebo>
+		<gazebo reference="$(arg prefix)left_track_wheel6"><xacro:gazebo_track_wheel_tags /></gazebo>
+		<gazebo reference="$(arg prefix)right_track_wheel6"><xacro:gazebo_track_wheel_tags /></gazebo>
+		<gazebo reference="$(arg prefix)left_track_wheel7"><xacro:gazebo_track_wheel_tags /></gazebo>
+		<gazebo reference="$(arg prefix)right_track_wheel7"><xacro:gazebo_track_wheel_tags /></gazebo>
+		<gazebo reference="$(arg prefix)left_track_wheel8"><xacro:gazebo_track_wheel_tags /></gazebo>
+		<gazebo reference="$(arg prefix)right_track_wheel8"><xacro:gazebo_track_wheel_tags /></gazebo>
+	</xacro:if>
 
     <xacro:if value="$(arg has_flippers)">
 		<gazebo reference="$(arg prefix)front_left_flipper"><xacro:gazebo_flipper_tags /></gazebo>
@@ -1562,26 +1645,28 @@
 		<gazebo reference="$(arg prefix)rear_left_flipper"><xacro:gazebo_flipper_tags /></gazebo>
 		<gazebo reference="$(arg prefix)rear_right_flipper"><xacro:gazebo_flipper_tags /></gazebo>
 
-		<gazebo reference="$(arg prefix)front_left_flipper_wheel1"><xacro:gazebo_flipper_wheel_tags /></gazebo>
-		<gazebo reference="$(arg prefix)front_right_flipper_wheel1"><xacro:gazebo_flipper_wheel_tags /></gazebo>
-		<gazebo reference="$(arg prefix)rear_left_flipper_wheel1"><xacro:gazebo_flipper_wheel_tags /></gazebo>
-		<gazebo reference="$(arg prefix)rear_right_flipper_wheel1"><xacro:gazebo_flipper_wheel_tags /></gazebo>
-		<gazebo reference="$(arg prefix)front_left_flipper_wheel2"><xacro:gazebo_flipper_wheel_tags /></gazebo>
-		<gazebo reference="$(arg prefix)front_right_flipper_wheel2"><xacro:gazebo_flipper_wheel_tags /></gazebo>
-		<gazebo reference="$(arg prefix)rear_left_flipper_wheel2"><xacro:gazebo_flipper_wheel_tags /></gazebo>
-		<gazebo reference="$(arg prefix)rear_right_flipper_wheel2"><xacro:gazebo_flipper_wheel_tags /></gazebo>
-		<gazebo reference="$(arg prefix)front_left_flipper_wheel3"><xacro:gazebo_flipper_wheel_tags /></gazebo>
-		<gazebo reference="$(arg prefix)front_right_flipper_wheel3"><xacro:gazebo_flipper_wheel_tags /></gazebo>
-		<gazebo reference="$(arg prefix)rear_left_flipper_wheel3"><xacro:gazebo_flipper_wheel_tags /></gazebo>
-		<gazebo reference="$(arg prefix)rear_right_flipper_wheel3"><xacro:gazebo_flipper_wheel_tags /></gazebo>
-		<gazebo reference="$(arg prefix)front_left_flipper_wheel4"><xacro:gazebo_flipper_wheel_tags /></gazebo>
-		<gazebo reference="$(arg prefix)front_right_flipper_wheel4"><xacro:gazebo_flipper_wheel_tags /></gazebo>
-		<gazebo reference="$(arg prefix)rear_left_flipper_wheel4"><xacro:gazebo_flipper_wheel_tags /></gazebo>
-		<gazebo reference="$(arg prefix)rear_right_flipper_wheel4"><xacro:gazebo_flipper_wheel_tags /></gazebo>
-		<gazebo reference="$(arg prefix)front_left_flipper_wheel5"><xacro:gazebo_flipper_wheel_tags /></gazebo>
-		<gazebo reference="$(arg prefix)front_right_flipper_wheel5"><xacro:gazebo_flipper_wheel_tags /></gazebo>
-		<gazebo reference="$(arg prefix)rear_left_flipper_wheel5"><xacro:gazebo_flipper_wheel_tags /></gazebo>
-		<gazebo reference="$(arg prefix)rear_right_flipper_wheel5"><xacro:gazebo_flipper_wheel_tags /></gazebo>
+		<xacro:if value="${$(arg wheels_instead_of_tracks)}">
+			<gazebo reference="$(arg prefix)front_left_flipper_wheel1"><xacro:gazebo_flipper_wheel_tags /></gazebo>
+			<gazebo reference="$(arg prefix)front_right_flipper_wheel1"><xacro:gazebo_flipper_wheel_tags /></gazebo>
+			<gazebo reference="$(arg prefix)rear_left_flipper_wheel1"><xacro:gazebo_flipper_wheel_tags /></gazebo>
+			<gazebo reference="$(arg prefix)rear_right_flipper_wheel1"><xacro:gazebo_flipper_wheel_tags /></gazebo>
+			<gazebo reference="$(arg prefix)front_left_flipper_wheel2"><xacro:gazebo_flipper_wheel_tags /></gazebo>
+			<gazebo reference="$(arg prefix)front_right_flipper_wheel2"><xacro:gazebo_flipper_wheel_tags /></gazebo>
+			<gazebo reference="$(arg prefix)rear_left_flipper_wheel2"><xacro:gazebo_flipper_wheel_tags /></gazebo>
+			<gazebo reference="$(arg prefix)rear_right_flipper_wheel2"><xacro:gazebo_flipper_wheel_tags /></gazebo>
+			<gazebo reference="$(arg prefix)front_left_flipper_wheel3"><xacro:gazebo_flipper_wheel_tags /></gazebo>
+			<gazebo reference="$(arg prefix)front_right_flipper_wheel3"><xacro:gazebo_flipper_wheel_tags /></gazebo>
+			<gazebo reference="$(arg prefix)rear_left_flipper_wheel3"><xacro:gazebo_flipper_wheel_tags /></gazebo>
+			<gazebo reference="$(arg prefix)rear_right_flipper_wheel3"><xacro:gazebo_flipper_wheel_tags /></gazebo>
+			<gazebo reference="$(arg prefix)front_left_flipper_wheel4"><xacro:gazebo_flipper_wheel_tags /></gazebo>
+			<gazebo reference="$(arg prefix)front_right_flipper_wheel4"><xacro:gazebo_flipper_wheel_tags /></gazebo>
+			<gazebo reference="$(arg prefix)rear_left_flipper_wheel4"><xacro:gazebo_flipper_wheel_tags /></gazebo>
+			<gazebo reference="$(arg prefix)rear_right_flipper_wheel4"><xacro:gazebo_flipper_wheel_tags /></gazebo>
+			<gazebo reference="$(arg prefix)front_left_flipper_wheel5"><xacro:gazebo_flipper_wheel_tags /></gazebo>
+			<gazebo reference="$(arg prefix)front_right_flipper_wheel5"><xacro:gazebo_flipper_wheel_tags /></gazebo>
+			<gazebo reference="$(arg prefix)rear_left_flipper_wheel5"><xacro:gazebo_flipper_wheel_tags /></gazebo>
+			<gazebo reference="$(arg prefix)rear_right_flipper_wheel5"><xacro:gazebo_flipper_wheel_tags /></gazebo>
+		</xacro:if>
     </xacro:if>
 
     <xacro:if value="$(arg has_sick_lidar)">
@@ -1922,6 +2007,7 @@
 				<always_on>1</always_on>
 				<update_rate>50</update_rate>
 				<imu>
+					<enable_orientation>0</enable_orientation>
 					<angular_velocity>
 						<xacro:macro name="angular_imu_noise">
 							<noise type="gaussian">
diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_3/model.sdf b/submitted_models/ctu_cras_norlab_absolem_sensor_config_3/model.sdf
index 980b893f..cfec35a1 100644
--- a/submitted_models/ctu_cras_norlab_absolem_sensor_config_3/model.sdf
+++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_3/model.sdf
@@ -352,7 +352,6 @@
         <always_on>1</always_on>
         <update_rate>50</update_rate>
         <imu>
-          <enable_orientation>0</enable_orientation>
           <angular_velocity>
             <x>
               <noise type="gaussian">
@@ -423,6 +422,7 @@
               </noise>
             </z>
           </linear_acceleration>
+          <enable_orientation>0</enable_orientation>
         </imu>
         <pose>0 0 0.15 -3.1415926535897931 -0 0</pose>
       </sensor>
@@ -664,26 +664,64 @@
     <link name="left_track">
       <pose>0 0.1985 0 0 -0 0</pose>
       <inertial>
-        <mass>1e-05</mass>
+        <pose>0 0 0.0141 0 -0 0</pose>
+        <mass>6.06</mass>
         <inertia>
-          <ixx>0.001</ixx>
-          <ixy>1e-06</ixy>
-          <ixz>1e-06</ixz>
-          <iyy>0.001</iyy>
-          <iyz>1e-06</iyz>
-          <izz>0.001</izz>
+          <ixx>0.002731</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.032554</iyy>
+          <iyz>1.5e-05</iyz>
+          <izz>0.031391</izz>
         </inertia>
       </inertial>
       <collision name="left_track_collision">
+        <pose>0 0 0.01855 1.5707963267948966 -0 1.5707963267948966</pose>
         <geometry>
           <box>
-            <size>0.01 0.01 0.01</size>
+            <size>0.097 0.178 0.5</size>
           </box>
         </geometry>
         <surface>
           <friction>
             <ode>
-              <mu>0.7</mu>
+              <mu>10</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="left_track_collision_1">
+        <pose>0.25 -0.015 0.01855 1.5707963267948966 -0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.112</length>
+            <radius>0.089</radius>
+          </cylinder>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>10</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="left_track_collision_2">
+        <pose>-0.25 0 0.01855 1.5707963267948966 -0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.097</length>
+            <radius>0.089</radius>
+          </cylinder>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>10</mu>
               <mu2>150</mu2>
               <fdir1>0 0 1</fdir1>
             </ode>
@@ -735,26 +773,98 @@
     <link name="front_left_flipper">
       <pose>0.25 0.272 0.0195 0 0.193732 0</pose>
       <inertial>
-        <mass>1e-05</mass>
+        <pose>0.08 0 0 0 -0 0</pose>
+        <mass>0.75</mass>
         <inertia>
-          <ixx>0.001</ixx>
-          <ixy>1e-06</ixy>
-          <ixz>1e-06</ixz>
-          <iyy>0.001</iyy>
-          <iyz>1e-06</iyz>
-          <izz>0.001</izz>
+          <ixx>0.0017491</ixx>
+          <ixy>2.8512e-07</ixy>
+          <ixz>0.0018277</ixz>
+          <iyy>0.012277</iyy>
+          <iyz>-3.6288e-07</iyz>
+          <izz>0.010941</izz>
         </inertia>
       </inertial>
-      <collision name="front_left_flipper_collision">
+      <collision name="front_left_flipper_collision_large_wheel_collision">
+        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.04981</length>
+            <radius>0.089</radius>
+          </cylinder>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>10</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="front_left_flipper_collision_small_wheel_collision_1">
+        <pose>0.33 0 0 1.5707963267948966 -0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.04981</length>
+            <radius>0.029</radius>
+          </cylinder>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>10</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="front_left_flipper_collision_top_bar_collision_2">
+        <pose>0.165 0 0.0325 0 0.184162 0</pose>
+        <geometry>
+          <box>
+            <size>0.33 0.04981 0.055</size>
+          </box>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>10</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="front_left_flipper_collision_bottom_bar_collision_3">
+        <pose>0.165 0 -0.0325 0 -0.184162 0</pose>
+        <geometry>
+          <box>
+            <size>0.33 0.04981 0.055</size>
+          </box>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>10</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="front_left_flipper_collision_middle_bar_collision_4">
+        <pose>0.166 0 0.004 0 -0.02 0</pose>
         <geometry>
           <box>
-            <size>0.01 0.01 0.01</size>
+            <size>0.2 0.04981 0.07</size>
           </box>
         </geometry>
         <surface>
           <friction>
             <ode>
-              <mu>0.7</mu>
+              <mu>10</mu>
               <mu2>150</mu2>
               <fdir1>0 0 1</fdir1>
             </ode>
@@ -798,11 +908,11 @@
         </ode>
       </physics>
     </joint>
-    <link name="front_left_flipper_wheel1">
-      <pose>0.25 0.272 0.0195 0 0.193732 0</pose>
+    <link name="rear_left_flipper">
+      <pose>-0.25 0.272 0.0195 3.1415926535897931 0.193732 3.1415926535897931</pose>
       <inertial>
         <pose>0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
+        <mass>0.75</mass>
         <inertia>
           <ixx>0.0017491</ixx>
           <ixy>2.8512e-07</ixy>
@@ -812,7 +922,7 @@
           <izz>0.010941</izz>
         </inertia>
       </inertial>
-      <collision name="front_left_flipper_wheel1_collision_collision">
+      <collision name="rear_left_flipper_collision_large_wheel_collision">
         <pose>0 0 0 1.5707963267948966 -0 0</pose>
         <geometry>
           <cylinder>
@@ -821,317 +931,103 @@
           </cylinder>
         </geometry>
         <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
           <friction>
             <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
+              <mu>10</mu>
+              <mu2>150</mu2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
-    </link>
-    <joint name="front_left_flipper_wheel1_j" type="revolute">
-      <child>front_left_flipper_wheel1</child>
-      <parent>front_left_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="front_left_flipper_wheel2">
-      <pose>0.330957 0.272 0.003617 0 0.193732 0</pose>
-      <inertial>
-        <pose>0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
-        <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
-        </inertia>
-      </inertial>
-      <collision name="front_left_flipper_wheel2_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="rear_left_flipper_collision_small_wheel_collision_1">
+        <pose>0.33 0 0 1.5707963267948966 -0 0</pose>
         <geometry>
           <cylinder>
             <length>0.04981</length>
-            <radius>0.074</radius>
+            <radius>0.029</radius>
           </cylinder>
         </geometry>
         <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
           <friction>
             <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
+              <mu>10</mu>
+              <mu2>150</mu2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
-    </link>
-    <joint name="front_left_flipper_wheel2_j" type="revolute">
-      <child>front_left_flipper_wheel2</child>
-      <parent>front_left_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="front_left_flipper_wheel3">
-      <pose>0.411913 0.272 -0.012266 0 0.193732 0</pose>
-      <inertial>
-        <pose>0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
-        <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
-        </inertia>
-      </inertial>
-      <collision name="front_left_flipper_wheel3_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="rear_left_flipper_collision_top_bar_collision_2">
+        <pose>0.165 0 0.0325 0 0.184162 0</pose>
         <geometry>
-          <cylinder>
-            <length>0.04981</length>
-            <radius>0.059</radius>
-          </cylinder>
+          <box>
+            <size>0.33 0.04981 0.055</size>
+          </box>
         </geometry>
         <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
           <friction>
             <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
+              <mu>10</mu>
+              <mu2>150</mu2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
-    </link>
-    <joint name="front_left_flipper_wheel3_j" type="revolute">
-      <child>front_left_flipper_wheel3</child>
-      <parent>front_left_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="front_left_flipper_wheel4">
-      <pose>0.49287 0.272 -0.028149 0 0.193732 0</pose>
-      <inertial>
-        <pose>0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
-        <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
-        </inertia>
-      </inertial>
-      <collision name="front_left_flipper_wheel4_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="rear_left_flipper_collision_bottom_bar_collision_3">
+        <pose>0.165 0 -0.0325 0 -0.184162 0</pose>
         <geometry>
-          <cylinder>
-            <length>0.04981</length>
-            <radius>0.044</radius>
-          </cylinder>
+          <box>
+            <size>0.33 0.04981 0.055</size>
+          </box>
         </geometry>
         <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
           <friction>
             <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
+              <mu>10</mu>
+              <mu2>150</mu2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
-    </link>
-    <joint name="front_left_flipper_wheel4_j" type="revolute">
-      <child>front_left_flipper_wheel4</child>
-      <parent>front_left_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="front_left_flipper_wheel5">
-      <pose>0.573827 0.272 -0.044032 0 0.193732 0</pose>
-      <inertial>
-        <pose>0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
-        <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
-        </inertia>
-      </inertial>
-      <collision name="front_left_flipper_wheel5_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="rear_left_flipper_collision_middle_bar_collision_4">
+        <pose>0.166 0 0.004 0 -0.02 0</pose>
         <geometry>
-          <cylinder>
-            <length>0.04981</length>
-            <radius>0.029</radius>
-          </cylinder>
+          <box>
+            <size>0.2 0.04981 0.07</size>
+          </box>
         </geometry>
         <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
           <friction>
             <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
+              <mu>10</mu>
+              <mu2>150</mu2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
+      <visual name="rear_left_flipper_visual">
+        <pose>0 0 0 -2.95743 -0 1.5707963267948966</pose>
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/flipper.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
     </link>
-    <joint name="front_left_flipper_wheel5_j" type="revolute">
-      <child>front_left_flipper_wheel5</child>
-      <parent>front_left_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="left_track_wheel1">
-      <pose>0.25 0.1985 0.01855 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0.0141 0 -0 0</pose>
-        <mass>0.7575</mass>
-        <inertia>
-          <ixx>0.002731</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.032554</iyy>
-          <iyz>1.5e-05</iyz>
-          <izz>0.031391</izz>
-        </inertia>
-      </inertial>
-      <collision name="left_track_wheel1_collision">
-        <pose>0 -0.015 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.112</length>
-            <radius>0.089</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-    </link>
-    <joint name="left_track_wheel1_j" type="revolute">
-      <child>left_track_wheel1</child>
-      <parent>left_track</parent>
+    <joint name="rear_left_flipper_j" type="revolute">
+      <child>rear_left_flipper</child>
+      <parent>left_track</parent>
       <axis>
         <xyz>0 1 0</xyz>
         <limit>
           <lower>-1e+16</lower>
           <upper>1e+16</upper>
+          <effort>20</effort>
+          <velocity>0.785398</velocity>
         </limit>
         <dynamics>
           <spring_reference>0</spring_reference>
@@ -1139,1669 +1035,182 @@
         </dynamics>
         <use_parent_model_frame>0</use_parent_model_frame>
       </axis>
+      <physics>
+        <ode>
+          <implicit_spring_damper>1</implicit_spring_damper>
+          <cfm_damping>1</cfm_damping>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+        </ode>
+      </physics>
     </joint>
-    <link name="left_track_wheel2">
-      <pose>0.178571 0.1985 0.01855 0 -0 0</pose>
+    <link name="cliff_sensor_0">
+      <pose>0.275 0.119535 0.2035 -1.5707963267948966 1.5707963267948966 0</pose>
       <inertial>
-        <pose>0 0 0.0141 0 -0 0</pose>
-        <mass>0.7575</mass>
+        <pose>0.0105 0 0.00925 0 -0 0</pose>
+        <mass>0.012</mass>
         <inertia>
-          <ixx>0.002731</ixx>
+          <ixx>1.56725e-06</ixx>
           <ixy>0</ixy>
           <ixz>0</ixz>
-          <iyy>0.032554</iyy>
-          <iyz>1.5e-05</iyz>
-          <izz>0.031391</izz>
+          <iyy>7.8325e-07</iyy>
+          <iyz>0</iyz>
+          <izz>1.666e-06</izz>
         </inertia>
       </inertial>
-      <collision name="left_track_wheel2_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="cliff_sensor_0_collision">
+        <pose>0.0105 0 0.00925 0 -0 0</pose>
         <geometry>
-          <cylinder>
-            <length>0.097</length>
-            <radius>0.089</radius>
-          </cylinder>
+          <box>
+            <size>0.021 0.035 0.0185</size>
+          </box>
         </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
       </collision>
-    </link>
-    <joint name="left_track_wheel2_j" type="revolute">
-      <child>left_track_wheel2</child>
-      <parent>left_track</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="left_track_wheel3">
-      <pose>0.107143 0.1985 0.01855 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0.0141 0 -0 0</pose>
-        <mass>0.7575</mass>
-        <inertia>
-          <ixx>0.002731</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.032554</iyy>
-          <iyz>1.5e-05</iyz>
-          <izz>0.031391</izz>
-        </inertia>
-      </inertial>
-      <collision name="left_track_wheel3_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <visual name="cliff_sensor_0_visual">
         <geometry>
-          <cylinder>
-            <length>0.097</length>
-            <radius>0.089</radius>
-          </cylinder>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/tfmini_plus_lidar.dae</uri>
+          </mesh>
         </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
+      </visual>
+      <sensor name="laser" type="gpu_lidar">
+        <pose>0.021 0 0.00925 0 -0 0</pose>
+        <update_rate>10</update_rate>
+        <visualize>0</visualize>
+        <always_on>1</always_on>
+        <lidar>
+          <scan>
+            <horizontal>
+              <samples>3</samples>
+              <resolution>1</resolution>
+              <min_angle>-0.0314159</min_angle>
+              <max_angle>0.0314159</max_angle>
+            </horizontal>
+            <vertical>
+              <samples>3</samples>
+              <resolution>1</resolution>
+              <min_angle>-0.0314159</min_angle>
+              <max_angle>0.0314159</max_angle>
+            </vertical>
+          </scan>
+          <range>
+            <min>0.1</min>
+            <max>12</max>
+            <resolution>0.01</resolution>
+          </range>
+          <noise>
+            <type>gaussian</type>
+            <mean>0</mean>
+            <stddev>0.015</stddev>
+          </noise>
+        </lidar>
+      </sensor>
     </link>
-    <joint name="left_track_wheel3_j" type="revolute">
-      <child>left_track_wheel3</child>
-      <parent>left_track</parent>
+    <joint name="cliff_sensor_0_j" type="fixed">
+      <child>cliff_sensor_0</child>
+      <parent>base_link</parent>
       <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
         <dynamics>
           <spring_reference>0</spring_reference>
           <spring_stiffness>0</spring_stiffness>
         </dynamics>
+        <xyz>0 0 1</xyz>
         <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="left_track_wheel4">
-      <pose>0.035714 0.1985 0.01855 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0.0141 0 -0 0</pose>
-        <mass>0.7575</mass>
-        <inertia>
-          <ixx>0.002731</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.032554</iyy>
-          <iyz>1.5e-05</iyz>
-          <izz>0.031391</izz>
-        </inertia>
-      </inertial>
-      <collision name="left_track_wheel4_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.097</length>
-            <radius>0.089</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-    </link>
-    <joint name="left_track_wheel4_j" type="revolute">
-      <child>left_track_wheel4</child>
-      <parent>left_track</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
         <limit>
           <lower>-1e+16</lower>
           <upper>1e+16</upper>
         </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
       </axis>
+      <physics>
+        <ode>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+        </ode>
+      </physics>
     </joint>
-    <link name="left_track_wheel5">
-      <pose>-0.035714 0.1985 0.01855 0 -0 0</pose>
+    <link name="cliff_sensor_1">
+      <pose>0.275 -0.120465 0.2035 1.5707963267948966 1.5707963267948966 0</pose>
       <inertial>
-        <pose>0 0 0.0141 0 -0 0</pose>
-        <mass>0.7575</mass>
+        <pose>0.0105 0 0.00925 0 -0 0</pose>
+        <mass>0.012</mass>
         <inertia>
-          <ixx>0.002731</ixx>
+          <ixx>1.56725e-06</ixx>
           <ixy>0</ixy>
           <ixz>0</ixz>
-          <iyy>0.032554</iyy>
-          <iyz>1.5e-05</iyz>
-          <izz>0.031391</izz>
-        </inertia>
-      </inertial>
-      <collision name="left_track_wheel5_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.097</length>
-            <radius>0.089</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-    </link>
-    <joint name="left_track_wheel5_j" type="revolute">
-      <child>left_track_wheel5</child>
-      <parent>left_track</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="left_track_wheel6">
-      <pose>-0.107143 0.1985 0.01855 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0.0141 0 -0 0</pose>
-        <mass>0.7575</mass>
-        <inertia>
-          <ixx>0.002731</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.032554</iyy>
-          <iyz>1.5e-05</iyz>
-          <izz>0.031391</izz>
-        </inertia>
-      </inertial>
-      <collision name="left_track_wheel6_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.097</length>
-            <radius>0.089</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-    </link>
-    <joint name="left_track_wheel6_j" type="revolute">
-      <child>left_track_wheel6</child>
-      <parent>left_track</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="left_track_wheel7">
-      <pose>-0.178571 0.1985 0.01855 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0.0141 0 -0 0</pose>
-        <mass>0.7575</mass>
-        <inertia>
-          <ixx>0.002731</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.032554</iyy>
-          <iyz>1.5e-05</iyz>
-          <izz>0.031391</izz>
-        </inertia>
-      </inertial>
-      <collision name="left_track_wheel7_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.097</length>
-            <radius>0.089</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-    </link>
-    <joint name="left_track_wheel7_j" type="revolute">
-      <child>left_track_wheel7</child>
-      <parent>left_track</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="left_track_wheel8">
-      <pose>-0.25 0.1985 0.01855 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0.0141 0 -0 0</pose>
-        <mass>0.7575</mass>
-        <inertia>
-          <ixx>0.002731</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.032554</iyy>
-          <iyz>1.5e-05</iyz>
-          <izz>0.031391</izz>
-        </inertia>
-      </inertial>
-      <collision name="left_track_wheel8_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.097</length>
-            <radius>0.089</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-    </link>
-    <joint name="left_track_wheel8_j" type="revolute">
-      <child>left_track_wheel8</child>
-      <parent>left_track</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="rear_left_flipper">
-      <pose>-0.25 0.272 0.0195 3.1415926535897931 0.193732 3.1415926535897931</pose>
-      <inertial>
-        <mass>1e-05</mass>
-        <inertia>
-          <ixx>0.001</ixx>
-          <ixy>1e-06</ixy>
-          <ixz>1e-06</ixz>
-          <iyy>0.001</iyy>
-          <iyz>1e-06</iyz>
-          <izz>0.001</izz>
-        </inertia>
-      </inertial>
-      <collision name="rear_left_flipper_collision">
-        <geometry>
-          <box>
-            <size>0.01 0.01 0.01</size>
-          </box>
-        </geometry>
-        <surface>
-          <friction>
-            <ode>
-              <mu>0.7</mu>
-              <mu2>150</mu2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-      <visual name="rear_left_flipper_visual">
-        <pose>0 0 0 -2.95743 -0 1.5707963267948966</pose>
-        <geometry>
-          <mesh>
-            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/flipper.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-    </link>
-    <joint name="rear_left_flipper_j" type="revolute">
-      <child>rear_left_flipper</child>
-      <parent>left_track</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>20</effort>
-          <velocity>0.785398</velocity>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-      <physics>
-        <ode>
-          <implicit_spring_damper>1</implicit_spring_damper>
-          <cfm_damping>1</cfm_damping>
-          <limit>
-            <cfm>0</cfm>
-            <erp>0.2</erp>
-          </limit>
-        </ode>
-      </physics>
-    </joint>
-    <link name="rear_left_flipper_wheel1">
-      <pose>-0.25 0.272 0.0195 3.1415926535897931 0.193732 3.1415926535897931</pose>
-      <inertial>
-        <pose>0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
-        <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
-        </inertia>
-      </inertial>
-      <collision name="rear_left_flipper_wheel1_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.04981</length>
-            <radius>0.089</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-    </link>
-    <joint name="rear_left_flipper_wheel1_j" type="revolute">
-      <child>rear_left_flipper_wheel1</child>
-      <parent>rear_left_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="rear_left_flipper_wheel2">
-      <pose>-0.330957 0.272 0.003617 3.1415926535897931 0.193732 3.1415926535897931</pose>
-      <inertial>
-        <pose>0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
-        <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
-        </inertia>
-      </inertial>
-      <collision name="rear_left_flipper_wheel2_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.04981</length>
-            <radius>0.074</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-    </link>
-    <joint name="rear_left_flipper_wheel2_j" type="revolute">
-      <child>rear_left_flipper_wheel2</child>
-      <parent>rear_left_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="rear_left_flipper_wheel3">
-      <pose>-0.411913 0.272 -0.012266 3.1415926535897931 0.193732 3.1415926535897931</pose>
-      <inertial>
-        <pose>0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
-        <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
-        </inertia>
-      </inertial>
-      <collision name="rear_left_flipper_wheel3_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.04981</length>
-            <radius>0.059</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-    </link>
-    <joint name="rear_left_flipper_wheel3_j" type="revolute">
-      <child>rear_left_flipper_wheel3</child>
-      <parent>rear_left_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="rear_left_flipper_wheel4">
-      <pose>-0.49287 0.272 -0.028149 3.1415926535897931 0.193732 3.1415926535897931</pose>
-      <inertial>
-        <pose>0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
-        <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
-        </inertia>
-      </inertial>
-      <collision name="rear_left_flipper_wheel4_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.04981</length>
-            <radius>0.044</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-    </link>
-    <joint name="rear_left_flipper_wheel4_j" type="revolute">
-      <child>rear_left_flipper_wheel4</child>
-      <parent>rear_left_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="rear_left_flipper_wheel5">
-      <pose>-0.573827 0.272 -0.044032 3.1415926535897931 0.193732 3.1415926535897931</pose>
-      <inertial>
-        <pose>0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
-        <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
-        </inertia>
-      </inertial>
-      <collision name="rear_left_flipper_wheel5_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.04981</length>
-            <radius>0.029</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-    </link>
-    <joint name="rear_left_flipper_wheel5_j" type="revolute">
-      <child>rear_left_flipper_wheel5</child>
-      <parent>rear_left_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="cliff_sensor_0">
-      <pose>0.275 0.119535 0.2035 -1.5707963267948966 1.5707963267948966 0</pose>
-      <inertial>
-        <pose>0.0105 0 0.00925 0 -0 0</pose>
-        <mass>0.012</mass>
-        <inertia>
-          <ixx>1.56725e-06</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>7.8325e-07</iyy>
-          <iyz>0</iyz>
-          <izz>1.666e-06</izz>
-        </inertia>
-      </inertial>
-      <collision name="cliff_sensor_0_collision">
-        <pose>0.0105 0 0.00925 0 -0 0</pose>
-        <geometry>
-          <box>
-            <size>0.021 0.035 0.0185</size>
-          </box>
-        </geometry>
-      </collision>
-      <visual name="cliff_sensor_0_visual">
-        <geometry>
-          <mesh>
-            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/tfmini_plus_lidar.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-      <sensor name="laser" type="gpu_lidar">
-        <pose>0.021 0 0.00925 0 -0 0</pose>
-        <update_rate>10</update_rate>
-        <visualize>0</visualize>
-        <always_on>1</always_on>
-        <lidar>
-          <scan>
-            <horizontal>
-              <samples>3</samples>
-              <resolution>1</resolution>
-              <min_angle>-0.0314159</min_angle>
-              <max_angle>0.0314159</max_angle>
-            </horizontal>
-            <vertical>
-              <samples>3</samples>
-              <resolution>1</resolution>
-              <min_angle>-0.0314159</min_angle>
-              <max_angle>0.0314159</max_angle>
-            </vertical>
-          </scan>
-          <range>
-            <min>0.1</min>
-            <max>12</max>
-            <resolution>0.01</resolution>
-          </range>
-          <noise>
-            <type>gaussian</type>
-            <mean>0</mean>
-            <stddev>0.015</stddev>
-          </noise>
-        </lidar>
-      </sensor>
-    </link>
-    <joint name="cliff_sensor_0_j" type="fixed">
-      <child>cliff_sensor_0</child>
-      <parent>base_link</parent>
-      <axis>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <xyz>0 0 1</xyz>
-        <use_parent_model_frame>0</use_parent_model_frame>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-      </axis>
-      <physics>
-        <ode>
-          <limit>
-            <cfm>0</cfm>
-            <erp>0.2</erp>
-          </limit>
-        </ode>
-      </physics>
-    </joint>
-    <link name="cliff_sensor_1">
-      <pose>0.275 -0.120465 0.2035 1.5707963267948966 1.5707963267948966 0</pose>
-      <inertial>
-        <pose>0.0105 0 0.00925 0 -0 0</pose>
-        <mass>0.012</mass>
-        <inertia>
-          <ixx>1.56725e-06</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>7.8325e-07</iyy>
-          <iyz>0</iyz>
-          <izz>1.666e-06</izz>
-        </inertia>
-      </inertial>
-      <collision name="cliff_sensor_1_collision">
-        <pose>0.0105 0 0.00925 0 -0 0</pose>
-        <geometry>
-          <box>
-            <size>0.021 0.035 0.0185</size>
-          </box>
-        </geometry>
-      </collision>
-      <visual name="cliff_sensor_1_visual">
-        <geometry>
-          <mesh>
-            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/tfmini_plus_lidar.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-      <sensor name="laser" type="gpu_lidar">
-        <pose>0.021 0 0.00925 0 -0 0</pose>
-        <update_rate>10</update_rate>
-        <visualize>0</visualize>
-        <always_on>1</always_on>
-        <lidar>
-          <scan>
-            <horizontal>
-              <samples>3</samples>
-              <resolution>1</resolution>
-              <min_angle>-0.0314159</min_angle>
-              <max_angle>0.0314159</max_angle>
-            </horizontal>
-            <vertical>
-              <samples>3</samples>
-              <resolution>1</resolution>
-              <min_angle>-0.0314159</min_angle>
-              <max_angle>0.0314159</max_angle>
-            </vertical>
-          </scan>
-          <range>
-            <min>0.1</min>
-            <max>12</max>
-            <resolution>0.01</resolution>
-          </range>
-          <noise>
-            <type>gaussian</type>
-            <mean>0</mean>
-            <stddev>0.015</stddev>
-          </noise>
-        </lidar>
-      </sensor>
-    </link>
-    <joint name="cliff_sensor_1_j" type="fixed">
-      <child>cliff_sensor_1</child>
-      <parent>base_link</parent>
-      <axis>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <xyz>0 0 1</xyz>
-        <use_parent_model_frame>0</use_parent_model_frame>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-      </axis>
-      <physics>
-        <ode>
-          <limit>
-            <cfm>0</cfm>
-            <erp>0.2</erp>
-          </limit>
-        </ode>
-      </physics>
-    </joint>
-    <link name="cliff_sensor_2">
-      <pose>-0.275 0.119535 0.2035 -1.5707963267948966 1.5707963267948966 0</pose>
-      <inertial>
-        <pose>0.0105 0 0.00925 0 -0 0</pose>
-        <mass>0.012</mass>
-        <inertia>
-          <ixx>1.56725e-06</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>7.8325e-07</iyy>
-          <iyz>0</iyz>
-          <izz>1.666e-06</izz>
-        </inertia>
-      </inertial>
-      <collision name="cliff_sensor_2_collision">
-        <pose>0.0105 0 0.00925 0 -0 0</pose>
-        <geometry>
-          <box>
-            <size>0.021 0.035 0.0185</size>
-          </box>
-        </geometry>
-      </collision>
-      <visual name="cliff_sensor_2_visual">
-        <geometry>
-          <mesh>
-            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/tfmini_plus_lidar.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-      <sensor name="laser" type="gpu_lidar">
-        <pose>0.021 0 0.00925 0 -0 0</pose>
-        <update_rate>10</update_rate>
-        <visualize>0</visualize>
-        <always_on>1</always_on>
-        <lidar>
-          <scan>
-            <horizontal>
-              <samples>3</samples>
-              <resolution>1</resolution>
-              <min_angle>-0.0314159</min_angle>
-              <max_angle>0.0314159</max_angle>
-            </horizontal>
-            <vertical>
-              <samples>3</samples>
-              <resolution>1</resolution>
-              <min_angle>-0.0314159</min_angle>
-              <max_angle>0.0314159</max_angle>
-            </vertical>
-          </scan>
-          <range>
-            <min>0.1</min>
-            <max>12</max>
-            <resolution>0.01</resolution>
-          </range>
-          <noise>
-            <type>gaussian</type>
-            <mean>0</mean>
-            <stddev>0.015</stddev>
-          </noise>
-        </lidar>
-      </sensor>
-    </link>
-    <joint name="cliff_sensor_2_j" type="fixed">
-      <child>cliff_sensor_2</child>
-      <parent>base_link</parent>
-      <axis>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <xyz>0 0 1</xyz>
-        <use_parent_model_frame>0</use_parent_model_frame>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-      </axis>
-      <physics>
-        <ode>
-          <limit>
-            <cfm>0</cfm>
-            <erp>0.2</erp>
-          </limit>
-        </ode>
-      </physics>
-    </joint>
-    <link name="cliff_sensor_3">
-      <pose>-0.275 -0.120465 0.2035 1.5707963267948966 1.5707963267948966 0</pose>
-      <inertial>
-        <pose>0.0105 0 0.00925 0 -0 0</pose>
-        <mass>0.012</mass>
-        <inertia>
-          <ixx>1.56725e-06</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>7.8325e-07</iyy>
-          <iyz>0</iyz>
-          <izz>1.666e-06</izz>
-        </inertia>
-      </inertial>
-      <collision name="cliff_sensor_3_collision">
-        <pose>0.0105 0 0.00925 0 -0 0</pose>
-        <geometry>
-          <box>
-            <size>0.021 0.035 0.0185</size>
-          </box>
-        </geometry>
-      </collision>
-      <visual name="cliff_sensor_3_visual">
-        <geometry>
-          <mesh>
-            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/tfmini_plus_lidar.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-      <sensor name="laser" type="gpu_lidar">
-        <pose>0.021 0 0.00925 0 -0 0</pose>
-        <update_rate>10</update_rate>
-        <visualize>0</visualize>
-        <always_on>1</always_on>
-        <lidar>
-          <scan>
-            <horizontal>
-              <samples>3</samples>
-              <resolution>1</resolution>
-              <min_angle>-0.0314159</min_angle>
-              <max_angle>0.0314159</max_angle>
-            </horizontal>
-            <vertical>
-              <samples>3</samples>
-              <resolution>1</resolution>
-              <min_angle>-0.0314159</min_angle>
-              <max_angle>0.0314159</max_angle>
-            </vertical>
-          </scan>
-          <range>
-            <min>0.1</min>
-            <max>12</max>
-            <resolution>0.01</resolution>
-          </range>
-          <noise>
-            <type>gaussian</type>
-            <mean>0</mean>
-            <stddev>0.015</stddev>
-          </noise>
-        </lidar>
-      </sensor>
-    </link>
-    <joint name="cliff_sensor_3_j" type="fixed">
-      <child>cliff_sensor_3</child>
-      <parent>base_link</parent>
-      <axis>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <xyz>0 0 1</xyz>
-        <use_parent_model_frame>0</use_parent_model_frame>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-      </axis>
-      <physics>
-        <ode>
-          <limit>
-            <cfm>0</cfm>
-            <erp>0.2</erp>
-          </limit>
-        </ode>
-      </physics>
-    </joint>
-    <link name="laser">
-      <pose>0.1615 0 0.39 0 0.25 0</pose>
-      <inertial>
-        <pose>0 0 0.03675 0 -0 0</pose>
-        <mass>0.5</mass>
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-          <ixx>0.000461625</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.000461625</iyy>
-          <iyz>0</iyz>
-          <izz>0.000473063</izz>
-        </inertia>
-      </inertial>
-      <collision name="laser_collision">
-        <pose>0 0 0.03675 0 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.0735</length>
-            <radius>0.0435</radius>
-          </cylinder>
-        </geometry>
-      </collision>
-      <visual name="laser_visual">
-        <geometry>
-          <mesh>
-            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/ouster-os0.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-      <sensor name="laser" type="gpu_lidar">
-        <pose>0 0 0.035925 0 -0 0</pose>
-        <update_rate>10</update_rate>
-        <visualize>0</visualize>
-        <always_on>1</always_on>
-        <lidar>
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-            <horizontal>
-              <samples>2048</samples>
-              <resolution>1</resolution>
-              <min_angle>-3.1459</min_angle>
-              <max_angle>3.1459</max_angle>
-            </horizontal>
-            <vertical>
-              <samples>128</samples>
-              <resolution>1</resolution>
-              <min_angle>-0.785398</min_angle>
-              <max_angle>0.785398</max_angle>
-            </vertical>
-          </scan>
-          <range>
-            <min>0.1</min>
-            <max>50</max>
-            <resolution>0.01</resolution>
-          </range>
-          <noise>
-            <type>gaussian</type>
-            <mean>0</mean>
-            <stddev>0.01</stddev>
-          </noise>
-        </lidar>
-      </sensor>
-    </link>
-    <joint name="laser_j" type="fixed">
-      <child>laser</child>
-      <parent>base_link</parent>
-      <axis>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <xyz>0 0 1</xyz>
-        <use_parent_model_frame>0</use_parent_model_frame>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-      </axis>
-      <physics>
-        <ode>
-          <limit>
-            <cfm>0</cfm>
-            <erp>0.2</erp>
-          </limit>
-        </ode>
-      </physics>
-    </joint>
-    <link name="right_track">
-      <pose>0 -0.1985 0 0 -0 0</pose>
-      <inertial>
-        <mass>1e-05</mass>
-        <inertia>
-          <ixx>0.001</ixx>
-          <ixy>1e-06</ixy>
-          <ixz>1e-06</ixz>
-          <iyy>0.001</iyy>
-          <iyz>1e-06</iyz>
-          <izz>0.001</izz>
-        </inertia>
-      </inertial>
-      <collision name="right_track_collision">
-        <geometry>
-          <box>
-            <size>0.01 0.01 0.01</size>
-          </box>
-        </geometry>
-        <surface>
-          <friction>
-            <ode>
-              <mu>0.7</mu>
-              <mu2>150</mu2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-      <visual name="right_track_visual">
-        <pose>0 0 -0.0705 1.5707963267948966 0 -1.5707963267948966</pose>
-        <geometry>
-          <mesh>
-            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/bogie.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-    </link>
-    <joint name="right_track_j" type="revolute">
-      <child>right_track</child>
-      <parent>base_link</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>0</lower>
-          <upper>0</upper>
-          <effort>0</effort>
-          <velocity>4</velocity>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-      <physics>
-        <ode>
-          <limit>
-            <cfm>0</cfm>
-            <erp>0.2</erp>
-          </limit>
-        </ode>
-      </physics>
-      <physics>
-        <ode>
-          <implicit_spring_damper>1</implicit_spring_damper>
-          <cfm>0</cfm>
-          <erp>0.95</erp>
-        </ode>
-      </physics>
-    </joint>
-    <link name="front_right_flipper">
-      <pose>0.25 -0.272 0.0195 3.1415926535897931 -0.193732 3.1415926535897931</pose>
-      <inertial>
-        <mass>1e-05</mass>
-        <inertia>
-          <ixx>0.001</ixx>
-          <ixy>1e-06</ixy>
-          <ixz>1e-06</ixz>
-          <iyy>0.001</iyy>
-          <iyz>1e-06</iyz>
-          <izz>0.001</izz>
-        </inertia>
-      </inertial>
-      <collision name="front_right_flipper_collision">
-        <geometry>
-          <box>
-            <size>0.01 0.01 0.01</size>
-          </box>
-        </geometry>
-        <surface>
-          <friction>
-            <ode>
-              <mu>0.7</mu>
-              <mu2>150</mu2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-      <visual name="front_right_flipper_visual">
-        <pose>0 0 0 -2.95743 -0 -1.5707963267948966</pose>
-        <geometry>
-          <mesh>
-            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/flipper.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-    </link>
-    <joint name="front_right_flipper_j" type="revolute">
-      <child>front_right_flipper</child>
-      <parent>right_track</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>20</effort>
-          <velocity>0.785398</velocity>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-      <physics>
-        <ode>
-          <implicit_spring_damper>1</implicit_spring_damper>
-          <cfm_damping>1</cfm_damping>
-          <limit>
-            <cfm>0</cfm>
-            <erp>0.2</erp>
-          </limit>
-        </ode>
-      </physics>
-    </joint>
-    <link name="front_right_flipper_wheel1">
-      <pose>0.25 -0.272 0.0195 3.1415926535897931 -0.193732 3.1415926535897931</pose>
-      <inertial>
-        <pose>-0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
-        <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
-        </inertia>
-      </inertial>
-      <collision name="front_right_flipper_wheel1_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.04981</length>
-            <radius>0.089</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-    </link>
-    <joint name="front_right_flipper_wheel1_j" type="revolute">
-      <child>front_right_flipper_wheel1</child>
-      <parent>front_right_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="front_right_flipper_wheel2">
-      <pose>0.330957 -0.272 0.003617 3.1415926535897931 -0.193732 3.1415926535897931</pose>
-      <inertial>
-        <pose>-0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
-        <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
-        </inertia>
-      </inertial>
-      <collision name="front_right_flipper_wheel2_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.04981</length>
-            <radius>0.074</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-    </link>
-    <joint name="front_right_flipper_wheel2_j" type="revolute">
-      <child>front_right_flipper_wheel2</child>
-      <parent>front_right_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="front_right_flipper_wheel3">
-      <pose>0.411913 -0.272 -0.012266 3.1415926535897931 -0.193732 3.1415926535897931</pose>
-      <inertial>
-        <pose>-0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
-        <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
-        </inertia>
-      </inertial>
-      <collision name="front_right_flipper_wheel3_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.04981</length>
-            <radius>0.059</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-    </link>
-    <joint name="front_right_flipper_wheel3_j" type="revolute">
-      <child>front_right_flipper_wheel3</child>
-      <parent>front_right_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="front_right_flipper_wheel4">
-      <pose>0.49287 -0.272 -0.028149 3.1415926535897931 -0.193732 3.1415926535897931</pose>
-      <inertial>
-        <pose>-0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
-        <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
-        </inertia>
-      </inertial>
-      <collision name="front_right_flipper_wheel4_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.04981</length>
-            <radius>0.044</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-    </link>
-    <joint name="front_right_flipper_wheel4_j" type="revolute">
-      <child>front_right_flipper_wheel4</child>
-      <parent>front_right_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="front_right_flipper_wheel5">
-      <pose>0.573827 -0.272 -0.044032 3.1415926535897931 -0.193732 3.1415926535897931</pose>
-      <inertial>
-        <pose>-0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
-        <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
-        </inertia>
-      </inertial>
-      <collision name="front_right_flipper_wheel5_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.04981</length>
-            <radius>0.029</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-    </link>
-    <joint name="front_right_flipper_wheel5_j" type="revolute">
-      <child>front_right_flipper_wheel5</child>
-      <parent>front_right_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="rear_right_flipper">
-      <pose>-0.25 -0.272 0.0195 0 -0.193732 0</pose>
-      <inertial>
-        <mass>1e-05</mass>
-        <inertia>
-          <ixx>0.001</ixx>
-          <ixy>1e-06</ixy>
-          <ixz>1e-06</ixz>
-          <iyy>0.001</iyy>
-          <iyz>1e-06</iyz>
-          <izz>0.001</izz>
+          <iyy>7.8325e-07</iyy>
+          <iyz>0</iyz>
+          <izz>1.666e-06</izz>
         </inertia>
       </inertial>
-      <collision name="rear_right_flipper_collision">
+      <collision name="cliff_sensor_1_collision">
+        <pose>0.0105 0 0.00925 0 -0 0</pose>
         <geometry>
           <box>
-            <size>0.01 0.01 0.01</size>
+            <size>0.021 0.035 0.0185</size>
           </box>
         </geometry>
-        <surface>
-          <friction>
-            <ode>
-              <mu>0.7</mu>
-              <mu2>150</mu2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
       </collision>
-      <visual name="rear_right_flipper_visual">
-        <pose>0 0 0 -2.95743 -0 -1.5707963267948966</pose>
+      <visual name="cliff_sensor_1_visual">
         <geometry>
           <mesh>
-            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/flipper.dae</uri>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/tfmini_plus_lidar.dae</uri>
           </mesh>
         </geometry>
       </visual>
+      <sensor name="laser" type="gpu_lidar">
+        <pose>0.021 0 0.00925 0 -0 0</pose>
+        <update_rate>10</update_rate>
+        <visualize>0</visualize>
+        <always_on>1</always_on>
+        <lidar>
+          <scan>
+            <horizontal>
+              <samples>3</samples>
+              <resolution>1</resolution>
+              <min_angle>-0.0314159</min_angle>
+              <max_angle>0.0314159</max_angle>
+            </horizontal>
+            <vertical>
+              <samples>3</samples>
+              <resolution>1</resolution>
+              <min_angle>-0.0314159</min_angle>
+              <max_angle>0.0314159</max_angle>
+            </vertical>
+          </scan>
+          <range>
+            <min>0.1</min>
+            <max>12</max>
+            <resolution>0.01</resolution>
+          </range>
+          <noise>
+            <type>gaussian</type>
+            <mean>0</mean>
+            <stddev>0.015</stddev>
+          </noise>
+        </lidar>
+      </sensor>
     </link>
-    <joint name="rear_right_flipper_j" type="revolute">
-      <child>rear_right_flipper</child>
-      <parent>right_track</parent>
+    <joint name="cliff_sensor_1_j" type="fixed">
+      <child>cliff_sensor_1</child>
+      <parent>base_link</parent>
       <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>20</effort>
-          <velocity>0.785398</velocity>
-        </limit>
         <dynamics>
           <spring_reference>0</spring_reference>
           <spring_stiffness>0</spring_stiffness>
         </dynamics>
+        <xyz>0 0 1</xyz>
         <use_parent_model_frame>0</use_parent_model_frame>
+        <limit>
+          <lower>-1e+16</lower>
+          <upper>1e+16</upper>
+        </limit>
       </axis>
       <physics>
         <ode>
-          <implicit_spring_damper>1</implicit_spring_damper>
-          <cfm_damping>1</cfm_damping>
           <limit>
             <cfm>0</cfm>
             <erp>0.2</erp>
@@ -2809,296 +1218,270 @@
         </ode>
       </physics>
     </joint>
-    <link name="rear_right_flipper_wheel1">
-      <pose>-0.25 -0.272 0.0195 0 -0.193732 0</pose>
+    <link name="cliff_sensor_2">
+      <pose>-0.275 0.119535 0.2035 -1.5707963267948966 1.5707963267948966 0</pose>
       <inertial>
-        <pose>-0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
+        <pose>0.0105 0 0.00925 0 -0 0</pose>
+        <mass>0.012</mass>
         <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
+          <ixx>1.56725e-06</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>7.8325e-07</iyy>
+          <iyz>0</iyz>
+          <izz>1.666e-06</izz>
         </inertia>
       </inertial>
-      <collision name="rear_right_flipper_wheel1_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="cliff_sensor_2_collision">
+        <pose>0.0105 0 0.00925 0 -0 0</pose>
         <geometry>
-          <cylinder>
-            <length>0.04981</length>
-            <radius>0.089</radius>
-          </cylinder>
+          <box>
+            <size>0.021 0.035 0.0185</size>
+          </box>
         </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
       </collision>
+      <visual name="cliff_sensor_2_visual">
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/tfmini_plus_lidar.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <sensor name="laser" type="gpu_lidar">
+        <pose>0.021 0 0.00925 0 -0 0</pose>
+        <update_rate>10</update_rate>
+        <visualize>0</visualize>
+        <always_on>1</always_on>
+        <lidar>
+          <scan>
+            <horizontal>
+              <samples>3</samples>
+              <resolution>1</resolution>
+              <min_angle>-0.0314159</min_angle>
+              <max_angle>0.0314159</max_angle>
+            </horizontal>
+            <vertical>
+              <samples>3</samples>
+              <resolution>1</resolution>
+              <min_angle>-0.0314159</min_angle>
+              <max_angle>0.0314159</max_angle>
+            </vertical>
+          </scan>
+          <range>
+            <min>0.1</min>
+            <max>12</max>
+            <resolution>0.01</resolution>
+          </range>
+          <noise>
+            <type>gaussian</type>
+            <mean>0</mean>
+            <stddev>0.015</stddev>
+          </noise>
+        </lidar>
+      </sensor>
     </link>
-    <joint name="rear_right_flipper_wheel1_j" type="revolute">
-      <child>rear_right_flipper_wheel1</child>
-      <parent>rear_right_flipper</parent>
+    <joint name="cliff_sensor_2_j" type="fixed">
+      <child>cliff_sensor_2</child>
+      <parent>base_link</parent>
       <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
         <dynamics>
           <spring_reference>0</spring_reference>
           <spring_stiffness>0</spring_stiffness>
         </dynamics>
+        <xyz>0 0 1</xyz>
         <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="rear_right_flipper_wheel2">
-      <pose>-0.330957 -0.272 0.003617 0 -0.193732 0</pose>
-      <inertial>
-        <pose>-0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
-        <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
-        </inertia>
-      </inertial>
-      <collision name="rear_right_flipper_wheel2_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.04981</length>
-            <radius>0.074</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-    </link>
-    <joint name="rear_right_flipper_wheel2_j" type="revolute">
-      <child>rear_right_flipper_wheel2</child>
-      <parent>rear_right_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
         <limit>
           <lower>-1e+16</lower>
           <upper>1e+16</upper>
         </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
       </axis>
+      <physics>
+        <ode>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+        </ode>
+      </physics>
     </joint>
-    <link name="rear_right_flipper_wheel3">
-      <pose>-0.411913 -0.272 -0.012266 0 -0.193732 0</pose>
+    <link name="cliff_sensor_3">
+      <pose>-0.275 -0.120465 0.2035 1.5707963267948966 1.5707963267948966 0</pose>
       <inertial>
-        <pose>-0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
+        <pose>0.0105 0 0.00925 0 -0 0</pose>
+        <mass>0.012</mass>
         <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
+          <ixx>1.56725e-06</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>7.8325e-07</iyy>
+          <iyz>0</iyz>
+          <izz>1.666e-06</izz>
         </inertia>
       </inertial>
-      <collision name="rear_right_flipper_wheel3_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="cliff_sensor_3_collision">
+        <pose>0.0105 0 0.00925 0 -0 0</pose>
         <geometry>
-          <cylinder>
-            <length>0.04981</length>
-            <radius>0.059</radius>
-          </cylinder>
+          <box>
+            <size>0.021 0.035 0.0185</size>
+          </box>
         </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
       </collision>
+      <visual name="cliff_sensor_3_visual">
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/tfmini_plus_lidar.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <sensor name="laser" type="gpu_lidar">
+        <pose>0.021 0 0.00925 0 -0 0</pose>
+        <update_rate>10</update_rate>
+        <visualize>0</visualize>
+        <always_on>1</always_on>
+        <lidar>
+          <scan>
+            <horizontal>
+              <samples>3</samples>
+              <resolution>1</resolution>
+              <min_angle>-0.0314159</min_angle>
+              <max_angle>0.0314159</max_angle>
+            </horizontal>
+            <vertical>
+              <samples>3</samples>
+              <resolution>1</resolution>
+              <min_angle>-0.0314159</min_angle>
+              <max_angle>0.0314159</max_angle>
+            </vertical>
+          </scan>
+          <range>
+            <min>0.1</min>
+            <max>12</max>
+            <resolution>0.01</resolution>
+          </range>
+          <noise>
+            <type>gaussian</type>
+            <mean>0</mean>
+            <stddev>0.015</stddev>
+          </noise>
+        </lidar>
+      </sensor>
     </link>
-    <joint name="rear_right_flipper_wheel3_j" type="revolute">
-      <child>rear_right_flipper_wheel3</child>
-      <parent>rear_right_flipper</parent>
+    <joint name="cliff_sensor_3_j" type="fixed">
+      <child>cliff_sensor_3</child>
+      <parent>base_link</parent>
       <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
         <dynamics>
           <spring_reference>0</spring_reference>
           <spring_stiffness>0</spring_stiffness>
         </dynamics>
+        <xyz>0 0 1</xyz>
         <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="rear_right_flipper_wheel4">
-      <pose>-0.49287 -0.272 -0.028149 0 -0.193732 0</pose>
-      <inertial>
-        <pose>-0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
-        <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
-        </inertia>
-      </inertial>
-      <collision name="rear_right_flipper_wheel4_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.04981</length>
-            <radius>0.044</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-    </link>
-    <joint name="rear_right_flipper_wheel4_j" type="revolute">
-      <child>rear_right_flipper_wheel4</child>
-      <parent>rear_right_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
         <limit>
           <lower>-1e+16</lower>
           <upper>1e+16</upper>
         </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
       </axis>
+      <physics>
+        <ode>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+        </ode>
+      </physics>
     </joint>
-    <link name="rear_right_flipper_wheel5">
-      <pose>-0.573827 -0.272 -0.044032 0 -0.193732 0</pose>
+    <link name="laser">
+      <pose>0.1615 0 0.39 0 0.25 0</pose>
       <inertial>
-        <pose>-0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
+        <pose>0 0 0.03675 0 -0 0</pose>
+        <mass>0.5</mass>
         <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
+          <ixx>0.000461625</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.000461625</iyy>
+          <iyz>0</iyz>
+          <izz>0.000473063</izz>
         </inertia>
       </inertial>
-      <collision name="rear_right_flipper_wheel5_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="laser_collision">
+        <pose>0 0 0.03675 0 -0 0</pose>
         <geometry>
           <cylinder>
-            <length>0.04981</length>
-            <radius>0.029</radius>
+            <length>0.0735</length>
+            <radius>0.0435</radius>
           </cylinder>
         </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
       </collision>
+      <visual name="laser_visual">
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/ouster-os0.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <sensor name="laser" type="gpu_lidar">
+        <pose>0 0 0.035925 0 -0 0</pose>
+        <update_rate>10</update_rate>
+        <visualize>0</visualize>
+        <always_on>1</always_on>
+        <lidar>
+          <scan>
+            <horizontal>
+              <samples>2048</samples>
+              <resolution>1</resolution>
+              <min_angle>-3.1459</min_angle>
+              <max_angle>3.1459</max_angle>
+            </horizontal>
+            <vertical>
+              <samples>128</samples>
+              <resolution>1</resolution>
+              <min_angle>-0.785398</min_angle>
+              <max_angle>0.785398</max_angle>
+            </vertical>
+          </scan>
+          <range>
+            <min>0.1</min>
+            <max>50</max>
+            <resolution>0.01</resolution>
+          </range>
+          <noise>
+            <type>gaussian</type>
+            <mean>0</mean>
+            <stddev>0.01</stddev>
+          </noise>
+        </lidar>
+      </sensor>
     </link>
-    <joint name="rear_right_flipper_wheel5_j" type="revolute">
-      <child>rear_right_flipper_wheel5</child>
-      <parent>rear_right_flipper</parent>
+    <joint name="laser_j" type="fixed">
+      <child>laser</child>
+      <parent>base_link</parent>
       <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
         <dynamics>
           <spring_reference>0</spring_reference>
           <spring_stiffness>0</spring_stiffness>
         </dynamics>
+        <xyz>0 0 1</xyz>
         <use_parent_model_frame>0</use_parent_model_frame>
+        <limit>
+          <lower>-1e+16</lower>
+          <upper>1e+16</upper>
+        </limit>
       </axis>
+      <physics>
+        <ode>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+        </ode>
+      </physics>
     </joint>
-    <link name="right_track_wheel1">
-      <pose>0.25 -0.1985 0.01855 0 -0 0</pose>
+    <link name="right_track">
+      <pose>0 -0.1985 0 0 -0 0</pose>
       <inertial>
         <pose>0 0 0.0141 0 -0 0</pose>
-        <mass>0.7575</mass>
+        <mass>6.06</mass>
         <inertia>
           <ixx>0.002731</ixx>
           <ixy>0</ixy>
@@ -3108,8 +1491,25 @@
           <izz>0.031391</izz>
         </inertia>
       </inertial>
-      <collision name="right_track_wheel1_collision">
-        <pose>0 0.015 0 1.5707963267948966 -0 0</pose>
+      <collision name="right_track_collision">
+        <pose>0 0 0.01855 1.5707963267948966 -0 1.5707963267948966</pose>
+        <geometry>
+          <box>
+            <size>0.097 0.178 0.5</size>
+          </box>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>10</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="right_track_collision_1">
+        <pose>0.25 0.015 0.01855 1.5707963267948966 -0 0</pose>
         <geometry>
           <cylinder>
             <length>0.112</length>
@@ -3117,56 +1517,17 @@
           </cylinder>
         </geometry>
         <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
           <friction>
             <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
+              <mu>10</mu>
+              <mu2>150</mu2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
-    </link>
-    <joint name="right_track_wheel1_j" type="revolute">
-      <child>right_track_wheel1</child>
-      <parent>right_track</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="right_track_wheel2">
-      <pose>0.178571 -0.1985 0.01855 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0.0141 0 -0 0</pose>
-        <mass>0.7575</mass>
-        <inertia>
-          <ixx>0.002731</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.032554</iyy>
-          <iyz>1.5e-05</iyz>
-          <izz>0.031391</izz>
-        </inertia>
-      </inertial>
-      <collision name="right_track_wheel2_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="right_track_collision_2">
+        <pose>-0.25 0 0.01855 1.5707963267948966 -0 0</pose>
         <geometry>
           <cylinder>
             <length>0.097</length>
@@ -3174,32 +1535,34 @@
           </cylinder>
         </geometry>
         <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
           <friction>
             <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
+              <mu>10</mu>
+              <mu2>150</mu2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
+      <visual name="right_track_visual">
+        <pose>0 0 -0.0705 1.5707963267948966 0 -1.5707963267948966</pose>
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/bogie.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
     </link>
-    <joint name="right_track_wheel2_j" type="revolute">
-      <child>right_track_wheel2</child>
-      <parent>right_track</parent>
+    <joint name="right_track_j" type="revolute">
+      <child>right_track</child>
+      <parent>base_link</parent>
       <axis>
         <xyz>0 1 0</xyz>
         <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
+          <lower>0</lower>
+          <upper>0</upper>
+          <effort>0</effort>
+          <velocity>4</velocity>
         </limit>
         <dynamics>
           <spring_reference>0</spring_reference>
@@ -3207,170 +1570,142 @@
         </dynamics>
         <use_parent_model_frame>0</use_parent_model_frame>
       </axis>
+      <physics>
+        <ode>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+        </ode>
+      </physics>
+      <physics>
+        <ode>
+          <implicit_spring_damper>1</implicit_spring_damper>
+          <cfm>0</cfm>
+          <erp>0.95</erp>
+        </ode>
+      </physics>
     </joint>
-    <link name="right_track_wheel3">
-      <pose>0.107143 -0.1985 0.01855 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0.0141 0 -0 0</pose>
-        <mass>0.7575</mass>
-        <inertia>
-          <ixx>0.002731</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.032554</iyy>
-          <iyz>1.5e-05</iyz>
-          <izz>0.031391</izz>
+    <link name="front_right_flipper">
+      <pose>0.25 -0.272 0.0195 3.1415926535897931 -0.193732 3.1415926535897931</pose>
+      <inertial>
+        <pose>-0.08 0 0 0 -0 0</pose>
+        <mass>0.75</mass>
+        <inertia>
+          <ixx>0.0017491</ixx>
+          <ixy>2.8512e-07</ixy>
+          <ixz>0.0018277</ixz>
+          <iyy>0.012277</iyy>
+          <iyz>-3.6288e-07</iyz>
+          <izz>0.010941</izz>
         </inertia>
       </inertial>
-      <collision name="right_track_wheel3_collision">
+      <collision name="front_right_flipper_collision_large_wheel_collision">
         <pose>0 0 0 1.5707963267948966 -0 0</pose>
         <geometry>
           <cylinder>
-            <length>0.097</length>
+            <length>0.04981</length>
             <radius>0.089</radius>
           </cylinder>
         </geometry>
         <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
           <friction>
             <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
+              <mu>10</mu>
+              <mu2>150</mu2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
-    </link>
-    <joint name="right_track_wheel3_j" type="revolute">
-      <child>right_track_wheel3</child>
-      <parent>right_track</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="right_track_wheel4">
-      <pose>0.035714 -0.1985 0.01855 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0.0141 0 -0 0</pose>
-        <mass>0.7575</mass>
-        <inertia>
-          <ixx>0.002731</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.032554</iyy>
-          <iyz>1.5e-05</iyz>
-          <izz>0.031391</izz>
-        </inertia>
-      </inertial>
-      <collision name="right_track_wheel4_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="front_right_flipper_collision_small_wheel_collision_1">
+        <pose>-0.33 0 0 1.5707963267948966 -0 0</pose>
         <geometry>
           <cylinder>
-            <length>0.097</length>
-            <radius>0.089</radius>
+            <length>0.04981</length>
+            <radius>0.029</radius>
           </cylinder>
         </geometry>
         <surface>
-          <contact>
+          <friction>
             <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
+              <mu>10</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
             </ode>
-          </contact>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="front_right_flipper_collision_top_bar_collision_2">
+        <pose>-0.165 0 0.0325 0 0.184162 -3.1415926535897931</pose>
+        <geometry>
+          <box>
+            <size>0.33 0.04981 0.055</size>
+          </box>
+        </geometry>
+        <surface>
           <friction>
             <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
+              <mu>10</mu>
+              <mu2>150</mu2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
-    </link>
-    <joint name="right_track_wheel4_j" type="revolute">
-      <child>right_track_wheel4</child>
-      <parent>right_track</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="right_track_wheel5">
-      <pose>-0.035714 -0.1985 0.01855 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0.0141 0 -0 0</pose>
-        <mass>0.7575</mass>
-        <inertia>
-          <ixx>0.002731</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.032554</iyy>
-          <iyz>1.5e-05</iyz>
-          <izz>0.031391</izz>
-        </inertia>
-      </inertial>
-      <collision name="right_track_wheel5_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="front_right_flipper_collision_bottom_bar_collision_3">
+        <pose>-0.165 0 -0.0325 0 -0.184162 -3.1415926535897931</pose>
         <geometry>
-          <cylinder>
-            <length>0.097</length>
-            <radius>0.089</radius>
-          </cylinder>
+          <box>
+            <size>0.33 0.04981 0.055</size>
+          </box>
         </geometry>
         <surface>
-          <contact>
+          <friction>
             <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
+              <mu>10</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
             </ode>
-          </contact>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="front_right_flipper_collision_middle_bar_collision_4">
+        <pose>-0.166 0 0.004 0 -0.02 -3.1415926535897931</pose>
+        <geometry>
+          <box>
+            <size>0.2 0.04981 0.07</size>
+          </box>
+        </geometry>
+        <surface>
           <friction>
             <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
+              <mu>10</mu>
+              <mu2>150</mu2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
+      <visual name="front_right_flipper_visual">
+        <pose>0 0 0 -2.95743 -0 -1.5707963267948966</pose>
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/flipper.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
     </link>
-    <joint name="right_track_wheel5_j" type="revolute">
-      <child>right_track_wheel5</child>
+    <joint name="front_right_flipper_j" type="revolute">
+      <child>front_right_flipper</child>
       <parent>right_track</parent>
       <axis>
         <xyz>0 1 0</xyz>
         <limit>
           <lower>-1e+16</lower>
           <upper>1e+16</upper>
+          <effort>20</effort>
+          <velocity>0.785398</velocity>
         </limit>
         <dynamics>
           <spring_reference>0</spring_reference>
@@ -3378,170 +1713,137 @@
         </dynamics>
         <use_parent_model_frame>0</use_parent_model_frame>
       </axis>
+      <physics>
+        <ode>
+          <implicit_spring_damper>1</implicit_spring_damper>
+          <cfm_damping>1</cfm_damping>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+        </ode>
+      </physics>
     </joint>
-    <link name="right_track_wheel6">
-      <pose>-0.107143 -0.1985 0.01855 0 -0 0</pose>
+    <link name="rear_right_flipper">
+      <pose>-0.25 -0.272 0.0195 0 -0.193732 0</pose>
       <inertial>
-        <pose>0 0 0.0141 0 -0 0</pose>
-        <mass>0.7575</mass>
+        <pose>-0.08 0 0 0 -0 0</pose>
+        <mass>0.75</mass>
         <inertia>
-          <ixx>0.002731</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.032554</iyy>
-          <iyz>1.5e-05</iyz>
-          <izz>0.031391</izz>
+          <ixx>0.0017491</ixx>
+          <ixy>2.8512e-07</ixy>
+          <ixz>0.0018277</ixz>
+          <iyy>0.012277</iyy>
+          <iyz>-3.6288e-07</iyz>
+          <izz>0.010941</izz>
         </inertia>
       </inertial>
-      <collision name="right_track_wheel6_collision">
+      <collision name="rear_right_flipper_collision_large_wheel_collision">
         <pose>0 0 0 1.5707963267948966 -0 0</pose>
         <geometry>
           <cylinder>
-            <length>0.097</length>
+            <length>0.04981</length>
             <radius>0.089</radius>
           </cylinder>
         </geometry>
         <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
           <friction>
             <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
+              <mu>10</mu>
+              <mu2>150</mu2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
-    </link>
-    <joint name="right_track_wheel6_j" type="revolute">
-      <child>right_track_wheel6</child>
-      <parent>right_track</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="right_track_wheel7">
-      <pose>-0.178571 -0.1985 0.01855 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0.0141 0 -0 0</pose>
-        <mass>0.7575</mass>
-        <inertia>
-          <ixx>0.002731</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.032554</iyy>
-          <iyz>1.5e-05</iyz>
-          <izz>0.031391</izz>
-        </inertia>
-      </inertial>
-      <collision name="right_track_wheel7_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="rear_right_flipper_collision_small_wheel_collision_1">
+        <pose>-0.33 0 0 1.5707963267948966 -0 0</pose>
         <geometry>
           <cylinder>
-            <length>0.097</length>
-            <radius>0.089</radius>
+            <length>0.04981</length>
+            <radius>0.029</radius>
           </cylinder>
         </geometry>
         <surface>
-          <contact>
+          <friction>
             <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
+              <mu>10</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
             </ode>
-          </contact>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="rear_right_flipper_collision_top_bar_collision_2">
+        <pose>-0.165 0 0.0325 0 0.184162 -3.1415926535897931</pose>
+        <geometry>
+          <box>
+            <size>0.33 0.04981 0.055</size>
+          </box>
+        </geometry>
+        <surface>
           <friction>
             <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
+              <mu>10</mu>
+              <mu2>150</mu2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
-    </link>
-    <joint name="right_track_wheel7_j" type="revolute">
-      <child>right_track_wheel7</child>
-      <parent>right_track</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="right_track_wheel8">
-      <pose>-0.25 -0.1985 0.01855 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0.0141 0 -0 0</pose>
-        <mass>0.7575</mass>
-        <inertia>
-          <ixx>0.002731</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.032554</iyy>
-          <iyz>1.5e-05</iyz>
-          <izz>0.031391</izz>
-        </inertia>
-      </inertial>
-      <collision name="right_track_wheel8_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="rear_right_flipper_collision_bottom_bar_collision_3">
+        <pose>-0.165 0 -0.0325 0 -0.184162 -3.1415926535897931</pose>
         <geometry>
-          <cylinder>
-            <length>0.097</length>
-            <radius>0.089</radius>
-          </cylinder>
+          <box>
+            <size>0.33 0.04981 0.055</size>
+          </box>
         </geometry>
         <surface>
-          <contact>
+          <friction>
             <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
+              <mu>10</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
             </ode>
-          </contact>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="rear_right_flipper_collision_middle_bar_collision_4">
+        <pose>-0.166 0 0.004 0 -0.02 -3.1415926535897931</pose>
+        <geometry>
+          <box>
+            <size>0.2 0.04981 0.07</size>
+          </box>
+        </geometry>
+        <surface>
           <friction>
             <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
+              <mu>10</mu>
+              <mu2>150</mu2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
+      <visual name="rear_right_flipper_visual">
+        <pose>0 0 0 -2.95743 -0 -1.5707963267948966</pose>
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/flipper.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
     </link>
-    <joint name="right_track_wheel8_j" type="revolute">
-      <child>right_track_wheel8</child>
+    <joint name="rear_right_flipper_j" type="revolute">
+      <child>rear_right_flipper</child>
       <parent>right_track</parent>
       <axis>
         <xyz>0 1 0</xyz>
         <limit>
           <lower>-1e+16</lower>
           <upper>1e+16</upper>
+          <effort>20</effort>
+          <velocity>0.785398</velocity>
         </limit>
         <dynamics>
           <spring_reference>0</spring_reference>
@@ -3549,6 +1851,16 @@
         </dynamics>
         <use_parent_model_frame>0</use_parent_model_frame>
       </axis>
+      <physics>
+        <ode>
+          <implicit_spring_damper>1</implicit_spring_damper>
+          <cfm_damping>1</cfm_damping>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+        </ode>
+      </physics>
     </joint>
     <plugin name="cras::FlipperControlPlugin" filename="libflipper_control_plugin.so">
       <joint_name>front_left_flipper_j</joint_name>
diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_4/model.sdf b/submitted_models/ctu_cras_norlab_absolem_sensor_config_4/model.sdf
index 322a20ea..6596307f 100644
--- a/submitted_models/ctu_cras_norlab_absolem_sensor_config_4/model.sdf
+++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_4/model.sdf
@@ -368,7 +368,6 @@
         <always_on>1</always_on>
         <update_rate>50</update_rate>
         <imu>
-          <enable_orientation>0</enable_orientation>
           <angular_velocity>
             <x>
               <noise type="gaussian">
@@ -439,6 +438,7 @@
               </noise>
             </z>
           </linear_acceleration>
+          <enable_orientation>0</enable_orientation>
         </imu>
         <pose>0 0 0.15 -3.1415926535897931 -0 0</pose>
       </sensor>
@@ -680,26 +680,64 @@
     <link name="left_track">
       <pose>0 0.1985 0 0 -0 0</pose>
       <inertial>
-        <mass>1e-05</mass>
+        <pose>0 0 0.0141 0 -0 0</pose>
+        <mass>6.06</mass>
         <inertia>
-          <ixx>0.001</ixx>
-          <ixy>1e-06</ixy>
-          <ixz>1e-06</ixz>
-          <iyy>0.001</iyy>
-          <iyz>1e-06</iyz>
-          <izz>0.001</izz>
+          <ixx>0.002731</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.032554</iyy>
+          <iyz>1.5e-05</iyz>
+          <izz>0.031391</izz>
         </inertia>
       </inertial>
       <collision name="left_track_collision">
+        <pose>0 0 0.01855 1.5707963267948966 -0 1.5707963267948966</pose>
         <geometry>
           <box>
-            <size>0.01 0.01 0.01</size>
+            <size>0.097 0.178 0.5</size>
           </box>
         </geometry>
         <surface>
           <friction>
             <ode>
-              <mu>0.7</mu>
+              <mu>10</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="left_track_collision_1">
+        <pose>0.25 -0.015 0.01855 1.5707963267948966 -0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.112</length>
+            <radius>0.089</radius>
+          </cylinder>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>10</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="left_track_collision_2">
+        <pose>-0.25 0 0.01855 1.5707963267948966 -0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.097</length>
+            <radius>0.089</radius>
+          </cylinder>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>10</mu>
               <mu2>150</mu2>
               <fdir1>0 0 1</fdir1>
             </ode>
@@ -751,26 +789,98 @@
     <link name="front_left_flipper">
       <pose>0.25 0.272 0.0195 0 0.193732 0</pose>
       <inertial>
-        <mass>1e-05</mass>
+        <pose>0.08 0 0 0 -0 0</pose>
+        <mass>0.75</mass>
         <inertia>
-          <ixx>0.001</ixx>
-          <ixy>1e-06</ixy>
-          <ixz>1e-06</ixz>
-          <iyy>0.001</iyy>
-          <iyz>1e-06</iyz>
-          <izz>0.001</izz>
+          <ixx>0.0017491</ixx>
+          <ixy>2.8512e-07</ixy>
+          <ixz>0.0018277</ixz>
+          <iyy>0.012277</iyy>
+          <iyz>-3.6288e-07</iyz>
+          <izz>0.010941</izz>
         </inertia>
       </inertial>
-      <collision name="front_left_flipper_collision">
+      <collision name="front_left_flipper_collision_large_wheel_collision">
+        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.04981</length>
+            <radius>0.089</radius>
+          </cylinder>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>10</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="front_left_flipper_collision_small_wheel_collision_1">
+        <pose>0.33 0 0 1.5707963267948966 -0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.04981</length>
+            <radius>0.029</radius>
+          </cylinder>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>10</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="front_left_flipper_collision_top_bar_collision_2">
+        <pose>0.165 0 0.0325 0 0.184162 0</pose>
+        <geometry>
+          <box>
+            <size>0.33 0.04981 0.055</size>
+          </box>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>10</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="front_left_flipper_collision_bottom_bar_collision_3">
+        <pose>0.165 0 -0.0325 0 -0.184162 0</pose>
+        <geometry>
+          <box>
+            <size>0.33 0.04981 0.055</size>
+          </box>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>10</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="front_left_flipper_collision_middle_bar_collision_4">
+        <pose>0.166 0 0.004 0 -0.02 0</pose>
         <geometry>
           <box>
-            <size>0.01 0.01 0.01</size>
+            <size>0.2 0.04981 0.07</size>
           </box>
         </geometry>
         <surface>
           <friction>
             <ode>
-              <mu>0.7</mu>
+              <mu>10</mu>
               <mu2>150</mu2>
               <fdir1>0 0 1</fdir1>
             </ode>
@@ -814,11 +924,11 @@
         </ode>
       </physics>
     </joint>
-    <link name="front_left_flipper_wheel1">
-      <pose>0.25 0.272 0.0195 0 0.193732 0</pose>
+    <link name="rear_left_flipper">
+      <pose>-0.25 0.272 0.0195 3.1415926535897931 0.193732 3.1415926535897931</pose>
       <inertial>
         <pose>0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
+        <mass>0.75</mass>
         <inertia>
           <ixx>0.0017491</ixx>
           <ixy>2.8512e-07</ixy>
@@ -828,7 +938,7 @@
           <izz>0.010941</izz>
         </inertia>
       </inertial>
-      <collision name="front_left_flipper_wheel1_collision_collision">
+      <collision name="rear_left_flipper_collision_large_wheel_collision">
         <pose>0 0 0 1.5707963267948966 -0 0</pose>
         <geometry>
           <cylinder>
@@ -837,317 +947,103 @@
           </cylinder>
         </geometry>
         <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
           <friction>
             <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
+              <mu>10</mu>
+              <mu2>150</mu2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
-    </link>
-    <joint name="front_left_flipper_wheel1_j" type="revolute">
-      <child>front_left_flipper_wheel1</child>
-      <parent>front_left_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="front_left_flipper_wheel2">
-      <pose>0.330957 0.272 0.003617 0 0.193732 0</pose>
-      <inertial>
-        <pose>0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
-        <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
-        </inertia>
-      </inertial>
-      <collision name="front_left_flipper_wheel2_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="rear_left_flipper_collision_small_wheel_collision_1">
+        <pose>0.33 0 0 1.5707963267948966 -0 0</pose>
         <geometry>
           <cylinder>
             <length>0.04981</length>
-            <radius>0.074</radius>
+            <radius>0.029</radius>
           </cylinder>
         </geometry>
         <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
           <friction>
             <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
+              <mu>10</mu>
+              <mu2>150</mu2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
-    </link>
-    <joint name="front_left_flipper_wheel2_j" type="revolute">
-      <child>front_left_flipper_wheel2</child>
-      <parent>front_left_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="front_left_flipper_wheel3">
-      <pose>0.411913 0.272 -0.012266 0 0.193732 0</pose>
-      <inertial>
-        <pose>0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
-        <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
-        </inertia>
-      </inertial>
-      <collision name="front_left_flipper_wheel3_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="rear_left_flipper_collision_top_bar_collision_2">
+        <pose>0.165 0 0.0325 0 0.184162 0</pose>
         <geometry>
-          <cylinder>
-            <length>0.04981</length>
-            <radius>0.059</radius>
-          </cylinder>
+          <box>
+            <size>0.33 0.04981 0.055</size>
+          </box>
         </geometry>
         <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
           <friction>
             <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
+              <mu>10</mu>
+              <mu2>150</mu2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
-    </link>
-    <joint name="front_left_flipper_wheel3_j" type="revolute">
-      <child>front_left_flipper_wheel3</child>
-      <parent>front_left_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="front_left_flipper_wheel4">
-      <pose>0.49287 0.272 -0.028149 0 0.193732 0</pose>
-      <inertial>
-        <pose>0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
-        <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
-        </inertia>
-      </inertial>
-      <collision name="front_left_flipper_wheel4_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="rear_left_flipper_collision_bottom_bar_collision_3">
+        <pose>0.165 0 -0.0325 0 -0.184162 0</pose>
         <geometry>
-          <cylinder>
-            <length>0.04981</length>
-            <radius>0.044</radius>
-          </cylinder>
+          <box>
+            <size>0.33 0.04981 0.055</size>
+          </box>
         </geometry>
         <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
           <friction>
             <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
+              <mu>10</mu>
+              <mu2>150</mu2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
-    </link>
-    <joint name="front_left_flipper_wheel4_j" type="revolute">
-      <child>front_left_flipper_wheel4</child>
-      <parent>front_left_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="front_left_flipper_wheel5">
-      <pose>0.573827 0.272 -0.044032 0 0.193732 0</pose>
-      <inertial>
-        <pose>0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
-        <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
-        </inertia>
-      </inertial>
-      <collision name="front_left_flipper_wheel5_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="rear_left_flipper_collision_middle_bar_collision_4">
+        <pose>0.166 0 0.004 0 -0.02 0</pose>
         <geometry>
-          <cylinder>
-            <length>0.04981</length>
-            <radius>0.029</radius>
-          </cylinder>
+          <box>
+            <size>0.2 0.04981 0.07</size>
+          </box>
         </geometry>
         <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
           <friction>
             <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
+              <mu>10</mu>
+              <mu2>150</mu2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
+      <visual name="rear_left_flipper_visual">
+        <pose>0 0 0 -2.95743 -0 1.5707963267948966</pose>
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/flipper.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
     </link>
-    <joint name="front_left_flipper_wheel5_j" type="revolute">
-      <child>front_left_flipper_wheel5</child>
-      <parent>front_left_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="left_track_wheel1">
-      <pose>0.25 0.1985 0.01855 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0.0141 0 -0 0</pose>
-        <mass>0.7575</mass>
-        <inertia>
-          <ixx>0.002731</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.032554</iyy>
-          <iyz>1.5e-05</iyz>
-          <izz>0.031391</izz>
-        </inertia>
-      </inertial>
-      <collision name="left_track_wheel1_collision">
-        <pose>0 -0.015 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.112</length>
-            <radius>0.089</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-    </link>
-    <joint name="left_track_wheel1_j" type="revolute">
-      <child>left_track_wheel1</child>
-      <parent>left_track</parent>
+    <joint name="rear_left_flipper_j" type="revolute">
+      <child>rear_left_flipper</child>
+      <parent>left_track</parent>
       <axis>
         <xyz>0 1 0</xyz>
         <limit>
           <lower>-1e+16</lower>
           <upper>1e+16</upper>
+          <effort>20</effort>
+          <velocity>0.785398</velocity>
         </limit>
         <dynamics>
           <spring_reference>0</spring_reference>
@@ -1155,1669 +1051,182 @@
         </dynamics>
         <use_parent_model_frame>0</use_parent_model_frame>
       </axis>
+      <physics>
+        <ode>
+          <implicit_spring_damper>1</implicit_spring_damper>
+          <cfm_damping>1</cfm_damping>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+        </ode>
+      </physics>
     </joint>
-    <link name="left_track_wheel2">
-      <pose>0.178571 0.1985 0.01855 0 -0 0</pose>
+    <link name="cliff_sensor_0">
+      <pose>0.275 0.119535 0.2035 -1.5707963267948966 1.5707963267948966 0</pose>
       <inertial>
-        <pose>0 0 0.0141 0 -0 0</pose>
-        <mass>0.7575</mass>
+        <pose>0.0105 0 0.00925 0 -0 0</pose>
+        <mass>0.012</mass>
         <inertia>
-          <ixx>0.002731</ixx>
+          <ixx>1.56725e-06</ixx>
           <ixy>0</ixy>
           <ixz>0</ixz>
-          <iyy>0.032554</iyy>
-          <iyz>1.5e-05</iyz>
-          <izz>0.031391</izz>
+          <iyy>7.8325e-07</iyy>
+          <iyz>0</iyz>
+          <izz>1.666e-06</izz>
         </inertia>
       </inertial>
-      <collision name="left_track_wheel2_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="cliff_sensor_0_collision">
+        <pose>0.0105 0 0.00925 0 -0 0</pose>
         <geometry>
-          <cylinder>
-            <length>0.097</length>
-            <radius>0.089</radius>
-          </cylinder>
+          <box>
+            <size>0.021 0.035 0.0185</size>
+          </box>
         </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
       </collision>
-    </link>
-    <joint name="left_track_wheel2_j" type="revolute">
-      <child>left_track_wheel2</child>
-      <parent>left_track</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="left_track_wheel3">
-      <pose>0.107143 0.1985 0.01855 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0.0141 0 -0 0</pose>
-        <mass>0.7575</mass>
-        <inertia>
-          <ixx>0.002731</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.032554</iyy>
-          <iyz>1.5e-05</iyz>
-          <izz>0.031391</izz>
-        </inertia>
-      </inertial>
-      <collision name="left_track_wheel3_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <visual name="cliff_sensor_0_visual">
         <geometry>
-          <cylinder>
-            <length>0.097</length>
-            <radius>0.089</radius>
-          </cylinder>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/tfmini_plus_lidar.dae</uri>
+          </mesh>
         </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
+      </visual>
+      <sensor name="laser" type="gpu_lidar">
+        <pose>0.021 0 0.00925 0 -0 0</pose>
+        <update_rate>10</update_rate>
+        <visualize>0</visualize>
+        <always_on>1</always_on>
+        <lidar>
+          <scan>
+            <horizontal>
+              <samples>3</samples>
+              <resolution>1</resolution>
+              <min_angle>-0.0314159</min_angle>
+              <max_angle>0.0314159</max_angle>
+            </horizontal>
+            <vertical>
+              <samples>3</samples>
+              <resolution>1</resolution>
+              <min_angle>-0.0314159</min_angle>
+              <max_angle>0.0314159</max_angle>
+            </vertical>
+          </scan>
+          <range>
+            <min>0.1</min>
+            <max>12</max>
+            <resolution>0.01</resolution>
+          </range>
+          <noise>
+            <type>gaussian</type>
+            <mean>0</mean>
+            <stddev>0.015</stddev>
+          </noise>
+        </lidar>
+      </sensor>
     </link>
-    <joint name="left_track_wheel3_j" type="revolute">
-      <child>left_track_wheel3</child>
-      <parent>left_track</parent>
+    <joint name="cliff_sensor_0_j" type="fixed">
+      <child>cliff_sensor_0</child>
+      <parent>base_link</parent>
       <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
         <dynamics>
           <spring_reference>0</spring_reference>
           <spring_stiffness>0</spring_stiffness>
         </dynamics>
+        <xyz>0 0 1</xyz>
         <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="left_track_wheel4">
-      <pose>0.035714 0.1985 0.01855 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0.0141 0 -0 0</pose>
-        <mass>0.7575</mass>
-        <inertia>
-          <ixx>0.002731</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.032554</iyy>
-          <iyz>1.5e-05</iyz>
-          <izz>0.031391</izz>
-        </inertia>
-      </inertial>
-      <collision name="left_track_wheel4_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.097</length>
-            <radius>0.089</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-    </link>
-    <joint name="left_track_wheel4_j" type="revolute">
-      <child>left_track_wheel4</child>
-      <parent>left_track</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
         <limit>
           <lower>-1e+16</lower>
           <upper>1e+16</upper>
         </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
       </axis>
+      <physics>
+        <ode>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+        </ode>
+      </physics>
     </joint>
-    <link name="left_track_wheel5">
-      <pose>-0.035714 0.1985 0.01855 0 -0 0</pose>
+    <link name="cliff_sensor_1">
+      <pose>0.275 -0.120465 0.2035 1.5707963267948966 1.5707963267948966 0</pose>
       <inertial>
-        <pose>0 0 0.0141 0 -0 0</pose>
-        <mass>0.7575</mass>
+        <pose>0.0105 0 0.00925 0 -0 0</pose>
+        <mass>0.012</mass>
         <inertia>
-          <ixx>0.002731</ixx>
+          <ixx>1.56725e-06</ixx>
           <ixy>0</ixy>
           <ixz>0</ixz>
-          <iyy>0.032554</iyy>
-          <iyz>1.5e-05</iyz>
-          <izz>0.031391</izz>
-        </inertia>
-      </inertial>
-      <collision name="left_track_wheel5_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.097</length>
-            <radius>0.089</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-    </link>
-    <joint name="left_track_wheel5_j" type="revolute">
-      <child>left_track_wheel5</child>
-      <parent>left_track</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="left_track_wheel6">
-      <pose>-0.107143 0.1985 0.01855 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0.0141 0 -0 0</pose>
-        <mass>0.7575</mass>
-        <inertia>
-          <ixx>0.002731</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.032554</iyy>
-          <iyz>1.5e-05</iyz>
-          <izz>0.031391</izz>
-        </inertia>
-      </inertial>
-      <collision name="left_track_wheel6_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.097</length>
-            <radius>0.089</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-    </link>
-    <joint name="left_track_wheel6_j" type="revolute">
-      <child>left_track_wheel6</child>
-      <parent>left_track</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="left_track_wheel7">
-      <pose>-0.178571 0.1985 0.01855 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0.0141 0 -0 0</pose>
-        <mass>0.7575</mass>
-        <inertia>
-          <ixx>0.002731</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.032554</iyy>
-          <iyz>1.5e-05</iyz>
-          <izz>0.031391</izz>
-        </inertia>
-      </inertial>
-      <collision name="left_track_wheel7_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.097</length>
-            <radius>0.089</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-    </link>
-    <joint name="left_track_wheel7_j" type="revolute">
-      <child>left_track_wheel7</child>
-      <parent>left_track</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="left_track_wheel8">
-      <pose>-0.25 0.1985 0.01855 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0.0141 0 -0 0</pose>
-        <mass>0.7575</mass>
-        <inertia>
-          <ixx>0.002731</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.032554</iyy>
-          <iyz>1.5e-05</iyz>
-          <izz>0.031391</izz>
-        </inertia>
-      </inertial>
-      <collision name="left_track_wheel8_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.097</length>
-            <radius>0.089</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-    </link>
-    <joint name="left_track_wheel8_j" type="revolute">
-      <child>left_track_wheel8</child>
-      <parent>left_track</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="rear_left_flipper">
-      <pose>-0.25 0.272 0.0195 3.1415926535897931 0.193732 3.1415926535897931</pose>
-      <inertial>
-        <mass>1e-05</mass>
-        <inertia>
-          <ixx>0.001</ixx>
-          <ixy>1e-06</ixy>
-          <ixz>1e-06</ixz>
-          <iyy>0.001</iyy>
-          <iyz>1e-06</iyz>
-          <izz>0.001</izz>
-        </inertia>
-      </inertial>
-      <collision name="rear_left_flipper_collision">
-        <geometry>
-          <box>
-            <size>0.01 0.01 0.01</size>
-          </box>
-        </geometry>
-        <surface>
-          <friction>
-            <ode>
-              <mu>0.7</mu>
-              <mu2>150</mu2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-      <visual name="rear_left_flipper_visual">
-        <pose>0 0 0 -2.95743 -0 1.5707963267948966</pose>
-        <geometry>
-          <mesh>
-            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/flipper.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-    </link>
-    <joint name="rear_left_flipper_j" type="revolute">
-      <child>rear_left_flipper</child>
-      <parent>left_track</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>20</effort>
-          <velocity>0.785398</velocity>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-      <physics>
-        <ode>
-          <implicit_spring_damper>1</implicit_spring_damper>
-          <cfm_damping>1</cfm_damping>
-          <limit>
-            <cfm>0</cfm>
-            <erp>0.2</erp>
-          </limit>
-        </ode>
-      </physics>
-    </joint>
-    <link name="rear_left_flipper_wheel1">
-      <pose>-0.25 0.272 0.0195 3.1415926535897931 0.193732 3.1415926535897931</pose>
-      <inertial>
-        <pose>0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
-        <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
-        </inertia>
-      </inertial>
-      <collision name="rear_left_flipper_wheel1_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.04981</length>
-            <radius>0.089</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-    </link>
-    <joint name="rear_left_flipper_wheel1_j" type="revolute">
-      <child>rear_left_flipper_wheel1</child>
-      <parent>rear_left_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="rear_left_flipper_wheel2">
-      <pose>-0.330957 0.272 0.003617 3.1415926535897931 0.193732 3.1415926535897931</pose>
-      <inertial>
-        <pose>0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
-        <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
-        </inertia>
-      </inertial>
-      <collision name="rear_left_flipper_wheel2_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.04981</length>
-            <radius>0.074</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-    </link>
-    <joint name="rear_left_flipper_wheel2_j" type="revolute">
-      <child>rear_left_flipper_wheel2</child>
-      <parent>rear_left_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="rear_left_flipper_wheel3">
-      <pose>-0.411913 0.272 -0.012266 3.1415926535897931 0.193732 3.1415926535897931</pose>
-      <inertial>
-        <pose>0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
-        <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
-        </inertia>
-      </inertial>
-      <collision name="rear_left_flipper_wheel3_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.04981</length>
-            <radius>0.059</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-    </link>
-    <joint name="rear_left_flipper_wheel3_j" type="revolute">
-      <child>rear_left_flipper_wheel3</child>
-      <parent>rear_left_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="rear_left_flipper_wheel4">
-      <pose>-0.49287 0.272 -0.028149 3.1415926535897931 0.193732 3.1415926535897931</pose>
-      <inertial>
-        <pose>0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
-        <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
-        </inertia>
-      </inertial>
-      <collision name="rear_left_flipper_wheel4_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.04981</length>
-            <radius>0.044</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-    </link>
-    <joint name="rear_left_flipper_wheel4_j" type="revolute">
-      <child>rear_left_flipper_wheel4</child>
-      <parent>rear_left_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="rear_left_flipper_wheel5">
-      <pose>-0.573827 0.272 -0.044032 3.1415926535897931 0.193732 3.1415926535897931</pose>
-      <inertial>
-        <pose>0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
-        <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
-        </inertia>
-      </inertial>
-      <collision name="rear_left_flipper_wheel5_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.04981</length>
-            <radius>0.029</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-    </link>
-    <joint name="rear_left_flipper_wheel5_j" type="revolute">
-      <child>rear_left_flipper_wheel5</child>
-      <parent>rear_left_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="cliff_sensor_0">
-      <pose>0.275 0.119535 0.2035 -1.5707963267948966 1.5707963267948966 0</pose>
-      <inertial>
-        <pose>0.0105 0 0.00925 0 -0 0</pose>
-        <mass>0.012</mass>
-        <inertia>
-          <ixx>1.56725e-06</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>7.8325e-07</iyy>
-          <iyz>0</iyz>
-          <izz>1.666e-06</izz>
-        </inertia>
-      </inertial>
-      <collision name="cliff_sensor_0_collision">
-        <pose>0.0105 0 0.00925 0 -0 0</pose>
-        <geometry>
-          <box>
-            <size>0.021 0.035 0.0185</size>
-          </box>
-        </geometry>
-      </collision>
-      <visual name="cliff_sensor_0_visual">
-        <geometry>
-          <mesh>
-            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/tfmini_plus_lidar.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-      <sensor name="laser" type="gpu_lidar">
-        <pose>0.021 0 0.00925 0 -0 0</pose>
-        <update_rate>10</update_rate>
-        <visualize>0</visualize>
-        <always_on>1</always_on>
-        <lidar>
-          <scan>
-            <horizontal>
-              <samples>3</samples>
-              <resolution>1</resolution>
-              <min_angle>-0.0314159</min_angle>
-              <max_angle>0.0314159</max_angle>
-            </horizontal>
-            <vertical>
-              <samples>3</samples>
-              <resolution>1</resolution>
-              <min_angle>-0.0314159</min_angle>
-              <max_angle>0.0314159</max_angle>
-            </vertical>
-          </scan>
-          <range>
-            <min>0.1</min>
-            <max>12</max>
-            <resolution>0.01</resolution>
-          </range>
-          <noise>
-            <type>gaussian</type>
-            <mean>0</mean>
-            <stddev>0.015</stddev>
-          </noise>
-        </lidar>
-      </sensor>
-    </link>
-    <joint name="cliff_sensor_0_j" type="fixed">
-      <child>cliff_sensor_0</child>
-      <parent>base_link</parent>
-      <axis>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <xyz>0 0 1</xyz>
-        <use_parent_model_frame>0</use_parent_model_frame>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-      </axis>
-      <physics>
-        <ode>
-          <limit>
-            <cfm>0</cfm>
-            <erp>0.2</erp>
-          </limit>
-        </ode>
-      </physics>
-    </joint>
-    <link name="cliff_sensor_1">
-      <pose>0.275 -0.120465 0.2035 1.5707963267948966 1.5707963267948966 0</pose>
-      <inertial>
-        <pose>0.0105 0 0.00925 0 -0 0</pose>
-        <mass>0.012</mass>
-        <inertia>
-          <ixx>1.56725e-06</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>7.8325e-07</iyy>
-          <iyz>0</iyz>
-          <izz>1.666e-06</izz>
-        </inertia>
-      </inertial>
-      <collision name="cliff_sensor_1_collision">
-        <pose>0.0105 0 0.00925 0 -0 0</pose>
-        <geometry>
-          <box>
-            <size>0.021 0.035 0.0185</size>
-          </box>
-        </geometry>
-      </collision>
-      <visual name="cliff_sensor_1_visual">
-        <geometry>
-          <mesh>
-            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/tfmini_plus_lidar.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-      <sensor name="laser" type="gpu_lidar">
-        <pose>0.021 0 0.00925 0 -0 0</pose>
-        <update_rate>10</update_rate>
-        <visualize>0</visualize>
-        <always_on>1</always_on>
-        <lidar>
-          <scan>
-            <horizontal>
-              <samples>3</samples>
-              <resolution>1</resolution>
-              <min_angle>-0.0314159</min_angle>
-              <max_angle>0.0314159</max_angle>
-            </horizontal>
-            <vertical>
-              <samples>3</samples>
-              <resolution>1</resolution>
-              <min_angle>-0.0314159</min_angle>
-              <max_angle>0.0314159</max_angle>
-            </vertical>
-          </scan>
-          <range>
-            <min>0.1</min>
-            <max>12</max>
-            <resolution>0.01</resolution>
-          </range>
-          <noise>
-            <type>gaussian</type>
-            <mean>0</mean>
-            <stddev>0.015</stddev>
-          </noise>
-        </lidar>
-      </sensor>
-    </link>
-    <joint name="cliff_sensor_1_j" type="fixed">
-      <child>cliff_sensor_1</child>
-      <parent>base_link</parent>
-      <axis>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <xyz>0 0 1</xyz>
-        <use_parent_model_frame>0</use_parent_model_frame>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-      </axis>
-      <physics>
-        <ode>
-          <limit>
-            <cfm>0</cfm>
-            <erp>0.2</erp>
-          </limit>
-        </ode>
-      </physics>
-    </joint>
-    <link name="cliff_sensor_2">
-      <pose>-0.275 0.119535 0.2035 -1.5707963267948966 1.5707963267948966 0</pose>
-      <inertial>
-        <pose>0.0105 0 0.00925 0 -0 0</pose>
-        <mass>0.012</mass>
-        <inertia>
-          <ixx>1.56725e-06</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>7.8325e-07</iyy>
-          <iyz>0</iyz>
-          <izz>1.666e-06</izz>
-        </inertia>
-      </inertial>
-      <collision name="cliff_sensor_2_collision">
-        <pose>0.0105 0 0.00925 0 -0 0</pose>
-        <geometry>
-          <box>
-            <size>0.021 0.035 0.0185</size>
-          </box>
-        </geometry>
-      </collision>
-      <visual name="cliff_sensor_2_visual">
-        <geometry>
-          <mesh>
-            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/tfmini_plus_lidar.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-      <sensor name="laser" type="gpu_lidar">
-        <pose>0.021 0 0.00925 0 -0 0</pose>
-        <update_rate>10</update_rate>
-        <visualize>0</visualize>
-        <always_on>1</always_on>
-        <lidar>
-          <scan>
-            <horizontal>
-              <samples>3</samples>
-              <resolution>1</resolution>
-              <min_angle>-0.0314159</min_angle>
-              <max_angle>0.0314159</max_angle>
-            </horizontal>
-            <vertical>
-              <samples>3</samples>
-              <resolution>1</resolution>
-              <min_angle>-0.0314159</min_angle>
-              <max_angle>0.0314159</max_angle>
-            </vertical>
-          </scan>
-          <range>
-            <min>0.1</min>
-            <max>12</max>
-            <resolution>0.01</resolution>
-          </range>
-          <noise>
-            <type>gaussian</type>
-            <mean>0</mean>
-            <stddev>0.015</stddev>
-          </noise>
-        </lidar>
-      </sensor>
-    </link>
-    <joint name="cliff_sensor_2_j" type="fixed">
-      <child>cliff_sensor_2</child>
-      <parent>base_link</parent>
-      <axis>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <xyz>0 0 1</xyz>
-        <use_parent_model_frame>0</use_parent_model_frame>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-      </axis>
-      <physics>
-        <ode>
-          <limit>
-            <cfm>0</cfm>
-            <erp>0.2</erp>
-          </limit>
-        </ode>
-      </physics>
-    </joint>
-    <link name="cliff_sensor_3">
-      <pose>-0.275 -0.120465 0.2035 1.5707963267948966 1.5707963267948966 0</pose>
-      <inertial>
-        <pose>0.0105 0 0.00925 0 -0 0</pose>
-        <mass>0.012</mass>
-        <inertia>
-          <ixx>1.56725e-06</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>7.8325e-07</iyy>
-          <iyz>0</iyz>
-          <izz>1.666e-06</izz>
-        </inertia>
-      </inertial>
-      <collision name="cliff_sensor_3_collision">
-        <pose>0.0105 0 0.00925 0 -0 0</pose>
-        <geometry>
-          <box>
-            <size>0.021 0.035 0.0185</size>
-          </box>
-        </geometry>
-      </collision>
-      <visual name="cliff_sensor_3_visual">
-        <geometry>
-          <mesh>
-            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/tfmini_plus_lidar.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-      <sensor name="laser" type="gpu_lidar">
-        <pose>0.021 0 0.00925 0 -0 0</pose>
-        <update_rate>10</update_rate>
-        <visualize>0</visualize>
-        <always_on>1</always_on>
-        <lidar>
-          <scan>
-            <horizontal>
-              <samples>3</samples>
-              <resolution>1</resolution>
-              <min_angle>-0.0314159</min_angle>
-              <max_angle>0.0314159</max_angle>
-            </horizontal>
-            <vertical>
-              <samples>3</samples>
-              <resolution>1</resolution>
-              <min_angle>-0.0314159</min_angle>
-              <max_angle>0.0314159</max_angle>
-            </vertical>
-          </scan>
-          <range>
-            <min>0.1</min>
-            <max>12</max>
-            <resolution>0.01</resolution>
-          </range>
-          <noise>
-            <type>gaussian</type>
-            <mean>0</mean>
-            <stddev>0.015</stddev>
-          </noise>
-        </lidar>
-      </sensor>
-    </link>
-    <joint name="cliff_sensor_3_j" type="fixed">
-      <child>cliff_sensor_3</child>
-      <parent>base_link</parent>
-      <axis>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <xyz>0 0 1</xyz>
-        <use_parent_model_frame>0</use_parent_model_frame>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-      </axis>
-      <physics>
-        <ode>
-          <limit>
-            <cfm>0</cfm>
-            <erp>0.2</erp>
-          </limit>
-        </ode>
-      </physics>
-    </joint>
-    <link name="laser">
-      <pose>0.1615 0 0.39 0 0.25 0</pose>
-      <inertial>
-        <pose>0 0 0.03675 0 -0 0</pose>
-        <mass>0.5</mass>
-        <inertia>
-          <ixx>0.000461625</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.000461625</iyy>
-          <iyz>0</iyz>
-          <izz>0.000473063</izz>
-        </inertia>
-      </inertial>
-      <collision name="laser_collision">
-        <pose>0 0 0.03675 0 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.0735</length>
-            <radius>0.0435</radius>
-          </cylinder>
-        </geometry>
-      </collision>
-      <visual name="laser_visual">
-        <geometry>
-          <mesh>
-            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/ouster-os0.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-      <sensor name="laser" type="gpu_lidar">
-        <pose>0 0 0.035925 0 -0 0</pose>
-        <update_rate>10</update_rate>
-        <visualize>0</visualize>
-        <always_on>1</always_on>
-        <lidar>
-          <scan>
-            <horizontal>
-              <samples>2048</samples>
-              <resolution>1</resolution>
-              <min_angle>-3.1459</min_angle>
-              <max_angle>3.1459</max_angle>
-            </horizontal>
-            <vertical>
-              <samples>128</samples>
-              <resolution>1</resolution>
-              <min_angle>-0.785398</min_angle>
-              <max_angle>0.785398</max_angle>
-            </vertical>
-          </scan>
-          <range>
-            <min>0.1</min>
-            <max>50</max>
-            <resolution>0.01</resolution>
-          </range>
-          <noise>
-            <type>gaussian</type>
-            <mean>0</mean>
-            <stddev>0.01</stddev>
-          </noise>
-        </lidar>
-      </sensor>
-    </link>
-    <joint name="laser_j" type="fixed">
-      <child>laser</child>
-      <parent>base_link</parent>
-      <axis>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <xyz>0 0 1</xyz>
-        <use_parent_model_frame>0</use_parent_model_frame>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-      </axis>
-      <physics>
-        <ode>
-          <limit>
-            <cfm>0</cfm>
-            <erp>0.2</erp>
-          </limit>
-        </ode>
-      </physics>
-    </joint>
-    <link name="right_track">
-      <pose>0 -0.1985 0 0 -0 0</pose>
-      <inertial>
-        <mass>1e-05</mass>
-        <inertia>
-          <ixx>0.001</ixx>
-          <ixy>1e-06</ixy>
-          <ixz>1e-06</ixz>
-          <iyy>0.001</iyy>
-          <iyz>1e-06</iyz>
-          <izz>0.001</izz>
-        </inertia>
-      </inertial>
-      <collision name="right_track_collision">
-        <geometry>
-          <box>
-            <size>0.01 0.01 0.01</size>
-          </box>
-        </geometry>
-        <surface>
-          <friction>
-            <ode>
-              <mu>0.7</mu>
-              <mu2>150</mu2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-      <visual name="right_track_visual">
-        <pose>0 0 -0.0705 1.5707963267948966 0 -1.5707963267948966</pose>
-        <geometry>
-          <mesh>
-            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/bogie.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-    </link>
-    <joint name="right_track_j" type="revolute">
-      <child>right_track</child>
-      <parent>base_link</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>0</lower>
-          <upper>0</upper>
-          <effort>0</effort>
-          <velocity>4</velocity>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-      <physics>
-        <ode>
-          <limit>
-            <cfm>0</cfm>
-            <erp>0.2</erp>
-          </limit>
-        </ode>
-      </physics>
-      <physics>
-        <ode>
-          <implicit_spring_damper>1</implicit_spring_damper>
-          <cfm>0</cfm>
-          <erp>0.95</erp>
-        </ode>
-      </physics>
-    </joint>
-    <link name="front_right_flipper">
-      <pose>0.25 -0.272 0.0195 3.1415926535897931 -0.193732 3.1415926535897931</pose>
-      <inertial>
-        <mass>1e-05</mass>
-        <inertia>
-          <ixx>0.001</ixx>
-          <ixy>1e-06</ixy>
-          <ixz>1e-06</ixz>
-          <iyy>0.001</iyy>
-          <iyz>1e-06</iyz>
-          <izz>0.001</izz>
-        </inertia>
-      </inertial>
-      <collision name="front_right_flipper_collision">
-        <geometry>
-          <box>
-            <size>0.01 0.01 0.01</size>
-          </box>
-        </geometry>
-        <surface>
-          <friction>
-            <ode>
-              <mu>0.7</mu>
-              <mu2>150</mu2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-      <visual name="front_right_flipper_visual">
-        <pose>0 0 0 -2.95743 -0 -1.5707963267948966</pose>
-        <geometry>
-          <mesh>
-            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/flipper.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-    </link>
-    <joint name="front_right_flipper_j" type="revolute">
-      <child>front_right_flipper</child>
-      <parent>right_track</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>20</effort>
-          <velocity>0.785398</velocity>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-      <physics>
-        <ode>
-          <implicit_spring_damper>1</implicit_spring_damper>
-          <cfm_damping>1</cfm_damping>
-          <limit>
-            <cfm>0</cfm>
-            <erp>0.2</erp>
-          </limit>
-        </ode>
-      </physics>
-    </joint>
-    <link name="front_right_flipper_wheel1">
-      <pose>0.25 -0.272 0.0195 3.1415926535897931 -0.193732 3.1415926535897931</pose>
-      <inertial>
-        <pose>-0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
-        <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
-        </inertia>
-      </inertial>
-      <collision name="front_right_flipper_wheel1_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.04981</length>
-            <radius>0.089</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-    </link>
-    <joint name="front_right_flipper_wheel1_j" type="revolute">
-      <child>front_right_flipper_wheel1</child>
-      <parent>front_right_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="front_right_flipper_wheel2">
-      <pose>0.330957 -0.272 0.003617 3.1415926535897931 -0.193732 3.1415926535897931</pose>
-      <inertial>
-        <pose>-0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
-        <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
-        </inertia>
-      </inertial>
-      <collision name="front_right_flipper_wheel2_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.04981</length>
-            <radius>0.074</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-    </link>
-    <joint name="front_right_flipper_wheel2_j" type="revolute">
-      <child>front_right_flipper_wheel2</child>
-      <parent>front_right_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="front_right_flipper_wheel3">
-      <pose>0.411913 -0.272 -0.012266 3.1415926535897931 -0.193732 3.1415926535897931</pose>
-      <inertial>
-        <pose>-0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
-        <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
-        </inertia>
-      </inertial>
-      <collision name="front_right_flipper_wheel3_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.04981</length>
-            <radius>0.059</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-    </link>
-    <joint name="front_right_flipper_wheel3_j" type="revolute">
-      <child>front_right_flipper_wheel3</child>
-      <parent>front_right_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="front_right_flipper_wheel4">
-      <pose>0.49287 -0.272 -0.028149 3.1415926535897931 -0.193732 3.1415926535897931</pose>
-      <inertial>
-        <pose>-0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
-        <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
-        </inertia>
-      </inertial>
-      <collision name="front_right_flipper_wheel4_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.04981</length>
-            <radius>0.044</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-    </link>
-    <joint name="front_right_flipper_wheel4_j" type="revolute">
-      <child>front_right_flipper_wheel4</child>
-      <parent>front_right_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="front_right_flipper_wheel5">
-      <pose>0.573827 -0.272 -0.044032 3.1415926535897931 -0.193732 3.1415926535897931</pose>
-      <inertial>
-        <pose>-0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
-        <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
-        </inertia>
-      </inertial>
-      <collision name="front_right_flipper_wheel5_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.04981</length>
-            <radius>0.029</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-    </link>
-    <joint name="front_right_flipper_wheel5_j" type="revolute">
-      <child>front_right_flipper_wheel5</child>
-      <parent>front_right_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="rear_right_flipper">
-      <pose>-0.25 -0.272 0.0195 0 -0.193732 0</pose>
-      <inertial>
-        <mass>1e-05</mass>
-        <inertia>
-          <ixx>0.001</ixx>
-          <ixy>1e-06</ixy>
-          <ixz>1e-06</ixz>
-          <iyy>0.001</iyy>
-          <iyz>1e-06</iyz>
-          <izz>0.001</izz>
+          <iyy>7.8325e-07</iyy>
+          <iyz>0</iyz>
+          <izz>1.666e-06</izz>
         </inertia>
       </inertial>
-      <collision name="rear_right_flipper_collision">
+      <collision name="cliff_sensor_1_collision">
+        <pose>0.0105 0 0.00925 0 -0 0</pose>
         <geometry>
           <box>
-            <size>0.01 0.01 0.01</size>
+            <size>0.021 0.035 0.0185</size>
           </box>
         </geometry>
-        <surface>
-          <friction>
-            <ode>
-              <mu>0.7</mu>
-              <mu2>150</mu2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
       </collision>
-      <visual name="rear_right_flipper_visual">
-        <pose>0 0 0 -2.95743 -0 -1.5707963267948966</pose>
+      <visual name="cliff_sensor_1_visual">
         <geometry>
           <mesh>
-            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/flipper.dae</uri>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/tfmini_plus_lidar.dae</uri>
           </mesh>
         </geometry>
       </visual>
+      <sensor name="laser" type="gpu_lidar">
+        <pose>0.021 0 0.00925 0 -0 0</pose>
+        <update_rate>10</update_rate>
+        <visualize>0</visualize>
+        <always_on>1</always_on>
+        <lidar>
+          <scan>
+            <horizontal>
+              <samples>3</samples>
+              <resolution>1</resolution>
+              <min_angle>-0.0314159</min_angle>
+              <max_angle>0.0314159</max_angle>
+            </horizontal>
+            <vertical>
+              <samples>3</samples>
+              <resolution>1</resolution>
+              <min_angle>-0.0314159</min_angle>
+              <max_angle>0.0314159</max_angle>
+            </vertical>
+          </scan>
+          <range>
+            <min>0.1</min>
+            <max>12</max>
+            <resolution>0.01</resolution>
+          </range>
+          <noise>
+            <type>gaussian</type>
+            <mean>0</mean>
+            <stddev>0.015</stddev>
+          </noise>
+        </lidar>
+      </sensor>
     </link>
-    <joint name="rear_right_flipper_j" type="revolute">
-      <child>rear_right_flipper</child>
-      <parent>right_track</parent>
+    <joint name="cliff_sensor_1_j" type="fixed">
+      <child>cliff_sensor_1</child>
+      <parent>base_link</parent>
       <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>20</effort>
-          <velocity>0.785398</velocity>
-        </limit>
         <dynamics>
           <spring_reference>0</spring_reference>
           <spring_stiffness>0</spring_stiffness>
         </dynamics>
+        <xyz>0 0 1</xyz>
         <use_parent_model_frame>0</use_parent_model_frame>
+        <limit>
+          <lower>-1e+16</lower>
+          <upper>1e+16</upper>
+        </limit>
       </axis>
       <physics>
         <ode>
-          <implicit_spring_damper>1</implicit_spring_damper>
-          <cfm_damping>1</cfm_damping>
           <limit>
             <cfm>0</cfm>
             <erp>0.2</erp>
@@ -2825,296 +1234,270 @@
         </ode>
       </physics>
     </joint>
-    <link name="rear_right_flipper_wheel1">
-      <pose>-0.25 -0.272 0.0195 0 -0.193732 0</pose>
+    <link name="cliff_sensor_2">
+      <pose>-0.275 0.119535 0.2035 -1.5707963267948966 1.5707963267948966 0</pose>
       <inertial>
-        <pose>-0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
+        <pose>0.0105 0 0.00925 0 -0 0</pose>
+        <mass>0.012</mass>
         <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
+          <ixx>1.56725e-06</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>7.8325e-07</iyy>
+          <iyz>0</iyz>
+          <izz>1.666e-06</izz>
         </inertia>
       </inertial>
-      <collision name="rear_right_flipper_wheel1_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="cliff_sensor_2_collision">
+        <pose>0.0105 0 0.00925 0 -0 0</pose>
         <geometry>
-          <cylinder>
-            <length>0.04981</length>
-            <radius>0.089</radius>
-          </cylinder>
+          <box>
+            <size>0.021 0.035 0.0185</size>
+          </box>
         </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
       </collision>
+      <visual name="cliff_sensor_2_visual">
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/tfmini_plus_lidar.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <sensor name="laser" type="gpu_lidar">
+        <pose>0.021 0 0.00925 0 -0 0</pose>
+        <update_rate>10</update_rate>
+        <visualize>0</visualize>
+        <always_on>1</always_on>
+        <lidar>
+          <scan>
+            <horizontal>
+              <samples>3</samples>
+              <resolution>1</resolution>
+              <min_angle>-0.0314159</min_angle>
+              <max_angle>0.0314159</max_angle>
+            </horizontal>
+            <vertical>
+              <samples>3</samples>
+              <resolution>1</resolution>
+              <min_angle>-0.0314159</min_angle>
+              <max_angle>0.0314159</max_angle>
+            </vertical>
+          </scan>
+          <range>
+            <min>0.1</min>
+            <max>12</max>
+            <resolution>0.01</resolution>
+          </range>
+          <noise>
+            <type>gaussian</type>
+            <mean>0</mean>
+            <stddev>0.015</stddev>
+          </noise>
+        </lidar>
+      </sensor>
     </link>
-    <joint name="rear_right_flipper_wheel1_j" type="revolute">
-      <child>rear_right_flipper_wheel1</child>
-      <parent>rear_right_flipper</parent>
+    <joint name="cliff_sensor_2_j" type="fixed">
+      <child>cliff_sensor_2</child>
+      <parent>base_link</parent>
       <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
         <dynamics>
           <spring_reference>0</spring_reference>
           <spring_stiffness>0</spring_stiffness>
         </dynamics>
+        <xyz>0 0 1</xyz>
         <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="rear_right_flipper_wheel2">
-      <pose>-0.330957 -0.272 0.003617 0 -0.193732 0</pose>
-      <inertial>
-        <pose>-0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
-        <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
-        </inertia>
-      </inertial>
-      <collision name="rear_right_flipper_wheel2_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.04981</length>
-            <radius>0.074</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-    </link>
-    <joint name="rear_right_flipper_wheel2_j" type="revolute">
-      <child>rear_right_flipper_wheel2</child>
-      <parent>rear_right_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
         <limit>
           <lower>-1e+16</lower>
           <upper>1e+16</upper>
         </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
       </axis>
+      <physics>
+        <ode>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+        </ode>
+      </physics>
     </joint>
-    <link name="rear_right_flipper_wheel3">
-      <pose>-0.411913 -0.272 -0.012266 0 -0.193732 0</pose>
+    <link name="cliff_sensor_3">
+      <pose>-0.275 -0.120465 0.2035 1.5707963267948966 1.5707963267948966 0</pose>
       <inertial>
-        <pose>-0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
+        <pose>0.0105 0 0.00925 0 -0 0</pose>
+        <mass>0.012</mass>
         <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
+          <ixx>1.56725e-06</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>7.8325e-07</iyy>
+          <iyz>0</iyz>
+          <izz>1.666e-06</izz>
         </inertia>
       </inertial>
-      <collision name="rear_right_flipper_wheel3_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="cliff_sensor_3_collision">
+        <pose>0.0105 0 0.00925 0 -0 0</pose>
         <geometry>
-          <cylinder>
-            <length>0.04981</length>
-            <radius>0.059</radius>
-          </cylinder>
+          <box>
+            <size>0.021 0.035 0.0185</size>
+          </box>
         </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
       </collision>
+      <visual name="cliff_sensor_3_visual">
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/tfmini_plus_lidar.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <sensor name="laser" type="gpu_lidar">
+        <pose>0.021 0 0.00925 0 -0 0</pose>
+        <update_rate>10</update_rate>
+        <visualize>0</visualize>
+        <always_on>1</always_on>
+        <lidar>
+          <scan>
+            <horizontal>
+              <samples>3</samples>
+              <resolution>1</resolution>
+              <min_angle>-0.0314159</min_angle>
+              <max_angle>0.0314159</max_angle>
+            </horizontal>
+            <vertical>
+              <samples>3</samples>
+              <resolution>1</resolution>
+              <min_angle>-0.0314159</min_angle>
+              <max_angle>0.0314159</max_angle>
+            </vertical>
+          </scan>
+          <range>
+            <min>0.1</min>
+            <max>12</max>
+            <resolution>0.01</resolution>
+          </range>
+          <noise>
+            <type>gaussian</type>
+            <mean>0</mean>
+            <stddev>0.015</stddev>
+          </noise>
+        </lidar>
+      </sensor>
     </link>
-    <joint name="rear_right_flipper_wheel3_j" type="revolute">
-      <child>rear_right_flipper_wheel3</child>
-      <parent>rear_right_flipper</parent>
+    <joint name="cliff_sensor_3_j" type="fixed">
+      <child>cliff_sensor_3</child>
+      <parent>base_link</parent>
       <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
         <dynamics>
           <spring_reference>0</spring_reference>
           <spring_stiffness>0</spring_stiffness>
         </dynamics>
+        <xyz>0 0 1</xyz>
         <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="rear_right_flipper_wheel4">
-      <pose>-0.49287 -0.272 -0.028149 0 -0.193732 0</pose>
-      <inertial>
-        <pose>-0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
-        <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
-        </inertia>
-      </inertial>
-      <collision name="rear_right_flipper_wheel4_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.04981</length>
-            <radius>0.044</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-    </link>
-    <joint name="rear_right_flipper_wheel4_j" type="revolute">
-      <child>rear_right_flipper_wheel4</child>
-      <parent>rear_right_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
         <limit>
           <lower>-1e+16</lower>
           <upper>1e+16</upper>
         </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
       </axis>
+      <physics>
+        <ode>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+        </ode>
+      </physics>
     </joint>
-    <link name="rear_right_flipper_wheel5">
-      <pose>-0.573827 -0.272 -0.044032 0 -0.193732 0</pose>
+    <link name="laser">
+      <pose>0.1615 0 0.39 0 0.25 0</pose>
       <inertial>
-        <pose>-0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
+        <pose>0 0 0.03675 0 -0 0</pose>
+        <mass>0.5</mass>
         <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
+          <ixx>0.000461625</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.000461625</iyy>
+          <iyz>0</iyz>
+          <izz>0.000473063</izz>
         </inertia>
       </inertial>
-      <collision name="rear_right_flipper_wheel5_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="laser_collision">
+        <pose>0 0 0.03675 0 -0 0</pose>
         <geometry>
           <cylinder>
-            <length>0.04981</length>
-            <radius>0.029</radius>
+            <length>0.0735</length>
+            <radius>0.0435</radius>
           </cylinder>
         </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
       </collision>
+      <visual name="laser_visual">
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/ouster-os0.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <sensor name="laser" type="gpu_lidar">
+        <pose>0 0 0.035925 0 -0 0</pose>
+        <update_rate>10</update_rate>
+        <visualize>0</visualize>
+        <always_on>1</always_on>
+        <lidar>
+          <scan>
+            <horizontal>
+              <samples>2048</samples>
+              <resolution>1</resolution>
+              <min_angle>-3.1459</min_angle>
+              <max_angle>3.1459</max_angle>
+            </horizontal>
+            <vertical>
+              <samples>128</samples>
+              <resolution>1</resolution>
+              <min_angle>-0.785398</min_angle>
+              <max_angle>0.785398</max_angle>
+            </vertical>
+          </scan>
+          <range>
+            <min>0.1</min>
+            <max>50</max>
+            <resolution>0.01</resolution>
+          </range>
+          <noise>
+            <type>gaussian</type>
+            <mean>0</mean>
+            <stddev>0.01</stddev>
+          </noise>
+        </lidar>
+      </sensor>
     </link>
-    <joint name="rear_right_flipper_wheel5_j" type="revolute">
-      <child>rear_right_flipper_wheel5</child>
-      <parent>rear_right_flipper</parent>
+    <joint name="laser_j" type="fixed">
+      <child>laser</child>
+      <parent>base_link</parent>
       <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
         <dynamics>
           <spring_reference>0</spring_reference>
           <spring_stiffness>0</spring_stiffness>
         </dynamics>
+        <xyz>0 0 1</xyz>
         <use_parent_model_frame>0</use_parent_model_frame>
+        <limit>
+          <lower>-1e+16</lower>
+          <upper>1e+16</upper>
+        </limit>
       </axis>
+      <physics>
+        <ode>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+        </ode>
+      </physics>
     </joint>
-    <link name="right_track_wheel1">
-      <pose>0.25 -0.1985 0.01855 0 -0 0</pose>
+    <link name="right_track">
+      <pose>0 -0.1985 0 0 -0 0</pose>
       <inertial>
         <pose>0 0 0.0141 0 -0 0</pose>
-        <mass>0.7575</mass>
+        <mass>6.06</mass>
         <inertia>
           <ixx>0.002731</ixx>
           <ixy>0</ixy>
@@ -3124,8 +1507,25 @@
           <izz>0.031391</izz>
         </inertia>
       </inertial>
-      <collision name="right_track_wheel1_collision">
-        <pose>0 0.015 0 1.5707963267948966 -0 0</pose>
+      <collision name="right_track_collision">
+        <pose>0 0 0.01855 1.5707963267948966 -0 1.5707963267948966</pose>
+        <geometry>
+          <box>
+            <size>0.097 0.178 0.5</size>
+          </box>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>10</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="right_track_collision_1">
+        <pose>0.25 0.015 0.01855 1.5707963267948966 -0 0</pose>
         <geometry>
           <cylinder>
             <length>0.112</length>
@@ -3133,56 +1533,17 @@
           </cylinder>
         </geometry>
         <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
           <friction>
             <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
+              <mu>10</mu>
+              <mu2>150</mu2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
-    </link>
-    <joint name="right_track_wheel1_j" type="revolute">
-      <child>right_track_wheel1</child>
-      <parent>right_track</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="right_track_wheel2">
-      <pose>0.178571 -0.1985 0.01855 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0.0141 0 -0 0</pose>
-        <mass>0.7575</mass>
-        <inertia>
-          <ixx>0.002731</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.032554</iyy>
-          <iyz>1.5e-05</iyz>
-          <izz>0.031391</izz>
-        </inertia>
-      </inertial>
-      <collision name="right_track_wheel2_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="right_track_collision_2">
+        <pose>-0.25 0 0.01855 1.5707963267948966 -0 0</pose>
         <geometry>
           <cylinder>
             <length>0.097</length>
@@ -3190,32 +1551,34 @@
           </cylinder>
         </geometry>
         <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
           <friction>
             <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
+              <mu>10</mu>
+              <mu2>150</mu2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
+      <visual name="right_track_visual">
+        <pose>0 0 -0.0705 1.5707963267948966 0 -1.5707963267948966</pose>
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/bogie.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
     </link>
-    <joint name="right_track_wheel2_j" type="revolute">
-      <child>right_track_wheel2</child>
-      <parent>right_track</parent>
+    <joint name="right_track_j" type="revolute">
+      <child>right_track</child>
+      <parent>base_link</parent>
       <axis>
         <xyz>0 1 0</xyz>
         <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
+          <lower>0</lower>
+          <upper>0</upper>
+          <effort>0</effort>
+          <velocity>4</velocity>
         </limit>
         <dynamics>
           <spring_reference>0</spring_reference>
@@ -3223,170 +1586,142 @@
         </dynamics>
         <use_parent_model_frame>0</use_parent_model_frame>
       </axis>
+      <physics>
+        <ode>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+        </ode>
+      </physics>
+      <physics>
+        <ode>
+          <implicit_spring_damper>1</implicit_spring_damper>
+          <cfm>0</cfm>
+          <erp>0.95</erp>
+        </ode>
+      </physics>
     </joint>
-    <link name="right_track_wheel3">
-      <pose>0.107143 -0.1985 0.01855 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0.0141 0 -0 0</pose>
-        <mass>0.7575</mass>
-        <inertia>
-          <ixx>0.002731</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.032554</iyy>
-          <iyz>1.5e-05</iyz>
-          <izz>0.031391</izz>
+    <link name="front_right_flipper">
+      <pose>0.25 -0.272 0.0195 3.1415926535897931 -0.193732 3.1415926535897931</pose>
+      <inertial>
+        <pose>-0.08 0 0 0 -0 0</pose>
+        <mass>0.75</mass>
+        <inertia>
+          <ixx>0.0017491</ixx>
+          <ixy>2.8512e-07</ixy>
+          <ixz>0.0018277</ixz>
+          <iyy>0.012277</iyy>
+          <iyz>-3.6288e-07</iyz>
+          <izz>0.010941</izz>
         </inertia>
       </inertial>
-      <collision name="right_track_wheel3_collision">
+      <collision name="front_right_flipper_collision_large_wheel_collision">
         <pose>0 0 0 1.5707963267948966 -0 0</pose>
         <geometry>
           <cylinder>
-            <length>0.097</length>
+            <length>0.04981</length>
             <radius>0.089</radius>
           </cylinder>
         </geometry>
         <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
           <friction>
             <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
+              <mu>10</mu>
+              <mu2>150</mu2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
-    </link>
-    <joint name="right_track_wheel3_j" type="revolute">
-      <child>right_track_wheel3</child>
-      <parent>right_track</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="right_track_wheel4">
-      <pose>0.035714 -0.1985 0.01855 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0.0141 0 -0 0</pose>
-        <mass>0.7575</mass>
-        <inertia>
-          <ixx>0.002731</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.032554</iyy>
-          <iyz>1.5e-05</iyz>
-          <izz>0.031391</izz>
-        </inertia>
-      </inertial>
-      <collision name="right_track_wheel4_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="front_right_flipper_collision_small_wheel_collision_1">
+        <pose>-0.33 0 0 1.5707963267948966 -0 0</pose>
         <geometry>
           <cylinder>
-            <length>0.097</length>
-            <radius>0.089</radius>
+            <length>0.04981</length>
+            <radius>0.029</radius>
           </cylinder>
         </geometry>
         <surface>
-          <contact>
+          <friction>
             <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
+              <mu>10</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
             </ode>
-          </contact>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="front_right_flipper_collision_top_bar_collision_2">
+        <pose>-0.165 0 0.0325 0 0.184162 -3.1415926535897931</pose>
+        <geometry>
+          <box>
+            <size>0.33 0.04981 0.055</size>
+          </box>
+        </geometry>
+        <surface>
           <friction>
             <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
+              <mu>10</mu>
+              <mu2>150</mu2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
-    </link>
-    <joint name="right_track_wheel4_j" type="revolute">
-      <child>right_track_wheel4</child>
-      <parent>right_track</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="right_track_wheel5">
-      <pose>-0.035714 -0.1985 0.01855 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0.0141 0 -0 0</pose>
-        <mass>0.7575</mass>
-        <inertia>
-          <ixx>0.002731</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.032554</iyy>
-          <iyz>1.5e-05</iyz>
-          <izz>0.031391</izz>
-        </inertia>
-      </inertial>
-      <collision name="right_track_wheel5_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="front_right_flipper_collision_bottom_bar_collision_3">
+        <pose>-0.165 0 -0.0325 0 -0.184162 -3.1415926535897931</pose>
         <geometry>
-          <cylinder>
-            <length>0.097</length>
-            <radius>0.089</radius>
-          </cylinder>
+          <box>
+            <size>0.33 0.04981 0.055</size>
+          </box>
         </geometry>
         <surface>
-          <contact>
+          <friction>
             <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
+              <mu>10</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
             </ode>
-          </contact>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="front_right_flipper_collision_middle_bar_collision_4">
+        <pose>-0.166 0 0.004 0 -0.02 -3.1415926535897931</pose>
+        <geometry>
+          <box>
+            <size>0.2 0.04981 0.07</size>
+          </box>
+        </geometry>
+        <surface>
           <friction>
             <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
+              <mu>10</mu>
+              <mu2>150</mu2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
+      <visual name="front_right_flipper_visual">
+        <pose>0 0 0 -2.95743 -0 -1.5707963267948966</pose>
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/flipper.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
     </link>
-    <joint name="right_track_wheel5_j" type="revolute">
-      <child>right_track_wheel5</child>
+    <joint name="front_right_flipper_j" type="revolute">
+      <child>front_right_flipper</child>
       <parent>right_track</parent>
       <axis>
         <xyz>0 1 0</xyz>
         <limit>
           <lower>-1e+16</lower>
           <upper>1e+16</upper>
+          <effort>20</effort>
+          <velocity>0.785398</velocity>
         </limit>
         <dynamics>
           <spring_reference>0</spring_reference>
@@ -3394,170 +1729,137 @@
         </dynamics>
         <use_parent_model_frame>0</use_parent_model_frame>
       </axis>
+      <physics>
+        <ode>
+          <implicit_spring_damper>1</implicit_spring_damper>
+          <cfm_damping>1</cfm_damping>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+        </ode>
+      </physics>
     </joint>
-    <link name="right_track_wheel6">
-      <pose>-0.107143 -0.1985 0.01855 0 -0 0</pose>
+    <link name="rear_right_flipper">
+      <pose>-0.25 -0.272 0.0195 0 -0.193732 0</pose>
       <inertial>
-        <pose>0 0 0.0141 0 -0 0</pose>
-        <mass>0.7575</mass>
+        <pose>-0.08 0 0 0 -0 0</pose>
+        <mass>0.75</mass>
         <inertia>
-          <ixx>0.002731</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.032554</iyy>
-          <iyz>1.5e-05</iyz>
-          <izz>0.031391</izz>
+          <ixx>0.0017491</ixx>
+          <ixy>2.8512e-07</ixy>
+          <ixz>0.0018277</ixz>
+          <iyy>0.012277</iyy>
+          <iyz>-3.6288e-07</iyz>
+          <izz>0.010941</izz>
         </inertia>
       </inertial>
-      <collision name="right_track_wheel6_collision">
+      <collision name="rear_right_flipper_collision_large_wheel_collision">
         <pose>0 0 0 1.5707963267948966 -0 0</pose>
         <geometry>
           <cylinder>
-            <length>0.097</length>
+            <length>0.04981</length>
             <radius>0.089</radius>
           </cylinder>
         </geometry>
         <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
           <friction>
             <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
+              <mu>10</mu>
+              <mu2>150</mu2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
-    </link>
-    <joint name="right_track_wheel6_j" type="revolute">
-      <child>right_track_wheel6</child>
-      <parent>right_track</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="right_track_wheel7">
-      <pose>-0.178571 -0.1985 0.01855 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0.0141 0 -0 0</pose>
-        <mass>0.7575</mass>
-        <inertia>
-          <ixx>0.002731</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.032554</iyy>
-          <iyz>1.5e-05</iyz>
-          <izz>0.031391</izz>
-        </inertia>
-      </inertial>
-      <collision name="right_track_wheel7_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="rear_right_flipper_collision_small_wheel_collision_1">
+        <pose>-0.33 0 0 1.5707963267948966 -0 0</pose>
         <geometry>
           <cylinder>
-            <length>0.097</length>
-            <radius>0.089</radius>
+            <length>0.04981</length>
+            <radius>0.029</radius>
           </cylinder>
         </geometry>
         <surface>
-          <contact>
+          <friction>
             <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
+              <mu>10</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
             </ode>
-          </contact>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="rear_right_flipper_collision_top_bar_collision_2">
+        <pose>-0.165 0 0.0325 0 0.184162 -3.1415926535897931</pose>
+        <geometry>
+          <box>
+            <size>0.33 0.04981 0.055</size>
+          </box>
+        </geometry>
+        <surface>
           <friction>
             <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
+              <mu>10</mu>
+              <mu2>150</mu2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
-    </link>
-    <joint name="right_track_wheel7_j" type="revolute">
-      <child>right_track_wheel7</child>
-      <parent>right_track</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="right_track_wheel8">
-      <pose>-0.25 -0.1985 0.01855 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0.0141 0 -0 0</pose>
-        <mass>0.7575</mass>
-        <inertia>
-          <ixx>0.002731</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.032554</iyy>
-          <iyz>1.5e-05</iyz>
-          <izz>0.031391</izz>
-        </inertia>
-      </inertial>
-      <collision name="right_track_wheel8_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="rear_right_flipper_collision_bottom_bar_collision_3">
+        <pose>-0.165 0 -0.0325 0 -0.184162 -3.1415926535897931</pose>
         <geometry>
-          <cylinder>
-            <length>0.097</length>
-            <radius>0.089</radius>
-          </cylinder>
+          <box>
+            <size>0.33 0.04981 0.055</size>
+          </box>
         </geometry>
         <surface>
-          <contact>
+          <friction>
             <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
+              <mu>10</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
             </ode>
-          </contact>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="rear_right_flipper_collision_middle_bar_collision_4">
+        <pose>-0.166 0 0.004 0 -0.02 -3.1415926535897931</pose>
+        <geometry>
+          <box>
+            <size>0.2 0.04981 0.07</size>
+          </box>
+        </geometry>
+        <surface>
           <friction>
             <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
+              <mu>10</mu>
+              <mu2>150</mu2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
+      <visual name="rear_right_flipper_visual">
+        <pose>0 0 0 -2.95743 -0 -1.5707963267948966</pose>
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/flipper.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
     </link>
-    <joint name="right_track_wheel8_j" type="revolute">
-      <child>right_track_wheel8</child>
+    <joint name="rear_right_flipper_j" type="revolute">
+      <child>rear_right_flipper</child>
       <parent>right_track</parent>
       <axis>
         <xyz>0 1 0</xyz>
         <limit>
           <lower>-1e+16</lower>
           <upper>1e+16</upper>
+          <effort>20</effort>
+          <velocity>0.785398</velocity>
         </limit>
         <dynamics>
           <spring_reference>0</spring_reference>
@@ -3565,6 +1867,16 @@
         </dynamics>
         <use_parent_model_frame>0</use_parent_model_frame>
       </axis>
+      <physics>
+        <ode>
+          <implicit_spring_damper>1</implicit_spring_damper>
+          <cfm_damping>1</cfm_damping>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+        </ode>
+      </physics>
     </joint>
     <plugin name="cras::FlipperControlPlugin" filename="libflipper_control_plugin.so">
       <joint_name>front_left_flipper_j</joint_name>
diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_5/model.sdf b/submitted_models/ctu_cras_norlab_absolem_sensor_config_5/model.sdf
index ee777177..83b42d8c 100644
--- a/submitted_models/ctu_cras_norlab_absolem_sensor_config_5/model.sdf
+++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_5/model.sdf
@@ -368,7 +368,6 @@
         <always_on>1</always_on>
         <update_rate>50</update_rate>
         <imu>
-          <enable_orientation>0</enable_orientation>
           <angular_velocity>
             <x>
               <noise type="gaussian">
@@ -439,6 +438,7 @@
               </noise>
             </z>
           </linear_acceleration>
+          <enable_orientation>0</enable_orientation>
         </imu>
         <pose>0 0 0.15 -3.1415926535897931 -0 0</pose>
       </sensor>
@@ -680,26 +680,64 @@
     <link name="left_track">
       <pose>0 0.1985 0 0 -0 0</pose>
       <inertial>
-        <mass>1e-05</mass>
+        <pose>0 0 0.0141 0 -0 0</pose>
+        <mass>6.06</mass>
         <inertia>
-          <ixx>0.001</ixx>
-          <ixy>1e-06</ixy>
-          <ixz>1e-06</ixz>
-          <iyy>0.001</iyy>
-          <iyz>1e-06</iyz>
-          <izz>0.001</izz>
+          <ixx>0.002731</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.032554</iyy>
+          <iyz>1.5e-05</iyz>
+          <izz>0.031391</izz>
         </inertia>
       </inertial>
       <collision name="left_track_collision">
+        <pose>0 0 0.01855 1.5707963267948966 -0 1.5707963267948966</pose>
         <geometry>
           <box>
-            <size>0.01 0.01 0.01</size>
+            <size>0.097 0.178 0.5</size>
           </box>
         </geometry>
         <surface>
           <friction>
             <ode>
-              <mu>0.7</mu>
+              <mu>10</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="left_track_collision_1">
+        <pose>0.25 -0.015 0.01855 1.5707963267948966 -0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.112</length>
+            <radius>0.089</radius>
+          </cylinder>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>10</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="left_track_collision_2">
+        <pose>-0.25 0 0.01855 1.5707963267948966 -0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.097</length>
+            <radius>0.089</radius>
+          </cylinder>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>10</mu>
               <mu2>150</mu2>
               <fdir1>0 0 1</fdir1>
             </ode>
@@ -751,26 +789,98 @@
     <link name="front_left_flipper">
       <pose>0.25 0.272 0.0195 0 0.193732 0</pose>
       <inertial>
-        <mass>1e-05</mass>
+        <pose>0.08 0 0 0 -0 0</pose>
+        <mass>0.75</mass>
         <inertia>
-          <ixx>0.001</ixx>
-          <ixy>1e-06</ixy>
-          <ixz>1e-06</ixz>
-          <iyy>0.001</iyy>
-          <iyz>1e-06</iyz>
-          <izz>0.001</izz>
+          <ixx>0.0017491</ixx>
+          <ixy>2.8512e-07</ixy>
+          <ixz>0.0018277</ixz>
+          <iyy>0.012277</iyy>
+          <iyz>-3.6288e-07</iyz>
+          <izz>0.010941</izz>
         </inertia>
       </inertial>
-      <collision name="front_left_flipper_collision">
+      <collision name="front_left_flipper_collision_large_wheel_collision">
+        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.04981</length>
+            <radius>0.089</radius>
+          </cylinder>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>10</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="front_left_flipper_collision_small_wheel_collision_1">
+        <pose>0.33 0 0 1.5707963267948966 -0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.04981</length>
+            <radius>0.029</radius>
+          </cylinder>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>10</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="front_left_flipper_collision_top_bar_collision_2">
+        <pose>0.165 0 0.0325 0 0.184162 0</pose>
+        <geometry>
+          <box>
+            <size>0.33 0.04981 0.055</size>
+          </box>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>10</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="front_left_flipper_collision_bottom_bar_collision_3">
+        <pose>0.165 0 -0.0325 0 -0.184162 0</pose>
+        <geometry>
+          <box>
+            <size>0.33 0.04981 0.055</size>
+          </box>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>10</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="front_left_flipper_collision_middle_bar_collision_4">
+        <pose>0.166 0 0.004 0 -0.02 0</pose>
         <geometry>
           <box>
-            <size>0.01 0.01 0.01</size>
+            <size>0.2 0.04981 0.07</size>
           </box>
         </geometry>
         <surface>
           <friction>
             <ode>
-              <mu>0.7</mu>
+              <mu>10</mu>
               <mu2>150</mu2>
               <fdir1>0 0 1</fdir1>
             </ode>
@@ -814,11 +924,11 @@
         </ode>
       </physics>
     </joint>
-    <link name="front_left_flipper_wheel1">
-      <pose>0.25 0.272 0.0195 0 0.193732 0</pose>
+    <link name="rear_left_flipper">
+      <pose>-0.25 0.272 0.0195 3.1415926535897931 0.193732 3.1415926535897931</pose>
       <inertial>
         <pose>0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
+        <mass>0.75</mass>
         <inertia>
           <ixx>0.0017491</ixx>
           <ixy>2.8512e-07</ixy>
@@ -828,7 +938,7 @@
           <izz>0.010941</izz>
         </inertia>
       </inertial>
-      <collision name="front_left_flipper_wheel1_collision_collision">
+      <collision name="rear_left_flipper_collision_large_wheel_collision">
         <pose>0 0 0 1.5707963267948966 -0 0</pose>
         <geometry>
           <cylinder>
@@ -837,260 +947,103 @@
           </cylinder>
         </geometry>
         <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
           <friction>
             <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
+              <mu>10</mu>
+              <mu2>150</mu2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
-    </link>
-    <joint name="front_left_flipper_wheel1_j" type="revolute">
-      <child>front_left_flipper_wheel1</child>
-      <parent>front_left_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="front_left_flipper_wheel2">
-      <pose>0.330957 0.272 0.003617 0 0.193732 0</pose>
-      <inertial>
-        <pose>0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
-        <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
-        </inertia>
-      </inertial>
-      <collision name="front_left_flipper_wheel2_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="rear_left_flipper_collision_small_wheel_collision_1">
+        <pose>0.33 0 0 1.5707963267948966 -0 0</pose>
         <geometry>
           <cylinder>
             <length>0.04981</length>
-            <radius>0.074</radius>
+            <radius>0.029</radius>
           </cylinder>
         </geometry>
         <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
           <friction>
             <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
+              <mu>10</mu>
+              <mu2>150</mu2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
-    </link>
-    <joint name="front_left_flipper_wheel2_j" type="revolute">
-      <child>front_left_flipper_wheel2</child>
-      <parent>front_left_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="front_left_flipper_wheel3">
-      <pose>0.411913 0.272 -0.012266 0 0.193732 0</pose>
-      <inertial>
-        <pose>0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
-        <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
-        </inertia>
-      </inertial>
-      <collision name="front_left_flipper_wheel3_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="rear_left_flipper_collision_top_bar_collision_2">
+        <pose>0.165 0 0.0325 0 0.184162 0</pose>
         <geometry>
-          <cylinder>
-            <length>0.04981</length>
-            <radius>0.059</radius>
-          </cylinder>
+          <box>
+            <size>0.33 0.04981 0.055</size>
+          </box>
         </geometry>
         <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
           <friction>
             <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
+              <mu>10</mu>
+              <mu2>150</mu2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
-    </link>
-    <joint name="front_left_flipper_wheel3_j" type="revolute">
-      <child>front_left_flipper_wheel3</child>
-      <parent>front_left_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="front_left_flipper_wheel4">
-      <pose>0.49287 0.272 -0.028149 0 0.193732 0</pose>
-      <inertial>
-        <pose>0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
-        <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
-        </inertia>
-      </inertial>
-      <collision name="front_left_flipper_wheel4_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="rear_left_flipper_collision_bottom_bar_collision_3">
+        <pose>0.165 0 -0.0325 0 -0.184162 0</pose>
         <geometry>
-          <cylinder>
-            <length>0.04981</length>
-            <radius>0.044</radius>
-          </cylinder>
+          <box>
+            <size>0.33 0.04981 0.055</size>
+          </box>
         </geometry>
         <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
           <friction>
             <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
+              <mu>10</mu>
+              <mu2>150</mu2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
-    </link>
-    <joint name="front_left_flipper_wheel4_j" type="revolute">
-      <child>front_left_flipper_wheel4</child>
-      <parent>front_left_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="front_left_flipper_wheel5">
-      <pose>0.573827 0.272 -0.044032 0 0.193732 0</pose>
-      <inertial>
-        <pose>0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
-        <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
-        </inertia>
-      </inertial>
-      <collision name="front_left_flipper_wheel5_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="rear_left_flipper_collision_middle_bar_collision_4">
+        <pose>0.166 0 0.004 0 -0.02 0</pose>
         <geometry>
-          <cylinder>
-            <length>0.04981</length>
-            <radius>0.029</radius>
-          </cylinder>
+          <box>
+            <size>0.2 0.04981 0.07</size>
+          </box>
         </geometry>
         <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
           <friction>
             <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
+              <mu>10</mu>
+              <mu2>150</mu2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
+      <visual name="rear_left_flipper_visual">
+        <pose>0 0 0 -2.95743 -0 1.5707963267948966</pose>
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/flipper.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
     </link>
-    <joint name="front_left_flipper_wheel5_j" type="revolute">
-      <child>front_left_flipper_wheel5</child>
-      <parent>front_left_flipper</parent>
+    <joint name="rear_left_flipper_j" type="revolute">
+      <child>rear_left_flipper</child>
+      <parent>left_track</parent>
       <axis>
         <xyz>0 1 0</xyz>
         <limit>
           <lower>-1e+16</lower>
           <upper>1e+16</upper>
+          <effort>20</effort>
+          <velocity>0.785398</velocity>
         </limit>
         <dynamics>
           <spring_reference>0</spring_reference>
@@ -1098,1815 +1051,268 @@
         </dynamics>
         <use_parent_model_frame>0</use_parent_model_frame>
       </axis>
-    </joint>
-    <link name="left_track_wheel1">
-      <pose>0.25 0.1985 0.01855 0 -0 0</pose>
+      <physics>
+        <ode>
+          <implicit_spring_damper>1</implicit_spring_damper>
+          <cfm_damping>1</cfm_damping>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+        </ode>
+      </physics>
+    </joint>
+    <link name="cliff_sensor_0">
+      <pose>0.275 0.119535 0.2035 -1.5707963267948966 1.5707963267948966 0</pose>
       <inertial>
-        <pose>0 0 0.0141 0 -0 0</pose>
-        <mass>0.7575</mass>
+        <pose>0.0105 0 0.00925 0 -0 0</pose>
+        <mass>0.012</mass>
         <inertia>
-          <ixx>0.002731</ixx>
+          <ixx>1.56725e-06</ixx>
           <ixy>0</ixy>
           <ixz>0</ixz>
-          <iyy>0.032554</iyy>
-          <iyz>1.5e-05</iyz>
-          <izz>0.031391</izz>
+          <iyy>7.8325e-07</iyy>
+          <iyz>0</iyz>
+          <izz>1.666e-06</izz>
         </inertia>
       </inertial>
-      <collision name="left_track_wheel1_collision">
-        <pose>0 -0.015 0 1.5707963267948966 -0 0</pose>
+      <collision name="cliff_sensor_0_collision">
+        <pose>0.0105 0 0.00925 0 -0 0</pose>
         <geometry>
-          <cylinder>
-            <length>0.112</length>
-            <radius>0.089</radius>
-          </cylinder>
+          <box>
+            <size>0.021 0.035 0.0185</size>
+          </box>
         </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
       </collision>
+      <visual name="cliff_sensor_0_visual">
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/tfmini_plus_lidar.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <sensor name="laser" type="gpu_lidar">
+        <pose>0.021 0 0.00925 0 -0 0</pose>
+        <update_rate>10</update_rate>
+        <visualize>0</visualize>
+        <always_on>1</always_on>
+        <lidar>
+          <scan>
+            <horizontal>
+              <samples>3</samples>
+              <resolution>1</resolution>
+              <min_angle>-0.0314159</min_angle>
+              <max_angle>0.0314159</max_angle>
+            </horizontal>
+            <vertical>
+              <samples>3</samples>
+              <resolution>1</resolution>
+              <min_angle>-0.0314159</min_angle>
+              <max_angle>0.0314159</max_angle>
+            </vertical>
+          </scan>
+          <range>
+            <min>0.1</min>
+            <max>12</max>
+            <resolution>0.01</resolution>
+          </range>
+          <noise>
+            <type>gaussian</type>
+            <mean>0</mean>
+            <stddev>0.015</stddev>
+          </noise>
+        </lidar>
+      </sensor>
     </link>
-    <joint name="left_track_wheel1_j" type="revolute">
-      <child>left_track_wheel1</child>
-      <parent>left_track</parent>
+    <joint name="cliff_sensor_0_j" type="fixed">
+      <child>cliff_sensor_0</child>
+      <parent>base_link</parent>
       <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
         <dynamics>
           <spring_reference>0</spring_reference>
           <spring_stiffness>0</spring_stiffness>
         </dynamics>
+        <xyz>0 0 1</xyz>
         <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="left_track_wheel2">
-      <pose>0.178571 0.1985 0.01855 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0.0141 0 -0 0</pose>
-        <mass>0.7575</mass>
-        <inertia>
-          <ixx>0.002731</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.032554</iyy>
-          <iyz>1.5e-05</iyz>
-          <izz>0.031391</izz>
-        </inertia>
-      </inertial>
-      <collision name="left_track_wheel2_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.097</length>
-            <radius>0.089</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-    </link>
-    <joint name="left_track_wheel2_j" type="revolute">
-      <child>left_track_wheel2</child>
-      <parent>left_track</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
         <limit>
           <lower>-1e+16</lower>
           <upper>1e+16</upper>
         </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
       </axis>
+      <physics>
+        <ode>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+        </ode>
+      </physics>
     </joint>
-    <link name="left_track_wheel3">
-      <pose>0.107143 0.1985 0.01855 0 -0 0</pose>
+    <link name="cliff_sensor_1">
+      <pose>0.275 -0.120465 0.2035 1.5707963267948966 1.5707963267948966 0</pose>
       <inertial>
-        <pose>0 0 0.0141 0 -0 0</pose>
-        <mass>0.7575</mass>
+        <pose>0.0105 0 0.00925 0 -0 0</pose>
+        <mass>0.012</mass>
         <inertia>
-          <ixx>0.002731</ixx>
+          <ixx>1.56725e-06</ixx>
           <ixy>0</ixy>
           <ixz>0</ixz>
-          <iyy>0.032554</iyy>
-          <iyz>1.5e-05</iyz>
-          <izz>0.031391</izz>
+          <iyy>7.8325e-07</iyy>
+          <iyz>0</iyz>
+          <izz>1.666e-06</izz>
         </inertia>
       </inertial>
-      <collision name="left_track_wheel3_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="cliff_sensor_1_collision">
+        <pose>0.0105 0 0.00925 0 -0 0</pose>
         <geometry>
-          <cylinder>
-            <length>0.097</length>
-            <radius>0.089</radius>
-          </cylinder>
+          <box>
+            <size>0.021 0.035 0.0185</size>
+          </box>
         </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
       </collision>
+      <visual name="cliff_sensor_1_visual">
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/tfmini_plus_lidar.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <sensor name="laser" type="gpu_lidar">
+        <pose>0.021 0 0.00925 0 -0 0</pose>
+        <update_rate>10</update_rate>
+        <visualize>0</visualize>
+        <always_on>1</always_on>
+        <lidar>
+          <scan>
+            <horizontal>
+              <samples>3</samples>
+              <resolution>1</resolution>
+              <min_angle>-0.0314159</min_angle>
+              <max_angle>0.0314159</max_angle>
+            </horizontal>
+            <vertical>
+              <samples>3</samples>
+              <resolution>1</resolution>
+              <min_angle>-0.0314159</min_angle>
+              <max_angle>0.0314159</max_angle>
+            </vertical>
+          </scan>
+          <range>
+            <min>0.1</min>
+            <max>12</max>
+            <resolution>0.01</resolution>
+          </range>
+          <noise>
+            <type>gaussian</type>
+            <mean>0</mean>
+            <stddev>0.015</stddev>
+          </noise>
+        </lidar>
+      </sensor>
     </link>
-    <joint name="left_track_wheel3_j" type="revolute">
-      <child>left_track_wheel3</child>
-      <parent>left_track</parent>
+    <joint name="cliff_sensor_1_j" type="fixed">
+      <child>cliff_sensor_1</child>
+      <parent>base_link</parent>
       <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
         <dynamics>
           <spring_reference>0</spring_reference>
           <spring_stiffness>0</spring_stiffness>
         </dynamics>
+        <xyz>0 0 1</xyz>
         <use_parent_model_frame>0</use_parent_model_frame>
+        <limit>
+          <lower>-1e+16</lower>
+          <upper>1e+16</upper>
+        </limit>
       </axis>
+      <physics>
+        <ode>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+        </ode>
+      </physics>
     </joint>
-    <link name="left_track_wheel4">
-      <pose>0.035714 0.1985 0.01855 0 -0 0</pose>
+    <link name="cliff_sensor_2">
+      <pose>-0.275 0.119535 0.2035 -1.5707963267948966 1.5707963267948966 0</pose>
       <inertial>
-        <pose>0 0 0.0141 0 -0 0</pose>
-        <mass>0.7575</mass>
+        <pose>0.0105 0 0.00925 0 -0 0</pose>
+        <mass>0.012</mass>
         <inertia>
-          <ixx>0.002731</ixx>
+          <ixx>1.56725e-06</ixx>
           <ixy>0</ixy>
           <ixz>0</ixz>
-          <iyy>0.032554</iyy>
-          <iyz>1.5e-05</iyz>
-          <izz>0.031391</izz>
+          <iyy>7.8325e-07</iyy>
+          <iyz>0</iyz>
+          <izz>1.666e-06</izz>
         </inertia>
       </inertial>
-      <collision name="left_track_wheel4_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.097</length>
-            <radius>0.089</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-    </link>
-    <joint name="left_track_wheel4_j" type="revolute">
-      <child>left_track_wheel4</child>
-      <parent>left_track</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="left_track_wheel5">
-      <pose>-0.035714 0.1985 0.01855 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0.0141 0 -0 0</pose>
-        <mass>0.7575</mass>
-        <inertia>
-          <ixx>0.002731</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.032554</iyy>
-          <iyz>1.5e-05</iyz>
-          <izz>0.031391</izz>
-        </inertia>
-      </inertial>
-      <collision name="left_track_wheel5_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.097</length>
-            <radius>0.089</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-    </link>
-    <joint name="left_track_wheel5_j" type="revolute">
-      <child>left_track_wheel5</child>
-      <parent>left_track</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="left_track_wheel6">
-      <pose>-0.107143 0.1985 0.01855 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0.0141 0 -0 0</pose>
-        <mass>0.7575</mass>
-        <inertia>
-          <ixx>0.002731</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.032554</iyy>
-          <iyz>1.5e-05</iyz>
-          <izz>0.031391</izz>
-        </inertia>
-      </inertial>
-      <collision name="left_track_wheel6_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.097</length>
-            <radius>0.089</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-    </link>
-    <joint name="left_track_wheel6_j" type="revolute">
-      <child>left_track_wheel6</child>
-      <parent>left_track</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="left_track_wheel7">
-      <pose>-0.178571 0.1985 0.01855 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0.0141 0 -0 0</pose>
-        <mass>0.7575</mass>
-        <inertia>
-          <ixx>0.002731</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.032554</iyy>
-          <iyz>1.5e-05</iyz>
-          <izz>0.031391</izz>
-        </inertia>
-      </inertial>
-      <collision name="left_track_wheel7_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.097</length>
-            <radius>0.089</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-    </link>
-    <joint name="left_track_wheel7_j" type="revolute">
-      <child>left_track_wheel7</child>
-      <parent>left_track</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="left_track_wheel8">
-      <pose>-0.25 0.1985 0.01855 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0.0141 0 -0 0</pose>
-        <mass>0.7575</mass>
-        <inertia>
-          <ixx>0.002731</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.032554</iyy>
-          <iyz>1.5e-05</iyz>
-          <izz>0.031391</izz>
-        </inertia>
-      </inertial>
-      <collision name="left_track_wheel8_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.097</length>
-            <radius>0.089</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-    </link>
-    <joint name="left_track_wheel8_j" type="revolute">
-      <child>left_track_wheel8</child>
-      <parent>left_track</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="rear_left_flipper">
-      <pose>-0.25 0.272 0.0195 3.1415926535897931 0.193732 3.1415926535897931</pose>
-      <inertial>
-        <mass>1e-05</mass>
-        <inertia>
-          <ixx>0.001</ixx>
-          <ixy>1e-06</ixy>
-          <ixz>1e-06</ixz>
-          <iyy>0.001</iyy>
-          <iyz>1e-06</iyz>
-          <izz>0.001</izz>
-        </inertia>
-      </inertial>
-      <collision name="rear_left_flipper_collision">
-        <geometry>
-          <box>
-            <size>0.01 0.01 0.01</size>
-          </box>
-        </geometry>
-        <surface>
-          <friction>
-            <ode>
-              <mu>0.7</mu>
-              <mu2>150</mu2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-      <visual name="rear_left_flipper_visual">
-        <pose>0 0 0 -2.95743 -0 1.5707963267948966</pose>
-        <geometry>
-          <mesh>
-            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/flipper.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-    </link>
-    <joint name="rear_left_flipper_j" type="revolute">
-      <child>rear_left_flipper</child>
-      <parent>left_track</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>20</effort>
-          <velocity>0.785398</velocity>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-      <physics>
-        <ode>
-          <implicit_spring_damper>1</implicit_spring_damper>
-          <cfm_damping>1</cfm_damping>
-          <limit>
-            <cfm>0</cfm>
-            <erp>0.2</erp>
-          </limit>
-        </ode>
-      </physics>
-    </joint>
-    <link name="rear_left_flipper_wheel1">
-      <pose>-0.25 0.272 0.0195 3.1415926535897931 0.193732 3.1415926535897931</pose>
-      <inertial>
-        <pose>0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
-        <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
-        </inertia>
-      </inertial>
-      <collision name="rear_left_flipper_wheel1_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.04981</length>
-            <radius>0.089</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-    </link>
-    <joint name="rear_left_flipper_wheel1_j" type="revolute">
-      <child>rear_left_flipper_wheel1</child>
-      <parent>rear_left_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="rear_left_flipper_wheel2">
-      <pose>-0.330957 0.272 0.003617 3.1415926535897931 0.193732 3.1415926535897931</pose>
-      <inertial>
-        <pose>0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
-        <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
-        </inertia>
-      </inertial>
-      <collision name="rear_left_flipper_wheel2_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.04981</length>
-            <radius>0.074</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-    </link>
-    <joint name="rear_left_flipper_wheel2_j" type="revolute">
-      <child>rear_left_flipper_wheel2</child>
-      <parent>rear_left_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="rear_left_flipper_wheel3">
-      <pose>-0.411913 0.272 -0.012266 3.1415926535897931 0.193732 3.1415926535897931</pose>
-      <inertial>
-        <pose>0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
-        <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
-        </inertia>
-      </inertial>
-      <collision name="rear_left_flipper_wheel3_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.04981</length>
-            <radius>0.059</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-    </link>
-    <joint name="rear_left_flipper_wheel3_j" type="revolute">
-      <child>rear_left_flipper_wheel3</child>
-      <parent>rear_left_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="rear_left_flipper_wheel4">
-      <pose>-0.49287 0.272 -0.028149 3.1415926535897931 0.193732 3.1415926535897931</pose>
-      <inertial>
-        <pose>0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
-        <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
-        </inertia>
-      </inertial>
-      <collision name="rear_left_flipper_wheel4_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.04981</length>
-            <radius>0.044</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-    </link>
-    <joint name="rear_left_flipper_wheel4_j" type="revolute">
-      <child>rear_left_flipper_wheel4</child>
-      <parent>rear_left_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="rear_left_flipper_wheel5">
-      <pose>-0.573827 0.272 -0.044032 3.1415926535897931 0.193732 3.1415926535897931</pose>
-      <inertial>
-        <pose>0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
-        <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
-        </inertia>
-      </inertial>
-      <collision name="rear_left_flipper_wheel5_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.04981</length>
-            <radius>0.029</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-    </link>
-    <joint name="rear_left_flipper_wheel5_j" type="revolute">
-      <child>rear_left_flipper_wheel5</child>
-      <parent>rear_left_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="cliff_sensor_0">
-      <pose>0.275 0.119535 0.2035 -1.5707963267948966 1.5707963267948966 0</pose>
-      <inertial>
-        <pose>0.0105 0 0.00925 0 -0 0</pose>
-        <mass>0.012</mass>
-        <inertia>
-          <ixx>1.56725e-06</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>7.8325e-07</iyy>
-          <iyz>0</iyz>
-          <izz>1.666e-06</izz>
-        </inertia>
-      </inertial>
-      <collision name="cliff_sensor_0_collision">
-        <pose>0.0105 0 0.00925 0 -0 0</pose>
-        <geometry>
-          <box>
-            <size>0.021 0.035 0.0185</size>
-          </box>
-        </geometry>
-      </collision>
-      <visual name="cliff_sensor_0_visual">
-        <geometry>
-          <mesh>
-            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/tfmini_plus_lidar.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-      <sensor name="laser" type="gpu_lidar">
-        <pose>0.021 0 0.00925 0 -0 0</pose>
-        <update_rate>10</update_rate>
-        <visualize>0</visualize>
-        <always_on>1</always_on>
-        <lidar>
-          <scan>
-            <horizontal>
-              <samples>3</samples>
-              <resolution>1</resolution>
-              <min_angle>-0.0314159</min_angle>
-              <max_angle>0.0314159</max_angle>
-            </horizontal>
-            <vertical>
-              <samples>3</samples>
-              <resolution>1</resolution>
-              <min_angle>-0.0314159</min_angle>
-              <max_angle>0.0314159</max_angle>
-            </vertical>
-          </scan>
-          <range>
-            <min>0.1</min>
-            <max>12</max>
-            <resolution>0.01</resolution>
-          </range>
-          <noise>
-            <type>gaussian</type>
-            <mean>0</mean>
-            <stddev>0.015</stddev>
-          </noise>
-        </lidar>
-      </sensor>
-    </link>
-    <joint name="cliff_sensor_0_j" type="fixed">
-      <child>cliff_sensor_0</child>
-      <parent>base_link</parent>
-      <axis>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <xyz>0 0 1</xyz>
-        <use_parent_model_frame>0</use_parent_model_frame>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-      </axis>
-      <physics>
-        <ode>
-          <limit>
-            <cfm>0</cfm>
-            <erp>0.2</erp>
-          </limit>
-        </ode>
-      </physics>
-    </joint>
-    <link name="cliff_sensor_1">
-      <pose>0.275 -0.120465 0.2035 1.5707963267948966 1.5707963267948966 0</pose>
-      <inertial>
-        <pose>0.0105 0 0.00925 0 -0 0</pose>
-        <mass>0.012</mass>
-        <inertia>
-          <ixx>1.56725e-06</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>7.8325e-07</iyy>
-          <iyz>0</iyz>
-          <izz>1.666e-06</izz>
-        </inertia>
-      </inertial>
-      <collision name="cliff_sensor_1_collision">
-        <pose>0.0105 0 0.00925 0 -0 0</pose>
-        <geometry>
-          <box>
-            <size>0.021 0.035 0.0185</size>
-          </box>
-        </geometry>
-      </collision>
-      <visual name="cliff_sensor_1_visual">
-        <geometry>
-          <mesh>
-            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/tfmini_plus_lidar.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-      <sensor name="laser" type="gpu_lidar">
-        <pose>0.021 0 0.00925 0 -0 0</pose>
-        <update_rate>10</update_rate>
-        <visualize>0</visualize>
-        <always_on>1</always_on>
-        <lidar>
-          <scan>
-            <horizontal>
-              <samples>3</samples>
-              <resolution>1</resolution>
-              <min_angle>-0.0314159</min_angle>
-              <max_angle>0.0314159</max_angle>
-            </horizontal>
-            <vertical>
-              <samples>3</samples>
-              <resolution>1</resolution>
-              <min_angle>-0.0314159</min_angle>
-              <max_angle>0.0314159</max_angle>
-            </vertical>
-          </scan>
-          <range>
-            <min>0.1</min>
-            <max>12</max>
-            <resolution>0.01</resolution>
-          </range>
-          <noise>
-            <type>gaussian</type>
-            <mean>0</mean>
-            <stddev>0.015</stddev>
-          </noise>
-        </lidar>
-      </sensor>
-    </link>
-    <joint name="cliff_sensor_1_j" type="fixed">
-      <child>cliff_sensor_1</child>
-      <parent>base_link</parent>
-      <axis>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <xyz>0 0 1</xyz>
-        <use_parent_model_frame>0</use_parent_model_frame>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-      </axis>
-      <physics>
-        <ode>
-          <limit>
-            <cfm>0</cfm>
-            <erp>0.2</erp>
-          </limit>
-        </ode>
-      </physics>
-    </joint>
-    <link name="cliff_sensor_2">
-      <pose>-0.275 0.119535 0.2035 -1.5707963267948966 1.5707963267948966 0</pose>
-      <inertial>
-        <pose>0.0105 0 0.00925 0 -0 0</pose>
-        <mass>0.012</mass>
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-          <ixx>1.56725e-06</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>7.8325e-07</iyy>
-          <iyz>0</iyz>
-          <izz>1.666e-06</izz>
-        </inertia>
-      </inertial>
-      <collision name="cliff_sensor_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">
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-        <update_rate>10</update_rate>
-        <visualize>0</visualize>
-        <always_on>1</always_on>
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-              <samples>3</samples>
-              <resolution>1</resolution>
-              <min_angle>-0.0314159</min_angle>
-              <max_angle>0.0314159</max_angle>
-            </horizontal>
-            <vertical>
-              <samples>3</samples>
-              <resolution>1</resolution>
-              <min_angle>-0.0314159</min_angle>
-              <max_angle>0.0314159</max_angle>
-            </vertical>
-          </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>
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-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <xyz>0 0 1</xyz>
-        <use_parent_model_frame>0</use_parent_model_frame>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
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-            <cfm>0</cfm>
-            <erp>0.2</erp>
-          </limit>
-        </ode>
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-    </joint>
-    <link name="cliff_sensor_3">
-      <pose>-0.275 -0.120465 0.2035 1.5707963267948966 1.5707963267948966 0</pose>
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-        <pose>0.0105 0 0.00925 0 -0 0</pose>
-        <mass>0.012</mass>
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-          <ixx>1.56725e-06</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>7.8325e-07</iyy>
-          <iyz>0</iyz>
-          <izz>1.666e-06</izz>
-        </inertia>
-      </inertial>
-      <collision name="cliff_sensor_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>
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-              <samples>3</samples>
-              <resolution>1</resolution>
-              <min_angle>-0.0314159</min_angle>
-              <max_angle>0.0314159</max_angle>
-            </horizontal>
-            <vertical>
-              <samples>3</samples>
-              <resolution>1</resolution>
-              <min_angle>-0.0314159</min_angle>
-              <max_angle>0.0314159</max_angle>
-            </vertical>
-          </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>
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-            <cfm>0</cfm>
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-        </ode>
-      </physics>
-    </joint>
-    <link name="thermocam">
-      <pose>0.225 -0.000465 0.185 0 -0 0</pose>
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-        <pose>0.0155 0 0 0 -0 0</pose>
-        <mass>0.024</mass>
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-          <ixx>1.764e-06</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>4.58e-06</iyy>
-          <iyz>0</iyz>
-          <izz>4.58e-06</izz>
-        </inertia>
-      </inertial>
-      <collision name="thermocam_collision">
-        <pose>0.0155 0 0 0 -0 0</pose>
-        <geometry>
-          <box>
-            <size>0.043 0.021 0.021</size>
-          </box>
-        </geometry>
-      </collision>
-      <visual name="thermocam_visual">
-        <pose>0 0 0.0105 0 -0 0</pose>
-        <geometry>
-          <mesh>
-            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/flir_boson.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-      <sensor name="thermal_camera" type="thermal_camera">
-        <pose>0.03 0 0 0 -0 0</pose>
-        <always_on>1</always_on>
-        <update_rate>8.6</update_rate>
-        <visualize>0</visualize>
-        <camera name="thermal_camera">
-          <horizontal_fov>1.6057</horizontal_fov>
-          <lens>
-            <intrinsics>
-              <fx>154.51</fx>
-              <fy>154.51</fy>
-              <cx>160.5</cx>
-              <cy>128.5</cy>
-              <s>0</s>
-            </intrinsics>
-            <type>stereographic</type>
-            <scale_to_hfov>1</scale_to_hfov>
-          </lens>
-          <image>
-            <width>320</width>
-            <height>256</height>
-            <format>L8</format>
-          </image>
-          <clip>
-            <near>0.6</near>
-            <far>50</far>
-          </clip>
-        </camera>
-        <plugin name="ignition::gazebo::systems::ThermalSensor" filename="ignition-gazebo-thermal-sensor-system">
-          <min_temp>253.15</min_temp>
-          <max_temp>673.15</max_temp>
-          <resolution>1.6</resolution>
-        </plugin>
-      </sensor>
-    </link>
-    <joint name="thermocam_j" type="fixed">
-      <child>thermocam</child>
-      <parent>base_link</parent>
-      <axis>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <xyz>0 0 1</xyz>
-        <use_parent_model_frame>0</use_parent_model_frame>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-      </axis>
-      <physics>
-        <ode>
-          <limit>
-            <cfm>0</cfm>
-            <erp>0.2</erp>
-          </limit>
-        </ode>
-      </physics>
-    </joint>
-    <link name="laser">
-      <pose>0.1615 0 0.39 0 0.25 0</pose>
-      <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">
+      <collision name="cliff_sensor_2_collision">
+        <pose>0.0105 0 0.00925 0 -0 0</pose>
         <geometry>
           <box>
-            <size>0.01 0.01 0.01</size>
+            <size>0.021 0.035 0.0185</size>
           </box>
         </geometry>
-        <surface>
-          <friction>
-            <ode>
-              <mu>0.7</mu>
-              <mu2>150</mu2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
       </collision>
-      <visual name="rear_right_flipper_visual">
-        <pose>0 0 0 -2.95743 -0 -1.5707963267948966</pose>
+      <visual name="cliff_sensor_2_visual">
         <geometry>
           <mesh>
-            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/flipper.dae</uri>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/tfmini_plus_lidar.dae</uri>
           </mesh>
         </geometry>
       </visual>
+      <sensor name="laser" type="gpu_lidar">
+        <pose>0.021 0 0.00925 0 -0 0</pose>
+        <update_rate>10</update_rate>
+        <visualize>0</visualize>
+        <always_on>1</always_on>
+        <lidar>
+          <scan>
+            <horizontal>
+              <samples>3</samples>
+              <resolution>1</resolution>
+              <min_angle>-0.0314159</min_angle>
+              <max_angle>0.0314159</max_angle>
+            </horizontal>
+            <vertical>
+              <samples>3</samples>
+              <resolution>1</resolution>
+              <min_angle>-0.0314159</min_angle>
+              <max_angle>0.0314159</max_angle>
+            </vertical>
+          </scan>
+          <range>
+            <min>0.1</min>
+            <max>12</max>
+            <resolution>0.01</resolution>
+          </range>
+          <noise>
+            <type>gaussian</type>
+            <mean>0</mean>
+            <stddev>0.015</stddev>
+          </noise>
+        </lidar>
+      </sensor>
     </link>
-    <joint name="rear_right_flipper_j" type="revolute">
-      <child>rear_right_flipper</child>
-      <parent>right_track</parent>
+    <joint name="cliff_sensor_2_j" type="fixed">
+      <child>cliff_sensor_2</child>
+      <parent>base_link</parent>
       <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>20</effort>
-          <velocity>0.785398</velocity>
-        </limit>
         <dynamics>
           <spring_reference>0</spring_reference>
           <spring_stiffness>0</spring_stiffness>
         </dynamics>
+        <xyz>0 0 1</xyz>
         <use_parent_model_frame>0</use_parent_model_frame>
+        <limit>
+          <lower>-1e+16</lower>
+          <upper>1e+16</upper>
+        </limit>
       </axis>
       <physics>
         <ode>
-          <implicit_spring_damper>1</implicit_spring_damper>
-          <cfm_damping>1</cfm_damping>
           <limit>
             <cfm>0</cfm>
             <erp>0.2</erp>
@@ -2914,296 +1320,273 @@
         </ode>
       </physics>
     </joint>
-    <link name="rear_right_flipper_wheel1">
-      <pose>-0.25 -0.272 0.0195 0 -0.193732 0</pose>
+    <link name="cliff_sensor_3">
+      <pose>-0.275 -0.120465 0.2035 1.5707963267948966 1.5707963267948966 0</pose>
       <inertial>
-        <pose>-0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
+        <pose>0.0105 0 0.00925 0 -0 0</pose>
+        <mass>0.012</mass>
         <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
+          <ixx>1.56725e-06</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>7.8325e-07</iyy>
+          <iyz>0</iyz>
+          <izz>1.666e-06</izz>
         </inertia>
       </inertial>
-      <collision name="rear_right_flipper_wheel1_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="cliff_sensor_3_collision">
+        <pose>0.0105 0 0.00925 0 -0 0</pose>
         <geometry>
-          <cylinder>
-            <length>0.04981</length>
-            <radius>0.089</radius>
-          </cylinder>
+          <box>
+            <size>0.021 0.035 0.0185</size>
+          </box>
         </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
       </collision>
+      <visual name="cliff_sensor_3_visual">
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/tfmini_plus_lidar.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <sensor name="laser" type="gpu_lidar">
+        <pose>0.021 0 0.00925 0 -0 0</pose>
+        <update_rate>10</update_rate>
+        <visualize>0</visualize>
+        <always_on>1</always_on>
+        <lidar>
+          <scan>
+            <horizontal>
+              <samples>3</samples>
+              <resolution>1</resolution>
+              <min_angle>-0.0314159</min_angle>
+              <max_angle>0.0314159</max_angle>
+            </horizontal>
+            <vertical>
+              <samples>3</samples>
+              <resolution>1</resolution>
+              <min_angle>-0.0314159</min_angle>
+              <max_angle>0.0314159</max_angle>
+            </vertical>
+          </scan>
+          <range>
+            <min>0.1</min>
+            <max>12</max>
+            <resolution>0.01</resolution>
+          </range>
+          <noise>
+            <type>gaussian</type>
+            <mean>0</mean>
+            <stddev>0.015</stddev>
+          </noise>
+        </lidar>
+      </sensor>
     </link>
-    <joint name="rear_right_flipper_wheel1_j" type="revolute">
-      <child>rear_right_flipper_wheel1</child>
-      <parent>rear_right_flipper</parent>
+    <joint name="cliff_sensor_3_j" type="fixed">
+      <child>cliff_sensor_3</child>
+      <parent>base_link</parent>
       <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
         <dynamics>
           <spring_reference>0</spring_reference>
           <spring_stiffness>0</spring_stiffness>
         </dynamics>
+        <xyz>0 0 1</xyz>
         <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="rear_right_flipper_wheel2">
-      <pose>-0.330957 -0.272 0.003617 0 -0.193732 0</pose>
-      <inertial>
-        <pose>-0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
-        <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
-        </inertia>
-      </inertial>
-      <collision name="rear_right_flipper_wheel2_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.04981</length>
-            <radius>0.074</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-    </link>
-    <joint name="rear_right_flipper_wheel2_j" type="revolute">
-      <child>rear_right_flipper_wheel2</child>
-      <parent>rear_right_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
         <limit>
           <lower>-1e+16</lower>
           <upper>1e+16</upper>
         </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
       </axis>
+      <physics>
+        <ode>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+        </ode>
+      </physics>
     </joint>
-    <link name="rear_right_flipper_wheel3">
-      <pose>-0.411913 -0.272 -0.012266 0 -0.193732 0</pose>
+    <link name="thermocam">
+      <pose>0.225 -0.000465 0.185 0 -0 0</pose>
       <inertial>
-        <pose>-0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
+        <pose>0.0155 0 0 0 -0 0</pose>
+        <mass>0.024</mass>
         <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
+          <ixx>1.764e-06</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>4.58e-06</iyy>
+          <iyz>0</iyz>
+          <izz>4.58e-06</izz>
         </inertia>
       </inertial>
-      <collision name="rear_right_flipper_wheel3_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="thermocam_collision">
+        <pose>0.0155 0 0 0 -0 0</pose>
         <geometry>
-          <cylinder>
-            <length>0.04981</length>
-            <radius>0.059</radius>
-          </cylinder>
+          <box>
+            <size>0.043 0.021 0.021</size>
+          </box>
         </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
       </collision>
+      <visual name="thermocam_visual">
+        <pose>0 0 0.0105 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/flir_boson.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <sensor name="thermal_camera" type="thermal_camera">
+        <pose>0.03 0 0 0 -0 0</pose>
+        <always_on>1</always_on>
+        <update_rate>8.6</update_rate>
+        <visualize>0</visualize>
+        <camera name="thermal_camera">
+          <horizontal_fov>1.6057</horizontal_fov>
+          <lens>
+            <intrinsics>
+              <fx>154.51</fx>
+              <fy>154.51</fy>
+              <cx>160.5</cx>
+              <cy>128.5</cy>
+              <s>0</s>
+            </intrinsics>
+            <type>stereographic</type>
+            <scale_to_hfov>1</scale_to_hfov>
+          </lens>
+          <image>
+            <width>320</width>
+            <height>256</height>
+            <format>L8</format>
+          </image>
+          <clip>
+            <near>0.6</near>
+            <far>50</far>
+          </clip>
+        </camera>
+        <plugin name="ignition::gazebo::systems::ThermalSensor" filename="ignition-gazebo-thermal-sensor-system">
+          <min_temp>253.15</min_temp>
+          <max_temp>673.15</max_temp>
+          <resolution>1.6</resolution>
+        </plugin>
+      </sensor>
     </link>
-    <joint name="rear_right_flipper_wheel3_j" type="revolute">
-      <child>rear_right_flipper_wheel3</child>
-      <parent>rear_right_flipper</parent>
+    <joint name="thermocam_j" type="fixed">
+      <child>thermocam</child>
+      <parent>base_link</parent>
       <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
         <dynamics>
           <spring_reference>0</spring_reference>
           <spring_stiffness>0</spring_stiffness>
         </dynamics>
+        <xyz>0 0 1</xyz>
         <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="rear_right_flipper_wheel4">
-      <pose>-0.49287 -0.272 -0.028149 0 -0.193732 0</pose>
-      <inertial>
-        <pose>-0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
-        <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
-        </inertia>
-      </inertial>
-      <collision name="rear_right_flipper_wheel4_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.04981</length>
-            <radius>0.044</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-    </link>
-    <joint name="rear_right_flipper_wheel4_j" type="revolute">
-      <child>rear_right_flipper_wheel4</child>
-      <parent>rear_right_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
         <limit>
           <lower>-1e+16</lower>
           <upper>1e+16</upper>
         </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
       </axis>
+      <physics>
+        <ode>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+        </ode>
+      </physics>
     </joint>
-    <link name="rear_right_flipper_wheel5">
-      <pose>-0.573827 -0.272 -0.044032 0 -0.193732 0</pose>
+    <link name="laser">
+      <pose>0.1615 0 0.39 0 0.25 0</pose>
       <inertial>
-        <pose>-0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
+        <pose>0 0 0.03675 0 -0 0</pose>
+        <mass>0.5</mass>
         <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
+          <ixx>0.000461625</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.000461625</iyy>
+          <iyz>0</iyz>
+          <izz>0.000473063</izz>
         </inertia>
       </inertial>
-      <collision name="rear_right_flipper_wheel5_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="laser_collision">
+        <pose>0 0 0.03675 0 -0 0</pose>
         <geometry>
           <cylinder>
-            <length>0.04981</length>
-            <radius>0.029</radius>
+            <length>0.0735</length>
+            <radius>0.0435</radius>
           </cylinder>
         </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
       </collision>
+      <visual name="laser_visual">
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/ouster-os0.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <sensor name="laser" type="gpu_lidar">
+        <pose>0 0 0.035925 0 -0 0</pose>
+        <update_rate>10</update_rate>
+        <visualize>0</visualize>
+        <always_on>1</always_on>
+        <lidar>
+          <scan>
+            <horizontal>
+              <samples>2048</samples>
+              <resolution>1</resolution>
+              <min_angle>-3.1459</min_angle>
+              <max_angle>3.1459</max_angle>
+            </horizontal>
+            <vertical>
+              <samples>128</samples>
+              <resolution>1</resolution>
+              <min_angle>-0.785398</min_angle>
+              <max_angle>0.785398</max_angle>
+            </vertical>
+          </scan>
+          <range>
+            <min>0.1</min>
+            <max>50</max>
+            <resolution>0.01</resolution>
+          </range>
+          <noise>
+            <type>gaussian</type>
+            <mean>0</mean>
+            <stddev>0.01</stddev>
+          </noise>
+        </lidar>
+      </sensor>
     </link>
-    <joint name="rear_right_flipper_wheel5_j" type="revolute">
-      <child>rear_right_flipper_wheel5</child>
-      <parent>rear_right_flipper</parent>
+    <joint name="laser_j" type="fixed">
+      <child>laser</child>
+      <parent>base_link</parent>
       <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
         <dynamics>
           <spring_reference>0</spring_reference>
           <spring_stiffness>0</spring_stiffness>
         </dynamics>
+        <xyz>0 0 1</xyz>
         <use_parent_model_frame>0</use_parent_model_frame>
+        <limit>
+          <lower>-1e+16</lower>
+          <upper>1e+16</upper>
+        </limit>
       </axis>
+      <physics>
+        <ode>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+        </ode>
+      </physics>
     </joint>
-    <link name="right_track_wheel1">
-      <pose>0.25 -0.1985 0.01855 0 -0 0</pose>
+    <link name="right_track">
+      <pose>0 -0.1985 0 0 -0 0</pose>
       <inertial>
         <pose>0 0 0.0141 0 -0 0</pose>
-        <mass>0.7575</mass>
+        <mass>6.06</mass>
         <inertia>
           <ixx>0.002731</ixx>
           <ixy>0</ixy>
@@ -3213,8 +1596,25 @@
           <izz>0.031391</izz>
         </inertia>
       </inertial>
-      <collision name="right_track_wheel1_collision">
-        <pose>0 0.015 0 1.5707963267948966 -0 0</pose>
+      <collision name="right_track_collision">
+        <pose>0 0 0.01855 1.5707963267948966 -0 1.5707963267948966</pose>
+        <geometry>
+          <box>
+            <size>0.097 0.178 0.5</size>
+          </box>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>10</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="right_track_collision_1">
+        <pose>0.25 0.015 0.01855 1.5707963267948966 -0 0</pose>
         <geometry>
           <cylinder>
             <length>0.112</length>
@@ -3222,56 +1622,17 @@
           </cylinder>
         </geometry>
         <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
           <friction>
             <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
+              <mu>10</mu>
+              <mu2>150</mu2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
-    </link>
-    <joint name="right_track_wheel1_j" type="revolute">
-      <child>right_track_wheel1</child>
-      <parent>right_track</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="right_track_wheel2">
-      <pose>0.178571 -0.1985 0.01855 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0.0141 0 -0 0</pose>
-        <mass>0.7575</mass>
-        <inertia>
-          <ixx>0.002731</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.032554</iyy>
-          <iyz>1.5e-05</iyz>
-          <izz>0.031391</izz>
-        </inertia>
-      </inertial>
-      <collision name="right_track_wheel2_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="right_track_collision_2">
+        <pose>-0.25 0 0.01855 1.5707963267948966 -0 0</pose>
         <geometry>
           <cylinder>
             <length>0.097</length>
@@ -3279,32 +1640,34 @@
           </cylinder>
         </geometry>
         <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
           <friction>
             <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
+              <mu>10</mu>
+              <mu2>150</mu2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
+      <visual name="right_track_visual">
+        <pose>0 0 -0.0705 1.5707963267948966 0 -1.5707963267948966</pose>
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/bogie.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
     </link>
-    <joint name="right_track_wheel2_j" type="revolute">
-      <child>right_track_wheel2</child>
-      <parent>right_track</parent>
+    <joint name="right_track_j" type="revolute">
+      <child>right_track</child>
+      <parent>base_link</parent>
       <axis>
         <xyz>0 1 0</xyz>
         <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
+          <lower>0</lower>
+          <upper>0</upper>
+          <effort>0</effort>
+          <velocity>4</velocity>
         </limit>
         <dynamics>
           <spring_reference>0</spring_reference>
@@ -3312,170 +1675,142 @@
         </dynamics>
         <use_parent_model_frame>0</use_parent_model_frame>
       </axis>
+      <physics>
+        <ode>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+        </ode>
+      </physics>
+      <physics>
+        <ode>
+          <implicit_spring_damper>1</implicit_spring_damper>
+          <cfm>0</cfm>
+          <erp>0.95</erp>
+        </ode>
+      </physics>
     </joint>
-    <link name="right_track_wheel3">
-      <pose>0.107143 -0.1985 0.01855 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0.0141 0 -0 0</pose>
-        <mass>0.7575</mass>
-        <inertia>
-          <ixx>0.002731</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.032554</iyy>
-          <iyz>1.5e-05</iyz>
-          <izz>0.031391</izz>
+    <link name="front_right_flipper">
+      <pose>0.25 -0.272 0.0195 3.1415926535897931 -0.193732 3.1415926535897931</pose>
+      <inertial>
+        <pose>-0.08 0 0 0 -0 0</pose>
+        <mass>0.75</mass>
+        <inertia>
+          <ixx>0.0017491</ixx>
+          <ixy>2.8512e-07</ixy>
+          <ixz>0.0018277</ixz>
+          <iyy>0.012277</iyy>
+          <iyz>-3.6288e-07</iyz>
+          <izz>0.010941</izz>
         </inertia>
       </inertial>
-      <collision name="right_track_wheel3_collision">
+      <collision name="front_right_flipper_collision_large_wheel_collision">
         <pose>0 0 0 1.5707963267948966 -0 0</pose>
         <geometry>
           <cylinder>
-            <length>0.097</length>
+            <length>0.04981</length>
             <radius>0.089</radius>
           </cylinder>
         </geometry>
         <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
           <friction>
             <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
+              <mu>10</mu>
+              <mu2>150</mu2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
-    </link>
-    <joint name="right_track_wheel3_j" type="revolute">
-      <child>right_track_wheel3</child>
-      <parent>right_track</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="right_track_wheel4">
-      <pose>0.035714 -0.1985 0.01855 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0.0141 0 -0 0</pose>
-        <mass>0.7575</mass>
-        <inertia>
-          <ixx>0.002731</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.032554</iyy>
-          <iyz>1.5e-05</iyz>
-          <izz>0.031391</izz>
-        </inertia>
-      </inertial>
-      <collision name="right_track_wheel4_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="front_right_flipper_collision_small_wheel_collision_1">
+        <pose>-0.33 0 0 1.5707963267948966 -0 0</pose>
         <geometry>
           <cylinder>
-            <length>0.097</length>
-            <radius>0.089</radius>
+            <length>0.04981</length>
+            <radius>0.029</radius>
           </cylinder>
         </geometry>
         <surface>
-          <contact>
+          <friction>
             <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
+              <mu>10</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
             </ode>
-          </contact>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="front_right_flipper_collision_top_bar_collision_2">
+        <pose>-0.165 0 0.0325 0 0.184162 -3.1415926535897931</pose>
+        <geometry>
+          <box>
+            <size>0.33 0.04981 0.055</size>
+          </box>
+        </geometry>
+        <surface>
           <friction>
             <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
+              <mu>10</mu>
+              <mu2>150</mu2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
-    </link>
-    <joint name="right_track_wheel4_j" type="revolute">
-      <child>right_track_wheel4</child>
-      <parent>right_track</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="right_track_wheel5">
-      <pose>-0.035714 -0.1985 0.01855 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0.0141 0 -0 0</pose>
-        <mass>0.7575</mass>
-        <inertia>
-          <ixx>0.002731</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.032554</iyy>
-          <iyz>1.5e-05</iyz>
-          <izz>0.031391</izz>
-        </inertia>
-      </inertial>
-      <collision name="right_track_wheel5_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="front_right_flipper_collision_bottom_bar_collision_3">
+        <pose>-0.165 0 -0.0325 0 -0.184162 -3.1415926535897931</pose>
         <geometry>
-          <cylinder>
-            <length>0.097</length>
-            <radius>0.089</radius>
-          </cylinder>
+          <box>
+            <size>0.33 0.04981 0.055</size>
+          </box>
         </geometry>
         <surface>
-          <contact>
+          <friction>
             <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
+              <mu>10</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
             </ode>
-          </contact>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="front_right_flipper_collision_middle_bar_collision_4">
+        <pose>-0.166 0 0.004 0 -0.02 -3.1415926535897931</pose>
+        <geometry>
+          <box>
+            <size>0.2 0.04981 0.07</size>
+          </box>
+        </geometry>
+        <surface>
           <friction>
             <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
+              <mu>10</mu>
+              <mu2>150</mu2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
+      <visual name="front_right_flipper_visual">
+        <pose>0 0 0 -2.95743 -0 -1.5707963267948966</pose>
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/flipper.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
     </link>
-    <joint name="right_track_wheel5_j" type="revolute">
-      <child>right_track_wheel5</child>
+    <joint name="front_right_flipper_j" type="revolute">
+      <child>front_right_flipper</child>
       <parent>right_track</parent>
       <axis>
         <xyz>0 1 0</xyz>
         <limit>
           <lower>-1e+16</lower>
           <upper>1e+16</upper>
+          <effort>20</effort>
+          <velocity>0.785398</velocity>
         </limit>
         <dynamics>
           <spring_reference>0</spring_reference>
@@ -3483,170 +1818,137 @@
         </dynamics>
         <use_parent_model_frame>0</use_parent_model_frame>
       </axis>
+      <physics>
+        <ode>
+          <implicit_spring_damper>1</implicit_spring_damper>
+          <cfm_damping>1</cfm_damping>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+        </ode>
+      </physics>
     </joint>
-    <link name="right_track_wheel6">
-      <pose>-0.107143 -0.1985 0.01855 0 -0 0</pose>
+    <link name="rear_right_flipper">
+      <pose>-0.25 -0.272 0.0195 0 -0.193732 0</pose>
       <inertial>
-        <pose>0 0 0.0141 0 -0 0</pose>
-        <mass>0.7575</mass>
+        <pose>-0.08 0 0 0 -0 0</pose>
+        <mass>0.75</mass>
         <inertia>
-          <ixx>0.002731</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.032554</iyy>
-          <iyz>1.5e-05</iyz>
-          <izz>0.031391</izz>
+          <ixx>0.0017491</ixx>
+          <ixy>2.8512e-07</ixy>
+          <ixz>0.0018277</ixz>
+          <iyy>0.012277</iyy>
+          <iyz>-3.6288e-07</iyz>
+          <izz>0.010941</izz>
         </inertia>
       </inertial>
-      <collision name="right_track_wheel6_collision">
+      <collision name="rear_right_flipper_collision_large_wheel_collision">
         <pose>0 0 0 1.5707963267948966 -0 0</pose>
         <geometry>
           <cylinder>
-            <length>0.097</length>
+            <length>0.04981</length>
             <radius>0.089</radius>
           </cylinder>
         </geometry>
         <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
           <friction>
             <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
+              <mu>10</mu>
+              <mu2>150</mu2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
-    </link>
-    <joint name="right_track_wheel6_j" type="revolute">
-      <child>right_track_wheel6</child>
-      <parent>right_track</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="right_track_wheel7">
-      <pose>-0.178571 -0.1985 0.01855 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0.0141 0 -0 0</pose>
-        <mass>0.7575</mass>
-        <inertia>
-          <ixx>0.002731</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.032554</iyy>
-          <iyz>1.5e-05</iyz>
-          <izz>0.031391</izz>
-        </inertia>
-      </inertial>
-      <collision name="right_track_wheel7_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="rear_right_flipper_collision_small_wheel_collision_1">
+        <pose>-0.33 0 0 1.5707963267948966 -0 0</pose>
         <geometry>
           <cylinder>
-            <length>0.097</length>
-            <radius>0.089</radius>
+            <length>0.04981</length>
+            <radius>0.029</radius>
           </cylinder>
         </geometry>
         <surface>
-          <contact>
+          <friction>
             <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
+              <mu>10</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
             </ode>
-          </contact>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="rear_right_flipper_collision_top_bar_collision_2">
+        <pose>-0.165 0 0.0325 0 0.184162 -3.1415926535897931</pose>
+        <geometry>
+          <box>
+            <size>0.33 0.04981 0.055</size>
+          </box>
+        </geometry>
+        <surface>
           <friction>
             <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
+              <mu>10</mu>
+              <mu2>150</mu2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
-    </link>
-    <joint name="right_track_wheel7_j" type="revolute">
-      <child>right_track_wheel7</child>
-      <parent>right_track</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="right_track_wheel8">
-      <pose>-0.25 -0.1985 0.01855 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0.0141 0 -0 0</pose>
-        <mass>0.7575</mass>
-        <inertia>
-          <ixx>0.002731</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.032554</iyy>
-          <iyz>1.5e-05</iyz>
-          <izz>0.031391</izz>
-        </inertia>
-      </inertial>
-      <collision name="right_track_wheel8_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="rear_right_flipper_collision_bottom_bar_collision_3">
+        <pose>-0.165 0 -0.0325 0 -0.184162 -3.1415926535897931</pose>
         <geometry>
-          <cylinder>
-            <length>0.097</length>
-            <radius>0.089</radius>
-          </cylinder>
+          <box>
+            <size>0.33 0.04981 0.055</size>
+          </box>
         </geometry>
         <surface>
-          <contact>
+          <friction>
             <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
+              <mu>10</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
             </ode>
-          </contact>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="rear_right_flipper_collision_middle_bar_collision_4">
+        <pose>-0.166 0 0.004 0 -0.02 -3.1415926535897931</pose>
+        <geometry>
+          <box>
+            <size>0.2 0.04981 0.07</size>
+          </box>
+        </geometry>
+        <surface>
           <friction>
             <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
+              <mu>10</mu>
+              <mu2>150</mu2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
+      <visual name="rear_right_flipper_visual">
+        <pose>0 0 0 -2.95743 -0 -1.5707963267948966</pose>
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/flipper.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
     </link>
-    <joint name="right_track_wheel8_j" type="revolute">
-      <child>right_track_wheel8</child>
+    <joint name="rear_right_flipper_j" type="revolute">
+      <child>rear_right_flipper</child>
       <parent>right_track</parent>
       <axis>
         <xyz>0 1 0</xyz>
         <limit>
           <lower>-1e+16</lower>
           <upper>1e+16</upper>
+          <effort>20</effort>
+          <velocity>0.785398</velocity>
         </limit>
         <dynamics>
           <spring_reference>0</spring_reference>
@@ -3654,6 +1956,16 @@
         </dynamics>
         <use_parent_model_frame>0</use_parent_model_frame>
       </axis>
+      <physics>
+        <ode>
+          <implicit_spring_damper>1</implicit_spring_damper>
+          <cfm_damping>1</cfm_damping>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+        </ode>
+      </physics>
     </joint>
     <plugin name="cras::FlipperControlPlugin" filename="libflipper_control_plugin.so">
       <joint_name>front_left_flipper_j</joint_name>
diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_6/model.sdf b/submitted_models/ctu_cras_norlab_absolem_sensor_config_6/model.sdf
index 04921230..3d63a844 100644
--- a/submitted_models/ctu_cras_norlab_absolem_sensor_config_6/model.sdf
+++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_6/model.sdf
@@ -347,7 +347,6 @@
         <always_on>1</always_on>
         <update_rate>50</update_rate>
         <imu>
-          <enable_orientation>0</enable_orientation>
           <angular_velocity>
             <x>
               <noise type="gaussian">
@@ -418,6 +417,7 @@
               </noise>
             </z>
           </linear_acceleration>
+          <enable_orientation>0</enable_orientation>
         </imu>
         <pose>0 0 0.15 -3.1415926535897931 -0 0</pose>
       </sensor>
@@ -442,26 +442,64 @@
     <link name="left_track">
       <pose>0 0.1985 0 0 -0 0</pose>
       <inertial>
-        <mass>1e-05</mass>
+        <pose>0 0 0.0141 0 -0 0</pose>
+        <mass>6.06</mass>
         <inertia>
-          <ixx>0.001</ixx>
-          <ixy>1e-06</ixy>
-          <ixz>1e-06</ixz>
-          <iyy>0.001</iyy>
-          <iyz>1e-06</iyz>
-          <izz>0.001</izz>
+          <ixx>0.002731</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.032554</iyy>
+          <iyz>1.5e-05</iyz>
+          <izz>0.031391</izz>
         </inertia>
       </inertial>
       <collision name="left_track_collision">
+        <pose>0 0 0.01855 1.5707963267948966 -0 1.5707963267948966</pose>
         <geometry>
           <box>
-            <size>0.01 0.01 0.01</size>
+            <size>0.097 0.178 0.5</size>
           </box>
         </geometry>
         <surface>
           <friction>
             <ode>
-              <mu>0.7</mu>
+              <mu>10</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="left_track_collision_1">
+        <pose>0.25 -0.015 0.01855 1.5707963267948966 -0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.112</length>
+            <radius>0.089</radius>
+          </cylinder>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>10</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="left_track_collision_2">
+        <pose>-0.25 0 0.01855 1.5707963267948966 -0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.097</length>
+            <radius>0.089</radius>
+          </cylinder>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>10</mu>
               <mu2>150</mu2>
               <fdir1>0 0 1</fdir1>
             </ode>
@@ -513,26 +551,98 @@
     <link name="front_left_flipper">
       <pose>0.25 0.272 0.0195 0 0.193732 0</pose>
       <inertial>
-        <mass>1e-05</mass>
+        <pose>0.08 0 0 0 -0 0</pose>
+        <mass>0.75</mass>
         <inertia>
-          <ixx>0.001</ixx>
-          <ixy>1e-06</ixy>
-          <ixz>1e-06</ixz>
-          <iyy>0.001</iyy>
-          <iyz>1e-06</iyz>
-          <izz>0.001</izz>
+          <ixx>0.0017491</ixx>
+          <ixy>2.8512e-07</ixy>
+          <ixz>0.0018277</ixz>
+          <iyy>0.012277</iyy>
+          <iyz>-3.6288e-07</iyz>
+          <izz>0.010941</izz>
         </inertia>
       </inertial>
-      <collision name="front_left_flipper_collision">
+      <collision name="front_left_flipper_collision_large_wheel_collision">
+        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.04981</length>
+            <radius>0.089</radius>
+          </cylinder>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>10</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="front_left_flipper_collision_small_wheel_collision_1">
+        <pose>0.33 0 0 1.5707963267948966 -0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.04981</length>
+            <radius>0.029</radius>
+          </cylinder>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>10</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="front_left_flipper_collision_top_bar_collision_2">
+        <pose>0.165 0 0.0325 0 0.184162 0</pose>
+        <geometry>
+          <box>
+            <size>0.33 0.04981 0.055</size>
+          </box>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>10</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="front_left_flipper_collision_bottom_bar_collision_3">
+        <pose>0.165 0 -0.0325 0 -0.184162 0</pose>
+        <geometry>
+          <box>
+            <size>0.33 0.04981 0.055</size>
+          </box>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>10</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="front_left_flipper_collision_middle_bar_collision_4">
+        <pose>0.166 0 0.004 0 -0.02 0</pose>
         <geometry>
           <box>
-            <size>0.01 0.01 0.01</size>
+            <size>0.2 0.04981 0.07</size>
           </box>
         </geometry>
         <surface>
           <friction>
             <ode>
-              <mu>0.7</mu>
+              <mu>10</mu>
               <mu2>150</mu2>
               <fdir1>0 0 1</fdir1>
             </ode>
@@ -576,11 +686,11 @@
         </ode>
       </physics>
     </joint>
-    <link name="front_left_flipper_wheel1">
-      <pose>0.25 0.272 0.0195 0 0.193732 0</pose>
+    <link name="rear_left_flipper">
+      <pose>-0.25 0.272 0.0195 3.1415926535897931 0.193732 3.1415926535897931</pose>
       <inertial>
         <pose>0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
+        <mass>0.75</mass>
         <inertia>
           <ixx>0.0017491</ixx>
           <ixy>2.8512e-07</ixy>
@@ -590,7 +700,7 @@
           <izz>0.010941</izz>
         </inertia>
       </inertial>
-      <collision name="front_left_flipper_wheel1_collision_collision">
+      <collision name="rear_left_flipper_collision_large_wheel_collision">
         <pose>0 0 0 1.5707963267948966 -0 0</pose>
         <geometry>
           <cylinder>
@@ -599,260 +709,103 @@
           </cylinder>
         </geometry>
         <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
           <friction>
             <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
+              <mu>10</mu>
+              <mu2>150</mu2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
-    </link>
-    <joint name="front_left_flipper_wheel1_j" type="revolute">
-      <child>front_left_flipper_wheel1</child>
-      <parent>front_left_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="front_left_flipper_wheel2">
-      <pose>0.330957 0.272 0.003617 0 0.193732 0</pose>
-      <inertial>
-        <pose>0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
-        <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
-        </inertia>
-      </inertial>
-      <collision name="front_left_flipper_wheel2_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="rear_left_flipper_collision_small_wheel_collision_1">
+        <pose>0.33 0 0 1.5707963267948966 -0 0</pose>
         <geometry>
           <cylinder>
             <length>0.04981</length>
-            <radius>0.074</radius>
+            <radius>0.029</radius>
           </cylinder>
         </geometry>
         <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
           <friction>
             <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
+              <mu>10</mu>
+              <mu2>150</mu2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
-    </link>
-    <joint name="front_left_flipper_wheel2_j" type="revolute">
-      <child>front_left_flipper_wheel2</child>
-      <parent>front_left_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="front_left_flipper_wheel3">
-      <pose>0.411913 0.272 -0.012266 0 0.193732 0</pose>
-      <inertial>
-        <pose>0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
-        <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
-        </inertia>
-      </inertial>
-      <collision name="front_left_flipper_wheel3_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="rear_left_flipper_collision_top_bar_collision_2">
+        <pose>0.165 0 0.0325 0 0.184162 0</pose>
         <geometry>
-          <cylinder>
-            <length>0.04981</length>
-            <radius>0.059</radius>
-          </cylinder>
+          <box>
+            <size>0.33 0.04981 0.055</size>
+          </box>
         </geometry>
         <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
           <friction>
             <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
+              <mu>10</mu>
+              <mu2>150</mu2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
-    </link>
-    <joint name="front_left_flipper_wheel3_j" type="revolute">
-      <child>front_left_flipper_wheel3</child>
-      <parent>front_left_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="front_left_flipper_wheel4">
-      <pose>0.49287 0.272 -0.028149 0 0.193732 0</pose>
-      <inertial>
-        <pose>0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
-        <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
-        </inertia>
-      </inertial>
-      <collision name="front_left_flipper_wheel4_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="rear_left_flipper_collision_bottom_bar_collision_3">
+        <pose>0.165 0 -0.0325 0 -0.184162 0</pose>
         <geometry>
-          <cylinder>
-            <length>0.04981</length>
-            <radius>0.044</radius>
-          </cylinder>
+          <box>
+            <size>0.33 0.04981 0.055</size>
+          </box>
         </geometry>
         <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
           <friction>
             <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
+              <mu>10</mu>
+              <mu2>150</mu2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
-    </link>
-    <joint name="front_left_flipper_wheel4_j" type="revolute">
-      <child>front_left_flipper_wheel4</child>
-      <parent>front_left_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="front_left_flipper_wheel5">
-      <pose>0.573827 0.272 -0.044032 0 0.193732 0</pose>
-      <inertial>
-        <pose>0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
-        <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
-        </inertia>
-      </inertial>
-      <collision name="front_left_flipper_wheel5_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="rear_left_flipper_collision_middle_bar_collision_4">
+        <pose>0.166 0 0.004 0 -0.02 0</pose>
         <geometry>
-          <cylinder>
-            <length>0.04981</length>
-            <radius>0.029</radius>
-          </cylinder>
+          <box>
+            <size>0.2 0.04981 0.07</size>
+          </box>
         </geometry>
         <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
           <friction>
             <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
+              <mu>10</mu>
+              <mu2>150</mu2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
+      <visual name="rear_left_flipper_visual">
+        <pose>0 0 0 -2.95743 -0 1.5707963267948966</pose>
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/flipper.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
     </link>
-    <joint name="front_left_flipper_wheel5_j" type="revolute">
-      <child>front_left_flipper_wheel5</child>
-      <parent>front_left_flipper</parent>
+    <joint name="rear_left_flipper_j" type="revolute">
+      <child>rear_left_flipper</child>
+      <parent>left_track</parent>
       <axis>
         <xyz>0 1 0</xyz>
         <limit>
           <lower>-1e+16</lower>
           <upper>1e+16</upper>
+          <effort>20</effort>
+          <velocity>0.785398</velocity>
         </limit>
         <dynamics>
           <spring_reference>0</spring_reference>
@@ -860,522 +813,610 @@
         </dynamics>
         <use_parent_model_frame>0</use_parent_model_frame>
       </axis>
-    </joint>
-    <link name="left_track_wheel1">
-      <pose>0.25 0.1985 0.01855 0 -0 0</pose>
+      <physics>
+        <ode>
+          <implicit_spring_damper>1</implicit_spring_damper>
+          <cfm_damping>1</cfm_damping>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+        </ode>
+      </physics>
+    </joint>
+    <link name="camera_0">
+      <pose>0.185 0 0.195 0 -0 0</pose>
       <inertial>
-        <pose>0 0 0.0141 0 -0 0</pose>
-        <mass>0.7575</mass>
+        <pose>0.039802 0 0.0145 0 -0 0</pose>
+        <mass>0.232</mass>
         <inertia>
-          <ixx>0.002731</ixx>
+          <ixx>3.25187e-05</ixx>
           <ixy>0</ixy>
           <ixz>0</ixz>
-          <iyy>0.032554</iyy>
-          <iyz>1.5e-05</iyz>
-          <izz>0.031391</izz>
+          <iyy>0.000158598</iyy>
+          <iyz>0</iyz>
+          <izz>0.000158598</izz>
         </inertia>
       </inertial>
-      <collision name="left_track_wheel1_collision">
-        <pose>0 -0.015 0 1.5707963267948966 -0 0</pose>
+      <collision name="camera_0_collision_collision">
+        <pose>0.02465 0 0.0145 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.0555 0.029 0.029</size>
+          </box>
+        </geometry>
+      </collision>
+      <collision name="camera_0_lens_collision_collision_1">
+        <pose>0.062834 0 0.0145 0 1.5707963267948966 0</pose>
         <geometry>
           <cylinder>
-            <length>0.112</length>
-            <radius>0.089</radius>
+            <length>0.03974</length>
+            <radius>0.0125</radius>
           </cylinder>
         </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
       </collision>
+      <visual name="camera_0_visual">
+        <pose>0 0 0.0145 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/basler_ace2_pro.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <visual name="camera_0_visual_1">
+        <pose>0.042964 0 0.0145 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/evetar_lens.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <visual name="camera_0_fixed_joint_lump__front_camera_holder_visual_2">
+        <pose>0.02 0 -0.005 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.04 0.025 0.01</size>
+          </box>
+        </geometry>
+      </visual>
+      <sensor name="camera_0" type="camera">
+        <pose>0.072044 0 0.0145 0 -0 0</pose>
+        <update_rate>9</update_rate>
+        <visualize>0</visualize>
+        <camera>
+          <horizontal_fov>1.50971</horizontal_fov>
+          <image>
+            <width>1920</width>
+            <height>1200</height>
+            <format>R8G8B8</format>
+          </image>
+          <clip>
+            <near>0.011726</near>
+            <far>300</far>
+          </clip>
+          <noise>
+            <type>gaussian</type>
+            <mean>0</mean>
+            <stddev>0.007</stddev>
+          </noise>
+          <lens>
+            <intrinsics>
+              <fx>1020.51</fx>
+              <fy>1020.51</fy>
+              <cx>959.5</cx>
+              <cy>599.5</cy>
+              <s>0</s>
+            </intrinsics>
+            <type>stereographic</type>
+            <scale_to_hfov>1</scale_to_hfov>
+          </lens>
+        </camera>
+      </sensor>
     </link>
-    <joint name="left_track_wheel1_j" type="revolute">
-      <child>left_track_wheel1</child>
-      <parent>left_track</parent>
+    <joint name="camera_0_j" type="fixed">
+      <child>camera_0</child>
+      <parent>base_link</parent>
       <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
         <dynamics>
           <spring_reference>0</spring_reference>
           <spring_stiffness>0</spring_stiffness>
         </dynamics>
+        <xyz>0 0 1</xyz>
         <use_parent_model_frame>0</use_parent_model_frame>
+        <limit>
+          <lower>-1e+16</lower>
+          <upper>1e+16</upper>
+        </limit>
       </axis>
+      <physics>
+        <ode>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+        </ode>
+      </physics>
     </joint>
-    <link name="left_track_wheel2">
-      <pose>0.178571 0.1985 0.01855 0 -0 0</pose>
+    <link name="camera_1">
+      <pose>-0.02 -0.037465 0.185 0 0 -1.5707963267948966</pose>
       <inertial>
-        <pose>0 0 0.0141 0 -0 0</pose>
-        <mass>0.7575</mass>
+        <pose>0.039802 0 0.0145 0 -0 0</pose>
+        <mass>0.232</mass>
         <inertia>
-          <ixx>0.002731</ixx>
+          <ixx>3.25187e-05</ixx>
           <ixy>0</ixy>
           <ixz>0</ixz>
-          <iyy>0.032554</iyy>
-          <iyz>1.5e-05</iyz>
-          <izz>0.031391</izz>
+          <iyy>0.000158598</iyy>
+          <iyz>0</iyz>
+          <izz>0.000158598</izz>
         </inertia>
       </inertial>
-      <collision name="left_track_wheel2_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="camera_1_collision_collision">
+        <pose>0.02465 0 0.0145 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.0555 0.029 0.029</size>
+          </box>
+        </geometry>
+      </collision>
+      <collision name="camera_1_lens_collision_collision_1">
+        <pose>0.062834 0 0.0145 0 1.5707963267948966 0</pose>
         <geometry>
           <cylinder>
-            <length>0.097</length>
-            <radius>0.089</radius>
+            <length>0.03974</length>
+            <radius>0.0125</radius>
           </cylinder>
         </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
       </collision>
+      <visual name="camera_1_visual">
+        <pose>0 0 0.0145 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/basler_ace2_pro.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <visual name="camera_1_visual_1">
+        <pose>0.042964 0 0.0145 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/evetar_lens.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <sensor name="camera_1" type="camera">
+        <pose>0.072044 0 0.0145 0 -0 0</pose>
+        <update_rate>9</update_rate>
+        <visualize>0</visualize>
+        <camera>
+          <horizontal_fov>1.50971</horizontal_fov>
+          <image>
+            <width>1920</width>
+            <height>1200</height>
+            <format>R8G8B8</format>
+          </image>
+          <clip>
+            <near>0.011726</near>
+            <far>300</far>
+          </clip>
+          <noise>
+            <type>gaussian</type>
+            <mean>0</mean>
+            <stddev>0.007</stddev>
+          </noise>
+          <lens>
+            <intrinsics>
+              <fx>1020.51</fx>
+              <fy>1020.51</fy>
+              <cx>959.5</cx>
+              <cy>599.5</cy>
+              <s>0</s>
+            </intrinsics>
+            <type>stereographic</type>
+            <scale_to_hfov>1</scale_to_hfov>
+          </lens>
+        </camera>
+      </sensor>
     </link>
-    <joint name="left_track_wheel2_j" type="revolute">
-      <child>left_track_wheel2</child>
-      <parent>left_track</parent>
+    <joint name="camera_1_j" type="fixed">
+      <child>camera_1</child>
+      <parent>base_link</parent>
       <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
         <dynamics>
           <spring_reference>0</spring_reference>
           <spring_stiffness>0</spring_stiffness>
         </dynamics>
+        <xyz>0 0 1</xyz>
         <use_parent_model_frame>0</use_parent_model_frame>
+        <limit>
+          <lower>-1e+16</lower>
+          <upper>1e+16</upper>
+        </limit>
       </axis>
+      <physics>
+        <ode>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+        </ode>
+      </physics>
     </joint>
-    <link name="left_track_wheel3">
-      <pose>0.107143 0.1985 0.01855 0 -0 0</pose>
+    <link name="camera_2">
+      <pose>-0.245 0 0.185 0 -0 3.1415926535897931</pose>
       <inertial>
-        <pose>0 0 0.0141 0 -0 0</pose>
-        <mass>0.7575</mass>
+        <pose>0.039802 0 0.0145 0 -0 0</pose>
+        <mass>0.232</mass>
         <inertia>
-          <ixx>0.002731</ixx>
+          <ixx>3.25187e-05</ixx>
           <ixy>0</ixy>
           <ixz>0</ixz>
-          <iyy>0.032554</iyy>
-          <iyz>1.5e-05</iyz>
-          <izz>0.031391</izz>
+          <iyy>0.000158598</iyy>
+          <iyz>0</iyz>
+          <izz>0.000158598</izz>
         </inertia>
       </inertial>
-      <collision name="left_track_wheel3_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="camera_2_collision_collision">
+        <pose>0.02465 0 0.0145 0 -0 0</pose>
         <geometry>
-          <cylinder>
-            <length>0.097</length>
-            <radius>0.089</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
+          <box>
+            <size>0.0555 0.029 0.029</size>
+          </box>
+        </geometry>
       </collision>
-    </link>
-    <joint name="left_track_wheel3_j" type="revolute">
-      <child>left_track_wheel3</child>
-      <parent>left_track</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="left_track_wheel4">
-      <pose>0.035714 0.1985 0.01855 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0.0141 0 -0 0</pose>
-        <mass>0.7575</mass>
-        <inertia>
-          <ixx>0.002731</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.032554</iyy>
-          <iyz>1.5e-05</iyz>
-          <izz>0.031391</izz>
-        </inertia>
-      </inertial>
-      <collision name="left_track_wheel4_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="camera_2_lens_collision_collision_1">
+        <pose>0.062834 0 0.0145 0 1.5707963267948966 0</pose>
         <geometry>
           <cylinder>
-            <length>0.097</length>
-            <radius>0.089</radius>
+            <length>0.03974</length>
+            <radius>0.0125</radius>
           </cylinder>
         </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
       </collision>
+      <visual name="camera_2_visual">
+        <pose>0 0 0.0145 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/basler_ace2_pro.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <visual name="camera_2_visual_1">
+        <pose>0.042964 0 0.0145 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/evetar_lens.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <sensor name="camera_2" type="camera">
+        <pose>0.072044 0 0.0145 0 -0 0</pose>
+        <update_rate>9</update_rate>
+        <visualize>0</visualize>
+        <camera>
+          <horizontal_fov>1.50971</horizontal_fov>
+          <image>
+            <width>1920</width>
+            <height>1200</height>
+            <format>R8G8B8</format>
+          </image>
+          <clip>
+            <near>0.011726</near>
+            <far>300</far>
+          </clip>
+          <noise>
+            <type>gaussian</type>
+            <mean>0</mean>
+            <stddev>0.007</stddev>
+          </noise>
+          <lens>
+            <intrinsics>
+              <fx>1020.51</fx>
+              <fy>1020.51</fy>
+              <cx>959.5</cx>
+              <cy>599.5</cy>
+              <s>0</s>
+            </intrinsics>
+            <type>stereographic</type>
+            <scale_to_hfov>1</scale_to_hfov>
+          </lens>
+        </camera>
+      </sensor>
     </link>
-    <joint name="left_track_wheel4_j" type="revolute">
-      <child>left_track_wheel4</child>
-      <parent>left_track</parent>
+    <joint name="camera_2_j" type="fixed">
+      <child>camera_2</child>
+      <parent>base_link</parent>
       <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
         <dynamics>
           <spring_reference>0</spring_reference>
           <spring_stiffness>0</spring_stiffness>
         </dynamics>
+        <xyz>0 0 1</xyz>
         <use_parent_model_frame>0</use_parent_model_frame>
+        <limit>
+          <lower>-1e+16</lower>
+          <upper>1e+16</upper>
+        </limit>
       </axis>
+      <physics>
+        <ode>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+        </ode>
+      </physics>
     </joint>
-    <link name="left_track_wheel5">
-      <pose>-0.035714 0.1985 0.01855 0 -0 0</pose>
+    <link name="camera_3">
+      <pose>-0.02 0.037465 0.185 0 -0 1.5707963267948966</pose>
       <inertial>
-        <pose>0 0 0.0141 0 -0 0</pose>
-        <mass>0.7575</mass>
+        <pose>0.039802 0 0.0145 0 -0 0</pose>
+        <mass>0.232</mass>
         <inertia>
-          <ixx>0.002731</ixx>
+          <ixx>3.25187e-05</ixx>
           <ixy>0</ixy>
           <ixz>0</ixz>
-          <iyy>0.032554</iyy>
-          <iyz>1.5e-05</iyz>
-          <izz>0.031391</izz>
+          <iyy>0.000158598</iyy>
+          <iyz>0</iyz>
+          <izz>0.000158598</izz>
         </inertia>
       </inertial>
-      <collision name="left_track_wheel5_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="camera_3_collision_collision">
+        <pose>0.02465 0 0.0145 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.0555 0.029 0.029</size>
+          </box>
+        </geometry>
+      </collision>
+      <collision name="camera_3_lens_collision_collision_1">
+        <pose>0.062834 0 0.0145 0 1.5707963267948966 0</pose>
         <geometry>
           <cylinder>
-            <length>0.097</length>
-            <radius>0.089</radius>
+            <length>0.03974</length>
+            <radius>0.0125</radius>
           </cylinder>
         </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
       </collision>
+      <visual name="camera_3_visual">
+        <pose>0 0 0.0145 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/basler_ace2_pro.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <visual name="camera_3_visual_1">
+        <pose>0.042964 0 0.0145 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/evetar_lens.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <sensor name="camera_3" type="camera">
+        <pose>0.072044 0 0.0145 0 -0 0</pose>
+        <update_rate>9</update_rate>
+        <visualize>0</visualize>
+        <camera>
+          <horizontal_fov>1.50971</horizontal_fov>
+          <image>
+            <width>1920</width>
+            <height>1200</height>
+            <format>R8G8B8</format>
+          </image>
+          <clip>
+            <near>0.011726</near>
+            <far>300</far>
+          </clip>
+          <noise>
+            <type>gaussian</type>
+            <mean>0</mean>
+            <stddev>0.007</stddev>
+          </noise>
+          <lens>
+            <intrinsics>
+              <fx>1020.51</fx>
+              <fy>1020.51</fy>
+              <cx>959.5</cx>
+              <cy>599.5</cy>
+              <s>0</s>
+            </intrinsics>
+            <type>stereographic</type>
+            <scale_to_hfov>1</scale_to_hfov>
+          </lens>
+        </camera>
+      </sensor>
     </link>
-    <joint name="left_track_wheel5_j" type="revolute">
-      <child>left_track_wheel5</child>
-      <parent>left_track</parent>
+    <joint name="camera_3_j" type="fixed">
+      <child>camera_3</child>
+      <parent>base_link</parent>
       <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
         <dynamics>
           <spring_reference>0</spring_reference>
           <spring_stiffness>0</spring_stiffness>
         </dynamics>
+        <xyz>0 0 1</xyz>
         <use_parent_model_frame>0</use_parent_model_frame>
+        <limit>
+          <lower>-1e+16</lower>
+          <upper>1e+16</upper>
+        </limit>
       </axis>
+      <physics>
+        <ode>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+        </ode>
+      </physics>
     </joint>
-    <link name="left_track_wheel6">
-      <pose>-0.107143 0.1985 0.01855 0 -0 0</pose>
+    <link name="cliff_sensor_0">
+      <pose>0.275 0.119535 0.2035 -1.5707963267948966 1.5707963267948966 0</pose>
       <inertial>
-        <pose>0 0 0.0141 0 -0 0</pose>
-        <mass>0.7575</mass>
+        <pose>0.0105 0 0.00925 0 -0 0</pose>
+        <mass>0.012</mass>
         <inertia>
-          <ixx>0.002731</ixx>
+          <ixx>1.56725e-06</ixx>
           <ixy>0</ixy>
           <ixz>0</ixz>
-          <iyy>0.032554</iyy>
-          <iyz>1.5e-05</iyz>
-          <izz>0.031391</izz>
+          <iyy>7.8325e-07</iyy>
+          <iyz>0</iyz>
+          <izz>1.666e-06</izz>
         </inertia>
       </inertial>
-      <collision name="left_track_wheel6_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="cliff_sensor_0_collision">
+        <pose>0.0105 0 0.00925 0 -0 0</pose>
         <geometry>
-          <cylinder>
-            <length>0.097</length>
-            <radius>0.089</radius>
-          </cylinder>
+          <box>
+            <size>0.021 0.035 0.0185</size>
+          </box>
         </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
       </collision>
-    </link>
-    <joint name="left_track_wheel6_j" type="revolute">
-      <child>left_track_wheel6</child>
-      <parent>left_track</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="left_track_wheel7">
-      <pose>-0.178571 0.1985 0.01855 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0.0141 0 -0 0</pose>
-        <mass>0.7575</mass>
-        <inertia>
-          <ixx>0.002731</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.032554</iyy>
-          <iyz>1.5e-05</iyz>
-          <izz>0.031391</izz>
-        </inertia>
-      </inertial>
-      <collision name="left_track_wheel7_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <visual name="cliff_sensor_0_visual">
         <geometry>
-          <cylinder>
-            <length>0.097</length>
-            <radius>0.089</radius>
-          </cylinder>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/tfmini_plus_lidar.dae</uri>
+          </mesh>
         </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
+      </visual>
+      <sensor name="laser" type="gpu_lidar">
+        <pose>0.021 0 0.00925 0 -0 0</pose>
+        <update_rate>10</update_rate>
+        <visualize>0</visualize>
+        <always_on>1</always_on>
+        <lidar>
+          <scan>
+            <horizontal>
+              <samples>3</samples>
+              <resolution>1</resolution>
+              <min_angle>-0.0314159</min_angle>
+              <max_angle>0.0314159</max_angle>
+            </horizontal>
+            <vertical>
+              <samples>3</samples>
+              <resolution>1</resolution>
+              <min_angle>-0.0314159</min_angle>
+              <max_angle>0.0314159</max_angle>
+            </vertical>
+          </scan>
+          <range>
+            <min>0.1</min>
+            <max>12</max>
+            <resolution>0.01</resolution>
+          </range>
+          <noise>
+            <type>gaussian</type>
+            <mean>0</mean>
+            <stddev>0.015</stddev>
+          </noise>
+        </lidar>
+      </sensor>
     </link>
-    <joint name="left_track_wheel7_j" type="revolute">
-      <child>left_track_wheel7</child>
-      <parent>left_track</parent>
+    <joint name="cliff_sensor_0_j" type="fixed">
+      <child>cliff_sensor_0</child>
+      <parent>base_link</parent>
       <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
         <dynamics>
           <spring_reference>0</spring_reference>
           <spring_stiffness>0</spring_stiffness>
         </dynamics>
+        <xyz>0 0 1</xyz>
         <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="left_track_wheel8">
-      <pose>-0.25 0.1985 0.01855 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0.0141 0 -0 0</pose>
-        <mass>0.7575</mass>
-        <inertia>
-          <ixx>0.002731</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.032554</iyy>
-          <iyz>1.5e-05</iyz>
-          <izz>0.031391</izz>
-        </inertia>
-      </inertial>
-      <collision name="left_track_wheel8_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.097</length>
-            <radius>0.089</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-    </link>
-    <joint name="left_track_wheel8_j" type="revolute">
-      <child>left_track_wheel8</child>
-      <parent>left_track</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
         <limit>
           <lower>-1e+16</lower>
           <upper>1e+16</upper>
         </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
       </axis>
+      <physics>
+        <ode>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+        </ode>
+      </physics>
     </joint>
-    <link name="rear_left_flipper">
-      <pose>-0.25 0.272 0.0195 3.1415926535897931 0.193732 3.1415926535897931</pose>
+    <link name="cliff_sensor_1">
+      <pose>0.275 -0.120465 0.2035 1.5707963267948966 1.5707963267948966 0</pose>
       <inertial>
-        <mass>1e-05</mass>
+        <pose>0.0105 0 0.00925 0 -0 0</pose>
+        <mass>0.012</mass>
         <inertia>
-          <ixx>0.001</ixx>
-          <ixy>1e-06</ixy>
-          <ixz>1e-06</ixz>
-          <iyy>0.001</iyy>
-          <iyz>1e-06</iyz>
-          <izz>0.001</izz>
+          <ixx>1.56725e-06</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>7.8325e-07</iyy>
+          <iyz>0</iyz>
+          <izz>1.666e-06</izz>
         </inertia>
       </inertial>
-      <collision name="rear_left_flipper_collision">
+      <collision name="cliff_sensor_1_collision">
+        <pose>0.0105 0 0.00925 0 -0 0</pose>
         <geometry>
           <box>
-            <size>0.01 0.01 0.01</size>
+            <size>0.021 0.035 0.0185</size>
           </box>
         </geometry>
-        <surface>
-          <friction>
-            <ode>
-              <mu>0.7</mu>
-              <mu2>150</mu2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
       </collision>
-      <visual name="rear_left_flipper_visual">
-        <pose>0 0 0 -2.95743 -0 1.5707963267948966</pose>
+      <visual name="cliff_sensor_1_visual">
         <geometry>
           <mesh>
-            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/flipper.dae</uri>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/tfmini_plus_lidar.dae</uri>
           </mesh>
         </geometry>
       </visual>
+      <sensor name="laser" type="gpu_lidar">
+        <pose>0.021 0 0.00925 0 -0 0</pose>
+        <update_rate>10</update_rate>
+        <visualize>0</visualize>
+        <always_on>1</always_on>
+        <lidar>
+          <scan>
+            <horizontal>
+              <samples>3</samples>
+              <resolution>1</resolution>
+              <min_angle>-0.0314159</min_angle>
+              <max_angle>0.0314159</max_angle>
+            </horizontal>
+            <vertical>
+              <samples>3</samples>
+              <resolution>1</resolution>
+              <min_angle>-0.0314159</min_angle>
+              <max_angle>0.0314159</max_angle>
+            </vertical>
+          </scan>
+          <range>
+            <min>0.1</min>
+            <max>12</max>
+            <resolution>0.01</resolution>
+          </range>
+          <noise>
+            <type>gaussian</type>
+            <mean>0</mean>
+            <stddev>0.015</stddev>
+          </noise>
+        </lidar>
+      </sensor>
     </link>
-    <joint name="rear_left_flipper_j" type="revolute">
-      <child>rear_left_flipper</child>
-      <parent>left_track</parent>
+    <joint name="cliff_sensor_1_j" type="fixed">
+      <child>cliff_sensor_1</child>
+      <parent>base_link</parent>
       <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>20</effort>
-          <velocity>0.785398</velocity>
-        </limit>
         <dynamics>
           <spring_reference>0</spring_reference>
           <spring_stiffness>0</spring_stiffness>
         </dynamics>
+        <xyz>0 0 1</xyz>
         <use_parent_model_frame>0</use_parent_model_frame>
+        <limit>
+          <lower>-1e+16</lower>
+          <upper>1e+16</upper>
+        </limit>
       </axis>
       <physics>
         <ode>
-          <implicit_spring_damper>1</implicit_spring_damper>
-          <cfm_damping>1</cfm_damping>
           <limit>
             <cfm>0</cfm>
             <erp>0.2</erp>
@@ -1383,1736 +1424,171 @@
         </ode>
       </physics>
     </joint>
-    <link name="rear_left_flipper_wheel1">
-      <pose>-0.25 0.272 0.0195 3.1415926535897931 0.193732 3.1415926535897931</pose>
+    <link name="cliff_sensor_2">
+      <pose>-0.275 0.119535 0.2035 -1.5707963267948966 1.5707963267948966 0</pose>
       <inertial>
-        <pose>0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
+        <pose>0.0105 0 0.00925 0 -0 0</pose>
+        <mass>0.012</mass>
         <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
+          <ixx>1.56725e-06</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>7.8325e-07</iyy>
+          <iyz>0</iyz>
+          <izz>1.666e-06</izz>
         </inertia>
       </inertial>
-      <collision name="rear_left_flipper_wheel1_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="cliff_sensor_2_collision">
+        <pose>0.0105 0 0.00925 0 -0 0</pose>
         <geometry>
-          <cylinder>
-            <length>0.04981</length>
-            <radius>0.089</radius>
-          </cylinder>
+          <box>
+            <size>0.021 0.035 0.0185</size>
+          </box>
         </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-    </link>
-    <joint name="rear_left_flipper_wheel1_j" type="revolute">
-      <child>rear_left_flipper_wheel1</child>
-      <parent>rear_left_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="rear_left_flipper_wheel2">
-      <pose>-0.330957 0.272 0.003617 3.1415926535897931 0.193732 3.1415926535897931</pose>
-      <inertial>
-        <pose>0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
-        <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
-        </inertia>
-      </inertial>
-      <collision name="rear_left_flipper_wheel2_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.04981</length>
-            <radius>0.074</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-    </link>
-    <joint name="rear_left_flipper_wheel2_j" type="revolute">
-      <child>rear_left_flipper_wheel2</child>
-      <parent>rear_left_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="rear_left_flipper_wheel3">
-      <pose>-0.411913 0.272 -0.012266 3.1415926535897931 0.193732 3.1415926535897931</pose>
-      <inertial>
-        <pose>0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
-        <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
-        </inertia>
-      </inertial>
-      <collision name="rear_left_flipper_wheel3_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.04981</length>
-            <radius>0.059</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-    </link>
-    <joint name="rear_left_flipper_wheel3_j" type="revolute">
-      <child>rear_left_flipper_wheel3</child>
-      <parent>rear_left_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="rear_left_flipper_wheel4">
-      <pose>-0.49287 0.272 -0.028149 3.1415926535897931 0.193732 3.1415926535897931</pose>
-      <inertial>
-        <pose>0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
-        <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
-        </inertia>
-      </inertial>
-      <collision name="rear_left_flipper_wheel4_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.04981</length>
-            <radius>0.044</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
       </collision>
-    </link>
-    <joint name="rear_left_flipper_wheel4_j" type="revolute">
-      <child>rear_left_flipper_wheel4</child>
-      <parent>rear_left_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="rear_left_flipper_wheel5">
-      <pose>-0.573827 0.272 -0.044032 3.1415926535897931 0.193732 3.1415926535897931</pose>
-      <inertial>
-        <pose>0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
-        <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
-        </inertia>
-      </inertial>
-      <collision name="rear_left_flipper_wheel5_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.04981</length>
-            <radius>0.029</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-    </link>
-    <joint name="rear_left_flipper_wheel5_j" type="revolute">
-      <child>rear_left_flipper_wheel5</child>
-      <parent>rear_left_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="camera_0">
-      <pose>0.185 0 0.195 0 -0 0</pose>
-      <inertial>
-        <pose>0.039802 0 0.0145 0 -0 0</pose>
-        <mass>0.232</mass>
-        <inertia>
-          <ixx>3.25187e-05</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.000158598</iyy>
-          <iyz>0</iyz>
-          <izz>0.000158598</izz>
-        </inertia>
-      </inertial>
-      <collision name="camera_0_collision_collision">
-        <pose>0.02465 0 0.0145 0 -0 0</pose>
-        <geometry>
-          <box>
-            <size>0.0555 0.029 0.029</size>
-          </box>
-        </geometry>
-      </collision>
-      <collision name="camera_0_lens_collision_collision_1">
-        <pose>0.062834 0 0.0145 0 1.5707963267948966 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.03974</length>
-            <radius>0.0125</radius>
-          </cylinder>
-        </geometry>
-      </collision>
-      <visual name="camera_0_visual">
-        <pose>0 0 0.0145 0 -0 0</pose>
-        <geometry>
-          <mesh>
-            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/basler_ace2_pro.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-      <visual name="camera_0_visual_1">
-        <pose>0.042964 0 0.0145 0 -0 0</pose>
+      <visual name="cliff_sensor_2_visual">
         <geometry>
           <mesh>
-            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/evetar_lens.dae</uri>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/tfmini_plus_lidar.dae</uri>
           </mesh>
         </geometry>
       </visual>
-      <visual name="camera_0_fixed_joint_lump__front_camera_holder_visual_2">
-        <pose>0.02 0 -0.005 0 -0 0</pose>
-        <geometry>
-          <box>
-            <size>0.04 0.025 0.01</size>
-          </box>
-        </geometry>
-      </visual>
-      <sensor name="camera_0" type="camera">
-        <pose>0.072044 0 0.0145 0 -0 0</pose>
-        <update_rate>9</update_rate>
+      <sensor name="laser" type="gpu_lidar">
+        <pose>0.021 0 0.00925 0 -0 0</pose>
+        <update_rate>10</update_rate>
         <visualize>0</visualize>
-        <camera>
-          <horizontal_fov>1.50971</horizontal_fov>
-          <image>
-            <width>1920</width>
-            <height>1200</height>
-            <format>R8G8B8</format>
-          </image>
-          <clip>
-            <near>0.011726</near>
-            <far>300</far>
-          </clip>
-          <noise>
-            <type>gaussian</type>
-            <mean>0</mean>
-            <stddev>0.007</stddev>
-          </noise>
-          <lens>
-            <intrinsics>
-              <fx>1020.51</fx>
-              <fy>1020.51</fy>
-              <cx>959.5</cx>
-              <cy>599.5</cy>
-              <s>0</s>
-            </intrinsics>
-            <type>stereographic</type>
-            <scale_to_hfov>1</scale_to_hfov>
-          </lens>
-        </camera>
-      </sensor>
-    </link>
-    <joint name="camera_0_j" type="fixed">
-      <child>camera_0</child>
-      <parent>base_link</parent>
-      <axis>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <xyz>0 0 1</xyz>
-        <use_parent_model_frame>0</use_parent_model_frame>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-      </axis>
-      <physics>
-        <ode>
-          <limit>
-            <cfm>0</cfm>
-            <erp>0.2</erp>
-          </limit>
-        </ode>
-      </physics>
-    </joint>
-    <link name="camera_1">
-      <pose>-0.02 -0.037465 0.185 0 0 -1.5707963267948966</pose>
-      <inertial>
-        <pose>0.039802 0 0.0145 0 -0 0</pose>
-        <mass>0.232</mass>
-        <inertia>
-          <ixx>3.25187e-05</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.000158598</iyy>
-          <iyz>0</iyz>
-          <izz>0.000158598</izz>
-        </inertia>
-      </inertial>
-      <collision name="camera_1_collision_collision">
-        <pose>0.02465 0 0.0145 0 -0 0</pose>
-        <geometry>
-          <box>
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-    <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>
+        <always_on>1</always_on>
+        <lidar>
+          <scan>
+            <horizontal>
+              <samples>3</samples>
+              <resolution>1</resolution>
+              <min_angle>-0.0314159</min_angle>
+              <max_angle>0.0314159</max_angle>
+            </horizontal>
+            <vertical>
+              <samples>3</samples>
+              <resolution>1</resolution>
+              <min_angle>-0.0314159</min_angle>
+              <max_angle>0.0314159</max_angle>
+            </vertical>
+          </scan>
+          <range>
+            <min>0.1</min>
+            <max>12</max>
+            <resolution>0.01</resolution>
+          </range>
+          <noise>
+            <type>gaussian</type>
+            <mean>0</mean>
+            <stddev>0.015</stddev>
+          </noise>
+        </lidar>
+      </sensor>
     </link>
-    <joint name="front_right_flipper_wheel5_j" type="revolute">
-      <child>front_right_flipper_wheel5</child>
-      <parent>front_right_flipper</parent>
+    <joint name="cliff_sensor_2_j" type="fixed">
+      <child>cliff_sensor_2</child>
+      <parent>base_link</parent>
       <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
         <dynamics>
           <spring_reference>0</spring_reference>
           <spring_stiffness>0</spring_stiffness>
         </dynamics>
+        <xyz>0 0 1</xyz>
         <use_parent_model_frame>0</use_parent_model_frame>
+        <limit>
+          <lower>-1e+16</lower>
+          <upper>1e+16</upper>
+        </limit>
       </axis>
+      <physics>
+        <ode>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+        </ode>
+      </physics>
     </joint>
-    <link name="rear_right_flipper">
-      <pose>-0.25 -0.272 0.0195 0 -0.193732 0</pose>
+    <link name="cliff_sensor_3">
+      <pose>-0.275 -0.120465 0.2035 1.5707963267948966 1.5707963267948966 0</pose>
       <inertial>
-        <mass>1e-05</mass>
+        <pose>0.0105 0 0.00925 0 -0 0</pose>
+        <mass>0.012</mass>
         <inertia>
-          <ixx>0.001</ixx>
-          <ixy>1e-06</ixy>
-          <ixz>1e-06</ixz>
-          <iyy>0.001</iyy>
-          <iyz>1e-06</iyz>
-          <izz>0.001</izz>
+          <ixx>1.56725e-06</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>7.8325e-07</iyy>
+          <iyz>0</iyz>
+          <izz>1.666e-06</izz>
         </inertia>
       </inertial>
-      <collision name="rear_right_flipper_collision">
+      <collision name="cliff_sensor_3_collision">
+        <pose>0.0105 0 0.00925 0 -0 0</pose>
         <geometry>
           <box>
-            <size>0.01 0.01 0.01</size>
+            <size>0.021 0.035 0.0185</size>
           </box>
         </geometry>
-        <surface>
-          <friction>
-            <ode>
-              <mu>0.7</mu>
-              <mu2>150</mu2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
       </collision>
-      <visual name="rear_right_flipper_visual">
-        <pose>0 0 0 -2.95743 -0 -1.5707963267948966</pose>
+      <visual name="cliff_sensor_3_visual">
         <geometry>
           <mesh>
-            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/flipper.dae</uri>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/tfmini_plus_lidar.dae</uri>
           </mesh>
         </geometry>
       </visual>
+      <sensor name="laser" type="gpu_lidar">
+        <pose>0.021 0 0.00925 0 -0 0</pose>
+        <update_rate>10</update_rate>
+        <visualize>0</visualize>
+        <always_on>1</always_on>
+        <lidar>
+          <scan>
+            <horizontal>
+              <samples>3</samples>
+              <resolution>1</resolution>
+              <min_angle>-0.0314159</min_angle>
+              <max_angle>0.0314159</max_angle>
+            </horizontal>
+            <vertical>
+              <samples>3</samples>
+              <resolution>1</resolution>
+              <min_angle>-0.0314159</min_angle>
+              <max_angle>0.0314159</max_angle>
+            </vertical>
+          </scan>
+          <range>
+            <min>0.1</min>
+            <max>12</max>
+            <resolution>0.01</resolution>
+          </range>
+          <noise>
+            <type>gaussian</type>
+            <mean>0</mean>
+            <stddev>0.015</stddev>
+          </noise>
+        </lidar>
+      </sensor>
     </link>
-    <joint name="rear_right_flipper_j" type="revolute">
-      <child>rear_right_flipper</child>
-      <parent>right_track</parent>
+    <joint name="cliff_sensor_3_j" type="fixed">
+      <child>cliff_sensor_3</child>
+      <parent>base_link</parent>
       <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>20</effort>
-          <velocity>0.785398</velocity>
-        </limit>
         <dynamics>
           <spring_reference>0</spring_reference>
           <spring_stiffness>0</spring_stiffness>
         </dynamics>
+        <xyz>0 0 1</xyz>
         <use_parent_model_frame>0</use_parent_model_frame>
+        <limit>
+          <lower>-1e+16</lower>
+          <upper>1e+16</upper>
+        </limit>
       </axis>
       <physics>
         <ode>
-          <implicit_spring_damper>1</implicit_spring_damper>
-          <cfm_damping>1</cfm_damping>
           <limit>
             <cfm>0</cfm>
             <erp>0.2</erp>
@@ -3120,296 +1596,203 @@
         </ode>
       </physics>
     </joint>
-    <link name="rear_right_flipper_wheel1">
-      <pose>-0.25 -0.272 0.0195 0 -0.193732 0</pose>
+    <link name="camera_4">
+      <pose>0.0435 -0.0145 0.26752 -1.5707963267948966 -1.5707963267948966 0</pose>
       <inertial>
-        <pose>-0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
+        <pose>0.039802 0 0.0145 0 -0 0</pose>
+        <mass>0.232</mass>
         <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
+          <ixx>3.25187e-05</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.000158598</iyy>
+          <iyz>0</iyz>
+          <izz>0.000158598</izz>
         </inertia>
       </inertial>
-      <collision name="rear_right_flipper_wheel1_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="camera_4_collision_collision">
+        <pose>0.02465 0 0.0145 0 -0 0</pose>
         <geometry>
-          <cylinder>
-            <length>0.04981</length>
-            <radius>0.089</radius>
-          </cylinder>
+          <box>
+            <size>0.0555 0.029 0.029</size>
+          </box>
         </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
       </collision>
-    </link>
-    <joint name="rear_right_flipper_wheel1_j" type="revolute">
-      <child>rear_right_flipper_wheel1</child>
-      <parent>rear_right_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="rear_right_flipper_wheel2">
-      <pose>-0.330957 -0.272 0.003617 0 -0.193732 0</pose>
-      <inertial>
-        <pose>-0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
-        <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
-        </inertia>
-      </inertial>
-      <collision name="rear_right_flipper_wheel2_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="camera_4_lens_collision_collision_1">
+        <pose>0.062834 0 0.0145 0 1.5707963267948966 0</pose>
         <geometry>
           <cylinder>
-            <length>0.04981</length>
-            <radius>0.074</radius>
+            <length>0.03974</length>
+            <radius>0.0125</radius>
           </cylinder>
         </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
       </collision>
-    </link>
-    <joint name="rear_right_flipper_wheel2_j" type="revolute">
-      <child>rear_right_flipper_wheel2</child>
-      <parent>rear_right_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="rear_right_flipper_wheel3">
-      <pose>-0.411913 -0.272 -0.012266 0 -0.193732 0</pose>
-      <inertial>
-        <pose>-0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
-        <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
-        </inertia>
-      </inertial>
-      <collision name="rear_right_flipper_wheel3_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <visual name="camera_4_visual">
+        <pose>0 0 0.0145 0 -0 0</pose>
         <geometry>
-          <cylinder>
-            <length>0.04981</length>
-            <radius>0.059</radius>
-          </cylinder>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/basler_ace2_pro.dae</uri>
+          </mesh>
         </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
+      </visual>
+      <visual name="camera_4_visual_1">
+        <pose>0.042964 0 0.0145 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/evetar_lens.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <sensor name="camera_4" type="camera">
+        <pose>0.072044 0 0.0145 0 -0 0</pose>
+        <update_rate>9</update_rate>
+        <visualize>0</visualize>
+        <camera>
+          <horizontal_fov>1.50971</horizontal_fov>
+          <image>
+            <width>1920</width>
+            <height>1200</height>
+            <format>R8G8B8</format>
+          </image>
+          <clip>
+            <near>0.011726</near>
+            <far>300</far>
+          </clip>
+          <noise>
+            <type>gaussian</type>
+            <mean>0</mean>
+            <stddev>0.007</stddev>
+          </noise>
+          <lens>
+            <intrinsics>
+              <fx>1020.51</fx>
+              <fy>1020.51</fy>
+              <cx>959.5</cx>
+              <cy>599.5</cy>
+              <s>0</s>
+            </intrinsics>
+            <type>stereographic</type>
+            <scale_to_hfov>1</scale_to_hfov>
+          </lens>
+        </camera>
+      </sensor>
     </link>
-    <joint name="rear_right_flipper_wheel3_j" type="revolute">
-      <child>rear_right_flipper_wheel3</child>
-      <parent>rear_right_flipper</parent>
+    <joint name="camera_4_j" type="fixed">
+      <child>camera_4</child>
+      <parent>base_link</parent>
       <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
         <dynamics>
           <spring_reference>0</spring_reference>
           <spring_stiffness>0</spring_stiffness>
         </dynamics>
+        <xyz>0 0 1</xyz>
         <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="rear_right_flipper_wheel4">
-      <pose>-0.49287 -0.272 -0.028149 0 -0.193732 0</pose>
-      <inertial>
-        <pose>-0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
-        <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
-        </inertia>
-      </inertial>
-      <collision name="rear_right_flipper_wheel4_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.04981</length>
-            <radius>0.044</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-    </link>
-    <joint name="rear_right_flipper_wheel4_j" type="revolute">
-      <child>rear_right_flipper_wheel4</child>
-      <parent>rear_right_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
         <limit>
           <lower>-1e+16</lower>
           <upper>1e+16</upper>
         </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
       </axis>
+      <physics>
+        <ode>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+        </ode>
+      </physics>
     </joint>
-    <link name="rear_right_flipper_wheel5">
-      <pose>-0.573827 -0.272 -0.044032 0 -0.193732 0</pose>
+    <link name="laser">
+      <pose>0.1415 0 0.365 0 0.18 0</pose>
       <inertial>
-        <pose>-0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
+        <pose>0 0 0.03675 0 -0 0</pose>
+        <mass>0.5</mass>
         <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
+          <ixx>0.000461625</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.000461625</iyy>
+          <iyz>0</iyz>
+          <izz>0.000473063</izz>
         </inertia>
       </inertial>
-      <collision name="rear_right_flipper_wheel5_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="laser_collision">
+        <pose>0 0 0.03675 0 -0 0</pose>
         <geometry>
           <cylinder>
-            <length>0.04981</length>
-            <radius>0.029</radius>
+            <length>0.0735</length>
+            <radius>0.0435</radius>
           </cylinder>
         </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
       </collision>
+      <visual name="laser_visual">
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/ouster-os0.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <sensor name="laser" type="gpu_lidar">
+        <pose>0 0 0.035925 0 -0 0</pose>
+        <update_rate>10</update_rate>
+        <visualize>0</visualize>
+        <always_on>1</always_on>
+        <lidar>
+          <scan>
+            <horizontal>
+              <samples>2048</samples>
+              <resolution>1</resolution>
+              <min_angle>-3.1459</min_angle>
+              <max_angle>3.1459</max_angle>
+            </horizontal>
+            <vertical>
+              <samples>128</samples>
+              <resolution>1</resolution>
+              <min_angle>-0.785398</min_angle>
+              <max_angle>0.785398</max_angle>
+            </vertical>
+          </scan>
+          <range>
+            <min>0.1</min>
+            <max>50</max>
+            <resolution>0.01</resolution>
+          </range>
+          <noise>
+            <type>gaussian</type>
+            <mean>0</mean>
+            <stddev>0.01</stddev>
+          </noise>
+        </lidar>
+      </sensor>
     </link>
-    <joint name="rear_right_flipper_wheel5_j" type="revolute">
-      <child>rear_right_flipper_wheel5</child>
-      <parent>rear_right_flipper</parent>
+    <joint name="laser_j" type="fixed">
+      <child>laser</child>
+      <parent>base_link</parent>
       <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
         <dynamics>
           <spring_reference>0</spring_reference>
           <spring_stiffness>0</spring_stiffness>
         </dynamics>
+        <xyz>0 0 1</xyz>
         <use_parent_model_frame>0</use_parent_model_frame>
+        <limit>
+          <lower>-1e+16</lower>
+          <upper>1e+16</upper>
+        </limit>
       </axis>
+      <physics>
+        <ode>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+        </ode>
+      </physics>
     </joint>
-    <link name="right_track_wheel1">
-      <pose>0.25 -0.1985 0.01855 0 -0 0</pose>
+    <link name="right_track">
+      <pose>0 -0.1985 0 0 -0 0</pose>
       <inertial>
         <pose>0 0 0.0141 0 -0 0</pose>
-        <mass>0.7575</mass>
+        <mass>6.06</mass>
         <inertia>
           <ixx>0.002731</ixx>
           <ixy>0</ixy>
@@ -3419,8 +1802,25 @@
           <izz>0.031391</izz>
         </inertia>
       </inertial>
-      <collision name="right_track_wheel1_collision">
-        <pose>0 0.015 0 1.5707963267948966 -0 0</pose>
+      <collision name="right_track_collision">
+        <pose>0 0 0.01855 1.5707963267948966 -0 1.5707963267948966</pose>
+        <geometry>
+          <box>
+            <size>0.097 0.178 0.5</size>
+          </box>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>10</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="right_track_collision_1">
+        <pose>0.25 0.015 0.01855 1.5707963267948966 -0 0</pose>
         <geometry>
           <cylinder>
             <length>0.112</length>
@@ -3428,56 +1828,17 @@
           </cylinder>
         </geometry>
         <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
           <friction>
             <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
+              <mu>10</mu>
+              <mu2>150</mu2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
-    </link>
-    <joint name="right_track_wheel1_j" type="revolute">
-      <child>right_track_wheel1</child>
-      <parent>right_track</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="right_track_wheel2">
-      <pose>0.178571 -0.1985 0.01855 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0.0141 0 -0 0</pose>
-        <mass>0.7575</mass>
-        <inertia>
-          <ixx>0.002731</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.032554</iyy>
-          <iyz>1.5e-05</iyz>
-          <izz>0.031391</izz>
-        </inertia>
-      </inertial>
-      <collision name="right_track_wheel2_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="right_track_collision_2">
+        <pose>-0.25 0 0.01855 1.5707963267948966 -0 0</pose>
         <geometry>
           <cylinder>
             <length>0.097</length>
@@ -3485,32 +1846,34 @@
           </cylinder>
         </geometry>
         <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
           <friction>
             <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
+              <mu>10</mu>
+              <mu2>150</mu2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
+      <visual name="right_track_visual">
+        <pose>0 0 -0.0705 1.5707963267948966 0 -1.5707963267948966</pose>
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/bogie.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
     </link>
-    <joint name="right_track_wheel2_j" type="revolute">
-      <child>right_track_wheel2</child>
-      <parent>right_track</parent>
+    <joint name="right_track_j" type="revolute">
+      <child>right_track</child>
+      <parent>base_link</parent>
       <axis>
         <xyz>0 1 0</xyz>
         <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
+          <lower>0</lower>
+          <upper>0</upper>
+          <effort>0</effort>
+          <velocity>4</velocity>
         </limit>
         <dynamics>
           <spring_reference>0</spring_reference>
@@ -3518,170 +1881,142 @@
         </dynamics>
         <use_parent_model_frame>0</use_parent_model_frame>
       </axis>
+      <physics>
+        <ode>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+        </ode>
+      </physics>
+      <physics>
+        <ode>
+          <implicit_spring_damper>1</implicit_spring_damper>
+          <cfm>0</cfm>
+          <erp>0.95</erp>
+        </ode>
+      </physics>
     </joint>
-    <link name="right_track_wheel3">
-      <pose>0.107143 -0.1985 0.01855 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0.0141 0 -0 0</pose>
-        <mass>0.7575</mass>
-        <inertia>
-          <ixx>0.002731</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.032554</iyy>
-          <iyz>1.5e-05</iyz>
-          <izz>0.031391</izz>
+    <link name="front_right_flipper">
+      <pose>0.25 -0.272 0.0195 3.1415926535897931 -0.193732 3.1415926535897931</pose>
+      <inertial>
+        <pose>-0.08 0 0 0 -0 0</pose>
+        <mass>0.75</mass>
+        <inertia>
+          <ixx>0.0017491</ixx>
+          <ixy>2.8512e-07</ixy>
+          <ixz>0.0018277</ixz>
+          <iyy>0.012277</iyy>
+          <iyz>-3.6288e-07</iyz>
+          <izz>0.010941</izz>
         </inertia>
       </inertial>
-      <collision name="right_track_wheel3_collision">
+      <collision name="front_right_flipper_collision_large_wheel_collision">
         <pose>0 0 0 1.5707963267948966 -0 0</pose>
         <geometry>
           <cylinder>
-            <length>0.097</length>
+            <length>0.04981</length>
             <radius>0.089</radius>
           </cylinder>
         </geometry>
         <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
           <friction>
             <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
+              <mu>10</mu>
+              <mu2>150</mu2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
-    </link>
-    <joint name="right_track_wheel3_j" type="revolute">
-      <child>right_track_wheel3</child>
-      <parent>right_track</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="right_track_wheel4">
-      <pose>0.035714 -0.1985 0.01855 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0.0141 0 -0 0</pose>
-        <mass>0.7575</mass>
-        <inertia>
-          <ixx>0.002731</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.032554</iyy>
-          <iyz>1.5e-05</iyz>
-          <izz>0.031391</izz>
-        </inertia>
-      </inertial>
-      <collision name="right_track_wheel4_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="front_right_flipper_collision_small_wheel_collision_1">
+        <pose>-0.33 0 0 1.5707963267948966 -0 0</pose>
         <geometry>
           <cylinder>
-            <length>0.097</length>
-            <radius>0.089</radius>
+            <length>0.04981</length>
+            <radius>0.029</radius>
           </cylinder>
         </geometry>
         <surface>
-          <contact>
+          <friction>
             <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
+              <mu>10</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
             </ode>
-          </contact>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="front_right_flipper_collision_top_bar_collision_2">
+        <pose>-0.165 0 0.0325 0 0.184162 -3.1415926535897931</pose>
+        <geometry>
+          <box>
+            <size>0.33 0.04981 0.055</size>
+          </box>
+        </geometry>
+        <surface>
           <friction>
             <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
+              <mu>10</mu>
+              <mu2>150</mu2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
-    </link>
-    <joint name="right_track_wheel4_j" type="revolute">
-      <child>right_track_wheel4</child>
-      <parent>right_track</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="right_track_wheel5">
-      <pose>-0.035714 -0.1985 0.01855 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0.0141 0 -0 0</pose>
-        <mass>0.7575</mass>
-        <inertia>
-          <ixx>0.002731</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.032554</iyy>
-          <iyz>1.5e-05</iyz>
-          <izz>0.031391</izz>
-        </inertia>
-      </inertial>
-      <collision name="right_track_wheel5_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="front_right_flipper_collision_bottom_bar_collision_3">
+        <pose>-0.165 0 -0.0325 0 -0.184162 -3.1415926535897931</pose>
         <geometry>
-          <cylinder>
-            <length>0.097</length>
-            <radius>0.089</radius>
-          </cylinder>
+          <box>
+            <size>0.33 0.04981 0.055</size>
+          </box>
         </geometry>
         <surface>
-          <contact>
+          <friction>
             <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
+              <mu>10</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
             </ode>
-          </contact>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="front_right_flipper_collision_middle_bar_collision_4">
+        <pose>-0.166 0 0.004 0 -0.02 -3.1415926535897931</pose>
+        <geometry>
+          <box>
+            <size>0.2 0.04981 0.07</size>
+          </box>
+        </geometry>
+        <surface>
           <friction>
             <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
+              <mu>10</mu>
+              <mu2>150</mu2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
+      <visual name="front_right_flipper_visual">
+        <pose>0 0 0 -2.95743 -0 -1.5707963267948966</pose>
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/flipper.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
     </link>
-    <joint name="right_track_wheel5_j" type="revolute">
-      <child>right_track_wheel5</child>
+    <joint name="front_right_flipper_j" type="revolute">
+      <child>front_right_flipper</child>
       <parent>right_track</parent>
       <axis>
         <xyz>0 1 0</xyz>
         <limit>
           <lower>-1e+16</lower>
           <upper>1e+16</upper>
+          <effort>20</effort>
+          <velocity>0.785398</velocity>
         </limit>
         <dynamics>
           <spring_reference>0</spring_reference>
@@ -3689,170 +2024,137 @@
         </dynamics>
         <use_parent_model_frame>0</use_parent_model_frame>
       </axis>
+      <physics>
+        <ode>
+          <implicit_spring_damper>1</implicit_spring_damper>
+          <cfm_damping>1</cfm_damping>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+        </ode>
+      </physics>
     </joint>
-    <link name="right_track_wheel6">
-      <pose>-0.107143 -0.1985 0.01855 0 -0 0</pose>
+    <link name="rear_right_flipper">
+      <pose>-0.25 -0.272 0.0195 0 -0.193732 0</pose>
       <inertial>
-        <pose>0 0 0.0141 0 -0 0</pose>
-        <mass>0.7575</mass>
+        <pose>-0.08 0 0 0 -0 0</pose>
+        <mass>0.75</mass>
         <inertia>
-          <ixx>0.002731</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.032554</iyy>
-          <iyz>1.5e-05</iyz>
-          <izz>0.031391</izz>
+          <ixx>0.0017491</ixx>
+          <ixy>2.8512e-07</ixy>
+          <ixz>0.0018277</ixz>
+          <iyy>0.012277</iyy>
+          <iyz>-3.6288e-07</iyz>
+          <izz>0.010941</izz>
         </inertia>
       </inertial>
-      <collision name="right_track_wheel6_collision">
+      <collision name="rear_right_flipper_collision_large_wheel_collision">
         <pose>0 0 0 1.5707963267948966 -0 0</pose>
         <geometry>
           <cylinder>
-            <length>0.097</length>
+            <length>0.04981</length>
             <radius>0.089</radius>
           </cylinder>
         </geometry>
         <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
           <friction>
             <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
+              <mu>10</mu>
+              <mu2>150</mu2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
-    </link>
-    <joint name="right_track_wheel6_j" type="revolute">
-      <child>right_track_wheel6</child>
-      <parent>right_track</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="right_track_wheel7">
-      <pose>-0.178571 -0.1985 0.01855 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0.0141 0 -0 0</pose>
-        <mass>0.7575</mass>
-        <inertia>
-          <ixx>0.002731</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.032554</iyy>
-          <iyz>1.5e-05</iyz>
-          <izz>0.031391</izz>
-        </inertia>
-      </inertial>
-      <collision name="right_track_wheel7_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="rear_right_flipper_collision_small_wheel_collision_1">
+        <pose>-0.33 0 0 1.5707963267948966 -0 0</pose>
         <geometry>
           <cylinder>
-            <length>0.097</length>
-            <radius>0.089</radius>
+            <length>0.04981</length>
+            <radius>0.029</radius>
           </cylinder>
         </geometry>
         <surface>
-          <contact>
+          <friction>
             <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
+              <mu>10</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
             </ode>
-          </contact>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="rear_right_flipper_collision_top_bar_collision_2">
+        <pose>-0.165 0 0.0325 0 0.184162 -3.1415926535897931</pose>
+        <geometry>
+          <box>
+            <size>0.33 0.04981 0.055</size>
+          </box>
+        </geometry>
+        <surface>
           <friction>
             <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
+              <mu>10</mu>
+              <mu2>150</mu2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
-    </link>
-    <joint name="right_track_wheel7_j" type="revolute">
-      <child>right_track_wheel7</child>
-      <parent>right_track</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="right_track_wheel8">
-      <pose>-0.25 -0.1985 0.01855 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0.0141 0 -0 0</pose>
-        <mass>0.7575</mass>
-        <inertia>
-          <ixx>0.002731</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.032554</iyy>
-          <iyz>1.5e-05</iyz>
-          <izz>0.031391</izz>
-        </inertia>
-      </inertial>
-      <collision name="right_track_wheel8_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="rear_right_flipper_collision_bottom_bar_collision_3">
+        <pose>-0.165 0 -0.0325 0 -0.184162 -3.1415926535897931</pose>
         <geometry>
-          <cylinder>
-            <length>0.097</length>
-            <radius>0.089</radius>
-          </cylinder>
+          <box>
+            <size>0.33 0.04981 0.055</size>
+          </box>
         </geometry>
         <surface>
-          <contact>
+          <friction>
             <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
+              <mu>10</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
             </ode>
-          </contact>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="rear_right_flipper_collision_middle_bar_collision_4">
+        <pose>-0.166 0 0.004 0 -0.02 -3.1415926535897931</pose>
+        <geometry>
+          <box>
+            <size>0.2 0.04981 0.07</size>
+          </box>
+        </geometry>
+        <surface>
           <friction>
             <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
+              <mu>10</mu>
+              <mu2>150</mu2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
+      <visual name="rear_right_flipper_visual">
+        <pose>0 0 0 -2.95743 -0 -1.5707963267948966</pose>
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/flipper.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
     </link>
-    <joint name="right_track_wheel8_j" type="revolute">
-      <child>right_track_wheel8</child>
+    <joint name="rear_right_flipper_j" type="revolute">
+      <child>rear_right_flipper</child>
       <parent>right_track</parent>
       <axis>
         <xyz>0 1 0</xyz>
         <limit>
           <lower>-1e+16</lower>
           <upper>1e+16</upper>
+          <effort>20</effort>
+          <velocity>0.785398</velocity>
         </limit>
         <dynamics>
           <spring_reference>0</spring_reference>
@@ -3860,6 +2162,16 @@
         </dynamics>
         <use_parent_model_frame>0</use_parent_model_frame>
       </axis>
+      <physics>
+        <ode>
+          <implicit_spring_damper>1</implicit_spring_damper>
+          <cfm_damping>1</cfm_damping>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+        </ode>
+      </physics>
     </joint>
     <plugin name="cras::FlipperControlPlugin" filename="libflipper_control_plugin.so">
       <joint_name>front_left_flipper_j</joint_name>
diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_7/model.sdf b/submitted_models/ctu_cras_norlab_absolem_sensor_config_7/model.sdf
index d435b4d0..15d6c305 100644
--- a/submitted_models/ctu_cras_norlab_absolem_sensor_config_7/model.sdf
+++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_7/model.sdf
@@ -363,7 +363,6 @@
         <always_on>1</always_on>
         <update_rate>50</update_rate>
         <imu>
-          <enable_orientation>0</enable_orientation>
           <angular_velocity>
             <x>
               <noise type="gaussian">
@@ -434,6 +433,7 @@
               </noise>
             </z>
           </linear_acceleration>
+          <enable_orientation>0</enable_orientation>
         </imu>
         <pose>0 0 0.15 -3.1415926535897931 -0 0</pose>
       </sensor>
@@ -458,26 +458,64 @@
     <link name="left_track">
       <pose>0 0.1985 0 0 -0 0</pose>
       <inertial>
-        <mass>1e-05</mass>
+        <pose>0 0 0.0141 0 -0 0</pose>
+        <mass>6.06</mass>
         <inertia>
-          <ixx>0.001</ixx>
-          <ixy>1e-06</ixy>
-          <ixz>1e-06</ixz>
-          <iyy>0.001</iyy>
-          <iyz>1e-06</iyz>
-          <izz>0.001</izz>
+          <ixx>0.002731</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.032554</iyy>
+          <iyz>1.5e-05</iyz>
+          <izz>0.031391</izz>
         </inertia>
       </inertial>
       <collision name="left_track_collision">
+        <pose>0 0 0.01855 1.5707963267948966 -0 1.5707963267948966</pose>
         <geometry>
           <box>
-            <size>0.01 0.01 0.01</size>
+            <size>0.097 0.178 0.5</size>
           </box>
         </geometry>
         <surface>
           <friction>
             <ode>
-              <mu>0.7</mu>
+              <mu>10</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="left_track_collision_1">
+        <pose>0.25 -0.015 0.01855 1.5707963267948966 -0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.112</length>
+            <radius>0.089</radius>
+          </cylinder>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>10</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="left_track_collision_2">
+        <pose>-0.25 0 0.01855 1.5707963267948966 -0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.097</length>
+            <radius>0.089</radius>
+          </cylinder>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>10</mu>
               <mu2>150</mu2>
               <fdir1>0 0 1</fdir1>
             </ode>
@@ -529,26 +567,98 @@
     <link name="front_left_flipper">
       <pose>0.25 0.272 0.0195 0 0.193732 0</pose>
       <inertial>
-        <mass>1e-05</mass>
+        <pose>0.08 0 0 0 -0 0</pose>
+        <mass>0.75</mass>
         <inertia>
-          <ixx>0.001</ixx>
-          <ixy>1e-06</ixy>
-          <ixz>1e-06</ixz>
-          <iyy>0.001</iyy>
-          <iyz>1e-06</iyz>
-          <izz>0.001</izz>
+          <ixx>0.0017491</ixx>
+          <ixy>2.8512e-07</ixy>
+          <ixz>0.0018277</ixz>
+          <iyy>0.012277</iyy>
+          <iyz>-3.6288e-07</iyz>
+          <izz>0.010941</izz>
         </inertia>
       </inertial>
-      <collision name="front_left_flipper_collision">
+      <collision name="front_left_flipper_collision_large_wheel_collision">
+        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.04981</length>
+            <radius>0.089</radius>
+          </cylinder>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>10</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="front_left_flipper_collision_small_wheel_collision_1">
+        <pose>0.33 0 0 1.5707963267948966 -0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.04981</length>
+            <radius>0.029</radius>
+          </cylinder>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>10</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="front_left_flipper_collision_top_bar_collision_2">
+        <pose>0.165 0 0.0325 0 0.184162 0</pose>
+        <geometry>
+          <box>
+            <size>0.33 0.04981 0.055</size>
+          </box>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>10</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="front_left_flipper_collision_bottom_bar_collision_3">
+        <pose>0.165 0 -0.0325 0 -0.184162 0</pose>
+        <geometry>
+          <box>
+            <size>0.33 0.04981 0.055</size>
+          </box>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>10</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="front_left_flipper_collision_middle_bar_collision_4">
+        <pose>0.166 0 0.004 0 -0.02 0</pose>
         <geometry>
           <box>
-            <size>0.01 0.01 0.01</size>
+            <size>0.2 0.04981 0.07</size>
           </box>
         </geometry>
         <surface>
           <friction>
             <ode>
-              <mu>0.7</mu>
+              <mu>10</mu>
               <mu2>150</mu2>
               <fdir1>0 0 1</fdir1>
             </ode>
@@ -592,11 +702,11 @@
         </ode>
       </physics>
     </joint>
-    <link name="front_left_flipper_wheel1">
-      <pose>0.25 0.272 0.0195 0 0.193732 0</pose>
+    <link name="rear_left_flipper">
+      <pose>-0.25 0.272 0.0195 3.1415926535897931 0.193732 3.1415926535897931</pose>
       <inertial>
         <pose>0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
+        <mass>0.75</mass>
         <inertia>
           <ixx>0.0017491</ixx>
           <ixy>2.8512e-07</ixy>
@@ -606,7 +716,7 @@
           <izz>0.010941</izz>
         </inertia>
       </inertial>
-      <collision name="front_left_flipper_wheel1_collision_collision">
+      <collision name="rear_left_flipper_collision_large_wheel_collision">
         <pose>0 0 0 1.5707963267948966 -0 0</pose>
         <geometry>
           <cylinder>
@@ -615,260 +725,103 @@
           </cylinder>
         </geometry>
         <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
           <friction>
             <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
+              <mu>10</mu>
+              <mu2>150</mu2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
-    </link>
-    <joint name="front_left_flipper_wheel1_j" type="revolute">
-      <child>front_left_flipper_wheel1</child>
-      <parent>front_left_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="front_left_flipper_wheel2">
-      <pose>0.330957 0.272 0.003617 0 0.193732 0</pose>
-      <inertial>
-        <pose>0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
-        <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
-        </inertia>
-      </inertial>
-      <collision name="front_left_flipper_wheel2_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="rear_left_flipper_collision_small_wheel_collision_1">
+        <pose>0.33 0 0 1.5707963267948966 -0 0</pose>
         <geometry>
           <cylinder>
             <length>0.04981</length>
-            <radius>0.074</radius>
+            <radius>0.029</radius>
           </cylinder>
         </geometry>
         <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
           <friction>
             <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
+              <mu>10</mu>
+              <mu2>150</mu2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
-    </link>
-    <joint name="front_left_flipper_wheel2_j" type="revolute">
-      <child>front_left_flipper_wheel2</child>
-      <parent>front_left_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="front_left_flipper_wheel3">
-      <pose>0.411913 0.272 -0.012266 0 0.193732 0</pose>
-      <inertial>
-        <pose>0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
-        <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
-        </inertia>
-      </inertial>
-      <collision name="front_left_flipper_wheel3_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="rear_left_flipper_collision_top_bar_collision_2">
+        <pose>0.165 0 0.0325 0 0.184162 0</pose>
         <geometry>
-          <cylinder>
-            <length>0.04981</length>
-            <radius>0.059</radius>
-          </cylinder>
+          <box>
+            <size>0.33 0.04981 0.055</size>
+          </box>
         </geometry>
         <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
           <friction>
             <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
+              <mu>10</mu>
+              <mu2>150</mu2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
-    </link>
-    <joint name="front_left_flipper_wheel3_j" type="revolute">
-      <child>front_left_flipper_wheel3</child>
-      <parent>front_left_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="front_left_flipper_wheel4">
-      <pose>0.49287 0.272 -0.028149 0 0.193732 0</pose>
-      <inertial>
-        <pose>0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
-        <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
-        </inertia>
-      </inertial>
-      <collision name="front_left_flipper_wheel4_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="rear_left_flipper_collision_bottom_bar_collision_3">
+        <pose>0.165 0 -0.0325 0 -0.184162 0</pose>
         <geometry>
-          <cylinder>
-            <length>0.04981</length>
-            <radius>0.044</radius>
-          </cylinder>
+          <box>
+            <size>0.33 0.04981 0.055</size>
+          </box>
         </geometry>
         <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
           <friction>
             <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
+              <mu>10</mu>
+              <mu2>150</mu2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
-    </link>
-    <joint name="front_left_flipper_wheel4_j" type="revolute">
-      <child>front_left_flipper_wheel4</child>
-      <parent>front_left_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="front_left_flipper_wheel5">
-      <pose>0.573827 0.272 -0.044032 0 0.193732 0</pose>
-      <inertial>
-        <pose>0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
-        <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
-        </inertia>
-      </inertial>
-      <collision name="front_left_flipper_wheel5_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="rear_left_flipper_collision_middle_bar_collision_4">
+        <pose>0.166 0 0.004 0 -0.02 0</pose>
         <geometry>
-          <cylinder>
-            <length>0.04981</length>
-            <radius>0.029</radius>
-          </cylinder>
+          <box>
+            <size>0.2 0.04981 0.07</size>
+          </box>
         </geometry>
         <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
           <friction>
             <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
+              <mu>10</mu>
+              <mu2>150</mu2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
+      <visual name="rear_left_flipper_visual">
+        <pose>0 0 0 -2.95743 -0 1.5707963267948966</pose>
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/flipper.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
     </link>
-    <joint name="front_left_flipper_wheel5_j" type="revolute">
-      <child>front_left_flipper_wheel5</child>
-      <parent>front_left_flipper</parent>
+    <joint name="rear_left_flipper_j" type="revolute">
+      <child>rear_left_flipper</child>
+      <parent>left_track</parent>
       <axis>
         <xyz>0 1 0</xyz>
         <limit>
           <lower>-1e+16</lower>
           <upper>1e+16</upper>
+          <effort>20</effort>
+          <velocity>0.785398</velocity>
         </limit>
         <dynamics>
           <spring_reference>0</spring_reference>
@@ -876,522 +829,610 @@
         </dynamics>
         <use_parent_model_frame>0</use_parent_model_frame>
       </axis>
-    </joint>
-    <link name="left_track_wheel1">
-      <pose>0.25 0.1985 0.01855 0 -0 0</pose>
+      <physics>
+        <ode>
+          <implicit_spring_damper>1</implicit_spring_damper>
+          <cfm_damping>1</cfm_damping>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+        </ode>
+      </physics>
+    </joint>
+    <link name="camera_0">
+      <pose>0.185 0 0.195 0 -0 0</pose>
       <inertial>
-        <pose>0 0 0.0141 0 -0 0</pose>
-        <mass>0.7575</mass>
+        <pose>0.039802 0 0.0145 0 -0 0</pose>
+        <mass>0.232</mass>
         <inertia>
-          <ixx>0.002731</ixx>
+          <ixx>3.25187e-05</ixx>
           <ixy>0</ixy>
           <ixz>0</ixz>
-          <iyy>0.032554</iyy>
-          <iyz>1.5e-05</iyz>
-          <izz>0.031391</izz>
+          <iyy>0.000158598</iyy>
+          <iyz>0</iyz>
+          <izz>0.000158598</izz>
         </inertia>
       </inertial>
-      <collision name="left_track_wheel1_collision">
-        <pose>0 -0.015 0 1.5707963267948966 -0 0</pose>
+      <collision name="camera_0_collision_collision">
+        <pose>0.02465 0 0.0145 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.0555 0.029 0.029</size>
+          </box>
+        </geometry>
+      </collision>
+      <collision name="camera_0_lens_collision_collision_1">
+        <pose>0.062834 0 0.0145 0 1.5707963267948966 0</pose>
         <geometry>
           <cylinder>
-            <length>0.112</length>
-            <radius>0.089</radius>
+            <length>0.03974</length>
+            <radius>0.0125</radius>
           </cylinder>
         </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
       </collision>
+      <visual name="camera_0_visual">
+        <pose>0 0 0.0145 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/basler_ace2_pro.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <visual name="camera_0_visual_1">
+        <pose>0.042964 0 0.0145 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/evetar_lens.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <visual name="camera_0_fixed_joint_lump__front_camera_holder_visual_2">
+        <pose>0.02 0 -0.005 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.04 0.025 0.01</size>
+          </box>
+        </geometry>
+      </visual>
+      <sensor name="camera_0" type="camera">
+        <pose>0.072044 0 0.0145 0 -0 0</pose>
+        <update_rate>9</update_rate>
+        <visualize>0</visualize>
+        <camera>
+          <horizontal_fov>1.50971</horizontal_fov>
+          <image>
+            <width>1920</width>
+            <height>1200</height>
+            <format>R8G8B8</format>
+          </image>
+          <clip>
+            <near>0.011726</near>
+            <far>300</far>
+          </clip>
+          <noise>
+            <type>gaussian</type>
+            <mean>0</mean>
+            <stddev>0.007</stddev>
+          </noise>
+          <lens>
+            <intrinsics>
+              <fx>1020.51</fx>
+              <fy>1020.51</fy>
+              <cx>959.5</cx>
+              <cy>599.5</cy>
+              <s>0</s>
+            </intrinsics>
+            <type>stereographic</type>
+            <scale_to_hfov>1</scale_to_hfov>
+          </lens>
+        </camera>
+      </sensor>
     </link>
-    <joint name="left_track_wheel1_j" type="revolute">
-      <child>left_track_wheel1</child>
-      <parent>left_track</parent>
+    <joint name="camera_0_j" type="fixed">
+      <child>camera_0</child>
+      <parent>base_link</parent>
       <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
         <dynamics>
           <spring_reference>0</spring_reference>
           <spring_stiffness>0</spring_stiffness>
         </dynamics>
+        <xyz>0 0 1</xyz>
         <use_parent_model_frame>0</use_parent_model_frame>
+        <limit>
+          <lower>-1e+16</lower>
+          <upper>1e+16</upper>
+        </limit>
       </axis>
+      <physics>
+        <ode>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+        </ode>
+      </physics>
     </joint>
-    <link name="left_track_wheel2">
-      <pose>0.178571 0.1985 0.01855 0 -0 0</pose>
+    <link name="camera_1">
+      <pose>-0.02 -0.037465 0.185 0 0 -1.5707963267948966</pose>
       <inertial>
-        <pose>0 0 0.0141 0 -0 0</pose>
-        <mass>0.7575</mass>
+        <pose>0.039802 0 0.0145 0 -0 0</pose>
+        <mass>0.232</mass>
         <inertia>
-          <ixx>0.002731</ixx>
+          <ixx>3.25187e-05</ixx>
           <ixy>0</ixy>
           <ixz>0</ixz>
-          <iyy>0.032554</iyy>
-          <iyz>1.5e-05</iyz>
-          <izz>0.031391</izz>
+          <iyy>0.000158598</iyy>
+          <iyz>0</iyz>
+          <izz>0.000158598</izz>
         </inertia>
       </inertial>
-      <collision name="left_track_wheel2_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="camera_1_collision_collision">
+        <pose>0.02465 0 0.0145 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.0555 0.029 0.029</size>
+          </box>
+        </geometry>
+      </collision>
+      <collision name="camera_1_lens_collision_collision_1">
+        <pose>0.062834 0 0.0145 0 1.5707963267948966 0</pose>
         <geometry>
           <cylinder>
-            <length>0.097</length>
-            <radius>0.089</radius>
+            <length>0.03974</length>
+            <radius>0.0125</radius>
           </cylinder>
         </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
       </collision>
+      <visual name="camera_1_visual">
+        <pose>0 0 0.0145 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/basler_ace2_pro.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <visual name="camera_1_visual_1">
+        <pose>0.042964 0 0.0145 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/evetar_lens.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <sensor name="camera_1" type="camera">
+        <pose>0.072044 0 0.0145 0 -0 0</pose>
+        <update_rate>9</update_rate>
+        <visualize>0</visualize>
+        <camera>
+          <horizontal_fov>1.50971</horizontal_fov>
+          <image>
+            <width>1920</width>
+            <height>1200</height>
+            <format>R8G8B8</format>
+          </image>
+          <clip>
+            <near>0.011726</near>
+            <far>300</far>
+          </clip>
+          <noise>
+            <type>gaussian</type>
+            <mean>0</mean>
+            <stddev>0.007</stddev>
+          </noise>
+          <lens>
+            <intrinsics>
+              <fx>1020.51</fx>
+              <fy>1020.51</fy>
+              <cx>959.5</cx>
+              <cy>599.5</cy>
+              <s>0</s>
+            </intrinsics>
+            <type>stereographic</type>
+            <scale_to_hfov>1</scale_to_hfov>
+          </lens>
+        </camera>
+      </sensor>
     </link>
-    <joint name="left_track_wheel2_j" type="revolute">
-      <child>left_track_wheel2</child>
-      <parent>left_track</parent>
+    <joint name="camera_1_j" type="fixed">
+      <child>camera_1</child>
+      <parent>base_link</parent>
       <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
         <dynamics>
           <spring_reference>0</spring_reference>
           <spring_stiffness>0</spring_stiffness>
         </dynamics>
+        <xyz>0 0 1</xyz>
         <use_parent_model_frame>0</use_parent_model_frame>
+        <limit>
+          <lower>-1e+16</lower>
+          <upper>1e+16</upper>
+        </limit>
       </axis>
+      <physics>
+        <ode>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+        </ode>
+      </physics>
     </joint>
-    <link name="left_track_wheel3">
-      <pose>0.107143 0.1985 0.01855 0 -0 0</pose>
+    <link name="camera_2">
+      <pose>-0.245 0 0.185 0 -0 3.1415926535897931</pose>
       <inertial>
-        <pose>0 0 0.0141 0 -0 0</pose>
-        <mass>0.7575</mass>
+        <pose>0.039802 0 0.0145 0 -0 0</pose>
+        <mass>0.232</mass>
         <inertia>
-          <ixx>0.002731</ixx>
+          <ixx>3.25187e-05</ixx>
           <ixy>0</ixy>
           <ixz>0</ixz>
-          <iyy>0.032554</iyy>
-          <iyz>1.5e-05</iyz>
-          <izz>0.031391</izz>
+          <iyy>0.000158598</iyy>
+          <iyz>0</iyz>
+          <izz>0.000158598</izz>
         </inertia>
       </inertial>
-      <collision name="left_track_wheel3_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="camera_2_collision_collision">
+        <pose>0.02465 0 0.0145 0 -0 0</pose>
         <geometry>
-          <cylinder>
-            <length>0.097</length>
-            <radius>0.089</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
+          <box>
+            <size>0.0555 0.029 0.029</size>
+          </box>
+        </geometry>
       </collision>
-    </link>
-    <joint name="left_track_wheel3_j" type="revolute">
-      <child>left_track_wheel3</child>
-      <parent>left_track</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="left_track_wheel4">
-      <pose>0.035714 0.1985 0.01855 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0.0141 0 -0 0</pose>
-        <mass>0.7575</mass>
-        <inertia>
-          <ixx>0.002731</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.032554</iyy>
-          <iyz>1.5e-05</iyz>
-          <izz>0.031391</izz>
-        </inertia>
-      </inertial>
-      <collision name="left_track_wheel4_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="camera_2_lens_collision_collision_1">
+        <pose>0.062834 0 0.0145 0 1.5707963267948966 0</pose>
         <geometry>
           <cylinder>
-            <length>0.097</length>
-            <radius>0.089</radius>
+            <length>0.03974</length>
+            <radius>0.0125</radius>
           </cylinder>
         </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
       </collision>
+      <visual name="camera_2_visual">
+        <pose>0 0 0.0145 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/basler_ace2_pro.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <visual name="camera_2_visual_1">
+        <pose>0.042964 0 0.0145 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/evetar_lens.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <sensor name="camera_2" type="camera">
+        <pose>0.072044 0 0.0145 0 -0 0</pose>
+        <update_rate>9</update_rate>
+        <visualize>0</visualize>
+        <camera>
+          <horizontal_fov>1.50971</horizontal_fov>
+          <image>
+            <width>1920</width>
+            <height>1200</height>
+            <format>R8G8B8</format>
+          </image>
+          <clip>
+            <near>0.011726</near>
+            <far>300</far>
+          </clip>
+          <noise>
+            <type>gaussian</type>
+            <mean>0</mean>
+            <stddev>0.007</stddev>
+          </noise>
+          <lens>
+            <intrinsics>
+              <fx>1020.51</fx>
+              <fy>1020.51</fy>
+              <cx>959.5</cx>
+              <cy>599.5</cy>
+              <s>0</s>
+            </intrinsics>
+            <type>stereographic</type>
+            <scale_to_hfov>1</scale_to_hfov>
+          </lens>
+        </camera>
+      </sensor>
     </link>
-    <joint name="left_track_wheel4_j" type="revolute">
-      <child>left_track_wheel4</child>
-      <parent>left_track</parent>
+    <joint name="camera_2_j" type="fixed">
+      <child>camera_2</child>
+      <parent>base_link</parent>
       <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
         <dynamics>
           <spring_reference>0</spring_reference>
           <spring_stiffness>0</spring_stiffness>
         </dynamics>
+        <xyz>0 0 1</xyz>
         <use_parent_model_frame>0</use_parent_model_frame>
+        <limit>
+          <lower>-1e+16</lower>
+          <upper>1e+16</upper>
+        </limit>
       </axis>
+      <physics>
+        <ode>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+        </ode>
+      </physics>
     </joint>
-    <link name="left_track_wheel5">
-      <pose>-0.035714 0.1985 0.01855 0 -0 0</pose>
+    <link name="camera_3">
+      <pose>-0.02 0.037465 0.185 0 -0 1.5707963267948966</pose>
       <inertial>
-        <pose>0 0 0.0141 0 -0 0</pose>
-        <mass>0.7575</mass>
+        <pose>0.039802 0 0.0145 0 -0 0</pose>
+        <mass>0.232</mass>
         <inertia>
-          <ixx>0.002731</ixx>
+          <ixx>3.25187e-05</ixx>
           <ixy>0</ixy>
           <ixz>0</ixz>
-          <iyy>0.032554</iyy>
-          <iyz>1.5e-05</iyz>
-          <izz>0.031391</izz>
+          <iyy>0.000158598</iyy>
+          <iyz>0</iyz>
+          <izz>0.000158598</izz>
         </inertia>
       </inertial>
-      <collision name="left_track_wheel5_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="camera_3_collision_collision">
+        <pose>0.02465 0 0.0145 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.0555 0.029 0.029</size>
+          </box>
+        </geometry>
+      </collision>
+      <collision name="camera_3_lens_collision_collision_1">
+        <pose>0.062834 0 0.0145 0 1.5707963267948966 0</pose>
         <geometry>
           <cylinder>
-            <length>0.097</length>
-            <radius>0.089</radius>
+            <length>0.03974</length>
+            <radius>0.0125</radius>
           </cylinder>
         </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
       </collision>
+      <visual name="camera_3_visual">
+        <pose>0 0 0.0145 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/basler_ace2_pro.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <visual name="camera_3_visual_1">
+        <pose>0.042964 0 0.0145 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/evetar_lens.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <sensor name="camera_3" type="camera">
+        <pose>0.072044 0 0.0145 0 -0 0</pose>
+        <update_rate>9</update_rate>
+        <visualize>0</visualize>
+        <camera>
+          <horizontal_fov>1.50971</horizontal_fov>
+          <image>
+            <width>1920</width>
+            <height>1200</height>
+            <format>R8G8B8</format>
+          </image>
+          <clip>
+            <near>0.011726</near>
+            <far>300</far>
+          </clip>
+          <noise>
+            <type>gaussian</type>
+            <mean>0</mean>
+            <stddev>0.007</stddev>
+          </noise>
+          <lens>
+            <intrinsics>
+              <fx>1020.51</fx>
+              <fy>1020.51</fy>
+              <cx>959.5</cx>
+              <cy>599.5</cy>
+              <s>0</s>
+            </intrinsics>
+            <type>stereographic</type>
+            <scale_to_hfov>1</scale_to_hfov>
+          </lens>
+        </camera>
+      </sensor>
     </link>
-    <joint name="left_track_wheel5_j" type="revolute">
-      <child>left_track_wheel5</child>
-      <parent>left_track</parent>
+    <joint name="camera_3_j" type="fixed">
+      <child>camera_3</child>
+      <parent>base_link</parent>
       <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
         <dynamics>
           <spring_reference>0</spring_reference>
           <spring_stiffness>0</spring_stiffness>
         </dynamics>
+        <xyz>0 0 1</xyz>
         <use_parent_model_frame>0</use_parent_model_frame>
+        <limit>
+          <lower>-1e+16</lower>
+          <upper>1e+16</upper>
+        </limit>
       </axis>
+      <physics>
+        <ode>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+        </ode>
+      </physics>
     </joint>
-    <link name="left_track_wheel6">
-      <pose>-0.107143 0.1985 0.01855 0 -0 0</pose>
+    <link name="cliff_sensor_0">
+      <pose>0.275 0.119535 0.2035 -1.5707963267948966 1.5707963267948966 0</pose>
       <inertial>
-        <pose>0 0 0.0141 0 -0 0</pose>
-        <mass>0.7575</mass>
+        <pose>0.0105 0 0.00925 0 -0 0</pose>
+        <mass>0.012</mass>
         <inertia>
-          <ixx>0.002731</ixx>
+          <ixx>1.56725e-06</ixx>
           <ixy>0</ixy>
           <ixz>0</ixz>
-          <iyy>0.032554</iyy>
-          <iyz>1.5e-05</iyz>
-          <izz>0.031391</izz>
+          <iyy>7.8325e-07</iyy>
+          <iyz>0</iyz>
+          <izz>1.666e-06</izz>
         </inertia>
       </inertial>
-      <collision name="left_track_wheel6_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="cliff_sensor_0_collision">
+        <pose>0.0105 0 0.00925 0 -0 0</pose>
         <geometry>
-          <cylinder>
-            <length>0.097</length>
-            <radius>0.089</radius>
-          </cylinder>
+          <box>
+            <size>0.021 0.035 0.0185</size>
+          </box>
         </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
       </collision>
-    </link>
-    <joint name="left_track_wheel6_j" type="revolute">
-      <child>left_track_wheel6</child>
-      <parent>left_track</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="left_track_wheel7">
-      <pose>-0.178571 0.1985 0.01855 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0.0141 0 -0 0</pose>
-        <mass>0.7575</mass>
-        <inertia>
-          <ixx>0.002731</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.032554</iyy>
-          <iyz>1.5e-05</iyz>
-          <izz>0.031391</izz>
-        </inertia>
-      </inertial>
-      <collision name="left_track_wheel7_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <visual name="cliff_sensor_0_visual">
         <geometry>
-          <cylinder>
-            <length>0.097</length>
-            <radius>0.089</radius>
-          </cylinder>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/tfmini_plus_lidar.dae</uri>
+          </mesh>
         </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
+      </visual>
+      <sensor name="laser" type="gpu_lidar">
+        <pose>0.021 0 0.00925 0 -0 0</pose>
+        <update_rate>10</update_rate>
+        <visualize>0</visualize>
+        <always_on>1</always_on>
+        <lidar>
+          <scan>
+            <horizontal>
+              <samples>3</samples>
+              <resolution>1</resolution>
+              <min_angle>-0.0314159</min_angle>
+              <max_angle>0.0314159</max_angle>
+            </horizontal>
+            <vertical>
+              <samples>3</samples>
+              <resolution>1</resolution>
+              <min_angle>-0.0314159</min_angle>
+              <max_angle>0.0314159</max_angle>
+            </vertical>
+          </scan>
+          <range>
+            <min>0.1</min>
+            <max>12</max>
+            <resolution>0.01</resolution>
+          </range>
+          <noise>
+            <type>gaussian</type>
+            <mean>0</mean>
+            <stddev>0.015</stddev>
+          </noise>
+        </lidar>
+      </sensor>
     </link>
-    <joint name="left_track_wheel7_j" type="revolute">
-      <child>left_track_wheel7</child>
-      <parent>left_track</parent>
+    <joint name="cliff_sensor_0_j" type="fixed">
+      <child>cliff_sensor_0</child>
+      <parent>base_link</parent>
       <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
         <dynamics>
           <spring_reference>0</spring_reference>
           <spring_stiffness>0</spring_stiffness>
         </dynamics>
+        <xyz>0 0 1</xyz>
         <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="left_track_wheel8">
-      <pose>-0.25 0.1985 0.01855 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0.0141 0 -0 0</pose>
-        <mass>0.7575</mass>
-        <inertia>
-          <ixx>0.002731</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.032554</iyy>
-          <iyz>1.5e-05</iyz>
-          <izz>0.031391</izz>
-        </inertia>
-      </inertial>
-      <collision name="left_track_wheel8_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.097</length>
-            <radius>0.089</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-    </link>
-    <joint name="left_track_wheel8_j" type="revolute">
-      <child>left_track_wheel8</child>
-      <parent>left_track</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
         <limit>
           <lower>-1e+16</lower>
           <upper>1e+16</upper>
         </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
       </axis>
+      <physics>
+        <ode>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+        </ode>
+      </physics>
     </joint>
-    <link name="rear_left_flipper">
-      <pose>-0.25 0.272 0.0195 3.1415926535897931 0.193732 3.1415926535897931</pose>
+    <link name="cliff_sensor_1">
+      <pose>0.275 -0.120465 0.2035 1.5707963267948966 1.5707963267948966 0</pose>
       <inertial>
-        <mass>1e-05</mass>
+        <pose>0.0105 0 0.00925 0 -0 0</pose>
+        <mass>0.012</mass>
         <inertia>
-          <ixx>0.001</ixx>
-          <ixy>1e-06</ixy>
-          <ixz>1e-06</ixz>
-          <iyy>0.001</iyy>
-          <iyz>1e-06</iyz>
-          <izz>0.001</izz>
+          <ixx>1.56725e-06</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>7.8325e-07</iyy>
+          <iyz>0</iyz>
+          <izz>1.666e-06</izz>
         </inertia>
       </inertial>
-      <collision name="rear_left_flipper_collision">
+      <collision name="cliff_sensor_1_collision">
+        <pose>0.0105 0 0.00925 0 -0 0</pose>
         <geometry>
           <box>
-            <size>0.01 0.01 0.01</size>
+            <size>0.021 0.035 0.0185</size>
           </box>
         </geometry>
-        <surface>
-          <friction>
-            <ode>
-              <mu>0.7</mu>
-              <mu2>150</mu2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
       </collision>
-      <visual name="rear_left_flipper_visual">
-        <pose>0 0 0 -2.95743 -0 1.5707963267948966</pose>
+      <visual name="cliff_sensor_1_visual">
         <geometry>
           <mesh>
-            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/flipper.dae</uri>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/tfmini_plus_lidar.dae</uri>
           </mesh>
         </geometry>
       </visual>
+      <sensor name="laser" type="gpu_lidar">
+        <pose>0.021 0 0.00925 0 -0 0</pose>
+        <update_rate>10</update_rate>
+        <visualize>0</visualize>
+        <always_on>1</always_on>
+        <lidar>
+          <scan>
+            <horizontal>
+              <samples>3</samples>
+              <resolution>1</resolution>
+              <min_angle>-0.0314159</min_angle>
+              <max_angle>0.0314159</max_angle>
+            </horizontal>
+            <vertical>
+              <samples>3</samples>
+              <resolution>1</resolution>
+              <min_angle>-0.0314159</min_angle>
+              <max_angle>0.0314159</max_angle>
+            </vertical>
+          </scan>
+          <range>
+            <min>0.1</min>
+            <max>12</max>
+            <resolution>0.01</resolution>
+          </range>
+          <noise>
+            <type>gaussian</type>
+            <mean>0</mean>
+            <stddev>0.015</stddev>
+          </noise>
+        </lidar>
+      </sensor>
     </link>
-    <joint name="rear_left_flipper_j" type="revolute">
-      <child>rear_left_flipper</child>
-      <parent>left_track</parent>
+    <joint name="cliff_sensor_1_j" type="fixed">
+      <child>cliff_sensor_1</child>
+      <parent>base_link</parent>
       <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>20</effort>
-          <velocity>0.785398</velocity>
-        </limit>
         <dynamics>
           <spring_reference>0</spring_reference>
           <spring_stiffness>0</spring_stiffness>
         </dynamics>
+        <xyz>0 0 1</xyz>
         <use_parent_model_frame>0</use_parent_model_frame>
+        <limit>
+          <lower>-1e+16</lower>
+          <upper>1e+16</upper>
+        </limit>
       </axis>
       <physics>
         <ode>
-          <implicit_spring_damper>1</implicit_spring_damper>
-          <cfm_damping>1</cfm_damping>
           <limit>
             <cfm>0</cfm>
             <erp>0.2</erp>
@@ -1399,1736 +1440,171 @@
         </ode>
       </physics>
     </joint>
-    <link name="rear_left_flipper_wheel1">
-      <pose>-0.25 0.272 0.0195 3.1415926535897931 0.193732 3.1415926535897931</pose>
+    <link name="cliff_sensor_2">
+      <pose>-0.275 0.119535 0.2035 -1.5707963267948966 1.5707963267948966 0</pose>
       <inertial>
-        <pose>0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
+        <pose>0.0105 0 0.00925 0 -0 0</pose>
+        <mass>0.012</mass>
         <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
+          <ixx>1.56725e-06</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>7.8325e-07</iyy>
+          <iyz>0</iyz>
+          <izz>1.666e-06</izz>
         </inertia>
       </inertial>
-      <collision name="rear_left_flipper_wheel1_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="cliff_sensor_2_collision">
+        <pose>0.0105 0 0.00925 0 -0 0</pose>
         <geometry>
-          <cylinder>
-            <length>0.04981</length>
-            <radius>0.089</radius>
-          </cylinder>
+          <box>
+            <size>0.021 0.035 0.0185</size>
+          </box>
         </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-    </link>
-    <joint name="rear_left_flipper_wheel1_j" type="revolute">
-      <child>rear_left_flipper_wheel1</child>
-      <parent>rear_left_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="rear_left_flipper_wheel2">
-      <pose>-0.330957 0.272 0.003617 3.1415926535897931 0.193732 3.1415926535897931</pose>
-      <inertial>
-        <pose>0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
-        <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
-        </inertia>
-      </inertial>
-      <collision name="rear_left_flipper_wheel2_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.04981</length>
-            <radius>0.074</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-    </link>
-    <joint name="rear_left_flipper_wheel2_j" type="revolute">
-      <child>rear_left_flipper_wheel2</child>
-      <parent>rear_left_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="rear_left_flipper_wheel3">
-      <pose>-0.411913 0.272 -0.012266 3.1415926535897931 0.193732 3.1415926535897931</pose>
-      <inertial>
-        <pose>0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
-        <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
-        </inertia>
-      </inertial>
-      <collision name="rear_left_flipper_wheel3_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.04981</length>
-            <radius>0.059</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-    </link>
-    <joint name="rear_left_flipper_wheel3_j" type="revolute">
-      <child>rear_left_flipper_wheel3</child>
-      <parent>rear_left_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="rear_left_flipper_wheel4">
-      <pose>-0.49287 0.272 -0.028149 3.1415926535897931 0.193732 3.1415926535897931</pose>
-      <inertial>
-        <pose>0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
-        <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
-        </inertia>
-      </inertial>
-      <collision name="rear_left_flipper_wheel4_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.04981</length>
-            <radius>0.044</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
       </collision>
-    </link>
-    <joint name="rear_left_flipper_wheel4_j" type="revolute">
-      <child>rear_left_flipper_wheel4</child>
-      <parent>rear_left_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="rear_left_flipper_wheel5">
-      <pose>-0.573827 0.272 -0.044032 3.1415926535897931 0.193732 3.1415926535897931</pose>
-      <inertial>
-        <pose>0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
-        <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
-        </inertia>
-      </inertial>
-      <collision name="rear_left_flipper_wheel5_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.04981</length>
-            <radius>0.029</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-    </link>
-    <joint name="rear_left_flipper_wheel5_j" type="revolute">
-      <child>rear_left_flipper_wheel5</child>
-      <parent>rear_left_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="camera_0">
-      <pose>0.185 0 0.195 0 -0 0</pose>
-      <inertial>
-        <pose>0.039802 0 0.0145 0 -0 0</pose>
-        <mass>0.232</mass>
-        <inertia>
-          <ixx>3.25187e-05</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.000158598</iyy>
-          <iyz>0</iyz>
-          <izz>0.000158598</izz>
-        </inertia>
-      </inertial>
-      <collision name="camera_0_collision_collision">
-        <pose>0.02465 0 0.0145 0 -0 0</pose>
-        <geometry>
-          <box>
-            <size>0.0555 0.029 0.029</size>
-          </box>
-        </geometry>
-      </collision>
-      <collision name="camera_0_lens_collision_collision_1">
-        <pose>0.062834 0 0.0145 0 1.5707963267948966 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.03974</length>
-            <radius>0.0125</radius>
-          </cylinder>
-        </geometry>
-      </collision>
-      <visual name="camera_0_visual">
-        <pose>0 0 0.0145 0 -0 0</pose>
-        <geometry>
-          <mesh>
-            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/basler_ace2_pro.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-      <visual name="camera_0_visual_1">
-        <pose>0.042964 0 0.0145 0 -0 0</pose>
+      <visual name="cliff_sensor_2_visual">
         <geometry>
           <mesh>
-            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/evetar_lens.dae</uri>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/tfmini_plus_lidar.dae</uri>
           </mesh>
         </geometry>
       </visual>
-      <visual name="camera_0_fixed_joint_lump__front_camera_holder_visual_2">
-        <pose>0.02 0 -0.005 0 -0 0</pose>
-        <geometry>
-          <box>
-            <size>0.04 0.025 0.01</size>
-          </box>
-        </geometry>
-      </visual>
-      <sensor name="camera_0" type="camera">
-        <pose>0.072044 0 0.0145 0 -0 0</pose>
-        <update_rate>9</update_rate>
+      <sensor name="laser" type="gpu_lidar">
+        <pose>0.021 0 0.00925 0 -0 0</pose>
+        <update_rate>10</update_rate>
         <visualize>0</visualize>
-        <camera>
-          <horizontal_fov>1.50971</horizontal_fov>
-          <image>
-            <width>1920</width>
-            <height>1200</height>
-            <format>R8G8B8</format>
-          </image>
-          <clip>
-            <near>0.011726</near>
-            <far>300</far>
-          </clip>
-          <noise>
-            <type>gaussian</type>
-            <mean>0</mean>
-            <stddev>0.007</stddev>
-          </noise>
-          <lens>
-            <intrinsics>
-              <fx>1020.51</fx>
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-      </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>
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-          <ixx>0.000461625</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.000461625</iyy>
-          <iyz>0</iyz>
-          <izz>0.000473063</izz>
-        </inertia>
-      </inertial>
-      <collision name="laser_collision">
-        <pose>0 0 0.03675 0 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.0735</length>
-            <radius>0.0435</radius>
-          </cylinder>
-        </geometry>
-      </collision>
-      <visual name="laser_visual">
-        <geometry>
-          <mesh>
-            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/ouster-os0.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-      <sensor name="laser" type="gpu_lidar">
-        <pose>0 0 0.035925 0 -0 0</pose>
-        <update_rate>10</update_rate>
-        <visualize>0</visualize>
-        <always_on>1</always_on>
-        <lidar>
-          <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>
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-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
-        </inertia>
-      </inertial>
-      <collision name="front_right_flipper_wheel1_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.04981</length>
-            <radius>0.089</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-    </link>
-    <joint name="front_right_flipper_wheel1_j" type="revolute">
-      <child>front_right_flipper_wheel1</child>
-      <parent>front_right_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="front_right_flipper_wheel2">
-      <pose>0.330957 -0.272 0.003617 3.1415926535897931 -0.193732 3.1415926535897931</pose>
-      <inertial>
-        <pose>-0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
-        <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
-        </inertia>
-      </inertial>
-      <collision name="front_right_flipper_wheel2_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.04981</length>
-            <radius>0.074</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-    </link>
-    <joint name="front_right_flipper_wheel2_j" type="revolute">
-      <child>front_right_flipper_wheel2</child>
-      <parent>front_right_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="front_right_flipper_wheel3">
-      <pose>0.411913 -0.272 -0.012266 3.1415926535897931 -0.193732 3.1415926535897931</pose>
-      <inertial>
-        <pose>-0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
-        <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
-        </inertia>
-      </inertial>
-      <collision name="front_right_flipper_wheel3_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.04981</length>
-            <radius>0.059</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-    </link>
-    <joint name="front_right_flipper_wheel3_j" type="revolute">
-      <child>front_right_flipper_wheel3</child>
-      <parent>front_right_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="front_right_flipper_wheel4">
-      <pose>0.49287 -0.272 -0.028149 3.1415926535897931 -0.193732 3.1415926535897931</pose>
-      <inertial>
-        <pose>-0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
-        <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
-        </inertia>
-      </inertial>
-      <collision name="front_right_flipper_wheel4_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.04981</length>
-            <radius>0.044</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-    </link>
-    <joint name="front_right_flipper_wheel4_j" type="revolute">
-      <child>front_right_flipper_wheel4</child>
-      <parent>front_right_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="front_right_flipper_wheel5">
-      <pose>0.573827 -0.272 -0.044032 3.1415926535897931 -0.193732 3.1415926535897931</pose>
-      <inertial>
-        <pose>-0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
-        <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
-        </inertia>
-      </inertial>
-      <collision name="front_right_flipper_wheel5_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.04981</length>
-            <radius>0.029</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
+        <always_on>1</always_on>
+        <lidar>
+          <scan>
+            <horizontal>
+              <samples>3</samples>
+              <resolution>1</resolution>
+              <min_angle>-0.0314159</min_angle>
+              <max_angle>0.0314159</max_angle>
+            </horizontal>
+            <vertical>
+              <samples>3</samples>
+              <resolution>1</resolution>
+              <min_angle>-0.0314159</min_angle>
+              <max_angle>0.0314159</max_angle>
+            </vertical>
+          </scan>
+          <range>
+            <min>0.1</min>
+            <max>12</max>
+            <resolution>0.01</resolution>
+          </range>
+          <noise>
+            <type>gaussian</type>
+            <mean>0</mean>
+            <stddev>0.015</stddev>
+          </noise>
+        </lidar>
+      </sensor>
     </link>
-    <joint name="front_right_flipper_wheel5_j" type="revolute">
-      <child>front_right_flipper_wheel5</child>
-      <parent>front_right_flipper</parent>
+    <joint name="cliff_sensor_2_j" type="fixed">
+      <child>cliff_sensor_2</child>
+      <parent>base_link</parent>
       <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
         <dynamics>
           <spring_reference>0</spring_reference>
           <spring_stiffness>0</spring_stiffness>
         </dynamics>
+        <xyz>0 0 1</xyz>
         <use_parent_model_frame>0</use_parent_model_frame>
+        <limit>
+          <lower>-1e+16</lower>
+          <upper>1e+16</upper>
+        </limit>
       </axis>
+      <physics>
+        <ode>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+        </ode>
+      </physics>
     </joint>
-    <link name="rear_right_flipper">
-      <pose>-0.25 -0.272 0.0195 0 -0.193732 0</pose>
+    <link name="cliff_sensor_3">
+      <pose>-0.275 -0.120465 0.2035 1.5707963267948966 1.5707963267948966 0</pose>
       <inertial>
-        <mass>1e-05</mass>
+        <pose>0.0105 0 0.00925 0 -0 0</pose>
+        <mass>0.012</mass>
         <inertia>
-          <ixx>0.001</ixx>
-          <ixy>1e-06</ixy>
-          <ixz>1e-06</ixz>
-          <iyy>0.001</iyy>
-          <iyz>1e-06</iyz>
-          <izz>0.001</izz>
+          <ixx>1.56725e-06</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>7.8325e-07</iyy>
+          <iyz>0</iyz>
+          <izz>1.666e-06</izz>
         </inertia>
       </inertial>
-      <collision name="rear_right_flipper_collision">
+      <collision name="cliff_sensor_3_collision">
+        <pose>0.0105 0 0.00925 0 -0 0</pose>
         <geometry>
           <box>
-            <size>0.01 0.01 0.01</size>
+            <size>0.021 0.035 0.0185</size>
           </box>
         </geometry>
-        <surface>
-          <friction>
-            <ode>
-              <mu>0.7</mu>
-              <mu2>150</mu2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
       </collision>
-      <visual name="rear_right_flipper_visual">
-        <pose>0 0 0 -2.95743 -0 -1.5707963267948966</pose>
+      <visual name="cliff_sensor_3_visual">
         <geometry>
           <mesh>
-            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/flipper.dae</uri>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/tfmini_plus_lidar.dae</uri>
           </mesh>
         </geometry>
       </visual>
+      <sensor name="laser" type="gpu_lidar">
+        <pose>0.021 0 0.00925 0 -0 0</pose>
+        <update_rate>10</update_rate>
+        <visualize>0</visualize>
+        <always_on>1</always_on>
+        <lidar>
+          <scan>
+            <horizontal>
+              <samples>3</samples>
+              <resolution>1</resolution>
+              <min_angle>-0.0314159</min_angle>
+              <max_angle>0.0314159</max_angle>
+            </horizontal>
+            <vertical>
+              <samples>3</samples>
+              <resolution>1</resolution>
+              <min_angle>-0.0314159</min_angle>
+              <max_angle>0.0314159</max_angle>
+            </vertical>
+          </scan>
+          <range>
+            <min>0.1</min>
+            <max>12</max>
+            <resolution>0.01</resolution>
+          </range>
+          <noise>
+            <type>gaussian</type>
+            <mean>0</mean>
+            <stddev>0.015</stddev>
+          </noise>
+        </lidar>
+      </sensor>
     </link>
-    <joint name="rear_right_flipper_j" type="revolute">
-      <child>rear_right_flipper</child>
-      <parent>right_track</parent>
+    <joint name="cliff_sensor_3_j" type="fixed">
+      <child>cliff_sensor_3</child>
+      <parent>base_link</parent>
       <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>20</effort>
-          <velocity>0.785398</velocity>
-        </limit>
         <dynamics>
           <spring_reference>0</spring_reference>
           <spring_stiffness>0</spring_stiffness>
         </dynamics>
+        <xyz>0 0 1</xyz>
         <use_parent_model_frame>0</use_parent_model_frame>
+        <limit>
+          <lower>-1e+16</lower>
+          <upper>1e+16</upper>
+        </limit>
       </axis>
       <physics>
         <ode>
-          <implicit_spring_damper>1</implicit_spring_damper>
-          <cfm_damping>1</cfm_damping>
           <limit>
             <cfm>0</cfm>
             <erp>0.2</erp>
@@ -3136,296 +1612,203 @@
         </ode>
       </physics>
     </joint>
-    <link name="rear_right_flipper_wheel1">
-      <pose>-0.25 -0.272 0.0195 0 -0.193732 0</pose>
+    <link name="camera_4">
+      <pose>0.0435 -0.0145 0.26752 -1.5707963267948966 -1.5707963267948966 0</pose>
       <inertial>
-        <pose>-0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
+        <pose>0.039802 0 0.0145 0 -0 0</pose>
+        <mass>0.232</mass>
         <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
+          <ixx>3.25187e-05</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.000158598</iyy>
+          <iyz>0</iyz>
+          <izz>0.000158598</izz>
         </inertia>
       </inertial>
-      <collision name="rear_right_flipper_wheel1_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="camera_4_collision_collision">
+        <pose>0.02465 0 0.0145 0 -0 0</pose>
         <geometry>
-          <cylinder>
-            <length>0.04981</length>
-            <radius>0.089</radius>
-          </cylinder>
+          <box>
+            <size>0.0555 0.029 0.029</size>
+          </box>
         </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
       </collision>
-    </link>
-    <joint name="rear_right_flipper_wheel1_j" type="revolute">
-      <child>rear_right_flipper_wheel1</child>
-      <parent>rear_right_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="rear_right_flipper_wheel2">
-      <pose>-0.330957 -0.272 0.003617 0 -0.193732 0</pose>
-      <inertial>
-        <pose>-0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
-        <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
-        </inertia>
-      </inertial>
-      <collision name="rear_right_flipper_wheel2_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="camera_4_lens_collision_collision_1">
+        <pose>0.062834 0 0.0145 0 1.5707963267948966 0</pose>
         <geometry>
           <cylinder>
-            <length>0.04981</length>
-            <radius>0.074</radius>
+            <length>0.03974</length>
+            <radius>0.0125</radius>
           </cylinder>
         </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
       </collision>
-    </link>
-    <joint name="rear_right_flipper_wheel2_j" type="revolute">
-      <child>rear_right_flipper_wheel2</child>
-      <parent>rear_right_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="rear_right_flipper_wheel3">
-      <pose>-0.411913 -0.272 -0.012266 0 -0.193732 0</pose>
-      <inertial>
-        <pose>-0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
-        <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
-        </inertia>
-      </inertial>
-      <collision name="rear_right_flipper_wheel3_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <visual name="camera_4_visual">
+        <pose>0 0 0.0145 0 -0 0</pose>
         <geometry>
-          <cylinder>
-            <length>0.04981</length>
-            <radius>0.059</radius>
-          </cylinder>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/basler_ace2_pro.dae</uri>
+          </mesh>
         </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
+      </visual>
+      <visual name="camera_4_visual_1">
+        <pose>0.042964 0 0.0145 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/evetar_lens.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <sensor name="camera_4" type="camera">
+        <pose>0.072044 0 0.0145 0 -0 0</pose>
+        <update_rate>9</update_rate>
+        <visualize>0</visualize>
+        <camera>
+          <horizontal_fov>1.50971</horizontal_fov>
+          <image>
+            <width>1920</width>
+            <height>1200</height>
+            <format>R8G8B8</format>
+          </image>
+          <clip>
+            <near>0.011726</near>
+            <far>300</far>
+          </clip>
+          <noise>
+            <type>gaussian</type>
+            <mean>0</mean>
+            <stddev>0.007</stddev>
+          </noise>
+          <lens>
+            <intrinsics>
+              <fx>1020.51</fx>
+              <fy>1020.51</fy>
+              <cx>959.5</cx>
+              <cy>599.5</cy>
+              <s>0</s>
+            </intrinsics>
+            <type>stereographic</type>
+            <scale_to_hfov>1</scale_to_hfov>
+          </lens>
+        </camera>
+      </sensor>
     </link>
-    <joint name="rear_right_flipper_wheel3_j" type="revolute">
-      <child>rear_right_flipper_wheel3</child>
-      <parent>rear_right_flipper</parent>
+    <joint name="camera_4_j" type="fixed">
+      <child>camera_4</child>
+      <parent>base_link</parent>
       <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
         <dynamics>
           <spring_reference>0</spring_reference>
           <spring_stiffness>0</spring_stiffness>
         </dynamics>
+        <xyz>0 0 1</xyz>
         <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="rear_right_flipper_wheel4">
-      <pose>-0.49287 -0.272 -0.028149 0 -0.193732 0</pose>
-      <inertial>
-        <pose>-0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
-        <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
-        </inertia>
-      </inertial>
-      <collision name="rear_right_flipper_wheel4_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.04981</length>
-            <radius>0.044</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-    </link>
-    <joint name="rear_right_flipper_wheel4_j" type="revolute">
-      <child>rear_right_flipper_wheel4</child>
-      <parent>rear_right_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
         <limit>
           <lower>-1e+16</lower>
           <upper>1e+16</upper>
         </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
       </axis>
+      <physics>
+        <ode>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+        </ode>
+      </physics>
     </joint>
-    <link name="rear_right_flipper_wheel5">
-      <pose>-0.573827 -0.272 -0.044032 0 -0.193732 0</pose>
+    <link name="laser">
+      <pose>0.1415 0 0.365 0 0.18 0</pose>
       <inertial>
-        <pose>-0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
+        <pose>0 0 0.03675 0 -0 0</pose>
+        <mass>0.5</mass>
         <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
+          <ixx>0.000461625</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.000461625</iyy>
+          <iyz>0</iyz>
+          <izz>0.000473063</izz>
         </inertia>
       </inertial>
-      <collision name="rear_right_flipper_wheel5_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="laser_collision">
+        <pose>0 0 0.03675 0 -0 0</pose>
         <geometry>
           <cylinder>
-            <length>0.04981</length>
-            <radius>0.029</radius>
+            <length>0.0735</length>
+            <radius>0.0435</radius>
           </cylinder>
         </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
       </collision>
+      <visual name="laser_visual">
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/ouster-os0.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <sensor name="laser" type="gpu_lidar">
+        <pose>0 0 0.035925 0 -0 0</pose>
+        <update_rate>10</update_rate>
+        <visualize>0</visualize>
+        <always_on>1</always_on>
+        <lidar>
+          <scan>
+            <horizontal>
+              <samples>2048</samples>
+              <resolution>1</resolution>
+              <min_angle>-3.1459</min_angle>
+              <max_angle>3.1459</max_angle>
+            </horizontal>
+            <vertical>
+              <samples>128</samples>
+              <resolution>1</resolution>
+              <min_angle>-0.785398</min_angle>
+              <max_angle>0.785398</max_angle>
+            </vertical>
+          </scan>
+          <range>
+            <min>0.1</min>
+            <max>50</max>
+            <resolution>0.01</resolution>
+          </range>
+          <noise>
+            <type>gaussian</type>
+            <mean>0</mean>
+            <stddev>0.01</stddev>
+          </noise>
+        </lidar>
+      </sensor>
     </link>
-    <joint name="rear_right_flipper_wheel5_j" type="revolute">
-      <child>rear_right_flipper_wheel5</child>
-      <parent>rear_right_flipper</parent>
+    <joint name="laser_j" type="fixed">
+      <child>laser</child>
+      <parent>base_link</parent>
       <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
         <dynamics>
           <spring_reference>0</spring_reference>
           <spring_stiffness>0</spring_stiffness>
         </dynamics>
+        <xyz>0 0 1</xyz>
         <use_parent_model_frame>0</use_parent_model_frame>
+        <limit>
+          <lower>-1e+16</lower>
+          <upper>1e+16</upper>
+        </limit>
       </axis>
+      <physics>
+        <ode>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+        </ode>
+      </physics>
     </joint>
-    <link name="right_track_wheel1">
-      <pose>0.25 -0.1985 0.01855 0 -0 0</pose>
+    <link name="right_track">
+      <pose>0 -0.1985 0 0 -0 0</pose>
       <inertial>
         <pose>0 0 0.0141 0 -0 0</pose>
-        <mass>0.7575</mass>
+        <mass>6.06</mass>
         <inertia>
           <ixx>0.002731</ixx>
           <ixy>0</ixy>
@@ -3435,8 +1818,25 @@
           <izz>0.031391</izz>
         </inertia>
       </inertial>
-      <collision name="right_track_wheel1_collision">
-        <pose>0 0.015 0 1.5707963267948966 -0 0</pose>
+      <collision name="right_track_collision">
+        <pose>0 0 0.01855 1.5707963267948966 -0 1.5707963267948966</pose>
+        <geometry>
+          <box>
+            <size>0.097 0.178 0.5</size>
+          </box>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>10</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="right_track_collision_1">
+        <pose>0.25 0.015 0.01855 1.5707963267948966 -0 0</pose>
         <geometry>
           <cylinder>
             <length>0.112</length>
@@ -3444,56 +1844,17 @@
           </cylinder>
         </geometry>
         <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
           <friction>
             <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
+              <mu>10</mu>
+              <mu2>150</mu2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
-    </link>
-    <joint name="right_track_wheel1_j" type="revolute">
-      <child>right_track_wheel1</child>
-      <parent>right_track</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="right_track_wheel2">
-      <pose>0.178571 -0.1985 0.01855 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0.0141 0 -0 0</pose>
-        <mass>0.7575</mass>
-        <inertia>
-          <ixx>0.002731</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.032554</iyy>
-          <iyz>1.5e-05</iyz>
-          <izz>0.031391</izz>
-        </inertia>
-      </inertial>
-      <collision name="right_track_wheel2_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="right_track_collision_2">
+        <pose>-0.25 0 0.01855 1.5707963267948966 -0 0</pose>
         <geometry>
           <cylinder>
             <length>0.097</length>
@@ -3501,32 +1862,34 @@
           </cylinder>
         </geometry>
         <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
           <friction>
             <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
+              <mu>10</mu>
+              <mu2>150</mu2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
+      <visual name="right_track_visual">
+        <pose>0 0 -0.0705 1.5707963267948966 0 -1.5707963267948966</pose>
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/bogie.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
     </link>
-    <joint name="right_track_wheel2_j" type="revolute">
-      <child>right_track_wheel2</child>
-      <parent>right_track</parent>
+    <joint name="right_track_j" type="revolute">
+      <child>right_track</child>
+      <parent>base_link</parent>
       <axis>
         <xyz>0 1 0</xyz>
         <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
+          <lower>0</lower>
+          <upper>0</upper>
+          <effort>0</effort>
+          <velocity>4</velocity>
         </limit>
         <dynamics>
           <spring_reference>0</spring_reference>
@@ -3534,170 +1897,142 @@
         </dynamics>
         <use_parent_model_frame>0</use_parent_model_frame>
       </axis>
+      <physics>
+        <ode>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+        </ode>
+      </physics>
+      <physics>
+        <ode>
+          <implicit_spring_damper>1</implicit_spring_damper>
+          <cfm>0</cfm>
+          <erp>0.95</erp>
+        </ode>
+      </physics>
     </joint>
-    <link name="right_track_wheel3">
-      <pose>0.107143 -0.1985 0.01855 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0.0141 0 -0 0</pose>
-        <mass>0.7575</mass>
-        <inertia>
-          <ixx>0.002731</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.032554</iyy>
-          <iyz>1.5e-05</iyz>
-          <izz>0.031391</izz>
+    <link name="front_right_flipper">
+      <pose>0.25 -0.272 0.0195 3.1415926535897931 -0.193732 3.1415926535897931</pose>
+      <inertial>
+        <pose>-0.08 0 0 0 -0 0</pose>
+        <mass>0.75</mass>
+        <inertia>
+          <ixx>0.0017491</ixx>
+          <ixy>2.8512e-07</ixy>
+          <ixz>0.0018277</ixz>
+          <iyy>0.012277</iyy>
+          <iyz>-3.6288e-07</iyz>
+          <izz>0.010941</izz>
         </inertia>
       </inertial>
-      <collision name="right_track_wheel3_collision">
+      <collision name="front_right_flipper_collision_large_wheel_collision">
         <pose>0 0 0 1.5707963267948966 -0 0</pose>
         <geometry>
           <cylinder>
-            <length>0.097</length>
+            <length>0.04981</length>
             <radius>0.089</radius>
           </cylinder>
         </geometry>
         <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
           <friction>
             <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
+              <mu>10</mu>
+              <mu2>150</mu2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
-    </link>
-    <joint name="right_track_wheel3_j" type="revolute">
-      <child>right_track_wheel3</child>
-      <parent>right_track</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="right_track_wheel4">
-      <pose>0.035714 -0.1985 0.01855 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0.0141 0 -0 0</pose>
-        <mass>0.7575</mass>
-        <inertia>
-          <ixx>0.002731</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.032554</iyy>
-          <iyz>1.5e-05</iyz>
-          <izz>0.031391</izz>
-        </inertia>
-      </inertial>
-      <collision name="right_track_wheel4_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="front_right_flipper_collision_small_wheel_collision_1">
+        <pose>-0.33 0 0 1.5707963267948966 -0 0</pose>
         <geometry>
           <cylinder>
-            <length>0.097</length>
-            <radius>0.089</radius>
+            <length>0.04981</length>
+            <radius>0.029</radius>
           </cylinder>
         </geometry>
         <surface>
-          <contact>
+          <friction>
             <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
+              <mu>10</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
             </ode>
-          </contact>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="front_right_flipper_collision_top_bar_collision_2">
+        <pose>-0.165 0 0.0325 0 0.184162 -3.1415926535897931</pose>
+        <geometry>
+          <box>
+            <size>0.33 0.04981 0.055</size>
+          </box>
+        </geometry>
+        <surface>
           <friction>
             <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
+              <mu>10</mu>
+              <mu2>150</mu2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
-    </link>
-    <joint name="right_track_wheel4_j" type="revolute">
-      <child>right_track_wheel4</child>
-      <parent>right_track</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="right_track_wheel5">
-      <pose>-0.035714 -0.1985 0.01855 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0.0141 0 -0 0</pose>
-        <mass>0.7575</mass>
-        <inertia>
-          <ixx>0.002731</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.032554</iyy>
-          <iyz>1.5e-05</iyz>
-          <izz>0.031391</izz>
-        </inertia>
-      </inertial>
-      <collision name="right_track_wheel5_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="front_right_flipper_collision_bottom_bar_collision_3">
+        <pose>-0.165 0 -0.0325 0 -0.184162 -3.1415926535897931</pose>
         <geometry>
-          <cylinder>
-            <length>0.097</length>
-            <radius>0.089</radius>
-          </cylinder>
+          <box>
+            <size>0.33 0.04981 0.055</size>
+          </box>
         </geometry>
         <surface>
-          <contact>
+          <friction>
             <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
+              <mu>10</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
             </ode>
-          </contact>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="front_right_flipper_collision_middle_bar_collision_4">
+        <pose>-0.166 0 0.004 0 -0.02 -3.1415926535897931</pose>
+        <geometry>
+          <box>
+            <size>0.2 0.04981 0.07</size>
+          </box>
+        </geometry>
+        <surface>
           <friction>
             <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
+              <mu>10</mu>
+              <mu2>150</mu2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
+      <visual name="front_right_flipper_visual">
+        <pose>0 0 0 -2.95743 -0 -1.5707963267948966</pose>
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/flipper.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
     </link>
-    <joint name="right_track_wheel5_j" type="revolute">
-      <child>right_track_wheel5</child>
+    <joint name="front_right_flipper_j" type="revolute">
+      <child>front_right_flipper</child>
       <parent>right_track</parent>
       <axis>
         <xyz>0 1 0</xyz>
         <limit>
           <lower>-1e+16</lower>
           <upper>1e+16</upper>
+          <effort>20</effort>
+          <velocity>0.785398</velocity>
         </limit>
         <dynamics>
           <spring_reference>0</spring_reference>
@@ -3705,170 +2040,137 @@
         </dynamics>
         <use_parent_model_frame>0</use_parent_model_frame>
       </axis>
+      <physics>
+        <ode>
+          <implicit_spring_damper>1</implicit_spring_damper>
+          <cfm_damping>1</cfm_damping>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+        </ode>
+      </physics>
     </joint>
-    <link name="right_track_wheel6">
-      <pose>-0.107143 -0.1985 0.01855 0 -0 0</pose>
+    <link name="rear_right_flipper">
+      <pose>-0.25 -0.272 0.0195 0 -0.193732 0</pose>
       <inertial>
-        <pose>0 0 0.0141 0 -0 0</pose>
-        <mass>0.7575</mass>
+        <pose>-0.08 0 0 0 -0 0</pose>
+        <mass>0.75</mass>
         <inertia>
-          <ixx>0.002731</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.032554</iyy>
-          <iyz>1.5e-05</iyz>
-          <izz>0.031391</izz>
+          <ixx>0.0017491</ixx>
+          <ixy>2.8512e-07</ixy>
+          <ixz>0.0018277</ixz>
+          <iyy>0.012277</iyy>
+          <iyz>-3.6288e-07</iyz>
+          <izz>0.010941</izz>
         </inertia>
       </inertial>
-      <collision name="right_track_wheel6_collision">
+      <collision name="rear_right_flipper_collision_large_wheel_collision">
         <pose>0 0 0 1.5707963267948966 -0 0</pose>
         <geometry>
           <cylinder>
-            <length>0.097</length>
+            <length>0.04981</length>
             <radius>0.089</radius>
           </cylinder>
         </geometry>
         <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
           <friction>
             <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
+              <mu>10</mu>
+              <mu2>150</mu2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
-    </link>
-    <joint name="right_track_wheel6_j" type="revolute">
-      <child>right_track_wheel6</child>
-      <parent>right_track</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="right_track_wheel7">
-      <pose>-0.178571 -0.1985 0.01855 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0.0141 0 -0 0</pose>
-        <mass>0.7575</mass>
-        <inertia>
-          <ixx>0.002731</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.032554</iyy>
-          <iyz>1.5e-05</iyz>
-          <izz>0.031391</izz>
-        </inertia>
-      </inertial>
-      <collision name="right_track_wheel7_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="rear_right_flipper_collision_small_wheel_collision_1">
+        <pose>-0.33 0 0 1.5707963267948966 -0 0</pose>
         <geometry>
           <cylinder>
-            <length>0.097</length>
-            <radius>0.089</radius>
+            <length>0.04981</length>
+            <radius>0.029</radius>
           </cylinder>
         </geometry>
         <surface>
-          <contact>
+          <friction>
             <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
+              <mu>10</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
             </ode>
-          </contact>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="rear_right_flipper_collision_top_bar_collision_2">
+        <pose>-0.165 0 0.0325 0 0.184162 -3.1415926535897931</pose>
+        <geometry>
+          <box>
+            <size>0.33 0.04981 0.055</size>
+          </box>
+        </geometry>
+        <surface>
           <friction>
             <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
+              <mu>10</mu>
+              <mu2>150</mu2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
-    </link>
-    <joint name="right_track_wheel7_j" type="revolute">
-      <child>right_track_wheel7</child>
-      <parent>right_track</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="right_track_wheel8">
-      <pose>-0.25 -0.1985 0.01855 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0.0141 0 -0 0</pose>
-        <mass>0.7575</mass>
-        <inertia>
-          <ixx>0.002731</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.032554</iyy>
-          <iyz>1.5e-05</iyz>
-          <izz>0.031391</izz>
-        </inertia>
-      </inertial>
-      <collision name="right_track_wheel8_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="rear_right_flipper_collision_bottom_bar_collision_3">
+        <pose>-0.165 0 -0.0325 0 -0.184162 -3.1415926535897931</pose>
         <geometry>
-          <cylinder>
-            <length>0.097</length>
-            <radius>0.089</radius>
-          </cylinder>
+          <box>
+            <size>0.33 0.04981 0.055</size>
+          </box>
         </geometry>
         <surface>
-          <contact>
+          <friction>
             <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
+              <mu>10</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
             </ode>
-          </contact>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="rear_right_flipper_collision_middle_bar_collision_4">
+        <pose>-0.166 0 0.004 0 -0.02 -3.1415926535897931</pose>
+        <geometry>
+          <box>
+            <size>0.2 0.04981 0.07</size>
+          </box>
+        </geometry>
+        <surface>
           <friction>
             <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
+              <mu>10</mu>
+              <mu2>150</mu2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
+      <visual name="rear_right_flipper_visual">
+        <pose>0 0 0 -2.95743 -0 -1.5707963267948966</pose>
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/flipper.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
     </link>
-    <joint name="right_track_wheel8_j" type="revolute">
-      <child>right_track_wheel8</child>
+    <joint name="rear_right_flipper_j" type="revolute">
+      <child>rear_right_flipper</child>
       <parent>right_track</parent>
       <axis>
         <xyz>0 1 0</xyz>
         <limit>
           <lower>-1e+16</lower>
           <upper>1e+16</upper>
+          <effort>20</effort>
+          <velocity>0.785398</velocity>
         </limit>
         <dynamics>
           <spring_reference>0</spring_reference>
@@ -3876,6 +2178,16 @@
         </dynamics>
         <use_parent_model_frame>0</use_parent_model_frame>
       </axis>
+      <physics>
+        <ode>
+          <implicit_spring_damper>1</implicit_spring_damper>
+          <cfm_damping>1</cfm_damping>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+        </ode>
+      </physics>
     </joint>
     <plugin name="cras::FlipperControlPlugin" filename="libflipper_control_plugin.so">
       <joint_name>front_left_flipper_j</joint_name>
diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_8/model.sdf b/submitted_models/ctu_cras_norlab_absolem_sensor_config_8/model.sdf
index 1158d51c..266eff93 100644
--- a/submitted_models/ctu_cras_norlab_absolem_sensor_config_8/model.sdf
+++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_8/model.sdf
@@ -363,7 +363,6 @@
         <always_on>1</always_on>
         <update_rate>50</update_rate>
         <imu>
-          <enable_orientation>0</enable_orientation>
           <angular_velocity>
             <x>
               <noise type="gaussian">
@@ -434,6 +433,7 @@
               </noise>
             </z>
           </linear_acceleration>
+          <enable_orientation>0</enable_orientation>
         </imu>
         <pose>0 0 0.15 -3.1415926535897931 -0 0</pose>
       </sensor>
@@ -458,26 +458,64 @@
     <link name="left_track">
       <pose>0 0.1985 0 0 -0 0</pose>
       <inertial>
-        <mass>1e-05</mass>
+        <pose>0 0 0.0141 0 -0 0</pose>
+        <mass>6.06</mass>
         <inertia>
-          <ixx>0.001</ixx>
-          <ixy>1e-06</ixy>
-          <ixz>1e-06</ixz>
-          <iyy>0.001</iyy>
-          <iyz>1e-06</iyz>
-          <izz>0.001</izz>
+          <ixx>0.002731</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.032554</iyy>
+          <iyz>1.5e-05</iyz>
+          <izz>0.031391</izz>
         </inertia>
       </inertial>
       <collision name="left_track_collision">
+        <pose>0 0 0.01855 1.5707963267948966 -0 1.5707963267948966</pose>
         <geometry>
           <box>
-            <size>0.01 0.01 0.01</size>
+            <size>0.097 0.178 0.5</size>
           </box>
         </geometry>
         <surface>
           <friction>
             <ode>
-              <mu>0.7</mu>
+              <mu>10</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="left_track_collision_1">
+        <pose>0.25 -0.015 0.01855 1.5707963267948966 -0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.112</length>
+            <radius>0.089</radius>
+          </cylinder>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>10</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="left_track_collision_2">
+        <pose>-0.25 0 0.01855 1.5707963267948966 -0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.097</length>
+            <radius>0.089</radius>
+          </cylinder>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>10</mu>
               <mu2>150</mu2>
               <fdir1>0 0 1</fdir1>
             </ode>
@@ -529,26 +567,98 @@
     <link name="front_left_flipper">
       <pose>0.25 0.272 0.0195 0 0.193732 0</pose>
       <inertial>
-        <mass>1e-05</mass>
+        <pose>0.08 0 0 0 -0 0</pose>
+        <mass>0.75</mass>
         <inertia>
-          <ixx>0.001</ixx>
-          <ixy>1e-06</ixy>
-          <ixz>1e-06</ixz>
-          <iyy>0.001</iyy>
-          <iyz>1e-06</iyz>
-          <izz>0.001</izz>
+          <ixx>0.0017491</ixx>
+          <ixy>2.8512e-07</ixy>
+          <ixz>0.0018277</ixz>
+          <iyy>0.012277</iyy>
+          <iyz>-3.6288e-07</iyz>
+          <izz>0.010941</izz>
         </inertia>
       </inertial>
-      <collision name="front_left_flipper_collision">
+      <collision name="front_left_flipper_collision_large_wheel_collision">
+        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.04981</length>
+            <radius>0.089</radius>
+          </cylinder>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>10</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="front_left_flipper_collision_small_wheel_collision_1">
+        <pose>0.33 0 0 1.5707963267948966 -0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.04981</length>
+            <radius>0.029</radius>
+          </cylinder>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>10</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="front_left_flipper_collision_top_bar_collision_2">
+        <pose>0.165 0 0.0325 0 0.184162 0</pose>
+        <geometry>
+          <box>
+            <size>0.33 0.04981 0.055</size>
+          </box>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>10</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="front_left_flipper_collision_bottom_bar_collision_3">
+        <pose>0.165 0 -0.0325 0 -0.184162 0</pose>
+        <geometry>
+          <box>
+            <size>0.33 0.04981 0.055</size>
+          </box>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>10</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="front_left_flipper_collision_middle_bar_collision_4">
+        <pose>0.166 0 0.004 0 -0.02 0</pose>
         <geometry>
           <box>
-            <size>0.01 0.01 0.01</size>
+            <size>0.2 0.04981 0.07</size>
           </box>
         </geometry>
         <surface>
           <friction>
             <ode>
-              <mu>0.7</mu>
+              <mu>10</mu>
               <mu2>150</mu2>
               <fdir1>0 0 1</fdir1>
             </ode>
@@ -592,11 +702,11 @@
         </ode>
       </physics>
     </joint>
-    <link name="front_left_flipper_wheel1">
-      <pose>0.25 0.272 0.0195 0 0.193732 0</pose>
+    <link name="rear_left_flipper">
+      <pose>-0.25 0.272 0.0195 3.1415926535897931 0.193732 3.1415926535897931</pose>
       <inertial>
         <pose>0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
+        <mass>0.75</mass>
         <inertia>
           <ixx>0.0017491</ixx>
           <ixy>2.8512e-07</ixy>
@@ -606,7 +716,7 @@
           <izz>0.010941</izz>
         </inertia>
       </inertial>
-      <collision name="front_left_flipper_wheel1_collision_collision">
+      <collision name="rear_left_flipper_collision_large_wheel_collision">
         <pose>0 0 0 1.5707963267948966 -0 0</pose>
         <geometry>
           <cylinder>
@@ -615,260 +725,103 @@
           </cylinder>
         </geometry>
         <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
           <friction>
             <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
+              <mu>10</mu>
+              <mu2>150</mu2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
-    </link>
-    <joint name="front_left_flipper_wheel1_j" type="revolute">
-      <child>front_left_flipper_wheel1</child>
-      <parent>front_left_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="front_left_flipper_wheel2">
-      <pose>0.330957 0.272 0.003617 0 0.193732 0</pose>
-      <inertial>
-        <pose>0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
-        <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
-        </inertia>
-      </inertial>
-      <collision name="front_left_flipper_wheel2_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="rear_left_flipper_collision_small_wheel_collision_1">
+        <pose>0.33 0 0 1.5707963267948966 -0 0</pose>
         <geometry>
           <cylinder>
             <length>0.04981</length>
-            <radius>0.074</radius>
+            <radius>0.029</radius>
           </cylinder>
         </geometry>
         <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
           <friction>
             <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
+              <mu>10</mu>
+              <mu2>150</mu2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
-    </link>
-    <joint name="front_left_flipper_wheel2_j" type="revolute">
-      <child>front_left_flipper_wheel2</child>
-      <parent>front_left_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="front_left_flipper_wheel3">
-      <pose>0.411913 0.272 -0.012266 0 0.193732 0</pose>
-      <inertial>
-        <pose>0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
-        <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
-        </inertia>
-      </inertial>
-      <collision name="front_left_flipper_wheel3_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="rear_left_flipper_collision_top_bar_collision_2">
+        <pose>0.165 0 0.0325 0 0.184162 0</pose>
         <geometry>
-          <cylinder>
-            <length>0.04981</length>
-            <radius>0.059</radius>
-          </cylinder>
+          <box>
+            <size>0.33 0.04981 0.055</size>
+          </box>
         </geometry>
         <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
           <friction>
             <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
+              <mu>10</mu>
+              <mu2>150</mu2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
-    </link>
-    <joint name="front_left_flipper_wheel3_j" type="revolute">
-      <child>front_left_flipper_wheel3</child>
-      <parent>front_left_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="front_left_flipper_wheel4">
-      <pose>0.49287 0.272 -0.028149 0 0.193732 0</pose>
-      <inertial>
-        <pose>0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
-        <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
-        </inertia>
-      </inertial>
-      <collision name="front_left_flipper_wheel4_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="rear_left_flipper_collision_bottom_bar_collision_3">
+        <pose>0.165 0 -0.0325 0 -0.184162 0</pose>
         <geometry>
-          <cylinder>
-            <length>0.04981</length>
-            <radius>0.044</radius>
-          </cylinder>
+          <box>
+            <size>0.33 0.04981 0.055</size>
+          </box>
         </geometry>
         <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
           <friction>
             <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
+              <mu>10</mu>
+              <mu2>150</mu2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
-    </link>
-    <joint name="front_left_flipper_wheel4_j" type="revolute">
-      <child>front_left_flipper_wheel4</child>
-      <parent>front_left_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="front_left_flipper_wheel5">
-      <pose>0.573827 0.272 -0.044032 0 0.193732 0</pose>
-      <inertial>
-        <pose>0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
-        <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
-        </inertia>
-      </inertial>
-      <collision name="front_left_flipper_wheel5_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="rear_left_flipper_collision_middle_bar_collision_4">
+        <pose>0.166 0 0.004 0 -0.02 0</pose>
         <geometry>
-          <cylinder>
-            <length>0.04981</length>
-            <radius>0.029</radius>
-          </cylinder>
+          <box>
+            <size>0.2 0.04981 0.07</size>
+          </box>
         </geometry>
         <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
           <friction>
             <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
+              <mu>10</mu>
+              <mu2>150</mu2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
+      <visual name="rear_left_flipper_visual">
+        <pose>0 0 0 -2.95743 -0 1.5707963267948966</pose>
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/flipper.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
     </link>
-    <joint name="front_left_flipper_wheel5_j" type="revolute">
-      <child>front_left_flipper_wheel5</child>
-      <parent>front_left_flipper</parent>
+    <joint name="rear_left_flipper_j" type="revolute">
+      <child>rear_left_flipper</child>
+      <parent>left_track</parent>
       <axis>
         <xyz>0 1 0</xyz>
         <limit>
           <lower>-1e+16</lower>
           <upper>1e+16</upper>
+          <effort>20</effort>
+          <velocity>0.785398</velocity>
         </limit>
         <dynamics>
           <spring_reference>0</spring_reference>
@@ -876,522 +829,610 @@
         </dynamics>
         <use_parent_model_frame>0</use_parent_model_frame>
       </axis>
-    </joint>
-    <link name="left_track_wheel1">
-      <pose>0.25 0.1985 0.01855 0 -0 0</pose>
+      <physics>
+        <ode>
+          <implicit_spring_damper>1</implicit_spring_damper>
+          <cfm_damping>1</cfm_damping>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+        </ode>
+      </physics>
+    </joint>
+    <link name="camera_0">
+      <pose>0.185 0 0.195 0 -0 0</pose>
       <inertial>
-        <pose>0 0 0.0141 0 -0 0</pose>
-        <mass>0.7575</mass>
+        <pose>0.039802 0 0.0145 0 -0 0</pose>
+        <mass>0.232</mass>
         <inertia>
-          <ixx>0.002731</ixx>
+          <ixx>3.25187e-05</ixx>
           <ixy>0</ixy>
           <ixz>0</ixz>
-          <iyy>0.032554</iyy>
-          <iyz>1.5e-05</iyz>
-          <izz>0.031391</izz>
+          <iyy>0.000158598</iyy>
+          <iyz>0</iyz>
+          <izz>0.000158598</izz>
         </inertia>
       </inertial>
-      <collision name="left_track_wheel1_collision">
-        <pose>0 -0.015 0 1.5707963267948966 -0 0</pose>
+      <collision name="camera_0_collision_collision">
+        <pose>0.02465 0 0.0145 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.0555 0.029 0.029</size>
+          </box>
+        </geometry>
+      </collision>
+      <collision name="camera_0_lens_collision_collision_1">
+        <pose>0.062834 0 0.0145 0 1.5707963267948966 0</pose>
         <geometry>
           <cylinder>
-            <length>0.112</length>
-            <radius>0.089</radius>
+            <length>0.03974</length>
+            <radius>0.0125</radius>
           </cylinder>
         </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
       </collision>
+      <visual name="camera_0_visual">
+        <pose>0 0 0.0145 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/basler_ace2_pro.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <visual name="camera_0_visual_1">
+        <pose>0.042964 0 0.0145 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/evetar_lens.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <visual name="camera_0_fixed_joint_lump__front_camera_holder_visual_2">
+        <pose>0.02 0 -0.005 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.04 0.025 0.01</size>
+          </box>
+        </geometry>
+      </visual>
+      <sensor name="camera_0" type="camera">
+        <pose>0.072044 0 0.0145 0 -0 0</pose>
+        <update_rate>9</update_rate>
+        <visualize>0</visualize>
+        <camera>
+          <horizontal_fov>1.50971</horizontal_fov>
+          <image>
+            <width>1920</width>
+            <height>1200</height>
+            <format>R8G8B8</format>
+          </image>
+          <clip>
+            <near>0.011726</near>
+            <far>300</far>
+          </clip>
+          <noise>
+            <type>gaussian</type>
+            <mean>0</mean>
+            <stddev>0.007</stddev>
+          </noise>
+          <lens>
+            <intrinsics>
+              <fx>1020.51</fx>
+              <fy>1020.51</fy>
+              <cx>959.5</cx>
+              <cy>599.5</cy>
+              <s>0</s>
+            </intrinsics>
+            <type>stereographic</type>
+            <scale_to_hfov>1</scale_to_hfov>
+          </lens>
+        </camera>
+      </sensor>
     </link>
-    <joint name="left_track_wheel1_j" type="revolute">
-      <child>left_track_wheel1</child>
-      <parent>left_track</parent>
+    <joint name="camera_0_j" type="fixed">
+      <child>camera_0</child>
+      <parent>base_link</parent>
       <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
         <dynamics>
           <spring_reference>0</spring_reference>
           <spring_stiffness>0</spring_stiffness>
         </dynamics>
+        <xyz>0 0 1</xyz>
         <use_parent_model_frame>0</use_parent_model_frame>
+        <limit>
+          <lower>-1e+16</lower>
+          <upper>1e+16</upper>
+        </limit>
       </axis>
+      <physics>
+        <ode>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+        </ode>
+      </physics>
     </joint>
-    <link name="left_track_wheel2">
-      <pose>0.178571 0.1985 0.01855 0 -0 0</pose>
+    <link name="camera_1">
+      <pose>-0.02 -0.037465 0.185 0 0 -1.5707963267948966</pose>
       <inertial>
-        <pose>0 0 0.0141 0 -0 0</pose>
-        <mass>0.7575</mass>
+        <pose>0.039802 0 0.0145 0 -0 0</pose>
+        <mass>0.232</mass>
         <inertia>
-          <ixx>0.002731</ixx>
+          <ixx>3.25187e-05</ixx>
           <ixy>0</ixy>
           <ixz>0</ixz>
-          <iyy>0.032554</iyy>
-          <iyz>1.5e-05</iyz>
-          <izz>0.031391</izz>
+          <iyy>0.000158598</iyy>
+          <iyz>0</iyz>
+          <izz>0.000158598</izz>
         </inertia>
       </inertial>
-      <collision name="left_track_wheel2_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="camera_1_collision_collision">
+        <pose>0.02465 0 0.0145 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.0555 0.029 0.029</size>
+          </box>
+        </geometry>
+      </collision>
+      <collision name="camera_1_lens_collision_collision_1">
+        <pose>0.062834 0 0.0145 0 1.5707963267948966 0</pose>
         <geometry>
           <cylinder>
-            <length>0.097</length>
-            <radius>0.089</radius>
+            <length>0.03974</length>
+            <radius>0.0125</radius>
           </cylinder>
         </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
       </collision>
+      <visual name="camera_1_visual">
+        <pose>0 0 0.0145 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/basler_ace2_pro.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <visual name="camera_1_visual_1">
+        <pose>0.042964 0 0.0145 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/evetar_lens.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <sensor name="camera_1" type="camera">
+        <pose>0.072044 0 0.0145 0 -0 0</pose>
+        <update_rate>9</update_rate>
+        <visualize>0</visualize>
+        <camera>
+          <horizontal_fov>1.50971</horizontal_fov>
+          <image>
+            <width>1920</width>
+            <height>1200</height>
+            <format>R8G8B8</format>
+          </image>
+          <clip>
+            <near>0.011726</near>
+            <far>300</far>
+          </clip>
+          <noise>
+            <type>gaussian</type>
+            <mean>0</mean>
+            <stddev>0.007</stddev>
+          </noise>
+          <lens>
+            <intrinsics>
+              <fx>1020.51</fx>
+              <fy>1020.51</fy>
+              <cx>959.5</cx>
+              <cy>599.5</cy>
+              <s>0</s>
+            </intrinsics>
+            <type>stereographic</type>
+            <scale_to_hfov>1</scale_to_hfov>
+          </lens>
+        </camera>
+      </sensor>
     </link>
-    <joint name="left_track_wheel2_j" type="revolute">
-      <child>left_track_wheel2</child>
-      <parent>left_track</parent>
+    <joint name="camera_1_j" type="fixed">
+      <child>camera_1</child>
+      <parent>base_link</parent>
       <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
         <dynamics>
           <spring_reference>0</spring_reference>
           <spring_stiffness>0</spring_stiffness>
         </dynamics>
+        <xyz>0 0 1</xyz>
         <use_parent_model_frame>0</use_parent_model_frame>
+        <limit>
+          <lower>-1e+16</lower>
+          <upper>1e+16</upper>
+        </limit>
       </axis>
+      <physics>
+        <ode>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+        </ode>
+      </physics>
     </joint>
-    <link name="left_track_wheel3">
-      <pose>0.107143 0.1985 0.01855 0 -0 0</pose>
+    <link name="camera_2">
+      <pose>-0.245 0 0.185 0 -0 3.1415926535897931</pose>
       <inertial>
-        <pose>0 0 0.0141 0 -0 0</pose>
-        <mass>0.7575</mass>
+        <pose>0.039802 0 0.0145 0 -0 0</pose>
+        <mass>0.232</mass>
         <inertia>
-          <ixx>0.002731</ixx>
+          <ixx>3.25187e-05</ixx>
           <ixy>0</ixy>
           <ixz>0</ixz>
-          <iyy>0.032554</iyy>
-          <iyz>1.5e-05</iyz>
-          <izz>0.031391</izz>
+          <iyy>0.000158598</iyy>
+          <iyz>0</iyz>
+          <izz>0.000158598</izz>
         </inertia>
       </inertial>
-      <collision name="left_track_wheel3_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="camera_2_collision_collision">
+        <pose>0.02465 0 0.0145 0 -0 0</pose>
         <geometry>
-          <cylinder>
-            <length>0.097</length>
-            <radius>0.089</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
+          <box>
+            <size>0.0555 0.029 0.029</size>
+          </box>
+        </geometry>
       </collision>
-    </link>
-    <joint name="left_track_wheel3_j" type="revolute">
-      <child>left_track_wheel3</child>
-      <parent>left_track</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="left_track_wheel4">
-      <pose>0.035714 0.1985 0.01855 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0.0141 0 -0 0</pose>
-        <mass>0.7575</mass>
-        <inertia>
-          <ixx>0.002731</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.032554</iyy>
-          <iyz>1.5e-05</iyz>
-          <izz>0.031391</izz>
-        </inertia>
-      </inertial>
-      <collision name="left_track_wheel4_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="camera_2_lens_collision_collision_1">
+        <pose>0.062834 0 0.0145 0 1.5707963267948966 0</pose>
         <geometry>
           <cylinder>
-            <length>0.097</length>
-            <radius>0.089</radius>
+            <length>0.03974</length>
+            <radius>0.0125</radius>
           </cylinder>
         </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
       </collision>
+      <visual name="camera_2_visual">
+        <pose>0 0 0.0145 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/basler_ace2_pro.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <visual name="camera_2_visual_1">
+        <pose>0.042964 0 0.0145 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/evetar_lens.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <sensor name="camera_2" type="camera">
+        <pose>0.072044 0 0.0145 0 -0 0</pose>
+        <update_rate>9</update_rate>
+        <visualize>0</visualize>
+        <camera>
+          <horizontal_fov>1.50971</horizontal_fov>
+          <image>
+            <width>1920</width>
+            <height>1200</height>
+            <format>R8G8B8</format>
+          </image>
+          <clip>
+            <near>0.011726</near>
+            <far>300</far>
+          </clip>
+          <noise>
+            <type>gaussian</type>
+            <mean>0</mean>
+            <stddev>0.007</stddev>
+          </noise>
+          <lens>
+            <intrinsics>
+              <fx>1020.51</fx>
+              <fy>1020.51</fy>
+              <cx>959.5</cx>
+              <cy>599.5</cy>
+              <s>0</s>
+            </intrinsics>
+            <type>stereographic</type>
+            <scale_to_hfov>1</scale_to_hfov>
+          </lens>
+        </camera>
+      </sensor>
     </link>
-    <joint name="left_track_wheel4_j" type="revolute">
-      <child>left_track_wheel4</child>
-      <parent>left_track</parent>
+    <joint name="camera_2_j" type="fixed">
+      <child>camera_2</child>
+      <parent>base_link</parent>
       <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
         <dynamics>
           <spring_reference>0</spring_reference>
           <spring_stiffness>0</spring_stiffness>
         </dynamics>
+        <xyz>0 0 1</xyz>
         <use_parent_model_frame>0</use_parent_model_frame>
+        <limit>
+          <lower>-1e+16</lower>
+          <upper>1e+16</upper>
+        </limit>
       </axis>
+      <physics>
+        <ode>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+        </ode>
+      </physics>
     </joint>
-    <link name="left_track_wheel5">
-      <pose>-0.035714 0.1985 0.01855 0 -0 0</pose>
+    <link name="camera_3">
+      <pose>-0.02 0.037465 0.185 0 -0 1.5707963267948966</pose>
       <inertial>
-        <pose>0 0 0.0141 0 -0 0</pose>
-        <mass>0.7575</mass>
+        <pose>0.039802 0 0.0145 0 -0 0</pose>
+        <mass>0.232</mass>
         <inertia>
-          <ixx>0.002731</ixx>
+          <ixx>3.25187e-05</ixx>
           <ixy>0</ixy>
           <ixz>0</ixz>
-          <iyy>0.032554</iyy>
-          <iyz>1.5e-05</iyz>
-          <izz>0.031391</izz>
+          <iyy>0.000158598</iyy>
+          <iyz>0</iyz>
+          <izz>0.000158598</izz>
         </inertia>
       </inertial>
-      <collision name="left_track_wheel5_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="camera_3_collision_collision">
+        <pose>0.02465 0 0.0145 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.0555 0.029 0.029</size>
+          </box>
+        </geometry>
+      </collision>
+      <collision name="camera_3_lens_collision_collision_1">
+        <pose>0.062834 0 0.0145 0 1.5707963267948966 0</pose>
         <geometry>
           <cylinder>
-            <length>0.097</length>
-            <radius>0.089</radius>
+            <length>0.03974</length>
+            <radius>0.0125</radius>
           </cylinder>
         </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
       </collision>
+      <visual name="camera_3_visual">
+        <pose>0 0 0.0145 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/basler_ace2_pro.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <visual name="camera_3_visual_1">
+        <pose>0.042964 0 0.0145 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/evetar_lens.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <sensor name="camera_3" type="camera">
+        <pose>0.072044 0 0.0145 0 -0 0</pose>
+        <update_rate>9</update_rate>
+        <visualize>0</visualize>
+        <camera>
+          <horizontal_fov>1.50971</horizontal_fov>
+          <image>
+            <width>1920</width>
+            <height>1200</height>
+            <format>R8G8B8</format>
+          </image>
+          <clip>
+            <near>0.011726</near>
+            <far>300</far>
+          </clip>
+          <noise>
+            <type>gaussian</type>
+            <mean>0</mean>
+            <stddev>0.007</stddev>
+          </noise>
+          <lens>
+            <intrinsics>
+              <fx>1020.51</fx>
+              <fy>1020.51</fy>
+              <cx>959.5</cx>
+              <cy>599.5</cy>
+              <s>0</s>
+            </intrinsics>
+            <type>stereographic</type>
+            <scale_to_hfov>1</scale_to_hfov>
+          </lens>
+        </camera>
+      </sensor>
     </link>
-    <joint name="left_track_wheel5_j" type="revolute">
-      <child>left_track_wheel5</child>
-      <parent>left_track</parent>
+    <joint name="camera_3_j" type="fixed">
+      <child>camera_3</child>
+      <parent>base_link</parent>
       <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
         <dynamics>
           <spring_reference>0</spring_reference>
           <spring_stiffness>0</spring_stiffness>
         </dynamics>
+        <xyz>0 0 1</xyz>
         <use_parent_model_frame>0</use_parent_model_frame>
+        <limit>
+          <lower>-1e+16</lower>
+          <upper>1e+16</upper>
+        </limit>
       </axis>
+      <physics>
+        <ode>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+        </ode>
+      </physics>
     </joint>
-    <link name="left_track_wheel6">
-      <pose>-0.107143 0.1985 0.01855 0 -0 0</pose>
+    <link name="cliff_sensor_0">
+      <pose>0.275 0.119535 0.2035 -1.5707963267948966 1.5707963267948966 0</pose>
       <inertial>
-        <pose>0 0 0.0141 0 -0 0</pose>
-        <mass>0.7575</mass>
+        <pose>0.0105 0 0.00925 0 -0 0</pose>
+        <mass>0.012</mass>
         <inertia>
-          <ixx>0.002731</ixx>
+          <ixx>1.56725e-06</ixx>
           <ixy>0</ixy>
           <ixz>0</ixz>
-          <iyy>0.032554</iyy>
-          <iyz>1.5e-05</iyz>
-          <izz>0.031391</izz>
+          <iyy>7.8325e-07</iyy>
+          <iyz>0</iyz>
+          <izz>1.666e-06</izz>
         </inertia>
       </inertial>
-      <collision name="left_track_wheel6_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="cliff_sensor_0_collision">
+        <pose>0.0105 0 0.00925 0 -0 0</pose>
         <geometry>
-          <cylinder>
-            <length>0.097</length>
-            <radius>0.089</radius>
-          </cylinder>
+          <box>
+            <size>0.021 0.035 0.0185</size>
+          </box>
         </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
       </collision>
-    </link>
-    <joint name="left_track_wheel6_j" type="revolute">
-      <child>left_track_wheel6</child>
-      <parent>left_track</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="left_track_wheel7">
-      <pose>-0.178571 0.1985 0.01855 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0.0141 0 -0 0</pose>
-        <mass>0.7575</mass>
-        <inertia>
-          <ixx>0.002731</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.032554</iyy>
-          <iyz>1.5e-05</iyz>
-          <izz>0.031391</izz>
-        </inertia>
-      </inertial>
-      <collision name="left_track_wheel7_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <visual name="cliff_sensor_0_visual">
         <geometry>
-          <cylinder>
-            <length>0.097</length>
-            <radius>0.089</radius>
-          </cylinder>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/tfmini_plus_lidar.dae</uri>
+          </mesh>
         </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
+      </visual>
+      <sensor name="laser" type="gpu_lidar">
+        <pose>0.021 0 0.00925 0 -0 0</pose>
+        <update_rate>10</update_rate>
+        <visualize>0</visualize>
+        <always_on>1</always_on>
+        <lidar>
+          <scan>
+            <horizontal>
+              <samples>3</samples>
+              <resolution>1</resolution>
+              <min_angle>-0.0314159</min_angle>
+              <max_angle>0.0314159</max_angle>
+            </horizontal>
+            <vertical>
+              <samples>3</samples>
+              <resolution>1</resolution>
+              <min_angle>-0.0314159</min_angle>
+              <max_angle>0.0314159</max_angle>
+            </vertical>
+          </scan>
+          <range>
+            <min>0.1</min>
+            <max>12</max>
+            <resolution>0.01</resolution>
+          </range>
+          <noise>
+            <type>gaussian</type>
+            <mean>0</mean>
+            <stddev>0.015</stddev>
+          </noise>
+        </lidar>
+      </sensor>
     </link>
-    <joint name="left_track_wheel7_j" type="revolute">
-      <child>left_track_wheel7</child>
-      <parent>left_track</parent>
+    <joint name="cliff_sensor_0_j" type="fixed">
+      <child>cliff_sensor_0</child>
+      <parent>base_link</parent>
       <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
         <dynamics>
           <spring_reference>0</spring_reference>
           <spring_stiffness>0</spring_stiffness>
         </dynamics>
+        <xyz>0 0 1</xyz>
         <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="left_track_wheel8">
-      <pose>-0.25 0.1985 0.01855 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0.0141 0 -0 0</pose>
-        <mass>0.7575</mass>
-        <inertia>
-          <ixx>0.002731</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.032554</iyy>
-          <iyz>1.5e-05</iyz>
-          <izz>0.031391</izz>
-        </inertia>
-      </inertial>
-      <collision name="left_track_wheel8_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.097</length>
-            <radius>0.089</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-    </link>
-    <joint name="left_track_wheel8_j" type="revolute">
-      <child>left_track_wheel8</child>
-      <parent>left_track</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
         <limit>
           <lower>-1e+16</lower>
           <upper>1e+16</upper>
         </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
       </axis>
+      <physics>
+        <ode>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+        </ode>
+      </physics>
     </joint>
-    <link name="rear_left_flipper">
-      <pose>-0.25 0.272 0.0195 3.1415926535897931 0.193732 3.1415926535897931</pose>
+    <link name="cliff_sensor_1">
+      <pose>0.275 -0.120465 0.2035 1.5707963267948966 1.5707963267948966 0</pose>
       <inertial>
-        <mass>1e-05</mass>
+        <pose>0.0105 0 0.00925 0 -0 0</pose>
+        <mass>0.012</mass>
         <inertia>
-          <ixx>0.001</ixx>
-          <ixy>1e-06</ixy>
-          <ixz>1e-06</ixz>
-          <iyy>0.001</iyy>
-          <iyz>1e-06</iyz>
-          <izz>0.001</izz>
+          <ixx>1.56725e-06</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>7.8325e-07</iyy>
+          <iyz>0</iyz>
+          <izz>1.666e-06</izz>
         </inertia>
       </inertial>
-      <collision name="rear_left_flipper_collision">
+      <collision name="cliff_sensor_1_collision">
+        <pose>0.0105 0 0.00925 0 -0 0</pose>
         <geometry>
           <box>
-            <size>0.01 0.01 0.01</size>
+            <size>0.021 0.035 0.0185</size>
           </box>
         </geometry>
-        <surface>
-          <friction>
-            <ode>
-              <mu>0.7</mu>
-              <mu2>150</mu2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
       </collision>
-      <visual name="rear_left_flipper_visual">
-        <pose>0 0 0 -2.95743 -0 1.5707963267948966</pose>
+      <visual name="cliff_sensor_1_visual">
         <geometry>
           <mesh>
-            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/flipper.dae</uri>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/tfmini_plus_lidar.dae</uri>
           </mesh>
         </geometry>
       </visual>
+      <sensor name="laser" type="gpu_lidar">
+        <pose>0.021 0 0.00925 0 -0 0</pose>
+        <update_rate>10</update_rate>
+        <visualize>0</visualize>
+        <always_on>1</always_on>
+        <lidar>
+          <scan>
+            <horizontal>
+              <samples>3</samples>
+              <resolution>1</resolution>
+              <min_angle>-0.0314159</min_angle>
+              <max_angle>0.0314159</max_angle>
+            </horizontal>
+            <vertical>
+              <samples>3</samples>
+              <resolution>1</resolution>
+              <min_angle>-0.0314159</min_angle>
+              <max_angle>0.0314159</max_angle>
+            </vertical>
+          </scan>
+          <range>
+            <min>0.1</min>
+            <max>12</max>
+            <resolution>0.01</resolution>
+          </range>
+          <noise>
+            <type>gaussian</type>
+            <mean>0</mean>
+            <stddev>0.015</stddev>
+          </noise>
+        </lidar>
+      </sensor>
     </link>
-    <joint name="rear_left_flipper_j" type="revolute">
-      <child>rear_left_flipper</child>
-      <parent>left_track</parent>
+    <joint name="cliff_sensor_1_j" type="fixed">
+      <child>cliff_sensor_1</child>
+      <parent>base_link</parent>
       <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>20</effort>
-          <velocity>0.785398</velocity>
-        </limit>
         <dynamics>
           <spring_reference>0</spring_reference>
           <spring_stiffness>0</spring_stiffness>
         </dynamics>
+        <xyz>0 0 1</xyz>
         <use_parent_model_frame>0</use_parent_model_frame>
+        <limit>
+          <lower>-1e+16</lower>
+          <upper>1e+16</upper>
+        </limit>
       </axis>
       <physics>
         <ode>
-          <implicit_spring_damper>1</implicit_spring_damper>
-          <cfm_damping>1</cfm_damping>
           <limit>
             <cfm>0</cfm>
             <erp>0.2</erp>
@@ -1399,1825 +1440,260 @@
         </ode>
       </physics>
     </joint>
-    <link name="rear_left_flipper_wheel1">
-      <pose>-0.25 0.272 0.0195 3.1415926535897931 0.193732 3.1415926535897931</pose>
+    <link name="cliff_sensor_2">
+      <pose>-0.275 0.119535 0.2035 -1.5707963267948966 1.5707963267948966 0</pose>
       <inertial>
-        <pose>0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
+        <pose>0.0105 0 0.00925 0 -0 0</pose>
+        <mass>0.012</mass>
         <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
+          <ixx>1.56725e-06</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>7.8325e-07</iyy>
+          <iyz>0</iyz>
+          <izz>1.666e-06</izz>
         </inertia>
       </inertial>
-      <collision name="rear_left_flipper_wheel1_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="cliff_sensor_2_collision">
+        <pose>0.0105 0 0.00925 0 -0 0</pose>
         <geometry>
-          <cylinder>
-            <length>0.04981</length>
-            <radius>0.089</radius>
-          </cylinder>
+          <box>
+            <size>0.021 0.035 0.0185</size>
+          </box>
         </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-    </link>
-    <joint name="rear_left_flipper_wheel1_j" type="revolute">
-      <child>rear_left_flipper_wheel1</child>
-      <parent>rear_left_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="rear_left_flipper_wheel2">
-      <pose>-0.330957 0.272 0.003617 3.1415926535897931 0.193732 3.1415926535897931</pose>
-      <inertial>
-        <pose>0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
-        <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
-        </inertia>
-      </inertial>
-      <collision name="rear_left_flipper_wheel2_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.04981</length>
-            <radius>0.074</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-    </link>
-    <joint name="rear_left_flipper_wheel2_j" type="revolute">
-      <child>rear_left_flipper_wheel2</child>
-      <parent>rear_left_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="rear_left_flipper_wheel3">
-      <pose>-0.411913 0.272 -0.012266 3.1415926535897931 0.193732 3.1415926535897931</pose>
-      <inertial>
-        <pose>0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
-        <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
-        </inertia>
-      </inertial>
-      <collision name="rear_left_flipper_wheel3_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.04981</length>
-            <radius>0.059</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
       </collision>
-    </link>
-    <joint name="rear_left_flipper_wheel3_j" type="revolute">
-      <child>rear_left_flipper_wheel3</child>
-      <parent>rear_left_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="rear_left_flipper_wheel4">
-      <pose>-0.49287 0.272 -0.028149 3.1415926535897931 0.193732 3.1415926535897931</pose>
-      <inertial>
-        <pose>0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
-        <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
-        </inertia>
-      </inertial>
-      <collision name="rear_left_flipper_wheel4_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <visual name="cliff_sensor_2_visual">
         <geometry>
-          <cylinder>
-            <length>0.04981</length>
-            <radius>0.044</radius>
-          </cylinder>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/tfmini_plus_lidar.dae</uri>
+          </mesh>
         </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
+      </visual>
+      <sensor name="laser" type="gpu_lidar">
+        <pose>0.021 0 0.00925 0 -0 0</pose>
+        <update_rate>10</update_rate>
+        <visualize>0</visualize>
+        <always_on>1</always_on>
+        <lidar>
+          <scan>
+            <horizontal>
+              <samples>3</samples>
+              <resolution>1</resolution>
+              <min_angle>-0.0314159</min_angle>
+              <max_angle>0.0314159</max_angle>
+            </horizontal>
+            <vertical>
+              <samples>3</samples>
+              <resolution>1</resolution>
+              <min_angle>-0.0314159</min_angle>
+              <max_angle>0.0314159</max_angle>
+            </vertical>
+          </scan>
+          <range>
+            <min>0.1</min>
+            <max>12</max>
+            <resolution>0.01</resolution>
+          </range>
+          <noise>
+            <type>gaussian</type>
+            <mean>0</mean>
+            <stddev>0.015</stddev>
+          </noise>
+        </lidar>
+      </sensor>
     </link>
-    <joint name="rear_left_flipper_wheel4_j" type="revolute">
-      <child>rear_left_flipper_wheel4</child>
-      <parent>rear_left_flipper</parent>
+    <joint name="cliff_sensor_2_j" type="fixed">
+      <child>cliff_sensor_2</child>
+      <parent>base_link</parent>
       <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
         <dynamics>
           <spring_reference>0</spring_reference>
           <spring_stiffness>0</spring_stiffness>
         </dynamics>
+        <xyz>0 0 1</xyz>
         <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="rear_left_flipper_wheel5">
-      <pose>-0.573827 0.272 -0.044032 3.1415926535897931 0.193732 3.1415926535897931</pose>
-      <inertial>
-        <pose>0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
-        <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
-        </inertia>
-      </inertial>
-      <collision name="rear_left_flipper_wheel5_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.04981</length>
-            <radius>0.029</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-    </link>
-    <joint name="rear_left_flipper_wheel5_j" type="revolute">
-      <child>rear_left_flipper_wheel5</child>
-      <parent>rear_left_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
         <limit>
           <lower>-1e+16</lower>
           <upper>1e+16</upper>
         </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
       </axis>
+      <physics>
+        <ode>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+        </ode>
+      </physics>
     </joint>
-    <link name="camera_0">
-      <pose>0.185 0 0.195 0 -0 0</pose>
+    <link name="cliff_sensor_3">
+      <pose>-0.275 -0.120465 0.2035 1.5707963267948966 1.5707963267948966 0</pose>
       <inertial>
-        <pose>0.039802 0 0.0145 0 -0 0</pose>
-        <mass>0.232</mass>
+        <pose>0.0105 0 0.00925 0 -0 0</pose>
+        <mass>0.012</mass>
         <inertia>
-          <ixx>3.25187e-05</ixx>
+          <ixx>1.56725e-06</ixx>
           <ixy>0</ixy>
           <ixz>0</ixz>
-          <iyy>0.000158598</iyy>
+          <iyy>7.8325e-07</iyy>
           <iyz>0</iyz>
-          <izz>0.000158598</izz>
+          <izz>1.666e-06</izz>
         </inertia>
       </inertial>
-      <collision name="camera_0_collision_collision">
-        <pose>0.02465 0 0.0145 0 -0 0</pose>
+      <collision name="cliff_sensor_3_collision">
+        <pose>0.0105 0 0.00925 0 -0 0</pose>
         <geometry>
           <box>
-            <size>0.0555 0.029 0.029</size>
+            <size>0.021 0.035 0.0185</size>
           </box>
         </geometry>
       </collision>
-      <collision name="camera_0_lens_collision_collision_1">
-        <pose>0.062834 0 0.0145 0 1.5707963267948966 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.03974</length>
-            <radius>0.0125</radius>
-          </cylinder>
-        </geometry>
-      </collision>
-      <visual name="camera_0_visual">
-        <pose>0 0 0.0145 0 -0 0</pose>
+      <visual name="cliff_sensor_3_visual">
         <geometry>
           <mesh>
-            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/basler_ace2_pro.dae</uri>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/tfmini_plus_lidar.dae</uri>
           </mesh>
         </geometry>
       </visual>
-      <visual name="camera_0_visual_1">
-        <pose>0.042964 0 0.0145 0 -0 0</pose>
-        <geometry>
-          <mesh>
-            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/evetar_lens.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-      <visual name="camera_0_fixed_joint_lump__front_camera_holder_visual_2">
-        <pose>0.02 0 -0.005 0 -0 0</pose>
-        <geometry>
-          <box>
-            <size>0.04 0.025 0.01</size>
-          </box>
-        </geometry>
-      </visual>
-      <sensor name="camera_0" type="camera">
-        <pose>0.072044 0 0.0145 0 -0 0</pose>
-        <update_rate>9</update_rate>
-        <visualize>0</visualize>
-        <camera>
-          <horizontal_fov>1.50971</horizontal_fov>
-          <image>
-            <width>1920</width>
-            <height>1200</height>
-            <format>R8G8B8</format>
-          </image>
-          <clip>
-            <near>0.011726</near>
-            <far>300</far>
-          </clip>
-          <noise>
-            <type>gaussian</type>
-            <mean>0</mean>
-            <stddev>0.007</stddev>
-          </noise>
-          <lens>
-            <intrinsics>
-              <fx>1020.51</fx>
-              <fy>1020.51</fy>
-              <cx>959.5</cx>
-              <cy>599.5</cy>
-              <s>0</s>
-            </intrinsics>
-            <type>stereographic</type>
-            <scale_to_hfov>1</scale_to_hfov>
-          </lens>
-        </camera>
-      </sensor>
-    </link>
-    <joint name="camera_0_j" type="fixed">
-      <child>camera_0</child>
-      <parent>base_link</parent>
-      <axis>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <xyz>0 0 1</xyz>
-        <use_parent_model_frame>0</use_parent_model_frame>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-      </axis>
-      <physics>
-        <ode>
-          <limit>
-            <cfm>0</cfm>
-            <erp>0.2</erp>
-          </limit>
-        </ode>
-      </physics>
-    </joint>
-    <link name="camera_1">
-      <pose>-0.02 -0.037465 0.185 0 0 -1.5707963267948966</pose>
-      <inertial>
-        <pose>0.039802 0 0.0145 0 -0 0</pose>
-        <mass>0.232</mass>
-        <inertia>
-          <ixx>3.25187e-05</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.000158598</iyy>
-          <iyz>0</iyz>
-          <izz>0.000158598</izz>
-        </inertia>
-      </inertial>
-      <collision name="camera_1_collision_collision">
-        <pose>0.02465 0 0.0145 0 -0 0</pose>
-        <geometry>
-          <box>
-            <size>0.0555 0.029 0.029</size>
-          </box>
-        </geometry>
-      </collision>
-      <collision name="camera_1_lens_collision_collision_1">
-        <pose>0.062834 0 0.0145 0 1.5707963267948966 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.03974</length>
-            <radius>0.0125</radius>
-          </cylinder>
-        </geometry>
-      </collision>
-      <visual name="camera_1_visual">
-        <pose>0 0 0.0145 0 -0 0</pose>
-        <geometry>
-          <mesh>
-            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/basler_ace2_pro.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-      <visual name="camera_1_visual_1">
-        <pose>0.042964 0 0.0145 0 -0 0</pose>
-        <geometry>
-          <mesh>
-            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/evetar_lens.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-      <sensor name="camera_1" type="camera">
-        <pose>0.072044 0 0.0145 0 -0 0</pose>
-        <update_rate>9</update_rate>
+      <sensor name="laser" type="gpu_lidar">
+        <pose>0.021 0 0.00925 0 -0 0</pose>
+        <update_rate>10</update_rate>
         <visualize>0</visualize>
-        <camera>
-          <horizontal_fov>1.50971</horizontal_fov>
-          <image>
-            <width>1920</width>
-            <height>1200</height>
-            <format>R8G8B8</format>
-          </image>
-          <clip>
-            <near>0.011726</near>
-            <far>300</far>
-          </clip>
+        <always_on>1</always_on>
+        <lidar>
+          <scan>
+            <horizontal>
+              <samples>3</samples>
+              <resolution>1</resolution>
+              <min_angle>-0.0314159</min_angle>
+              <max_angle>0.0314159</max_angle>
+            </horizontal>
+            <vertical>
+              <samples>3</samples>
+              <resolution>1</resolution>
+              <min_angle>-0.0314159</min_angle>
+              <max_angle>0.0314159</max_angle>
+            </vertical>
+          </scan>
+          <range>
+            <min>0.1</min>
+            <max>12</max>
+            <resolution>0.01</resolution>
+          </range>
           <noise>
-            <type>gaussian</type>
-            <mean>0</mean>
-            <stddev>0.007</stddev>
-          </noise>
-          <lens>
-            <intrinsics>
-              <fx>1020.51</fx>
-              <fy>1020.51</fy>
-              <cx>959.5</cx>
-              <cy>599.5</cy>
-              <s>0</s>
-            </intrinsics>
-            <type>stereographic</type>
-            <scale_to_hfov>1</scale_to_hfov>
-          </lens>
-        </camera>
-      </sensor>
-    </link>
-    <joint name="camera_1_j" type="fixed">
-      <child>camera_1</child>
-      <parent>base_link</parent>
-      <axis>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <xyz>0 0 1</xyz>
-        <use_parent_model_frame>0</use_parent_model_frame>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-      </axis>
-      <physics>
-        <ode>
-          <limit>
-            <cfm>0</cfm>
-            <erp>0.2</erp>
-          </limit>
-        </ode>
-      </physics>
-    </joint>
-    <link name="camera_2">
-      <pose>-0.245 0 0.185 0 -0 3.1415926535897931</pose>
-      <inertial>
-        <pose>0.039802 0 0.0145 0 -0 0</pose>
-        <mass>0.232</mass>
-        <inertia>
-          <ixx>3.25187e-05</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.000158598</iyy>
-          <iyz>0</iyz>
-          <izz>0.000158598</izz>
-        </inertia>
-      </inertial>
-      <collision name="camera_2_collision_collision">
-        <pose>0.02465 0 0.0145 0 -0 0</pose>
-        <geometry>
-          <box>
-            <size>0.0555 0.029 0.029</size>
-          </box>
-        </geometry>
-      </collision>
-      <collision name="camera_2_lens_collision_collision_1">
-        <pose>0.062834 0 0.0145 0 1.5707963267948966 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.03974</length>
-            <radius>0.0125</radius>
-          </cylinder>
-        </geometry>
-      </collision>
-      <visual name="camera_2_visual">
-        <pose>0 0 0.0145 0 -0 0</pose>
-        <geometry>
-          <mesh>
-            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/basler_ace2_pro.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-      <visual name="camera_2_visual_1">
-        <pose>0.042964 0 0.0145 0 -0 0</pose>
-        <geometry>
-          <mesh>
-            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/evetar_lens.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-      <sensor name="camera_2" type="camera">
-        <pose>0.072044 0 0.0145 0 -0 0</pose>
-        <update_rate>9</update_rate>
-        <visualize>0</visualize>
-        <camera>
-          <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>
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-          </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>
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-            <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>
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-          <ixx>3.25187e-05</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
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-          <iyz>0</iyz>
-          <izz>0.000158598</izz>
-        </inertia>
-      </inertial>
-      <collision name="camera_3_collision_collision">
-        <pose>0.02465 0 0.0145 0 -0 0</pose>
-        <geometry>
-          <box>
-            <size>0.0555 0.029 0.029</size>
-          </box>
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-      <collision name="camera_3_lens_collision_collision_1">
-        <pose>0.062834 0 0.0145 0 1.5707963267948966 0</pose>
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-            <length>0.03974</length>
-            <radius>0.0125</radius>
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-      <visual name="camera_3_visual">
-        <pose>0 0 0.0145 0 -0 0</pose>
-        <geometry>
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-          </mesh>
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-      </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>
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-      </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>
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-            <far>300</far>
-          </clip>
-          <noise>
-            <type>gaussian</type>
-            <mean>0</mean>
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-              <fx>1020.51</fx>
-              <fy>1020.51</fy>
-              <cx>959.5</cx>
-              <cy>599.5</cy>
-              <s>0</s>
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-            <type>stereographic</type>
-            <scale_to_hfov>1</scale_to_hfov>
-          </lens>
-        </camera>
-      </sensor>
-    </link>
-    <joint name="camera_3_j" type="fixed">
-      <child>camera_3</child>
-      <parent>base_link</parent>
-      <axis>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <xyz>0 0 1</xyz>
-        <use_parent_model_frame>0</use_parent_model_frame>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
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-            <erp>0.2</erp>
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-    </joint>
-    <link name="cliff_sensor_0">
-      <pose>0.275 0.119535 0.2035 -1.5707963267948966 1.5707963267948966 0</pose>
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-          <ixx>1.56725e-06</ixx>
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-          <ixz>0</ixz>
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-          <izz>1.666e-06</izz>
-        </inertia>
-      </inertial>
-      <collision name="cliff_sensor_0_collision">
-        <pose>0.0105 0 0.00925 0 -0 0</pose>
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-      <visual name="cliff_sensor_0_visual">
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-      <sensor name="laser" type="gpu_lidar">
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-        <visualize>0</visualize>
-        <always_on>1</always_on>
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-              <max_angle>0.0314159</max_angle>
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-            <vertical>
-              <samples>3</samples>
-              <resolution>1</resolution>
-              <min_angle>-0.0314159</min_angle>
-              <max_angle>0.0314159</max_angle>
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-            <max>12</max>
-            <resolution>0.01</resolution>
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-      <parent>base_link</parent>
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-        <xyz>0 0 1</xyz>
-        <use_parent_model_frame>0</use_parent_model_frame>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
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-    <link name="cliff_sensor_1">
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-          <izz>1.666e-06</izz>
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-      <collision name="cliff_sensor_1_collision">
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-          </mesh>
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-      <sensor name="laser" type="gpu_lidar">
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-        <visualize>0</visualize>
-        <always_on>1</always_on>
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-              <resolution>1</resolution>
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-              <max_angle>0.0314159</max_angle>
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-              <samples>3</samples>
-              <resolution>1</resolution>
-              <min_angle>-0.0314159</min_angle>
-              <max_angle>0.0314159</max_angle>
-            </vertical>
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-          <range>
-            <min>0.1</min>
-            <max>12</max>
-            <resolution>0.01</resolution>
-          </range>
-          <noise>
-            <type>gaussian</type>
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-            <stddev>0.015</stddev>
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-      </sensor>
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-    <joint name="cliff_sensor_1_j" type="fixed">
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-      <parent>base_link</parent>
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-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <xyz>0 0 1</xyz>
-        <use_parent_model_frame>0</use_parent_model_frame>
-        <limit>
-          <lower>-1e+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>
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-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <xyz>0 0 1</xyz>
-        <use_parent_model_frame>0</use_parent_model_frame>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
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-      <physics>
-        <ode>
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-            <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>
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-        <pose>0.0105 0 0.00925 0 -0 0</pose>
-        <mass>0.012</mass>
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-          <ixx>1.56725e-06</ixx>
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-          <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>
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-            <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>
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-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <xyz>0 0 1</xyz>
-        <use_parent_model_frame>0</use_parent_model_frame>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-      </axis>
-      <physics>
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-            <cfm>0</cfm>
-            <erp>0.2</erp>
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-        </ode>
-      </physics>
-    </joint>
-    <link name="thermocam">
-      <pose>0.225 -0.040465 0.185 0 -0 0</pose>
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-        <pose>0.0155 0 0 0 -0 0</pose>
-        <mass>0.024</mass>
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-          <ixx>1.764e-06</ixx>
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-          <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>
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-            <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>
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-        <pose>0.039802 0 0.0145 0 -0 0</pose>
-        <mass>0.232</mass>
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-          <ixx>3.25187e-05</ixx>
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-          <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>
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-              <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>
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-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <xyz>0 0 1</xyz>
-        <use_parent_model_frame>0</use_parent_model_frame>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
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-            <erp>0.2</erp>
-          </limit>
-        </ode>
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-    </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>
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-          <ixx>0.000461625</ixx>
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-          <ixz>0</ixz>
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-          <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>
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-      </collision>
-      <visual name="laser_visual">
-        <geometry>
-          <mesh>
-            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/ouster-os0.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-      <sensor name="laser" type="gpu_lidar">
-        <pose>0 0 0.035925 0 -0 0</pose>
-        <update_rate>10</update_rate>
-        <visualize>0</visualize>
-        <always_on>1</always_on>
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-            <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>
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-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <xyz>0 0 1</xyz>
-        <use_parent_model_frame>0</use_parent_model_frame>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
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-            <cfm>0</cfm>
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-    <link name="right_track">
-      <pose>0 -0.1985 0 0 -0 0</pose>
-      <inertial>
-        <mass>1e-05</mass>
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-          <ixx>0.001</ixx>
-          <ixy>1e-06</ixy>
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-          <iyz>1e-06</iyz>
-          <izz>0.001</izz>
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-      </inertial>
-      <collision name="right_track_collision">
-        <geometry>
-          <box>
-            <size>0.01 0.01 0.01</size>
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-        <surface>
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-              <mu>0.7</mu>
-              <mu2>150</mu2>
-              <fdir1>0 0 1</fdir1>
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-        </surface>
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-      <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>
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-    <joint name="right_track_j" type="revolute">
-      <child>right_track</child>
-      <parent>base_link</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
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-          <lower>0</lower>
-          <upper>0</upper>
-          <effort>0</effort>
-          <velocity>4</velocity>
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-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-      <physics>
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-          <limit>
-            <cfm>0</cfm>
-            <erp>0.2</erp>
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-      <physics>
-        <ode>
-          <implicit_spring_damper>1</implicit_spring_damper>
-          <cfm>0</cfm>
-          <erp>0.95</erp>
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-    </joint>
-    <link name="front_right_flipper">
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-        <mass>1e-05</mass>
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-          <ixy>1e-06</ixy>
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-          <izz>0.001</izz>
-        </inertia>
-      </inertial>
-      <collision name="front_right_flipper_collision">
-        <geometry>
-          <box>
-            <size>0.01 0.01 0.01</size>
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-              <mu>0.7</mu>
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-              <fdir1>0 0 1</fdir1>
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-      </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>
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-    <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>
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-        <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>
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-            <erp>0.2</erp>
-          </limit>
-        </ode>
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-    </joint>
-    <link name="front_right_flipper_wheel1">
-      <pose>0.25 -0.272 0.0195 3.1415926535897931 -0.193732 3.1415926535897931</pose>
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-        <pose>-0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
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-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
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-          <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>
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-            <length>0.04981</length>
-            <radius>0.089</radius>
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-        </geometry>
-        <surface>
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-              <kp>1e+07</kp>
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-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
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-          </friction>
-        </surface>
-      </collision>
-    </link>
-    <joint name="front_right_flipper_wheel1_j" type="revolute">
-      <child>front_right_flipper_wheel1</child>
-      <parent>front_right_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="front_right_flipper_wheel2">
-      <pose>0.330957 -0.272 0.003617 3.1415926535897931 -0.193732 3.1415926535897931</pose>
-      <inertial>
-        <pose>-0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
-        <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
-        </inertia>
-      </inertial>
-      <collision name="front_right_flipper_wheel2_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.04981</length>
-            <radius>0.074</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-    </link>
-    <joint name="front_right_flipper_wheel2_j" type="revolute">
-      <child>front_right_flipper_wheel2</child>
-      <parent>front_right_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="front_right_flipper_wheel3">
-      <pose>0.411913 -0.272 -0.012266 3.1415926535897931 -0.193732 3.1415926535897931</pose>
-      <inertial>
-        <pose>-0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
-        <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
-        </inertia>
-      </inertial>
-      <collision name="front_right_flipper_wheel3_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.04981</length>
-            <radius>0.059</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-    </link>
-    <joint name="front_right_flipper_wheel3_j" type="revolute">
-      <child>front_right_flipper_wheel3</child>
-      <parent>front_right_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="front_right_flipper_wheel4">
-      <pose>0.49287 -0.272 -0.028149 3.1415926535897931 -0.193732 3.1415926535897931</pose>
-      <inertial>
-        <pose>-0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
-        <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
-        </inertia>
-      </inertial>
-      <collision name="front_right_flipper_wheel4_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.04981</length>
-            <radius>0.044</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-    </link>
-    <joint name="front_right_flipper_wheel4_j" type="revolute">
-      <child>front_right_flipper_wheel4</child>
-      <parent>front_right_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="front_right_flipper_wheel5">
-      <pose>0.573827 -0.272 -0.044032 3.1415926535897931 -0.193732 3.1415926535897931</pose>
-      <inertial>
-        <pose>-0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
-        <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
-        </inertia>
-      </inertial>
-      <collision name="front_right_flipper_wheel5_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.04981</length>
-            <radius>0.029</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
+            <type>gaussian</type>
+            <mean>0</mean>
+            <stddev>0.015</stddev>
+          </noise>
+        </lidar>
+      </sensor>
     </link>
-    <joint name="front_right_flipper_wheel5_j" type="revolute">
-      <child>front_right_flipper_wheel5</child>
-      <parent>front_right_flipper</parent>
+    <joint name="cliff_sensor_3_j" type="fixed">
+      <child>cliff_sensor_3</child>
+      <parent>base_link</parent>
       <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
         <dynamics>
           <spring_reference>0</spring_reference>
           <spring_stiffness>0</spring_stiffness>
         </dynamics>
+        <xyz>0 0 1</xyz>
         <use_parent_model_frame>0</use_parent_model_frame>
+        <limit>
+          <lower>-1e+16</lower>
+          <upper>1e+16</upper>
+        </limit>
       </axis>
+      <physics>
+        <ode>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+        </ode>
+      </physics>
     </joint>
-    <link name="rear_right_flipper">
-      <pose>-0.25 -0.272 0.0195 0 -0.193732 0</pose>
+    <link name="thermocam">
+      <pose>0.225 -0.040465 0.185 0 -0 0</pose>
       <inertial>
-        <mass>1e-05</mass>
+        <pose>0.0155 0 0 0 -0 0</pose>
+        <mass>0.024</mass>
         <inertia>
-          <ixx>0.001</ixx>
-          <ixy>1e-06</ixy>
-          <ixz>1e-06</ixz>
-          <iyy>0.001</iyy>
-          <iyz>1e-06</iyz>
-          <izz>0.001</izz>
+          <ixx>1.764e-06</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>4.58e-06</iyy>
+          <iyz>0</iyz>
+          <izz>4.58e-06</izz>
         </inertia>
       </inertial>
-      <collision name="rear_right_flipper_collision">
+      <collision name="thermocam_collision">
+        <pose>0.0155 0 0 0 -0 0</pose>
         <geometry>
           <box>
-            <size>0.01 0.01 0.01</size>
+            <size>0.043 0.021 0.021</size>
           </box>
         </geometry>
-        <surface>
-          <friction>
-            <ode>
-              <mu>0.7</mu>
-              <mu2>150</mu2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
       </collision>
-      <visual name="rear_right_flipper_visual">
-        <pose>0 0 0 -2.95743 -0 -1.5707963267948966</pose>
+      <visual name="thermocam_visual">
+        <pose>0 0 0.0105 0 -0 0</pose>
         <geometry>
           <mesh>
-            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/flipper.dae</uri>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/flir_boson.dae</uri>
           </mesh>
         </geometry>
       </visual>
+      <sensor name="thermal_camera" type="thermal_camera">
+        <pose>0.03 0 0 0 -0 0</pose>
+        <always_on>1</always_on>
+        <update_rate>8.6</update_rate>
+        <visualize>0</visualize>
+        <camera name="thermal_camera">
+          <horizontal_fov>1.6057</horizontal_fov>
+          <lens>
+            <intrinsics>
+              <fx>154.51</fx>
+              <fy>154.51</fy>
+              <cx>160.5</cx>
+              <cy>128.5</cy>
+              <s>0</s>
+            </intrinsics>
+            <type>stereographic</type>
+            <scale_to_hfov>1</scale_to_hfov>
+          </lens>
+          <image>
+            <width>320</width>
+            <height>256</height>
+            <format>L8</format>
+          </image>
+          <clip>
+            <near>0.6</near>
+            <far>50</far>
+          </clip>
+        </camera>
+        <plugin name="ignition::gazebo::systems::ThermalSensor" filename="ignition-gazebo-thermal-sensor-system">
+          <min_temp>253.15</min_temp>
+          <max_temp>673.15</max_temp>
+          <resolution>1.6</resolution>
+        </plugin>
+      </sensor>
     </link>
-    <joint name="rear_right_flipper_j" type="revolute">
-      <child>rear_right_flipper</child>
-      <parent>right_track</parent>
+    <joint name="thermocam_j" type="fixed">
+      <child>thermocam</child>
+      <parent>base_link</parent>
       <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>20</effort>
-          <velocity>0.785398</velocity>
-        </limit>
         <dynamics>
           <spring_reference>0</spring_reference>
           <spring_stiffness>0</spring_stiffness>
         </dynamics>
+        <xyz>0 0 1</xyz>
         <use_parent_model_frame>0</use_parent_model_frame>
+        <limit>
+          <lower>-1e+16</lower>
+          <upper>1e+16</upper>
+        </limit>
       </axis>
       <physics>
         <ode>
-          <implicit_spring_damper>1</implicit_spring_damper>
-          <cfm_damping>1</cfm_damping>
           <limit>
             <cfm>0</cfm>
             <erp>0.2</erp>
@@ -3225,296 +1701,203 @@
         </ode>
       </physics>
     </joint>
-    <link name="rear_right_flipper_wheel1">
-      <pose>-0.25 -0.272 0.0195 0 -0.193732 0</pose>
+    <link name="camera_4">
+      <pose>0.0435 -0.0145 0.26752 -1.5707963267948966 -1.5707963267948966 0</pose>
       <inertial>
-        <pose>-0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
+        <pose>0.039802 0 0.0145 0 -0 0</pose>
+        <mass>0.232</mass>
         <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
+          <ixx>3.25187e-05</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.000158598</iyy>
+          <iyz>0</iyz>
+          <izz>0.000158598</izz>
         </inertia>
       </inertial>
-      <collision name="rear_right_flipper_wheel1_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="camera_4_collision_collision">
+        <pose>0.02465 0 0.0145 0 -0 0</pose>
         <geometry>
-          <cylinder>
-            <length>0.04981</length>
-            <radius>0.089</radius>
-          </cylinder>
+          <box>
+            <size>0.0555 0.029 0.029</size>
+          </box>
         </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
       </collision>
-    </link>
-    <joint name="rear_right_flipper_wheel1_j" type="revolute">
-      <child>rear_right_flipper_wheel1</child>
-      <parent>rear_right_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="rear_right_flipper_wheel2">
-      <pose>-0.330957 -0.272 0.003617 0 -0.193732 0</pose>
-      <inertial>
-        <pose>-0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
-        <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
-        </inertia>
-      </inertial>
-      <collision name="rear_right_flipper_wheel2_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="camera_4_lens_collision_collision_1">
+        <pose>0.062834 0 0.0145 0 1.5707963267948966 0</pose>
         <geometry>
           <cylinder>
-            <length>0.04981</length>
-            <radius>0.074</radius>
+            <length>0.03974</length>
+            <radius>0.0125</radius>
           </cylinder>
         </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
       </collision>
-    </link>
-    <joint name="rear_right_flipper_wheel2_j" type="revolute">
-      <child>rear_right_flipper_wheel2</child>
-      <parent>rear_right_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="rear_right_flipper_wheel3">
-      <pose>-0.411913 -0.272 -0.012266 0 -0.193732 0</pose>
-      <inertial>
-        <pose>-0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
-        <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
-        </inertia>
-      </inertial>
-      <collision name="rear_right_flipper_wheel3_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <visual name="camera_4_visual">
+        <pose>0 0 0.0145 0 -0 0</pose>
         <geometry>
-          <cylinder>
-            <length>0.04981</length>
-            <radius>0.059</radius>
-          </cylinder>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/basler_ace2_pro.dae</uri>
+          </mesh>
         </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
+      </visual>
+      <visual name="camera_4_visual_1">
+        <pose>0.042964 0 0.0145 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/evetar_lens.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <sensor name="camera_4" type="camera">
+        <pose>0.072044 0 0.0145 0 -0 0</pose>
+        <update_rate>9</update_rate>
+        <visualize>0</visualize>
+        <camera>
+          <horizontal_fov>1.50971</horizontal_fov>
+          <image>
+            <width>1920</width>
+            <height>1200</height>
+            <format>R8G8B8</format>
+          </image>
+          <clip>
+            <near>0.011726</near>
+            <far>300</far>
+          </clip>
+          <noise>
+            <type>gaussian</type>
+            <mean>0</mean>
+            <stddev>0.007</stddev>
+          </noise>
+          <lens>
+            <intrinsics>
+              <fx>1020.51</fx>
+              <fy>1020.51</fy>
+              <cx>959.5</cx>
+              <cy>599.5</cy>
+              <s>0</s>
+            </intrinsics>
+            <type>stereographic</type>
+            <scale_to_hfov>1</scale_to_hfov>
+          </lens>
+        </camera>
+      </sensor>
     </link>
-    <joint name="rear_right_flipper_wheel3_j" type="revolute">
-      <child>rear_right_flipper_wheel3</child>
-      <parent>rear_right_flipper</parent>
+    <joint name="camera_4_j" type="fixed">
+      <child>camera_4</child>
+      <parent>base_link</parent>
       <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
         <dynamics>
           <spring_reference>0</spring_reference>
           <spring_stiffness>0</spring_stiffness>
         </dynamics>
+        <xyz>0 0 1</xyz>
         <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="rear_right_flipper_wheel4">
-      <pose>-0.49287 -0.272 -0.028149 0 -0.193732 0</pose>
-      <inertial>
-        <pose>-0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
-        <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
-        </inertia>
-      </inertial>
-      <collision name="rear_right_flipper_wheel4_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.04981</length>
-            <radius>0.044</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-    </link>
-    <joint name="rear_right_flipper_wheel4_j" type="revolute">
-      <child>rear_right_flipper_wheel4</child>
-      <parent>rear_right_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
         <limit>
           <lower>-1e+16</lower>
           <upper>1e+16</upper>
         </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
       </axis>
+      <physics>
+        <ode>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+        </ode>
+      </physics>
     </joint>
-    <link name="rear_right_flipper_wheel5">
-      <pose>-0.573827 -0.272 -0.044032 0 -0.193732 0</pose>
+    <link name="laser">
+      <pose>0.1415 0 0.365 0 0.18 0</pose>
       <inertial>
-        <pose>-0.08 0 0 0 -0 0</pose>
-        <mass>0.15</mass>
+        <pose>0 0 0.03675 0 -0 0</pose>
+        <mass>0.5</mass>
         <inertia>
-          <ixx>0.0017491</ixx>
-          <ixy>2.8512e-07</ixy>
-          <ixz>0.0018277</ixz>
-          <iyy>0.012277</iyy>
-          <iyz>-3.6288e-07</iyz>
-          <izz>0.010941</izz>
+          <ixx>0.000461625</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.000461625</iyy>
+          <iyz>0</iyz>
+          <izz>0.000473063</izz>
         </inertia>
       </inertial>
-      <collision name="rear_right_flipper_wheel5_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="laser_collision">
+        <pose>0 0 0.03675 0 -0 0</pose>
         <geometry>
           <cylinder>
-            <length>0.04981</length>
-            <radius>0.029</radius>
+            <length>0.0735</length>
+            <radius>0.0435</radius>
           </cylinder>
         </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
       </collision>
+      <visual name="laser_visual">
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/ouster-os0.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <sensor name="laser" type="gpu_lidar">
+        <pose>0 0 0.035925 0 -0 0</pose>
+        <update_rate>10</update_rate>
+        <visualize>0</visualize>
+        <always_on>1</always_on>
+        <lidar>
+          <scan>
+            <horizontal>
+              <samples>2048</samples>
+              <resolution>1</resolution>
+              <min_angle>-3.1459</min_angle>
+              <max_angle>3.1459</max_angle>
+            </horizontal>
+            <vertical>
+              <samples>128</samples>
+              <resolution>1</resolution>
+              <min_angle>-0.785398</min_angle>
+              <max_angle>0.785398</max_angle>
+            </vertical>
+          </scan>
+          <range>
+            <min>0.1</min>
+            <max>50</max>
+            <resolution>0.01</resolution>
+          </range>
+          <noise>
+            <type>gaussian</type>
+            <mean>0</mean>
+            <stddev>0.01</stddev>
+          </noise>
+        </lidar>
+      </sensor>
     </link>
-    <joint name="rear_right_flipper_wheel5_j" type="revolute">
-      <child>rear_right_flipper_wheel5</child>
-      <parent>rear_right_flipper</parent>
+    <joint name="laser_j" type="fixed">
+      <child>laser</child>
+      <parent>base_link</parent>
       <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
         <dynamics>
           <spring_reference>0</spring_reference>
           <spring_stiffness>0</spring_stiffness>
         </dynamics>
+        <xyz>0 0 1</xyz>
         <use_parent_model_frame>0</use_parent_model_frame>
+        <limit>
+          <lower>-1e+16</lower>
+          <upper>1e+16</upper>
+        </limit>
       </axis>
+      <physics>
+        <ode>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+        </ode>
+      </physics>
     </joint>
-    <link name="right_track_wheel1">
-      <pose>0.25 -0.1985 0.01855 0 -0 0</pose>
+    <link name="right_track">
+      <pose>0 -0.1985 0 0 -0 0</pose>
       <inertial>
         <pose>0 0 0.0141 0 -0 0</pose>
-        <mass>0.7575</mass>
+        <mass>6.06</mass>
         <inertia>
           <ixx>0.002731</ixx>
           <ixy>0</ixy>
@@ -3524,8 +1907,25 @@
           <izz>0.031391</izz>
         </inertia>
       </inertial>
-      <collision name="right_track_wheel1_collision">
-        <pose>0 0.015 0 1.5707963267948966 -0 0</pose>
+      <collision name="right_track_collision">
+        <pose>0 0 0.01855 1.5707963267948966 -0 1.5707963267948966</pose>
+        <geometry>
+          <box>
+            <size>0.097 0.178 0.5</size>
+          </box>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>10</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="right_track_collision_1">
+        <pose>0.25 0.015 0.01855 1.5707963267948966 -0 0</pose>
         <geometry>
           <cylinder>
             <length>0.112</length>
@@ -3533,56 +1933,17 @@
           </cylinder>
         </geometry>
         <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
           <friction>
             <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
+              <mu>10</mu>
+              <mu2>150</mu2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
-    </link>
-    <joint name="right_track_wheel1_j" type="revolute">
-      <child>right_track_wheel1</child>
-      <parent>right_track</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="right_track_wheel2">
-      <pose>0.178571 -0.1985 0.01855 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0.0141 0 -0 0</pose>
-        <mass>0.7575</mass>
-        <inertia>
-          <ixx>0.002731</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.032554</iyy>
-          <iyz>1.5e-05</iyz>
-          <izz>0.031391</izz>
-        </inertia>
-      </inertial>
-      <collision name="right_track_wheel2_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="right_track_collision_2">
+        <pose>-0.25 0 0.01855 1.5707963267948966 -0 0</pose>
         <geometry>
           <cylinder>
             <length>0.097</length>
@@ -3590,32 +1951,34 @@
           </cylinder>
         </geometry>
         <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
           <friction>
             <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
+              <mu>10</mu>
+              <mu2>150</mu2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
+      <visual name="right_track_visual">
+        <pose>0 0 -0.0705 1.5707963267948966 0 -1.5707963267948966</pose>
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/bogie.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
     </link>
-    <joint name="right_track_wheel2_j" type="revolute">
-      <child>right_track_wheel2</child>
-      <parent>right_track</parent>
+    <joint name="right_track_j" type="revolute">
+      <child>right_track</child>
+      <parent>base_link</parent>
       <axis>
         <xyz>0 1 0</xyz>
         <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
+          <lower>0</lower>
+          <upper>0</upper>
+          <effort>0</effort>
+          <velocity>4</velocity>
         </limit>
         <dynamics>
           <spring_reference>0</spring_reference>
@@ -3623,170 +1986,142 @@
         </dynamics>
         <use_parent_model_frame>0</use_parent_model_frame>
       </axis>
+      <physics>
+        <ode>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+        </ode>
+      </physics>
+      <physics>
+        <ode>
+          <implicit_spring_damper>1</implicit_spring_damper>
+          <cfm>0</cfm>
+          <erp>0.95</erp>
+        </ode>
+      </physics>
     </joint>
-    <link name="right_track_wheel3">
-      <pose>0.107143 -0.1985 0.01855 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0.0141 0 -0 0</pose>
-        <mass>0.7575</mass>
-        <inertia>
-          <ixx>0.002731</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.032554</iyy>
-          <iyz>1.5e-05</iyz>
-          <izz>0.031391</izz>
+    <link name="front_right_flipper">
+      <pose>0.25 -0.272 0.0195 3.1415926535897931 -0.193732 3.1415926535897931</pose>
+      <inertial>
+        <pose>-0.08 0 0 0 -0 0</pose>
+        <mass>0.75</mass>
+        <inertia>
+          <ixx>0.0017491</ixx>
+          <ixy>2.8512e-07</ixy>
+          <ixz>0.0018277</ixz>
+          <iyy>0.012277</iyy>
+          <iyz>-3.6288e-07</iyz>
+          <izz>0.010941</izz>
         </inertia>
       </inertial>
-      <collision name="right_track_wheel3_collision">
+      <collision name="front_right_flipper_collision_large_wheel_collision">
         <pose>0 0 0 1.5707963267948966 -0 0</pose>
         <geometry>
           <cylinder>
-            <length>0.097</length>
+            <length>0.04981</length>
             <radius>0.089</radius>
           </cylinder>
         </geometry>
         <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
           <friction>
             <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
+              <mu>10</mu>
+              <mu2>150</mu2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
-    </link>
-    <joint name="right_track_wheel3_j" type="revolute">
-      <child>right_track_wheel3</child>
-      <parent>right_track</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="right_track_wheel4">
-      <pose>0.035714 -0.1985 0.01855 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0.0141 0 -0 0</pose>
-        <mass>0.7575</mass>
-        <inertia>
-          <ixx>0.002731</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.032554</iyy>
-          <iyz>1.5e-05</iyz>
-          <izz>0.031391</izz>
-        </inertia>
-      </inertial>
-      <collision name="right_track_wheel4_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="front_right_flipper_collision_small_wheel_collision_1">
+        <pose>-0.33 0 0 1.5707963267948966 -0 0</pose>
         <geometry>
           <cylinder>
-            <length>0.097</length>
-            <radius>0.089</radius>
+            <length>0.04981</length>
+            <radius>0.029</radius>
           </cylinder>
         </geometry>
         <surface>
-          <contact>
+          <friction>
             <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
+              <mu>10</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
             </ode>
-          </contact>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="front_right_flipper_collision_top_bar_collision_2">
+        <pose>-0.165 0 0.0325 0 0.184162 -3.1415926535897931</pose>
+        <geometry>
+          <box>
+            <size>0.33 0.04981 0.055</size>
+          </box>
+        </geometry>
+        <surface>
           <friction>
             <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
+              <mu>10</mu>
+              <mu2>150</mu2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
-    </link>
-    <joint name="right_track_wheel4_j" type="revolute">
-      <child>right_track_wheel4</child>
-      <parent>right_track</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="right_track_wheel5">
-      <pose>-0.035714 -0.1985 0.01855 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0.0141 0 -0 0</pose>
-        <mass>0.7575</mass>
-        <inertia>
-          <ixx>0.002731</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.032554</iyy>
-          <iyz>1.5e-05</iyz>
-          <izz>0.031391</izz>
-        </inertia>
-      </inertial>
-      <collision name="right_track_wheel5_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="front_right_flipper_collision_bottom_bar_collision_3">
+        <pose>-0.165 0 -0.0325 0 -0.184162 -3.1415926535897931</pose>
         <geometry>
-          <cylinder>
-            <length>0.097</length>
-            <radius>0.089</radius>
-          </cylinder>
+          <box>
+            <size>0.33 0.04981 0.055</size>
+          </box>
         </geometry>
         <surface>
-          <contact>
+          <friction>
             <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
+              <mu>10</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
             </ode>
-          </contact>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="front_right_flipper_collision_middle_bar_collision_4">
+        <pose>-0.166 0 0.004 0 -0.02 -3.1415926535897931</pose>
+        <geometry>
+          <box>
+            <size>0.2 0.04981 0.07</size>
+          </box>
+        </geometry>
+        <surface>
           <friction>
             <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
+              <mu>10</mu>
+              <mu2>150</mu2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
+      <visual name="front_right_flipper_visual">
+        <pose>0 0 0 -2.95743 -0 -1.5707963267948966</pose>
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/flipper.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
     </link>
-    <joint name="right_track_wheel5_j" type="revolute">
-      <child>right_track_wheel5</child>
+    <joint name="front_right_flipper_j" type="revolute">
+      <child>front_right_flipper</child>
       <parent>right_track</parent>
       <axis>
         <xyz>0 1 0</xyz>
         <limit>
           <lower>-1e+16</lower>
           <upper>1e+16</upper>
+          <effort>20</effort>
+          <velocity>0.785398</velocity>
         </limit>
         <dynamics>
           <spring_reference>0</spring_reference>
@@ -3794,170 +2129,137 @@
         </dynamics>
         <use_parent_model_frame>0</use_parent_model_frame>
       </axis>
+      <physics>
+        <ode>
+          <implicit_spring_damper>1</implicit_spring_damper>
+          <cfm_damping>1</cfm_damping>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+        </ode>
+      </physics>
     </joint>
-    <link name="right_track_wheel6">
-      <pose>-0.107143 -0.1985 0.01855 0 -0 0</pose>
+    <link name="rear_right_flipper">
+      <pose>-0.25 -0.272 0.0195 0 -0.193732 0</pose>
       <inertial>
-        <pose>0 0 0.0141 0 -0 0</pose>
-        <mass>0.7575</mass>
+        <pose>-0.08 0 0 0 -0 0</pose>
+        <mass>0.75</mass>
         <inertia>
-          <ixx>0.002731</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.032554</iyy>
-          <iyz>1.5e-05</iyz>
-          <izz>0.031391</izz>
+          <ixx>0.0017491</ixx>
+          <ixy>2.8512e-07</ixy>
+          <ixz>0.0018277</ixz>
+          <iyy>0.012277</iyy>
+          <iyz>-3.6288e-07</iyz>
+          <izz>0.010941</izz>
         </inertia>
       </inertial>
-      <collision name="right_track_wheel6_collision">
+      <collision name="rear_right_flipper_collision_large_wheel_collision">
         <pose>0 0 0 1.5707963267948966 -0 0</pose>
         <geometry>
           <cylinder>
-            <length>0.097</length>
+            <length>0.04981</length>
             <radius>0.089</radius>
           </cylinder>
         </geometry>
         <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-          </contact>
           <friction>
             <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
+              <mu>10</mu>
+              <mu2>150</mu2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
-    </link>
-    <joint name="right_track_wheel6_j" type="revolute">
-      <child>right_track_wheel6</child>
-      <parent>right_track</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="right_track_wheel7">
-      <pose>-0.178571 -0.1985 0.01855 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0.0141 0 -0 0</pose>
-        <mass>0.7575</mass>
-        <inertia>
-          <ixx>0.002731</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.032554</iyy>
-          <iyz>1.5e-05</iyz>
-          <izz>0.031391</izz>
-        </inertia>
-      </inertial>
-      <collision name="right_track_wheel7_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="rear_right_flipper_collision_small_wheel_collision_1">
+        <pose>-0.33 0 0 1.5707963267948966 -0 0</pose>
         <geometry>
           <cylinder>
-            <length>0.097</length>
-            <radius>0.089</radius>
+            <length>0.04981</length>
+            <radius>0.029</radius>
           </cylinder>
         </geometry>
         <surface>
-          <contact>
+          <friction>
             <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
+              <mu>10</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
             </ode>
-          </contact>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="rear_right_flipper_collision_top_bar_collision_2">
+        <pose>-0.165 0 0.0325 0 0.184162 -3.1415926535897931</pose>
+        <geometry>
+          <box>
+            <size>0.33 0.04981 0.055</size>
+          </box>
+        </geometry>
+        <surface>
           <friction>
             <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
+              <mu>10</mu>
+              <mu2>150</mu2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
-    </link>
-    <joint name="right_track_wheel7_j" type="revolute">
-      <child>right_track_wheel7</child>
-      <parent>right_track</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="right_track_wheel8">
-      <pose>-0.25 -0.1985 0.01855 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0.0141 0 -0 0</pose>
-        <mass>0.7575</mass>
-        <inertia>
-          <ixx>0.002731</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.032554</iyy>
-          <iyz>1.5e-05</iyz>
-          <izz>0.031391</izz>
-        </inertia>
-      </inertial>
-      <collision name="right_track_wheel8_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="rear_right_flipper_collision_bottom_bar_collision_3">
+        <pose>-0.165 0 -0.0325 0 -0.184162 -3.1415926535897931</pose>
         <geometry>
-          <cylinder>
-            <length>0.097</length>
-            <radius>0.089</radius>
-          </cylinder>
+          <box>
+            <size>0.33 0.04981 0.055</size>
+          </box>
         </geometry>
         <surface>
-          <contact>
+          <friction>
             <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
+              <mu>10</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
             </ode>
-          </contact>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="rear_right_flipper_collision_middle_bar_collision_4">
+        <pose>-0.166 0 0.004 0 -0.02 -3.1415926535897931</pose>
+        <geometry>
+          <box>
+            <size>0.2 0.04981 0.07</size>
+          </box>
+        </geometry>
+        <surface>
           <friction>
             <ode>
-              <mu>0.5</mu>
-              <mu2>1</mu2>
-              <slip1>0.00092</slip1>
-              <slip2>0</slip2>
+              <mu>10</mu>
+              <mu2>150</mu2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
+      <visual name="rear_right_flipper_visual">
+        <pose>0 0 0 -2.95743 -0 -1.5707963267948966</pose>
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/flipper.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
     </link>
-    <joint name="right_track_wheel8_j" type="revolute">
-      <child>right_track_wheel8</child>
+    <joint name="rear_right_flipper_j" type="revolute">
+      <child>rear_right_flipper</child>
       <parent>right_track</parent>
       <axis>
         <xyz>0 1 0</xyz>
         <limit>
           <lower>-1e+16</lower>
           <upper>1e+16</upper>
+          <effort>20</effort>
+          <velocity>0.785398</velocity>
         </limit>
         <dynamics>
           <spring_reference>0</spring_reference>
@@ -3965,6 +2267,16 @@
         </dynamics>
         <use_parent_model_frame>0</use_parent_model_frame>
       </axis>
+      <physics>
+        <ode>
+          <implicit_spring_damper>1</implicit_spring_damper>
+          <cfm_damping>1</cfm_damping>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+        </ode>
+      </physics>
     </joint>
     <plugin name="cras::FlipperControlPlugin" filename="libflipper_control_plugin.so">
       <joint_name>front_left_flipper_j</joint_name>
diff --git a/submitted_models/ctu_cras_norlab_marv_sensor_config_1/config/sim.yaml b/submitted_models/ctu_cras_norlab_marv_sensor_config_1/config/sim.yaml
index fb128d11..b7ccbc26 100644
--- a/submitted_models/ctu_cras_norlab_marv_sensor_config_1/config/sim.yaml
+++ b/submitted_models/ctu_cras_norlab_marv_sensor_config_1/config/sim.yaml
@@ -1,6 +1,6 @@
 # Common simulation parameters
 
-num_wheels: 8 # Number of small wheels that approximate each flipper
+num_wheels: 0 # Number of small wheels that approximate each flipper
 num_breadcrumbs: 0
 
 # Which sensors to simulate (if False, they will be a part of the model but not producing data)
diff --git a/submitted_models/ctu_cras_norlab_marv_sensor_config_1/launch/common.rb b/submitted_models/ctu_cras_norlab_marv_sensor_config_1/launch/common.rb
index e2b8ae6d..0c6cfa81 100644
--- a/submitted_models/ctu_cras_norlab_marv_sensor_config_1/launch/common.rb
+++ b/submitted_models/ctu_cras_norlab_marv_sensor_config_1/launch/common.rb
@@ -22,32 +22,77 @@ def _spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw, _add
   max_vel = config["rover_maxTrackSpeed"]
   max_accel = config["rover_maxTrackAcceleration"]
 
+  tracks = ["left", "right"]
+  flippers = ["front_left", "front_right", "rear_left", "rear_right"]
+
+  flippersOfTrack = Hash.new
+  flippersOfTrack["left"] = ["front_left", "rear_left"]
+  flippersOfTrack["right"] = ["front_right", "rear_right"]
+
   # generate a bunch of DiffDrive plugins (one for each simulated wheel size)
   diff_drive = ""
-  for wheel_num in 1..num_wheels
-    # we only want odometry from the first diffdrive
-    no_odom = ""
-    if wheel_num > 1
-      no_odom = "<odom_topic>unused_odom</odom_topic>\n"
+  trackControllers = ""
+  trackedVehicle = ""
+  power_draining_topics = ""
+  if num_wheels > 0
+      for wheel_num in 1..num_wheels
+        # we only want odometry from the first diffdrive
+        no_odom = ""
+        if wheel_num > 1
+          no_odom = "<odom_topic>unused_odom</odom_topic>\n"
+        end
+        diff_drive += "
+          <plugin filename=\"libignition-gazebo-diff-drive-system.so\"
+                  name=\"ignition::gazebo::systems::DiffDrive\">
+              <left_joint>front_left_flipper_wheel#{wheel_num}_j</left_joint>
+              <left_joint>rear_left_flipper_wheel#{wheel_num}_j</left_joint>
+              <right_joint>front_right_flipper_wheel#{wheel_num}_j</right_joint>
+              <right_joint>rear_right_flipper_wheel#{wheel_num}_j</right_joint>
+              <wheel_separation>#{wheel_separation}</wheel_separation>
+              <wheel_radius>#{small_wheel_radius + wheel_radius_increment * (num_wheels - wheel_num)}</wheel_radius>
+              <topic>/model/#{_name}/cmd_vel_relay</topic>
+              <min_velocity>#{-max_vel}</min_velocity>
+              <max_velocity>#{max_vel}</max_velocity>
+              <min_acceleration>#{-max_accel}</min_acceleration>
+              <max_acceleration>#{max_accel}</max_acceleration>
+              #{no_odom}
+          </plugin>"
+      end
+  else
+    trackLinks = ""
+    for track in tracks
+        for flipper in flippersOfTrack[track]
+            trackControllers += <<-HEREDOC
+              <plugin name='ignition::gazebo::systems::TrackController' filename='libignition-gazebo-track-controller-system.so'>
+                  <link>#{flipper}_flipper</link>
+                  <min_velocity>-#{max_vel}</min_velocity>
+                  <max_velocity>#{max_vel}</max_velocity>
+                  <min_acceleration>-#{max_accel}</min_acceleration>
+                  <max_acceleration>#{max_accel}</max_acceleration>
+              </plugin>
+            HEREDOC
+            trackLinks += "<#{track}_track><link>#{flipper}_flipper</link></#{track}_track>"
+            power_draining_topics += "<power_draining_topic>/model/#{_name}/link/#{flipper}_flipper/track_cmd_vel</power_draining_topic>"
+        end
     end
-    diff_drive += "
-      <plugin filename=\"libignition-gazebo-diff-drive-system.so\"
-              name=\"ignition::gazebo::systems::DiffDrive\">
-          <left_joint>front_left_flipper_wheel#{wheel_num}_j</left_joint>
-          <left_joint>rear_left_flipper_wheel#{wheel_num}_j</left_joint>
-          <right_joint>front_right_flipper_wheel#{wheel_num}_j</right_joint>
-          <right_joint>rear_right_flipper_wheel#{wheel_num}_j</right_joint>
-          <wheel_separation>#{wheel_separation}</wheel_separation>
-          <wheel_radius>#{small_wheel_radius + wheel_radius_increment * (num_wheels - wheel_num)}</wheel_radius>
-          <topic>/model/#{_name}/cmd_vel_relay</topic>
-          <min_velocity>#{-max_vel}</min_velocity>
-          <max_velocity>#{max_vel}</max_velocity>
-          <min_acceleration>#{-max_accel}</min_acceleration>
-          <max_acceleration>#{max_accel}</max_acceleration>
-          #{no_odom}
-      </plugin>"
+    trackedVehicle += <<-HEREDOC
+        <plugin name="ignition::gazebo::systems::TrackedVehicle" filename="ignition-gazebo-tracked-vehicle-system">
+              #{trackLinks}
+              <tracks_separation>#{wheel_separation}</tracks_separation>
+              <tracks_height>#{2 * wheel_radius_increment}</tracks_height>
+              <steering_efficiency>0.5</steering_efficiency>
+              <topic>/model/#{_name}/cmd_vel_relay</topic>
+              <linear_velocity>
+                  <min_velocity>-#{max_vel}</min_velocity>
+                  <max_velocity>#{max_vel}</max_velocity>
+                  <min_acceleration>-#{max_accel}</min_acceleration>
+                  <max_acceleration>#{max_accel}</max_acceleration>
+              </linear_velocity>
+          </plugin>
+    HEREDOC
   end
 
+
   <<-HEREDOC
   <spawn name='#{_name}'>
     <name>#{_name}</name>
@@ -61,6 +106,8 @@ def _spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw, _add
       <uri>#{_modelURI}</uri>
       <!-- Diff drive -->
       #{diff_drive}
+      #{trackedVehicle}
+      #{trackControllers}
       <!-- Publish robot state information -->
       <plugin filename="libignition-gazebo-pose-publisher-system.so"
         name="ignition::gazebo::systems::PosePublisher">
@@ -86,6 +133,7 @@ def _spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw, _add
         <smooth_current_tau>1.9499</smooth_current_tau>
         <power_load>9.9</power_load>
         <start_on_motion>true</start_on_motion>
+        #{power_draining_topics}
       </plugin>
       <!-- Gas Sensor plugin -->
       <plugin filename="libGasEmitterDetectorPlugin.so"
diff --git a/submitted_models/ctu_cras_norlab_marv_sensor_config_1/model.sdf b/submitted_models/ctu_cras_norlab_marv_sensor_config_1/model.sdf
index ebb457ca..63e0fb53 100644
--- a/submitted_models/ctu_cras_norlab_marv_sensor_config_1/model.sdf
+++ b/submitted_models/ctu_cras_norlab_marv_sensor_config_1/model.sdf
@@ -468,16 +468,104 @@
     <link name="front_left_flipper">
       <pose>0.256 0.248 0 0 -0 0</pose>
       <inertial>
-        <mass>1e-05</mass>
+        <pose>0.08 0 0 0 -0 0</pose>
+        <mass>3.659</mass>
         <inertia>
-          <ixx>0.001</ixx>
-          <ixy>1e-06</ixy>
-          <ixz>1e-06</ixz>
-          <iyy>0.001</iyy>
-          <iyz>1e-06</iyz>
-          <izz>0.001</izz>
+          <ixx>0.0017491</ixx>
+          <ixy>2.8512e-07</ixy>
+          <ixz>0.0018277</ixz>
+          <iyy>0.012277</iyy>
+          <iyz>-3.6288e-07</iyz>
+          <izz>0.010941</izz>
         </inertia>
       </inertial>
+      <collision name="front_left_flipper_collision">
+        <pose>0.15175 0 0 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.3035 0.075 0.078</size>
+          </box>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>1</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="front_left_flipper_collision_1">
+        <pose>0.15175 0 0.05825 0 0.126179 0</pose>
+        <geometry>
+          <box>
+            <size>0.3035 0.075 0.078</size>
+          </box>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>1</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="front_left_flipper_collision_2">
+        <pose>0.15175 0 -0.05825 0 -0.126179 0</pose>
+        <geometry>
+          <box>
+            <size>0.3035 0.075 0.078</size>
+          </box>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>1</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="front_left_flipper_collision_3">
+        <pose>0.3035 0 0 1.5707963267948966 -0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.075</length>
+            <radius>0.078</radius>
+          </cylinder>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>1</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="front_left_flipper_collision_4">
+        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.075</length>
+            <radius>0.1165</radius>
+          </cylinder>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>1</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
       <visual name="front_left_flipper_visual">
         <geometry>
           <mesh>
@@ -614,545 +702,145 @@
         </ode>
       </physics>
     </joint>
-    <link name="front_left_flipper_wheel1">
-      <pose>0.256 0.248 0 0 -0 0</pose>
+    <link name="front_left_motor">
       <inertial>
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <mass>0.457375</mass>
+        <pose>0.22 -0.09 0.02 0 -0 0</pose>
+        <mass>4.06</mass>
         <inertia>
-          <ixx>0.0017663</ixx>
+          <ixx>0.0151492</ixx>
           <ixy>0</ixy>
           <ixz>0</ixz>
-          <iyy>0.0017663</iyy>
+          <iyy>0.0129839</iyy>
           <iyz>0</iyz>
-          <izz>0.0031038</izz>
+          <izz>0.0173903</izz>
         </inertia>
       </inertial>
-      <collision name="front_left_flipper_wheel1_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.075</length>
-            <radius>0.1165</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-            <collide_bitmask>1</collide_bitmask>
-          </contact>
-          <friction>
-            <ode>
-              <mu>1</mu>
-              <mu2>150</mu2>
-              <slip1>0.000580604</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-      <self_collide>1</self_collide>
     </link>
-    <joint name="front_left_flipper_wheel1_j" type="revolute">
-      <child>front_left_flipper_wheel1</child>
-      <parent>front_left_flipper</parent>
+    <joint name="front_left_motor_j" type="fixed">
+      <child>front_left_motor</child>
+      <parent>base_link</parent>
       <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>-1</effort>
-          <velocity>8.58369</velocity>
-        </limit>
         <dynamics>
           <spring_reference>0</spring_reference>
           <spring_stiffness>0</spring_stiffness>
         </dynamics>
+        <xyz>0 0 1</xyz>
         <use_parent_model_frame>0</use_parent_model_frame>
+        <limit>
+          <lower>-1e+16</lower>
+          <upper>1e+16</upper>
+        </limit>
       </axis>
+      <physics>
+        <ode>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+        </ode>
+      </physics>
     </joint>
-    <link name="front_left_flipper_wheel2">
-      <pose>0.299357 0.248 0 0 -0 0</pose>
+    <link name="front_right_flipper">
+      <pose>0.256 -0.248 0 3.1415926535897931 -0 -3.1415926535897931</pose>
       <inertial>
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <mass>0.457375</mass>
+        <pose>-0.08 0 0 0 -0 0</pose>
+        <mass>3.659</mass>
         <inertia>
-          <ixx>0.00162322</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.00162322</iyy>
-          <iyz>0</iyz>
-          <izz>0.00281766</izz>
+          <ixx>0.0017491</ixx>
+          <ixy>2.8512e-07</ixy>
+          <ixz>0.0018277</ixz>
+          <iyy>0.012277</iyy>
+          <iyz>-3.6288e-07</iyz>
+          <izz>0.010941</izz>
         </inertia>
       </inertial>
-      <collision name="front_left_flipper_wheel2_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="front_right_flipper_collision">
+        <pose>-0.15175 0 0 0 -0 0</pose>
         <geometry>
-          <cylinder>
-            <length>0.075</length>
-            <radius>0.111</radius>
-          </cylinder>
+          <box>
+            <size>0.3035 0.075 0.078</size>
+          </box>
         </geometry>
         <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-            <collide_bitmask>2</collide_bitmask>
-          </contact>
           <friction>
             <ode>
               <mu>1</mu>
               <mu2>150</mu2>
-              <slip1>0.000580604</slip1>
-              <slip2>0</slip2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
-      <self_collide>1</self_collide>
-    </link>
-    <joint name="front_left_flipper_wheel2_j" type="revolute">
-      <child>front_left_flipper_wheel2</child>
-      <parent>front_left_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>-1</effort>
-          <velocity>9.00901</velocity>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="front_left_flipper_wheel3">
-      <pose>0.342714 0.248 0 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <mass>0.457375</mass>
-        <inertia>
-          <ixx>0.00148707</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.00148707</iyy>
-          <iyz>0</iyz>
-          <izz>0.00254535</izz>
-        </inertia>
-      </inertial>
-      <collision name="front_left_flipper_wheel3_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="front_right_flipper_collision_1">
+        <pose>-0.15175 0 0.05825 0 -0.126179 0</pose>
         <geometry>
-          <cylinder>
-            <length>0.075</length>
-            <radius>0.1055</radius>
-          </cylinder>
+          <box>
+            <size>0.3035 0.075 0.078</size>
+          </box>
         </geometry>
         <surface>
-          <contact>
+          <friction>
             <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
+              <mu>1</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
             </ode>
-            <collide_bitmask>4</collide_bitmask>
-          </contact>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="front_right_flipper_collision_2">
+        <pose>-0.15175 0 -0.05825 0 0.126179 0</pose>
+        <geometry>
+          <box>
+            <size>0.3035 0.075 0.078</size>
+          </box>
+        </geometry>
+        <surface>
           <friction>
             <ode>
               <mu>1</mu>
               <mu2>150</mu2>
-              <slip1>0.000580604</slip1>
-              <slip2>0</slip2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
-      <self_collide>1</self_collide>
-    </link>
-    <joint name="front_left_flipper_wheel3_j" type="revolute">
-      <child>front_left_flipper_wheel3</child>
-      <parent>front_left_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>-1</effort>
-          <velocity>9.47867</velocity>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="front_left_flipper_wheel4">
-      <pose>0.386071 0.248 0 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <mass>0.457375</mass>
-        <inertia>
-          <ixx>0.00135783</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.00135783</iyy>
-          <iyz>0</iyz>
-          <izz>0.00228687</izz>
-        </inertia>
-      </inertial>
-      <collision name="front_left_flipper_wheel4_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="front_right_flipper_collision_3">
+        <pose>-0.3035 0 0 1.5707963267948966 -0 0</pose>
         <geometry>
           <cylinder>
             <length>0.075</length>
-            <radius>0.1</radius>
+            <radius>0.078</radius>
           </cylinder>
         </geometry>
         <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-            <collide_bitmask>8</collide_bitmask>
-          </contact>
           <friction>
             <ode>
               <mu>1</mu>
               <mu2>150</mu2>
-              <slip1>0.000580604</slip1>
-              <slip2>0</slip2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
-      <self_collide>1</self_collide>
-    </link>
-    <joint name="front_left_flipper_wheel4_j" type="revolute">
-      <child>front_left_flipper_wheel4</child>
-      <parent>front_left_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>-1</effort>
-          <velocity>10</velocity>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="front_left_flipper_wheel5">
-      <pose>0.429429 0.248 0 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <mass>0.457375</mass>
-        <inertia>
-          <ixx>0.00123551</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.00123551</iyy>
-          <iyz>0</iyz>
-          <izz>0.00204224</izz>
-        </inertia>
-      </inertial>
-      <collision name="front_left_flipper_wheel5_collision_collision">
+      <collision name="front_right_flipper_collision_4">
         <pose>0 0 0 1.5707963267948966 -0 0</pose>
         <geometry>
           <cylinder>
             <length>0.075</length>
-            <radius>0.0945</radius>
+            <radius>0.1165</radius>
           </cylinder>
         </geometry>
         <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-            <collide_bitmask>16</collide_bitmask>
-          </contact>
           <friction>
             <ode>
               <mu>1</mu>
               <mu2>150</mu2>
-              <slip1>0.000580604</slip1>
-              <slip2>0</slip2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
-      <self_collide>1</self_collide>
-    </link>
-    <joint name="front_left_flipper_wheel5_j" type="revolute">
-      <child>front_left_flipper_wheel5</child>
-      <parent>front_left_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>-1</effort>
-          <velocity>10.582</velocity>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="front_left_flipper_wheel6">
-      <pose>0.472786 0.248 0 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <mass>0.457375</mass>
-        <inertia>
-          <ixx>0.00112011</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.00112011</iyy>
-          <iyz>0</iyz>
-          <izz>0.00181143</izz>
-        </inertia>
-      </inertial>
-      <collision name="front_left_flipper_wheel6_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.075</length>
-            <radius>0.089</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-            <collide_bitmask>32</collide_bitmask>
-          </contact>
-          <friction>
-            <ode>
-              <mu>1</mu>
-              <mu2>150</mu2>
-              <slip1>0.000580604</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-      <self_collide>1</self_collide>
-    </link>
-    <joint name="front_left_flipper_wheel6_j" type="revolute">
-      <child>front_left_flipper_wheel6</child>
-      <parent>front_left_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>-1</effort>
-          <velocity>11.236</velocity>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="front_left_flipper_wheel7">
-      <pose>0.516143 0.248 0 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <mass>0.457375</mass>
-        <inertia>
-          <ixx>0.00101163</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.00101163</iyy>
-          <iyz>0</iyz>
-          <izz>0.00159447</izz>
-        </inertia>
-      </inertial>
-      <collision name="front_left_flipper_wheel7_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.075</length>
-            <radius>0.0835</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-            <collide_bitmask>64</collide_bitmask>
-          </contact>
-          <friction>
-            <ode>
-              <mu>1</mu>
-              <mu2>150</mu2>
-              <slip1>0.000580604</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-      <self_collide>1</self_collide>
-    </link>
-    <joint name="front_left_flipper_wheel7_j" type="revolute">
-      <child>front_left_flipper_wheel7</child>
-      <parent>front_left_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>-1</effort>
-          <velocity>11.976</velocity>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="front_left_flipper_wheel8">
-      <pose>0.5595 0.248 0 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <mass>0.457375</mass>
-        <inertia>
-          <ixx>0.000910062</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.000910062</iyy>
-          <iyz>0</iyz>
-          <izz>0.00139133</izz>
-        </inertia>
-      </inertial>
-      <collision name="front_left_flipper_wheel8_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.075</length>
-            <radius>0.078</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-            <collide_bitmask>128</collide_bitmask>
-          </contact>
-          <friction>
-            <ode>
-              <mu>1</mu>
-              <mu2>150</mu2>
-              <slip1>0.000580604</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-      <self_collide>1</self_collide>
-    </link>
-    <joint name="front_left_flipper_wheel8_j" type="revolute">
-      <child>front_left_flipper_wheel8</child>
-      <parent>front_left_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>-1</effort>
-          <velocity>12.8205</velocity>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="front_left_motor">
-      <inertial>
-        <pose>0.22 -0.09 0.02 0 -0 0</pose>
-        <mass>4.06</mass>
-        <inertia>
-          <ixx>0.0151492</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.0129839</iyy>
-          <iyz>0</iyz>
-          <izz>0.0173903</izz>
-        </inertia>
-      </inertial>
-    </link>
-    <joint name="front_left_motor_j" type="fixed">
-      <child>front_left_motor</child>
-      <parent>base_link</parent>
-      <axis>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <xyz>0 0 1</xyz>
-        <use_parent_model_frame>0</use_parent_model_frame>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-      </axis>
-      <physics>
-        <ode>
-          <limit>
-            <cfm>0</cfm>
-            <erp>0.2</erp>
-          </limit>
-        </ode>
-      </physics>
-    </joint>
-    <link name="front_right_flipper">
-      <pose>0.256 -0.248 0 3.1415926535897931 -0 -3.1415926535897931</pose>
-      <inertial>
-        <mass>1e-05</mass>
-        <inertia>
-          <ixx>0.001</ixx>
-          <ixy>1e-06</ixy>
-          <ixz>1e-06</ixz>
-          <iyy>0.001</iyy>
-          <iyz>1e-06</iyz>
-          <izz>0.001</izz>
-        </inertia>
-      </inertial>
       <visual name="front_right_flipper_visual">
         <geometry>
           <mesh>
@@ -1289,1444 +977,138 @@
         </ode>
       </physics>
     </joint>
-    <link name="front_right_flipper_wheel1">
-      <pose>0.256 -0.248 0 3.1415926535897931 -0 3.1415926535897931</pose>
+    <link name="front_right_motor">
       <inertial>
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <mass>0.457375</mass>
+        <pose>0.22 0.09 0.02 0 -0 0</pose>
+        <mass>4.06</mass>
         <inertia>
-          <ixx>0.0017663</ixx>
+          <ixx>0.0151492</ixx>
           <ixy>0</ixy>
           <ixz>0</ixz>
-          <iyy>0.0017663</iyy>
+          <iyy>0.0129839</iyy>
           <iyz>0</iyz>
-          <izz>0.0031038</izz>
+          <izz>0.0173903</izz>
         </inertia>
       </inertial>
-      <collision name="front_right_flipper_wheel1_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.075</length>
-            <radius>0.1165</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-            <collide_bitmask>1</collide_bitmask>
-          </contact>
-          <friction>
-            <ode>
-              <mu>1</mu>
-              <mu2>150</mu2>
-              <slip1>0.000580604</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-      <self_collide>1</self_collide>
     </link>
-    <joint name="front_right_flipper_wheel1_j" type="revolute">
-      <child>front_right_flipper_wheel1</child>
-      <parent>front_right_flipper</parent>
+    <joint name="front_right_motor_j" type="fixed">
+      <child>front_right_motor</child>
+      <parent>base_link</parent>
       <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>-1</effort>
-          <velocity>8.58369</velocity>
-        </limit>
         <dynamics>
           <spring_reference>0</spring_reference>
           <spring_stiffness>0</spring_stiffness>
         </dynamics>
+        <xyz>0 0 1</xyz>
         <use_parent_model_frame>0</use_parent_model_frame>
+        <limit>
+          <lower>-1e+16</lower>
+          <upper>1e+16</upper>
+        </limit>
       </axis>
+      <physics>
+        <ode>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+        </ode>
+      </physics>
     </joint>
-    <link name="front_right_flipper_wheel2">
-      <pose>0.299357 -0.248 -0 3.1415926535897931 -0 3.1415926535897931</pose>
+    <link name="imu">
+      <pose>0 0 0.15 -3.1415926535897931 0 0</pose>
       <inertial>
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <mass>0.457375</mass>
+        <mass>1e-05</mass>
         <inertia>
-          <ixx>0.00162322</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.00162322</iyy>
-          <iyz>0</iyz>
-          <izz>0.00281766</izz>
-        </inertia>
-      </inertial>
-      <collision name="front_right_flipper_wheel2_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.075</length>
-            <radius>0.111</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-            <collide_bitmask>2</collide_bitmask>
-          </contact>
-          <friction>
-            <ode>
-              <mu>1</mu>
-              <mu2>150</mu2>
-              <slip1>0.000580604</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-      <self_collide>1</self_collide>
-    </link>
-    <joint name="front_right_flipper_wheel2_j" type="revolute">
-      <child>front_right_flipper_wheel2</child>
-      <parent>front_right_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>-1</effort>
-          <velocity>9.00901</velocity>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="front_right_flipper_wheel3">
-      <pose>0.342714 -0.248 -0 3.1415926535897931 -0 3.1415926535897931</pose>
-      <inertial>
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <mass>0.457375</mass>
-        <inertia>
-          <ixx>0.00148707</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.00148707</iyy>
-          <iyz>0</iyz>
-          <izz>0.00254535</izz>
-        </inertia>
-      </inertial>
-      <collision name="front_right_flipper_wheel3_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.075</length>
-            <radius>0.1055</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-            <collide_bitmask>4</collide_bitmask>
-          </contact>
-          <friction>
-            <ode>
-              <mu>1</mu>
-              <mu2>150</mu2>
-              <slip1>0.000580604</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-      <self_collide>1</self_collide>
-    </link>
-    <joint name="front_right_flipper_wheel3_j" type="revolute">
-      <child>front_right_flipper_wheel3</child>
-      <parent>front_right_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>-1</effort>
-          <velocity>9.47867</velocity>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="front_right_flipper_wheel4">
-      <pose>0.386071 -0.248 -0 3.1415926535897931 -0 3.1415926535897931</pose>
-      <inertial>
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <mass>0.457375</mass>
-        <inertia>
-          <ixx>0.00135783</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.00135783</iyy>
-          <iyz>0</iyz>
-          <izz>0.00228687</izz>
-        </inertia>
-      </inertial>
-      <collision name="front_right_flipper_wheel4_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.075</length>
-            <radius>0.1</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-            <collide_bitmask>8</collide_bitmask>
-          </contact>
-          <friction>
-            <ode>
-              <mu>1</mu>
-              <mu2>150</mu2>
-              <slip1>0.000580604</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-      <self_collide>1</self_collide>
-    </link>
-    <joint name="front_right_flipper_wheel4_j" type="revolute">
-      <child>front_right_flipper_wheel4</child>
-      <parent>front_right_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>-1</effort>
-          <velocity>10</velocity>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="front_right_flipper_wheel5">
-      <pose>0.429429 -0.248 -0 3.1415926535897931 -0 3.1415926535897931</pose>
-      <inertial>
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <mass>0.457375</mass>
-        <inertia>
-          <ixx>0.00123551</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.00123551</iyy>
-          <iyz>0</iyz>
-          <izz>0.00204224</izz>
-        </inertia>
-      </inertial>
-      <collision name="front_right_flipper_wheel5_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.075</length>
-            <radius>0.0945</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-            <collide_bitmask>16</collide_bitmask>
-          </contact>
-          <friction>
-            <ode>
-              <mu>1</mu>
-              <mu2>150</mu2>
-              <slip1>0.000580604</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-      <self_collide>1</self_collide>
-    </link>
-    <joint name="front_right_flipper_wheel5_j" type="revolute">
-      <child>front_right_flipper_wheel5</child>
-      <parent>front_right_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>-1</effort>
-          <velocity>10.582</velocity>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="front_right_flipper_wheel6">
-      <pose>0.472786 -0.248 -0 3.1415926535897931 -0 3.1415926535897931</pose>
-      <inertial>
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <mass>0.457375</mass>
-        <inertia>
-          <ixx>0.00112011</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.00112011</iyy>
-          <iyz>0</iyz>
-          <izz>0.00181143</izz>
-        </inertia>
-      </inertial>
-      <collision name="front_right_flipper_wheel6_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.075</length>
-            <radius>0.089</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-            <collide_bitmask>32</collide_bitmask>
-          </contact>
-          <friction>
-            <ode>
-              <mu>1</mu>
-              <mu2>150</mu2>
-              <slip1>0.000580604</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-      <self_collide>1</self_collide>
-    </link>
-    <joint name="front_right_flipper_wheel6_j" type="revolute">
-      <child>front_right_flipper_wheel6</child>
-      <parent>front_right_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>-1</effort>
-          <velocity>11.236</velocity>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="front_right_flipper_wheel7">
-      <pose>0.516143 -0.248 -0 3.1415926535897931 -0 3.1415926535897931</pose>
-      <inertial>
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <mass>0.457375</mass>
-        <inertia>
-          <ixx>0.00101163</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.00101163</iyy>
-          <iyz>0</iyz>
-          <izz>0.00159447</izz>
-        </inertia>
-      </inertial>
-      <collision name="front_right_flipper_wheel7_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.075</length>
-            <radius>0.0835</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-            <collide_bitmask>64</collide_bitmask>
-          </contact>
-          <friction>
-            <ode>
-              <mu>1</mu>
-              <mu2>150</mu2>
-              <slip1>0.000580604</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-      <self_collide>1</self_collide>
-    </link>
-    <joint name="front_right_flipper_wheel7_j" type="revolute">
-      <child>front_right_flipper_wheel7</child>
-      <parent>front_right_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>-1</effort>
-          <velocity>11.976</velocity>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="front_right_flipper_wheel8">
-      <pose>0.5595 -0.248 -0 3.1415926535897931 -0 3.1415926535897931</pose>
-      <inertial>
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <mass>0.457375</mass>
-        <inertia>
-          <ixx>0.000910062</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.000910062</iyy>
-          <iyz>0</iyz>
-          <izz>0.00139133</izz>
-        </inertia>
-      </inertial>
-      <collision name="front_right_flipper_wheel8_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.075</length>
-            <radius>0.078</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-            <collide_bitmask>128</collide_bitmask>
-          </contact>
-          <friction>
-            <ode>
-              <mu>1</mu>
-              <mu2>150</mu2>
-              <slip1>0.000580604</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-      <self_collide>1</self_collide>
-    </link>
-    <joint name="front_right_flipper_wheel8_j" type="revolute">
-      <child>front_right_flipper_wheel8</child>
-      <parent>front_right_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>-1</effort>
-          <velocity>12.8205</velocity>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="front_right_motor">
-      <inertial>
-        <pose>0.22 0.09 0.02 0 -0 0</pose>
-        <mass>4.06</mass>
-        <inertia>
-          <ixx>0.0151492</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.0129839</iyy>
-          <iyz>0</iyz>
-          <izz>0.0173903</izz>
-        </inertia>
-      </inertial>
-    </link>
-    <joint name="front_right_motor_j" type="fixed">
-      <child>front_right_motor</child>
-      <parent>base_link</parent>
-      <axis>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <xyz>0 0 1</xyz>
-        <use_parent_model_frame>0</use_parent_model_frame>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-      </axis>
-      <physics>
-        <ode>
-          <limit>
-            <cfm>0</cfm>
-            <erp>0.2</erp>
-          </limit>
-        </ode>
-      </physics>
-    </joint>
-    <link name="imu">
-      <pose>0 0 0.15 -3.1415926535897931 0 0</pose>
-      <inertial>
-        <mass>1e-05</mass>
-        <inertia>
-          <ixx>0.001</ixx>
-          <ixy>1e-06</ixy>
-          <ixz>1e-06</ixz>
-          <iyy>0.001</iyy>
-          <iyz>1e-06</iyz>
-          <izz>0.001</izz>
-        </inertia>
-      </inertial>
-      <self_collide>0</self_collide>
-      <sensor name="imu" type="imu">
-        <always_on>1</always_on>
-        <update_rate>50</update_rate>
-        <imu>
-          <enable_orientation>0</enable_orientation>
-          <angular_velocity>
-            <x>
-              <noise type="gaussian">
-                <mean>0</mean>
-                <stddev>0.009</stddev>
-                <bias_mean>0.00075</bias_mean>
-                <bias_stddev>0.005</bias_stddev>
-                <dynamic_bias_stddev>2e-05</dynamic_bias_stddev>
-                <dynamic_bias_correlation_time>400</dynamic_bias_correlation_time>
-                <precision>0.00025</precision>
-              </noise>
-            </x>
-            <y>
-              <noise type="gaussian">
-                <mean>0</mean>
-                <stddev>0.009</stddev>
-                <bias_mean>0.00075</bias_mean>
-                <bias_stddev>0.005</bias_stddev>
-                <dynamic_bias_stddev>2e-05</dynamic_bias_stddev>
-                <dynamic_bias_correlation_time>400</dynamic_bias_correlation_time>
-                <precision>0.00025</precision>
-              </noise>
-            </y>
-            <z>
-              <noise type="gaussian">
-                <mean>0</mean>
-                <stddev>0.009</stddev>
-                <bias_mean>0.00075</bias_mean>
-                <bias_stddev>0.005</bias_stddev>
-                <dynamic_bias_stddev>2e-05</dynamic_bias_stddev>
-                <dynamic_bias_correlation_time>400</dynamic_bias_correlation_time>
-                <precision>0.00025</precision>
-              </noise>
-            </z>
-          </angular_velocity>
-          <linear_acceleration>
-            <x>
-              <noise type="gaussian">
-                <mean>0</mean>
-                <stddev>0.021</stddev>
-                <bias_mean>0.05</bias_mean>
-                <bias_stddev>0.0075</bias_stddev>
-                <dynamic_bias_stddev>0.000375</dynamic_bias_stddev>
-                <dynamic_bias_correlation_time>175</dynamic_bias_correlation_time>
-                <precision>0.005</precision>
-              </noise>
-            </x>
-            <y>
-              <noise type="gaussian">
-                <mean>0</mean>
-                <stddev>0.021</stddev>
-                <bias_mean>0.05</bias_mean>
-                <bias_stddev>0.0075</bias_stddev>
-                <dynamic_bias_stddev>0.000375</dynamic_bias_stddev>
-                <dynamic_bias_correlation_time>175</dynamic_bias_correlation_time>
-                <precision>0.005</precision>
-              </noise>
-            </y>
-            <z>
-              <noise type="gaussian">
-                <mean>0</mean>
-                <stddev>0.021</stddev>
-                <bias_mean>0.05</bias_mean>
-                <bias_stddev>0.0075</bias_stddev>
-                <dynamic_bias_stddev>0.000375</dynamic_bias_stddev>
-                <dynamic_bias_correlation_time>175</dynamic_bias_correlation_time>
-                <precision>0.005</precision>
-              </noise>
-            </z>
-          </linear_acceleration>
-        </imu>
-      </sensor>
-    </link>
-    <joint name="imu_j" type="fixed">
-      <child>imu</child>
-      <parent>base_link</parent>
-      <axis>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <xyz>0 0 1</xyz>
-        <use_parent_model_frame>0</use_parent_model_frame>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-      </axis>
-      <physics>
-        <ode>
-          <limit>
-            <cfm>0</cfm>
-            <erp>0.2</erp>
-          </limit>
-        </ode>
-      </physics>
-    </joint>
-    <link name="rear_cam">
-      <pose>-0.244 0 0.1321 0 0 -3.1415926535897931</pose>
-      <inertial>
-        <pose>0.019862 0 0.0145 0 -0 0</pose>
-        <mass>0.14</mass>
-        <inertia>
-          <ixx>1.96233e-05</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>6.75088e-05</iyy>
-          <iyz>0</iyz>
-          <izz>6.75088e-05</izz>
-        </inertia>
-      </inertial>
-      <collision name="rear_cam_collision_collision">
-        <pose>0.0117 0 0.0145 0 -0 0</pose>
-        <geometry>
-          <box>
-            <size>0.054 0.029 0.029</size>
-          </box>
-        </geometry>
-      </collision>
-      <collision name="rear_cam_lens_collision_collision_1">
-        <pose>0.042024 0 0.0145 0 1.5707963267948966 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.026</length>
-            <radius>0.0125</radius>
-          </cylinder>
-        </geometry>
-      </collision>
-      <visual name="rear_cam_visual">
-        <pose>0 0 0.0145 0 -0 0</pose>
-        <geometry>
-          <mesh>
-            <uri>meshes/basler_ace.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-      <visual name="rear_cam_visual_1">
-        <pose>0.029024 0 0.0145 0 -0 0</pose>
-        <geometry>
-          <mesh>
-            <uri>meshes/evetar_fisheye_lens.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-      <sensor name="rear_cam" type="camera">
-        <pose>0.051574 0 0.0145 0 -0 0</pose>
-        <update_rate>15</update_rate>
-        <visualize>0</visualize>
-        <camera>
-          <horizontal_fov>2.40855</horizontal_fov>
-          <image>
-            <width>2048</width>
-            <height>1536</height>
-            <format>R8G8B8</format>
-          </image>
-          <clip>
-            <near>0.025</near>
-            <far>300</far>
-          </clip>
-          <noise>
-            <type>gaussian</type>
-            <mean>0</mean>
-            <stddev>0.007</stddev>
-          </noise>
-          <lens>
-            <intrinsics>
-              <fx>393.077</fx>
-              <fy>393.077</fy>
-              <cx>1023.5</cx>
-              <cy>767.5</cy>
-              <s>0</s>
-            </intrinsics>
-            <type>stereographic</type>
-            <scale_to_hfov>1</scale_to_hfov>
-          </lens>
-        </camera>
-      </sensor>
-    </link>
-    <joint name="rear_cam_j" type="fixed">
-      <child>rear_cam</child>
-      <parent>base_link</parent>
-      <axis>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <xyz>0 0 1</xyz>
-        <use_parent_model_frame>0</use_parent_model_frame>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-      </axis>
-      <physics>
-        <ode>
-          <limit>
-            <cfm>0</cfm>
-            <erp>0.2</erp>
-          </limit>
-        </ode>
-      </physics>
-    </joint>
-    <link name="rear_left_flipper">
-      <pose>-0.256 0.248 0 3.1415926535897931 -0 -3.1415926535897931</pose>
-      <inertial>
-        <mass>1e-05</mass>
-        <inertia>
-          <ixx>0.001</ixx>
-          <ixy>1e-06</ixy>
-          <ixz>1e-06</ixz>
-          <iyy>0.001</iyy>
-          <iyz>1e-06</iyz>
-          <izz>0.001</izz>
-        </inertia>
-      </inertial>
-      <visual name="rear_left_flipper_visual">
-        <geometry>
-          <mesh>
-            <uri>meshes/big_wheel.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-      <visual name="rear_left_flipper_visual_1">
-        <geometry>
-          <mesh>
-            <scale>-1 -1 1</scale>
-            <uri>meshes/flipper_arm.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-      <visual name="rear_left_flipper_visual_2">
-        <geometry>
-          <mesh>
-            <uri>meshes/belt.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-      <visual name="rear_left_flipper_visual_3">
-        <pose>0.3035 0 0 0 -0 0</pose>
-        <geometry>
-          <mesh>
-            <uri>meshes/small_wheel.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-      <self_collide>1</self_collide>
-    </link>
-    <joint name="rear_left_flipper_j" type="revolute">
-      <child>rear_left_flipper</child>
-      <parent>base_link</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>120</effort>
-          <velocity>1</velocity>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-      <physics>
-        <ode>
-          <implicit_spring_damper>1</implicit_spring_damper>
-          <cfm_damping>1</cfm_damping>
-          <limit>
-            <cfm>0</cfm>
-            <erp>0.2</erp>
-          </limit>
-        </ode>
-      </physics>
-    </joint>
-    <link name="rear_left_flipper_end_point_inflated">
-      <pose>-0.6375 0.248 0 3.1415926535897931 -0 3.1415926535897931</pose>
-      <inertial>
-        <mass>1e-05</mass>
-        <inertia>
-          <ixx>0.001</ixx>
-          <ixy>1e-06</ixy>
-          <ixz>1e-06</ixz>
-          <iyy>0.001</iyy>
-          <iyz>1e-06</iyz>
-          <izz>0.001</izz>
-        </inertia>
-      </inertial>
-    </link>
-    <joint name="rear_left_flipper_end_point_inflated_j" type="fixed">
-      <child>rear_left_flipper_end_point_inflated</child>
-      <parent>rear_left_flipper</parent>
-      <axis>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <xyz>0 0 1</xyz>
-        <use_parent_model_frame>0</use_parent_model_frame>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-      </axis>
-      <physics>
-        <ode>
-          <limit>
-            <cfm>0</cfm>
-            <erp>0.2</erp>
-          </limit>
-        </ode>
-      </physics>
-    </joint>
-    <link name="rear_left_flipper_end_point">
-      <pose>-0.6375 0.248 0 3.1415926535897931 -0 3.1415926535897931</pose>
-      <inertial>
-        <mass>1e-05</mass>
-        <inertia>
-          <ixx>0.001</ixx>
-          <ixy>1e-06</ixy>
-          <ixz>1e-06</ixz>
-          <iyy>0.001</iyy>
-          <iyz>1e-06</iyz>
-          <izz>0.001</izz>
-        </inertia>
-      </inertial>
-    </link>
-    <joint name="rear_left_flipper_end_point_j" type="fixed">
-      <child>rear_left_flipper_end_point</child>
-      <parent>rear_left_flipper</parent>
-      <axis>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <xyz>0 0 1</xyz>
-        <use_parent_model_frame>0</use_parent_model_frame>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-      </axis>
-      <physics>
-        <ode>
-          <limit>
-            <cfm>0</cfm>
-            <erp>0.2</erp>
-          </limit>
-        </ode>
-      </physics>
-    </joint>
-    <link name="rear_left_flipper_wheel1">
-      <pose>-0.256 0.248 0 3.1415926535897931 -0 3.1415926535897931</pose>
-      <inertial>
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <mass>0.457375</mass>
-        <inertia>
-          <ixx>0.0017663</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.0017663</iyy>
-          <iyz>0</iyz>
-          <izz>0.0031038</izz>
-        </inertia>
-      </inertial>
-      <collision name="rear_left_flipper_wheel1_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.075</length>
-            <radius>0.1165</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-            <collide_bitmask>1</collide_bitmask>
-          </contact>
-          <friction>
-            <ode>
-              <mu>1</mu>
-              <mu2>150</mu2>
-              <slip1>0.000580604</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-      <self_collide>1</self_collide>
-    </link>
-    <joint name="rear_left_flipper_wheel1_j" type="revolute">
-      <child>rear_left_flipper_wheel1</child>
-      <parent>rear_left_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>-1</effort>
-          <velocity>8.58369</velocity>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="rear_left_flipper_wheel2">
-      <pose>-0.299357 0.248 0 3.1415926535897931 -0 3.1415926535897931</pose>
-      <inertial>
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <mass>0.457375</mass>
-        <inertia>
-          <ixx>0.00162322</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.00162322</iyy>
-          <iyz>0</iyz>
-          <izz>0.00281766</izz>
-        </inertia>
-      </inertial>
-      <collision name="rear_left_flipper_wheel2_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.075</length>
-            <radius>0.111</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-            <collide_bitmask>2</collide_bitmask>
-          </contact>
-          <friction>
-            <ode>
-              <mu>1</mu>
-              <mu2>150</mu2>
-              <slip1>0.000580604</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-      <self_collide>1</self_collide>
-    </link>
-    <joint name="rear_left_flipper_wheel2_j" type="revolute">
-      <child>rear_left_flipper_wheel2</child>
-      <parent>rear_left_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>-1</effort>
-          <velocity>9.00901</velocity>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="rear_left_flipper_wheel3">
-      <pose>-0.342714 0.248 0 3.1415926535897931 -0 3.1415926535897931</pose>
-      <inertial>
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <mass>0.457375</mass>
-        <inertia>
-          <ixx>0.00148707</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.00148707</iyy>
-          <iyz>0</iyz>
-          <izz>0.00254535</izz>
-        </inertia>
-      </inertial>
-      <collision name="rear_left_flipper_wheel3_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.075</length>
-            <radius>0.1055</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-            <collide_bitmask>4</collide_bitmask>
-          </contact>
-          <friction>
-            <ode>
-              <mu>1</mu>
-              <mu2>150</mu2>
-              <slip1>0.000580604</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-      <self_collide>1</self_collide>
-    </link>
-    <joint name="rear_left_flipper_wheel3_j" type="revolute">
-      <child>rear_left_flipper_wheel3</child>
-      <parent>rear_left_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>-1</effort>
-          <velocity>9.47867</velocity>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="rear_left_flipper_wheel4">
-      <pose>-0.386071 0.248 0 3.1415926535897931 -0 3.1415926535897931</pose>
-      <inertial>
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <mass>0.457375</mass>
-        <inertia>
-          <ixx>0.00135783</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.00135783</iyy>
-          <iyz>0</iyz>
-          <izz>0.00228687</izz>
-        </inertia>
-      </inertial>
-      <collision name="rear_left_flipper_wheel4_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.075</length>
-            <radius>0.1</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-            <collide_bitmask>8</collide_bitmask>
-          </contact>
-          <friction>
-            <ode>
-              <mu>1</mu>
-              <mu2>150</mu2>
-              <slip1>0.000580604</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-      <self_collide>1</self_collide>
-    </link>
-    <joint name="rear_left_flipper_wheel4_j" type="revolute">
-      <child>rear_left_flipper_wheel4</child>
-      <parent>rear_left_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>-1</effort>
-          <velocity>10</velocity>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="rear_left_flipper_wheel5">
-      <pose>-0.429429 0.248 0 3.1415926535897931 -0 3.1415926535897931</pose>
-      <inertial>
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <mass>0.457375</mass>
-        <inertia>
-          <ixx>0.00123551</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.00123551</iyy>
-          <iyz>0</iyz>
-          <izz>0.00204224</izz>
-        </inertia>
-      </inertial>
-      <collision name="rear_left_flipper_wheel5_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.075</length>
-            <radius>0.0945</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-            <collide_bitmask>16</collide_bitmask>
-          </contact>
-          <friction>
-            <ode>
-              <mu>1</mu>
-              <mu2>150</mu2>
-              <slip1>0.000580604</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-      <self_collide>1</self_collide>
-    </link>
-    <joint name="rear_left_flipper_wheel5_j" type="revolute">
-      <child>rear_left_flipper_wheel5</child>
-      <parent>rear_left_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>-1</effort>
-          <velocity>10.582</velocity>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="rear_left_flipper_wheel6">
-      <pose>-0.472786 0.248 0 3.1415926535897931 -0 3.1415926535897931</pose>
-      <inertial>
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <mass>0.457375</mass>
-        <inertia>
-          <ixx>0.00112011</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.00112011</iyy>
-          <iyz>0</iyz>
-          <izz>0.00181143</izz>
-        </inertia>
-      </inertial>
-      <collision name="rear_left_flipper_wheel6_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.075</length>
-            <radius>0.089</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-            <collide_bitmask>32</collide_bitmask>
-          </contact>
-          <friction>
-            <ode>
-              <mu>1</mu>
-              <mu2>150</mu2>
-              <slip1>0.000580604</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-      <self_collide>1</self_collide>
-    </link>
-    <joint name="rear_left_flipper_wheel6_j" type="revolute">
-      <child>rear_left_flipper_wheel6</child>
-      <parent>rear_left_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>-1</effort>
-          <velocity>11.236</velocity>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="rear_left_flipper_wheel7">
-      <pose>-0.516143 0.248 0 3.1415926535897931 -0 3.1415926535897931</pose>
-      <inertial>
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <mass>0.457375</mass>
-        <inertia>
-          <ixx>0.00101163</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.00101163</iyy>
-          <iyz>0</iyz>
-          <izz>0.00159447</izz>
-        </inertia>
-      </inertial>
-      <collision name="rear_left_flipper_wheel7_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.075</length>
-            <radius>0.0835</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-            <collide_bitmask>64</collide_bitmask>
-          </contact>
-          <friction>
-            <ode>
-              <mu>1</mu>
-              <mu2>150</mu2>
-              <slip1>0.000580604</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-      <self_collide>1</self_collide>
-    </link>
-    <joint name="rear_left_flipper_wheel7_j" type="revolute">
-      <child>rear_left_flipper_wheel7</child>
-      <parent>rear_left_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>-1</effort>
-          <velocity>11.976</velocity>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="rear_left_flipper_wheel8">
-      <pose>-0.5595 0.248 0 3.1415926535897931 -0 3.1415926535897931</pose>
-      <inertial>
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <mass>0.457375</mass>
-        <inertia>
-          <ixx>0.000910062</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.000910062</iyy>
-          <iyz>0</iyz>
-          <izz>0.00139133</izz>
-        </inertia>
-      </inertial>
-      <collision name="rear_left_flipper_wheel8_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.075</length>
-            <radius>0.078</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-            <collide_bitmask>128</collide_bitmask>
-          </contact>
-          <friction>
-            <ode>
-              <mu>1</mu>
-              <mu2>150</mu2>
-              <slip1>0.000580604</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-      <self_collide>1</self_collide>
-    </link>
-    <joint name="rear_left_flipper_wheel8_j" type="revolute">
-      <child>rear_left_flipper_wheel8</child>
-      <parent>rear_left_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>-1</effort>
-          <velocity>12.8205</velocity>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="rear_left_motor">
-      <inertial>
-        <pose>-0.22 -0.09 0.02 0 -0 0</pose>
-        <mass>4.06</mass>
-        <inertia>
-          <ixx>0.0151492</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.0129839</iyy>
-          <iyz>0</iyz>
-          <izz>0.0173903</izz>
-        </inertia>
-      </inertial>
-    </link>
-    <joint name="rear_left_motor_j" type="fixed">
-      <child>rear_left_motor</child>
-      <parent>base_link</parent>
-      <axis>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <xyz>0 0 1</xyz>
-        <use_parent_model_frame>0</use_parent_model_frame>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-      </axis>
-      <physics>
-        <ode>
-          <limit>
-            <cfm>0</cfm>
-            <erp>0.2</erp>
-          </limit>
-        </ode>
-      </physics>
-    </joint>
-    <link name="rear_right_box">
-      <pose>-0.3 -0.18 0.1921 0 -0 0</pose>
-      <inertial>
-        <mass>1e-05</mass>
-        <inertia>
-          <ixx>0.001</ixx>
-          <ixy>1e-06</ixy>
-          <ixz>1e-06</ixz>
-          <iyy>0.001</iyy>
-          <iyz>1e-06</iyz>
-          <izz>0.001</izz>
+          <ixx>0.001</ixx>
+          <ixy>1e-06</ixy>
+          <ixz>1e-06</ixz>
+          <iyy>0.001</iyy>
+          <iyz>1e-06</iyz>
+          <izz>0.001</izz>
         </inertia>
       </inertial>
+      <self_collide>0</self_collide>
+      <sensor name="imu" type="imu">
+        <always_on>1</always_on>
+        <update_rate>50</update_rate>
+        <imu>
+          <angular_velocity>
+            <x>
+              <noise type="gaussian">
+                <mean>0</mean>
+                <stddev>0.009</stddev>
+                <bias_mean>0.00075</bias_mean>
+                <bias_stddev>0.005</bias_stddev>
+                <dynamic_bias_stddev>2e-05</dynamic_bias_stddev>
+                <dynamic_bias_correlation_time>400</dynamic_bias_correlation_time>
+                <precision>0.00025</precision>
+              </noise>
+            </x>
+            <y>
+              <noise type="gaussian">
+                <mean>0</mean>
+                <stddev>0.009</stddev>
+                <bias_mean>0.00075</bias_mean>
+                <bias_stddev>0.005</bias_stddev>
+                <dynamic_bias_stddev>2e-05</dynamic_bias_stddev>
+                <dynamic_bias_correlation_time>400</dynamic_bias_correlation_time>
+                <precision>0.00025</precision>
+              </noise>
+            </y>
+            <z>
+              <noise type="gaussian">
+                <mean>0</mean>
+                <stddev>0.009</stddev>
+                <bias_mean>0.00075</bias_mean>
+                <bias_stddev>0.005</bias_stddev>
+                <dynamic_bias_stddev>2e-05</dynamic_bias_stddev>
+                <dynamic_bias_correlation_time>400</dynamic_bias_correlation_time>
+                <precision>0.00025</precision>
+              </noise>
+            </z>
+          </angular_velocity>
+          <linear_acceleration>
+            <x>
+              <noise type="gaussian">
+                <mean>0</mean>
+                <stddev>0.021</stddev>
+                <bias_mean>0.05</bias_mean>
+                <bias_stddev>0.0075</bias_stddev>
+                <dynamic_bias_stddev>0.000375</dynamic_bias_stddev>
+                <dynamic_bias_correlation_time>175</dynamic_bias_correlation_time>
+                <precision>0.005</precision>
+              </noise>
+            </x>
+            <y>
+              <noise type="gaussian">
+                <mean>0</mean>
+                <stddev>0.021</stddev>
+                <bias_mean>0.05</bias_mean>
+                <bias_stddev>0.0075</bias_stddev>
+                <dynamic_bias_stddev>0.000375</dynamic_bias_stddev>
+                <dynamic_bias_correlation_time>175</dynamic_bias_correlation_time>
+                <precision>0.005</precision>
+              </noise>
+            </y>
+            <z>
+              <noise type="gaussian">
+                <mean>0</mean>
+                <stddev>0.021</stddev>
+                <bias_mean>0.05</bias_mean>
+                <bias_stddev>0.0075</bias_stddev>
+                <dynamic_bias_stddev>0.000375</dynamic_bias_stddev>
+                <dynamic_bias_correlation_time>175</dynamic_bias_correlation_time>
+                <precision>0.005</precision>
+              </noise>
+            </z>
+          </linear_acceleration>
+          <enable_orientation>0</enable_orientation>
+        </imu>
+      </sensor>
     </link>
-    <joint name="rear_right_box_j" type="fixed">
-      <child>rear_right_box</child>
+    <joint name="imu_j" type="fixed">
+      <child>imu</child>
       <parent>base_link</parent>
       <axis>
         <dynamics>
@@ -2749,66 +1131,66 @@
         </ode>
       </physics>
     </joint>
-    <link name="camera_0">
-      <pose>0.21 0 0.1921 0 -0 0</pose>
+    <link name="rear_cam">
+      <pose>-0.244 0 0.1321 0 0 -3.1415926535897931</pose>
       <inertial>
-        <pose>0.039802 0 0.0145 0 -0 0</pose>
-        <mass>0.232</mass>
+        <pose>0.019862 0 0.0145 0 -0 0</pose>
+        <mass>0.14</mass>
         <inertia>
-          <ixx>3.25187e-05</ixx>
+          <ixx>1.96233e-05</ixx>
           <ixy>0</ixy>
           <ixz>0</ixz>
-          <iyy>0.000158598</iyy>
+          <iyy>6.75088e-05</iyy>
           <iyz>0</iyz>
-          <izz>0.000158598</izz>
+          <izz>6.75088e-05</izz>
         </inertia>
       </inertial>
-      <collision name="camera_0_collision_collision">
-        <pose>0.02465 0 0.0145 0 -0 0</pose>
+      <collision name="rear_cam_collision_collision">
+        <pose>0.0117 0 0.0145 0 -0 0</pose>
         <geometry>
           <box>
-            <size>0.0555 0.029 0.029</size>
+            <size>0.054 0.029 0.029</size>
           </box>
         </geometry>
       </collision>
-      <collision name="camera_0_lens_collision_collision_1">
-        <pose>0.062834 0 0.0145 0 1.5707963267948966 0</pose>
+      <collision name="rear_cam_lens_collision_collision_1">
+        <pose>0.042024 0 0.0145 0 1.5707963267948966 0</pose>
         <geometry>
           <cylinder>
-            <length>0.03974</length>
+            <length>0.026</length>
             <radius>0.0125</radius>
           </cylinder>
         </geometry>
       </collision>
-      <visual name="camera_0_visual">
+      <visual name="rear_cam_visual">
         <pose>0 0 0.0145 0 -0 0</pose>
         <geometry>
           <mesh>
-            <uri>meshes/basler_ace2_pro.dae</uri>
+            <uri>meshes/basler_ace.dae</uri>
           </mesh>
         </geometry>
       </visual>
-      <visual name="camera_0_visual_1">
-        <pose>0.042964 0 0.0145 0 -0 0</pose>
+      <visual name="rear_cam_visual_1">
+        <pose>0.029024 0 0.0145 0 -0 0</pose>
         <geometry>
           <mesh>
-            <uri>meshes/evetar_lens.dae</uri>
+            <uri>meshes/evetar_fisheye_lens.dae</uri>
           </mesh>
         </geometry>
       </visual>
-      <sensor name="camera_0" type="camera">
-        <pose>0.072044 0 0.0145 0 -0 0</pose>
-        <update_rate>9</update_rate>
+      <sensor name="rear_cam" type="camera">
+        <pose>0.051574 0 0.0145 0 -0 0</pose>
+        <update_rate>15</update_rate>
         <visualize>0</visualize>
         <camera>
-          <horizontal_fov>1.50971</horizontal_fov>
+          <horizontal_fov>2.40855</horizontal_fov>
           <image>
-            <width>1920</width>
-            <height>1200</height>
+            <width>2048</width>
+            <height>1536</height>
             <format>R8G8B8</format>
           </image>
           <clip>
-            <near>0.011726</near>
+            <near>0.025</near>
             <far>300</far>
           </clip>
           <noise>
@@ -2818,10 +1200,10 @@
           </noise>
           <lens>
             <intrinsics>
-              <fx>1020.51</fx>
-              <fy>1020.51</fy>
-              <cx>959.5</cx>
-              <cy>599.5</cy>
+              <fx>393.077</fx>
+              <fy>393.077</fy>
+              <cx>1023.5</cx>
+              <cy>767.5</cy>
               <s>0</s>
             </intrinsics>
             <type>stereographic</type>
@@ -2830,23 +1212,184 @@
         </camera>
       </sensor>
     </link>
-    <joint name="camera_0_j" type="fixed">
-      <child>camera_0</child>
-      <parent>rear_right_box</parent>
+    <joint name="rear_cam_j" type="fixed">
+      <child>rear_cam</child>
+      <parent>base_link</parent>
+      <axis>
+        <dynamics>
+          <spring_reference>0</spring_reference>
+          <spring_stiffness>0</spring_stiffness>
+        </dynamics>
+        <xyz>0 0 1</xyz>
+        <use_parent_model_frame>0</use_parent_model_frame>
+        <limit>
+          <lower>-1e+16</lower>
+          <upper>1e+16</upper>
+        </limit>
+      </axis>
+      <physics>
+        <ode>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+        </ode>
+      </physics>
+    </joint>
+    <link name="rear_left_flipper">
+      <pose>-0.256 0.248 0 3.1415926535897931 -0 -3.1415926535897931</pose>
+      <inertial>
+        <pose>0.08 0 0 0 -0 0</pose>
+        <mass>3.659</mass>
+        <inertia>
+          <ixx>0.0017491</ixx>
+          <ixy>2.8512e-07</ixy>
+          <ixz>0.0018277</ixz>
+          <iyy>0.012277</iyy>
+          <iyz>-3.6288e-07</iyz>
+          <izz>0.010941</izz>
+        </inertia>
+      </inertial>
+      <collision name="rear_left_flipper_collision">
+        <pose>0.15175 0 0 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.3035 0.075 0.078</size>
+          </box>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>1</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="rear_left_flipper_collision_1">
+        <pose>0.15175 0 0.05825 0 0.126179 0</pose>
+        <geometry>
+          <box>
+            <size>0.3035 0.075 0.078</size>
+          </box>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>1</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="rear_left_flipper_collision_2">
+        <pose>0.15175 0 -0.05825 0 -0.126179 0</pose>
+        <geometry>
+          <box>
+            <size>0.3035 0.075 0.078</size>
+          </box>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>1</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="rear_left_flipper_collision_3">
+        <pose>0.3035 0 0 1.5707963267948966 -0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.075</length>
+            <radius>0.078</radius>
+          </cylinder>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>1</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="rear_left_flipper_collision_4">
+        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.075</length>
+            <radius>0.1165</radius>
+          </cylinder>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>1</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <visual name="rear_left_flipper_visual">
+        <geometry>
+          <mesh>
+            <uri>meshes/big_wheel.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <visual name="rear_left_flipper_visual_1">
+        <geometry>
+          <mesh>
+            <scale>-1 -1 1</scale>
+            <uri>meshes/flipper_arm.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <visual name="rear_left_flipper_visual_2">
+        <geometry>
+          <mesh>
+            <uri>meshes/belt.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <visual name="rear_left_flipper_visual_3">
+        <pose>0.3035 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>meshes/small_wheel.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <self_collide>1</self_collide>
+    </link>
+    <joint name="rear_left_flipper_j" type="revolute">
+      <child>rear_left_flipper</child>
+      <parent>base_link</parent>
       <axis>
+        <xyz>0 1 0</xyz>
+        <limit>
+          <lower>-1e+16</lower>
+          <upper>1e+16</upper>
+          <effort>120</effort>
+          <velocity>1</velocity>
+        </limit>
         <dynamics>
           <spring_reference>0</spring_reference>
           <spring_stiffness>0</spring_stiffness>
         </dynamics>
-        <xyz>0 0 1</xyz>
         <use_parent_model_frame>0</use_parent_model_frame>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
       </axis>
       <physics>
         <ode>
+          <implicit_spring_damper>1</implicit_spring_damper>
+          <cfm_damping>1</cfm_damping>
           <limit>
             <cfm>0</cfm>
             <erp>0.2</erp>
@@ -2854,90 +1397,23 @@
         </ode>
       </physics>
     </joint>
-    <link name="camera_2">
-      <pose>-0.21 0 0.1921 0 -0 3.1415926535897931</pose>
+    <link name="rear_left_flipper_end_point_inflated">
+      <pose>-0.6375 0.248 0 3.1415926535897931 -0 3.1415926535897931</pose>
       <inertial>
-        <pose>0.039802 0 0.0145 0 -0 0</pose>
-        <mass>0.232</mass>
+        <mass>1e-05</mass>
         <inertia>
-          <ixx>3.25187e-05</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.000158598</iyy>
-          <iyz>0</iyz>
-          <izz>0.000158598</izz>
+          <ixx>0.001</ixx>
+          <ixy>1e-06</ixy>
+          <ixz>1e-06</ixz>
+          <iyy>0.001</iyy>
+          <iyz>1e-06</iyz>
+          <izz>0.001</izz>
         </inertia>
       </inertial>
-      <collision name="camera_2_collision_collision">
-        <pose>0.02465 0 0.0145 0 -0 0</pose>
-        <geometry>
-          <box>
-            <size>0.0555 0.029 0.029</size>
-          </box>
-        </geometry>
-      </collision>
-      <collision name="camera_2_lens_collision_collision_1">
-        <pose>0.062834 0 0.0145 0 1.5707963267948966 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.03974</length>
-            <radius>0.0125</radius>
-          </cylinder>
-        </geometry>
-      </collision>
-      <visual name="camera_2_visual">
-        <pose>0 0 0.0145 0 -0 0</pose>
-        <geometry>
-          <mesh>
-            <uri>meshes/basler_ace2_pro.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-      <visual name="camera_2_visual_1">
-        <pose>0.042964 0 0.0145 0 -0 0</pose>
-        <geometry>
-          <mesh>
-            <uri>meshes/evetar_lens.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-      <sensor name="camera_2" type="camera">
-        <pose>0.072044 0 0.0145 0 -0 0</pose>
-        <update_rate>9</update_rate>
-        <visualize>0</visualize>
-        <camera>
-          <horizontal_fov>1.50971</horizontal_fov>
-          <image>
-            <width>1920</width>
-            <height>1200</height>
-            <format>R8G8B8</format>
-          </image>
-          <clip>
-            <near>0.011726</near>
-            <far>300</far>
-          </clip>
-          <noise>
-            <type>gaussian</type>
-            <mean>0</mean>
-            <stddev>0.007</stddev>
-          </noise>
-          <lens>
-            <intrinsics>
-              <fx>1020.51</fx>
-              <fy>1020.51</fy>
-              <cx>959.5</cx>
-              <cy>599.5</cy>
-              <s>0</s>
-            </intrinsics>
-            <type>stereographic</type>
-            <scale_to_hfov>1</scale_to_hfov>
-          </lens>
-        </camera>
-      </sensor>
     </link>
-    <joint name="camera_2_j" type="fixed">
-      <child>camera_2</child>
-      <parent>rear_right_box</parent>
+    <joint name="rear_left_flipper_end_point_inflated_j" type="fixed">
+      <child>rear_left_flipper_end_point_inflated</child>
+      <parent>rear_left_flipper</parent>
       <axis>
         <dynamics>
           <spring_reference>0</spring_reference>
@@ -2959,71 +1435,23 @@
         </ode>
       </physics>
     </joint>
-    <link name="cliff_sensor_front_left">
-      <pose>0.3 0.1445 0.2106 0 1.5707963267948966 0</pose>
+    <link name="rear_left_flipper_end_point">
+      <pose>-0.6375 0.248 0 3.1415926535897931 -0 3.1415926535897931</pose>
       <inertial>
-        <pose>0.0105 0 0.00925 0 -0 0</pose>
-        <mass>0.012</mass>
+        <mass>1e-05</mass>
         <inertia>
-          <ixx>1.56725e-06</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>7.8325e-07</iyy>
-          <iyz>0</iyz>
-          <izz>1.666e-06</izz>
+          <ixx>0.001</ixx>
+          <ixy>1e-06</ixy>
+          <ixz>1e-06</ixz>
+          <iyy>0.001</iyy>
+          <iyz>1e-06</iyz>
+          <izz>0.001</izz>
         </inertia>
       </inertial>
-      <collision name="cliff_sensor_front_left_collision">
-        <pose>0.0105 0 0.00925 0 -0 0</pose>
-        <geometry>
-          <box>
-            <size>0.021 0.035 0.0185</size>
-          </box>
-        </geometry>
-      </collision>
-      <visual name="cliff_sensor_front_left_visual">
-        <geometry>
-          <mesh>
-            <uri>meshes/tfmini_plus_lidar.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-      <sensor name="laser" type="gpu_lidar">
-        <pose>0.021 0 0.00925 0 -0 0</pose>
-        <update_rate>10</update_rate>
-        <visualize>0</visualize>
-        <always_on>1</always_on>
-        <lidar>
-          <scan>
-            <horizontal>
-              <samples>3</samples>
-              <resolution>1</resolution>
-              <min_angle>-0.0314159</min_angle>
-              <max_angle>0.0314159</max_angle>
-            </horizontal>
-            <vertical>
-              <samples>3</samples>
-              <resolution>1</resolution>
-              <min_angle>-0.0314159</min_angle>
-              <max_angle>0.0314159</max_angle>
-            </vertical>
-          </scan>
-          <range>
-            <min>0.1</min>
-            <max>12</max>
-            <resolution>0.01</resolution>
-          </range>
-          <noise>
-            <type>gaussian</type>
-            <mean>0</mean>
-            <stddev>0.015</stddev>
-          </noise>
-        </lidar>
-      </sensor>
     </link>
-    <joint name="cliff_sensor_front_left_j" type="fixed">
-      <child>cliff_sensor_front_left</child>
-      <parent>rear_right_box</parent>
+    <joint name="rear_left_flipper_end_point_j" type="fixed">
+      <child>rear_left_flipper_end_point</child>
+      <parent>rear_left_flipper</parent>
       <axis>
         <dynamics>
           <spring_reference>0</spring_reference>
@@ -3044,72 +1472,24 @@
           </limit>
         </ode>
       </physics>
-    </joint>
-    <link name="cliff_sensor_front_right">
-      <pose>0.3 -0.1445 0.2106 0 1.5707963267948966 0</pose>
-      <inertial>
-        <pose>0.0105 0 0.00925 0 -0 0</pose>
-        <mass>0.012</mass>
-        <inertia>
-          <ixx>1.56725e-06</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>7.8325e-07</iyy>
-          <iyz>0</iyz>
-          <izz>1.666e-06</izz>
-        </inertia>
-      </inertial>
-      <collision name="cliff_sensor_front_right_collision">
-        <pose>0.0105 0 0.00925 0 -0 0</pose>
-        <geometry>
-          <box>
-            <size>0.021 0.035 0.0185</size>
-          </box>
-        </geometry>
-      </collision>
-      <visual name="cliff_sensor_front_right_visual">
-        <geometry>
-          <mesh>
-            <uri>meshes/tfmini_plus_lidar.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-      <sensor name="laser" type="gpu_lidar">
-        <pose>0.021 0 0.00925 0 -0 0</pose>
-        <update_rate>10</update_rate>
-        <visualize>0</visualize>
-        <always_on>1</always_on>
-        <lidar>
-          <scan>
-            <horizontal>
-              <samples>3</samples>
-              <resolution>1</resolution>
-              <min_angle>-0.0314159</min_angle>
-              <max_angle>0.0314159</max_angle>
-            </horizontal>
-            <vertical>
-              <samples>3</samples>
-              <resolution>1</resolution>
-              <min_angle>-0.0314159</min_angle>
-              <max_angle>0.0314159</max_angle>
-            </vertical>
-          </scan>
-          <range>
-            <min>0.1</min>
-            <max>12</max>
-            <resolution>0.01</resolution>
-          </range>
-          <noise>
-            <type>gaussian</type>
-            <mean>0</mean>
-            <stddev>0.015</stddev>
-          </noise>
-        </lidar>
-      </sensor>
+    </joint>
+    <link name="rear_left_motor">
+      <inertial>
+        <pose>-0.22 -0.09 0.02 0 -0 0</pose>
+        <mass>4.06</mass>
+        <inertia>
+          <ixx>0.0151492</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.0129839</iyy>
+          <iyz>0</iyz>
+          <izz>0.0173903</izz>
+        </inertia>
+      </inertial>
     </link>
-    <joint name="cliff_sensor_front_right_j" type="fixed">
-      <child>cliff_sensor_front_right</child>
-      <parent>rear_right_box</parent>
+    <joint name="rear_left_motor_j" type="fixed">
+      <child>rear_left_motor</child>
+      <parent>base_link</parent>
       <axis>
         <dynamics>
           <spring_reference>0</spring_reference>
@@ -3131,71 +1511,23 @@
         </ode>
       </physics>
     </joint>
-    <link name="cliff_sensor_rear_left">
-      <pose>-0.3 0.1445 0.2106 3.1415926535897931 1.5707963267948966 0</pose>
+    <link name="rear_right_box">
+      <pose>-0.3 -0.18 0.1921 0 -0 0</pose>
       <inertial>
-        <pose>0.0105 0 0.00925 0 -0 0</pose>
-        <mass>0.012</mass>
+        <mass>1e-05</mass>
         <inertia>
-          <ixx>1.56725e-06</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>7.8325e-07</iyy>
-          <iyz>0</iyz>
-          <izz>1.666e-06</izz>
+          <ixx>0.001</ixx>
+          <ixy>1e-06</ixy>
+          <ixz>1e-06</ixz>
+          <iyy>0.001</iyy>
+          <iyz>1e-06</iyz>
+          <izz>0.001</izz>
         </inertia>
       </inertial>
-      <collision name="cliff_sensor_rear_left_collision">
-        <pose>0.0105 0 0.00925 0 -0 0</pose>
-        <geometry>
-          <box>
-            <size>0.021 0.035 0.0185</size>
-          </box>
-        </geometry>
-      </collision>
-      <visual name="cliff_sensor_rear_left_visual">
-        <geometry>
-          <mesh>
-            <uri>meshes/tfmini_plus_lidar.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-      <sensor name="laser" type="gpu_lidar">
-        <pose>0.021 0 0.00925 0 -0 0</pose>
-        <update_rate>10</update_rate>
-        <visualize>0</visualize>
-        <always_on>1</always_on>
-        <lidar>
-          <scan>
-            <horizontal>
-              <samples>3</samples>
-              <resolution>1</resolution>
-              <min_angle>-0.0314159</min_angle>
-              <max_angle>0.0314159</max_angle>
-            </horizontal>
-            <vertical>
-              <samples>3</samples>
-              <resolution>1</resolution>
-              <min_angle>-0.0314159</min_angle>
-              <max_angle>0.0314159</max_angle>
-            </vertical>
-          </scan>
-          <range>
-            <min>0.1</min>
-            <max>12</max>
-            <resolution>0.01</resolution>
-          </range>
-          <noise>
-            <type>gaussian</type>
-            <mean>0</mean>
-            <stddev>0.015</stddev>
-          </noise>
-        </lidar>
-      </sensor>
     </link>
-    <joint name="cliff_sensor_rear_left_j" type="fixed">
-      <child>cliff_sensor_rear_left</child>
-      <parent>rear_right_box</parent>
+    <joint name="rear_right_box_j" type="fixed">
+      <child>rear_right_box</child>
+      <parent>base_link</parent>
       <axis>
         <dynamics>
           <spring_reference>0</spring_reference>
@@ -3217,70 +1549,89 @@
         </ode>
       </physics>
     </joint>
-    <link name="cliff_sensor_rear_right">
-      <pose>-0.3 -0.1445 0.2106 3.1415926535897931 1.5707963267948966 0</pose>
+    <link name="camera_0">
+      <pose>0.21 0 0.1921 0 -0 0</pose>
       <inertial>
-        <pose>0.0105 0 0.00925 0 -0 0</pose>
-        <mass>0.012</mass>
+        <pose>0.039802 0 0.0145 0 -0 0</pose>
+        <mass>0.232</mass>
         <inertia>
-          <ixx>1.56725e-06</ixx>
+          <ixx>3.25187e-05</ixx>
           <ixy>0</ixy>
           <ixz>0</ixz>
-          <iyy>7.8325e-07</iyy>
+          <iyy>0.000158598</iyy>
           <iyz>0</iyz>
-          <izz>1.666e-06</izz>
+          <izz>0.000158598</izz>
         </inertia>
       </inertial>
-      <collision name="cliff_sensor_rear_right_collision">
-        <pose>0.0105 0 0.00925 0 -0 0</pose>
+      <collision name="camera_0_collision_collision">
+        <pose>0.02465 0 0.0145 0 -0 0</pose>
         <geometry>
           <box>
-            <size>0.021 0.035 0.0185</size>
+            <size>0.0555 0.029 0.029</size>
           </box>
         </geometry>
       </collision>
-      <visual name="cliff_sensor_rear_right_visual">
+      <collision name="camera_0_lens_collision_collision_1">
+        <pose>0.062834 0 0.0145 0 1.5707963267948966 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.03974</length>
+            <radius>0.0125</radius>
+          </cylinder>
+        </geometry>
+      </collision>
+      <visual name="camera_0_visual">
+        <pose>0 0 0.0145 0 -0 0</pose>
         <geometry>
           <mesh>
-            <uri>meshes/tfmini_plus_lidar.dae</uri>
+            <uri>meshes/basler_ace2_pro.dae</uri>
           </mesh>
         </geometry>
       </visual>
-      <sensor name="laser" type="gpu_lidar">
-        <pose>0.021 0 0.00925 0 -0 0</pose>
-        <update_rate>10</update_rate>
+      <visual name="camera_0_visual_1">
+        <pose>0.042964 0 0.0145 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>meshes/evetar_lens.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <sensor name="camera_0" type="camera">
+        <pose>0.072044 0 0.0145 0 -0 0</pose>
+        <update_rate>9</update_rate>
         <visualize>0</visualize>
-        <always_on>1</always_on>
-        <lidar>
-          <scan>
-            <horizontal>
-              <samples>3</samples>
-              <resolution>1</resolution>
-              <min_angle>-0.0314159</min_angle>
-              <max_angle>0.0314159</max_angle>
-            </horizontal>
-            <vertical>
-              <samples>3</samples>
-              <resolution>1</resolution>
-              <min_angle>-0.0314159</min_angle>
-              <max_angle>0.0314159</max_angle>
-            </vertical>
-          </scan>
-          <range>
-            <min>0.1</min>
-            <max>12</max>
-            <resolution>0.01</resolution>
-          </range>
+        <camera>
+          <horizontal_fov>1.50971</horizontal_fov>
+          <image>
+            <width>1920</width>
+            <height>1200</height>
+            <format>R8G8B8</format>
+          </image>
+          <clip>
+            <near>0.011726</near>
+            <far>300</far>
+          </clip>
           <noise>
             <type>gaussian</type>
             <mean>0</mean>
-            <stddev>0.015</stddev>
+            <stddev>0.007</stddev>
           </noise>
-        </lidar>
+          <lens>
+            <intrinsics>
+              <fx>1020.51</fx>
+              <fy>1020.51</fy>
+              <cx>959.5</cx>
+              <cy>599.5</cy>
+              <s>0</s>
+            </intrinsics>
+            <type>stereographic</type>
+            <scale_to_hfov>1</scale_to_hfov>
+          </lens>
+        </camera>
       </sensor>
     </link>
-    <joint name="cliff_sensor_rear_right_j" type="fixed">
-      <child>cliff_sensor_rear_right</child>
+    <joint name="camera_0_j" type="fixed">
+      <child>camera_0</child>
       <parent>rear_right_box</parent>
       <axis>
         <dynamics>
@@ -3303,38 +1654,89 @@
         </ode>
       </physics>
     </joint>
-    <link name="mobilicom">
-      <pose>-0.25 0.12 0.1921 0 -0 1.5707963267948966</pose>
+    <link name="camera_2">
+      <pose>-0.21 0 0.1921 0 -0 3.1415926535897931</pose>
       <inertial>
-        <pose>0 0 0.0135 0 -0 0</pose>
-        <mass>0.168</mass>
+        <pose>0.039802 0 0.0145 0 -0 0</pose>
+        <mass>0.232</mass>
         <inertia>
-          <ixx>8.687e-05</ixx>
+          <ixx>3.25187e-05</ixx>
           <ixy>0</ixy>
           <ixz>0</ixz>
-          <iyy>0.000150206</iyy>
+          <iyy>0.000158598</iyy>
           <iyz>0</iyz>
-          <izz>0.000216664</izz>
+          <izz>0.000158598</izz>
         </inertia>
       </inertial>
-      <collision name="mobilicom_collision">
-        <pose>0 0 0.0135 0 -0 0</pose>
+      <collision name="camera_2_collision_collision">
+        <pose>0.02465 0 0.0145 0 -0 0</pose>
         <geometry>
           <box>
-            <size>0.1 0.074 0.027</size>
+            <size>0.0555 0.029 0.029</size>
           </box>
         </geometry>
       </collision>
-      <visual name="mobilicom_visual">
+      <collision name="camera_2_lens_collision_collision_1">
+        <pose>0.062834 0 0.0145 0 1.5707963267948966 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.03974</length>
+            <radius>0.0125</radius>
+          </cylinder>
+        </geometry>
+      </collision>
+      <visual name="camera_2_visual">
+        <pose>0 0 0.0145 0 -0 0</pose>
         <geometry>
           <mesh>
-            <uri>meshes/mobilicom.dae</uri>
+            <uri>meshes/basler_ace2_pro.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <visual name="camera_2_visual_1">
+        <pose>0.042964 0 0.0145 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>meshes/evetar_lens.dae</uri>
           </mesh>
         </geometry>
       </visual>
+      <sensor name="camera_2" type="camera">
+        <pose>0.072044 0 0.0145 0 -0 0</pose>
+        <update_rate>9</update_rate>
+        <visualize>0</visualize>
+        <camera>
+          <horizontal_fov>1.50971</horizontal_fov>
+          <image>
+            <width>1920</width>
+            <height>1200</height>
+            <format>R8G8B8</format>
+          </image>
+          <clip>
+            <near>0.011726</near>
+            <far>300</far>
+          </clip>
+          <noise>
+            <type>gaussian</type>
+            <mean>0</mean>
+            <stddev>0.007</stddev>
+          </noise>
+          <lens>
+            <intrinsics>
+              <fx>1020.51</fx>
+              <fy>1020.51</fy>
+              <cx>959.5</cx>
+              <cy>599.5</cy>
+              <s>0</s>
+            </intrinsics>
+            <type>stereographic</type>
+            <scale_to_hfov>1</scale_to_hfov>
+          </lens>
+        </camera>
+      </sensor>
     </link>
-    <joint name="mobilicom_j" type="fixed">
-      <child>mobilicom</child>
+    <joint name="camera_2_j" type="fixed">
+      <child>camera_2</child>
       <parent>rear_right_box</parent>
       <axis>
         <dynamics>
@@ -3357,42 +1759,71 @@
         </ode>
       </physics>
     </joint>
-    <link name="mobilicom_antenna_l">
-      <pose>-0.275 0.17 0.2056 -0.5 -0 1.5707963267948966</pose>
+    <link name="cliff_sensor_front_left">
+      <pose>0.3 0.1445 0.2106 0 1.5707963267948966 0</pose>
       <inertial>
-        <pose>0 0 0.085 0 -0 0</pose>
-        <mass>0.03</mass>
+        <pose>0.0105 0 0.00925 0 -0 0</pose>
+        <mass>0.012</mass>
         <inertia>
-          <ixx>7.3e-05</ixx>
+          <ixx>1.56725e-06</ixx>
           <ixy>0</ixy>
           <ixz>0</ixz>
-          <iyy>7.3e-05</iyy>
+          <iyy>7.8325e-07</iyy>
           <iyz>0</iyz>
-          <izz>1.5e-06</izz>
+          <izz>1.666e-06</izz>
         </inertia>
       </inertial>
-      <collision name="mobilicom_antenna_l_collision">
-        <pose>0 0 0.085 0 -0 0</pose>
+      <collision name="cliff_sensor_front_left_collision">
+        <pose>0.0105 0 0.00925 0 -0 0</pose>
         <geometry>
-          <cylinder>
-            <length>0.17</length>
-            <radius>0.01</radius>
-          </cylinder>
+          <box>
+            <size>0.021 0.035 0.0185</size>
+          </box>
         </geometry>
       </collision>
-      <visual name="mobilicom_antenna_l_visual">
-        <pose>0 0 0.085 0 -0 0</pose>
+      <visual name="cliff_sensor_front_left_visual">
         <geometry>
-          <cylinder>
-            <length>0.17</length>
-            <radius>0.01</radius>
-          </cylinder>
+          <mesh>
+            <uri>meshes/tfmini_plus_lidar.dae</uri>
+          </mesh>
         </geometry>
       </visual>
+      <sensor name="laser" type="gpu_lidar">
+        <pose>0.021 0 0.00925 0 -0 0</pose>
+        <update_rate>10</update_rate>
+        <visualize>0</visualize>
+        <always_on>1</always_on>
+        <lidar>
+          <scan>
+            <horizontal>
+              <samples>3</samples>
+              <resolution>1</resolution>
+              <min_angle>-0.0314159</min_angle>
+              <max_angle>0.0314159</max_angle>
+            </horizontal>
+            <vertical>
+              <samples>3</samples>
+              <resolution>1</resolution>
+              <min_angle>-0.0314159</min_angle>
+              <max_angle>0.0314159</max_angle>
+            </vertical>
+          </scan>
+          <range>
+            <min>0.1</min>
+            <max>12</max>
+            <resolution>0.01</resolution>
+          </range>
+          <noise>
+            <type>gaussian</type>
+            <mean>0</mean>
+            <stddev>0.015</stddev>
+          </noise>
+        </lidar>
+      </sensor>
     </link>
-    <joint name="mobilicom_antenna_l_j" type="fixed">
-      <child>mobilicom_antenna_l</child>
-      <parent>mobilicom</parent>
+    <joint name="cliff_sensor_front_left_j" type="fixed">
+      <child>cliff_sensor_front_left</child>
+      <parent>rear_right_box</parent>
       <axis>
         <dynamics>
           <spring_reference>0</spring_reference>
@@ -3414,42 +1845,71 @@
         </ode>
       </physics>
     </joint>
-    <link name="mobilicom_antenna_r">
-      <pose>-0.225 0.17 0.2056 0 -0 1.5707963267948966</pose>
+    <link name="cliff_sensor_front_right">
+      <pose>0.3 -0.1445 0.2106 0 1.5707963267948966 0</pose>
       <inertial>
-        <pose>0 0 0.085 0 -0 0</pose>
-        <mass>0.03</mass>
+        <pose>0.0105 0 0.00925 0 -0 0</pose>
+        <mass>0.012</mass>
         <inertia>
-          <ixx>7.3e-05</ixx>
+          <ixx>1.56725e-06</ixx>
           <ixy>0</ixy>
           <ixz>0</ixz>
-          <iyy>7.3e-05</iyy>
+          <iyy>7.8325e-07</iyy>
           <iyz>0</iyz>
-          <izz>1.5e-06</izz>
+          <izz>1.666e-06</izz>
         </inertia>
       </inertial>
-      <collision name="mobilicom_antenna_r_collision">
-        <pose>0 0 0.085 0 -0 0</pose>
+      <collision name="cliff_sensor_front_right_collision">
+        <pose>0.0105 0 0.00925 0 -0 0</pose>
         <geometry>
-          <cylinder>
-            <length>0.17</length>
-            <radius>0.01</radius>
-          </cylinder>
+          <box>
+            <size>0.021 0.035 0.0185</size>
+          </box>
         </geometry>
       </collision>
-      <visual name="mobilicom_antenna_r_visual">
-        <pose>0 0 0.085 0 -0 0</pose>
+      <visual name="cliff_sensor_front_right_visual">
         <geometry>
-          <cylinder>
-            <length>0.17</length>
-            <radius>0.01</radius>
-          </cylinder>
+          <mesh>
+            <uri>meshes/tfmini_plus_lidar.dae</uri>
+          </mesh>
         </geometry>
       </visual>
+      <sensor name="laser" type="gpu_lidar">
+        <pose>0.021 0 0.00925 0 -0 0</pose>
+        <update_rate>10</update_rate>
+        <visualize>0</visualize>
+        <always_on>1</always_on>
+        <lidar>
+          <scan>
+            <horizontal>
+              <samples>3</samples>
+              <resolution>1</resolution>
+              <min_angle>-0.0314159</min_angle>
+              <max_angle>0.0314159</max_angle>
+            </horizontal>
+            <vertical>
+              <samples>3</samples>
+              <resolution>1</resolution>
+              <min_angle>-0.0314159</min_angle>
+              <max_angle>0.0314159</max_angle>
+            </vertical>
+          </scan>
+          <range>
+            <min>0.1</min>
+            <max>12</max>
+            <resolution>0.01</resolution>
+          </range>
+          <noise>
+            <type>gaussian</type>
+            <mean>0</mean>
+            <stddev>0.015</stddev>
+          </noise>
+        </lidar>
+      </sensor>
     </link>
-    <joint name="mobilicom_antenna_r_j" type="fixed">
-      <child>mobilicom_antenna_r</child>
-      <parent>mobilicom</parent>
+    <joint name="cliff_sensor_front_right_j" type="fixed">
+      <child>cliff_sensor_front_right</child>
+      <parent>rear_right_box</parent>
       <axis>
         <dynamics>
           <spring_reference>0</spring_reference>
@@ -3471,72 +1931,85 @@
         </ode>
       </physics>
     </joint>
-    <link name="rear_right_flipper">
-      <pose>-0.256 -0.248 0 0 -0 0</pose>
+    <link name="cliff_sensor_rear_left">
+      <pose>-0.3 0.1445 0.2106 3.1415926535897931 1.5707963267948966 0</pose>
       <inertial>
-        <mass>1e-05</mass>
+        <pose>0.0105 0 0.00925 0 -0 0</pose>
+        <mass>0.012</mass>
         <inertia>
-          <ixx>0.001</ixx>
-          <ixy>1e-06</ixy>
-          <ixz>1e-06</ixz>
-          <iyy>0.001</iyy>
-          <iyz>1e-06</iyz>
-          <izz>0.001</izz>
+          <ixx>1.56725e-06</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>7.8325e-07</iyy>
+          <iyz>0</iyz>
+          <izz>1.666e-06</izz>
         </inertia>
       </inertial>
-      <visual name="rear_right_flipper_visual">
-        <geometry>
-          <mesh>
-            <uri>meshes/big_wheel.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-      <visual name="rear_right_flipper_visual_1">
-        <geometry>
-          <mesh>
-            <uri>meshes/flipper_arm.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-      <visual name="rear_right_flipper_visual_2">
-        <pose>0 0 0 3.1415926535897931 -0 3.1415926535897931</pose>
+      <collision name="cliff_sensor_rear_left_collision">
+        <pose>0.0105 0 0.00925 0 -0 0</pose>
         <geometry>
-          <mesh>
-            <uri>meshes/belt.dae</uri>
-          </mesh>
+          <box>
+            <size>0.021 0.035 0.0185</size>
+          </box>
         </geometry>
-      </visual>
-      <visual name="rear_right_flipper_visual_3">
-        <pose>-0.3035 0 0 0 -0 0</pose>
+      </collision>
+      <visual name="cliff_sensor_rear_left_visual">
         <geometry>
           <mesh>
-            <uri>meshes/small_wheel.dae</uri>
+            <uri>meshes/tfmini_plus_lidar.dae</uri>
           </mesh>
         </geometry>
       </visual>
-      <self_collide>1</self_collide>
+      <sensor name="laser" type="gpu_lidar">
+        <pose>0.021 0 0.00925 0 -0 0</pose>
+        <update_rate>10</update_rate>
+        <visualize>0</visualize>
+        <always_on>1</always_on>
+        <lidar>
+          <scan>
+            <horizontal>
+              <samples>3</samples>
+              <resolution>1</resolution>
+              <min_angle>-0.0314159</min_angle>
+              <max_angle>0.0314159</max_angle>
+            </horizontal>
+            <vertical>
+              <samples>3</samples>
+              <resolution>1</resolution>
+              <min_angle>-0.0314159</min_angle>
+              <max_angle>0.0314159</max_angle>
+            </vertical>
+          </scan>
+          <range>
+            <min>0.1</min>
+            <max>12</max>
+            <resolution>0.01</resolution>
+          </range>
+          <noise>
+            <type>gaussian</type>
+            <mean>0</mean>
+            <stddev>0.015</stddev>
+          </noise>
+        </lidar>
+      </sensor>
     </link>
-    <joint name="rear_right_flipper_j" type="revolute">
-      <child>rear_right_flipper</child>
-      <parent>base_link</parent>
+    <joint name="cliff_sensor_rear_left_j" type="fixed">
+      <child>cliff_sensor_rear_left</child>
+      <parent>rear_right_box</parent>
       <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>120</effort>
-          <velocity>1</velocity>
-        </limit>
         <dynamics>
           <spring_reference>0</spring_reference>
           <spring_stiffness>0</spring_stiffness>
         </dynamics>
+        <xyz>0 0 1</xyz>
         <use_parent_model_frame>0</use_parent_model_frame>
+        <limit>
+          <lower>-1e+16</lower>
+          <upper>1e+16</upper>
+        </limit>
       </axis>
       <physics>
         <ode>
-          <implicit_spring_damper>1</implicit_spring_damper>
-          <cfm_damping>1</cfm_damping>
           <limit>
             <cfm>0</cfm>
             <erp>0.2</erp>
@@ -3544,23 +2017,71 @@
         </ode>
       </physics>
     </joint>
-    <link name="rear_right_flipper_end_point_inflated">
-      <pose>-0.6375 -0.248 0 0 -0 0</pose>
+    <link name="cliff_sensor_rear_right">
+      <pose>-0.3 -0.1445 0.2106 3.1415926535897931 1.5707963267948966 0</pose>
       <inertial>
-        <mass>1e-05</mass>
+        <pose>0.0105 0 0.00925 0 -0 0</pose>
+        <mass>0.012</mass>
         <inertia>
-          <ixx>0.001</ixx>
-          <ixy>1e-06</ixy>
-          <ixz>1e-06</ixz>
-          <iyy>0.001</iyy>
-          <iyz>1e-06</iyz>
-          <izz>0.001</izz>
+          <ixx>1.56725e-06</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>7.8325e-07</iyy>
+          <iyz>0</iyz>
+          <izz>1.666e-06</izz>
         </inertia>
       </inertial>
+      <collision name="cliff_sensor_rear_right_collision">
+        <pose>0.0105 0 0.00925 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.021 0.035 0.0185</size>
+          </box>
+        </geometry>
+      </collision>
+      <visual name="cliff_sensor_rear_right_visual">
+        <geometry>
+          <mesh>
+            <uri>meshes/tfmini_plus_lidar.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <sensor name="laser" type="gpu_lidar">
+        <pose>0.021 0 0.00925 0 -0 0</pose>
+        <update_rate>10</update_rate>
+        <visualize>0</visualize>
+        <always_on>1</always_on>
+        <lidar>
+          <scan>
+            <horizontal>
+              <samples>3</samples>
+              <resolution>1</resolution>
+              <min_angle>-0.0314159</min_angle>
+              <max_angle>0.0314159</max_angle>
+            </horizontal>
+            <vertical>
+              <samples>3</samples>
+              <resolution>1</resolution>
+              <min_angle>-0.0314159</min_angle>
+              <max_angle>0.0314159</max_angle>
+            </vertical>
+          </scan>
+          <range>
+            <min>0.1</min>
+            <max>12</max>
+            <resolution>0.01</resolution>
+          </range>
+          <noise>
+            <type>gaussian</type>
+            <mean>0</mean>
+            <stddev>0.015</stddev>
+          </noise>
+        </lidar>
+      </sensor>
     </link>
-    <joint name="rear_right_flipper_end_point_inflated_j" type="fixed">
-      <child>rear_right_flipper_end_point_inflated</child>
-      <parent>rear_right_flipper</parent>
+    <joint name="cliff_sensor_rear_right_j" type="fixed">
+      <child>cliff_sensor_rear_right</child>
+      <parent>rear_right_box</parent>
       <axis>
         <dynamics>
           <spring_reference>0</spring_reference>
@@ -3582,23 +2103,39 @@
         </ode>
       </physics>
     </joint>
-    <link name="rear_right_flipper_end_point">
-      <pose>-0.6375 -0.248 0 0 -0 0</pose>
+    <link name="mobilicom">
+      <pose>-0.25 0.12 0.1921 0 -0 1.5707963267948966</pose>
       <inertial>
-        <mass>1e-05</mass>
+        <pose>0 0 0.0135 0 -0 0</pose>
+        <mass>0.168</mass>
         <inertia>
-          <ixx>0.001</ixx>
-          <ixy>1e-06</ixy>
-          <ixz>1e-06</ixz>
-          <iyy>0.001</iyy>
-          <iyz>1e-06</iyz>
-          <izz>0.001</izz>
+          <ixx>8.687e-05</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.000150206</iyy>
+          <iyz>0</iyz>
+          <izz>0.000216664</izz>
         </inertia>
       </inertial>
+      <collision name="mobilicom_collision">
+        <pose>0 0 0.0135 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.1 0.074 0.027</size>
+          </box>
+        </geometry>
+      </collision>
+      <visual name="mobilicom_visual">
+        <geometry>
+          <mesh>
+            <uri>meshes/mobilicom.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
     </link>
-    <joint name="rear_right_flipper_end_point_j" type="fixed">
-      <child>rear_right_flipper_end_point</child>
-      <parent>rear_right_flipper</parent>
+    <joint name="mobilicom_j" type="fixed">
+      <child>mobilicom</child>
+      <parent>rear_right_box</parent>
       <axis>
         <dynamics>
           <spring_reference>0</spring_reference>
@@ -3620,425 +2157,263 @@
         </ode>
       </physics>
     </joint>
-    <link name="rear_right_flipper_wheel1">
-      <pose>-0.256 -0.248 0 0 -0 0</pose>
+    <link name="mobilicom_antenna_l">
+      <pose>-0.275 0.17 0.2056 -0.5 -0 1.5707963267948966</pose>
       <inertial>
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <mass>0.457375</mass>
+        <pose>0 0 0.085 0 -0 0</pose>
+        <mass>0.03</mass>
         <inertia>
-          <ixx>0.0017663</ixx>
+          <ixx>7.3e-05</ixx>
           <ixy>0</ixy>
           <ixz>0</ixz>
-          <iyy>0.0017663</iyy>
+          <iyy>7.3e-05</iyy>
           <iyz>0</iyz>
-          <izz>0.0031038</izz>
+          <izz>1.5e-06</izz>
         </inertia>
       </inertial>
-      <collision name="rear_right_flipper_wheel1_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="mobilicom_antenna_l_collision">
+        <pose>0 0 0.085 0 -0 0</pose>
         <geometry>
           <cylinder>
-            <length>0.075</length>
-            <radius>0.1165</radius>
+            <length>0.17</length>
+            <radius>0.01</radius>
           </cylinder>
         </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-            <collide_bitmask>1</collide_bitmask>
-          </contact>
-          <friction>
-            <ode>
-              <mu>1</mu>
-              <mu2>150</mu2>
-              <slip1>0.000580604</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
       </collision>
-      <self_collide>1</self_collide>
-    </link>
-    <joint name="rear_right_flipper_wheel1_j" type="revolute">
-      <child>rear_right_flipper_wheel1</child>
-      <parent>rear_right_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>-1</effort>
-          <velocity>8.58369</velocity>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="rear_right_flipper_wheel2">
-      <pose>-0.299357 -0.248 0 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <mass>0.457375</mass>
-        <inertia>
-          <ixx>0.00162322</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.00162322</iyy>
-          <iyz>0</iyz>
-          <izz>0.00281766</izz>
-        </inertia>
-      </inertial>
-      <collision name="rear_right_flipper_wheel2_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <visual name="mobilicom_antenna_l_visual">
+        <pose>0 0 0.085 0 -0 0</pose>
         <geometry>
           <cylinder>
-            <length>0.075</length>
-            <radius>0.111</radius>
+            <length>0.17</length>
+            <radius>0.01</radius>
           </cylinder>
         </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-            <collide_bitmask>2</collide_bitmask>
-          </contact>
-          <friction>
-            <ode>
-              <mu>1</mu>
-              <mu2>150</mu2>
-              <slip1>0.000580604</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-      <self_collide>1</self_collide>
+      </visual>
     </link>
-    <joint name="rear_right_flipper_wheel2_j" type="revolute">
-      <child>rear_right_flipper_wheel2</child>
-      <parent>rear_right_flipper</parent>
+    <joint name="mobilicom_antenna_l_j" type="fixed">
+      <child>mobilicom_antenna_l</child>
+      <parent>mobilicom</parent>
       <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>-1</effort>
-          <velocity>9.00901</velocity>
-        </limit>
         <dynamics>
           <spring_reference>0</spring_reference>
           <spring_stiffness>0</spring_stiffness>
         </dynamics>
+        <xyz>0 0 1</xyz>
         <use_parent_model_frame>0</use_parent_model_frame>
+        <limit>
+          <lower>-1e+16</lower>
+          <upper>1e+16</upper>
+        </limit>
       </axis>
+      <physics>
+        <ode>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+        </ode>
+      </physics>
     </joint>
-    <link name="rear_right_flipper_wheel3">
-      <pose>-0.342714 -0.248 0 0 -0 0</pose>
+    <link name="mobilicom_antenna_r">
+      <pose>-0.225 0.17 0.2056 0 -0 1.5707963267948966</pose>
       <inertial>
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <mass>0.457375</mass>
+        <pose>0 0 0.085 0 -0 0</pose>
+        <mass>0.03</mass>
         <inertia>
-          <ixx>0.00148707</ixx>
+          <ixx>7.3e-05</ixx>
           <ixy>0</ixy>
           <ixz>0</ixz>
-          <iyy>0.00148707</iyy>
+          <iyy>7.3e-05</iyy>
           <iyz>0</iyz>
-          <izz>0.00254535</izz>
+          <izz>1.5e-06</izz>
         </inertia>
       </inertial>
-      <collision name="rear_right_flipper_wheel3_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="mobilicom_antenna_r_collision">
+        <pose>0 0 0.085 0 -0 0</pose>
         <geometry>
           <cylinder>
-            <length>0.075</length>
-            <radius>0.1055</radius>
+            <length>0.17</length>
+            <radius>0.01</radius>
           </cylinder>
         </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-            <collide_bitmask>4</collide_bitmask>
-          </contact>
-          <friction>
-            <ode>
-              <mu>1</mu>
-              <mu2>150</mu2>
-              <slip1>0.000580604</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
       </collision>
-      <self_collide>1</self_collide>
+      <visual name="mobilicom_antenna_r_visual">
+        <pose>0 0 0.085 0 -0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.17</length>
+            <radius>0.01</radius>
+          </cylinder>
+        </geometry>
+      </visual>
     </link>
-    <joint name="rear_right_flipper_wheel3_j" type="revolute">
-      <child>rear_right_flipper_wheel3</child>
-      <parent>rear_right_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>-1</effort>
-          <velocity>9.47867</velocity>
-        </limit>
+    <joint name="mobilicom_antenna_r_j" type="fixed">
+      <child>mobilicom_antenna_r</child>
+      <parent>mobilicom</parent>
+      <axis>
         <dynamics>
           <spring_reference>0</spring_reference>
           <spring_stiffness>0</spring_stiffness>
         </dynamics>
+        <xyz>0 0 1</xyz>
         <use_parent_model_frame>0</use_parent_model_frame>
+        <limit>
+          <lower>-1e+16</lower>
+          <upper>1e+16</upper>
+        </limit>
       </axis>
+      <physics>
+        <ode>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+        </ode>
+      </physics>
     </joint>
-    <link name="rear_right_flipper_wheel4">
-      <pose>-0.386071 -0.248 0 0 -0 0</pose>
+    <link name="rear_right_flipper">
+      <pose>-0.256 -0.248 0 0 -0 0</pose>
       <inertial>
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <mass>0.457375</mass>
+        <pose>-0.08 0 0 0 -0 0</pose>
+        <mass>3.659</mass>
         <inertia>
-          <ixx>0.00135783</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.00135783</iyy>
-          <iyz>0</iyz>
-          <izz>0.00228687</izz>
+          <ixx>0.0017491</ixx>
+          <ixy>2.8512e-07</ixy>
+          <ixz>0.0018277</ixz>
+          <iyy>0.012277</iyy>
+          <iyz>-3.6288e-07</iyz>
+          <izz>0.010941</izz>
         </inertia>
       </inertial>
-      <collision name="rear_right_flipper_wheel4_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="rear_right_flipper_collision">
+        <pose>-0.15175 0 0 0 -0 0</pose>
         <geometry>
-          <cylinder>
-            <length>0.075</length>
-            <radius>0.1</radius>
-          </cylinder>
+          <box>
+            <size>0.3035 0.075 0.078</size>
+          </box>
         </geometry>
         <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-            <collide_bitmask>8</collide_bitmask>
-          </contact>
           <friction>
             <ode>
               <mu>1</mu>
               <mu2>150</mu2>
-              <slip1>0.000580604</slip1>
-              <slip2>0</slip2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
-      <self_collide>1</self_collide>
-    </link>
-    <joint name="rear_right_flipper_wheel4_j" type="revolute">
-      <child>rear_right_flipper_wheel4</child>
-      <parent>rear_right_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>-1</effort>
-          <velocity>10</velocity>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="rear_right_flipper_wheel5">
-      <pose>-0.429429 -0.248 0 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <mass>0.457375</mass>
-        <inertia>
-          <ixx>0.00123551</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.00123551</iyy>
-          <iyz>0</iyz>
-          <izz>0.00204224</izz>
-        </inertia>
-      </inertial>
-      <collision name="rear_right_flipper_wheel5_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="rear_right_flipper_collision_1">
+        <pose>-0.15175 0 0.05825 0 -0.126179 0</pose>
         <geometry>
-          <cylinder>
-            <length>0.075</length>
-            <radius>0.0945</radius>
-          </cylinder>
+          <box>
+            <size>0.3035 0.075 0.078</size>
+          </box>
         </geometry>
         <surface>
-          <contact>
+          <friction>
             <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
+              <mu>1</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
             </ode>
-            <collide_bitmask>16</collide_bitmask>
-          </contact>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="rear_right_flipper_collision_2">
+        <pose>-0.15175 0 -0.05825 0 0.126179 0</pose>
+        <geometry>
+          <box>
+            <size>0.3035 0.075 0.078</size>
+          </box>
+        </geometry>
+        <surface>
           <friction>
             <ode>
               <mu>1</mu>
               <mu2>150</mu2>
-              <slip1>0.000580604</slip1>
-              <slip2>0</slip2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
-      <self_collide>1</self_collide>
-    </link>
-    <joint name="rear_right_flipper_wheel5_j" type="revolute">
-      <child>rear_right_flipper_wheel5</child>
-      <parent>rear_right_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>-1</effort>
-          <velocity>10.582</velocity>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="rear_right_flipper_wheel6">
-      <pose>-0.472786 -0.248 0 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <mass>0.457375</mass>
-        <inertia>
-          <ixx>0.00112011</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.00112011</iyy>
-          <iyz>0</iyz>
-          <izz>0.00181143</izz>
-        </inertia>
-      </inertial>
-      <collision name="rear_right_flipper_wheel6_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="rear_right_flipper_collision_3">
+        <pose>-0.3035 0 0 1.5707963267948966 -0 0</pose>
         <geometry>
           <cylinder>
             <length>0.075</length>
-            <radius>0.089</radius>
+            <radius>0.078</radius>
           </cylinder>
         </geometry>
         <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-            <collide_bitmask>32</collide_bitmask>
-          </contact>
           <friction>
             <ode>
               <mu>1</mu>
               <mu2>150</mu2>
-              <slip1>0.000580604</slip1>
-              <slip2>0</slip2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
-      <self_collide>1</self_collide>
-    </link>
-    <joint name="rear_right_flipper_wheel6_j" type="revolute">
-      <child>rear_right_flipper_wheel6</child>
-      <parent>rear_right_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>-1</effort>
-          <velocity>11.236</velocity>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="rear_right_flipper_wheel7">
-      <pose>-0.516143 -0.248 0 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <mass>0.457375</mass>
-        <inertia>
-          <ixx>0.00101163</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.00101163</iyy>
-          <iyz>0</iyz>
-          <izz>0.00159447</izz>
-        </inertia>
-      </inertial>
-      <collision name="rear_right_flipper_wheel7_collision_collision">
+      <collision name="rear_right_flipper_collision_4">
         <pose>0 0 0 1.5707963267948966 -0 0</pose>
         <geometry>
           <cylinder>
             <length>0.075</length>
-            <radius>0.0835</radius>
+            <radius>0.1165</radius>
           </cylinder>
         </geometry>
         <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-            <collide_bitmask>64</collide_bitmask>
-          </contact>
           <friction>
             <ode>
               <mu>1</mu>
               <mu2>150</mu2>
-              <slip1>0.000580604</slip1>
-              <slip2>0</slip2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
+      <visual name="rear_right_flipper_visual">
+        <geometry>
+          <mesh>
+            <uri>meshes/big_wheel.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <visual name="rear_right_flipper_visual_1">
+        <geometry>
+          <mesh>
+            <uri>meshes/flipper_arm.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <visual name="rear_right_flipper_visual_2">
+        <pose>0 0 0 3.1415926535897931 -0 3.1415926535897931</pose>
+        <geometry>
+          <mesh>
+            <uri>meshes/belt.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <visual name="rear_right_flipper_visual_3">
+        <pose>-0.3035 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>meshes/small_wheel.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
       <self_collide>1</self_collide>
     </link>
-    <joint name="rear_right_flipper_wheel7_j" type="revolute">
-      <child>rear_right_flipper_wheel7</child>
-      <parent>rear_right_flipper</parent>
+    <joint name="rear_right_flipper_j" type="revolute">
+      <child>rear_right_flipper</child>
+      <parent>base_link</parent>
       <axis>
         <xyz>0 1 0</xyz>
         <limit>
           <lower>-1e+16</lower>
           <upper>1e+16</upper>
-          <effort>-1</effort>
-          <velocity>11.976</velocity>
+          <effort>120</effort>
+          <velocity>1</velocity>
         </limit>
         <dynamics>
           <spring_reference>0</spring_reference>
@@ -4046,67 +2421,92 @@
         </dynamics>
         <use_parent_model_frame>0</use_parent_model_frame>
       </axis>
+      <physics>
+        <ode>
+          <implicit_spring_damper>1</implicit_spring_damper>
+          <cfm_damping>1</cfm_damping>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+        </ode>
+      </physics>
     </joint>
-    <link name="rear_right_flipper_wheel8">
-      <pose>-0.5595 -0.248 0 0 -0 0</pose>
+    <link name="rear_right_flipper_end_point_inflated">
+      <pose>-0.6375 -0.248 0 0 -0 0</pose>
       <inertial>
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <mass>0.457375</mass>
+        <mass>1e-05</mass>
         <inertia>
-          <ixx>0.000910062</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.000910062</iyy>
-          <iyz>0</iyz>
-          <izz>0.00139133</izz>
+          <ixx>0.001</ixx>
+          <ixy>1e-06</ixy>
+          <ixz>1e-06</ixz>
+          <iyy>0.001</iyy>
+          <iyz>1e-06</iyz>
+          <izz>0.001</izz>
         </inertia>
       </inertial>
-      <collision name="rear_right_flipper_wheel8_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.075</length>
-            <radius>0.078</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-            <collide_bitmask>128</collide_bitmask>
-          </contact>
-          <friction>
-            <ode>
-              <mu>1</mu>
-              <mu2>150</mu2>
-              <slip1>0.000580604</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-      <self_collide>1</self_collide>
     </link>
-    <joint name="rear_right_flipper_wheel8_j" type="revolute">
-      <child>rear_right_flipper_wheel8</child>
+    <joint name="rear_right_flipper_end_point_inflated_j" type="fixed">
+      <child>rear_right_flipper_end_point_inflated</child>
       <parent>rear_right_flipper</parent>
       <axis>
-        <xyz>0 1 0</xyz>
+        <dynamics>
+          <spring_reference>0</spring_reference>
+          <spring_stiffness>0</spring_stiffness>
+        </dynamics>
+        <xyz>0 0 1</xyz>
+        <use_parent_model_frame>0</use_parent_model_frame>
         <limit>
           <lower>-1e+16</lower>
           <upper>1e+16</upper>
-          <effort>-1</effort>
-          <velocity>12.8205</velocity>
         </limit>
+      </axis>
+      <physics>
+        <ode>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+        </ode>
+      </physics>
+    </joint>
+    <link name="rear_right_flipper_end_point">
+      <pose>-0.6375 -0.248 0 0 -0 0</pose>
+      <inertial>
+        <mass>1e-05</mass>
+        <inertia>
+          <ixx>0.001</ixx>
+          <ixy>1e-06</ixy>
+          <ixz>1e-06</ixz>
+          <iyy>0.001</iyy>
+          <iyz>1e-06</iyz>
+          <izz>0.001</izz>
+        </inertia>
+      </inertial>
+    </link>
+    <joint name="rear_right_flipper_end_point_j" type="fixed">
+      <child>rear_right_flipper_end_point</child>
+      <parent>rear_right_flipper</parent>
+      <axis>
         <dynamics>
           <spring_reference>0</spring_reference>
           <spring_stiffness>0</spring_stiffness>
         </dynamics>
+        <xyz>0 0 1</xyz>
         <use_parent_model_frame>0</use_parent_model_frame>
+        <limit>
+          <lower>-1e+16</lower>
+          <upper>1e+16</upper>
+        </limit>
       </axis>
+      <physics>
+        <ode>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+        </ode>
+      </physics>
     </joint>
     <link name="rear_right_motor">
       <inertial>
@@ -4806,200 +3206,6 @@
       <joint_name>rear_left_flipper_j</joint_name>
       <joint_name>rear_right_flipper_j</joint_name>
     </plugin>
-    <plugin name="ignition::gazebo::systems::WheelSlip" filename="ignition-gazebo-wheel-slip-system">
-      <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/urdf/marv.xacro b/submitted_models/ctu_cras_norlab_marv_sensor_config_1/urdf/marv.xacro
index 9513a806..38c5b813 100644
--- a/submitted_models/ctu_cras_norlab_marv_sensor_config_1/urdf/marv.xacro
+++ b/submitted_models/ctu_cras_norlab_marv_sensor_config_1/urdf/marv.xacro
@@ -437,7 +437,7 @@
                     <mesh filename="package://ctu_cras_norlab_marv_sensor_config_1/meshes/small_wheel.dae"/>
                 </geometry>
             </visual>
-            <xacro:if value="${'$(arg rendering_target)' == 'urdf'}">
+            <xacro:if value="${'$(arg rendering_target)' == 'urdf' or $(arg num_wheels) == 0}">
                 <xacro:property name="inflated_big_wheel" value="${$(arg flipper_inflation_ratio) * $(arg rover_flipperBigRadius)}" />
                 <xacro:property name="inflated_small_wheel" value="${$(arg flipper_inflation_ratio) * $(arg rover_flipperSmallRadius)}" />
                 <xacro:property name="flipper_edge_angle" value="${atan2(inflated_big_wheel - inflated_small_wheel, rover_flipperAxleDistance)}" />
@@ -474,7 +474,20 @@
                     </geometry>
                 </collision>
             </xacro:if>
-            <xacro:default_inertial />
+            <xacro:if value="${$(arg num_wheels) > 0}">
+                <xacro:default_inertial />
+            </xacro:if>
+            <xacro:if value="${$(arg num_wheels) == 0}">
+                <inertial>
+                    <origin xyz="${reflect_y*0.08} 0 0.0" rpy="0 0 0"/>
+                    <mass value="${flipper_arm_mass + flipper_big_wheel_mass + 2*flipper_small_wheel_mass + belt_mass}"/>
+                    <xacro:inertia_meshlab
+                            ixx="1.7491e-003" ixy="2.8512e-007" ixz="1.8277e-003"
+                            iyy="1.2277e-002" iyz="-3.6288e-007"
+                            izz="1.0941e-002" scale="1.0"
+                            mass="${flipper_arm_mass + flipper_big_wheel_mass + 2*flipper_small_wheel_mass + belt_mass}" />
+                </inertial>
+            </xacro:if>
         </link>
 
         <joint name="${prefix1}_${prefix2}_flipper_j" type="revolute">
@@ -749,7 +762,7 @@
         </xacro:macro>
         <xacro:flipper_wheel_tags wheel_num="${$(arg num_wheels)}" />
 
-        <xacro:if value="${'$(arg rendering_target)' == 'ign'}">
+        <xacro:if value="${'$(arg rendering_target)' == 'ign' and $(arg num_wheels) > 0}">
             <gazebo>
                 <xacro:property name="inflation_coef" value="$(arg flipper_inflation_ratio)" />
                 <xacro:property name="small_wheel_radius" value="${$(arg rover_flipperSmallRadius) * inflation_coef}" />
@@ -843,6 +856,7 @@
                 <always_on>1</always_on>
                 <update_rate>50</update_rate>
                 <imu>
+                    <enable_orientation>0</enable_orientation>
                     <angular_velocity>
                         <xacro:macro name="angular_imu_noise">
                             <noise type="gaussian">
diff --git a/submitted_models/ctu_cras_norlab_marv_sensor_config_2/model.sdf b/submitted_models/ctu_cras_norlab_marv_sensor_config_2/model.sdf
index 7fd5f654..b9c61e60 100644
--- a/submitted_models/ctu_cras_norlab_marv_sensor_config_2/model.sdf
+++ b/submitted_models/ctu_cras_norlab_marv_sensor_config_2/model.sdf
@@ -468,16 +468,104 @@
     <link name="front_left_flipper">
       <pose>0.256 0.248 0 0 -0 0</pose>
       <inertial>
-        <mass>1e-05</mass>
+        <pose>0.08 0 0 0 -0 0</pose>
+        <mass>3.659</mass>
         <inertia>
-          <ixx>0.001</ixx>
-          <ixy>1e-06</ixy>
-          <ixz>1e-06</ixz>
-          <iyy>0.001</iyy>
-          <iyz>1e-06</iyz>
-          <izz>0.001</izz>
+          <ixx>0.0017491</ixx>
+          <ixy>2.8512e-07</ixy>
+          <ixz>0.0018277</ixz>
+          <iyy>0.012277</iyy>
+          <iyz>-3.6288e-07</iyz>
+          <izz>0.010941</izz>
         </inertia>
       </inertial>
+      <collision name="front_left_flipper_collision">
+        <pose>0.15175 0 0 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.3035 0.075 0.078</size>
+          </box>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>1</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="front_left_flipper_collision_1">
+        <pose>0.15175 0 0.05825 0 0.126179 0</pose>
+        <geometry>
+          <box>
+            <size>0.3035 0.075 0.078</size>
+          </box>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>1</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="front_left_flipper_collision_2">
+        <pose>0.15175 0 -0.05825 0 -0.126179 0</pose>
+        <geometry>
+          <box>
+            <size>0.3035 0.075 0.078</size>
+          </box>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>1</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="front_left_flipper_collision_3">
+        <pose>0.3035 0 0 1.5707963267948966 -0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.075</length>
+            <radius>0.078</radius>
+          </cylinder>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>1</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="front_left_flipper_collision_4">
+        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.075</length>
+            <radius>0.1165</radius>
+          </cylinder>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>1</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
       <visual name="front_left_flipper_visual">
         <geometry>
           <mesh>
@@ -614,545 +702,145 @@
         </ode>
       </physics>
     </joint>
-    <link name="front_left_flipper_wheel1">
-      <pose>0.256 0.248 0 0 -0 0</pose>
+    <link name="front_left_motor">
       <inertial>
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <mass>0.457375</mass>
+        <pose>0.22 -0.09 0.02 0 -0 0</pose>
+        <mass>4.06</mass>
         <inertia>
-          <ixx>0.0017663</ixx>
+          <ixx>0.0151492</ixx>
           <ixy>0</ixy>
           <ixz>0</ixz>
-          <iyy>0.0017663</iyy>
+          <iyy>0.0129839</iyy>
           <iyz>0</iyz>
-          <izz>0.0031038</izz>
+          <izz>0.0173903</izz>
         </inertia>
       </inertial>
-      <collision name="front_left_flipper_wheel1_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.075</length>
-            <radius>0.1165</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-            <collide_bitmask>1</collide_bitmask>
-          </contact>
-          <friction>
-            <ode>
-              <mu>1</mu>
-              <mu2>150</mu2>
-              <slip1>0.000575828</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-      <self_collide>1</self_collide>
     </link>
-    <joint name="front_left_flipper_wheel1_j" type="revolute">
-      <child>front_left_flipper_wheel1</child>
-      <parent>front_left_flipper</parent>
+    <joint name="front_left_motor_j" type="fixed">
+      <child>front_left_motor</child>
+      <parent>base_link</parent>
       <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>-1</effort>
-          <velocity>8.58369</velocity>
-        </limit>
         <dynamics>
           <spring_reference>0</spring_reference>
           <spring_stiffness>0</spring_stiffness>
         </dynamics>
+        <xyz>0 0 1</xyz>
         <use_parent_model_frame>0</use_parent_model_frame>
+        <limit>
+          <lower>-1e+16</lower>
+          <upper>1e+16</upper>
+        </limit>
       </axis>
+      <physics>
+        <ode>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+        </ode>
+      </physics>
     </joint>
-    <link name="front_left_flipper_wheel2">
-      <pose>0.299357 0.248 0 0 -0 0</pose>
+    <link name="front_right_flipper">
+      <pose>0.256 -0.248 0 3.1415926535897931 -0 -3.1415926535897931</pose>
       <inertial>
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <mass>0.457375</mass>
+        <pose>-0.08 0 0 0 -0 0</pose>
+        <mass>3.659</mass>
         <inertia>
-          <ixx>0.00162322</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.00162322</iyy>
-          <iyz>0</iyz>
-          <izz>0.00281766</izz>
+          <ixx>0.0017491</ixx>
+          <ixy>2.8512e-07</ixy>
+          <ixz>0.0018277</ixz>
+          <iyy>0.012277</iyy>
+          <iyz>-3.6288e-07</iyz>
+          <izz>0.010941</izz>
         </inertia>
       </inertial>
-      <collision name="front_left_flipper_wheel2_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="front_right_flipper_collision">
+        <pose>-0.15175 0 0 0 -0 0</pose>
         <geometry>
-          <cylinder>
-            <length>0.075</length>
-            <radius>0.111</radius>
-          </cylinder>
+          <box>
+            <size>0.3035 0.075 0.078</size>
+          </box>
         </geometry>
         <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-            <collide_bitmask>2</collide_bitmask>
-          </contact>
           <friction>
             <ode>
               <mu>1</mu>
               <mu2>150</mu2>
-              <slip1>0.000575828</slip1>
-              <slip2>0</slip2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
-      <self_collide>1</self_collide>
-    </link>
-    <joint name="front_left_flipper_wheel2_j" type="revolute">
-      <child>front_left_flipper_wheel2</child>
-      <parent>front_left_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>-1</effort>
-          <velocity>9.00901</velocity>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="front_left_flipper_wheel3">
-      <pose>0.342714 0.248 0 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <mass>0.457375</mass>
-        <inertia>
-          <ixx>0.00148707</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.00148707</iyy>
-          <iyz>0</iyz>
-          <izz>0.00254535</izz>
-        </inertia>
-      </inertial>
-      <collision name="front_left_flipper_wheel3_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="front_right_flipper_collision_1">
+        <pose>-0.15175 0 0.05825 0 -0.126179 0</pose>
         <geometry>
-          <cylinder>
-            <length>0.075</length>
-            <radius>0.1055</radius>
-          </cylinder>
+          <box>
+            <size>0.3035 0.075 0.078</size>
+          </box>
         </geometry>
         <surface>
-          <contact>
+          <friction>
             <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
+              <mu>1</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
             </ode>
-            <collide_bitmask>4</collide_bitmask>
-          </contact>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="front_right_flipper_collision_2">
+        <pose>-0.15175 0 -0.05825 0 0.126179 0</pose>
+        <geometry>
+          <box>
+            <size>0.3035 0.075 0.078</size>
+          </box>
+        </geometry>
+        <surface>
           <friction>
             <ode>
               <mu>1</mu>
               <mu2>150</mu2>
-              <slip1>0.000575828</slip1>
-              <slip2>0</slip2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
-      <self_collide>1</self_collide>
-    </link>
-    <joint name="front_left_flipper_wheel3_j" type="revolute">
-      <child>front_left_flipper_wheel3</child>
-      <parent>front_left_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>-1</effort>
-          <velocity>9.47867</velocity>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="front_left_flipper_wheel4">
-      <pose>0.386071 0.248 0 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <mass>0.457375</mass>
-        <inertia>
-          <ixx>0.00135783</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.00135783</iyy>
-          <iyz>0</iyz>
-          <izz>0.00228687</izz>
-        </inertia>
-      </inertial>
-      <collision name="front_left_flipper_wheel4_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="front_right_flipper_collision_3">
+        <pose>-0.3035 0 0 1.5707963267948966 -0 0</pose>
         <geometry>
           <cylinder>
             <length>0.075</length>
-            <radius>0.1</radius>
+            <radius>0.078</radius>
           </cylinder>
         </geometry>
         <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-            <collide_bitmask>8</collide_bitmask>
-          </contact>
           <friction>
             <ode>
               <mu>1</mu>
               <mu2>150</mu2>
-              <slip1>0.000575828</slip1>
-              <slip2>0</slip2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
-      <self_collide>1</self_collide>
-    </link>
-    <joint name="front_left_flipper_wheel4_j" type="revolute">
-      <child>front_left_flipper_wheel4</child>
-      <parent>front_left_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>-1</effort>
-          <velocity>10</velocity>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="front_left_flipper_wheel5">
-      <pose>0.429429 0.248 0 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <mass>0.457375</mass>
-        <inertia>
-          <ixx>0.00123551</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.00123551</iyy>
-          <iyz>0</iyz>
-          <izz>0.00204224</izz>
-        </inertia>
-      </inertial>
-      <collision name="front_left_flipper_wheel5_collision_collision">
+      <collision name="front_right_flipper_collision_4">
         <pose>0 0 0 1.5707963267948966 -0 0</pose>
         <geometry>
           <cylinder>
             <length>0.075</length>
-            <radius>0.0945</radius>
+            <radius>0.1165</radius>
           </cylinder>
         </geometry>
         <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-            <collide_bitmask>16</collide_bitmask>
-          </contact>
           <friction>
             <ode>
               <mu>1</mu>
               <mu2>150</mu2>
-              <slip1>0.000575828</slip1>
-              <slip2>0</slip2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
-      <self_collide>1</self_collide>
-    </link>
-    <joint name="front_left_flipper_wheel5_j" type="revolute">
-      <child>front_left_flipper_wheel5</child>
-      <parent>front_left_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>-1</effort>
-          <velocity>10.582</velocity>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="front_left_flipper_wheel6">
-      <pose>0.472786 0.248 0 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <mass>0.457375</mass>
-        <inertia>
-          <ixx>0.00112011</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.00112011</iyy>
-          <iyz>0</iyz>
-          <izz>0.00181143</izz>
-        </inertia>
-      </inertial>
-      <collision name="front_left_flipper_wheel6_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.075</length>
-            <radius>0.089</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-            <collide_bitmask>32</collide_bitmask>
-          </contact>
-          <friction>
-            <ode>
-              <mu>1</mu>
-              <mu2>150</mu2>
-              <slip1>0.000575828</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-      <self_collide>1</self_collide>
-    </link>
-    <joint name="front_left_flipper_wheel6_j" type="revolute">
-      <child>front_left_flipper_wheel6</child>
-      <parent>front_left_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>-1</effort>
-          <velocity>11.236</velocity>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="front_left_flipper_wheel7">
-      <pose>0.516143 0.248 0 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <mass>0.457375</mass>
-        <inertia>
-          <ixx>0.00101163</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.00101163</iyy>
-          <iyz>0</iyz>
-          <izz>0.00159447</izz>
-        </inertia>
-      </inertial>
-      <collision name="front_left_flipper_wheel7_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.075</length>
-            <radius>0.0835</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-            <collide_bitmask>64</collide_bitmask>
-          </contact>
-          <friction>
-            <ode>
-              <mu>1</mu>
-              <mu2>150</mu2>
-              <slip1>0.000575828</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-      <self_collide>1</self_collide>
-    </link>
-    <joint name="front_left_flipper_wheel7_j" type="revolute">
-      <child>front_left_flipper_wheel7</child>
-      <parent>front_left_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>-1</effort>
-          <velocity>11.976</velocity>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="front_left_flipper_wheel8">
-      <pose>0.5595 0.248 0 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <mass>0.457375</mass>
-        <inertia>
-          <ixx>0.000910062</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.000910062</iyy>
-          <iyz>0</iyz>
-          <izz>0.00139133</izz>
-        </inertia>
-      </inertial>
-      <collision name="front_left_flipper_wheel8_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.075</length>
-            <radius>0.078</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-            <collide_bitmask>128</collide_bitmask>
-          </contact>
-          <friction>
-            <ode>
-              <mu>1</mu>
-              <mu2>150</mu2>
-              <slip1>0.000575828</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-      <self_collide>1</self_collide>
-    </link>
-    <joint name="front_left_flipper_wheel8_j" type="revolute">
-      <child>front_left_flipper_wheel8</child>
-      <parent>front_left_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>-1</effort>
-          <velocity>12.8205</velocity>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="front_left_motor">
-      <inertial>
-        <pose>0.22 -0.09 0.02 0 -0 0</pose>
-        <mass>4.06</mass>
-        <inertia>
-          <ixx>0.0151492</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.0129839</iyy>
-          <iyz>0</iyz>
-          <izz>0.0173903</izz>
-        </inertia>
-      </inertial>
-    </link>
-    <joint name="front_left_motor_j" type="fixed">
-      <child>front_left_motor</child>
-      <parent>base_link</parent>
-      <axis>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <xyz>0 0 1</xyz>
-        <use_parent_model_frame>0</use_parent_model_frame>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-      </axis>
-      <physics>
-        <ode>
-          <limit>
-            <cfm>0</cfm>
-            <erp>0.2</erp>
-          </limit>
-        </ode>
-      </physics>
-    </joint>
-    <link name="front_right_flipper">
-      <pose>0.256 -0.248 0 3.1415926535897931 -0 -3.1415926535897931</pose>
-      <inertial>
-        <mass>1e-05</mass>
-        <inertia>
-          <ixx>0.001</ixx>
-          <ixy>1e-06</ixy>
-          <ixz>1e-06</ixz>
-          <iyy>0.001</iyy>
-          <iyz>1e-06</iyz>
-          <izz>0.001</izz>
-        </inertia>
-      </inertial>
       <visual name="front_right_flipper_visual">
         <geometry>
           <mesh>
@@ -1289,1444 +977,138 @@
         </ode>
       </physics>
     </joint>
-    <link name="front_right_flipper_wheel1">
-      <pose>0.256 -0.248 0 3.1415926535897931 -0 3.1415926535897931</pose>
+    <link name="front_right_motor">
       <inertial>
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <mass>0.457375</mass>
+        <pose>0.22 0.09 0.02 0 -0 0</pose>
+        <mass>4.06</mass>
         <inertia>
-          <ixx>0.0017663</ixx>
+          <ixx>0.0151492</ixx>
           <ixy>0</ixy>
           <ixz>0</ixz>
-          <iyy>0.0017663</iyy>
+          <iyy>0.0129839</iyy>
           <iyz>0</iyz>
-          <izz>0.0031038</izz>
+          <izz>0.0173903</izz>
         </inertia>
       </inertial>
-      <collision name="front_right_flipper_wheel1_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.075</length>
-            <radius>0.1165</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-            <collide_bitmask>1</collide_bitmask>
-          </contact>
-          <friction>
-            <ode>
-              <mu>1</mu>
-              <mu2>150</mu2>
-              <slip1>0.000575828</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-      <self_collide>1</self_collide>
     </link>
-    <joint name="front_right_flipper_wheel1_j" type="revolute">
-      <child>front_right_flipper_wheel1</child>
-      <parent>front_right_flipper</parent>
+    <joint name="front_right_motor_j" type="fixed">
+      <child>front_right_motor</child>
+      <parent>base_link</parent>
       <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>-1</effort>
-          <velocity>8.58369</velocity>
-        </limit>
         <dynamics>
           <spring_reference>0</spring_reference>
           <spring_stiffness>0</spring_stiffness>
         </dynamics>
+        <xyz>0 0 1</xyz>
         <use_parent_model_frame>0</use_parent_model_frame>
+        <limit>
+          <lower>-1e+16</lower>
+          <upper>1e+16</upper>
+        </limit>
       </axis>
+      <physics>
+        <ode>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+        </ode>
+      </physics>
     </joint>
-    <link name="front_right_flipper_wheel2">
-      <pose>0.299357 -0.248 -0 3.1415926535897931 -0 3.1415926535897931</pose>
+    <link name="imu">
+      <pose>0 0 0.15 -3.1415926535897931 0 0</pose>
       <inertial>
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <mass>0.457375</mass>
+        <mass>1e-05</mass>
         <inertia>
-          <ixx>0.00162322</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.00162322</iyy>
-          <iyz>0</iyz>
-          <izz>0.00281766</izz>
-        </inertia>
-      </inertial>
-      <collision name="front_right_flipper_wheel2_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.075</length>
-            <radius>0.111</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-            <collide_bitmask>2</collide_bitmask>
-          </contact>
-          <friction>
-            <ode>
-              <mu>1</mu>
-              <mu2>150</mu2>
-              <slip1>0.000575828</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-      <self_collide>1</self_collide>
-    </link>
-    <joint name="front_right_flipper_wheel2_j" type="revolute">
-      <child>front_right_flipper_wheel2</child>
-      <parent>front_right_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>-1</effort>
-          <velocity>9.00901</velocity>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="front_right_flipper_wheel3">
-      <pose>0.342714 -0.248 -0 3.1415926535897931 -0 3.1415926535897931</pose>
-      <inertial>
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <mass>0.457375</mass>
-        <inertia>
-          <ixx>0.00148707</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.00148707</iyy>
-          <iyz>0</iyz>
-          <izz>0.00254535</izz>
-        </inertia>
-      </inertial>
-      <collision name="front_right_flipper_wheel3_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.075</length>
-            <radius>0.1055</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-            <collide_bitmask>4</collide_bitmask>
-          </contact>
-          <friction>
-            <ode>
-              <mu>1</mu>
-              <mu2>150</mu2>
-              <slip1>0.000575828</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-      <self_collide>1</self_collide>
-    </link>
-    <joint name="front_right_flipper_wheel3_j" type="revolute">
-      <child>front_right_flipper_wheel3</child>
-      <parent>front_right_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>-1</effort>
-          <velocity>9.47867</velocity>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="front_right_flipper_wheel4">
-      <pose>0.386071 -0.248 -0 3.1415926535897931 -0 3.1415926535897931</pose>
-      <inertial>
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <mass>0.457375</mass>
-        <inertia>
-          <ixx>0.00135783</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.00135783</iyy>
-          <iyz>0</iyz>
-          <izz>0.00228687</izz>
-        </inertia>
-      </inertial>
-      <collision name="front_right_flipper_wheel4_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.075</length>
-            <radius>0.1</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-            <collide_bitmask>8</collide_bitmask>
-          </contact>
-          <friction>
-            <ode>
-              <mu>1</mu>
-              <mu2>150</mu2>
-              <slip1>0.000575828</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-      <self_collide>1</self_collide>
-    </link>
-    <joint name="front_right_flipper_wheel4_j" type="revolute">
-      <child>front_right_flipper_wheel4</child>
-      <parent>front_right_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>-1</effort>
-          <velocity>10</velocity>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="front_right_flipper_wheel5">
-      <pose>0.429429 -0.248 -0 3.1415926535897931 -0 3.1415926535897931</pose>
-      <inertial>
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <mass>0.457375</mass>
-        <inertia>
-          <ixx>0.00123551</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.00123551</iyy>
-          <iyz>0</iyz>
-          <izz>0.00204224</izz>
-        </inertia>
-      </inertial>
-      <collision name="front_right_flipper_wheel5_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.075</length>
-            <radius>0.0945</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-            <collide_bitmask>16</collide_bitmask>
-          </contact>
-          <friction>
-            <ode>
-              <mu>1</mu>
-              <mu2>150</mu2>
-              <slip1>0.000575828</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-      <self_collide>1</self_collide>
-    </link>
-    <joint name="front_right_flipper_wheel5_j" type="revolute">
-      <child>front_right_flipper_wheel5</child>
-      <parent>front_right_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>-1</effort>
-          <velocity>10.582</velocity>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="front_right_flipper_wheel6">
-      <pose>0.472786 -0.248 -0 3.1415926535897931 -0 3.1415926535897931</pose>
-      <inertial>
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <mass>0.457375</mass>
-        <inertia>
-          <ixx>0.00112011</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.00112011</iyy>
-          <iyz>0</iyz>
-          <izz>0.00181143</izz>
-        </inertia>
-      </inertial>
-      <collision name="front_right_flipper_wheel6_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.075</length>
-            <radius>0.089</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-            <collide_bitmask>32</collide_bitmask>
-          </contact>
-          <friction>
-            <ode>
-              <mu>1</mu>
-              <mu2>150</mu2>
-              <slip1>0.000575828</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-      <self_collide>1</self_collide>
-    </link>
-    <joint name="front_right_flipper_wheel6_j" type="revolute">
-      <child>front_right_flipper_wheel6</child>
-      <parent>front_right_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>-1</effort>
-          <velocity>11.236</velocity>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="front_right_flipper_wheel7">
-      <pose>0.516143 -0.248 -0 3.1415926535897931 -0 3.1415926535897931</pose>
-      <inertial>
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <mass>0.457375</mass>
-        <inertia>
-          <ixx>0.00101163</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.00101163</iyy>
-          <iyz>0</iyz>
-          <izz>0.00159447</izz>
-        </inertia>
-      </inertial>
-      <collision name="front_right_flipper_wheel7_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.075</length>
-            <radius>0.0835</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-            <collide_bitmask>64</collide_bitmask>
-          </contact>
-          <friction>
-            <ode>
-              <mu>1</mu>
-              <mu2>150</mu2>
-              <slip1>0.000575828</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-      <self_collide>1</self_collide>
-    </link>
-    <joint name="front_right_flipper_wheel7_j" type="revolute">
-      <child>front_right_flipper_wheel7</child>
-      <parent>front_right_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>-1</effort>
-          <velocity>11.976</velocity>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="front_right_flipper_wheel8">
-      <pose>0.5595 -0.248 -0 3.1415926535897931 -0 3.1415926535897931</pose>
-      <inertial>
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <mass>0.457375</mass>
-        <inertia>
-          <ixx>0.000910062</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.000910062</iyy>
-          <iyz>0</iyz>
-          <izz>0.00139133</izz>
-        </inertia>
-      </inertial>
-      <collision name="front_right_flipper_wheel8_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.075</length>
-            <radius>0.078</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-            <collide_bitmask>128</collide_bitmask>
-          </contact>
-          <friction>
-            <ode>
-              <mu>1</mu>
-              <mu2>150</mu2>
-              <slip1>0.000575828</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-      <self_collide>1</self_collide>
-    </link>
-    <joint name="front_right_flipper_wheel8_j" type="revolute">
-      <child>front_right_flipper_wheel8</child>
-      <parent>front_right_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>-1</effort>
-          <velocity>12.8205</velocity>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="front_right_motor">
-      <inertial>
-        <pose>0.22 0.09 0.02 0 -0 0</pose>
-        <mass>4.06</mass>
-        <inertia>
-          <ixx>0.0151492</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.0129839</iyy>
-          <iyz>0</iyz>
-          <izz>0.0173903</izz>
-        </inertia>
-      </inertial>
-    </link>
-    <joint name="front_right_motor_j" type="fixed">
-      <child>front_right_motor</child>
-      <parent>base_link</parent>
-      <axis>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <xyz>0 0 1</xyz>
-        <use_parent_model_frame>0</use_parent_model_frame>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-      </axis>
-      <physics>
-        <ode>
-          <limit>
-            <cfm>0</cfm>
-            <erp>0.2</erp>
-          </limit>
-        </ode>
-      </physics>
-    </joint>
-    <link name="imu">
-      <pose>0 0 0.15 -3.1415926535897931 0 0</pose>
-      <inertial>
-        <mass>1e-05</mass>
-        <inertia>
-          <ixx>0.001</ixx>
-          <ixy>1e-06</ixy>
-          <ixz>1e-06</ixz>
-          <iyy>0.001</iyy>
-          <iyz>1e-06</iyz>
-          <izz>0.001</izz>
-        </inertia>
-      </inertial>
-      <self_collide>0</self_collide>
-      <sensor name="imu" type="imu">
-        <always_on>1</always_on>
-        <update_rate>50</update_rate>
-        <imu>
-          <enable_orientation>0</enable_orientation>
-          <angular_velocity>
-            <x>
-              <noise type="gaussian">
-                <mean>0</mean>
-                <stddev>0.009</stddev>
-                <bias_mean>0.00075</bias_mean>
-                <bias_stddev>0.005</bias_stddev>
-                <dynamic_bias_stddev>2e-05</dynamic_bias_stddev>
-                <dynamic_bias_correlation_time>400</dynamic_bias_correlation_time>
-                <precision>0.00025</precision>
-              </noise>
-            </x>
-            <y>
-              <noise type="gaussian">
-                <mean>0</mean>
-                <stddev>0.009</stddev>
-                <bias_mean>0.00075</bias_mean>
-                <bias_stddev>0.005</bias_stddev>
-                <dynamic_bias_stddev>2e-05</dynamic_bias_stddev>
-                <dynamic_bias_correlation_time>400</dynamic_bias_correlation_time>
-                <precision>0.00025</precision>
-              </noise>
-            </y>
-            <z>
-              <noise type="gaussian">
-                <mean>0</mean>
-                <stddev>0.009</stddev>
-                <bias_mean>0.00075</bias_mean>
-                <bias_stddev>0.005</bias_stddev>
-                <dynamic_bias_stddev>2e-05</dynamic_bias_stddev>
-                <dynamic_bias_correlation_time>400</dynamic_bias_correlation_time>
-                <precision>0.00025</precision>
-              </noise>
-            </z>
-          </angular_velocity>
-          <linear_acceleration>
-            <x>
-              <noise type="gaussian">
-                <mean>0</mean>
-                <stddev>0.021</stddev>
-                <bias_mean>0.05</bias_mean>
-                <bias_stddev>0.0075</bias_stddev>
-                <dynamic_bias_stddev>0.000375</dynamic_bias_stddev>
-                <dynamic_bias_correlation_time>175</dynamic_bias_correlation_time>
-                <precision>0.005</precision>
-              </noise>
-            </x>
-            <y>
-              <noise type="gaussian">
-                <mean>0</mean>
-                <stddev>0.021</stddev>
-                <bias_mean>0.05</bias_mean>
-                <bias_stddev>0.0075</bias_stddev>
-                <dynamic_bias_stddev>0.000375</dynamic_bias_stddev>
-                <dynamic_bias_correlation_time>175</dynamic_bias_correlation_time>
-                <precision>0.005</precision>
-              </noise>
-            </y>
-            <z>
-              <noise type="gaussian">
-                <mean>0</mean>
-                <stddev>0.021</stddev>
-                <bias_mean>0.05</bias_mean>
-                <bias_stddev>0.0075</bias_stddev>
-                <dynamic_bias_stddev>0.000375</dynamic_bias_stddev>
-                <dynamic_bias_correlation_time>175</dynamic_bias_correlation_time>
-                <precision>0.005</precision>
-              </noise>
-            </z>
-          </linear_acceleration>
-        </imu>
-      </sensor>
-    </link>
-    <joint name="imu_j" type="fixed">
-      <child>imu</child>
-      <parent>base_link</parent>
-      <axis>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <xyz>0 0 1</xyz>
-        <use_parent_model_frame>0</use_parent_model_frame>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-      </axis>
-      <physics>
-        <ode>
-          <limit>
-            <cfm>0</cfm>
-            <erp>0.2</erp>
-          </limit>
-        </ode>
-      </physics>
-    </joint>
-    <link name="rear_cam">
-      <pose>-0.244 0 0.1321 0 0 -3.1415926535897931</pose>
-      <inertial>
-        <pose>0.019862 0 0.0145 0 -0 0</pose>
-        <mass>0.14</mass>
-        <inertia>
-          <ixx>1.96233e-05</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>6.75088e-05</iyy>
-          <iyz>0</iyz>
-          <izz>6.75088e-05</izz>
-        </inertia>
-      </inertial>
-      <collision name="rear_cam_collision_collision">
-        <pose>0.0117 0 0.0145 0 -0 0</pose>
-        <geometry>
-          <box>
-            <size>0.054 0.029 0.029</size>
-          </box>
-        </geometry>
-      </collision>
-      <collision name="rear_cam_lens_collision_collision_1">
-        <pose>0.042024 0 0.0145 0 1.5707963267948966 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.026</length>
-            <radius>0.0125</radius>
-          </cylinder>
-        </geometry>
-      </collision>
-      <visual name="rear_cam_visual">
-        <pose>0 0 0.0145 0 -0 0</pose>
-        <geometry>
-          <mesh>
-            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_MARV_SENSOR_CONFIG_1/tip/files/meshes/basler_ace.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-      <visual name="rear_cam_visual_1">
-        <pose>0.029024 0 0.0145 0 -0 0</pose>
-        <geometry>
-          <mesh>
-            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_MARV_SENSOR_CONFIG_1/tip/files/meshes/evetar_fisheye_lens.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-      <sensor name="rear_cam" type="camera">
-        <pose>0.051574 0 0.0145 0 -0 0</pose>
-        <update_rate>15</update_rate>
-        <visualize>0</visualize>
-        <camera>
-          <horizontal_fov>2.40855</horizontal_fov>
-          <image>
-            <width>2048</width>
-            <height>1536</height>
-            <format>R8G8B8</format>
-          </image>
-          <clip>
-            <near>0.025</near>
-            <far>300</far>
-          </clip>
-          <noise>
-            <type>gaussian</type>
-            <mean>0</mean>
-            <stddev>0.007</stddev>
-          </noise>
-          <lens>
-            <intrinsics>
-              <fx>393.077</fx>
-              <fy>393.077</fy>
-              <cx>1023.5</cx>
-              <cy>767.5</cy>
-              <s>0</s>
-            </intrinsics>
-            <type>stereographic</type>
-            <scale_to_hfov>1</scale_to_hfov>
-          </lens>
-        </camera>
-      </sensor>
-    </link>
-    <joint name="rear_cam_j" type="fixed">
-      <child>rear_cam</child>
-      <parent>base_link</parent>
-      <axis>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <xyz>0 0 1</xyz>
-        <use_parent_model_frame>0</use_parent_model_frame>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-      </axis>
-      <physics>
-        <ode>
-          <limit>
-            <cfm>0</cfm>
-            <erp>0.2</erp>
-          </limit>
-        </ode>
-      </physics>
-    </joint>
-    <link name="rear_left_flipper">
-      <pose>-0.256 0.248 0 3.1415926535897931 -0 -3.1415926535897931</pose>
-      <inertial>
-        <mass>1e-05</mass>
-        <inertia>
-          <ixx>0.001</ixx>
-          <ixy>1e-06</ixy>
-          <ixz>1e-06</ixz>
-          <iyy>0.001</iyy>
-          <iyz>1e-06</iyz>
-          <izz>0.001</izz>
-        </inertia>
-      </inertial>
-      <visual name="rear_left_flipper_visual">
-        <geometry>
-          <mesh>
-            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_MARV_SENSOR_CONFIG_1/tip/files/meshes/big_wheel.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-      <visual name="rear_left_flipper_visual_1">
-        <geometry>
-          <mesh>
-            <scale>-1 -1 1</scale>
-            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_MARV_SENSOR_CONFIG_1/tip/files/meshes/flipper_arm.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-      <visual name="rear_left_flipper_visual_2">
-        <geometry>
-          <mesh>
-            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_MARV_SENSOR_CONFIG_1/tip/files/meshes/belt.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-      <visual name="rear_left_flipper_visual_3">
-        <pose>0.3035 0 0 0 -0 0</pose>
-        <geometry>
-          <mesh>
-            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_MARV_SENSOR_CONFIG_1/tip/files/meshes/small_wheel.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-      <self_collide>1</self_collide>
-    </link>
-    <joint name="rear_left_flipper_j" type="revolute">
-      <child>rear_left_flipper</child>
-      <parent>base_link</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>120</effort>
-          <velocity>1</velocity>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-      <physics>
-        <ode>
-          <implicit_spring_damper>1</implicit_spring_damper>
-          <cfm_damping>1</cfm_damping>
-          <limit>
-            <cfm>0</cfm>
-            <erp>0.2</erp>
-          </limit>
-        </ode>
-      </physics>
-    </joint>
-    <link name="rear_left_flipper_end_point_inflated">
-      <pose>-0.6375 0.248 0 3.1415926535897931 -0 3.1415926535897931</pose>
-      <inertial>
-        <mass>1e-05</mass>
-        <inertia>
-          <ixx>0.001</ixx>
-          <ixy>1e-06</ixy>
-          <ixz>1e-06</ixz>
-          <iyy>0.001</iyy>
-          <iyz>1e-06</iyz>
-          <izz>0.001</izz>
-        </inertia>
-      </inertial>
-    </link>
-    <joint name="rear_left_flipper_end_point_inflated_j" type="fixed">
-      <child>rear_left_flipper_end_point_inflated</child>
-      <parent>rear_left_flipper</parent>
-      <axis>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <xyz>0 0 1</xyz>
-        <use_parent_model_frame>0</use_parent_model_frame>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-      </axis>
-      <physics>
-        <ode>
-          <limit>
-            <cfm>0</cfm>
-            <erp>0.2</erp>
-          </limit>
-        </ode>
-      </physics>
-    </joint>
-    <link name="rear_left_flipper_end_point">
-      <pose>-0.6375 0.248 0 3.1415926535897931 -0 3.1415926535897931</pose>
-      <inertial>
-        <mass>1e-05</mass>
-        <inertia>
-          <ixx>0.001</ixx>
-          <ixy>1e-06</ixy>
-          <ixz>1e-06</ixz>
-          <iyy>0.001</iyy>
-          <iyz>1e-06</iyz>
-          <izz>0.001</izz>
-        </inertia>
-      </inertial>
-    </link>
-    <joint name="rear_left_flipper_end_point_j" type="fixed">
-      <child>rear_left_flipper_end_point</child>
-      <parent>rear_left_flipper</parent>
-      <axis>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <xyz>0 0 1</xyz>
-        <use_parent_model_frame>0</use_parent_model_frame>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-      </axis>
-      <physics>
-        <ode>
-          <limit>
-            <cfm>0</cfm>
-            <erp>0.2</erp>
-          </limit>
-        </ode>
-      </physics>
-    </joint>
-    <link name="rear_left_flipper_wheel1">
-      <pose>-0.256 0.248 0 3.1415926535897931 -0 3.1415926535897931</pose>
-      <inertial>
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <mass>0.457375</mass>
-        <inertia>
-          <ixx>0.0017663</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.0017663</iyy>
-          <iyz>0</iyz>
-          <izz>0.0031038</izz>
-        </inertia>
-      </inertial>
-      <collision name="rear_left_flipper_wheel1_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.075</length>
-            <radius>0.1165</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-            <collide_bitmask>1</collide_bitmask>
-          </contact>
-          <friction>
-            <ode>
-              <mu>1</mu>
-              <mu2>150</mu2>
-              <slip1>0.000575828</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-      <self_collide>1</self_collide>
-    </link>
-    <joint name="rear_left_flipper_wheel1_j" type="revolute">
-      <child>rear_left_flipper_wheel1</child>
-      <parent>rear_left_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>-1</effort>
-          <velocity>8.58369</velocity>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="rear_left_flipper_wheel2">
-      <pose>-0.299357 0.248 0 3.1415926535897931 -0 3.1415926535897931</pose>
-      <inertial>
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <mass>0.457375</mass>
-        <inertia>
-          <ixx>0.00162322</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.00162322</iyy>
-          <iyz>0</iyz>
-          <izz>0.00281766</izz>
-        </inertia>
-      </inertial>
-      <collision name="rear_left_flipper_wheel2_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.075</length>
-            <radius>0.111</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-            <collide_bitmask>2</collide_bitmask>
-          </contact>
-          <friction>
-            <ode>
-              <mu>1</mu>
-              <mu2>150</mu2>
-              <slip1>0.000575828</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-      <self_collide>1</self_collide>
-    </link>
-    <joint name="rear_left_flipper_wheel2_j" type="revolute">
-      <child>rear_left_flipper_wheel2</child>
-      <parent>rear_left_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>-1</effort>
-          <velocity>9.00901</velocity>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="rear_left_flipper_wheel3">
-      <pose>-0.342714 0.248 0 3.1415926535897931 -0 3.1415926535897931</pose>
-      <inertial>
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <mass>0.457375</mass>
-        <inertia>
-          <ixx>0.00148707</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.00148707</iyy>
-          <iyz>0</iyz>
-          <izz>0.00254535</izz>
-        </inertia>
-      </inertial>
-      <collision name="rear_left_flipper_wheel3_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.075</length>
-            <radius>0.1055</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-            <collide_bitmask>4</collide_bitmask>
-          </contact>
-          <friction>
-            <ode>
-              <mu>1</mu>
-              <mu2>150</mu2>
-              <slip1>0.000575828</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-      <self_collide>1</self_collide>
-    </link>
-    <joint name="rear_left_flipper_wheel3_j" type="revolute">
-      <child>rear_left_flipper_wheel3</child>
-      <parent>rear_left_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>-1</effort>
-          <velocity>9.47867</velocity>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="rear_left_flipper_wheel4">
-      <pose>-0.386071 0.248 0 3.1415926535897931 -0 3.1415926535897931</pose>
-      <inertial>
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <mass>0.457375</mass>
-        <inertia>
-          <ixx>0.00135783</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.00135783</iyy>
-          <iyz>0</iyz>
-          <izz>0.00228687</izz>
-        </inertia>
-      </inertial>
-      <collision name="rear_left_flipper_wheel4_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.075</length>
-            <radius>0.1</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-            <collide_bitmask>8</collide_bitmask>
-          </contact>
-          <friction>
-            <ode>
-              <mu>1</mu>
-              <mu2>150</mu2>
-              <slip1>0.000575828</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-      <self_collide>1</self_collide>
-    </link>
-    <joint name="rear_left_flipper_wheel4_j" type="revolute">
-      <child>rear_left_flipper_wheel4</child>
-      <parent>rear_left_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>-1</effort>
-          <velocity>10</velocity>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="rear_left_flipper_wheel5">
-      <pose>-0.429429 0.248 0 3.1415926535897931 -0 3.1415926535897931</pose>
-      <inertial>
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <mass>0.457375</mass>
-        <inertia>
-          <ixx>0.00123551</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.00123551</iyy>
-          <iyz>0</iyz>
-          <izz>0.00204224</izz>
-        </inertia>
-      </inertial>
-      <collision name="rear_left_flipper_wheel5_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.075</length>
-            <radius>0.0945</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-            <collide_bitmask>16</collide_bitmask>
-          </contact>
-          <friction>
-            <ode>
-              <mu>1</mu>
-              <mu2>150</mu2>
-              <slip1>0.000575828</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-      <self_collide>1</self_collide>
-    </link>
-    <joint name="rear_left_flipper_wheel5_j" type="revolute">
-      <child>rear_left_flipper_wheel5</child>
-      <parent>rear_left_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>-1</effort>
-          <velocity>10.582</velocity>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="rear_left_flipper_wheel6">
-      <pose>-0.472786 0.248 0 3.1415926535897931 -0 3.1415926535897931</pose>
-      <inertial>
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <mass>0.457375</mass>
-        <inertia>
-          <ixx>0.00112011</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.00112011</iyy>
-          <iyz>0</iyz>
-          <izz>0.00181143</izz>
-        </inertia>
-      </inertial>
-      <collision name="rear_left_flipper_wheel6_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.075</length>
-            <radius>0.089</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-            <collide_bitmask>32</collide_bitmask>
-          </contact>
-          <friction>
-            <ode>
-              <mu>1</mu>
-              <mu2>150</mu2>
-              <slip1>0.000575828</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-      <self_collide>1</self_collide>
-    </link>
-    <joint name="rear_left_flipper_wheel6_j" type="revolute">
-      <child>rear_left_flipper_wheel6</child>
-      <parent>rear_left_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>-1</effort>
-          <velocity>11.236</velocity>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="rear_left_flipper_wheel7">
-      <pose>-0.516143 0.248 0 3.1415926535897931 -0 3.1415926535897931</pose>
-      <inertial>
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <mass>0.457375</mass>
-        <inertia>
-          <ixx>0.00101163</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.00101163</iyy>
-          <iyz>0</iyz>
-          <izz>0.00159447</izz>
-        </inertia>
-      </inertial>
-      <collision name="rear_left_flipper_wheel7_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.075</length>
-            <radius>0.0835</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-            <collide_bitmask>64</collide_bitmask>
-          </contact>
-          <friction>
-            <ode>
-              <mu>1</mu>
-              <mu2>150</mu2>
-              <slip1>0.000575828</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-      <self_collide>1</self_collide>
-    </link>
-    <joint name="rear_left_flipper_wheel7_j" type="revolute">
-      <child>rear_left_flipper_wheel7</child>
-      <parent>rear_left_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>-1</effort>
-          <velocity>11.976</velocity>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="rear_left_flipper_wheel8">
-      <pose>-0.5595 0.248 0 3.1415926535897931 -0 3.1415926535897931</pose>
-      <inertial>
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <mass>0.457375</mass>
-        <inertia>
-          <ixx>0.000910062</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.000910062</iyy>
-          <iyz>0</iyz>
-          <izz>0.00139133</izz>
-        </inertia>
-      </inertial>
-      <collision name="rear_left_flipper_wheel8_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.075</length>
-            <radius>0.078</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-            <collide_bitmask>128</collide_bitmask>
-          </contact>
-          <friction>
-            <ode>
-              <mu>1</mu>
-              <mu2>150</mu2>
-              <slip1>0.000575828</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-      <self_collide>1</self_collide>
-    </link>
-    <joint name="rear_left_flipper_wheel8_j" type="revolute">
-      <child>rear_left_flipper_wheel8</child>
-      <parent>rear_left_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>-1</effort>
-          <velocity>12.8205</velocity>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="rear_left_motor">
-      <inertial>
-        <pose>-0.22 -0.09 0.02 0 -0 0</pose>
-        <mass>4.06</mass>
-        <inertia>
-          <ixx>0.0151492</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.0129839</iyy>
-          <iyz>0</iyz>
-          <izz>0.0173903</izz>
-        </inertia>
-      </inertial>
-    </link>
-    <joint name="rear_left_motor_j" type="fixed">
-      <child>rear_left_motor</child>
-      <parent>base_link</parent>
-      <axis>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <xyz>0 0 1</xyz>
-        <use_parent_model_frame>0</use_parent_model_frame>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-      </axis>
-      <physics>
-        <ode>
-          <limit>
-            <cfm>0</cfm>
-            <erp>0.2</erp>
-          </limit>
-        </ode>
-      </physics>
-    </joint>
-    <link name="rear_right_box">
-      <pose>-0.3 -0.18 0.1921 0 -0 0</pose>
-      <inertial>
-        <mass>1e-05</mass>
-        <inertia>
-          <ixx>0.001</ixx>
-          <ixy>1e-06</ixy>
-          <ixz>1e-06</ixz>
-          <iyy>0.001</iyy>
-          <iyz>1e-06</iyz>
-          <izz>0.001</izz>
+          <ixx>0.001</ixx>
+          <ixy>1e-06</ixy>
+          <ixz>1e-06</ixz>
+          <iyy>0.001</iyy>
+          <iyz>1e-06</iyz>
+          <izz>0.001</izz>
         </inertia>
       </inertial>
+      <self_collide>0</self_collide>
+      <sensor name="imu" type="imu">
+        <always_on>1</always_on>
+        <update_rate>50</update_rate>
+        <imu>
+          <angular_velocity>
+            <x>
+              <noise type="gaussian">
+                <mean>0</mean>
+                <stddev>0.009</stddev>
+                <bias_mean>0.00075</bias_mean>
+                <bias_stddev>0.005</bias_stddev>
+                <dynamic_bias_stddev>2e-05</dynamic_bias_stddev>
+                <dynamic_bias_correlation_time>400</dynamic_bias_correlation_time>
+                <precision>0.00025</precision>
+              </noise>
+            </x>
+            <y>
+              <noise type="gaussian">
+                <mean>0</mean>
+                <stddev>0.009</stddev>
+                <bias_mean>0.00075</bias_mean>
+                <bias_stddev>0.005</bias_stddev>
+                <dynamic_bias_stddev>2e-05</dynamic_bias_stddev>
+                <dynamic_bias_correlation_time>400</dynamic_bias_correlation_time>
+                <precision>0.00025</precision>
+              </noise>
+            </y>
+            <z>
+              <noise type="gaussian">
+                <mean>0</mean>
+                <stddev>0.009</stddev>
+                <bias_mean>0.00075</bias_mean>
+                <bias_stddev>0.005</bias_stddev>
+                <dynamic_bias_stddev>2e-05</dynamic_bias_stddev>
+                <dynamic_bias_correlation_time>400</dynamic_bias_correlation_time>
+                <precision>0.00025</precision>
+              </noise>
+            </z>
+          </angular_velocity>
+          <linear_acceleration>
+            <x>
+              <noise type="gaussian">
+                <mean>0</mean>
+                <stddev>0.021</stddev>
+                <bias_mean>0.05</bias_mean>
+                <bias_stddev>0.0075</bias_stddev>
+                <dynamic_bias_stddev>0.000375</dynamic_bias_stddev>
+                <dynamic_bias_correlation_time>175</dynamic_bias_correlation_time>
+                <precision>0.005</precision>
+              </noise>
+            </x>
+            <y>
+              <noise type="gaussian">
+                <mean>0</mean>
+                <stddev>0.021</stddev>
+                <bias_mean>0.05</bias_mean>
+                <bias_stddev>0.0075</bias_stddev>
+                <dynamic_bias_stddev>0.000375</dynamic_bias_stddev>
+                <dynamic_bias_correlation_time>175</dynamic_bias_correlation_time>
+                <precision>0.005</precision>
+              </noise>
+            </y>
+            <z>
+              <noise type="gaussian">
+                <mean>0</mean>
+                <stddev>0.021</stddev>
+                <bias_mean>0.05</bias_mean>
+                <bias_stddev>0.0075</bias_stddev>
+                <dynamic_bias_stddev>0.000375</dynamic_bias_stddev>
+                <dynamic_bias_correlation_time>175</dynamic_bias_correlation_time>
+                <precision>0.005</precision>
+              </noise>
+            </z>
+          </linear_acceleration>
+          <enable_orientation>0</enable_orientation>
+        </imu>
+      </sensor>
     </link>
-    <joint name="rear_right_box_j" type="fixed">
-      <child>rear_right_box</child>
+    <joint name="imu_j" type="fixed">
+      <child>imu</child>
       <parent>base_link</parent>
       <axis>
         <dynamics>
@@ -2749,66 +1131,66 @@
         </ode>
       </physics>
     </joint>
-    <link name="camera_0">
-      <pose>0.21 0 0.1921 0 -0 0</pose>
+    <link name="rear_cam">
+      <pose>-0.244 0 0.1321 0 0 -3.1415926535897931</pose>
       <inertial>
-        <pose>0.039802 0 0.0145 0 -0 0</pose>
-        <mass>0.232</mass>
+        <pose>0.019862 0 0.0145 0 -0 0</pose>
+        <mass>0.14</mass>
         <inertia>
-          <ixx>3.25187e-05</ixx>
+          <ixx>1.96233e-05</ixx>
           <ixy>0</ixy>
           <ixz>0</ixz>
-          <iyy>0.000158598</iyy>
+          <iyy>6.75088e-05</iyy>
           <iyz>0</iyz>
-          <izz>0.000158598</izz>
+          <izz>6.75088e-05</izz>
         </inertia>
       </inertial>
-      <collision name="camera_0_collision_collision">
-        <pose>0.02465 0 0.0145 0 -0 0</pose>
+      <collision name="rear_cam_collision_collision">
+        <pose>0.0117 0 0.0145 0 -0 0</pose>
         <geometry>
           <box>
-            <size>0.0555 0.029 0.029</size>
+            <size>0.054 0.029 0.029</size>
           </box>
         </geometry>
       </collision>
-      <collision name="camera_0_lens_collision_collision_1">
-        <pose>0.062834 0 0.0145 0 1.5707963267948966 0</pose>
+      <collision name="rear_cam_lens_collision_collision_1">
+        <pose>0.042024 0 0.0145 0 1.5707963267948966 0</pose>
         <geometry>
           <cylinder>
-            <length>0.03974</length>
+            <length>0.026</length>
             <radius>0.0125</radius>
           </cylinder>
         </geometry>
       </collision>
-      <visual name="camera_0_visual">
+      <visual name="rear_cam_visual">
         <pose>0 0 0.0145 0 -0 0</pose>
         <geometry>
           <mesh>
-            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_MARV_SENSOR_CONFIG_1/tip/files/meshes/basler_ace2_pro.dae</uri>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_MARV_SENSOR_CONFIG_1/tip/files/meshes/basler_ace.dae</uri>
           </mesh>
         </geometry>
       </visual>
-      <visual name="camera_0_visual_1">
-        <pose>0.042964 0 0.0145 0 -0 0</pose>
+      <visual name="rear_cam_visual_1">
+        <pose>0.029024 0 0.0145 0 -0 0</pose>
         <geometry>
           <mesh>
-            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_MARV_SENSOR_CONFIG_1/tip/files/meshes/evetar_lens.dae</uri>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_MARV_SENSOR_CONFIG_1/tip/files/meshes/evetar_fisheye_lens.dae</uri>
           </mesh>
         </geometry>
       </visual>
-      <sensor name="camera_0" type="camera">
-        <pose>0.072044 0 0.0145 0 -0 0</pose>
-        <update_rate>9</update_rate>
+      <sensor name="rear_cam" type="camera">
+        <pose>0.051574 0 0.0145 0 -0 0</pose>
+        <update_rate>15</update_rate>
         <visualize>0</visualize>
         <camera>
-          <horizontal_fov>1.50971</horizontal_fov>
+          <horizontal_fov>2.40855</horizontal_fov>
           <image>
-            <width>1920</width>
-            <height>1200</height>
+            <width>2048</width>
+            <height>1536</height>
             <format>R8G8B8</format>
           </image>
           <clip>
-            <near>0.011726</near>
+            <near>0.025</near>
             <far>300</far>
           </clip>
           <noise>
@@ -2818,10 +1200,10 @@
           </noise>
           <lens>
             <intrinsics>
-              <fx>1020.51</fx>
-              <fy>1020.51</fy>
-              <cx>959.5</cx>
-              <cy>599.5</cy>
+              <fx>393.077</fx>
+              <fy>393.077</fy>
+              <cx>1023.5</cx>
+              <cy>767.5</cy>
               <s>0</s>
             </intrinsics>
             <type>stereographic</type>
@@ -2830,23 +1212,184 @@
         </camera>
       </sensor>
     </link>
-    <joint name="camera_0_j" type="fixed">
-      <child>camera_0</child>
-      <parent>rear_right_box</parent>
+    <joint name="rear_cam_j" type="fixed">
+      <child>rear_cam</child>
+      <parent>base_link</parent>
+      <axis>
+        <dynamics>
+          <spring_reference>0</spring_reference>
+          <spring_stiffness>0</spring_stiffness>
+        </dynamics>
+        <xyz>0 0 1</xyz>
+        <use_parent_model_frame>0</use_parent_model_frame>
+        <limit>
+          <lower>-1e+16</lower>
+          <upper>1e+16</upper>
+        </limit>
+      </axis>
+      <physics>
+        <ode>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+        </ode>
+      </physics>
+    </joint>
+    <link name="rear_left_flipper">
+      <pose>-0.256 0.248 0 3.1415926535897931 -0 -3.1415926535897931</pose>
+      <inertial>
+        <pose>0.08 0 0 0 -0 0</pose>
+        <mass>3.659</mass>
+        <inertia>
+          <ixx>0.0017491</ixx>
+          <ixy>2.8512e-07</ixy>
+          <ixz>0.0018277</ixz>
+          <iyy>0.012277</iyy>
+          <iyz>-3.6288e-07</iyz>
+          <izz>0.010941</izz>
+        </inertia>
+      </inertial>
+      <collision name="rear_left_flipper_collision">
+        <pose>0.15175 0 0 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.3035 0.075 0.078</size>
+          </box>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>1</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="rear_left_flipper_collision_1">
+        <pose>0.15175 0 0.05825 0 0.126179 0</pose>
+        <geometry>
+          <box>
+            <size>0.3035 0.075 0.078</size>
+          </box>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>1</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="rear_left_flipper_collision_2">
+        <pose>0.15175 0 -0.05825 0 -0.126179 0</pose>
+        <geometry>
+          <box>
+            <size>0.3035 0.075 0.078</size>
+          </box>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>1</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="rear_left_flipper_collision_3">
+        <pose>0.3035 0 0 1.5707963267948966 -0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.075</length>
+            <radius>0.078</radius>
+          </cylinder>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>1</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="rear_left_flipper_collision_4">
+        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.075</length>
+            <radius>0.1165</radius>
+          </cylinder>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>1</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <visual name="rear_left_flipper_visual">
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_MARV_SENSOR_CONFIG_1/tip/files/meshes/big_wheel.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <visual name="rear_left_flipper_visual_1">
+        <geometry>
+          <mesh>
+            <scale>-1 -1 1</scale>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_MARV_SENSOR_CONFIG_1/tip/files/meshes/flipper_arm.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <visual name="rear_left_flipper_visual_2">
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_MARV_SENSOR_CONFIG_1/tip/files/meshes/belt.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <visual name="rear_left_flipper_visual_3">
+        <pose>0.3035 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_MARV_SENSOR_CONFIG_1/tip/files/meshes/small_wheel.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <self_collide>1</self_collide>
+    </link>
+    <joint name="rear_left_flipper_j" type="revolute">
+      <child>rear_left_flipper</child>
+      <parent>base_link</parent>
       <axis>
+        <xyz>0 1 0</xyz>
+        <limit>
+          <lower>-1e+16</lower>
+          <upper>1e+16</upper>
+          <effort>120</effort>
+          <velocity>1</velocity>
+        </limit>
         <dynamics>
           <spring_reference>0</spring_reference>
           <spring_stiffness>0</spring_stiffness>
         </dynamics>
-        <xyz>0 0 1</xyz>
         <use_parent_model_frame>0</use_parent_model_frame>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
       </axis>
       <physics>
         <ode>
+          <implicit_spring_damper>1</implicit_spring_damper>
+          <cfm_damping>1</cfm_damping>
           <limit>
             <cfm>0</cfm>
             <erp>0.2</erp>
@@ -2854,90 +1397,23 @@
         </ode>
       </physics>
     </joint>
-    <link name="camera_2">
-      <pose>-0.21 0 0.1921 0 -0 3.1415926535897931</pose>
+    <link name="rear_left_flipper_end_point_inflated">
+      <pose>-0.6375 0.248 0 3.1415926535897931 -0 3.1415926535897931</pose>
       <inertial>
-        <pose>0.039802 0 0.0145 0 -0 0</pose>
-        <mass>0.232</mass>
+        <mass>1e-05</mass>
         <inertia>
-          <ixx>3.25187e-05</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.000158598</iyy>
-          <iyz>0</iyz>
-          <izz>0.000158598</izz>
+          <ixx>0.001</ixx>
+          <ixy>1e-06</ixy>
+          <ixz>1e-06</ixz>
+          <iyy>0.001</iyy>
+          <iyz>1e-06</iyz>
+          <izz>0.001</izz>
         </inertia>
       </inertial>
-      <collision name="camera_2_collision_collision">
-        <pose>0.02465 0 0.0145 0 -0 0</pose>
-        <geometry>
-          <box>
-            <size>0.0555 0.029 0.029</size>
-          </box>
-        </geometry>
-      </collision>
-      <collision name="camera_2_lens_collision_collision_1">
-        <pose>0.062834 0 0.0145 0 1.5707963267948966 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.03974</length>
-            <radius>0.0125</radius>
-          </cylinder>
-        </geometry>
-      </collision>
-      <visual name="camera_2_visual">
-        <pose>0 0 0.0145 0 -0 0</pose>
-        <geometry>
-          <mesh>
-            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_MARV_SENSOR_CONFIG_1/tip/files/meshes/basler_ace2_pro.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-      <visual name="camera_2_visual_1">
-        <pose>0.042964 0 0.0145 0 -0 0</pose>
-        <geometry>
-          <mesh>
-            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_MARV_SENSOR_CONFIG_1/tip/files/meshes/evetar_lens.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-      <sensor name="camera_2" type="camera">
-        <pose>0.072044 0 0.0145 0 -0 0</pose>
-        <update_rate>9</update_rate>
-        <visualize>0</visualize>
-        <camera>
-          <horizontal_fov>1.50971</horizontal_fov>
-          <image>
-            <width>1920</width>
-            <height>1200</height>
-            <format>R8G8B8</format>
-          </image>
-          <clip>
-            <near>0.011726</near>
-            <far>300</far>
-          </clip>
-          <noise>
-            <type>gaussian</type>
-            <mean>0</mean>
-            <stddev>0.007</stddev>
-          </noise>
-          <lens>
-            <intrinsics>
-              <fx>1020.51</fx>
-              <fy>1020.51</fy>
-              <cx>959.5</cx>
-              <cy>599.5</cy>
-              <s>0</s>
-            </intrinsics>
-            <type>stereographic</type>
-            <scale_to_hfov>1</scale_to_hfov>
-          </lens>
-        </camera>
-      </sensor>
     </link>
-    <joint name="camera_2_j" type="fixed">
-      <child>camera_2</child>
-      <parent>rear_right_box</parent>
+    <joint name="rear_left_flipper_end_point_inflated_j" type="fixed">
+      <child>rear_left_flipper_end_point_inflated</child>
+      <parent>rear_left_flipper</parent>
       <axis>
         <dynamics>
           <spring_reference>0</spring_reference>
@@ -2959,71 +1435,23 @@
         </ode>
       </physics>
     </joint>
-    <link name="cliff_sensor_front_left">
-      <pose>0.3 0.1445 0.2106 0 1.5707963267948966 0</pose>
+    <link name="rear_left_flipper_end_point">
+      <pose>-0.6375 0.248 0 3.1415926535897931 -0 3.1415926535897931</pose>
       <inertial>
-        <pose>0.0105 0 0.00925 0 -0 0</pose>
-        <mass>0.012</mass>
+        <mass>1e-05</mass>
         <inertia>
-          <ixx>1.56725e-06</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>7.8325e-07</iyy>
-          <iyz>0</iyz>
-          <izz>1.666e-06</izz>
+          <ixx>0.001</ixx>
+          <ixy>1e-06</ixy>
+          <ixz>1e-06</ixz>
+          <iyy>0.001</iyy>
+          <iyz>1e-06</iyz>
+          <izz>0.001</izz>
         </inertia>
       </inertial>
-      <collision name="cliff_sensor_front_left_collision">
-        <pose>0.0105 0 0.00925 0 -0 0</pose>
-        <geometry>
-          <box>
-            <size>0.021 0.035 0.0185</size>
-          </box>
-        </geometry>
-      </collision>
-      <visual name="cliff_sensor_front_left_visual">
-        <geometry>
-          <mesh>
-            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_MARV_SENSOR_CONFIG_1/tip/files/meshes/tfmini_plus_lidar.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-      <sensor name="laser" type="gpu_lidar">
-        <pose>0.021 0 0.00925 0 -0 0</pose>
-        <update_rate>10</update_rate>
-        <visualize>0</visualize>
-        <always_on>1</always_on>
-        <lidar>
-          <scan>
-            <horizontal>
-              <samples>3</samples>
-              <resolution>1</resolution>
-              <min_angle>-0.0314159</min_angle>
-              <max_angle>0.0314159</max_angle>
-            </horizontal>
-            <vertical>
-              <samples>3</samples>
-              <resolution>1</resolution>
-              <min_angle>-0.0314159</min_angle>
-              <max_angle>0.0314159</max_angle>
-            </vertical>
-          </scan>
-          <range>
-            <min>0.1</min>
-            <max>12</max>
-            <resolution>0.01</resolution>
-          </range>
-          <noise>
-            <type>gaussian</type>
-            <mean>0</mean>
-            <stddev>0.015</stddev>
-          </noise>
-        </lidar>
-      </sensor>
     </link>
-    <joint name="cliff_sensor_front_left_j" type="fixed">
-      <child>cliff_sensor_front_left</child>
-      <parent>rear_right_box</parent>
+    <joint name="rear_left_flipper_end_point_j" type="fixed">
+      <child>rear_left_flipper_end_point</child>
+      <parent>rear_left_flipper</parent>
       <axis>
         <dynamics>
           <spring_reference>0</spring_reference>
@@ -3045,71 +1473,23 @@
         </ode>
       </physics>
     </joint>
-    <link name="cliff_sensor_front_right">
-      <pose>0.3 -0.1445 0.2106 0 1.5707963267948966 0</pose>
+    <link name="rear_left_motor">
       <inertial>
-        <pose>0.0105 0 0.00925 0 -0 0</pose>
-        <mass>0.012</mass>
+        <pose>-0.22 -0.09 0.02 0 -0 0</pose>
+        <mass>4.06</mass>
         <inertia>
-          <ixx>1.56725e-06</ixx>
+          <ixx>0.0151492</ixx>
           <ixy>0</ixy>
           <ixz>0</ixz>
-          <iyy>7.8325e-07</iyy>
+          <iyy>0.0129839</iyy>
           <iyz>0</iyz>
-          <izz>1.666e-06</izz>
+          <izz>0.0173903</izz>
         </inertia>
       </inertial>
-      <collision name="cliff_sensor_front_right_collision">
-        <pose>0.0105 0 0.00925 0 -0 0</pose>
-        <geometry>
-          <box>
-            <size>0.021 0.035 0.0185</size>
-          </box>
-        </geometry>
-      </collision>
-      <visual name="cliff_sensor_front_right_visual">
-        <geometry>
-          <mesh>
-            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_MARV_SENSOR_CONFIG_1/tip/files/meshes/tfmini_plus_lidar.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-      <sensor name="laser" type="gpu_lidar">
-        <pose>0.021 0 0.00925 0 -0 0</pose>
-        <update_rate>10</update_rate>
-        <visualize>0</visualize>
-        <always_on>1</always_on>
-        <lidar>
-          <scan>
-            <horizontal>
-              <samples>3</samples>
-              <resolution>1</resolution>
-              <min_angle>-0.0314159</min_angle>
-              <max_angle>0.0314159</max_angle>
-            </horizontal>
-            <vertical>
-              <samples>3</samples>
-              <resolution>1</resolution>
-              <min_angle>-0.0314159</min_angle>
-              <max_angle>0.0314159</max_angle>
-            </vertical>
-          </scan>
-          <range>
-            <min>0.1</min>
-            <max>12</max>
-            <resolution>0.01</resolution>
-          </range>
-          <noise>
-            <type>gaussian</type>
-            <mean>0</mean>
-            <stddev>0.015</stddev>
-          </noise>
-        </lidar>
-      </sensor>
     </link>
-    <joint name="cliff_sensor_front_right_j" type="fixed">
-      <child>cliff_sensor_front_right</child>
-      <parent>rear_right_box</parent>
+    <joint name="rear_left_motor_j" type="fixed">
+      <child>rear_left_motor</child>
+      <parent>base_link</parent>
       <axis>
         <dynamics>
           <spring_reference>0</spring_reference>
@@ -3131,71 +1511,23 @@
         </ode>
       </physics>
     </joint>
-    <link name="cliff_sensor_rear_left">
-      <pose>-0.3 0.1445 0.2106 3.1415926535897931 1.5707963267948966 0</pose>
+    <link name="rear_right_box">
+      <pose>-0.3 -0.18 0.1921 0 -0 0</pose>
       <inertial>
-        <pose>0.0105 0 0.00925 0 -0 0</pose>
-        <mass>0.012</mass>
-        <inertia>
-          <ixx>1.56725e-06</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>7.8325e-07</iyy>
-          <iyz>0</iyz>
-          <izz>1.666e-06</izz>
+        <mass>1e-05</mass>
+        <inertia>
+          <ixx>0.001</ixx>
+          <ixy>1e-06</ixy>
+          <ixz>1e-06</ixz>
+          <iyy>0.001</iyy>
+          <iyz>1e-06</iyz>
+          <izz>0.001</izz>
         </inertia>
       </inertial>
-      <collision name="cliff_sensor_rear_left_collision">
-        <pose>0.0105 0 0.00925 0 -0 0</pose>
-        <geometry>
-          <box>
-            <size>0.021 0.035 0.0185</size>
-          </box>
-        </geometry>
-      </collision>
-      <visual name="cliff_sensor_rear_left_visual">
-        <geometry>
-          <mesh>
-            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_MARV_SENSOR_CONFIG_1/tip/files/meshes/tfmini_plus_lidar.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-      <sensor name="laser" type="gpu_lidar">
-        <pose>0.021 0 0.00925 0 -0 0</pose>
-        <update_rate>10</update_rate>
-        <visualize>0</visualize>
-        <always_on>1</always_on>
-        <lidar>
-          <scan>
-            <horizontal>
-              <samples>3</samples>
-              <resolution>1</resolution>
-              <min_angle>-0.0314159</min_angle>
-              <max_angle>0.0314159</max_angle>
-            </horizontal>
-            <vertical>
-              <samples>3</samples>
-              <resolution>1</resolution>
-              <min_angle>-0.0314159</min_angle>
-              <max_angle>0.0314159</max_angle>
-            </vertical>
-          </scan>
-          <range>
-            <min>0.1</min>
-            <max>12</max>
-            <resolution>0.01</resolution>
-          </range>
-          <noise>
-            <type>gaussian</type>
-            <mean>0</mean>
-            <stddev>0.015</stddev>
-          </noise>
-        </lidar>
-      </sensor>
     </link>
-    <joint name="cliff_sensor_rear_left_j" type="fixed">
-      <child>cliff_sensor_rear_left</child>
-      <parent>rear_right_box</parent>
+    <joint name="rear_right_box_j" type="fixed">
+      <child>rear_right_box</child>
+      <parent>base_link</parent>
       <axis>
         <dynamics>
           <spring_reference>0</spring_reference>
@@ -3217,70 +1549,89 @@
         </ode>
       </physics>
     </joint>
-    <link name="cliff_sensor_rear_right">
-      <pose>-0.3 -0.1445 0.2106 3.1415926535897931 1.5707963267948966 0</pose>
+    <link name="camera_0">
+      <pose>0.21 0 0.1921 0 -0 0</pose>
       <inertial>
-        <pose>0.0105 0 0.00925 0 -0 0</pose>
-        <mass>0.012</mass>
+        <pose>0.039802 0 0.0145 0 -0 0</pose>
+        <mass>0.232</mass>
         <inertia>
-          <ixx>1.56725e-06</ixx>
+          <ixx>3.25187e-05</ixx>
           <ixy>0</ixy>
           <ixz>0</ixz>
-          <iyy>7.8325e-07</iyy>
+          <iyy>0.000158598</iyy>
           <iyz>0</iyz>
-          <izz>1.666e-06</izz>
+          <izz>0.000158598</izz>
         </inertia>
       </inertial>
-      <collision name="cliff_sensor_rear_right_collision">
-        <pose>0.0105 0 0.00925 0 -0 0</pose>
+      <collision name="camera_0_collision_collision">
+        <pose>0.02465 0 0.0145 0 -0 0</pose>
         <geometry>
           <box>
-            <size>0.021 0.035 0.0185</size>
+            <size>0.0555 0.029 0.029</size>
           </box>
         </geometry>
       </collision>
-      <visual name="cliff_sensor_rear_right_visual">
+      <collision name="camera_0_lens_collision_collision_1">
+        <pose>0.062834 0 0.0145 0 1.5707963267948966 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.03974</length>
+            <radius>0.0125</radius>
+          </cylinder>
+        </geometry>
+      </collision>
+      <visual name="camera_0_visual">
+        <pose>0 0 0.0145 0 -0 0</pose>
         <geometry>
           <mesh>
-            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_MARV_SENSOR_CONFIG_1/tip/files/meshes/tfmini_plus_lidar.dae</uri>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_MARV_SENSOR_CONFIG_1/tip/files/meshes/basler_ace2_pro.dae</uri>
           </mesh>
         </geometry>
       </visual>
-      <sensor name="laser" type="gpu_lidar">
-        <pose>0.021 0 0.00925 0 -0 0</pose>
-        <update_rate>10</update_rate>
+      <visual name="camera_0_visual_1">
+        <pose>0.042964 0 0.0145 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_MARV_SENSOR_CONFIG_1/tip/files/meshes/evetar_lens.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <sensor name="camera_0" type="camera">
+        <pose>0.072044 0 0.0145 0 -0 0</pose>
+        <update_rate>9</update_rate>
         <visualize>0</visualize>
-        <always_on>1</always_on>
-        <lidar>
-          <scan>
-            <horizontal>
-              <samples>3</samples>
-              <resolution>1</resolution>
-              <min_angle>-0.0314159</min_angle>
-              <max_angle>0.0314159</max_angle>
-            </horizontal>
-            <vertical>
-              <samples>3</samples>
-              <resolution>1</resolution>
-              <min_angle>-0.0314159</min_angle>
-              <max_angle>0.0314159</max_angle>
-            </vertical>
-          </scan>
-          <range>
-            <min>0.1</min>
-            <max>12</max>
-            <resolution>0.01</resolution>
-          </range>
+        <camera>
+          <horizontal_fov>1.50971</horizontal_fov>
+          <image>
+            <width>1920</width>
+            <height>1200</height>
+            <format>R8G8B8</format>
+          </image>
+          <clip>
+            <near>0.011726</near>
+            <far>300</far>
+          </clip>
           <noise>
             <type>gaussian</type>
             <mean>0</mean>
-            <stddev>0.015</stddev>
+            <stddev>0.007</stddev>
           </noise>
-        </lidar>
+          <lens>
+            <intrinsics>
+              <fx>1020.51</fx>
+              <fy>1020.51</fy>
+              <cx>959.5</cx>
+              <cy>599.5</cy>
+              <s>0</s>
+            </intrinsics>
+            <type>stereographic</type>
+            <scale_to_hfov>1</scale_to_hfov>
+          </lens>
+        </camera>
       </sensor>
     </link>
-    <joint name="cliff_sensor_rear_right_j" type="fixed">
-      <child>cliff_sensor_rear_right</child>
+    <joint name="camera_0_j" type="fixed">
+      <child>camera_0</child>
       <parent>rear_right_box</parent>
       <axis>
         <dynamics>
@@ -3303,38 +1654,89 @@
         </ode>
       </physics>
     </joint>
-    <link name="mobilicom">
-      <pose>-0.25 0.12 0.1921 0 -0 1.5707963267948966</pose>
+    <link name="camera_2">
+      <pose>-0.21 0 0.1921 0 -0 3.1415926535897931</pose>
       <inertial>
-        <pose>0 0 0.0135 0 -0 0</pose>
-        <mass>0.168</mass>
+        <pose>0.039802 0 0.0145 0 -0 0</pose>
+        <mass>0.232</mass>
         <inertia>
-          <ixx>8.687e-05</ixx>
+          <ixx>3.25187e-05</ixx>
           <ixy>0</ixy>
           <ixz>0</ixz>
-          <iyy>0.000150206</iyy>
+          <iyy>0.000158598</iyy>
           <iyz>0</iyz>
-          <izz>0.000216664</izz>
+          <izz>0.000158598</izz>
         </inertia>
       </inertial>
-      <collision name="mobilicom_collision">
-        <pose>0 0 0.0135 0 -0 0</pose>
+      <collision name="camera_2_collision_collision">
+        <pose>0.02465 0 0.0145 0 -0 0</pose>
         <geometry>
           <box>
-            <size>0.1 0.074 0.027</size>
+            <size>0.0555 0.029 0.029</size>
           </box>
         </geometry>
       </collision>
-      <visual name="mobilicom_visual">
+      <collision name="camera_2_lens_collision_collision_1">
+        <pose>0.062834 0 0.0145 0 1.5707963267948966 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.03974</length>
+            <radius>0.0125</radius>
+          </cylinder>
+        </geometry>
+      </collision>
+      <visual name="camera_2_visual">
+        <pose>0 0 0.0145 0 -0 0</pose>
         <geometry>
           <mesh>
-            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_MARV_SENSOR_CONFIG_1/tip/files/meshes/mobilicom.dae</uri>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_MARV_SENSOR_CONFIG_1/tip/files/meshes/basler_ace2_pro.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <visual name="camera_2_visual_1">
+        <pose>0.042964 0 0.0145 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_MARV_SENSOR_CONFIG_1/tip/files/meshes/evetar_lens.dae</uri>
           </mesh>
         </geometry>
       </visual>
+      <sensor name="camera_2" type="camera">
+        <pose>0.072044 0 0.0145 0 -0 0</pose>
+        <update_rate>9</update_rate>
+        <visualize>0</visualize>
+        <camera>
+          <horizontal_fov>1.50971</horizontal_fov>
+          <image>
+            <width>1920</width>
+            <height>1200</height>
+            <format>R8G8B8</format>
+          </image>
+          <clip>
+            <near>0.011726</near>
+            <far>300</far>
+          </clip>
+          <noise>
+            <type>gaussian</type>
+            <mean>0</mean>
+            <stddev>0.007</stddev>
+          </noise>
+          <lens>
+            <intrinsics>
+              <fx>1020.51</fx>
+              <fy>1020.51</fy>
+              <cx>959.5</cx>
+              <cy>599.5</cy>
+              <s>0</s>
+            </intrinsics>
+            <type>stereographic</type>
+            <scale_to_hfov>1</scale_to_hfov>
+          </lens>
+        </camera>
+      </sensor>
     </link>
-    <joint name="mobilicom_j" type="fixed">
-      <child>mobilicom</child>
+    <joint name="camera_2_j" type="fixed">
+      <child>camera_2</child>
       <parent>rear_right_box</parent>
       <axis>
         <dynamics>
@@ -3357,42 +1759,71 @@
         </ode>
       </physics>
     </joint>
-    <link name="mobilicom_antenna_l">
-      <pose>-0.275 0.17 0.2056 -0.5 -0 1.5707963267948966</pose>
+    <link name="cliff_sensor_front_left">
+      <pose>0.3 0.1445 0.2106 0 1.5707963267948966 0</pose>
       <inertial>
-        <pose>0 0 0.085 0 -0 0</pose>
-        <mass>0.03</mass>
+        <pose>0.0105 0 0.00925 0 -0 0</pose>
+        <mass>0.012</mass>
         <inertia>
-          <ixx>7.3e-05</ixx>
+          <ixx>1.56725e-06</ixx>
           <ixy>0</ixy>
           <ixz>0</ixz>
-          <iyy>7.3e-05</iyy>
+          <iyy>7.8325e-07</iyy>
           <iyz>0</iyz>
-          <izz>1.5e-06</izz>
+          <izz>1.666e-06</izz>
         </inertia>
       </inertial>
-      <collision name="mobilicom_antenna_l_collision">
-        <pose>0 0 0.085 0 -0 0</pose>
+      <collision name="cliff_sensor_front_left_collision">
+        <pose>0.0105 0 0.00925 0 -0 0</pose>
         <geometry>
-          <cylinder>
-            <length>0.17</length>
-            <radius>0.01</radius>
-          </cylinder>
+          <box>
+            <size>0.021 0.035 0.0185</size>
+          </box>
         </geometry>
       </collision>
-      <visual name="mobilicom_antenna_l_visual">
-        <pose>0 0 0.085 0 -0 0</pose>
+      <visual name="cliff_sensor_front_left_visual">
         <geometry>
-          <cylinder>
-            <length>0.17</length>
-            <radius>0.01</radius>
-          </cylinder>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_MARV_SENSOR_CONFIG_1/tip/files/meshes/tfmini_plus_lidar.dae</uri>
+          </mesh>
         </geometry>
       </visual>
+      <sensor name="laser" type="gpu_lidar">
+        <pose>0.021 0 0.00925 0 -0 0</pose>
+        <update_rate>10</update_rate>
+        <visualize>0</visualize>
+        <always_on>1</always_on>
+        <lidar>
+          <scan>
+            <horizontal>
+              <samples>3</samples>
+              <resolution>1</resolution>
+              <min_angle>-0.0314159</min_angle>
+              <max_angle>0.0314159</max_angle>
+            </horizontal>
+            <vertical>
+              <samples>3</samples>
+              <resolution>1</resolution>
+              <min_angle>-0.0314159</min_angle>
+              <max_angle>0.0314159</max_angle>
+            </vertical>
+          </scan>
+          <range>
+            <min>0.1</min>
+            <max>12</max>
+            <resolution>0.01</resolution>
+          </range>
+          <noise>
+            <type>gaussian</type>
+            <mean>0</mean>
+            <stddev>0.015</stddev>
+          </noise>
+        </lidar>
+      </sensor>
     </link>
-    <joint name="mobilicom_antenna_l_j" type="fixed">
-      <child>mobilicom_antenna_l</child>
-      <parent>mobilicom</parent>
+    <joint name="cliff_sensor_front_left_j" type="fixed">
+      <child>cliff_sensor_front_left</child>
+      <parent>rear_right_box</parent>
       <axis>
         <dynamics>
           <spring_reference>0</spring_reference>
@@ -3414,42 +1845,71 @@
         </ode>
       </physics>
     </joint>
-    <link name="mobilicom_antenna_r">
-      <pose>-0.225 0.17 0.2056 0 -0 1.5707963267948966</pose>
+    <link name="cliff_sensor_front_right">
+      <pose>0.3 -0.1445 0.2106 0 1.5707963267948966 0</pose>
       <inertial>
-        <pose>0 0 0.085 0 -0 0</pose>
-        <mass>0.03</mass>
+        <pose>0.0105 0 0.00925 0 -0 0</pose>
+        <mass>0.012</mass>
         <inertia>
-          <ixx>7.3e-05</ixx>
+          <ixx>1.56725e-06</ixx>
           <ixy>0</ixy>
           <ixz>0</ixz>
-          <iyy>7.3e-05</iyy>
+          <iyy>7.8325e-07</iyy>
           <iyz>0</iyz>
-          <izz>1.5e-06</izz>
+          <izz>1.666e-06</izz>
         </inertia>
       </inertial>
-      <collision name="mobilicom_antenna_r_collision">
-        <pose>0 0 0.085 0 -0 0</pose>
+      <collision name="cliff_sensor_front_right_collision">
+        <pose>0.0105 0 0.00925 0 -0 0</pose>
         <geometry>
-          <cylinder>
-            <length>0.17</length>
-            <radius>0.01</radius>
-          </cylinder>
+          <box>
+            <size>0.021 0.035 0.0185</size>
+          </box>
         </geometry>
       </collision>
-      <visual name="mobilicom_antenna_r_visual">
-        <pose>0 0 0.085 0 -0 0</pose>
+      <visual name="cliff_sensor_front_right_visual">
         <geometry>
-          <cylinder>
-            <length>0.17</length>
-            <radius>0.01</radius>
-          </cylinder>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_MARV_SENSOR_CONFIG_1/tip/files/meshes/tfmini_plus_lidar.dae</uri>
+          </mesh>
         </geometry>
       </visual>
+      <sensor name="laser" type="gpu_lidar">
+        <pose>0.021 0 0.00925 0 -0 0</pose>
+        <update_rate>10</update_rate>
+        <visualize>0</visualize>
+        <always_on>1</always_on>
+        <lidar>
+          <scan>
+            <horizontal>
+              <samples>3</samples>
+              <resolution>1</resolution>
+              <min_angle>-0.0314159</min_angle>
+              <max_angle>0.0314159</max_angle>
+            </horizontal>
+            <vertical>
+              <samples>3</samples>
+              <resolution>1</resolution>
+              <min_angle>-0.0314159</min_angle>
+              <max_angle>0.0314159</max_angle>
+            </vertical>
+          </scan>
+          <range>
+            <min>0.1</min>
+            <max>12</max>
+            <resolution>0.01</resolution>
+          </range>
+          <noise>
+            <type>gaussian</type>
+            <mean>0</mean>
+            <stddev>0.015</stddev>
+          </noise>
+        </lidar>
+      </sensor>
     </link>
-    <joint name="mobilicom_antenna_r_j" type="fixed">
-      <child>mobilicom_antenna_r</child>
-      <parent>mobilicom</parent>
+    <joint name="cliff_sensor_front_right_j" type="fixed">
+      <child>cliff_sensor_front_right</child>
+      <parent>rear_right_box</parent>
       <axis>
         <dynamics>
           <spring_reference>0</spring_reference>
@@ -3471,38 +1931,70 @@
         </ode>
       </physics>
     </joint>
-    <link name="mote_deployer">
-      <pose>-0.24 -0.16 0.1821 0 0 -3.1415926535897931</pose>
+    <link name="cliff_sensor_rear_left">
+      <pose>-0.3 0.1445 0.2106 3.1415926535897931 1.5707963267948966 0</pose>
       <inertial>
-        <pose>0.0845 -0.024 0.0655 0 -0 0</pose>
-        <mass>0.5</mass>
+        <pose>0.0105 0 0.00925 0 -0 0</pose>
+        <mass>0.012</mass>
         <inertia>
-          <ixx>0.000931042</ixx>
+          <ixx>1.56725e-06</ixx>
           <ixy>0</ixy>
           <ixz>0</ixz>
-          <iyy>0.00220342</iyy>
+          <iyy>7.8325e-07</iyy>
           <iyz>0</iyz>
-          <izz>0.00170437</izz>
+          <izz>1.666e-06</izz>
         </inertia>
       </inertial>
-      <collision name="mote_deployer_collision">
-        <pose>0.0845 -0.024 0.0655 0 -0 0</pose>
+      <collision name="cliff_sensor_rear_left_collision">
+        <pose>0.0105 0 0.00925 0 -0 0</pose>
         <geometry>
           <box>
-            <size>0.189 0.072 0.131</size>
+            <size>0.021 0.035 0.0185</size>
           </box>
         </geometry>
       </collision>
-      <visual name="mote_deployer_visual">
+      <visual name="cliff_sensor_rear_left_visual">
         <geometry>
           <mesh>
-            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_MARV_SENSOR_CONFIG_1/tip/files/meshes/mote_deployer.dae</uri>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_MARV_SENSOR_CONFIG_1/tip/files/meshes/tfmini_plus_lidar.dae</uri>
           </mesh>
         </geometry>
       </visual>
+      <sensor name="laser" type="gpu_lidar">
+        <pose>0.021 0 0.00925 0 -0 0</pose>
+        <update_rate>10</update_rate>
+        <visualize>0</visualize>
+        <always_on>1</always_on>
+        <lidar>
+          <scan>
+            <horizontal>
+              <samples>3</samples>
+              <resolution>1</resolution>
+              <min_angle>-0.0314159</min_angle>
+              <max_angle>0.0314159</max_angle>
+            </horizontal>
+            <vertical>
+              <samples>3</samples>
+              <resolution>1</resolution>
+              <min_angle>-0.0314159</min_angle>
+              <max_angle>0.0314159</max_angle>
+            </vertical>
+          </scan>
+          <range>
+            <min>0.1</min>
+            <max>12</max>
+            <resolution>0.01</resolution>
+          </range>
+          <noise>
+            <type>gaussian</type>
+            <mean>0</mean>
+            <stddev>0.015</stddev>
+          </noise>
+        </lidar>
+      </sensor>
     </link>
-    <joint name="mote_deployer_j" type="fixed">
-      <child>mote_deployer</child>
+    <joint name="cliff_sensor_rear_left_j" type="fixed">
+      <child>cliff_sensor_rear_left</child>
       <parent>rear_right_box</parent>
       <axis>
         <dynamics>
@@ -3525,72 +2017,85 @@
         </ode>
       </physics>
     </joint>
-    <link name="rear_right_flipper">
-      <pose>-0.256 -0.248 0 0 -0 0</pose>
+    <link name="cliff_sensor_rear_right">
+      <pose>-0.3 -0.1445 0.2106 3.1415926535897931 1.5707963267948966 0</pose>
       <inertial>
-        <mass>1e-05</mass>
+        <pose>0.0105 0 0.00925 0 -0 0</pose>
+        <mass>0.012</mass>
         <inertia>
-          <ixx>0.001</ixx>
-          <ixy>1e-06</ixy>
-          <ixz>1e-06</ixz>
-          <iyy>0.001</iyy>
-          <iyz>1e-06</iyz>
-          <izz>0.001</izz>
+          <ixx>1.56725e-06</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>7.8325e-07</iyy>
+          <iyz>0</iyz>
+          <izz>1.666e-06</izz>
         </inertia>
       </inertial>
-      <visual name="rear_right_flipper_visual">
-        <geometry>
-          <mesh>
-            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_MARV_SENSOR_CONFIG_1/tip/files/meshes/big_wheel.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-      <visual name="rear_right_flipper_visual_1">
-        <geometry>
-          <mesh>
-            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_MARV_SENSOR_CONFIG_1/tip/files/meshes/flipper_arm.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-      <visual name="rear_right_flipper_visual_2">
-        <pose>0 0 0 3.1415926535897931 -0 3.1415926535897931</pose>
+      <collision name="cliff_sensor_rear_right_collision">
+        <pose>0.0105 0 0.00925 0 -0 0</pose>
         <geometry>
-          <mesh>
-            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_MARV_SENSOR_CONFIG_1/tip/files/meshes/belt.dae</uri>
-          </mesh>
+          <box>
+            <size>0.021 0.035 0.0185</size>
+          </box>
         </geometry>
-      </visual>
-      <visual name="rear_right_flipper_visual_3">
-        <pose>-0.3035 0 0 0 -0 0</pose>
+      </collision>
+      <visual name="cliff_sensor_rear_right_visual">
         <geometry>
           <mesh>
-            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_MARV_SENSOR_CONFIG_1/tip/files/meshes/small_wheel.dae</uri>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_MARV_SENSOR_CONFIG_1/tip/files/meshes/tfmini_plus_lidar.dae</uri>
           </mesh>
         </geometry>
       </visual>
-      <self_collide>1</self_collide>
+      <sensor name="laser" type="gpu_lidar">
+        <pose>0.021 0 0.00925 0 -0 0</pose>
+        <update_rate>10</update_rate>
+        <visualize>0</visualize>
+        <always_on>1</always_on>
+        <lidar>
+          <scan>
+            <horizontal>
+              <samples>3</samples>
+              <resolution>1</resolution>
+              <min_angle>-0.0314159</min_angle>
+              <max_angle>0.0314159</max_angle>
+            </horizontal>
+            <vertical>
+              <samples>3</samples>
+              <resolution>1</resolution>
+              <min_angle>-0.0314159</min_angle>
+              <max_angle>0.0314159</max_angle>
+            </vertical>
+          </scan>
+          <range>
+            <min>0.1</min>
+            <max>12</max>
+            <resolution>0.01</resolution>
+          </range>
+          <noise>
+            <type>gaussian</type>
+            <mean>0</mean>
+            <stddev>0.015</stddev>
+          </noise>
+        </lidar>
+      </sensor>
     </link>
-    <joint name="rear_right_flipper_j" type="revolute">
-      <child>rear_right_flipper</child>
-      <parent>base_link</parent>
+    <joint name="cliff_sensor_rear_right_j" type="fixed">
+      <child>cliff_sensor_rear_right</child>
+      <parent>rear_right_box</parent>
       <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>120</effort>
-          <velocity>1</velocity>
-        </limit>
         <dynamics>
           <spring_reference>0</spring_reference>
           <spring_stiffness>0</spring_stiffness>
         </dynamics>
+        <xyz>0 0 1</xyz>
         <use_parent_model_frame>0</use_parent_model_frame>
+        <limit>
+          <lower>-1e+16</lower>
+          <upper>1e+16</upper>
+        </limit>
       </axis>
       <physics>
         <ode>
-          <implicit_spring_damper>1</implicit_spring_damper>
-          <cfm_damping>1</cfm_damping>
           <limit>
             <cfm>0</cfm>
             <erp>0.2</erp>
@@ -3598,23 +2103,39 @@
         </ode>
       </physics>
     </joint>
-    <link name="rear_right_flipper_end_point_inflated">
-      <pose>-0.6375 -0.248 0 0 -0 0</pose>
+    <link name="mobilicom">
+      <pose>-0.25 0.12 0.1921 0 -0 1.5707963267948966</pose>
       <inertial>
-        <mass>1e-05</mass>
+        <pose>0 0 0.0135 0 -0 0</pose>
+        <mass>0.168</mass>
         <inertia>
-          <ixx>0.001</ixx>
-          <ixy>1e-06</ixy>
-          <ixz>1e-06</ixz>
-          <iyy>0.001</iyy>
-          <iyz>1e-06</iyz>
-          <izz>0.001</izz>
+          <ixx>8.687e-05</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.000150206</iyy>
+          <iyz>0</iyz>
+          <izz>0.000216664</izz>
         </inertia>
       </inertial>
+      <collision name="mobilicom_collision">
+        <pose>0 0 0.0135 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.1 0.074 0.027</size>
+          </box>
+        </geometry>
+      </collision>
+      <visual name="mobilicom_visual">
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_MARV_SENSOR_CONFIG_1/tip/files/meshes/mobilicom.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
     </link>
-    <joint name="rear_right_flipper_end_point_inflated_j" type="fixed">
-      <child>rear_right_flipper_end_point_inflated</child>
-      <parent>rear_right_flipper</parent>
+    <joint name="mobilicom_j" type="fixed">
+      <child>mobilicom</child>
+      <parent>rear_right_box</parent>
       <axis>
         <dynamics>
           <spring_reference>0</spring_reference>
@@ -3636,23 +2157,42 @@
         </ode>
       </physics>
     </joint>
-    <link name="rear_right_flipper_end_point">
-      <pose>-0.6375 -0.248 0 0 -0 0</pose>
+    <link name="mobilicom_antenna_l">
+      <pose>-0.275 0.17 0.2056 -0.5 -0 1.5707963267948966</pose>
       <inertial>
-        <mass>1e-05</mass>
+        <pose>0 0 0.085 0 -0 0</pose>
+        <mass>0.03</mass>
         <inertia>
-          <ixx>0.001</ixx>
-          <ixy>1e-06</ixy>
-          <ixz>1e-06</ixz>
-          <iyy>0.001</iyy>
-          <iyz>1e-06</iyz>
-          <izz>0.001</izz>
+          <ixx>7.3e-05</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>7.3e-05</iyy>
+          <iyz>0</iyz>
+          <izz>1.5e-06</izz>
         </inertia>
       </inertial>
+      <collision name="mobilicom_antenna_l_collision">
+        <pose>0 0 0.085 0 -0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.17</length>
+            <radius>0.01</radius>
+          </cylinder>
+        </geometry>
+      </collision>
+      <visual name="mobilicom_antenna_l_visual">
+        <pose>0 0 0.085 0 -0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.17</length>
+            <radius>0.01</radius>
+          </cylinder>
+        </geometry>
+      </visual>
     </link>
-    <joint name="rear_right_flipper_end_point_j" type="fixed">
-      <child>rear_right_flipper_end_point</child>
-      <parent>rear_right_flipper</parent>
+    <joint name="mobilicom_antenna_l_j" type="fixed">
+      <child>mobilicom_antenna_l</child>
+      <parent>mobilicom</parent>
       <axis>
         <dynamics>
           <spring_reference>0</spring_reference>
@@ -3674,425 +2214,260 @@
         </ode>
       </physics>
     </joint>
-    <link name="rear_right_flipper_wheel1">
-      <pose>-0.256 -0.248 0 0 -0 0</pose>
+    <link name="mobilicom_antenna_r">
+      <pose>-0.225 0.17 0.2056 0 -0 1.5707963267948966</pose>
       <inertial>
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <mass>0.457375</mass>
+        <pose>0 0 0.085 0 -0 0</pose>
+        <mass>0.03</mass>
         <inertia>
-          <ixx>0.0017663</ixx>
+          <ixx>7.3e-05</ixx>
           <ixy>0</ixy>
           <ixz>0</ixz>
-          <iyy>0.0017663</iyy>
+          <iyy>7.3e-05</iyy>
           <iyz>0</iyz>
-          <izz>0.0031038</izz>
+          <izz>1.5e-06</izz>
         </inertia>
       </inertial>
-      <collision name="rear_right_flipper_wheel1_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="mobilicom_antenna_r_collision">
+        <pose>0 0 0.085 0 -0 0</pose>
         <geometry>
           <cylinder>
-            <length>0.075</length>
-            <radius>0.1165</radius>
+            <length>0.17</length>
+            <radius>0.01</radius>
           </cylinder>
         </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-            <collide_bitmask>1</collide_bitmask>
-          </contact>
-          <friction>
-            <ode>
-              <mu>1</mu>
-              <mu2>150</mu2>
-              <slip1>0.000575828</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
       </collision>
-      <self_collide>1</self_collide>
-    </link>
-    <joint name="rear_right_flipper_wheel1_j" type="revolute">
-      <child>rear_right_flipper_wheel1</child>
-      <parent>rear_right_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>-1</effort>
-          <velocity>8.58369</velocity>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="rear_right_flipper_wheel2">
-      <pose>-0.299357 -0.248 0 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <mass>0.457375</mass>
-        <inertia>
-          <ixx>0.00162322</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.00162322</iyy>
-          <iyz>0</iyz>
-          <izz>0.00281766</izz>
-        </inertia>
-      </inertial>
-      <collision name="rear_right_flipper_wheel2_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <visual name="mobilicom_antenna_r_visual">
+        <pose>0 0 0.085 0 -0 0</pose>
         <geometry>
           <cylinder>
-            <length>0.075</length>
-            <radius>0.111</radius>
+            <length>0.17</length>
+            <radius>0.01</radius>
           </cylinder>
         </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-            <collide_bitmask>2</collide_bitmask>
-          </contact>
-          <friction>
-            <ode>
-              <mu>1</mu>
-              <mu2>150</mu2>
-              <slip1>0.000575828</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-      <self_collide>1</self_collide>
+      </visual>
     </link>
-    <joint name="rear_right_flipper_wheel2_j" type="revolute">
-      <child>rear_right_flipper_wheel2</child>
-      <parent>rear_right_flipper</parent>
+    <joint name="mobilicom_antenna_r_j" type="fixed">
+      <child>mobilicom_antenna_r</child>
+      <parent>mobilicom</parent>
       <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>-1</effort>
-          <velocity>9.00901</velocity>
-        </limit>
         <dynamics>
           <spring_reference>0</spring_reference>
           <spring_stiffness>0</spring_stiffness>
         </dynamics>
+        <xyz>0 0 1</xyz>
         <use_parent_model_frame>0</use_parent_model_frame>
+        <limit>
+          <lower>-1e+16</lower>
+          <upper>1e+16</upper>
+        </limit>
       </axis>
+      <physics>
+        <ode>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+        </ode>
+      </physics>
     </joint>
-    <link name="rear_right_flipper_wheel3">
-      <pose>-0.342714 -0.248 0 0 -0 0</pose>
+    <link name="mote_deployer">
+      <pose>-0.24 -0.16 0.1821 0 0 -3.1415926535897931</pose>
       <inertial>
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <mass>0.457375</mass>
+        <pose>0.0845 -0.024 0.0655 0 -0 0</pose>
+        <mass>0.5</mass>
         <inertia>
-          <ixx>0.00148707</ixx>
+          <ixx>0.000931042</ixx>
           <ixy>0</ixy>
           <ixz>0</ixz>
-          <iyy>0.00148707</iyy>
+          <iyy>0.00220342</iyy>
           <iyz>0</iyz>
-          <izz>0.00254535</izz>
+          <izz>0.00170437</izz>
         </inertia>
       </inertial>
-      <collision name="rear_right_flipper_wheel3_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="mote_deployer_collision">
+        <pose>0.0845 -0.024 0.0655 0 -0 0</pose>
         <geometry>
-          <cylinder>
-            <length>0.075</length>
-            <radius>0.1055</radius>
-          </cylinder>
+          <box>
+            <size>0.189 0.072 0.131</size>
+          </box>
         </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-            <collide_bitmask>4</collide_bitmask>
-          </contact>
-          <friction>
-            <ode>
-              <mu>1</mu>
-              <mu2>150</mu2>
-              <slip1>0.000575828</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
       </collision>
-      <self_collide>1</self_collide>
+      <visual name="mote_deployer_visual">
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_MARV_SENSOR_CONFIG_1/tip/files/meshes/mote_deployer.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
     </link>
-    <joint name="rear_right_flipper_wheel3_j" type="revolute">
-      <child>rear_right_flipper_wheel3</child>
-      <parent>rear_right_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>-1</effort>
-          <velocity>9.47867</velocity>
-        </limit>
+    <joint name="mote_deployer_j" type="fixed">
+      <child>mote_deployer</child>
+      <parent>rear_right_box</parent>
+      <axis>
         <dynamics>
           <spring_reference>0</spring_reference>
           <spring_stiffness>0</spring_stiffness>
         </dynamics>
+        <xyz>0 0 1</xyz>
         <use_parent_model_frame>0</use_parent_model_frame>
+        <limit>
+          <lower>-1e+16</lower>
+          <upper>1e+16</upper>
+        </limit>
       </axis>
+      <physics>
+        <ode>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+        </ode>
+      </physics>
     </joint>
-    <link name="rear_right_flipper_wheel4">
-      <pose>-0.386071 -0.248 0 0 -0 0</pose>
+    <link name="rear_right_flipper">
+      <pose>-0.256 -0.248 0 0 -0 0</pose>
       <inertial>
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <mass>0.457375</mass>
+        <pose>-0.08 0 0 0 -0 0</pose>
+        <mass>3.659</mass>
         <inertia>
-          <ixx>0.00135783</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.00135783</iyy>
-          <iyz>0</iyz>
-          <izz>0.00228687</izz>
+          <ixx>0.0017491</ixx>
+          <ixy>2.8512e-07</ixy>
+          <ixz>0.0018277</ixz>
+          <iyy>0.012277</iyy>
+          <iyz>-3.6288e-07</iyz>
+          <izz>0.010941</izz>
         </inertia>
       </inertial>
-      <collision name="rear_right_flipper_wheel4_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="rear_right_flipper_collision">
+        <pose>-0.15175 0 0 0 -0 0</pose>
         <geometry>
-          <cylinder>
-            <length>0.075</length>
-            <radius>0.1</radius>
-          </cylinder>
+          <box>
+            <size>0.3035 0.075 0.078</size>
+          </box>
         </geometry>
         <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-            <collide_bitmask>8</collide_bitmask>
-          </contact>
           <friction>
             <ode>
               <mu>1</mu>
               <mu2>150</mu2>
-              <slip1>0.000575828</slip1>
-              <slip2>0</slip2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
-      <self_collide>1</self_collide>
-    </link>
-    <joint name="rear_right_flipper_wheel4_j" type="revolute">
-      <child>rear_right_flipper_wheel4</child>
-      <parent>rear_right_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>-1</effort>
-          <velocity>10</velocity>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="rear_right_flipper_wheel5">
-      <pose>-0.429429 -0.248 0 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <mass>0.457375</mass>
-        <inertia>
-          <ixx>0.00123551</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.00123551</iyy>
-          <iyz>0</iyz>
-          <izz>0.00204224</izz>
-        </inertia>
-      </inertial>
-      <collision name="rear_right_flipper_wheel5_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="rear_right_flipper_collision_1">
+        <pose>-0.15175 0 0.05825 0 -0.126179 0</pose>
         <geometry>
-          <cylinder>
-            <length>0.075</length>
-            <radius>0.0945</radius>
-          </cylinder>
+          <box>
+            <size>0.3035 0.075 0.078</size>
+          </box>
         </geometry>
         <surface>
-          <contact>
+          <friction>
             <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
+              <mu>1</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
             </ode>
-            <collide_bitmask>16</collide_bitmask>
-          </contact>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="rear_right_flipper_collision_2">
+        <pose>-0.15175 0 -0.05825 0 0.126179 0</pose>
+        <geometry>
+          <box>
+            <size>0.3035 0.075 0.078</size>
+          </box>
+        </geometry>
+        <surface>
           <friction>
             <ode>
               <mu>1</mu>
               <mu2>150</mu2>
-              <slip1>0.000575828</slip1>
-              <slip2>0</slip2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
-      <self_collide>1</self_collide>
-    </link>
-    <joint name="rear_right_flipper_wheel5_j" type="revolute">
-      <child>rear_right_flipper_wheel5</child>
-      <parent>rear_right_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>-1</effort>
-          <velocity>10.582</velocity>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="rear_right_flipper_wheel6">
-      <pose>-0.472786 -0.248 0 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <mass>0.457375</mass>
-        <inertia>
-          <ixx>0.00112011</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.00112011</iyy>
-          <iyz>0</iyz>
-          <izz>0.00181143</izz>
-        </inertia>
-      </inertial>
-      <collision name="rear_right_flipper_wheel6_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="rear_right_flipper_collision_3">
+        <pose>-0.3035 0 0 1.5707963267948966 -0 0</pose>
         <geometry>
           <cylinder>
             <length>0.075</length>
-            <radius>0.089</radius>
+            <radius>0.078</radius>
           </cylinder>
         </geometry>
         <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-            <collide_bitmask>32</collide_bitmask>
-          </contact>
           <friction>
             <ode>
               <mu>1</mu>
               <mu2>150</mu2>
-              <slip1>0.000575828</slip1>
-              <slip2>0</slip2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
-      <self_collide>1</self_collide>
-    </link>
-    <joint name="rear_right_flipper_wheel6_j" type="revolute">
-      <child>rear_right_flipper_wheel6</child>
-      <parent>rear_right_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>-1</effort>
-          <velocity>11.236</velocity>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="rear_right_flipper_wheel7">
-      <pose>-0.516143 -0.248 0 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <mass>0.457375</mass>
-        <inertia>
-          <ixx>0.00101163</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.00101163</iyy>
-          <iyz>0</iyz>
-          <izz>0.00159447</izz>
-        </inertia>
-      </inertial>
-      <collision name="rear_right_flipper_wheel7_collision_collision">
+      <collision name="rear_right_flipper_collision_4">
         <pose>0 0 0 1.5707963267948966 -0 0</pose>
         <geometry>
           <cylinder>
             <length>0.075</length>
-            <radius>0.0835</radius>
+            <radius>0.1165</radius>
           </cylinder>
         </geometry>
         <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-            <collide_bitmask>64</collide_bitmask>
-          </contact>
           <friction>
             <ode>
               <mu>1</mu>
               <mu2>150</mu2>
-              <slip1>0.000575828</slip1>
-              <slip2>0</slip2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
+      <visual name="rear_right_flipper_visual">
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_MARV_SENSOR_CONFIG_1/tip/files/meshes/big_wheel.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <visual name="rear_right_flipper_visual_1">
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_MARV_SENSOR_CONFIG_1/tip/files/meshes/flipper_arm.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <visual name="rear_right_flipper_visual_2">
+        <pose>0 0 0 3.1415926535897931 -0 3.1415926535897931</pose>
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_MARV_SENSOR_CONFIG_1/tip/files/meshes/belt.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <visual name="rear_right_flipper_visual_3">
+        <pose>-0.3035 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_MARV_SENSOR_CONFIG_1/tip/files/meshes/small_wheel.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
       <self_collide>1</self_collide>
     </link>
-    <joint name="rear_right_flipper_wheel7_j" type="revolute">
-      <child>rear_right_flipper_wheel7</child>
-      <parent>rear_right_flipper</parent>
+    <joint name="rear_right_flipper_j" type="revolute">
+      <child>rear_right_flipper</child>
+      <parent>base_link</parent>
       <axis>
         <xyz>0 1 0</xyz>
         <limit>
           <lower>-1e+16</lower>
           <upper>1e+16</upper>
-          <effort>-1</effort>
-          <velocity>11.976</velocity>
+          <effort>120</effort>
+          <velocity>1</velocity>
         </limit>
         <dynamics>
           <spring_reference>0</spring_reference>
@@ -4100,67 +2475,92 @@
         </dynamics>
         <use_parent_model_frame>0</use_parent_model_frame>
       </axis>
+      <physics>
+        <ode>
+          <implicit_spring_damper>1</implicit_spring_damper>
+          <cfm_damping>1</cfm_damping>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+        </ode>
+      </physics>
     </joint>
-    <link name="rear_right_flipper_wheel8">
-      <pose>-0.5595 -0.248 0 0 -0 0</pose>
+    <link name="rear_right_flipper_end_point_inflated">
+      <pose>-0.6375 -0.248 0 0 -0 0</pose>
       <inertial>
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <mass>0.457375</mass>
+        <mass>1e-05</mass>
         <inertia>
-          <ixx>0.000910062</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.000910062</iyy>
-          <iyz>0</iyz>
-          <izz>0.00139133</izz>
+          <ixx>0.001</ixx>
+          <ixy>1e-06</ixy>
+          <ixz>1e-06</ixz>
+          <iyy>0.001</iyy>
+          <iyz>1e-06</iyz>
+          <izz>0.001</izz>
         </inertia>
       </inertial>
-      <collision name="rear_right_flipper_wheel8_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.075</length>
-            <radius>0.078</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-            <collide_bitmask>128</collide_bitmask>
-          </contact>
-          <friction>
-            <ode>
-              <mu>1</mu>
-              <mu2>150</mu2>
-              <slip1>0.000575828</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-      <self_collide>1</self_collide>
     </link>
-    <joint name="rear_right_flipper_wheel8_j" type="revolute">
-      <child>rear_right_flipper_wheel8</child>
+    <joint name="rear_right_flipper_end_point_inflated_j" type="fixed">
+      <child>rear_right_flipper_end_point_inflated</child>
       <parent>rear_right_flipper</parent>
       <axis>
-        <xyz>0 1 0</xyz>
+        <dynamics>
+          <spring_reference>0</spring_reference>
+          <spring_stiffness>0</spring_stiffness>
+        </dynamics>
+        <xyz>0 0 1</xyz>
+        <use_parent_model_frame>0</use_parent_model_frame>
         <limit>
           <lower>-1e+16</lower>
           <upper>1e+16</upper>
-          <effort>-1</effort>
-          <velocity>12.8205</velocity>
         </limit>
+      </axis>
+      <physics>
+        <ode>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+        </ode>
+      </physics>
+    </joint>
+    <link name="rear_right_flipper_end_point">
+      <pose>-0.6375 -0.248 0 0 -0 0</pose>
+      <inertial>
+        <mass>1e-05</mass>
+        <inertia>
+          <ixx>0.001</ixx>
+          <ixy>1e-06</ixy>
+          <ixz>1e-06</ixz>
+          <iyy>0.001</iyy>
+          <iyz>1e-06</iyz>
+          <izz>0.001</izz>
+        </inertia>
+      </inertial>
+    </link>
+    <joint name="rear_right_flipper_end_point_j" type="fixed">
+      <child>rear_right_flipper_end_point</child>
+      <parent>rear_right_flipper</parent>
+      <axis>
         <dynamics>
           <spring_reference>0</spring_reference>
           <spring_stiffness>0</spring_stiffness>
         </dynamics>
+        <xyz>0 0 1</xyz>
         <use_parent_model_frame>0</use_parent_model_frame>
+        <limit>
+          <lower>-1e+16</lower>
+          <upper>1e+16</upper>
+        </limit>
       </axis>
+      <physics>
+        <ode>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+        </ode>
+      </physics>
     </joint>
     <link name="rear_right_motor">
       <inertial>
@@ -4860,200 +3260,6 @@
       <joint_name>rear_left_flipper_j</joint_name>
       <joint_name>rear_right_flipper_j</joint_name>
     </plugin>
-    <plugin name="ignition::gazebo::systems::WheelSlip" filename="ignition-gazebo-wheel-slip-system">
-      <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_3/model.sdf b/submitted_models/ctu_cras_norlab_marv_sensor_config_3/model.sdf
index fcf66cf3..acd5bf72 100644
--- a/submitted_models/ctu_cras_norlab_marv_sensor_config_3/model.sdf
+++ b/submitted_models/ctu_cras_norlab_marv_sensor_config_3/model.sdf
@@ -1,8 +1,5 @@
 <?xml version='1.0' encoding='utf-8'?>
-<sdf version="1.6">
-  <!-- CAUTION: This is an autogenerated file, DO NOT EDIT IT!
-  It was generated by script update_robot_sdf_ign and is based on urdf/marv.xacro source file.
-  Do all modifications there and then run the update script to regenerate the SDF. -->
+<sdf version="1.6">
  <!-- CAUTION: This is an autogenerated file, DO NOT EDIT IT!
  It was generated by script update_robot_sdf_ign and is based on urdf/marv.xacro source file.
  Do all modifications there and then run the update script to regenerate the SDF. -->
   <model name="ctu_cras_norlab_marv_sensor_config_1">
     <link name="base_link">
       <inertial>
@@ -471,16 +468,104 @@
     <link name="front_left_flipper">
       <pose>0.256 0.248 0 0 -0 0</pose>
       <inertial>
-        <mass>1e-05</mass>
+        <pose>0.08 0 0 0 -0 0</pose>
+        <mass>3.659</mass>
         <inertia>
-          <ixx>0.001</ixx>
-          <ixy>1e-06</ixy>
-          <ixz>1e-06</ixz>
-          <iyy>0.001</iyy>
-          <iyz>1e-06</iyz>
-          <izz>0.001</izz>
+          <ixx>0.0017491</ixx>
+          <ixy>2.8512e-07</ixy>
+          <ixz>0.0018277</ixz>
+          <iyy>0.012277</iyy>
+          <iyz>-3.6288e-07</iyz>
+          <izz>0.010941</izz>
         </inertia>
       </inertial>
+      <collision name="front_left_flipper_collision">
+        <pose>0.15175 0 0 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.3035 0.075 0.078</size>
+          </box>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>1</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="front_left_flipper_collision_1">
+        <pose>0.15175 0 0.05825 0 0.126179 0</pose>
+        <geometry>
+          <box>
+            <size>0.3035 0.075 0.078</size>
+          </box>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>1</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="front_left_flipper_collision_2">
+        <pose>0.15175 0 -0.05825 0 -0.126179 0</pose>
+        <geometry>
+          <box>
+            <size>0.3035 0.075 0.078</size>
+          </box>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>1</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="front_left_flipper_collision_3">
+        <pose>0.3035 0 0 1.5707963267948966 -0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.075</length>
+            <radius>0.078</radius>
+          </cylinder>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>1</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="front_left_flipper_collision_4">
+        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.075</length>
+            <radius>0.1165</radius>
+          </cylinder>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>1</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
       <visual name="front_left_flipper_visual">
         <geometry>
           <mesh>
@@ -617,545 +702,145 @@
         </ode>
       </physics>
     </joint>
-    <link name="front_left_flipper_wheel1">
-      <pose>0.256 0.248 0 0 -0 0</pose>
+    <link name="front_left_motor">
       <inertial>
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <mass>0.457375</mass>
+        <pose>0.22 -0.09 0.02 0 -0 0</pose>
+        <mass>4.06</mass>
         <inertia>
-          <ixx>0.0017663</ixx>
+          <ixx>0.0151492</ixx>
           <ixy>0</ixy>
           <ixz>0</ixz>
-          <iyy>0.0017663</iyy>
+          <iyy>0.0129839</iyy>
           <iyz>0</iyz>
-          <izz>0.0031038</izz>
+          <izz>0.0173903</izz>
         </inertia>
       </inertial>
-      <collision name="front_left_flipper_wheel1_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.075</length>
-            <radius>0.1165</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-            <collide_bitmask>1</collide_bitmask>
-          </contact>
-          <friction>
-            <ode>
-              <mu>1</mu>
-              <mu2>150</mu2>
-              <slip1>0.000580373</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-      <self_collide>1</self_collide>
     </link>
-    <joint name="front_left_flipper_wheel1_j" type="revolute">
-      <child>front_left_flipper_wheel1</child>
-      <parent>front_left_flipper</parent>
+    <joint name="front_left_motor_j" type="fixed">
+      <child>front_left_motor</child>
+      <parent>base_link</parent>
       <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>-1</effort>
-          <velocity>8.58369</velocity>
-        </limit>
         <dynamics>
           <spring_reference>0</spring_reference>
           <spring_stiffness>0</spring_stiffness>
         </dynamics>
+        <xyz>0 0 1</xyz>
         <use_parent_model_frame>0</use_parent_model_frame>
+        <limit>
+          <lower>-1e+16</lower>
+          <upper>1e+16</upper>
+        </limit>
       </axis>
+      <physics>
+        <ode>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+        </ode>
+      </physics>
     </joint>
-    <link name="front_left_flipper_wheel2">
-      <pose>0.299357 0.248 0 0 -0 0</pose>
+    <link name="front_right_flipper">
+      <pose>0.256 -0.248 0 3.1415926535897931 -0 -3.1415926535897931</pose>
       <inertial>
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <mass>0.457375</mass>
+        <pose>-0.08 0 0 0 -0 0</pose>
+        <mass>3.659</mass>
         <inertia>
-          <ixx>0.00162322</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.00162322</iyy>
-          <iyz>0</iyz>
-          <izz>0.00281766</izz>
+          <ixx>0.0017491</ixx>
+          <ixy>2.8512e-07</ixy>
+          <ixz>0.0018277</ixz>
+          <iyy>0.012277</iyy>
+          <iyz>-3.6288e-07</iyz>
+          <izz>0.010941</izz>
         </inertia>
       </inertial>
-      <collision name="front_left_flipper_wheel2_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="front_right_flipper_collision">
+        <pose>-0.15175 0 0 0 -0 0</pose>
         <geometry>
-          <cylinder>
-            <length>0.075</length>
-            <radius>0.111</radius>
-          </cylinder>
+          <box>
+            <size>0.3035 0.075 0.078</size>
+          </box>
         </geometry>
         <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-            <collide_bitmask>2</collide_bitmask>
-          </contact>
           <friction>
             <ode>
               <mu>1</mu>
               <mu2>150</mu2>
-              <slip1>0.000580373</slip1>
-              <slip2>0</slip2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
-      <self_collide>1</self_collide>
-    </link>
-    <joint name="front_left_flipper_wheel2_j" type="revolute">
-      <child>front_left_flipper_wheel2</child>
-      <parent>front_left_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>-1</effort>
-          <velocity>9.00901</velocity>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="front_left_flipper_wheel3">
-      <pose>0.342714 0.248 0 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <mass>0.457375</mass>
-        <inertia>
-          <ixx>0.00148707</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.00148707</iyy>
-          <iyz>0</iyz>
-          <izz>0.00254535</izz>
-        </inertia>
-      </inertial>
-      <collision name="front_left_flipper_wheel3_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="front_right_flipper_collision_1">
+        <pose>-0.15175 0 0.05825 0 -0.126179 0</pose>
         <geometry>
-          <cylinder>
-            <length>0.075</length>
-            <radius>0.1055</radius>
-          </cylinder>
+          <box>
+            <size>0.3035 0.075 0.078</size>
+          </box>
         </geometry>
         <surface>
-          <contact>
+          <friction>
             <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
+              <mu>1</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
             </ode>
-            <collide_bitmask>4</collide_bitmask>
-          </contact>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="front_right_flipper_collision_2">
+        <pose>-0.15175 0 -0.05825 0 0.126179 0</pose>
+        <geometry>
+          <box>
+            <size>0.3035 0.075 0.078</size>
+          </box>
+        </geometry>
+        <surface>
           <friction>
             <ode>
               <mu>1</mu>
               <mu2>150</mu2>
-              <slip1>0.000580373</slip1>
-              <slip2>0</slip2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
-      <self_collide>1</self_collide>
-    </link>
-    <joint name="front_left_flipper_wheel3_j" type="revolute">
-      <child>front_left_flipper_wheel3</child>
-      <parent>front_left_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>-1</effort>
-          <velocity>9.47867</velocity>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="front_left_flipper_wheel4">
-      <pose>0.386071 0.248 0 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <mass>0.457375</mass>
-        <inertia>
-          <ixx>0.00135783</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.00135783</iyy>
-          <iyz>0</iyz>
-          <izz>0.00228687</izz>
-        </inertia>
-      </inertial>
-      <collision name="front_left_flipper_wheel4_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="front_right_flipper_collision_3">
+        <pose>-0.3035 0 0 1.5707963267948966 -0 0</pose>
         <geometry>
           <cylinder>
             <length>0.075</length>
-            <radius>0.1</radius>
+            <radius>0.078</radius>
           </cylinder>
         </geometry>
         <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-            <collide_bitmask>8</collide_bitmask>
-          </contact>
           <friction>
             <ode>
               <mu>1</mu>
               <mu2>150</mu2>
-              <slip1>0.000580373</slip1>
-              <slip2>0</slip2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
-      <self_collide>1</self_collide>
-    </link>
-    <joint name="front_left_flipper_wheel4_j" type="revolute">
-      <child>front_left_flipper_wheel4</child>
-      <parent>front_left_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>-1</effort>
-          <velocity>10</velocity>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="front_left_flipper_wheel5">
-      <pose>0.429429 0.248 0 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <mass>0.457375</mass>
-        <inertia>
-          <ixx>0.00123551</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.00123551</iyy>
-          <iyz>0</iyz>
-          <izz>0.00204224</izz>
-        </inertia>
-      </inertial>
-      <collision name="front_left_flipper_wheel5_collision_collision">
+      <collision name="front_right_flipper_collision_4">
         <pose>0 0 0 1.5707963267948966 -0 0</pose>
         <geometry>
           <cylinder>
             <length>0.075</length>
-            <radius>0.0945</radius>
+            <radius>0.1165</radius>
           </cylinder>
         </geometry>
         <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-            <collide_bitmask>16</collide_bitmask>
-          </contact>
           <friction>
             <ode>
               <mu>1</mu>
               <mu2>150</mu2>
-              <slip1>0.000580373</slip1>
-              <slip2>0</slip2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
-      <self_collide>1</self_collide>
-    </link>
-    <joint name="front_left_flipper_wheel5_j" type="revolute">
-      <child>front_left_flipper_wheel5</child>
-      <parent>front_left_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>-1</effort>
-          <velocity>10.582</velocity>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="front_left_flipper_wheel6">
-      <pose>0.472786 0.248 0 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <mass>0.457375</mass>
-        <inertia>
-          <ixx>0.00112011</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.00112011</iyy>
-          <iyz>0</iyz>
-          <izz>0.00181143</izz>
-        </inertia>
-      </inertial>
-      <collision name="front_left_flipper_wheel6_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.075</length>
-            <radius>0.089</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-            <collide_bitmask>32</collide_bitmask>
-          </contact>
-          <friction>
-            <ode>
-              <mu>1</mu>
-              <mu2>150</mu2>
-              <slip1>0.000580373</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-      <self_collide>1</self_collide>
-    </link>
-    <joint name="front_left_flipper_wheel6_j" type="revolute">
-      <child>front_left_flipper_wheel6</child>
-      <parent>front_left_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>-1</effort>
-          <velocity>11.236</velocity>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="front_left_flipper_wheel7">
-      <pose>0.516143 0.248 0 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <mass>0.457375</mass>
-        <inertia>
-          <ixx>0.00101163</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.00101163</iyy>
-          <iyz>0</iyz>
-          <izz>0.00159447</izz>
-        </inertia>
-      </inertial>
-      <collision name="front_left_flipper_wheel7_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.075</length>
-            <radius>0.0835</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-            <collide_bitmask>64</collide_bitmask>
-          </contact>
-          <friction>
-            <ode>
-              <mu>1</mu>
-              <mu2>150</mu2>
-              <slip1>0.000580373</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-      <self_collide>1</self_collide>
-    </link>
-    <joint name="front_left_flipper_wheel7_j" type="revolute">
-      <child>front_left_flipper_wheel7</child>
-      <parent>front_left_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>-1</effort>
-          <velocity>11.976</velocity>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="front_left_flipper_wheel8">
-      <pose>0.5595 0.248 0 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <mass>0.457375</mass>
-        <inertia>
-          <ixx>0.000910062</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.000910062</iyy>
-          <iyz>0</iyz>
-          <izz>0.00139133</izz>
-        </inertia>
-      </inertial>
-      <collision name="front_left_flipper_wheel8_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.075</length>
-            <radius>0.078</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-            <collide_bitmask>128</collide_bitmask>
-          </contact>
-          <friction>
-            <ode>
-              <mu>1</mu>
-              <mu2>150</mu2>
-              <slip1>0.000580373</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-      <self_collide>1</self_collide>
-    </link>
-    <joint name="front_left_flipper_wheel8_j" type="revolute">
-      <child>front_left_flipper_wheel8</child>
-      <parent>front_left_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>-1</effort>
-          <velocity>12.8205</velocity>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="front_left_motor">
-      <inertial>
-        <pose>0.22 -0.09 0.02 0 -0 0</pose>
-        <mass>4.06</mass>
-        <inertia>
-          <ixx>0.0151492</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.0129839</iyy>
-          <iyz>0</iyz>
-          <izz>0.0173903</izz>
-        </inertia>
-      </inertial>
-    </link>
-    <joint name="front_left_motor_j" type="fixed">
-      <child>front_left_motor</child>
-      <parent>base_link</parent>
-      <axis>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <xyz>0 0 1</xyz>
-        <use_parent_model_frame>0</use_parent_model_frame>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-      </axis>
-      <physics>
-        <ode>
-          <limit>
-            <cfm>0</cfm>
-            <erp>0.2</erp>
-          </limit>
-        </ode>
-      </physics>
-    </joint>
-    <link name="front_right_flipper">
-      <pose>0.256 -0.248 0 3.1415926535897931 -0 -3.1415926535897931</pose>
-      <inertial>
-        <mass>1e-05</mass>
-        <inertia>
-          <ixx>0.001</ixx>
-          <ixy>1e-06</ixy>
-          <ixz>1e-06</ixz>
-          <iyy>0.001</iyy>
-          <iyz>1e-06</iyz>
-          <izz>0.001</izz>
-        </inertia>
-      </inertial>
       <visual name="front_right_flipper_visual">
         <geometry>
           <mesh>
@@ -1292,1550 +977,139 @@
         </ode>
       </physics>
     </joint>
-    <link name="front_right_flipper_wheel1">
-      <pose>0.256 -0.248 0 3.1415926535897931 -0 3.1415926535897931</pose>
+    <link name="front_right_motor">
       <inertial>
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <mass>0.457375</mass>
+        <pose>0.22 0.09 0.02 0 -0 0</pose>
+        <mass>4.06</mass>
         <inertia>
-          <ixx>0.0017663</ixx>
+          <ixx>0.0151492</ixx>
           <ixy>0</ixy>
           <ixz>0</ixz>
-          <iyy>0.0017663</iyy>
+          <iyy>0.0129839</iyy>
           <iyz>0</iyz>
-          <izz>0.0031038</izz>
+          <izz>0.0173903</izz>
         </inertia>
       </inertial>
-      <collision name="front_right_flipper_wheel1_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.075</length>
-            <radius>0.1165</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-            <collide_bitmask>1</collide_bitmask>
-          </contact>
-          <friction>
-            <ode>
-              <mu>1</mu>
-              <mu2>150</mu2>
-              <slip1>0.000580373</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-      <self_collide>1</self_collide>
     </link>
-    <joint name="front_right_flipper_wheel1_j" type="revolute">
-      <child>front_right_flipper_wheel1</child>
-      <parent>front_right_flipper</parent>
+    <joint name="front_right_motor_j" type="fixed">
+      <child>front_right_motor</child>
+      <parent>base_link</parent>
       <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>-1</effort>
-          <velocity>8.58369</velocity>
-        </limit>
         <dynamics>
           <spring_reference>0</spring_reference>
           <spring_stiffness>0</spring_stiffness>
         </dynamics>
+        <xyz>0 0 1</xyz>
         <use_parent_model_frame>0</use_parent_model_frame>
+        <limit>
+          <lower>-1e+16</lower>
+          <upper>1e+16</upper>
+        </limit>
       </axis>
+      <physics>
+        <ode>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+        </ode>
+      </physics>
     </joint>
-    <link name="front_right_flipper_wheel2">
-      <pose>0.299357 -0.248 -0 3.1415926535897931 -0 3.1415926535897931</pose>
+    <link name="imu">
+      <pose>0 0 0.15 -3.1415926535897931 0 0</pose>
       <inertial>
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <mass>0.457375</mass>
+        <mass>1e-05</mass>
         <inertia>
-          <ixx>0.00162322</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.00162322</iyy>
-          <iyz>0</iyz>
-          <izz>0.00281766</izz>
+          <ixx>0.001</ixx>
+          <ixy>1e-06</ixy>
+          <ixz>1e-06</ixz>
+          <iyy>0.001</iyy>
+          <iyz>1e-06</iyz>
+          <izz>0.001</izz>
         </inertia>
       </inertial>
-      <collision name="front_right_flipper_wheel2_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.075</length>
-            <radius>0.111</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-            <collide_bitmask>2</collide_bitmask>
-          </contact>
-          <friction>
-            <ode>
-              <mu>1</mu>
-              <mu2>150</mu2>
-              <slip1>0.000580373</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-      <self_collide>1</self_collide>
-    </link>
-    <joint name="front_right_flipper_wheel2_j" type="revolute">
-      <child>front_right_flipper_wheel2</child>
-      <parent>front_right_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>-1</effort>
-          <velocity>9.00901</velocity>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="front_right_flipper_wheel3">
-      <pose>0.342714 -0.248 -0 3.1415926535897931 -0 3.1415926535897931</pose>
-      <inertial>
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <mass>0.457375</mass>
-        <inertia>
-          <ixx>0.00148707</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.00148707</iyy>
-          <iyz>0</iyz>
-          <izz>0.00254535</izz>
-        </inertia>
-      </inertial>
-      <collision name="front_right_flipper_wheel3_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.075</length>
-            <radius>0.1055</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-            <collide_bitmask>4</collide_bitmask>
-          </contact>
-          <friction>
-            <ode>
-              <mu>1</mu>
-              <mu2>150</mu2>
-              <slip1>0.000580373</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-      <self_collide>1</self_collide>
-    </link>
-    <joint name="front_right_flipper_wheel3_j" type="revolute">
-      <child>front_right_flipper_wheel3</child>
-      <parent>front_right_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>-1</effort>
-          <velocity>9.47867</velocity>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="front_right_flipper_wheel4">
-      <pose>0.386071 -0.248 -0 3.1415926535897931 -0 3.1415926535897931</pose>
-      <inertial>
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <mass>0.457375</mass>
-        <inertia>
-          <ixx>0.00135783</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.00135783</iyy>
-          <iyz>0</iyz>
-          <izz>0.00228687</izz>
-        </inertia>
-      </inertial>
-      <collision name="front_right_flipper_wheel4_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.075</length>
-            <radius>0.1</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-            <collide_bitmask>8</collide_bitmask>
-          </contact>
-          <friction>
-            <ode>
-              <mu>1</mu>
-              <mu2>150</mu2>
-              <slip1>0.000580373</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-      <self_collide>1</self_collide>
-    </link>
-    <joint name="front_right_flipper_wheel4_j" type="revolute">
-      <child>front_right_flipper_wheel4</child>
-      <parent>front_right_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>-1</effort>
-          <velocity>10</velocity>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="front_right_flipper_wheel5">
-      <pose>0.429429 -0.248 -0 3.1415926535897931 -0 3.1415926535897931</pose>
-      <inertial>
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <mass>0.457375</mass>
-        <inertia>
-          <ixx>0.00123551</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.00123551</iyy>
-          <iyz>0</iyz>
-          <izz>0.00204224</izz>
-        </inertia>
-      </inertial>
-      <collision name="front_right_flipper_wheel5_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.075</length>
-            <radius>0.0945</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-            <collide_bitmask>16</collide_bitmask>
-          </contact>
-          <friction>
-            <ode>
-              <mu>1</mu>
-              <mu2>150</mu2>
-              <slip1>0.000580373</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-      <self_collide>1</self_collide>
-    </link>
-    <joint name="front_right_flipper_wheel5_j" type="revolute">
-      <child>front_right_flipper_wheel5</child>
-      <parent>front_right_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>-1</effort>
-          <velocity>10.582</velocity>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="front_right_flipper_wheel6">
-      <pose>0.472786 -0.248 -0 3.1415926535897931 -0 3.1415926535897931</pose>
-      <inertial>
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <mass>0.457375</mass>
-        <inertia>
-          <ixx>0.00112011</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.00112011</iyy>
-          <iyz>0</iyz>
-          <izz>0.00181143</izz>
-        </inertia>
-      </inertial>
-      <collision name="front_right_flipper_wheel6_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.075</length>
-            <radius>0.089</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-            <collide_bitmask>32</collide_bitmask>
-          </contact>
-          <friction>
-            <ode>
-              <mu>1</mu>
-              <mu2>150</mu2>
-              <slip1>0.000580373</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-      <self_collide>1</self_collide>
-    </link>
-    <joint name="front_right_flipper_wheel6_j" type="revolute">
-      <child>front_right_flipper_wheel6</child>
-      <parent>front_right_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>-1</effort>
-          <velocity>11.236</velocity>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="front_right_flipper_wheel7">
-      <pose>0.516143 -0.248 -0 3.1415926535897931 -0 3.1415926535897931</pose>
-      <inertial>
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <mass>0.457375</mass>
-        <inertia>
-          <ixx>0.00101163</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.00101163</iyy>
-          <iyz>0</iyz>
-          <izz>0.00159447</izz>
-        </inertia>
-      </inertial>
-      <collision name="front_right_flipper_wheel7_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.075</length>
-            <radius>0.0835</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-            <collide_bitmask>64</collide_bitmask>
-          </contact>
-          <friction>
-            <ode>
-              <mu>1</mu>
-              <mu2>150</mu2>
-              <slip1>0.000580373</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-      <self_collide>1</self_collide>
-    </link>
-    <joint name="front_right_flipper_wheel7_j" type="revolute">
-      <child>front_right_flipper_wheel7</child>
-      <parent>front_right_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>-1</effort>
-          <velocity>11.976</velocity>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="front_right_flipper_wheel8">
-      <pose>0.5595 -0.248 -0 3.1415926535897931 -0 3.1415926535897931</pose>
-      <inertial>
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <mass>0.457375</mass>
-        <inertia>
-          <ixx>0.000910062</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.000910062</iyy>
-          <iyz>0</iyz>
-          <izz>0.00139133</izz>
-        </inertia>
-      </inertial>
-      <collision name="front_right_flipper_wheel8_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.075</length>
-            <radius>0.078</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-            <collide_bitmask>128</collide_bitmask>
-          </contact>
-          <friction>
-            <ode>
-              <mu>1</mu>
-              <mu2>150</mu2>
-              <slip1>0.000580373</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-      <self_collide>1</self_collide>
-    </link>
-    <joint name="front_right_flipper_wheel8_j" type="revolute">
-      <child>front_right_flipper_wheel8</child>
-      <parent>front_right_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>-1</effort>
-          <velocity>12.8205</velocity>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="front_right_motor">
-      <inertial>
-        <pose>0.22 0.09 0.02 0 -0 0</pose>
-        <mass>4.06</mass>
-        <inertia>
-          <ixx>0.0151492</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.0129839</iyy>
-          <iyz>0</iyz>
-          <izz>0.0173903</izz>
-        </inertia>
-      </inertial>
-    </link>
-    <joint name="front_right_motor_j" type="fixed">
-      <child>front_right_motor</child>
-      <parent>base_link</parent>
-      <axis>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <xyz>0 0 1</xyz>
-        <use_parent_model_frame>0</use_parent_model_frame>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-      </axis>
-      <physics>
-        <ode>
-          <limit>
-            <cfm>0</cfm>
-            <erp>0.2</erp>
-          </limit>
-        </ode>
-      </physics>
-    </joint>
-    <link name="imu">
-      <pose>0 0 0.15 -3.1415926535897931 0 0</pose>
-      <inertial>
-        <mass>1e-05</mass>
-        <inertia>
-          <ixx>0.001</ixx>
-          <ixy>1e-06</ixy>
-          <ixz>1e-06</ixz>
-          <iyy>0.001</iyy>
-          <iyz>1e-06</iyz>
-          <izz>0.001</izz>
-        </inertia>
-      </inertial>
-      <self_collide>0</self_collide>
-      <sensor name="imu" type="imu">
-        <always_on>1</always_on>
-        <update_rate>50</update_rate>
-        <imu>
-          <enable_orientation>0</enable_orientation>
-          <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>
+      <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>
+          <enable_orientation>0</enable_orientation>
+        </imu>
       </sensor>
     </link>
-    <joint name="camera_0_j" type="fixed">
-      <child>camera_0</child>
-      <parent>rear_right_box</parent>
+    <joint name="imu_j" type="fixed">
+      <child>imu</child>
+      <parent>base_link</parent>
       <axis>
         <dynamics>
           <spring_reference>0</spring_reference>
@@ -2857,66 +1131,66 @@
         </ode>
       </physics>
     </joint>
-    <link name="camera_2">
-      <pose>-0.21 0 0.1921 0 -0 3.1415926535897931</pose>
+    <link name="rear_cam">
+      <pose>-0.244 0 0.1321 0 0 -3.1415926535897931</pose>
       <inertial>
-        <pose>0.039802 0 0.0145 0 -0 0</pose>
-        <mass>0.232</mass>
+        <pose>0.019862 0 0.0145 0 -0 0</pose>
+        <mass>0.14</mass>
         <inertia>
-          <ixx>3.25187e-05</ixx>
+          <ixx>1.96233e-05</ixx>
           <ixy>0</ixy>
           <ixz>0</ixz>
-          <iyy>0.000158598</iyy>
+          <iyy>6.75088e-05</iyy>
           <iyz>0</iyz>
-          <izz>0.000158598</izz>
+          <izz>6.75088e-05</izz>
         </inertia>
       </inertial>
-      <collision name="camera_2_collision_collision">
-        <pose>0.02465 0 0.0145 0 -0 0</pose>
+      <collision name="rear_cam_collision_collision">
+        <pose>0.0117 0 0.0145 0 -0 0</pose>
         <geometry>
           <box>
-            <size>0.0555 0.029 0.029</size>
+            <size>0.054 0.029 0.029</size>
           </box>
         </geometry>
       </collision>
-      <collision name="camera_2_lens_collision_collision_1">
-        <pose>0.062834 0 0.0145 0 1.5707963267948966 0</pose>
+      <collision name="rear_cam_lens_collision_collision_1">
+        <pose>0.042024 0 0.0145 0 1.5707963267948966 0</pose>
         <geometry>
           <cylinder>
-            <length>0.03974</length>
+            <length>0.026</length>
             <radius>0.0125</radius>
           </cylinder>
         </geometry>
       </collision>
-      <visual name="camera_2_visual">
+      <visual name="rear_cam_visual">
         <pose>0 0 0.0145 0 -0 0</pose>
         <geometry>
           <mesh>
-            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_MARV_SENSOR_CONFIG_1/tip/files/meshes/basler_ace2_pro.dae</uri>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_MARV_SENSOR_CONFIG_1/tip/files/meshes/basler_ace.dae</uri>
           </mesh>
         </geometry>
       </visual>
-      <visual name="camera_2_visual_1">
-        <pose>0.042964 0 0.0145 0 -0 0</pose>
+      <visual name="rear_cam_visual_1">
+        <pose>0.029024 0 0.0145 0 -0 0</pose>
         <geometry>
           <mesh>
-            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_MARV_SENSOR_CONFIG_1/tip/files/meshes/evetar_lens.dae</uri>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_MARV_SENSOR_CONFIG_1/tip/files/meshes/evetar_fisheye_lens.dae</uri>
           </mesh>
         </geometry>
       </visual>
-      <sensor name="camera_2" type="camera">
-        <pose>0.072044 0 0.0145 0 -0 0</pose>
-        <update_rate>9</update_rate>
+      <sensor name="rear_cam" type="camera">
+        <pose>0.051574 0 0.0145 0 -0 0</pose>
+        <update_rate>15</update_rate>
         <visualize>0</visualize>
         <camera>
-          <horizontal_fov>1.50971</horizontal_fov>
+          <horizontal_fov>2.40855</horizontal_fov>
           <image>
-            <width>1920</width>
-            <height>1200</height>
+            <width>2048</width>
+            <height>1536</height>
             <format>R8G8B8</format>
           </image>
           <clip>
-            <near>0.011726</near>
+            <near>0.025</near>
             <far>300</far>
           </clip>
           <noise>
@@ -2926,10 +1200,10 @@
           </noise>
           <lens>
             <intrinsics>
-              <fx>1020.51</fx>
-              <fy>1020.51</fy>
-              <cx>959.5</cx>
-              <cy>599.5</cy>
+              <fx>393.077</fx>
+              <fy>393.077</fy>
+              <cx>1023.5</cx>
+              <cy>767.5</cy>
               <s>0</s>
             </intrinsics>
             <type>stereographic</type>
@@ -2938,9 +1212,9 @@
         </camera>
       </sensor>
     </link>
-    <joint name="camera_2_j" type="fixed">
-      <child>camera_2</child>
-      <parent>rear_right_box</parent>
+    <joint name="rear_cam_j" type="fixed">
+      <child>rear_cam</child>
+      <parent>base_link</parent>
       <axis>
         <dynamics>
           <spring_reference>0</spring_reference>
@@ -2962,85 +1236,160 @@
         </ode>
       </physics>
     </joint>
-    <link name="cliff_sensor_front_left">
-      <pose>0.3 0.1445 0.2106 0 1.5707963267948966 0</pose>
+    <link name="rear_left_flipper">
+      <pose>-0.256 0.248 0 3.1415926535897931 -0 -3.1415926535897931</pose>
       <inertial>
-        <pose>0.0105 0 0.00925 0 -0 0</pose>
-        <mass>0.012</mass>
+        <pose>0.08 0 0 0 -0 0</pose>
+        <mass>3.659</mass>
         <inertia>
-          <ixx>1.56725e-06</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>7.8325e-07</iyy>
-          <iyz>0</iyz>
-          <izz>1.666e-06</izz>
+          <ixx>0.0017491</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="cliff_sensor_front_left_collision">
-        <pose>0.0105 0 0.00925 0 -0 0</pose>
+      <collision name="rear_left_flipper_collision">
+        <pose>0.15175 0 0 0 -0 0</pose>
         <geometry>
           <box>
-            <size>0.021 0.035 0.0185</size>
+            <size>0.3035 0.075 0.078</size>
           </box>
         </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>1</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
+            </ode>
+          </friction>
+        </surface>
       </collision>
-      <visual name="cliff_sensor_front_left_visual">
+      <collision name="rear_left_flipper_collision_1">
+        <pose>0.15175 0 0.05825 0 0.126179 0</pose>
+        <geometry>
+          <box>
+            <size>0.3035 0.075 0.078</size>
+          </box>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>1</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="rear_left_flipper_collision_2">
+        <pose>0.15175 0 -0.05825 0 -0.126179 0</pose>
+        <geometry>
+          <box>
+            <size>0.3035 0.075 0.078</size>
+          </box>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>1</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="rear_left_flipper_collision_3">
+        <pose>0.3035 0 0 1.5707963267948966 -0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.075</length>
+            <radius>0.078</radius>
+          </cylinder>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>1</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="rear_left_flipper_collision_4">
+        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.075</length>
+            <radius>0.1165</radius>
+          </cylinder>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>1</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <visual name="rear_left_flipper_visual">
         <geometry>
           <mesh>
-            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_MARV_SENSOR_CONFIG_1/tip/files/meshes/tfmini_plus_lidar.dae</uri>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_MARV_SENSOR_CONFIG_1/tip/files/meshes/big_wheel.dae</uri>
           </mesh>
         </geometry>
       </visual>
-      <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>
+      <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="cliff_sensor_front_left_j" type="fixed">
-      <child>cliff_sensor_front_left</child>
-      <parent>rear_right_box</parent>
+    <joint name="rear_left_flipper_j" type="revolute">
+      <child>rear_left_flipper</child>
+      <parent>base_link</parent>
       <axis>
+        <xyz>0 1 0</xyz>
+        <limit>
+          <lower>-1e+16</lower>
+          <upper>1e+16</upper>
+          <effort>120</effort>
+          <velocity>1</velocity>
+        </limit>
         <dynamics>
           <spring_reference>0</spring_reference>
           <spring_stiffness>0</spring_stiffness>
         </dynamics>
-        <xyz>0 0 1</xyz>
         <use_parent_model_frame>0</use_parent_model_frame>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
       </axis>
       <physics>
         <ode>
+          <implicit_spring_damper>1</implicit_spring_damper>
+          <cfm_damping>1</cfm_damping>
           <limit>
             <cfm>0</cfm>
             <erp>0.2</erp>
@@ -3048,71 +1397,23 @@
         </ode>
       </physics>
     </joint>
-    <link name="cliff_sensor_front_right">
-      <pose>0.3 -0.1445 0.2106 0 1.5707963267948966 0</pose>
+    <link name="rear_left_flipper_end_point_inflated">
+      <pose>-0.6375 0.248 0 3.1415926535897931 -0 3.1415926535897931</pose>
       <inertial>
-        <pose>0.0105 0 0.00925 0 -0 0</pose>
-        <mass>0.012</mass>
+        <mass>1e-05</mass>
         <inertia>
-          <ixx>1.56725e-06</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>7.8325e-07</iyy>
-          <iyz>0</iyz>
-          <izz>1.666e-06</izz>
+          <ixx>0.001</ixx>
+          <ixy>1e-06</ixy>
+          <ixz>1e-06</ixz>
+          <iyy>0.001</iyy>
+          <iyz>1e-06</iyz>
+          <izz>0.001</izz>
         </inertia>
       </inertial>
-      <collision name="cliff_sensor_front_right_collision">
-        <pose>0.0105 0 0.00925 0 -0 0</pose>
-        <geometry>
-          <box>
-            <size>0.021 0.035 0.0185</size>
-          </box>
-        </geometry>
-      </collision>
-      <visual name="cliff_sensor_front_right_visual">
-        <geometry>
-          <mesh>
-            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_MARV_SENSOR_CONFIG_1/tip/files/meshes/tfmini_plus_lidar.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-      <sensor name="laser" type="gpu_lidar">
-        <pose>0.021 0 0.00925 0 -0 0</pose>
-        <update_rate>10</update_rate>
-        <visualize>0</visualize>
-        <always_on>1</always_on>
-        <lidar>
-          <scan>
-            <horizontal>
-              <samples>3</samples>
-              <resolution>1</resolution>
-              <min_angle>-0.0314159</min_angle>
-              <max_angle>0.0314159</max_angle>
-            </horizontal>
-            <vertical>
-              <samples>3</samples>
-              <resolution>1</resolution>
-              <min_angle>-0.0314159</min_angle>
-              <max_angle>0.0314159</max_angle>
-            </vertical>
-          </scan>
-          <range>
-            <min>0.1</min>
-            <max>12</max>
-            <resolution>0.01</resolution>
-          </range>
-          <noise>
-            <type>gaussian</type>
-            <mean>0</mean>
-            <stddev>0.015</stddev>
-          </noise>
-        </lidar>
-      </sensor>
     </link>
-    <joint name="cliff_sensor_front_right_j" type="fixed">
-      <child>cliff_sensor_front_right</child>
-      <parent>rear_right_box</parent>
+    <joint name="rear_left_flipper_end_point_inflated_j" type="fixed">
+      <child>rear_left_flipper_end_point_inflated</child>
+      <parent>rear_left_flipper</parent>
       <axis>
         <dynamics>
           <spring_reference>0</spring_reference>
@@ -3134,71 +1435,23 @@
         </ode>
       </physics>
     </joint>
-    <link name="cliff_sensor_rear_left">
-      <pose>-0.3 0.1445 0.2106 3.1415926535897931 1.5707963267948966 0</pose>
+    <link name="rear_left_flipper_end_point">
+      <pose>-0.6375 0.248 0 3.1415926535897931 -0 3.1415926535897931</pose>
       <inertial>
-        <pose>0.0105 0 0.00925 0 -0 0</pose>
-        <mass>0.012</mass>
+        <mass>1e-05</mass>
         <inertia>
-          <ixx>1.56725e-06</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>7.8325e-07</iyy>
-          <iyz>0</iyz>
-          <izz>1.666e-06</izz>
+          <ixx>0.001</ixx>
+          <ixy>1e-06</ixy>
+          <ixz>1e-06</ixz>
+          <iyy>0.001</iyy>
+          <iyz>1e-06</iyz>
+          <izz>0.001</izz>
         </inertia>
       </inertial>
-      <collision name="cliff_sensor_rear_left_collision">
-        <pose>0.0105 0 0.00925 0 -0 0</pose>
-        <geometry>
-          <box>
-            <size>0.021 0.035 0.0185</size>
-          </box>
-        </geometry>
-      </collision>
-      <visual name="cliff_sensor_rear_left_visual">
-        <geometry>
-          <mesh>
-            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_MARV_SENSOR_CONFIG_1/tip/files/meshes/tfmini_plus_lidar.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-      <sensor name="laser" type="gpu_lidar">
-        <pose>0.021 0 0.00925 0 -0 0</pose>
-        <update_rate>10</update_rate>
-        <visualize>0</visualize>
-        <always_on>1</always_on>
-        <lidar>
-          <scan>
-            <horizontal>
-              <samples>3</samples>
-              <resolution>1</resolution>
-              <min_angle>-0.0314159</min_angle>
-              <max_angle>0.0314159</max_angle>
-            </horizontal>
-            <vertical>
-              <samples>3</samples>
-              <resolution>1</resolution>
-              <min_angle>-0.0314159</min_angle>
-              <max_angle>0.0314159</max_angle>
-            </vertical>
-          </scan>
-          <range>
-            <min>0.1</min>
-            <max>12</max>
-            <resolution>0.01</resolution>
-          </range>
-          <noise>
-            <type>gaussian</type>
-            <mean>0</mean>
-            <stddev>0.015</stddev>
-          </noise>
-        </lidar>
-      </sensor>
     </link>
-    <joint name="cliff_sensor_rear_left_j" type="fixed">
-      <child>cliff_sensor_rear_left</child>
-      <parent>rear_right_box</parent>
+    <joint name="rear_left_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>
@@ -3220,71 +1473,61 @@
         </ode>
       </physics>
     </joint>
-    <link name="cliff_sensor_rear_right">
-      <pose>-0.3 -0.1445 0.2106 3.1415926535897931 1.5707963267948966 0</pose>
+    <link name="rear_left_motor">
       <inertial>
-        <pose>0.0105 0 0.00925 0 -0 0</pose>
-        <mass>0.012</mass>
+        <pose>-0.22 -0.09 0.02 0 -0 0</pose>
+        <mass>4.06</mass>
         <inertia>
-          <ixx>1.56725e-06</ixx>
+          <ixx>0.0151492</ixx>
           <ixy>0</ixy>
           <ixz>0</ixz>
-          <iyy>7.8325e-07</iyy>
+          <iyy>0.0129839</iyy>
           <iyz>0</iyz>
-          <izz>1.666e-06</izz>
+          <izz>0.0173903</izz>
+        </inertia>
+      </inertial>
+    </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>
-      <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>
+    <joint name="rear_right_box_j" type="fixed">
+      <child>rear_right_box</child>
+      <parent>base_link</parent>
       <axis>
         <dynamics>
           <spring_reference>0</spring_reference>
@@ -3306,38 +1549,89 @@
         </ode>
       </physics>
     </joint>
-    <link name="mobilicom">
-      <pose>-0.25 0.12 0.1921 0 -0 1.5707963267948966</pose>
+    <link name="camera_0">
+      <pose>0.21 0 0.1921 0 -0 0</pose>
       <inertial>
-        <pose>0 0 0.0135 0 -0 0</pose>
-        <mass>0.168</mass>
+        <pose>0.039802 0 0.0145 0 -0 0</pose>
+        <mass>0.232</mass>
         <inertia>
-          <ixx>8.687e-05</ixx>
+          <ixx>3.25187e-05</ixx>
           <ixy>0</ixy>
           <ixz>0</ixz>
-          <iyy>0.000150206</iyy>
+          <iyy>0.000158598</iyy>
           <iyz>0</iyz>
-          <izz>0.000216664</izz>
+          <izz>0.000158598</izz>
         </inertia>
       </inertial>
-      <collision name="mobilicom_collision">
-        <pose>0 0 0.0135 0 -0 0</pose>
+      <collision name="camera_0_collision_collision">
+        <pose>0.02465 0 0.0145 0 -0 0</pose>
         <geometry>
           <box>
-            <size>0.1 0.074 0.027</size>
+            <size>0.0555 0.029 0.029</size>
           </box>
         </geometry>
       </collision>
-      <visual name="mobilicom_visual">
+      <collision name="camera_0_lens_collision_collision_1">
+        <pose>0.062834 0 0.0145 0 1.5707963267948966 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.03974</length>
+            <radius>0.0125</radius>
+          </cylinder>
+        </geometry>
+      </collision>
+      <visual name="camera_0_visual">
+        <pose>0 0 0.0145 0 -0 0</pose>
         <geometry>
           <mesh>
-            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_MARV_SENSOR_CONFIG_1/tip/files/meshes/mobilicom.dae</uri>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_MARV_SENSOR_CONFIG_1/tip/files/meshes/basler_ace2_pro.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <visual name="camera_0_visual_1">
+        <pose>0.042964 0 0.0145 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_MARV_SENSOR_CONFIG_1/tip/files/meshes/evetar_lens.dae</uri>
           </mesh>
         </geometry>
       </visual>
+      <sensor name="camera_0" type="camera">
+        <pose>0.072044 0 0.0145 0 -0 0</pose>
+        <update_rate>9</update_rate>
+        <visualize>0</visualize>
+        <camera>
+          <horizontal_fov>1.50971</horizontal_fov>
+          <image>
+            <width>1920</width>
+            <height>1200</height>
+            <format>R8G8B8</format>
+          </image>
+          <clip>
+            <near>0.011726</near>
+            <far>300</far>
+          </clip>
+          <noise>
+            <type>gaussian</type>
+            <mean>0</mean>
+            <stddev>0.007</stddev>
+          </noise>
+          <lens>
+            <intrinsics>
+              <fx>1020.51</fx>
+              <fy>1020.51</fy>
+              <cx>959.5</cx>
+              <cy>599.5</cy>
+              <s>0</s>
+            </intrinsics>
+            <type>stereographic</type>
+            <scale_to_hfov>1</scale_to_hfov>
+          </lens>
+        </camera>
+      </sensor>
     </link>
-    <joint name="mobilicom_j" type="fixed">
-      <child>mobilicom</child>
+    <joint name="camera_0_j" type="fixed">
+      <child>camera_0</child>
       <parent>rear_right_box</parent>
       <axis>
         <dynamics>
@@ -3360,42 +1654,90 @@
         </ode>
       </physics>
     </joint>
-    <link name="mobilicom_antenna_l">
-      <pose>-0.275 0.17 0.2056 -0.5 -0 1.5707963267948966</pose>
+    <link name="camera_2">
+      <pose>-0.21 0 0.1921 0 -0 3.1415926535897931</pose>
       <inertial>
-        <pose>0 0 0.085 0 -0 0</pose>
-        <mass>0.03</mass>
+        <pose>0.039802 0 0.0145 0 -0 0</pose>
+        <mass>0.232</mass>
         <inertia>
-          <ixx>7.3e-05</ixx>
+          <ixx>3.25187e-05</ixx>
           <ixy>0</ixy>
           <ixz>0</ixz>
-          <iyy>7.3e-05</iyy>
+          <iyy>0.000158598</iyy>
           <iyz>0</iyz>
-          <izz>1.5e-06</izz>
+          <izz>0.000158598</izz>
         </inertia>
       </inertial>
-      <collision name="mobilicom_antenna_l_collision">
-        <pose>0 0 0.085 0 -0 0</pose>
+      <collision name="camera_2_collision_collision">
+        <pose>0.02465 0 0.0145 0 -0 0</pose>
         <geometry>
-          <cylinder>
-            <length>0.17</length>
-            <radius>0.01</radius>
-          </cylinder>
+          <box>
+            <size>0.0555 0.029 0.029</size>
+          </box>
         </geometry>
       </collision>
-      <visual name="mobilicom_antenna_l_visual">
-        <pose>0 0 0.085 0 -0 0</pose>
+      <collision name="camera_2_lens_collision_collision_1">
+        <pose>0.062834 0 0.0145 0 1.5707963267948966 0</pose>
         <geometry>
           <cylinder>
-            <length>0.17</length>
-            <radius>0.01</radius>
+            <length>0.03974</length>
+            <radius>0.0125</radius>
           </cylinder>
         </geometry>
+      </collision>
+      <visual name="camera_2_visual">
+        <pose>0 0 0.0145 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_MARV_SENSOR_CONFIG_1/tip/files/meshes/basler_ace2_pro.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <visual name="camera_2_visual_1">
+        <pose>0.042964 0 0.0145 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_MARV_SENSOR_CONFIG_1/tip/files/meshes/evetar_lens.dae</uri>
+          </mesh>
+        </geometry>
       </visual>
+      <sensor name="camera_2" type="camera">
+        <pose>0.072044 0 0.0145 0 -0 0</pose>
+        <update_rate>9</update_rate>
+        <visualize>0</visualize>
+        <camera>
+          <horizontal_fov>1.50971</horizontal_fov>
+          <image>
+            <width>1920</width>
+            <height>1200</height>
+            <format>R8G8B8</format>
+          </image>
+          <clip>
+            <near>0.011726</near>
+            <far>300</far>
+          </clip>
+          <noise>
+            <type>gaussian</type>
+            <mean>0</mean>
+            <stddev>0.007</stddev>
+          </noise>
+          <lens>
+            <intrinsics>
+              <fx>1020.51</fx>
+              <fy>1020.51</fy>
+              <cx>959.5</cx>
+              <cy>599.5</cy>
+              <s>0</s>
+            </intrinsics>
+            <type>stereographic</type>
+            <scale_to_hfov>1</scale_to_hfov>
+          </lens>
+        </camera>
+      </sensor>
     </link>
-    <joint name="mobilicom_antenna_l_j" type="fixed">
-      <child>mobilicom_antenna_l</child>
-      <parent>mobilicom</parent>
+    <joint name="camera_2_j" type="fixed">
+      <child>camera_2</child>
+      <parent>rear_right_box</parent>
       <axis>
         <dynamics>
           <spring_reference>0</spring_reference>
@@ -3417,42 +1759,71 @@
         </ode>
       </physics>
     </joint>
-    <link name="mobilicom_antenna_r">
-      <pose>-0.225 0.17 0.2056 0 -0 1.5707963267948966</pose>
+    <link name="cliff_sensor_front_left">
+      <pose>0.3 0.1445 0.2106 0 1.5707963267948966 0</pose>
       <inertial>
-        <pose>0 0 0.085 0 -0 0</pose>
-        <mass>0.03</mass>
+        <pose>0.0105 0 0.00925 0 -0 0</pose>
+        <mass>0.012</mass>
         <inertia>
-          <ixx>7.3e-05</ixx>
+          <ixx>1.56725e-06</ixx>
           <ixy>0</ixy>
           <ixz>0</ixz>
-          <iyy>7.3e-05</iyy>
+          <iyy>7.8325e-07</iyy>
           <iyz>0</iyz>
-          <izz>1.5e-06</izz>
+          <izz>1.666e-06</izz>
         </inertia>
       </inertial>
-      <collision name="mobilicom_antenna_r_collision">
-        <pose>0 0 0.085 0 -0 0</pose>
+      <collision name="cliff_sensor_front_left_collision">
+        <pose>0.0105 0 0.00925 0 -0 0</pose>
         <geometry>
-          <cylinder>
-            <length>0.17</length>
-            <radius>0.01</radius>
-          </cylinder>
+          <box>
+            <size>0.021 0.035 0.0185</size>
+          </box>
         </geometry>
       </collision>
-      <visual name="mobilicom_antenna_r_visual">
-        <pose>0 0 0.085 0 -0 0</pose>
+      <visual name="cliff_sensor_front_left_visual">
         <geometry>
-          <cylinder>
-            <length>0.17</length>
-            <radius>0.01</radius>
-          </cylinder>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_MARV_SENSOR_CONFIG_1/tip/files/meshes/tfmini_plus_lidar.dae</uri>
+          </mesh>
         </geometry>
       </visual>
+      <sensor name="laser" type="gpu_lidar">
+        <pose>0.021 0 0.00925 0 -0 0</pose>
+        <update_rate>10</update_rate>
+        <visualize>0</visualize>
+        <always_on>1</always_on>
+        <lidar>
+          <scan>
+            <horizontal>
+              <samples>3</samples>
+              <resolution>1</resolution>
+              <min_angle>-0.0314159</min_angle>
+              <max_angle>0.0314159</max_angle>
+            </horizontal>
+            <vertical>
+              <samples>3</samples>
+              <resolution>1</resolution>
+              <min_angle>-0.0314159</min_angle>
+              <max_angle>0.0314159</max_angle>
+            </vertical>
+          </scan>
+          <range>
+            <min>0.1</min>
+            <max>12</max>
+            <resolution>0.01</resolution>
+          </range>
+          <noise>
+            <type>gaussian</type>
+            <mean>0</mean>
+            <stddev>0.015</stddev>
+          </noise>
+        </lidar>
+      </sensor>
     </link>
-    <joint name="mobilicom_antenna_r_j" type="fixed">
-      <child>mobilicom_antenna_r</child>
-      <parent>mobilicom</parent>
+    <joint name="cliff_sensor_front_left_j" type="fixed">
+      <child>cliff_sensor_front_left</child>
+      <parent>rear_right_box</parent>
       <axis>
         <dynamics>
           <spring_reference>0</spring_reference>
@@ -3474,73 +1845,70 @@
         </ode>
       </physics>
     </joint>
-    <link name="thermocam">
-      <pose>0.26 -0.04 0.1921 0 -0 0</pose>
+    <link name="cliff_sensor_front_right">
+      <pose>0.3 -0.1445 0.2106 0 1.5707963267948966 0</pose>
       <inertial>
-        <pose>0.0155 0 0 0 -0 0</pose>
-        <mass>0.024</mass>
+        <pose>0.0105 0 0.00925 0 -0 0</pose>
+        <mass>0.012</mass>
         <inertia>
-          <ixx>1.764e-06</ixx>
+          <ixx>1.56725e-06</ixx>
           <ixy>0</ixy>
           <ixz>0</ixz>
-          <iyy>4.58e-06</iyy>
+          <iyy>7.8325e-07</iyy>
           <iyz>0</iyz>
-          <izz>4.58e-06</izz>
+          <izz>1.666e-06</izz>
         </inertia>
       </inertial>
-      <collision name="thermocam_collision">
-        <pose>0.0155 0 0 0 -0 0</pose>
+      <collision name="cliff_sensor_front_right_collision">
+        <pose>0.0105 0 0.00925 0 -0 0</pose>
         <geometry>
           <box>
-            <size>0.043 0.021 0.021</size>
+            <size>0.021 0.035 0.0185</size>
           </box>
         </geometry>
       </collision>
-      <visual name="thermocam_visual">
-        <pose>0 0 0.0105 0 -0 0</pose>
+      <visual name="cliff_sensor_front_right_visual">
         <geometry>
           <mesh>
-            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_MARV_SENSOR_CONFIG_1/tip/files/meshes/flir_boson.dae</uri>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_MARV_SENSOR_CONFIG_1/tip/files/meshes/tfmini_plus_lidar.dae</uri>
           </mesh>
         </geometry>
       </visual>
-      <sensor name="thermal_camera" type="thermal_camera">
-        <pose>0.03 0 0 0 -0 0</pose>
-        <always_on>1</always_on>
-        <update_rate>8.6</update_rate>
+      <sensor name="laser" type="gpu_lidar">
+        <pose>0.021 0 0.00925 0 -0 0</pose>
+        <update_rate>10</update_rate>
         <visualize>0</visualize>
-        <camera name="thermal_camera">
-          <horizontal_fov>1.6057</horizontal_fov>
-          <lens>
-            <intrinsics>
-              <fx>154.51</fx>
-              <fy>154.51</fy>
-              <cx>159.5</cx>
-              <cy>127.5</cy>
-              <s>0</s>
-            </intrinsics>
-            <type>stereographic</type>
-            <scale_to_hfov>1</scale_to_hfov>
-          </lens>
-          <image>
-            <width>320</width>
-            <height>256</height>
-            <format>L8</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>253.15</min_temp>
-          <max_temp>673.15</max_temp>
-          <resolution>1.6</resolution>
-        </plugin>
+        <always_on>1</always_on>
+        <lidar>
+          <scan>
+            <horizontal>
+              <samples>3</samples>
+              <resolution>1</resolution>
+              <min_angle>-0.0314159</min_angle>
+              <max_angle>0.0314159</max_angle>
+            </horizontal>
+            <vertical>
+              <samples>3</samples>
+              <resolution>1</resolution>
+              <min_angle>-0.0314159</min_angle>
+              <max_angle>0.0314159</max_angle>
+            </vertical>
+          </scan>
+          <range>
+            <min>0.1</min>
+            <max>12</max>
+            <resolution>0.01</resolution>
+          </range>
+          <noise>
+            <type>gaussian</type>
+            <mean>0</mean>
+            <stddev>0.015</stddev>
+          </noise>
+        </lidar>
       </sensor>
     </link>
-    <joint name="thermocam_j" type="fixed">
-      <child>thermocam</child>
+    <joint name="cliff_sensor_front_right_j" type="fixed">
+      <child>cliff_sensor_front_right</child>
       <parent>rear_right_box</parent>
       <axis>
         <dynamics>
@@ -3563,72 +1931,85 @@
         </ode>
       </physics>
     </joint>
-    <link name="rear_right_flipper">
-      <pose>-0.256 -0.248 0 0 -0 0</pose>
+    <link name="cliff_sensor_rear_left">
+      <pose>-0.3 0.1445 0.2106 3.1415926535897931 1.5707963267948966 0</pose>
       <inertial>
-        <mass>1e-05</mass>
+        <pose>0.0105 0 0.00925 0 -0 0</pose>
+        <mass>0.012</mass>
         <inertia>
-          <ixx>0.001</ixx>
-          <ixy>1e-06</ixy>
-          <ixz>1e-06</ixz>
-          <iyy>0.001</iyy>
-          <iyz>1e-06</iyz>
-          <izz>0.001</izz>
+          <ixx>1.56725e-06</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>7.8325e-07</iyy>
+          <iyz>0</iyz>
+          <izz>1.666e-06</izz>
         </inertia>
       </inertial>
-      <visual name="rear_right_flipper_visual">
-        <geometry>
-          <mesh>
-            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_MARV_SENSOR_CONFIG_1/tip/files/meshes/big_wheel.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-      <visual name="rear_right_flipper_visual_1">
-        <geometry>
-          <mesh>
-            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_MARV_SENSOR_CONFIG_1/tip/files/meshes/flipper_arm.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-      <visual name="rear_right_flipper_visual_2">
-        <pose>0 0 0 3.1415926535897931 -0 3.1415926535897931</pose>
+      <collision name="cliff_sensor_rear_left_collision">
+        <pose>0.0105 0 0.00925 0 -0 0</pose>
         <geometry>
-          <mesh>
-            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_MARV_SENSOR_CONFIG_1/tip/files/meshes/belt.dae</uri>
-          </mesh>
+          <box>
+            <size>0.021 0.035 0.0185</size>
+          </box>
         </geometry>
-      </visual>
-      <visual name="rear_right_flipper_visual_3">
-        <pose>-0.3035 0 0 0 -0 0</pose>
+      </collision>
+      <visual name="cliff_sensor_rear_left_visual">
         <geometry>
           <mesh>
-            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_MARV_SENSOR_CONFIG_1/tip/files/meshes/small_wheel.dae</uri>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_MARV_SENSOR_CONFIG_1/tip/files/meshes/tfmini_plus_lidar.dae</uri>
           </mesh>
         </geometry>
       </visual>
-      <self_collide>1</self_collide>
+      <sensor name="laser" type="gpu_lidar">
+        <pose>0.021 0 0.00925 0 -0 0</pose>
+        <update_rate>10</update_rate>
+        <visualize>0</visualize>
+        <always_on>1</always_on>
+        <lidar>
+          <scan>
+            <horizontal>
+              <samples>3</samples>
+              <resolution>1</resolution>
+              <min_angle>-0.0314159</min_angle>
+              <max_angle>0.0314159</max_angle>
+            </horizontal>
+            <vertical>
+              <samples>3</samples>
+              <resolution>1</resolution>
+              <min_angle>-0.0314159</min_angle>
+              <max_angle>0.0314159</max_angle>
+            </vertical>
+          </scan>
+          <range>
+            <min>0.1</min>
+            <max>12</max>
+            <resolution>0.01</resolution>
+          </range>
+          <noise>
+            <type>gaussian</type>
+            <mean>0</mean>
+            <stddev>0.015</stddev>
+          </noise>
+        </lidar>
+      </sensor>
     </link>
-    <joint name="rear_right_flipper_j" type="revolute">
-      <child>rear_right_flipper</child>
-      <parent>base_link</parent>
+    <joint name="cliff_sensor_rear_left_j" type="fixed">
+      <child>cliff_sensor_rear_left</child>
+      <parent>rear_right_box</parent>
       <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>120</effort>
-          <velocity>1</velocity>
-        </limit>
         <dynamics>
           <spring_reference>0</spring_reference>
           <spring_stiffness>0</spring_stiffness>
         </dynamics>
+        <xyz>0 0 1</xyz>
         <use_parent_model_frame>0</use_parent_model_frame>
+        <limit>
+          <lower>-1e+16</lower>
+          <upper>1e+16</upper>
+        </limit>
       </axis>
       <physics>
         <ode>
-          <implicit_spring_damper>1</implicit_spring_damper>
-          <cfm_damping>1</cfm_damping>
           <limit>
             <cfm>0</cfm>
             <erp>0.2</erp>
@@ -3636,23 +2017,71 @@
         </ode>
       </physics>
     </joint>
-    <link name="rear_right_flipper_end_point_inflated">
-      <pose>-0.6375 -0.248 0 0 -0 0</pose>
+    <link name="cliff_sensor_rear_right">
+      <pose>-0.3 -0.1445 0.2106 3.1415926535897931 1.5707963267948966 0</pose>
       <inertial>
-        <mass>1e-05</mass>
+        <pose>0.0105 0 0.00925 0 -0 0</pose>
+        <mass>0.012</mass>
         <inertia>
-          <ixx>0.001</ixx>
-          <ixy>1e-06</ixy>
-          <ixz>1e-06</ixz>
-          <iyy>0.001</iyy>
-          <iyz>1e-06</iyz>
-          <izz>0.001</izz>
+          <ixx>1.56725e-06</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>7.8325e-07</iyy>
+          <iyz>0</iyz>
+          <izz>1.666e-06</izz>
         </inertia>
       </inertial>
+      <collision name="cliff_sensor_rear_right_collision">
+        <pose>0.0105 0 0.00925 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.021 0.035 0.0185</size>
+          </box>
+        </geometry>
+      </collision>
+      <visual name="cliff_sensor_rear_right_visual">
+        <geometry>
+          <mesh>
+            <uri>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="rear_right_flipper_end_point_inflated_j" type="fixed">
-      <child>rear_right_flipper_end_point_inflated</child>
-      <parent>rear_right_flipper</parent>
+    <joint name="cliff_sensor_rear_right_j" type="fixed">
+      <child>cliff_sensor_rear_right</child>
+      <parent>rear_right_box</parent>
       <axis>
         <dynamics>
           <spring_reference>0</spring_reference>
@@ -3674,23 +2103,39 @@
         </ode>
       </physics>
     </joint>
-    <link name="rear_right_flipper_end_point">
-      <pose>-0.6375 -0.248 0 0 -0 0</pose>
+    <link name="mobilicom">
+      <pose>-0.25 0.12 0.1921 0 -0 1.5707963267948966</pose>
       <inertial>
-        <mass>1e-05</mass>
+        <pose>0 0 0.0135 0 -0 0</pose>
+        <mass>0.168</mass>
         <inertia>
-          <ixx>0.001</ixx>
-          <ixy>1e-06</ixy>
-          <ixz>1e-06</ixz>
-          <iyy>0.001</iyy>
-          <iyz>1e-06</iyz>
-          <izz>0.001</izz>
+          <ixx>8.687e-05</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.000150206</iyy>
+          <iyz>0</iyz>
+          <izz>0.000216664</izz>
         </inertia>
       </inertial>
+      <collision name="mobilicom_collision">
+        <pose>0 0 0.0135 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.1 0.074 0.027</size>
+          </box>
+        </geometry>
+      </collision>
+      <visual name="mobilicom_visual">
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_MARV_SENSOR_CONFIG_1/tip/files/meshes/mobilicom.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
     </link>
-    <joint name="rear_right_flipper_end_point_j" type="fixed">
-      <child>rear_right_flipper_end_point</child>
-      <parent>rear_right_flipper</parent>
+    <joint name="mobilicom_j" type="fixed">
+      <child>mobilicom</child>
+      <parent>rear_right_box</parent>
       <axis>
         <dynamics>
           <spring_reference>0</spring_reference>
@@ -3712,425 +2157,352 @@
         </ode>
       </physics>
     </joint>
-    <link name="rear_right_flipper_wheel1">
-      <pose>-0.256 -0.248 0 0 -0 0</pose>
+    <link name="mobilicom_antenna_l">
+      <pose>-0.275 0.17 0.2056 -0.5 -0 1.5707963267948966</pose>
       <inertial>
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <mass>0.457375</mass>
+        <pose>0 0 0.085 0 -0 0</pose>
+        <mass>0.03</mass>
         <inertia>
-          <ixx>0.0017663</ixx>
+          <ixx>7.3e-05</ixx>
           <ixy>0</ixy>
           <ixz>0</ixz>
-          <iyy>0.0017663</iyy>
+          <iyy>7.3e-05</iyy>
           <iyz>0</iyz>
-          <izz>0.0031038</izz>
+          <izz>1.5e-06</izz>
         </inertia>
       </inertial>
-      <collision name="rear_right_flipper_wheel1_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="mobilicom_antenna_l_collision">
+        <pose>0 0 0.085 0 -0 0</pose>
         <geometry>
           <cylinder>
-            <length>0.075</length>
-            <radius>0.1165</radius>
+            <length>0.17</length>
+            <radius>0.01</radius>
           </cylinder>
         </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-            <collide_bitmask>1</collide_bitmask>
-          </contact>
-          <friction>
-            <ode>
-              <mu>1</mu>
-              <mu2>150</mu2>
-              <slip1>0.000580373</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
       </collision>
-      <self_collide>1</self_collide>
+      <visual name="mobilicom_antenna_l_visual">
+        <pose>0 0 0.085 0 -0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.17</length>
+            <radius>0.01</radius>
+          </cylinder>
+        </geometry>
+      </visual>
     </link>
-    <joint name="rear_right_flipper_wheel1_j" type="revolute">
-      <child>rear_right_flipper_wheel1</child>
-      <parent>rear_right_flipper</parent>
+    <joint name="mobilicom_antenna_l_j" type="fixed">
+      <child>mobilicom_antenna_l</child>
+      <parent>mobilicom</parent>
       <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>-1</effort>
-          <velocity>8.58369</velocity>
-        </limit>
         <dynamics>
           <spring_reference>0</spring_reference>
           <spring_stiffness>0</spring_stiffness>
         </dynamics>
+        <xyz>0 0 1</xyz>
         <use_parent_model_frame>0</use_parent_model_frame>
+        <limit>
+          <lower>-1e+16</lower>
+          <upper>1e+16</upper>
+        </limit>
       </axis>
+      <physics>
+        <ode>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+        </ode>
+      </physics>
     </joint>
-    <link name="rear_right_flipper_wheel2">
-      <pose>-0.299357 -0.248 0 0 -0 0</pose>
+    <link name="mobilicom_antenna_r">
+      <pose>-0.225 0.17 0.2056 0 -0 1.5707963267948966</pose>
       <inertial>
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <mass>0.457375</mass>
+        <pose>0 0 0.085 0 -0 0</pose>
+        <mass>0.03</mass>
         <inertia>
-          <ixx>0.00162322</ixx>
+          <ixx>7.3e-05</ixx>
           <ixy>0</ixy>
           <ixz>0</ixz>
-          <iyy>0.00162322</iyy>
+          <iyy>7.3e-05</iyy>
           <iyz>0</iyz>
-          <izz>0.00281766</izz>
+          <izz>1.5e-06</izz>
         </inertia>
       </inertial>
-      <collision name="rear_right_flipper_wheel2_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="mobilicom_antenna_r_collision">
+        <pose>0 0 0.085 0 -0 0</pose>
         <geometry>
           <cylinder>
-            <length>0.075</length>
-            <radius>0.111</radius>
+            <length>0.17</length>
+            <radius>0.01</radius>
           </cylinder>
         </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-            <collide_bitmask>2</collide_bitmask>
-          </contact>
-          <friction>
-            <ode>
-              <mu>1</mu>
-              <mu2>150</mu2>
-              <slip1>0.000580373</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
       </collision>
-      <self_collide>1</self_collide>
+      <visual name="mobilicom_antenna_r_visual">
+        <pose>0 0 0.085 0 -0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.17</length>
+            <radius>0.01</radius>
+          </cylinder>
+        </geometry>
+      </visual>
     </link>
-    <joint name="rear_right_flipper_wheel2_j" type="revolute">
-      <child>rear_right_flipper_wheel2</child>
-      <parent>rear_right_flipper</parent>
+    <joint name="mobilicom_antenna_r_j" type="fixed">
+      <child>mobilicom_antenna_r</child>
+      <parent>mobilicom</parent>
       <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>-1</effort>
-          <velocity>9.00901</velocity>
-        </limit>
         <dynamics>
           <spring_reference>0</spring_reference>
           <spring_stiffness>0</spring_stiffness>
         </dynamics>
+        <xyz>0 0 1</xyz>
         <use_parent_model_frame>0</use_parent_model_frame>
+        <limit>
+          <lower>-1e+16</lower>
+          <upper>1e+16</upper>
+        </limit>
       </axis>
+      <physics>
+        <ode>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+        </ode>
+      </physics>
     </joint>
-    <link name="rear_right_flipper_wheel3">
-      <pose>-0.342714 -0.248 0 0 -0 0</pose>
+    <link name="thermocam">
+      <pose>0.26 -0.04 0.1921 0 -0 0</pose>
       <inertial>
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <mass>0.457375</mass>
+        <pose>0.0155 0 0 0 -0 0</pose>
+        <mass>0.024</mass>
         <inertia>
-          <ixx>0.00148707</ixx>
+          <ixx>1.764e-06</ixx>
           <ixy>0</ixy>
           <ixz>0</ixz>
-          <iyy>0.00148707</iyy>
+          <iyy>4.58e-06</iyy>
           <iyz>0</iyz>
-          <izz>0.00254535</izz>
+          <izz>4.58e-06</izz>
         </inertia>
       </inertial>
-      <collision name="rear_right_flipper_wheel3_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="thermocam_collision">
+        <pose>0.0155 0 0 0 -0 0</pose>
         <geometry>
-          <cylinder>
-            <length>0.075</length>
-            <radius>0.1055</radius>
-          </cylinder>
+          <box>
+            <size>0.043 0.021 0.021</size>
+          </box>
         </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-            <collide_bitmask>4</collide_bitmask>
-          </contact>
-          <friction>
-            <ode>
-              <mu>1</mu>
-              <mu2>150</mu2>
-              <slip1>0.000580373</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
       </collision>
-      <self_collide>1</self_collide>
+      <visual name="thermocam_visual">
+        <pose>0 0 0.0105 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_MARV_SENSOR_CONFIG_1/tip/files/meshes/flir_boson.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <sensor name="thermal_camera" type="thermal_camera">
+        <pose>0.03 0 0 0 -0 0</pose>
+        <always_on>1</always_on>
+        <update_rate>8.6</update_rate>
+        <visualize>0</visualize>
+        <camera name="thermal_camera">
+          <horizontal_fov>1.6057</horizontal_fov>
+          <lens>
+            <intrinsics>
+              <fx>154.51</fx>
+              <fy>154.51</fy>
+              <cx>159.5</cx>
+              <cy>127.5</cy>
+              <s>0</s>
+            </intrinsics>
+            <type>stereographic</type>
+            <scale_to_hfov>1</scale_to_hfov>
+          </lens>
+          <image>
+            <width>320</width>
+            <height>256</height>
+            <format>L8</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>253.15</min_temp>
+          <max_temp>673.15</max_temp>
+          <resolution>1.6</resolution>
+        </plugin>
+      </sensor>
     </link>
-    <joint name="rear_right_flipper_wheel3_j" type="revolute">
-      <child>rear_right_flipper_wheel3</child>
-      <parent>rear_right_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>-1</effort>
-          <velocity>9.47867</velocity>
-        </limit>
+    <joint name="thermocam_j" type="fixed">
+      <child>thermocam</child>
+      <parent>rear_right_box</parent>
+      <axis>
         <dynamics>
           <spring_reference>0</spring_reference>
           <spring_stiffness>0</spring_stiffness>
         </dynamics>
+        <xyz>0 0 1</xyz>
         <use_parent_model_frame>0</use_parent_model_frame>
+        <limit>
+          <lower>-1e+16</lower>
+          <upper>1e+16</upper>
+        </limit>
       </axis>
+      <physics>
+        <ode>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+        </ode>
+      </physics>
     </joint>
-    <link name="rear_right_flipper_wheel4">
-      <pose>-0.386071 -0.248 0 0 -0 0</pose>
+    <link name="rear_right_flipper">
+      <pose>-0.256 -0.248 0 0 -0 0</pose>
       <inertial>
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <mass>0.457375</mass>
+        <pose>-0.08 0 0 0 -0 0</pose>
+        <mass>3.659</mass>
         <inertia>
-          <ixx>0.00135783</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.00135783</iyy>
-          <iyz>0</iyz>
-          <izz>0.00228687</izz>
+          <ixx>0.0017491</ixx>
+          <ixy>2.8512e-07</ixy>
+          <ixz>0.0018277</ixz>
+          <iyy>0.012277</iyy>
+          <iyz>-3.6288e-07</iyz>
+          <izz>0.010941</izz>
         </inertia>
       </inertial>
-      <collision name="rear_right_flipper_wheel4_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="rear_right_flipper_collision">
+        <pose>-0.15175 0 0 0 -0 0</pose>
         <geometry>
-          <cylinder>
-            <length>0.075</length>
-            <radius>0.1</radius>
-          </cylinder>
+          <box>
+            <size>0.3035 0.075 0.078</size>
+          </box>
         </geometry>
         <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-            <collide_bitmask>8</collide_bitmask>
-          </contact>
           <friction>
             <ode>
               <mu>1</mu>
               <mu2>150</mu2>
-              <slip1>0.000580373</slip1>
-              <slip2>0</slip2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
-      <self_collide>1</self_collide>
-    </link>
-    <joint name="rear_right_flipper_wheel4_j" type="revolute">
-      <child>rear_right_flipper_wheel4</child>
-      <parent>rear_right_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>-1</effort>
-          <velocity>10</velocity>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="rear_right_flipper_wheel5">
-      <pose>-0.429429 -0.248 0 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <mass>0.457375</mass>
-        <inertia>
-          <ixx>0.00123551</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.00123551</iyy>
-          <iyz>0</iyz>
-          <izz>0.00204224</izz>
-        </inertia>
-      </inertial>
-      <collision name="rear_right_flipper_wheel5_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="rear_right_flipper_collision_1">
+        <pose>-0.15175 0 0.05825 0 -0.126179 0</pose>
         <geometry>
-          <cylinder>
-            <length>0.075</length>
-            <radius>0.0945</radius>
-          </cylinder>
+          <box>
+            <size>0.3035 0.075 0.078</size>
+          </box>
         </geometry>
         <surface>
-          <contact>
+          <friction>
             <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
+              <mu>1</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
             </ode>
-            <collide_bitmask>16</collide_bitmask>
-          </contact>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="rear_right_flipper_collision_2">
+        <pose>-0.15175 0 -0.05825 0 0.126179 0</pose>
+        <geometry>
+          <box>
+            <size>0.3035 0.075 0.078</size>
+          </box>
+        </geometry>
+        <surface>
           <friction>
             <ode>
               <mu>1</mu>
               <mu2>150</mu2>
-              <slip1>0.000580373</slip1>
-              <slip2>0</slip2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
-      <self_collide>1</self_collide>
-    </link>
-    <joint name="rear_right_flipper_wheel5_j" type="revolute">
-      <child>rear_right_flipper_wheel5</child>
-      <parent>rear_right_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>-1</effort>
-          <velocity>10.582</velocity>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="rear_right_flipper_wheel6">
-      <pose>-0.472786 -0.248 0 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <mass>0.457375</mass>
-        <inertia>
-          <ixx>0.00112011</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.00112011</iyy>
-          <iyz>0</iyz>
-          <izz>0.00181143</izz>
-        </inertia>
-      </inertial>
-      <collision name="rear_right_flipper_wheel6_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="rear_right_flipper_collision_3">
+        <pose>-0.3035 0 0 1.5707963267948966 -0 0</pose>
         <geometry>
           <cylinder>
             <length>0.075</length>
-            <radius>0.089</radius>
+            <radius>0.078</radius>
           </cylinder>
         </geometry>
         <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-            <collide_bitmask>32</collide_bitmask>
-          </contact>
           <friction>
             <ode>
               <mu>1</mu>
               <mu2>150</mu2>
-              <slip1>0.000580373</slip1>
-              <slip2>0</slip2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
-      <self_collide>1</self_collide>
-    </link>
-    <joint name="rear_right_flipper_wheel6_j" type="revolute">
-      <child>rear_right_flipper_wheel6</child>
-      <parent>rear_right_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>-1</effort>
-          <velocity>11.236</velocity>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="rear_right_flipper_wheel7">
-      <pose>-0.516143 -0.248 0 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <mass>0.457375</mass>
-        <inertia>
-          <ixx>0.00101163</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.00101163</iyy>
-          <iyz>0</iyz>
-          <izz>0.00159447</izz>
-        </inertia>
-      </inertial>
-      <collision name="rear_right_flipper_wheel7_collision_collision">
+      <collision name="rear_right_flipper_collision_4">
         <pose>0 0 0 1.5707963267948966 -0 0</pose>
         <geometry>
           <cylinder>
             <length>0.075</length>
-            <radius>0.0835</radius>
+            <radius>0.1165</radius>
           </cylinder>
         </geometry>
         <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-            <collide_bitmask>64</collide_bitmask>
-          </contact>
           <friction>
             <ode>
               <mu>1</mu>
               <mu2>150</mu2>
-              <slip1>0.000580373</slip1>
-              <slip2>0</slip2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
+      <visual name="rear_right_flipper_visual">
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_MARV_SENSOR_CONFIG_1/tip/files/meshes/big_wheel.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <visual name="rear_right_flipper_visual_1">
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_MARV_SENSOR_CONFIG_1/tip/files/meshes/flipper_arm.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <visual name="rear_right_flipper_visual_2">
+        <pose>0 0 0 3.1415926535897931 -0 3.1415926535897931</pose>
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_MARV_SENSOR_CONFIG_1/tip/files/meshes/belt.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <visual name="rear_right_flipper_visual_3">
+        <pose>-0.3035 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_MARV_SENSOR_CONFIG_1/tip/files/meshes/small_wheel.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
       <self_collide>1</self_collide>
     </link>
-    <joint name="rear_right_flipper_wheel7_j" type="revolute">
-      <child>rear_right_flipper_wheel7</child>
-      <parent>rear_right_flipper</parent>
+    <joint name="rear_right_flipper_j" type="revolute">
+      <child>rear_right_flipper</child>
+      <parent>base_link</parent>
       <axis>
         <xyz>0 1 0</xyz>
         <limit>
           <lower>-1e+16</lower>
           <upper>1e+16</upper>
-          <effort>-1</effort>
-          <velocity>11.976</velocity>
+          <effort>120</effort>
+          <velocity>1</velocity>
         </limit>
         <dynamics>
           <spring_reference>0</spring_reference>
@@ -4138,67 +2510,92 @@
         </dynamics>
         <use_parent_model_frame>0</use_parent_model_frame>
       </axis>
+      <physics>
+        <ode>
+          <implicit_spring_damper>1</implicit_spring_damper>
+          <cfm_damping>1</cfm_damping>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+        </ode>
+      </physics>
     </joint>
-    <link name="rear_right_flipper_wheel8">
-      <pose>-0.5595 -0.248 0 0 -0 0</pose>
+    <link name="rear_right_flipper_end_point_inflated">
+      <pose>-0.6375 -0.248 0 0 -0 0</pose>
       <inertial>
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <mass>0.457375</mass>
+        <mass>1e-05</mass>
         <inertia>
-          <ixx>0.000910062</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.000910062</iyy>
-          <iyz>0</iyz>
-          <izz>0.00139133</izz>
+          <ixx>0.001</ixx>
+          <ixy>1e-06</ixy>
+          <ixz>1e-06</ixz>
+          <iyy>0.001</iyy>
+          <iyz>1e-06</iyz>
+          <izz>0.001</izz>
         </inertia>
       </inertial>
-      <collision name="rear_right_flipper_wheel8_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.075</length>
-            <radius>0.078</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-            <collide_bitmask>128</collide_bitmask>
-          </contact>
-          <friction>
-            <ode>
-              <mu>1</mu>
-              <mu2>150</mu2>
-              <slip1>0.000580373</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-      <self_collide>1</self_collide>
     </link>
-    <joint name="rear_right_flipper_wheel8_j" type="revolute">
-      <child>rear_right_flipper_wheel8</child>
+    <joint name="rear_right_flipper_end_point_inflated_j" type="fixed">
+      <child>rear_right_flipper_end_point_inflated</child>
       <parent>rear_right_flipper</parent>
       <axis>
-        <xyz>0 1 0</xyz>
+        <dynamics>
+          <spring_reference>0</spring_reference>
+          <spring_stiffness>0</spring_stiffness>
+        </dynamics>
+        <xyz>0 0 1</xyz>
+        <use_parent_model_frame>0</use_parent_model_frame>
         <limit>
           <lower>-1e+16</lower>
           <upper>1e+16</upper>
-          <effort>-1</effort>
-          <velocity>12.8205</velocity>
         </limit>
+      </axis>
+      <physics>
+        <ode>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+        </ode>
+      </physics>
+    </joint>
+    <link name="rear_right_flipper_end_point">
+      <pose>-0.6375 -0.248 0 0 -0 0</pose>
+      <inertial>
+        <mass>1e-05</mass>
+        <inertia>
+          <ixx>0.001</ixx>
+          <ixy>1e-06</ixy>
+          <ixz>1e-06</ixz>
+          <iyy>0.001</iyy>
+          <iyz>1e-06</iyz>
+          <izz>0.001</izz>
+        </inertia>
+      </inertial>
+    </link>
+    <joint name="rear_right_flipper_end_point_j" type="fixed">
+      <child>rear_right_flipper_end_point</child>
+      <parent>rear_right_flipper</parent>
+      <axis>
         <dynamics>
           <spring_reference>0</spring_reference>
           <spring_stiffness>0</spring_stiffness>
         </dynamics>
+        <xyz>0 0 1</xyz>
         <use_parent_model_frame>0</use_parent_model_frame>
+        <limit>
+          <lower>-1e+16</lower>
+          <upper>1e+16</upper>
+        </limit>
       </axis>
+      <physics>
+        <ode>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+        </ode>
+      </physics>
     </joint>
     <link name="rear_right_motor">
       <inertial>
@@ -4898,200 +3295,6 @@
       <joint_name>rear_left_flipper_j</joint_name>
       <joint_name>rear_right_flipper_j</joint_name>
     </plugin>
-    <plugin name="ignition::gazebo::systems::WheelSlip" filename="ignition-gazebo-wheel-slip-system">
-      <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_4/model.sdf b/submitted_models/ctu_cras_norlab_marv_sensor_config_4/model.sdf
index ab5aa779..dd4e4f75 100644
--- a/submitted_models/ctu_cras_norlab_marv_sensor_config_4/model.sdf
+++ b/submitted_models/ctu_cras_norlab_marv_sensor_config_4/model.sdf
@@ -1,8 +1,5 @@
 <?xml version='1.0' encoding='utf-8'?>
-<sdf version="1.6">
-  <!-- CAUTION: This is an autogenerated file, DO NOT EDIT IT!
-  It was generated by script update_robot_sdf_ign and is based on urdf/marv.xacro source file.
-  Do all modifications there and then run the update script to regenerate the SDF. -->
+<sdf version="1.6">
  <!-- CAUTION: This is an autogenerated file, DO NOT EDIT IT!
  It was generated by script update_robot_sdf_ign and is based on urdf/marv.xacro source file.
  Do all modifications there and then run the update script to regenerate the SDF. -->
   <model name="ctu_cras_norlab_marv_sensor_config_1">
     <link name="base_link">
       <inertial>
@@ -471,16 +468,104 @@
     <link name="front_left_flipper">
       <pose>0.256 0.248 0 0 -0 0</pose>
       <inertial>
-        <mass>1e-05</mass>
+        <pose>0.08 0 0 0 -0 0</pose>
+        <mass>3.659</mass>
         <inertia>
-          <ixx>0.001</ixx>
-          <ixy>1e-06</ixy>
-          <ixz>1e-06</ixz>
-          <iyy>0.001</iyy>
-          <iyz>1e-06</iyz>
-          <izz>0.001</izz>
+          <ixx>0.0017491</ixx>
+          <ixy>2.8512e-07</ixy>
+          <ixz>0.0018277</ixz>
+          <iyy>0.012277</iyy>
+          <iyz>-3.6288e-07</iyz>
+          <izz>0.010941</izz>
         </inertia>
       </inertial>
+      <collision name="front_left_flipper_collision">
+        <pose>0.15175 0 0 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.3035 0.075 0.078</size>
+          </box>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>1</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="front_left_flipper_collision_1">
+        <pose>0.15175 0 0.05825 0 0.126179 0</pose>
+        <geometry>
+          <box>
+            <size>0.3035 0.075 0.078</size>
+          </box>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>1</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="front_left_flipper_collision_2">
+        <pose>0.15175 0 -0.05825 0 -0.126179 0</pose>
+        <geometry>
+          <box>
+            <size>0.3035 0.075 0.078</size>
+          </box>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>1</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="front_left_flipper_collision_3">
+        <pose>0.3035 0 0 1.5707963267948966 -0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.075</length>
+            <radius>0.078</radius>
+          </cylinder>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>1</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="front_left_flipper_collision_4">
+        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.075</length>
+            <radius>0.1165</radius>
+          </cylinder>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>1</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
       <visual name="front_left_flipper_visual">
         <geometry>
           <mesh>
@@ -617,545 +702,145 @@
         </ode>
       </physics>
     </joint>
-    <link name="front_left_flipper_wheel1">
-      <pose>0.256 0.248 0 0 -0 0</pose>
+    <link name="front_left_motor">
       <inertial>
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <mass>0.457375</mass>
+        <pose>0.22 -0.09 0.02 0 -0 0</pose>
+        <mass>4.06</mass>
         <inertia>
-          <ixx>0.0017663</ixx>
+          <ixx>0.0151492</ixx>
           <ixy>0</ixy>
           <ixz>0</ixz>
-          <iyy>0.0017663</iyy>
+          <iyy>0.0129839</iyy>
           <iyz>0</iyz>
-          <izz>0.0031038</izz>
+          <izz>0.0173903</izz>
         </inertia>
       </inertial>
-      <collision name="front_left_flipper_wheel1_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.075</length>
-            <radius>0.1165</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-            <collide_bitmask>1</collide_bitmask>
-          </contact>
-          <friction>
-            <ode>
-              <mu>1</mu>
-              <mu2>150</mu2>
-              <slip1>0.000575601</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-      <self_collide>1</self_collide>
     </link>
-    <joint name="front_left_flipper_wheel1_j" type="revolute">
-      <child>front_left_flipper_wheel1</child>
-      <parent>front_left_flipper</parent>
+    <joint name="front_left_motor_j" type="fixed">
+      <child>front_left_motor</child>
+      <parent>base_link</parent>
       <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>-1</effort>
-          <velocity>8.58369</velocity>
-        </limit>
         <dynamics>
           <spring_reference>0</spring_reference>
           <spring_stiffness>0</spring_stiffness>
         </dynamics>
+        <xyz>0 0 1</xyz>
         <use_parent_model_frame>0</use_parent_model_frame>
+        <limit>
+          <lower>-1e+16</lower>
+          <upper>1e+16</upper>
+        </limit>
       </axis>
+      <physics>
+        <ode>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+        </ode>
+      </physics>
     </joint>
-    <link name="front_left_flipper_wheel2">
-      <pose>0.299357 0.248 0 0 -0 0</pose>
+    <link name="front_right_flipper">
+      <pose>0.256 -0.248 0 3.1415926535897931 -0 -3.1415926535897931</pose>
       <inertial>
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <mass>0.457375</mass>
+        <pose>-0.08 0 0 0 -0 0</pose>
+        <mass>3.659</mass>
         <inertia>
-          <ixx>0.00162322</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.00162322</iyy>
-          <iyz>0</iyz>
-          <izz>0.00281766</izz>
+          <ixx>0.0017491</ixx>
+          <ixy>2.8512e-07</ixy>
+          <ixz>0.0018277</ixz>
+          <iyy>0.012277</iyy>
+          <iyz>-3.6288e-07</iyz>
+          <izz>0.010941</izz>
         </inertia>
       </inertial>
-      <collision name="front_left_flipper_wheel2_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="front_right_flipper_collision">
+        <pose>-0.15175 0 0 0 -0 0</pose>
         <geometry>
-          <cylinder>
-            <length>0.075</length>
-            <radius>0.111</radius>
-          </cylinder>
+          <box>
+            <size>0.3035 0.075 0.078</size>
+          </box>
         </geometry>
         <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-            <collide_bitmask>2</collide_bitmask>
-          </contact>
           <friction>
             <ode>
               <mu>1</mu>
               <mu2>150</mu2>
-              <slip1>0.000575601</slip1>
-              <slip2>0</slip2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
-      <self_collide>1</self_collide>
-    </link>
-    <joint name="front_left_flipper_wheel2_j" type="revolute">
-      <child>front_left_flipper_wheel2</child>
-      <parent>front_left_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>-1</effort>
-          <velocity>9.00901</velocity>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="front_left_flipper_wheel3">
-      <pose>0.342714 0.248 0 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <mass>0.457375</mass>
-        <inertia>
-          <ixx>0.00148707</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.00148707</iyy>
-          <iyz>0</iyz>
-          <izz>0.00254535</izz>
-        </inertia>
-      </inertial>
-      <collision name="front_left_flipper_wheel3_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="front_right_flipper_collision_1">
+        <pose>-0.15175 0 0.05825 0 -0.126179 0</pose>
         <geometry>
-          <cylinder>
-            <length>0.075</length>
-            <radius>0.1055</radius>
-          </cylinder>
+          <box>
+            <size>0.3035 0.075 0.078</size>
+          </box>
         </geometry>
         <surface>
-          <contact>
+          <friction>
             <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
+              <mu>1</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
             </ode>
-            <collide_bitmask>4</collide_bitmask>
-          </contact>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="front_right_flipper_collision_2">
+        <pose>-0.15175 0 -0.05825 0 0.126179 0</pose>
+        <geometry>
+          <box>
+            <size>0.3035 0.075 0.078</size>
+          </box>
+        </geometry>
+        <surface>
           <friction>
             <ode>
               <mu>1</mu>
               <mu2>150</mu2>
-              <slip1>0.000575601</slip1>
-              <slip2>0</slip2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
-      <self_collide>1</self_collide>
-    </link>
-    <joint name="front_left_flipper_wheel3_j" type="revolute">
-      <child>front_left_flipper_wheel3</child>
-      <parent>front_left_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>-1</effort>
-          <velocity>9.47867</velocity>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="front_left_flipper_wheel4">
-      <pose>0.386071 0.248 0 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <mass>0.457375</mass>
-        <inertia>
-          <ixx>0.00135783</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.00135783</iyy>
-          <iyz>0</iyz>
-          <izz>0.00228687</izz>
-        </inertia>
-      </inertial>
-      <collision name="front_left_flipper_wheel4_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="front_right_flipper_collision_3">
+        <pose>-0.3035 0 0 1.5707963267948966 -0 0</pose>
         <geometry>
           <cylinder>
             <length>0.075</length>
-            <radius>0.1</radius>
+            <radius>0.078</radius>
           </cylinder>
         </geometry>
         <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-            <collide_bitmask>8</collide_bitmask>
-          </contact>
           <friction>
             <ode>
               <mu>1</mu>
               <mu2>150</mu2>
-              <slip1>0.000575601</slip1>
-              <slip2>0</slip2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
-      <self_collide>1</self_collide>
-    </link>
-    <joint name="front_left_flipper_wheel4_j" type="revolute">
-      <child>front_left_flipper_wheel4</child>
-      <parent>front_left_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>-1</effort>
-          <velocity>10</velocity>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="front_left_flipper_wheel5">
-      <pose>0.429429 0.248 0 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <mass>0.457375</mass>
-        <inertia>
-          <ixx>0.00123551</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.00123551</iyy>
-          <iyz>0</iyz>
-          <izz>0.00204224</izz>
-        </inertia>
-      </inertial>
-      <collision name="front_left_flipper_wheel5_collision_collision">
+      <collision name="front_right_flipper_collision_4">
         <pose>0 0 0 1.5707963267948966 -0 0</pose>
         <geometry>
           <cylinder>
             <length>0.075</length>
-            <radius>0.0945</radius>
+            <radius>0.1165</radius>
           </cylinder>
         </geometry>
         <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-            <collide_bitmask>16</collide_bitmask>
-          </contact>
           <friction>
             <ode>
               <mu>1</mu>
               <mu2>150</mu2>
-              <slip1>0.000575601</slip1>
-              <slip2>0</slip2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
-      <self_collide>1</self_collide>
-    </link>
-    <joint name="front_left_flipper_wheel5_j" type="revolute">
-      <child>front_left_flipper_wheel5</child>
-      <parent>front_left_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>-1</effort>
-          <velocity>10.582</velocity>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="front_left_flipper_wheel6">
-      <pose>0.472786 0.248 0 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <mass>0.457375</mass>
-        <inertia>
-          <ixx>0.00112011</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.00112011</iyy>
-          <iyz>0</iyz>
-          <izz>0.00181143</izz>
-        </inertia>
-      </inertial>
-      <collision name="front_left_flipper_wheel6_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.075</length>
-            <radius>0.089</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-            <collide_bitmask>32</collide_bitmask>
-          </contact>
-          <friction>
-            <ode>
-              <mu>1</mu>
-              <mu2>150</mu2>
-              <slip1>0.000575601</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-      <self_collide>1</self_collide>
-    </link>
-    <joint name="front_left_flipper_wheel6_j" type="revolute">
-      <child>front_left_flipper_wheel6</child>
-      <parent>front_left_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>-1</effort>
-          <velocity>11.236</velocity>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="front_left_flipper_wheel7">
-      <pose>0.516143 0.248 0 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <mass>0.457375</mass>
-        <inertia>
-          <ixx>0.00101163</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.00101163</iyy>
-          <iyz>0</iyz>
-          <izz>0.00159447</izz>
-        </inertia>
-      </inertial>
-      <collision name="front_left_flipper_wheel7_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.075</length>
-            <radius>0.0835</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-            <collide_bitmask>64</collide_bitmask>
-          </contact>
-          <friction>
-            <ode>
-              <mu>1</mu>
-              <mu2>150</mu2>
-              <slip1>0.000575601</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-      <self_collide>1</self_collide>
-    </link>
-    <joint name="front_left_flipper_wheel7_j" type="revolute">
-      <child>front_left_flipper_wheel7</child>
-      <parent>front_left_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>-1</effort>
-          <velocity>11.976</velocity>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="front_left_flipper_wheel8">
-      <pose>0.5595 0.248 0 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <mass>0.457375</mass>
-        <inertia>
-          <ixx>0.000910062</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.000910062</iyy>
-          <iyz>0</iyz>
-          <izz>0.00139133</izz>
-        </inertia>
-      </inertial>
-      <collision name="front_left_flipper_wheel8_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.075</length>
-            <radius>0.078</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-            <collide_bitmask>128</collide_bitmask>
-          </contact>
-          <friction>
-            <ode>
-              <mu>1</mu>
-              <mu2>150</mu2>
-              <slip1>0.000575601</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-      <self_collide>1</self_collide>
-    </link>
-    <joint name="front_left_flipper_wheel8_j" type="revolute">
-      <child>front_left_flipper_wheel8</child>
-      <parent>front_left_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>-1</effort>
-          <velocity>12.8205</velocity>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="front_left_motor">
-      <inertial>
-        <pose>0.22 -0.09 0.02 0 -0 0</pose>
-        <mass>4.06</mass>
-        <inertia>
-          <ixx>0.0151492</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.0129839</iyy>
-          <iyz>0</iyz>
-          <izz>0.0173903</izz>
-        </inertia>
-      </inertial>
-    </link>
-    <joint name="front_left_motor_j" type="fixed">
-      <child>front_left_motor</child>
-      <parent>base_link</parent>
-      <axis>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <xyz>0 0 1</xyz>
-        <use_parent_model_frame>0</use_parent_model_frame>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-      </axis>
-      <physics>
-        <ode>
-          <limit>
-            <cfm>0</cfm>
-            <erp>0.2</erp>
-          </limit>
-        </ode>
-      </physics>
-    </joint>
-    <link name="front_right_flipper">
-      <pose>0.256 -0.248 0 3.1415926535897931 -0 -3.1415926535897931</pose>
-      <inertial>
-        <mass>1e-05</mass>
-        <inertia>
-          <ixx>0.001</ixx>
-          <ixy>1e-06</ixy>
-          <ixz>1e-06</ixz>
-          <iyy>0.001</iyy>
-          <iyz>1e-06</iyz>
-          <izz>0.001</izz>
-        </inertia>
-      </inertial>
       <visual name="front_right_flipper_visual">
         <geometry>
           <mesh>
@@ -1292,543 +977,55 @@
         </ode>
       </physics>
     </joint>
-    <link name="front_right_flipper_wheel1">
-      <pose>0.256 -0.248 0 3.1415926535897931 -0 3.1415926535897931</pose>
+    <link name="front_right_motor">
       <inertial>
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <mass>0.457375</mass>
+        <pose>0.22 0.09 0.02 0 -0 0</pose>
+        <mass>4.06</mass>
         <inertia>
-          <ixx>0.0017663</ixx>
+          <ixx>0.0151492</ixx>
           <ixy>0</ixy>
           <ixz>0</ixz>
-          <iyy>0.0017663</iyy>
+          <iyy>0.0129839</iyy>
           <iyz>0</iyz>
-          <izz>0.0031038</izz>
+          <izz>0.0173903</izz>
         </inertia>
       </inertial>
-      <collision name="front_right_flipper_wheel1_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.075</length>
-            <radius>0.1165</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-            <collide_bitmask>1</collide_bitmask>
-          </contact>
-          <friction>
-            <ode>
-              <mu>1</mu>
-              <mu2>150</mu2>
-              <slip1>0.000575601</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-      <self_collide>1</self_collide>
     </link>
-    <joint name="front_right_flipper_wheel1_j" type="revolute">
-      <child>front_right_flipper_wheel1</child>
-      <parent>front_right_flipper</parent>
+    <joint name="front_right_motor_j" type="fixed">
+      <child>front_right_motor</child>
+      <parent>base_link</parent>
       <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>-1</effort>
-          <velocity>8.58369</velocity>
-        </limit>
         <dynamics>
           <spring_reference>0</spring_reference>
           <spring_stiffness>0</spring_stiffness>
         </dynamics>
+        <xyz>0 0 1</xyz>
         <use_parent_model_frame>0</use_parent_model_frame>
+        <limit>
+          <lower>-1e+16</lower>
+          <upper>1e+16</upper>
+        </limit>
       </axis>
+      <physics>
+        <ode>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+        </ode>
+      </physics>
     </joint>
-    <link name="front_right_flipper_wheel2">
-      <pose>0.299357 -0.248 -0 3.1415926535897931 -0 3.1415926535897931</pose>
+    <link name="imu">
+      <pose>0 0 0.15 -3.1415926535897931 0 0</pose>
       <inertial>
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <mass>0.457375</mass>
+        <mass>1e-05</mass>
         <inertia>
-          <ixx>0.00162322</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.00162322</iyy>
-          <iyz>0</iyz>
-          <izz>0.00281766</izz>
-        </inertia>
-      </inertial>
-      <collision name="front_right_flipper_wheel2_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.075</length>
-            <radius>0.111</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-            <collide_bitmask>2</collide_bitmask>
-          </contact>
-          <friction>
-            <ode>
-              <mu>1</mu>
-              <mu2>150</mu2>
-              <slip1>0.000575601</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-      <self_collide>1</self_collide>
-    </link>
-    <joint name="front_right_flipper_wheel2_j" type="revolute">
-      <child>front_right_flipper_wheel2</child>
-      <parent>front_right_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>-1</effort>
-          <velocity>9.00901</velocity>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="front_right_flipper_wheel3">
-      <pose>0.342714 -0.248 -0 3.1415926535897931 -0 3.1415926535897931</pose>
-      <inertial>
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <mass>0.457375</mass>
-        <inertia>
-          <ixx>0.00148707</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.00148707</iyy>
-          <iyz>0</iyz>
-          <izz>0.00254535</izz>
-        </inertia>
-      </inertial>
-      <collision name="front_right_flipper_wheel3_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.075</length>
-            <radius>0.1055</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-            <collide_bitmask>4</collide_bitmask>
-          </contact>
-          <friction>
-            <ode>
-              <mu>1</mu>
-              <mu2>150</mu2>
-              <slip1>0.000575601</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-      <self_collide>1</self_collide>
-    </link>
-    <joint name="front_right_flipper_wheel3_j" type="revolute">
-      <child>front_right_flipper_wheel3</child>
-      <parent>front_right_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>-1</effort>
-          <velocity>9.47867</velocity>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="front_right_flipper_wheel4">
-      <pose>0.386071 -0.248 -0 3.1415926535897931 -0 3.1415926535897931</pose>
-      <inertial>
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <mass>0.457375</mass>
-        <inertia>
-          <ixx>0.00135783</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.00135783</iyy>
-          <iyz>0</iyz>
-          <izz>0.00228687</izz>
-        </inertia>
-      </inertial>
-      <collision name="front_right_flipper_wheel4_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.075</length>
-            <radius>0.1</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-            <collide_bitmask>8</collide_bitmask>
-          </contact>
-          <friction>
-            <ode>
-              <mu>1</mu>
-              <mu2>150</mu2>
-              <slip1>0.000575601</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-      <self_collide>1</self_collide>
-    </link>
-    <joint name="front_right_flipper_wheel4_j" type="revolute">
-      <child>front_right_flipper_wheel4</child>
-      <parent>front_right_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>-1</effort>
-          <velocity>10</velocity>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="front_right_flipper_wheel5">
-      <pose>0.429429 -0.248 -0 3.1415926535897931 -0 3.1415926535897931</pose>
-      <inertial>
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <mass>0.457375</mass>
-        <inertia>
-          <ixx>0.00123551</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.00123551</iyy>
-          <iyz>0</iyz>
-          <izz>0.00204224</izz>
-        </inertia>
-      </inertial>
-      <collision name="front_right_flipper_wheel5_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.075</length>
-            <radius>0.0945</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-            <collide_bitmask>16</collide_bitmask>
-          </contact>
-          <friction>
-            <ode>
-              <mu>1</mu>
-              <mu2>150</mu2>
-              <slip1>0.000575601</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-      <self_collide>1</self_collide>
-    </link>
-    <joint name="front_right_flipper_wheel5_j" type="revolute">
-      <child>front_right_flipper_wheel5</child>
-      <parent>front_right_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>-1</effort>
-          <velocity>10.582</velocity>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="front_right_flipper_wheel6">
-      <pose>0.472786 -0.248 -0 3.1415926535897931 -0 3.1415926535897931</pose>
-      <inertial>
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <mass>0.457375</mass>
-        <inertia>
-          <ixx>0.00112011</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.00112011</iyy>
-          <iyz>0</iyz>
-          <izz>0.00181143</izz>
-        </inertia>
-      </inertial>
-      <collision name="front_right_flipper_wheel6_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.075</length>
-            <radius>0.089</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-            <collide_bitmask>32</collide_bitmask>
-          </contact>
-          <friction>
-            <ode>
-              <mu>1</mu>
-              <mu2>150</mu2>
-              <slip1>0.000575601</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-      <self_collide>1</self_collide>
-    </link>
-    <joint name="front_right_flipper_wheel6_j" type="revolute">
-      <child>front_right_flipper_wheel6</child>
-      <parent>front_right_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>-1</effort>
-          <velocity>11.236</velocity>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="front_right_flipper_wheel7">
-      <pose>0.516143 -0.248 -0 3.1415926535897931 -0 3.1415926535897931</pose>
-      <inertial>
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <mass>0.457375</mass>
-        <inertia>
-          <ixx>0.00101163</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.00101163</iyy>
-          <iyz>0</iyz>
-          <izz>0.00159447</izz>
-        </inertia>
-      </inertial>
-      <collision name="front_right_flipper_wheel7_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.075</length>
-            <radius>0.0835</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-            <collide_bitmask>64</collide_bitmask>
-          </contact>
-          <friction>
-            <ode>
-              <mu>1</mu>
-              <mu2>150</mu2>
-              <slip1>0.000575601</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-      <self_collide>1</self_collide>
-    </link>
-    <joint name="front_right_flipper_wheel7_j" type="revolute">
-      <child>front_right_flipper_wheel7</child>
-      <parent>front_right_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>-1</effort>
-          <velocity>11.976</velocity>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="front_right_flipper_wheel8">
-      <pose>0.5595 -0.248 -0 3.1415926535897931 -0 3.1415926535897931</pose>
-      <inertial>
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <mass>0.457375</mass>
-        <inertia>
-          <ixx>0.000910062</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.000910062</iyy>
-          <iyz>0</iyz>
-          <izz>0.00139133</izz>
-        </inertia>
-      </inertial>
-      <collision name="front_right_flipper_wheel8_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.075</length>
-            <radius>0.078</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-            <collide_bitmask>128</collide_bitmask>
-          </contact>
-          <friction>
-            <ode>
-              <mu>1</mu>
-              <mu2>150</mu2>
-              <slip1>0.000575601</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-      <self_collide>1</self_collide>
-    </link>
-    <joint name="front_right_flipper_wheel8_j" type="revolute">
-      <child>front_right_flipper_wheel8</child>
-      <parent>front_right_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>-1</effort>
-          <velocity>12.8205</velocity>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="front_right_motor">
-      <inertial>
-        <pose>0.22 0.09 0.02 0 -0 0</pose>
-        <mass>4.06</mass>
-        <inertia>
-          <ixx>0.0151492</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.0129839</iyy>
-          <iyz>0</iyz>
-          <izz>0.0173903</izz>
-        </inertia>
-      </inertial>
-    </link>
-    <joint name="front_right_motor_j" type="fixed">
-      <child>front_right_motor</child>
-      <parent>base_link</parent>
-      <axis>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <xyz>0 0 1</xyz>
-        <use_parent_model_frame>0</use_parent_model_frame>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-      </axis>
-      <physics>
-        <ode>
-          <limit>
-            <cfm>0</cfm>
-            <erp>0.2</erp>
-          </limit>
-        </ode>
-      </physics>
-    </joint>
-    <link name="imu">
-      <pose>0 0 0.15 -3.1415926535897931 0 0</pose>
-      <inertial>
-        <mass>1e-05</mass>
-        <inertia>
-          <ixx>0.001</ixx>
-          <ixy>1e-06</ixy>
-          <ixz>1e-06</ixz>
-          <iyy>0.001</iyy>
-          <iyz>1e-06</iyz>
-          <izz>0.001</izz>
+          <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>
@@ -1836,7 +1033,6 @@
         <always_on>1</always_on>
         <update_rate>50</update_rate>
         <imu>
-          <enable_orientation>0</enable_orientation>
           <angular_velocity>
             <x>
               <noise type="gaussian">
@@ -1907,6 +1103,7 @@
               </noise>
             </z>
           </linear_acceleration>
+          <enable_orientation>0</enable_orientation>
         </imu>
       </sensor>
     </link>
@@ -2011,162 +1208,13 @@
             </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>
+          </lens>
+        </camera>
+      </sensor>
     </link>
-    <joint name="rear_left_flipper_end_point_j" type="fixed">
-      <child>rear_left_flipper_end_point</child>
-      <parent>rear_left_flipper</parent>
+    <joint name="rear_cam_j" type="fixed">
+      <child>rear_cam</child>
+      <parent>base_link</parent>
       <axis>
         <dynamics>
           <spring_reference>0</spring_reference>
@@ -2188,364 +1236,149 @@
         </ode>
       </physics>
     </joint>
-    <link name="rear_left_flipper_wheel1">
-      <pose>-0.256 0.248 0 3.1415926535897931 -0 3.1415926535897931</pose>
+    <link name="rear_left_flipper">
+      <pose>-0.256 0.248 0 3.1415926535897931 -0 -3.1415926535897931</pose>
       <inertial>
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <mass>0.457375</mass>
+        <pose>0.08 0 0 0 -0 0</pose>
+        <mass>3.659</mass>
         <inertia>
-          <ixx>0.0017663</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.0017663</iyy>
-          <iyz>0</iyz>
-          <izz>0.0031038</izz>
+          <ixx>0.0017491</ixx>
+          <ixy>2.8512e-07</ixy>
+          <ixz>0.0018277</ixz>
+          <iyy>0.012277</iyy>
+          <iyz>-3.6288e-07</iyz>
+          <izz>0.010941</izz>
         </inertia>
       </inertial>
-      <collision name="rear_left_flipper_wheel1_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="rear_left_flipper_collision">
+        <pose>0.15175 0 0 0 -0 0</pose>
         <geometry>
-          <cylinder>
-            <length>0.075</length>
-            <radius>0.1165</radius>
-          </cylinder>
+          <box>
+            <size>0.3035 0.075 0.078</size>
+          </box>
         </geometry>
         <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-            <collide_bitmask>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>
+      <collision name="rear_left_flipper_collision_1">
+        <pose>0.15175 0 0.05825 0 0.126179 0</pose>
         <geometry>
-          <cylinder>
-            <length>0.075</length>
-            <radius>0.111</radius>
-          </cylinder>
+          <box>
+            <size>0.3035 0.075 0.078</size>
+          </box>
         </geometry>
         <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-            <collide_bitmask>2</collide_bitmask>
-          </contact>
           <friction>
             <ode>
               <mu>1</mu>
               <mu2>150</mu2>
-              <slip1>0.000575601</slip1>
-              <slip2>0</slip2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
-      <self_collide>1</self_collide>
-    </link>
-    <joint name="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>
+      <collision name="rear_left_flipper_collision_2">
+        <pose>0.15175 0 -0.05825 0 -0.126179 0</pose>
         <geometry>
-          <cylinder>
-            <length>0.075</length>
-            <radius>0.1055</radius>
-          </cylinder>
+          <box>
+            <size>0.3035 0.075 0.078</size>
+          </box>
         </geometry>
         <surface>
-          <contact>
-            <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>
+      <collision name="rear_left_flipper_collision_3">
+        <pose>0.3035 0 0 1.5707963267948966 -0 0</pose>
         <geometry>
           <cylinder>
             <length>0.075</length>
-            <radius>0.1</radius>
+            <radius>0.078</radius>
           </cylinder>
         </geometry>
         <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-            <collide_bitmask>8</collide_bitmask>
-          </contact>
           <friction>
             <ode>
               <mu>1</mu>
               <mu2>150</mu2>
-              <slip1>0.000575601</slip1>
-              <slip2>0</slip2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
-      <self_collide>1</self_collide>
-    </link>
-    <joint name="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">
+      <collision name="rear_left_flipper_collision_4">
         <pose>0 0 0 1.5707963267948966 -0 0</pose>
         <geometry>
           <cylinder>
             <length>0.075</length>
-            <radius>0.0945</radius>
+            <radius>0.1165</radius>
           </cylinder>
         </geometry>
         <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-            <collide_bitmask>16</collide_bitmask>
-          </contact>
           <friction>
             <ode>
               <mu>1</mu>
               <mu2>150</mu2>
-              <slip1>0.000575601</slip1>
-              <slip2>0</slip2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
-      <self_collide>1</self_collide>
-    </link>
-    <joint name="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>
+      <visual name="rear_left_flipper_visual">
         <geometry>
-          <cylinder>
-            <length>0.075</length>
-            <radius>0.089</radius>
-          </cylinder>
+          <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>
-        <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>
+      </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_wheel6_j" type="revolute">
-      <child>rear_left_flipper_wheel6</child>
-      <parent>rear_left_flipper</parent>
+    <joint name="rear_left_flipper_j" type="revolute">
+      <child>rear_left_flipper</child>
+      <parent>base_link</parent>
       <axis>
         <xyz>0 1 0</xyz>
         <limit>
           <lower>-1e+16</lower>
           <upper>1e+16</upper>
-          <effort>-1</effort>
-          <velocity>11.236</velocity>
+          <effort>120</effort>
+          <velocity>1</velocity>
         </limit>
         <dynamics>
           <spring_reference>0</spring_reference>
@@ -2553,128 +1386,92 @@
         </dynamics>
         <use_parent_model_frame>0</use_parent_model_frame>
       </axis>
+      <physics>
+        <ode>
+          <implicit_spring_damper>1</implicit_spring_damper>
+          <cfm_damping>1</cfm_damping>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+        </ode>
+      </physics>
     </joint>
-    <link name="rear_left_flipper_wheel7">
-      <pose>-0.516143 0.248 0 3.1415926535897931 -0 3.1415926535897931</pose>
+    <link name="rear_left_flipper_end_point_inflated">
+      <pose>-0.6375 0.248 0 3.1415926535897931 -0 3.1415926535897931</pose>
       <inertial>
-        <pose>0 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>
+        <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_wheel7_j" type="revolute">
-      <child>rear_left_flipper_wheel7</child>
+    <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>
-        <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>
+        <xyz>0 0 1</xyz>
         <use_parent_model_frame>0</use_parent_model_frame>
+        <limit>
+          <lower>-1e+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_wheel8">
-      <pose>-0.5595 0.248 0 3.1415926535897931 -0 3.1415926535897931</pose>
+    <link name="rear_left_flipper_end_point">
+      <pose>-0.6375 0.248 0 3.1415926535897931 -0 3.1415926535897931</pose>
       <inertial>
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <mass>0.457375</mass>
+        <mass>1e-05</mass>
         <inertia>
-          <ixx>0.000910062</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.000910062</iyy>
-          <iyz>0</iyz>
-          <izz>0.00139133</izz>
+          <ixx>0.001</ixx>
+          <ixy>1e-06</ixy>
+          <ixz>1e-06</ixz>
+          <iyy>0.001</iyy>
+          <iyz>1e-06</iyz>
+          <izz>0.001</izz>
         </inertia>
       </inertial>
-      <collision name="rear_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>
+    <joint name="rear_left_flipper_end_point_j" type="fixed">
+      <child>rear_left_flipper_end_point</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>
+        <xyz>0 0 1</xyz>
         <use_parent_model_frame>0</use_parent_model_frame>
+        <limit>
+          <lower>-1e+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_motor">
       <inertial>
@@ -2895,223 +1692,51 @@
             <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">
+      </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/tfmini_plus_lidar.dae</uri>
+            <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="laser" type="gpu_lidar">
-        <pose>0.021 0 0.00925 0 -0 0</pose>
-        <update_rate>10</update_rate>
+      <sensor name="camera_2" type="camera">
+        <pose>0.072044 0 0.0145 0 -0 0</pose>
+        <update_rate>9</update_rate>
         <visualize>0</visualize>
-        <always_on>1</always_on>
-        <lidar>
-          <scan>
-            <horizontal>
-              <samples>3</samples>
-              <resolution>1</resolution>
-              <min_angle>-0.0314159</min_angle>
-              <max_angle>0.0314159</max_angle>
-            </horizontal>
-            <vertical>
-              <samples>3</samples>
-              <resolution>1</resolution>
-              <min_angle>-0.0314159</min_angle>
-              <max_angle>0.0314159</max_angle>
-            </vertical>
-          </scan>
-          <range>
-            <min>0.1</min>
-            <max>12</max>
-            <resolution>0.01</resolution>
-          </range>
+        <camera>
+          <horizontal_fov>1.50971</horizontal_fov>
+          <image>
+            <width>1920</width>
+            <height>1200</height>
+            <format>R8G8B8</format>
+          </image>
+          <clip>
+            <near>0.011726</near>
+            <far>300</far>
+          </clip>
           <noise>
             <type>gaussian</type>
             <mean>0</mean>
-            <stddev>0.015</stddev>
+            <stddev>0.007</stddev>
           </noise>
-        </lidar>
+          <lens>
+            <intrinsics>
+              <fx>1020.51</fx>
+              <fy>1020.51</fy>
+              <cx>959.5</cx>
+              <cy>599.5</cy>
+              <s>0</s>
+            </intrinsics>
+            <type>stereographic</type>
+            <scale_to_hfov>1</scale_to_hfov>
+          </lens>
+        </camera>
       </sensor>
     </link>
-    <joint name="cliff_sensor_front_right_j" type="fixed">
-      <child>cliff_sensor_front_right</child>
+    <joint name="camera_2_j" type="fixed">
+      <child>camera_2</child>
       <parent>rear_right_box</parent>
       <axis>
         <dynamics>
@@ -3134,8 +1759,8 @@
         </ode>
       </physics>
     </joint>
-    <link name="cliff_sensor_rear_left">
-      <pose>-0.3 0.1445 0.2106 3.1415926535897931 1.5707963267948966 0</pose>
+    <link name="cliff_sensor_front_left">
+      <pose>0.3 0.1445 0.2106 0 1.5707963267948966 0</pose>
       <inertial>
         <pose>0.0105 0 0.00925 0 -0 0</pose>
         <mass>0.012</mass>
@@ -3148,7 +1773,7 @@
           <izz>1.666e-06</izz>
         </inertia>
       </inertial>
-      <collision name="cliff_sensor_rear_left_collision">
+      <collision name="cliff_sensor_front_left_collision">
         <pose>0.0105 0 0.00925 0 -0 0</pose>
         <geometry>
           <box>
@@ -3156,7 +1781,7 @@
           </box>
         </geometry>
       </collision>
-      <visual name="cliff_sensor_rear_left_visual">
+      <visual name="cliff_sensor_front_left_visual">
         <geometry>
           <mesh>
             <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_MARV_SENSOR_CONFIG_1/tip/files/meshes/tfmini_plus_lidar.dae</uri>
@@ -3196,8 +1821,8 @@
         </lidar>
       </sensor>
     </link>
-    <joint name="cliff_sensor_rear_left_j" type="fixed">
-      <child>cliff_sensor_rear_left</child>
+    <joint name="cliff_sensor_front_left_j" type="fixed">
+      <child>cliff_sensor_front_left</child>
       <parent>rear_right_box</parent>
       <axis>
         <dynamics>
@@ -3220,8 +1845,8 @@
         </ode>
       </physics>
     </joint>
-    <link name="cliff_sensor_rear_right">
-      <pose>-0.3 -0.1445 0.2106 3.1415926535897931 1.5707963267948966 0</pose>
+    <link name="cliff_sensor_front_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>
@@ -3234,7 +1859,7 @@
           <izz>1.666e-06</izz>
         </inertia>
       </inertial>
-      <collision name="cliff_sensor_rear_right_collision">
+      <collision name="cliff_sensor_front_right_collision">
         <pose>0.0105 0 0.00925 0 -0 0</pose>
         <geometry>
           <box>
@@ -3242,7 +1867,7 @@
           </box>
         </geometry>
       </collision>
-      <visual name="cliff_sensor_rear_right_visual">
+      <visual name="cliff_sensor_front_right_visual">
         <geometry>
           <mesh>
             <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_MARV_SENSOR_CONFIG_1/tip/files/meshes/tfmini_plus_lidar.dae</uri>
@@ -3277,182 +1902,14 @@
           <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>
+            <stddev>0.015</stddev>
+          </noise>
+        </lidar>
+      </sensor>
     </link>
-    <joint name="mobilicom_antenna_r_j" type="fixed">
-      <child>mobilicom_antenna_r</child>
-      <parent>mobilicom</parent>
+    <joint name="cliff_sensor_front_right_j" type="fixed">
+      <child>cliff_sensor_front_right</child>
+      <parent>rear_right_box</parent>
       <axis>
         <dynamics>
           <spring_reference>0</spring_reference>
@@ -3474,38 +1931,70 @@
         </ode>
       </physics>
     </joint>
-    <link name="mote_deployer">
-      <pose>-0.24 -0.16 0.1821 0 0 -3.1415926535897931</pose>
+    <link name="cliff_sensor_rear_left">
+      <pose>-0.3 0.1445 0.2106 3.1415926535897931 1.5707963267948966 0</pose>
       <inertial>
-        <pose>0.0845 -0.024 0.0655 0 -0 0</pose>
-        <mass>0.5</mass>
+        <pose>0.0105 0 0.00925 0 -0 0</pose>
+        <mass>0.012</mass>
         <inertia>
-          <ixx>0.000931042</ixx>
+          <ixx>1.56725e-06</ixx>
           <ixy>0</ixy>
           <ixz>0</ixz>
-          <iyy>0.00220342</iyy>
+          <iyy>7.8325e-07</iyy>
           <iyz>0</iyz>
-          <izz>0.00170437</izz>
+          <izz>1.666e-06</izz>
         </inertia>
       </inertial>
-      <collision name="mote_deployer_collision">
-        <pose>0.0845 -0.024 0.0655 0 -0 0</pose>
+      <collision name="cliff_sensor_rear_left_collision">
+        <pose>0.0105 0 0.00925 0 -0 0</pose>
         <geometry>
           <box>
-            <size>0.189 0.072 0.131</size>
+            <size>0.021 0.035 0.0185</size>
           </box>
         </geometry>
       </collision>
-      <visual name="mote_deployer_visual">
+      <visual name="cliff_sensor_rear_left_visual">
         <geometry>
           <mesh>
-            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_MARV_SENSOR_CONFIG_1/tip/files/meshes/mote_deployer.dae</uri>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_MARV_SENSOR_CONFIG_1/tip/files/meshes/tfmini_plus_lidar.dae</uri>
           </mesh>
         </geometry>
       </visual>
+      <sensor name="laser" type="gpu_lidar">
+        <pose>0.021 0 0.00925 0 -0 0</pose>
+        <update_rate>10</update_rate>
+        <visualize>0</visualize>
+        <always_on>1</always_on>
+        <lidar>
+          <scan>
+            <horizontal>
+              <samples>3</samples>
+              <resolution>1</resolution>
+              <min_angle>-0.0314159</min_angle>
+              <max_angle>0.0314159</max_angle>
+            </horizontal>
+            <vertical>
+              <samples>3</samples>
+              <resolution>1</resolution>
+              <min_angle>-0.0314159</min_angle>
+              <max_angle>0.0314159</max_angle>
+            </vertical>
+          </scan>
+          <range>
+            <min>0.1</min>
+            <max>12</max>
+            <resolution>0.01</resolution>
+          </range>
+          <noise>
+            <type>gaussian</type>
+            <mean>0</mean>
+            <stddev>0.015</stddev>
+          </noise>
+        </lidar>
+      </sensor>
     </link>
-    <joint name="mote_deployer_j" type="fixed">
-      <child>mote_deployer</child>
+    <joint name="cliff_sensor_rear_left_j" type="fixed">
+      <child>cliff_sensor_rear_left</child>
       <parent>rear_right_box</parent>
       <axis>
         <dynamics>
@@ -3528,73 +2017,70 @@
         </ode>
       </physics>
     </joint>
-    <link name="thermocam">
-      <pose>0.26 -0.04 0.1921 0 -0 0</pose>
+    <link name="cliff_sensor_rear_right">
+      <pose>-0.3 -0.1445 0.2106 3.1415926535897931 1.5707963267948966 0</pose>
       <inertial>
-        <pose>0.0155 0 0 0 -0 0</pose>
-        <mass>0.024</mass>
+        <pose>0.0105 0 0.00925 0 -0 0</pose>
+        <mass>0.012</mass>
         <inertia>
-          <ixx>1.764e-06</ixx>
+          <ixx>1.56725e-06</ixx>
           <ixy>0</ixy>
           <ixz>0</ixz>
-          <iyy>4.58e-06</iyy>
+          <iyy>7.8325e-07</iyy>
           <iyz>0</iyz>
-          <izz>4.58e-06</izz>
+          <izz>1.666e-06</izz>
         </inertia>
       </inertial>
-      <collision name="thermocam_collision">
-        <pose>0.0155 0 0 0 -0 0</pose>
+      <collision name="cliff_sensor_rear_right_collision">
+        <pose>0.0105 0 0.00925 0 -0 0</pose>
         <geometry>
           <box>
-            <size>0.043 0.021 0.021</size>
+            <size>0.021 0.035 0.0185</size>
           </box>
         </geometry>
       </collision>
-      <visual name="thermocam_visual">
-        <pose>0 0 0.0105 0 -0 0</pose>
+      <visual name="cliff_sensor_rear_right_visual">
         <geometry>
           <mesh>
-            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_MARV_SENSOR_CONFIG_1/tip/files/meshes/flir_boson.dae</uri>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_MARV_SENSOR_CONFIG_1/tip/files/meshes/tfmini_plus_lidar.dae</uri>
           </mesh>
         </geometry>
       </visual>
-      <sensor name="thermal_camera" type="thermal_camera">
-        <pose>0.03 0 0 0 -0 0</pose>
-        <always_on>1</always_on>
-        <update_rate>8.6</update_rate>
+      <sensor name="laser" type="gpu_lidar">
+        <pose>0.021 0 0.00925 0 -0 0</pose>
+        <update_rate>10</update_rate>
         <visualize>0</visualize>
-        <camera name="thermal_camera">
-          <horizontal_fov>1.6057</horizontal_fov>
-          <lens>
-            <intrinsics>
-              <fx>154.51</fx>
-              <fy>154.51</fy>
-              <cx>159.5</cx>
-              <cy>127.5</cy>
-              <s>0</s>
-            </intrinsics>
-            <type>stereographic</type>
-            <scale_to_hfov>1</scale_to_hfov>
-          </lens>
-          <image>
-            <width>320</width>
-            <height>256</height>
-            <format>L8</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>253.15</min_temp>
-          <max_temp>673.15</max_temp>
-          <resolution>1.6</resolution>
-        </plugin>
+        <always_on>1</always_on>
+        <lidar>
+          <scan>
+            <horizontal>
+              <samples>3</samples>
+              <resolution>1</resolution>
+              <min_angle>-0.0314159</min_angle>
+              <max_angle>0.0314159</max_angle>
+            </horizontal>
+            <vertical>
+              <samples>3</samples>
+              <resolution>1</resolution>
+              <min_angle>-0.0314159</min_angle>
+              <max_angle>0.0314159</max_angle>
+            </vertical>
+          </scan>
+          <range>
+            <min>0.1</min>
+            <max>12</max>
+            <resolution>0.01</resolution>
+          </range>
+          <noise>
+            <type>gaussian</type>
+            <mean>0</mean>
+            <stddev>0.015</stddev>
+          </noise>
+        </lidar>
       </sensor>
     </link>
-    <joint name="thermocam_j" type="fixed">
-      <child>thermocam</child>
+    <joint name="cliff_sensor_rear_right_j" type="fixed">
+      <child>cliff_sensor_rear_right</child>
       <parent>rear_right_box</parent>
       <axis>
         <dynamics>
@@ -3617,96 +2103,39 @@
         </ode>
       </physics>
     </joint>
-    <link name="rear_right_flipper">
-      <pose>-0.256 -0.248 0 0 -0 0</pose>
+    <link name="mobilicom">
+      <pose>-0.25 0.12 0.1921 0 -0 1.5707963267948966</pose>
       <inertial>
-        <mass>1e-05</mass>
+        <pose>0 0 0.0135 0 -0 0</pose>
+        <mass>0.168</mass>
         <inertia>
-          <ixx>0.001</ixx>
-          <ixy>1e-06</ixy>
-          <ixz>1e-06</ixz>
-          <iyy>0.001</iyy>
-          <iyz>1e-06</iyz>
-          <izz>0.001</izz>
+          <ixx>8.687e-05</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.000150206</iyy>
+          <iyz>0</iyz>
+          <izz>0.000216664</izz>
         </inertia>
       </inertial>
-      <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>
+      <collision name="mobilicom_collision">
+        <pose>0 0 0.0135 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>
+          <box>
+            <size>0.1 0.074 0.027</size>
+          </box>
+        </geometry>
+      </collision>
+      <visual name="mobilicom_visual">
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_MARV_SENSOR_CONFIG_1/tip/files/meshes/mobilicom.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
     </link>
-    <joint name="rear_right_flipper_end_point_inflated_j" type="fixed">
-      <child>rear_right_flipper_end_point_inflated</child>
-      <parent>rear_right_flipper</parent>
+    <joint name="mobilicom_j" type="fixed">
+      <child>mobilicom</child>
+      <parent>rear_right_box</parent>
       <axis>
         <dynamics>
           <spring_reference>0</spring_reference>
@@ -3728,23 +2157,42 @@
         </ode>
       </physics>
     </joint>
-    <link name="rear_right_flipper_end_point">
-      <pose>-0.6375 -0.248 0 0 -0 0</pose>
+    <link name="mobilicom_antenna_l">
+      <pose>-0.275 0.17 0.2056 -0.5 -0 1.5707963267948966</pose>
       <inertial>
-        <mass>1e-05</mass>
+        <pose>0 0 0.085 0 -0 0</pose>
+        <mass>0.03</mass>
         <inertia>
-          <ixx>0.001</ixx>
-          <ixy>1e-06</ixy>
-          <ixz>1e-06</ixz>
-          <iyy>0.001</iyy>
-          <iyz>1e-06</iyz>
-          <izz>0.001</izz>
+          <ixx>7.3e-05</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>7.3e-05</iyy>
+          <iyz>0</iyz>
+          <izz>1.5e-06</izz>
         </inertia>
       </inertial>
+      <collision name="mobilicom_antenna_l_collision">
+        <pose>0 0 0.085 0 -0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.17</length>
+            <radius>0.01</radius>
+          </cylinder>
+        </geometry>
+      </collision>
+      <visual name="mobilicom_antenna_l_visual">
+        <pose>0 0 0.085 0 -0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.17</length>
+            <radius>0.01</radius>
+          </cylinder>
+        </geometry>
+      </visual>
     </link>
-    <joint name="rear_right_flipper_end_point_j" type="fixed">
-      <child>rear_right_flipper_end_point</child>
-      <parent>rear_right_flipper</parent>
+    <joint name="mobilicom_antenna_l_j" type="fixed">
+      <child>mobilicom_antenna_l</child>
+      <parent>mobilicom</parent>
       <axis>
         <dynamics>
           <spring_reference>0</spring_reference>
@@ -3766,425 +2214,349 @@
         </ode>
       </physics>
     </joint>
-    <link name="rear_right_flipper_wheel1">
-      <pose>-0.256 -0.248 0 0 -0 0</pose>
+    <link name="mobilicom_antenna_r">
+      <pose>-0.225 0.17 0.2056 0 -0 1.5707963267948966</pose>
       <inertial>
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <mass>0.457375</mass>
+        <pose>0 0 0.085 0 -0 0</pose>
+        <mass>0.03</mass>
         <inertia>
-          <ixx>0.0017663</ixx>
+          <ixx>7.3e-05</ixx>
           <ixy>0</ixy>
           <ixz>0</ixz>
-          <iyy>0.0017663</iyy>
+          <iyy>7.3e-05</iyy>
           <iyz>0</iyz>
-          <izz>0.0031038</izz>
+          <izz>1.5e-06</izz>
         </inertia>
       </inertial>
-      <collision name="rear_right_flipper_wheel1_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="mobilicom_antenna_r_collision">
+        <pose>0 0 0.085 0 -0 0</pose>
         <geometry>
           <cylinder>
-            <length>0.075</length>
-            <radius>0.1165</radius>
+            <length>0.17</length>
+            <radius>0.01</radius>
           </cylinder>
         </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-            <collide_bitmask>1</collide_bitmask>
-          </contact>
-          <friction>
-            <ode>
-              <mu>1</mu>
-              <mu2>150</mu2>
-              <slip1>0.000575601</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
       </collision>
-      <self_collide>1</self_collide>
+      <visual name="mobilicom_antenna_r_visual">
+        <pose>0 0 0.085 0 -0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.17</length>
+            <radius>0.01</radius>
+          </cylinder>
+        </geometry>
+      </visual>
     </link>
-    <joint name="rear_right_flipper_wheel1_j" type="revolute">
-      <child>rear_right_flipper_wheel1</child>
-      <parent>rear_right_flipper</parent>
+    <joint name="mobilicom_antenna_r_j" type="fixed">
+      <child>mobilicom_antenna_r</child>
+      <parent>mobilicom</parent>
       <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>-1</effort>
-          <velocity>8.58369</velocity>
-        </limit>
         <dynamics>
           <spring_reference>0</spring_reference>
           <spring_stiffness>0</spring_stiffness>
         </dynamics>
+        <xyz>0 0 1</xyz>
         <use_parent_model_frame>0</use_parent_model_frame>
+        <limit>
+          <lower>-1e+16</lower>
+          <upper>1e+16</upper>
+        </limit>
       </axis>
+      <physics>
+        <ode>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+        </ode>
+      </physics>
     </joint>
-    <link name="rear_right_flipper_wheel2">
-      <pose>-0.299357 -0.248 0 0 -0 0</pose>
+    <link name="mote_deployer">
+      <pose>-0.24 -0.16 0.1821 0 0 -3.1415926535897931</pose>
       <inertial>
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <mass>0.457375</mass>
+        <pose>0.0845 -0.024 0.0655 0 -0 0</pose>
+        <mass>0.5</mass>
         <inertia>
-          <ixx>0.00162322</ixx>
+          <ixx>0.000931042</ixx>
           <ixy>0</ixy>
           <ixz>0</ixz>
-          <iyy>0.00162322</iyy>
+          <iyy>0.00220342</iyy>
           <iyz>0</iyz>
-          <izz>0.00281766</izz>
+          <izz>0.00170437</izz>
         </inertia>
       </inertial>
-      <collision name="rear_right_flipper_wheel2_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="mote_deployer_collision">
+        <pose>0.0845 -0.024 0.0655 0 -0 0</pose>
         <geometry>
-          <cylinder>
-            <length>0.075</length>
-            <radius>0.111</radius>
-          </cylinder>
+          <box>
+            <size>0.189 0.072 0.131</size>
+          </box>
         </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-            <collide_bitmask>2</collide_bitmask>
-          </contact>
-          <friction>
-            <ode>
-              <mu>1</mu>
-              <mu2>150</mu2>
-              <slip1>0.000575601</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
       </collision>
-      <self_collide>1</self_collide>
+      <visual name="mote_deployer_visual">
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_MARV_SENSOR_CONFIG_1/tip/files/meshes/mote_deployer.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
     </link>
-    <joint name="rear_right_flipper_wheel2_j" type="revolute">
-      <child>rear_right_flipper_wheel2</child>
-      <parent>rear_right_flipper</parent>
+    <joint name="mote_deployer_j" type="fixed">
+      <child>mote_deployer</child>
+      <parent>rear_right_box</parent>
       <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>-1</effort>
-          <velocity>9.00901</velocity>
-        </limit>
         <dynamics>
           <spring_reference>0</spring_reference>
           <spring_stiffness>0</spring_stiffness>
         </dynamics>
+        <xyz>0 0 1</xyz>
         <use_parent_model_frame>0</use_parent_model_frame>
+        <limit>
+          <lower>-1e+16</lower>
+          <upper>1e+16</upper>
+        </limit>
       </axis>
+      <physics>
+        <ode>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+        </ode>
+      </physics>
     </joint>
-    <link name="rear_right_flipper_wheel3">
-      <pose>-0.342714 -0.248 0 0 -0 0</pose>
+    <link name="thermocam">
+      <pose>0.26 -0.04 0.1921 0 -0 0</pose>
       <inertial>
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <mass>0.457375</mass>
+        <pose>0.0155 0 0 0 -0 0</pose>
+        <mass>0.024</mass>
         <inertia>
-          <ixx>0.00148707</ixx>
+          <ixx>1.764e-06</ixx>
           <ixy>0</ixy>
           <ixz>0</ixz>
-          <iyy>0.00148707</iyy>
+          <iyy>4.58e-06</iyy>
           <iyz>0</iyz>
-          <izz>0.00254535</izz>
+          <izz>4.58e-06</izz>
         </inertia>
       </inertial>
-      <collision name="rear_right_flipper_wheel3_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="thermocam_collision">
+        <pose>0.0155 0 0 0 -0 0</pose>
         <geometry>
-          <cylinder>
-            <length>0.075</length>
-            <radius>0.1055</radius>
-          </cylinder>
+          <box>
+            <size>0.043 0.021 0.021</size>
+          </box>
         </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-            <collide_bitmask>4</collide_bitmask>
-          </contact>
-          <friction>
-            <ode>
-              <mu>1</mu>
-              <mu2>150</mu2>
-              <slip1>0.000575601</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
       </collision>
-      <self_collide>1</self_collide>
+      <visual name="thermocam_visual">
+        <pose>0 0 0.0105 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_MARV_SENSOR_CONFIG_1/tip/files/meshes/flir_boson.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <sensor name="thermal_camera" type="thermal_camera">
+        <pose>0.03 0 0 0 -0 0</pose>
+        <always_on>1</always_on>
+        <update_rate>8.6</update_rate>
+        <visualize>0</visualize>
+        <camera name="thermal_camera">
+          <horizontal_fov>1.6057</horizontal_fov>
+          <lens>
+            <intrinsics>
+              <fx>154.51</fx>
+              <fy>154.51</fy>
+              <cx>159.5</cx>
+              <cy>127.5</cy>
+              <s>0</s>
+            </intrinsics>
+            <type>stereographic</type>
+            <scale_to_hfov>1</scale_to_hfov>
+          </lens>
+          <image>
+            <width>320</width>
+            <height>256</height>
+            <format>L8</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>253.15</min_temp>
+          <max_temp>673.15</max_temp>
+          <resolution>1.6</resolution>
+        </plugin>
+      </sensor>
     </link>
-    <joint name="rear_right_flipper_wheel3_j" type="revolute">
-      <child>rear_right_flipper_wheel3</child>
-      <parent>rear_right_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>-1</effort>
-          <velocity>9.47867</velocity>
-        </limit>
+    <joint name="thermocam_j" type="fixed">
+      <child>thermocam</child>
+      <parent>rear_right_box</parent>
+      <axis>
         <dynamics>
           <spring_reference>0</spring_reference>
           <spring_stiffness>0</spring_stiffness>
         </dynamics>
+        <xyz>0 0 1</xyz>
         <use_parent_model_frame>0</use_parent_model_frame>
+        <limit>
+          <lower>-1e+16</lower>
+          <upper>1e+16</upper>
+        </limit>
       </axis>
+      <physics>
+        <ode>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+        </ode>
+      </physics>
     </joint>
-    <link name="rear_right_flipper_wheel4">
-      <pose>-0.386071 -0.248 0 0 -0 0</pose>
+    <link name="rear_right_flipper">
+      <pose>-0.256 -0.248 0 0 -0 0</pose>
       <inertial>
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <mass>0.457375</mass>
+        <pose>-0.08 0 0 0 -0 0</pose>
+        <mass>3.659</mass>
         <inertia>
-          <ixx>0.00135783</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.00135783</iyy>
-          <iyz>0</iyz>
-          <izz>0.00228687</izz>
+          <ixx>0.0017491</ixx>
+          <ixy>2.8512e-07</ixy>
+          <ixz>0.0018277</ixz>
+          <iyy>0.012277</iyy>
+          <iyz>-3.6288e-07</iyz>
+          <izz>0.010941</izz>
         </inertia>
       </inertial>
-      <collision name="rear_right_flipper_wheel4_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="rear_right_flipper_collision">
+        <pose>-0.15175 0 0 0 -0 0</pose>
         <geometry>
-          <cylinder>
-            <length>0.075</length>
-            <radius>0.1</radius>
-          </cylinder>
+          <box>
+            <size>0.3035 0.075 0.078</size>
+          </box>
         </geometry>
         <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-            <collide_bitmask>8</collide_bitmask>
-          </contact>
           <friction>
             <ode>
               <mu>1</mu>
               <mu2>150</mu2>
-              <slip1>0.000575601</slip1>
-              <slip2>0</slip2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
-      <self_collide>1</self_collide>
-    </link>
-    <joint name="rear_right_flipper_wheel4_j" type="revolute">
-      <child>rear_right_flipper_wheel4</child>
-      <parent>rear_right_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>-1</effort>
-          <velocity>10</velocity>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="rear_right_flipper_wheel5">
-      <pose>-0.429429 -0.248 0 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <mass>0.457375</mass>
-        <inertia>
-          <ixx>0.00123551</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.00123551</iyy>
-          <iyz>0</iyz>
-          <izz>0.00204224</izz>
-        </inertia>
-      </inertial>
-      <collision name="rear_right_flipper_wheel5_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="rear_right_flipper_collision_1">
+        <pose>-0.15175 0 0.05825 0 -0.126179 0</pose>
         <geometry>
-          <cylinder>
-            <length>0.075</length>
-            <radius>0.0945</radius>
-          </cylinder>
+          <box>
+            <size>0.3035 0.075 0.078</size>
+          </box>
         </geometry>
         <surface>
-          <contact>
+          <friction>
             <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
+              <mu>1</mu>
+              <mu2>150</mu2>
+              <fdir1>0 0 1</fdir1>
             </ode>
-            <collide_bitmask>16</collide_bitmask>
-          </contact>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="rear_right_flipper_collision_2">
+        <pose>-0.15175 0 -0.05825 0 0.126179 0</pose>
+        <geometry>
+          <box>
+            <size>0.3035 0.075 0.078</size>
+          </box>
+        </geometry>
+        <surface>
           <friction>
             <ode>
               <mu>1</mu>
               <mu2>150</mu2>
-              <slip1>0.000575601</slip1>
-              <slip2>0</slip2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
-      <self_collide>1</self_collide>
-    </link>
-    <joint name="rear_right_flipper_wheel5_j" type="revolute">
-      <child>rear_right_flipper_wheel5</child>
-      <parent>rear_right_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>-1</effort>
-          <velocity>10.582</velocity>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="rear_right_flipper_wheel6">
-      <pose>-0.472786 -0.248 0 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <mass>0.457375</mass>
-        <inertia>
-          <ixx>0.00112011</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.00112011</iyy>
-          <iyz>0</iyz>
-          <izz>0.00181143</izz>
-        </inertia>
-      </inertial>
-      <collision name="rear_right_flipper_wheel6_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
+      <collision name="rear_right_flipper_collision_3">
+        <pose>-0.3035 0 0 1.5707963267948966 -0 0</pose>
         <geometry>
           <cylinder>
             <length>0.075</length>
-            <radius>0.089</radius>
+            <radius>0.078</radius>
           </cylinder>
         </geometry>
         <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-            <collide_bitmask>32</collide_bitmask>
-          </contact>
           <friction>
             <ode>
               <mu>1</mu>
               <mu2>150</mu2>
-              <slip1>0.000575601</slip1>
-              <slip2>0</slip2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
-      <self_collide>1</self_collide>
-    </link>
-    <joint name="rear_right_flipper_wheel6_j" type="revolute">
-      <child>rear_right_flipper_wheel6</child>
-      <parent>rear_right_flipper</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>-1</effort>
-          <velocity>11.236</velocity>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="rear_right_flipper_wheel7">
-      <pose>-0.516143 -0.248 0 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <mass>0.457375</mass>
-        <inertia>
-          <ixx>0.00101163</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.00101163</iyy>
-          <iyz>0</iyz>
-          <izz>0.00159447</izz>
-        </inertia>
-      </inertial>
-      <collision name="rear_right_flipper_wheel7_collision_collision">
+      <collision name="rear_right_flipper_collision_4">
         <pose>0 0 0 1.5707963267948966 -0 0</pose>
         <geometry>
           <cylinder>
             <length>0.075</length>
-            <radius>0.0835</radius>
+            <radius>0.1165</radius>
           </cylinder>
         </geometry>
         <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-            <collide_bitmask>64</collide_bitmask>
-          </contact>
           <friction>
             <ode>
               <mu>1</mu>
               <mu2>150</mu2>
-              <slip1>0.000575601</slip1>
-              <slip2>0</slip2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
         </surface>
       </collision>
+      <visual name="rear_right_flipper_visual">
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_MARV_SENSOR_CONFIG_1/tip/files/meshes/big_wheel.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <visual name="rear_right_flipper_visual_1">
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_MARV_SENSOR_CONFIG_1/tip/files/meshes/flipper_arm.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <visual name="rear_right_flipper_visual_2">
+        <pose>0 0 0 3.1415926535897931 -0 3.1415926535897931</pose>
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_MARV_SENSOR_CONFIG_1/tip/files/meshes/belt.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <visual name="rear_right_flipper_visual_3">
+        <pose>-0.3035 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_MARV_SENSOR_CONFIG_1/tip/files/meshes/small_wheel.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
       <self_collide>1</self_collide>
     </link>
-    <joint name="rear_right_flipper_wheel7_j" type="revolute">
-      <child>rear_right_flipper_wheel7</child>
-      <parent>rear_right_flipper</parent>
+    <joint name="rear_right_flipper_j" type="revolute">
+      <child>rear_right_flipper</child>
+      <parent>base_link</parent>
       <axis>
         <xyz>0 1 0</xyz>
         <limit>
           <lower>-1e+16</lower>
           <upper>1e+16</upper>
-          <effort>-1</effort>
-          <velocity>11.976</velocity>
+          <effort>120</effort>
+          <velocity>1</velocity>
         </limit>
         <dynamics>
           <spring_reference>0</spring_reference>
@@ -4192,67 +2564,92 @@
         </dynamics>
         <use_parent_model_frame>0</use_parent_model_frame>
       </axis>
+      <physics>
+        <ode>
+          <implicit_spring_damper>1</implicit_spring_damper>
+          <cfm_damping>1</cfm_damping>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+        </ode>
+      </physics>
     </joint>
-    <link name="rear_right_flipper_wheel8">
-      <pose>-0.5595 -0.248 0 0 -0 0</pose>
+    <link name="rear_right_flipper_end_point_inflated">
+      <pose>-0.6375 -0.248 0 0 -0 0</pose>
       <inertial>
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <mass>0.457375</mass>
+        <mass>1e-05</mass>
         <inertia>
-          <ixx>0.000910062</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.000910062</iyy>
-          <iyz>0</iyz>
-          <izz>0.00139133</izz>
+          <ixx>0.001</ixx>
+          <ixy>1e-06</ixy>
+          <ixz>1e-06</ixz>
+          <iyy>0.001</iyy>
+          <iyz>1e-06</iyz>
+          <izz>0.001</izz>
         </inertia>
       </inertial>
-      <collision name="rear_right_flipper_wheel8_collision_collision">
-        <pose>0 0 0 1.5707963267948966 -0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.075</length>
-            <radius>0.078</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>1e+07</kp>
-              <kd>1</kd>
-            </ode>
-            <collide_bitmask>128</collide_bitmask>
-          </contact>
-          <friction>
-            <ode>
-              <mu>1</mu>
-              <mu2>150</mu2>
-              <slip1>0.000575601</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-      <self_collide>1</self_collide>
     </link>
-    <joint name="rear_right_flipper_wheel8_j" type="revolute">
-      <child>rear_right_flipper_wheel8</child>
+    <joint name="rear_right_flipper_end_point_inflated_j" type="fixed">
+      <child>rear_right_flipper_end_point_inflated</child>
       <parent>rear_right_flipper</parent>
       <axis>
-        <xyz>0 1 0</xyz>
+        <dynamics>
+          <spring_reference>0</spring_reference>
+          <spring_stiffness>0</spring_stiffness>
+        </dynamics>
+        <xyz>0 0 1</xyz>
+        <use_parent_model_frame>0</use_parent_model_frame>
         <limit>
           <lower>-1e+16</lower>
           <upper>1e+16</upper>
-          <effort>-1</effort>
-          <velocity>12.8205</velocity>
         </limit>
+      </axis>
+      <physics>
+        <ode>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+        </ode>
+      </physics>
+    </joint>
+    <link name="rear_right_flipper_end_point">
+      <pose>-0.6375 -0.248 0 0 -0 0</pose>
+      <inertial>
+        <mass>1e-05</mass>
+        <inertia>
+          <ixx>0.001</ixx>
+          <ixy>1e-06</ixy>
+          <ixz>1e-06</ixz>
+          <iyy>0.001</iyy>
+          <iyz>1e-06</iyz>
+          <izz>0.001</izz>
+        </inertia>
+      </inertial>
+    </link>
+    <joint name="rear_right_flipper_end_point_j" type="fixed">
+      <child>rear_right_flipper_end_point</child>
+      <parent>rear_right_flipper</parent>
+      <axis>
         <dynamics>
           <spring_reference>0</spring_reference>
           <spring_stiffness>0</spring_stiffness>
         </dynamics>
+        <xyz>0 0 1</xyz>
         <use_parent_model_frame>0</use_parent_model_frame>
+        <limit>
+          <lower>-1e+16</lower>
+          <upper>1e+16</upper>
+        </limit>
       </axis>
+      <physics>
+        <ode>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+        </ode>
+      </physics>
     </joint>
     <link name="rear_right_motor">
       <inertial>
@@ -4952,200 +3349,6 @@
       <joint_name>rear_left_flipper_j</joint_name>
       <joint_name>rear_right_flipper_j</joint_name>
     </plugin>
-    <plugin name="ignition::gazebo::systems::WheelSlip" filename="ignition-gazebo-wheel-slip-system">
-      <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>