From 81c822a4cb73eb7a45697a22690622fd11e52e9d Mon Sep 17 00:00:00 2001
From: md <devnull@localhost>
Date: Tue, 24 Mar 2020 18:27:43 +0100
Subject: [PATCH 01/15] Model submission for Freyja sensor configuration 1 from
 Robotika

---
 .../CMakeLists.txt                            |    13 +
 .../launch/description.launch                 |     6 +
 .../launch/example.ign                        |   170 +
 .../launch/spawner.rb                         |    70 +
 .../launch/vehicle_topics.launch              |   222 +
 .../meshes/wheel_left.dae                     | 10346 ++++++++++++++++
 .../meshes/wheel_right.dae                    | 10346 ++++++++++++++++
 .../model.config                              |    17 +
 .../robotika_freyja_sensor_config_1/model.sdf |  1483 +++
 .../package.xml                               |    19 +
 .../thumbnails/1.png                          |   Bin 0 -> 261898 bytes
 .../thumbnails/2.png                          |   Bin 0 -> 318791 bytes
 .../thumbnails/3.png                          |   Bin 0 -> 227549 bytes
 .../thumbnails/4.png                          |   Bin 0 -> 308516 bytes
 .../thumbnails/5.png                          |   Bin 0 -> 255788 bytes
 .../urdf/freyja_from_sdf.urdf                 |   518 +
 .../urdf/model.xacro                          |  1469 +++
 .../worlds/example.sdf                        |   183 +
 18 files changed, 24862 insertions(+)
 create mode 100644 submitted_models/robotika_freyja_sensor_config_1/CMakeLists.txt
 create mode 100644 submitted_models/robotika_freyja_sensor_config_1/launch/description.launch
 create mode 100644 submitted_models/robotika_freyja_sensor_config_1/launch/example.ign
 create mode 100644 submitted_models/robotika_freyja_sensor_config_1/launch/spawner.rb
 create mode 100644 submitted_models/robotika_freyja_sensor_config_1/launch/vehicle_topics.launch
 create mode 100644 submitted_models/robotika_freyja_sensor_config_1/meshes/wheel_left.dae
 create mode 100644 submitted_models/robotika_freyja_sensor_config_1/meshes/wheel_right.dae
 create mode 100644 submitted_models/robotika_freyja_sensor_config_1/model.config
 create mode 100644 submitted_models/robotika_freyja_sensor_config_1/model.sdf
 create mode 100644 submitted_models/robotika_freyja_sensor_config_1/package.xml
 create mode 100644 submitted_models/robotika_freyja_sensor_config_1/thumbnails/1.png
 create mode 100644 submitted_models/robotika_freyja_sensor_config_1/thumbnails/2.png
 create mode 100644 submitted_models/robotika_freyja_sensor_config_1/thumbnails/3.png
 create mode 100644 submitted_models/robotika_freyja_sensor_config_1/thumbnails/4.png
 create mode 100644 submitted_models/robotika_freyja_sensor_config_1/thumbnails/5.png
 create mode 100644 submitted_models/robotika_freyja_sensor_config_1/urdf/freyja_from_sdf.urdf
 create mode 100644 submitted_models/robotika_freyja_sensor_config_1/urdf/model.xacro
 create mode 100644 submitted_models/robotika_freyja_sensor_config_1/worlds/example.sdf

diff --git a/submitted_models/robotika_freyja_sensor_config_1/CMakeLists.txt b/submitted_models/robotika_freyja_sensor_config_1/CMakeLists.txt
new file mode 100644
index 00000000..4f672e32
--- /dev/null
+++ b/submitted_models/robotika_freyja_sensor_config_1/CMakeLists.txt
@@ -0,0 +1,13 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(robotika_freyja_sensor_config_1)
+
+find_package(catkin REQUIRED)
+
+catkin_package()
+
+install(DIRECTORY launch meshes urdf
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
+
+install(FILES model.sdf model.config
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
+
diff --git a/submitted_models/robotika_freyja_sensor_config_1/launch/description.launch b/submitted_models/robotika_freyja_sensor_config_1/launch/description.launch
new file mode 100644
index 00000000..5f4597c7
--- /dev/null
+++ b/submitted_models/robotika_freyja_sensor_config_1/launch/description.launch
@@ -0,0 +1,6 @@
+<?xml version="1.0"?>
+<launch>
+  <arg name="name" doc="Name of Vehicle"/>
+  <param name="$(arg name)/robot_description" command="$(find xacro)/xacro '$(find robotika_freyja_sensor_config_1)/urdf/model.xacro' name:=$(arg name)"/>
+</launch>
+
diff --git a/submitted_models/robotika_freyja_sensor_config_1/launch/example.ign b/submitted_models/robotika_freyja_sensor_config_1/launch/example.ign
new file mode 100644
index 00000000..a0e34efd
--- /dev/null
+++ b/submitted_models/robotika_freyja_sensor_config_1/launch/example.ign
@@ -0,0 +1,170 @@
+<?xml version="1.0"?>
+<!-- Usage: ign launch path/to/example.ign robotName:=<X1>
+
+   Parameters:
+    robotName: Name to be assigned to model
+-->
+
+<%
+  require_relative 'spawner'
+
+  # Modify these as needed
+  $enableGroundTruth = true
+  $headless =  local_variables.include?(:headless) ? :headless : false
+
+%>
+
+<%
+
+  unless local_variables.include?(:robotName)
+    raise "missing parameters. robotName is a required parameter"
+  end
+
+  # This assumes that this launch file is in a directory below the model
+  modelURI = File.expand_path("../", File.dirname(__FILE__))
+  $worldName = 'example'
+  worldFile = File.join(File.expand_path("../worlds", File.dirname(__FILE__)), "#{$worldName}.sdf")
+
+%>
+
+<ignition version='1.0'>
+  <env>
+    <name>IGN_GAZEBO_SYSTEM_PLUGIN_PATH</name>
+    <value>$LD_LIBRARY_PATH</value>
+  </env>
+
+  <!-- Start ROS first. This is a bit hacky for now. -->
+  <!-- Make sure to source /opt/ros/melodic/setup.bash -->
+  <executable name='ros'>
+    <command>roslaunch subt_ros competition_init.launch world_name:=<%=$worldName%> vehicle_topics:=0 enable_ground_truth:=<%=($enableGroundTruth)?"1":"0"%> robot_names:=<%=robotName%></command>
+  </executable>
+
+  <plugin name="ignition::launch::GazeboServer"
+          filename="libignition-launch-gazebo.so">
+    <world_file><%= worldFile %></world_file>
+    <run>true</run>
+    <levels>false</levels>
+    <record>
+      <enabled>false</enabled>
+    </record>
+
+    <plugin entity_name="<%= $worldName %>"
+            entity_type="world"
+            filename="libignition-gazebo-physics-system.so"
+            name="ignition::gazebo::systems::Physics">
+    </plugin>
+
+    <plugin entity_name="<%= $worldName %>"
+            entity_type="world"
+            filename="libignition-gazebo-sensors-system.so"
+            name="ignition::gazebo::systems::Sensors">
+            <render_engine>ogre2</render_engine>
+    </plugin>
+    <plugin entity_name="<%= $worldName %>"
+            entity_type="world"
+            filename="libignition-gazebo-user-commands-system.so"
+            name="ignition::gazebo::systems::UserCommands">
+    </plugin>
+    <plugin entity_name="<%= $worldName %>"
+            entity_type="world"
+            filename="libignition-gazebo-scene-broadcaster-system.so"
+            name="ignition::gazebo::systems::SceneBroadcaster">
+    </plugin>
+    <plugin entity_name="<%= $worldName %>"
+            entity_type="world"
+            filename="libignition-gazebo-imu-system.so"
+            name="ignition::gazebo::systems::Imu">
+    </plugin>
+
+    <plugin entity_name="<%= $worldName %>"
+            entity_type="world"
+            filename="libignition-gazebo-magnetometer-system.so"
+            name="ignition::gazebo::systems::Magnetometer">
+    </plugin>
+
+    <plugin entity_name="<%= $worldName %>"
+            entity_type="world"
+            filename="libignition-gazebo-air-pressure-system.so"
+            name="ignition::gazebo::systems::AirPressure">
+    </plugin>
+  </plugin>
+
+  <%if !$headless %>
+  <executable_wrapper>
+    <plugin name="ignition::launch::GazeboGui"
+          filename="libignition-launch-gazebogui.so">
+      <world_name><%= $worldName %></world_name>
+      <window_title>SubT Simulator</window_title>
+      <window_icon><%= ENV['SUBT_IMAGES_PATH'] %>/SubT_logo.svg</window_icon>
+      <plugin filename="GzScene3D" name="3D View">
+        <ignition-gui>
+          <title>3D View</title>
+          <property type="bool" key="showTitleBar">false</property>
+          <property type="string" key="state">docked</property>
+        </ignition-gui>
+
+        <engine>ogre2</engine>
+        <scene>scene</scene>
+        <ambient_light>0.2 0.2 0.1</ambient_light>
+        <background_color>0.8 0.8 0.8</background_color>
+        <camera_pose>-6.3 -4.2 3.6 0 0.268 0.304</camera_pose>
+        <service>/world/<%= $worldName %>/scene/info</service>
+        <pose_topic>/world/<%= $worldName %>/pose/info</pose_topic>
+        <scene_topic>/world/<%= $worldName %>/scene/info</scene_topic>
+        <deletion_topic>/world/<%= $worldName %>/scene/deletion</deletion_topic>
+      </plugin>
+      <plugin filename="WorldControl" name="World control">
+        <ignition-gui>
+          <title>World control</title>
+          <property type="bool" key="showTitleBar">false</property>
+          <property type="bool" key="resizable">false</property>
+          <property type="double" key="height">72</property>
+          <property type="double" key="width">121</property>
+          <property type="double" key="z">1</property>
+
+          <property type="string" key="state">floating</property>
+          <anchors target="3D View">
+            <line own="left" target="left"/>
+            <line own="bottom" target="bottom"/>
+          </anchors>
+        </ignition-gui>
+
+        <play_pause>true</play_pause>
+        <step>true</step>
+        <start_paused>true</start_paused>
+        <service>/world/<%= $worldName %>/control</service>
+        <stats_topic>/world/<%= $worldName %>/stats</stats_topic>
+
+      </plugin>
+
+      <plugin filename="WorldStats" name="World stats">
+        <ignition-gui>
+          <title>World stats</title>
+          <property type="bool" key="showTitleBar">false</property>
+          <property type="bool" key="resizable">false</property>
+          <property type="double" key="height">110</property>
+          <property type="double" key="width">290</property>
+          <property type="double" key="z">1</property>
+
+          <property type="string" key="state">floating</property>
+          <anchors target="3D View">
+            <line own="right" target="right"/>
+            <line own="bottom" target="bottom"/>
+          </anchors>
+        </ignition-gui>
+
+        <sim_time>true</sim_time>
+        <real_time>true</real_time>
+        <real_time_factor>true</real_time_factor>
+        <iterations>true</iterations>
+        <topic>/world/<%= $worldName %>/stats</topic>
+      </plugin>
+    </plugin>
+  </executable_wrapper>
+  <%end%>
+
+<%= spawner(robotName, modelURI, $worldName, 0, 0, 0, 0, 0, 0) %>
+<%= rosExecutables(robotName, $worldName) %>
+ 
+</ignition>
+
diff --git a/submitted_models/robotika_freyja_sensor_config_1/launch/spawner.rb b/submitted_models/robotika_freyja_sensor_config_1/launch/spawner.rb
new file mode 100644
index 00000000..a0a501b8
--- /dev/null
+++ b/submitted_models/robotika_freyja_sensor_config_1/launch/spawner.rb
@@ -0,0 +1,70 @@
+def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
+  <<-HEREDOC
+  <plugin name=\"ignition::launch::GazeboFactory\"
+          filename=\"libignition-launch-gazebo-factory.so\">
+    <name>#{_name}</name>
+    <allow_renaming>false</allow_renaming>
+    <pose>#{_x} #{_y} #{_z + 0.15} #{_roll} #{_pitch} #{_yaw}</pose>
+    <world>#{$worldName}</world>
+    <is_performer>true</is_performer>
+    <sdf version='1.6'>
+      <include>
+        <name>#{_name}</name>
+        <uri>#{_modelURI}</uri>
+        <!-- Diff drive -->
+        <plugin filename=\"libignition-gazebo-diff-drive-system.so\"
+                name=\"ignition::gazebo::systems::DiffDrive\">
+          <left_joint>front_left_wheel_joint</left_joint>
+          <left_joint>rear_left_wheel_joint</left_joint>
+          <right_joint>front_right_wheel_joint</right_joint>
+          <right_joint>rear_right_wheel_joint</right_joint>
+          <wheel_separation>0.38</wheel_separation>
+          <wheel_radius>0.1275</wheel_radius>
+          <topic>/model/#{_name}/cmd_vel_relay</topic>
+        </plugin>
+        <!-- Publish robot state information -->
+        <plugin filename=\"libignition-gazebo-pose-publisher-system.so\"
+          name=\"ignition::gazebo::systems::PosePublisher\">
+          <publish_link_pose>true</publish_link_pose>
+          <publish_sensor_pose>true</publish_sensor_pose>
+          <publish_collision_pose>false</publish_collision_pose>
+          <publish_visual_pose>false</publish_visual_pose>
+          <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
+        </plugin>
+        <!-- Battery plugin -->
+        <plugin filename=\"libignition-gazebo-linearbatteryplugin-system.so\"
+          name=\"ignition::gazebo::systems::LinearBatteryPlugin\">
+          <battery_name>linear_battery</battery_name>
+          <voltage>25.2</voltage>
+          <open_circuit_voltage_constant_coef>25.2</open_circuit_voltage_constant_coef>
+          <open_circuit_voltage_linear_coef>-7.2</open_circuit_voltage_linear_coef>
+          <initial_charge>20</initial_charge>
+          <capacity>20</capacity>
+          <resistance>0.052</resistance>
+          <smooth_current_tau>5.0</smooth_current_tau>
+          <power_load>100</power_load>
+          <start_on_motion>true</start_on_motion>
+        </plugin>
+       <!-- Gas Sensor plugin -->"
+       <plugin filename="libGasEmitterDetectorPlugin.so"
+         name="subt::GasDetector">
+         <topic>/model/#{_name}/gas_detected</topic>
+         <update_rate>10</update_rate>
+         <type>gas</type>
+       </plugin>
+        </include>
+      </sdf>
+    </plugin>
+  HEREDOC
+end
+
+def rosExecutables(_name, _worldName)
+  <<-HEREDOC
+  <executable name='freyja_description'>
+      <command>roslaunch --wait robotika_freyja_sensor_config_1 description.launch world_name:=#{$worldName} name:=#{_name}</command>
+    </executable>
+    <executable name='freyja_ros_ign_bridge'>
+      <command>roslaunch --wait robotika_freyja_sensor_config_1 vehicle_topics.launch world_name:=#{$worldName} name:=#{_name}</command>
+    </executable>
+  HEREDOC
+end
diff --git a/submitted_models/robotika_freyja_sensor_config_1/launch/vehicle_topics.launch b/submitted_models/robotika_freyja_sensor_config_1/launch/vehicle_topics.launch
new file mode 100644
index 00000000..bae512f5
--- /dev/null
+++ b/submitted_models/robotika_freyja_sensor_config_1/launch/vehicle_topics.launch
@@ -0,0 +1,222 @@
+<?xml version="1.0"?>
+<launch>
+  <arg name="world_name"/>
+  <arg name="name"/>
+  <arg name="link_name" value="base_link"/>
+  <arg name="sensor_prefix" value="/world/$(arg world_name)/model/$(arg name)/link/$(arg link_name)/sensor"/>
+  <group ns="$(arg name)">
+    <!--Create multipe bridges so that it can run in parallel-->
+
+    <!-- Compass with IMU -->
+    <node
+      pkg="ros_ign_bridge"
+      type="parameter_bridge"
+      name="ros_ign_bridge_imu"
+      args="$(arg sensor_prefix)/imu_sensor/imu@sensor_msgs/Imu[ignition.msgs.IMU">
+      <remap from="$(arg sensor_prefix)/imu_sensor/imu" to="imu/data"/>
+    </node>
+    <node
+      pkg="ros_ign_bridge"
+      type="parameter_bridge"
+      name="ros_ign_bridge_magnetometer"
+      args="$(arg sensor_prefix)/magnetometer/magnetometer@sensor_msgs/MagneticField[ignition.msgs.Magnetometer">
+      <remap from="$(arg sensor_prefix)/magnetometer/magnetometer" to="magnetic_field"/>
+    </node>
+
+    <!-- Altimeter -->
+    <node
+      pkg="ros_ign_bridge"
+      type="parameter_bridge"
+      name="ros_ign_bridge_fluid_pressure"
+      args="$(arg sensor_prefix)/air_pressure/air_pressure@sensor_msgs/FluidPressure[ignition.msgs.FluidPressure">
+      <remap from="$(arg sensor_prefix)/air_pressure/air_pressure" to="air_pressure"/>
+    </node>
+
+    <!-- Gas sensor -->
+    <node
+      pkg="ros_ign_bridge"
+      type="parameter_bridge"
+      name="ros_ign_bridge_gas"
+      args="/model/$(arg name)/gas_detected@std_msgs/Bool[ignition.msgs.Boolean">
+      <remap from="/model/$(arg name)/gas_detected" to="gas_detected"/>
+    </node>
+
+    <node
+      pkg="ros_ign_bridge"
+      type="parameter_bridge"
+      name="ros_ign_bridge_pose"
+      args="/model/$(arg name)/pose@geometry_msgs/TransformStamped[ignition.msgs.Pose">
+      <remap from="/model/$(arg name)/pose" to="pose"/>
+    </node>
+    <node
+      pkg="ros_ign_bridge"
+      type="parameter_bridge"
+      name="ros_ign_bridge_twist"
+      args="/model/$(arg name)/cmd_vel_relay@geometry_msgs/Twist]ignition.msgs.Twist">
+      <remap from="/model/$(arg name)/cmd_vel_relay" to="cmd_vel"/>
+    </node>
+
+    <!-- Front RGBD -->
+    <node
+      pkg="ros_ign_bridge"
+      type="parameter_bridge"
+      name="ros_ign_bridge_rgbd_front"
+      args="$(arg sensor_prefix)/rgbd_front/points@sensor_msgs/PointCloud2[ignition.msgs.PointCloudPacked">
+      <remap from="$(arg sensor_prefix)/rgbd_front/points" to="rgbd_front/depth/points"/>
+    </node>
+    <node
+      pkg="ros_ign_image"
+      type="image_bridge"
+      name="ros_ign_image_rgbd_front_depth"
+      args="$(arg sensor_prefix)/rgbd_front/depth_image">
+      <remap from="$(arg sensor_prefix)/rgbd_front/depth_image" to="rgbd_front/depth"/>
+    </node>
+    <node
+      pkg="ros_ign_bridge"
+      type="parameter_bridge"
+      name="ros_ign_bridge_rgbd_front_camera"
+      args="$(arg sensor_prefix)/rgbd_front/camera_info@sensor_msgs/CameraInfo[ignition.msgs.CameraInfo">
+      <remap from="$(arg sensor_prefix)/rgbd_front/camera_info" to="rgbd_front/camera_info"/>
+    </node>
+    <node
+      pkg="ros_ign_image"
+      type="image_bridge"
+      name="ros_ign_image_rgbd_front_camera"
+      args="$(arg sensor_prefix)/rgbd_front/image">
+      <remap from="$(arg sensor_prefix)/rgbd_front/image" to="rgbd_front/image_raw"/>
+    </node>
+
+    <!-- Rear RGBD -->
+    <node
+      pkg="ros_ign_bridge"
+      type="parameter_bridge"
+      name="ros_ign_bridge_rgbd_rear"
+      args="$(arg sensor_prefix)/rgbd_rear/points@sensor_msgs/PointCloud2[ignition.msgs.PointCloudPacked">
+      <remap from="$(arg sensor_prefix)/rgbd_rear/points" to="rgbd_rear/depth/points"/>
+    </node>
+    <node
+      pkg="ros_ign_image"
+      type="image_bridge"
+      name="ros_ign_image_rgbd_rear_depth"
+      args="$(arg sensor_prefix)/rgbd_rear/depth_image">
+      <remap from="$(arg sensor_prefix)/rgbd_rear/depth_image" to="rgbd_rear/depth"/>
+    </node>
+    <node
+      pkg="ros_ign_bridge"
+      type="parameter_bridge"
+      name="ros_ign_bridge_rgbd_rear_camera"
+      args="$(arg sensor_prefix)/rgbd_rear/camera_info@sensor_msgs/CameraInfo[ignition.msgs.CameraInfo">
+      <remap from="$(arg sensor_prefix)/rgbd_rear/camera_info" to="rgbd_rear/camera_info"/>
+    </node>
+    <node
+      pkg="ros_ign_image"
+      type="image_bridge"
+      name="ros_ign_image_rgbd_rear_camera"
+      args="$(arg sensor_prefix)/rgbd_rear/image">
+      <remap from="$(arg sensor_prefix)/rgbd_rear/image" to="rgbd_rear/image_raw"/>
+    </node>
+
+    <!-- Front lidar scan -->
+    <node
+      pkg="ros_ign_bridge"
+      type="parameter_bridge"
+      name="ros_ign_bridge_front_lidar"
+      args="$(arg sensor_prefix)/laser_front/scan@sensor_msgs/LaserScan[ignition.msgs.LaserScan">
+      <remap from="$(arg sensor_prefix)/laser_front/scan" to="scan_front"/>
+    </node>
+
+    <!-- Rear lidar scan -->
+    <node
+      pkg="ros_ign_bridge"
+      type="parameter_bridge"
+      name="ros_ign_bridge_rear_lidar"
+      args="$(arg sensor_prefix)/laser_rear/scan@sensor_msgs/LaserScan[ignition.msgs.LaserScan">
+      <remap from="$(arg sensor_prefix)/laser_rear/scan" to="scan_rear"/>
+    </node>
+
+    <!-- Front monocular camera -->
+    <node
+      pkg="ros_ign_bridge"
+      type="parameter_bridge"
+      name="ros_ign_bridge_camera_front"
+      args="$(arg sensor_prefix)/camera_front/camera_info@sensor_msgs/CameraInfo[ignition.msgs.CameraInfo">
+      <remap from="$(arg sensor_prefix)/camera_front/camera_info" to="camera_front/camera_info"/>
+    </node>
+    <node
+      pkg="ros_ign_image"
+      type="image_bridge"
+      name="ros_ign_image_camera_front"
+      args="$(arg sensor_prefix)/camera_front/image">
+      <remap from="$(arg sensor_prefix)/camera_front/image" to="camera_front/image_raw"/>
+    </node>
+
+    <!-- Rear monocular camera -->
+    <node
+      pkg="ros_ign_bridge"
+      type="parameter_bridge"
+      name="ros_ign_bridge_camera_rear"
+      args="$(arg sensor_prefix)/camera_rear/camera_info@sensor_msgs/CameraInfo[ignition.msgs.CameraInfo">
+      <remap from="$(arg sensor_prefix)/camera_rear/camera_info" to="camera_rear/camera_info"/>
+    </node>
+    <node
+      pkg="ros_ign_image"
+      type="image_bridge"
+      name="ros_ign_image_camera_rear"
+      args="$(arg sensor_prefix)/camera_rear/image">
+      <remap from="$(arg sensor_prefix)/camera_rear/image" to="camera_rear/image_raw"/>
+    </node>
+
+    <!-- Left monocular camera -->
+    <node
+      pkg="ros_ign_bridge"
+      type="parameter_bridge"
+      name="ros_ign_bridge_camera_left"
+      args="$(arg sensor_prefix)/camera_left/camera_info@sensor_msgs/CameraInfo[ignition.msgs.CameraInfo">
+      <remap from="$(arg sensor_prefix)/camera_left/camera_info" to="camera_left/camera_info"/>
+    </node>
+    <node
+      pkg="ros_ign_image"
+      type="image_bridge"
+      name="ros_ign_image_camera_left"
+      args="$(arg sensor_prefix)/camera_left/image">
+      <remap from="$(arg sensor_prefix)/camera_left/image" to="camera_left/image_raw"/>
+    </node>
+
+    <!-- Right monocular camera -->
+    <node
+      pkg="ros_ign_bridge"
+      type="parameter_bridge"
+      name="ros_ign_bridge_camera_right"
+      args="$(arg sensor_prefix)/camera_right/camera_info@sensor_msgs/CameraInfo[ignition.msgs.CameraInfo">
+      <remap from="$(arg sensor_prefix)/camera_right/camera_info" to="camera_rear/camera_info"/>
+    </node>
+    <node
+      pkg="ros_ign_image"
+      type="image_bridge"
+      name="ros_ign_image_camera_right"
+      args="$(arg sensor_prefix)/camera_right/image">
+      <remap from="$(arg sensor_prefix)/camera_right/image" to="camera_rear/image_raw"/>
+    </node>
+
+    <!-- UGV -->
+    <node
+      pkg="ros_ign_bridge"
+      type="parameter_bridge"
+      name="ros_ign_bridge_odom"
+      args="/model/$(arg name)/odometry@nav_msgs/Odometry[ignition.msgs.Odometry">
+      <remap from="/model/$(arg name)/odometry" to="odom"/>
+    </node>
+
+    <node
+      pkg="ros_ign_bridge"
+      type="parameter_bridge"
+      name="ros_ign_bridge_battery_state"
+      args="/model/$(arg name)/battery/linear_battery/state@sensor_msgs/BatteryState[ignition.msgs.BatteryState">
+      <remap from="/model/$(arg name)/battery/linear_battery/state" to="battery_state"/>
+    </node>
+    <node
+      pkg="subt_ros"
+      type="pose_tf_broadcaster"
+      name="pose_tf_broadcaster"/>
+  </group>
+</launch>
diff --git a/submitted_models/robotika_freyja_sensor_config_1/meshes/wheel_left.dae b/submitted_models/robotika_freyja_sensor_config_1/meshes/wheel_left.dae
new file mode 100644
index 00000000..77fd2726
--- /dev/null
+++ b/submitted_models/robotika_freyja_sensor_config_1/meshes/wheel_left.dae
@@ -0,0 +1,10346 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+  <asset><contributor><author></author><authoring_tool>FBX COLLADA exporter</authoring_tool><comments></comments></contributor><created>2018-08-23T18:07:37Z</created><keywords></keywords><modified>2018-08-23T18:07:37Z</modified><revision></revision><subject></subject><title></title><unit meter="1.000000" name="centimeter"></unit><up_axis>Z_UP</up_axis></asset>
+  <library_materials>
+    <material id="FBXASC0486FBXASC032-FBXASC032Default" name="FBXASC0486FBXASC032-FBXASC032Default">
+      <instance_effect url="#FBXASC0486FBXASC032-FBXASC032Default-fx"/>
+    </material>
+    <material id="FBXASC0485FBXASC032-FBXASC032Default" name="FBXASC0485FBXASC032-FBXASC032Default">
+      <instance_effect url="#FBXASC0485FBXASC032-FBXASC032Default-fx"/>
+    </material>
+  </library_materials>
+  <library_effects>
+    <effect id="FBXASC0486FBXASC032-FBXASC032Default-fx" name="FBXASC0486FBXASC032-FBXASC032Default">
+      <profile_COMMON>
+        <technique sid="standard">
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+            </emission>
+            <ambient>
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+            </ambient>
+            <diffuse>
+              <color sid="diffuse">0.388235  0.388235 0.388235 1.000000</color>
+            </diffuse>
+            <specular>
+              <color sid="specular">0.612000  0.612000 0.612000 1.000000</color>
+            </specular>
+            <shininess>
+              <float sid="shininess">2.000000</float>
+            </shininess>
+            <reflective>
+              <color sid="reflective">0.000000  0.000000 0.000000 1.000000</color>
+            </reflective>
+            <reflectivity>
+              <float sid="reflectivity">1.000000</float>
+            </reflectivity>
+            <transparent opaque="RGB_ZERO">
+              <color sid="transparent">1.000000  1.000000 1.000000 1.000000</color>
+            </transparent>
+            <transparency>
+              <float sid="transparency">0.000000</float>
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+          </phong>
+        </technique>
+      </profile_COMMON>
+    </effect>
+    <effect id="FBXASC0485FBXASC032-FBXASC032Default-fx" name="FBXASC0485FBXASC032-FBXASC032Default">
+      <profile_COMMON>
+        <technique sid="standard">
+          <phong>
+            <emission>
+              <color sid="emission">0.000000  0.000000 0.000000 1.000000</color>
+            </emission>
+            <ambient>
+              <color sid="ambient">0.250980  0.250980 0.250980 1.000000</color>
+            </ambient>
+            <diffuse>
+              <color sid="diffuse">0.250980  0.250980 0.250980 1.000000</color>
+            </diffuse>
+            <specular>
+              <color sid="specular">0.342000  0.342000 0.342000 1.000000</color>
+            </specular>
+            <shininess>
+              <float sid="shininess">4.287094</float>
+            </shininess>
+            <reflective>
+              <color sid="reflective">0.000000  0.000000 0.000000 1.000000</color>
+            </reflective>
+            <reflectivity>
+              <float sid="reflectivity">1.000000</float>
+            </reflectivity>
+            <transparent opaque="RGB_ZERO">
+              <color sid="transparent">1.000000  1.000000 1.000000 1.000000</color>
+            </transparent>
+            <transparency>
+              <float sid="transparency">0.000000</float>
+            </transparency>
+          </phong>
+        </technique>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
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+          <technique_common>
+            <accessor source="#X2_Wheel_Left-UV0-array" count="1646" stride="2">
+              <param name="S" type="float"/>
+              <param name="T" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <vertices id="X2_Wheel_Left-VERTEX">
+          <input semantic="POSITION" source="#X2_Wheel_Left-POSITION"/>
+        </vertices>
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1044 6111 1350 1037 6112 1340 1036 6113 1339 1037 6114 1340 1044 6115 1350 1069 6116 1385 1069 6117 1385 1066 6118 1382 1037 6119 1340 1066 6120 1382 1069 6121 1385 1068 6122 1384 1068 6123 1384 1067 6124 1383 1066 6125 1382 1061 6126 1377 1060 6127 1376 1059 6128 1375 1059 6129 1375 1056 6130 1371 1061 6131 1377 1038 6132 1344 1047 6133 1354 1086 6134 1368 1086 6135 1368 1054 6136 1366 1038 6137 1344 1039 6138 1345 1070 6139 1355 1048 6140 1356 1048 6141 1356 1040 6142 1346 1039 6143 1345 1040 6144 1346 1048 6145 1356 1049 6146 1357 1049 6147 1357 1041 6148 1347 1040 6149 1346 1041 6150 1347 1049 6151 1357 1071 6152 1358 1071 6153 1358 1042 6154 1348 1041 6155 1347 1043 6156 1349 1072 6157 1359 1050 6158 1360 1050 6159 1360 1044 6160 1350 1043 6161 1349 1044 6162 1350 1050 6163 1360 1051 6164 1361 1051 6165 1361 1045 6166 1351 1044 6167 1350 1045 6168 1351 1051 6169 1361 1087 6170 1369 1087 6171 1369 1055 6172 1367 1045 6173 1351 1046 6174 1352 1073 6175 1362 1047 6176 1363 1047 6177 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6244 1336 1032 6245 1335 1033 6246 1336 1063 6247 1379 1034 6248 1337 1041 6249 1347 1064 6250 1380 1040 6251 1346 1040 6252 1346 1064 6253 1380 1065 6254 1381 1065 6255 1381 1039 6256 1345 1040 6257 1346 1039 6258 1345 1065 6259 1381 1062 6260 1378 1062 6261 1378 1032 6262 1335 1039 6263 1345 1037 6264 1340 1066 6265 1382 1011 6266 1341 1011 6267 1341 1066 6268 1382 1067 6269 1383 1067 6270 1383 1053 6271 1365 1011 6272 1341 1053 6273 1365 1067 6274 1383 1068 6275 1384 1068 6276 1384 1055 6277 1367 1053 6278 1365 1055 6279 1367 1068 6280 1384 1069 6281 1385 1069 6282 1385 1045 6283 1351 1055 6284 1367 1045 6285 1351 1069 6286 1385 1044 6287 1350 1090 6288 1422 1093 6289 1426 1092 6290 1425 1092 6291 1425 1091 6292 1424 1090 6293 1422 1096 6294 1430 1099 6295 1433 1098 6296 1432 1098 6297 1432 1097 6298 1431 1096 6299 1430 1097 6300 1431 1098 6301 1432 1077 6302 1399 1077 6303 1399 1049 6304 1389 1097 6305 1431 1049 6306 1389 1077 6307 1399 1078 6308 1400 1078 6309 1400 1071 6310 1390 1049 6311 1389 1072 6312 1391 1079 6313 1401 1080 6314 1402 1080 6315 1402 1050 6316 1392 1072 6317 1391 1050 6318 1392 1080 6319 1402 1103 6320 1437 1103 6321 1437 1100 6322 1434 1050 6323 1392 1100 6324 1434 1103 6325 1437 1102 6326 1436 1102 6327 1436 1101 6328 1435 1100 6329 1434 1095 6330 1429 1094 6331 1428 1093 6332 1427 1093 6333 1427 1090 6334 1423 1095 6335 1429 1074 6336 1396 1083 6337 1406 1121 6338 1420 1121 6339 1420 1088 6340 1418 1074 6341 1396 1075 6342 1397 1104 6343 1407 1105 6344 1408 1105 6345 1408 1076 6346 1398 1075 6347 1397 1076 6348 1398 1105 6349 1408 1106 6350 1409 1106 6351 1409 1077 6352 1399 1076 6353 1398 1077 6354 1399 1106 6355 1409 1084 6356 1410 1084 6357 1410 1078 6358 1400 1077 6359 1399 1079 6360 1401 1107 6361 1411 1085 6362 1412 1085 6363 1412 1080 6364 1402 1079 6365 1401 1080 6366 1402 1085 6367 1412 1108 6368 1413 1108 6369 1413 1081 6370 1403 1080 6371 1402 1081 6372 1403 1108 6373 1413 1122 6374 1421 1122 6375 1421 1089 6376 1419 1081 6377 1403 1082 6378 1404 1109 6379 1414 1083 6380 1415 1083 6381 1415 1074 6382 1405 1082 6383 1404 1086 6384 1416 1088 6385 1418 1075 6386 1397 1075 6387 1397 1070 6388 1387 1086 6389 1416 1087 6390 1417 1089 6391 1419 1082 6392 1404 1082 6393 1404 1073 6394 1394 1087 6395 1417 1088 6396 1418 1121 6397 1420 1104 6398 1407 1104 6399 1407 1075 6400 1397 1088 6401 1418 1089 6402 1419 1122 6403 1421 1109 6404 1414 1109 6405 1414 1082 6406 1404 1089 6407 1419 1047 6408 1386 1090 6409 1422 1091 6410 1424 1091 6411 1424 1086 6412 1416 1047 6413 1386 1086 6414 1416 1091 6415 1424 1092 6416 1425 1092 6417 1425 1088 6418 1418 1086 6419 1416 1088 6420 1418 1092 6421 1425 1093 6422 1426 1093 6423 1426 1074 6424 1396 1088 6425 1418 1074 6426 1405 1093 6427 1427 1094 6428 1428 1094 6429 1428 1082 6430 1404 1074 6431 1405 1082 6432 1404 1094 6433 1428 1095 6434 1429 1095 6435 1429 1073 6436 1394 1082 6437 1404 1073 6438 1394 1095 6439 1429 1090 6440 1423 1090 6441 1423 1047 6442 1395 1073 6443 1394 1070 6444 1387 1096 6445 1430 1097 6446 1431 1097 6447 1431 1048 6448 1388 1070 6449 1387 1048 6450 1388 1097 6451 1431 1049 6452 1389 1077 6453 1399 1098 6454 1432 1076 6455 1398 1076 6456 1398 1098 6457 1432 1099 6458 1433 1099 6459 1433 1075 6460 1397 1076 6461 1398 1075 6462 1397 1099 6463 1433 1096 6464 1430 1096 6465 1430 1070 6466 1387 1075 6467 1397 1050 6468 1392 1100 6469 1434 1051 6470 1393 1051 6471 1393 1100 6472 1434 1101 6473 1435 1101 6474 1435 1087 6475 1417 1051 6476 1393 1087 6477 1417 1101 6478 1435 1102 6479 1436 1102 6480 1436 1089 6481 1419 1087 6482 1417 1089 6483 1419 1102 6484 1436 1103 6485 1437 1103 6486 1437 1081 6487 1403 1089 6488 1419 1081 6489 1403 1103 6490 1437 1080 6491 1402 1125 6492 1474 1128 6493 1478 1127 6494 1477 1127 6495 1477 1126 6496 1476 1125 6497 1474 1131 6498 1482 1134 6499 1485 1133 6500 1484 1133 6501 1484 1132 6502 1483 1131 6503 1482 1132 6504 1483 1133 6505 1484 1113 6506 1451 1113 6507 1451 1106 6508 1441 1132 6509 1483 1106 6510 1441 1113 6511 1451 1114 6512 1452 1114 6513 1452 1084 6514 1442 1106 6515 1441 1107 6516 1443 1115 6517 1453 1116 6518 1454 1116 6519 1454 1085 6520 1444 1107 6521 1443 1085 6522 1444 1116 6523 1454 1138 6524 1489 1138 6525 1489 1135 6526 1486 1085 6527 1444 1135 6528 1486 1138 6529 1489 1137 6530 1488 1137 6531 1488 1136 6532 1487 1135 6533 1486 1130 6534 1481 1129 6535 1480 1128 6536 1479 1128 6537 1479 1125 6538 1475 1130 6539 1481 1110 6540 1448 1139 6541 1458 1158 6542 1472 1158 6543 1472 1123 6544 1470 1110 6545 1448 1111 6546 1449 1140 6547 1459 1119 6548 1460 1119 6549 1460 1112 6550 1450 1111 6551 1449 1112 6552 1450 1119 6553 1460 1141 6554 1461 1141 6555 1461 1113 6556 1451 1112 6557 1450 1113 6558 1451 1141 6559 1461 1142 6560 1462 1142 6561 1462 1114 6562 1452 1113 6563 1451 1115 6564 1453 1120 6565 1463 1143 6566 1464 1143 6567 1464 1116 6568 1454 1115 6569 1453 1116 6570 1454 1143 6571 1464 1144 6572 1465 1144 6573 1465 1117 6574 1455 1116 6575 1454 1117 6576 1455 1144 6577 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6644 1475 1125 6645 1475 1083 6646 1447 1109 6647 1446 1104 6648 1439 1131 6649 1482 1132 6650 1483 1132 6651 1483 1105 6652 1440 1104 6653 1439 1105 6654 1440 1132 6655 1483 1106 6656 1441 1113 6657 1451 1133 6658 1484 1112 6659 1450 1112 6660 1450 1133 6661 1484 1134 6662 1485 1134 6663 1485 1111 6664 1449 1112 6665 1450 1111 6666 1449 1134 6667 1485 1131 6668 1482 1131 6669 1482 1104 6670 1439 1111 6671 1449 1085 6672 1444 1135 6673 1486 1108 6674 1445 1108 6675 1445 1135 6676 1486 1136 6677 1487 1136 6678 1487 1122 6679 1469 1108 6680 1445 1122 6681 1469 1136 6682 1487 1137 6683 1488 1137 6684 1488 1124 6685 1471 1122 6686 1469 1124 6687 1471 1137 6688 1488 1138 6689 1489 1138 6690 1489 1117 6691 1455 1124 6692 1471 1117 6693 1455 1138 6694 1489 1116 6695 1454 1162 6696 1526 1165 6697 1530 1164 6698 1529 1164 6699 1529 1163 6700 1528 1162 6701 1526 1168 6702 1534 1171 6703 1537 1170 6704 1536 1170 6705 1536 1169 6706 1535 1168 6707 1534 1169 6708 1535 1170 6709 1536 1149 6710 1503 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1517 1153 6778 1507 1152 6779 1506 1153 6780 1507 1180 6781 1517 1196 6782 1525 1196 6783 1525 1161 6784 1523 1153 6785 1507 1154 6786 1508 1181 6787 1518 1176 6788 1519 1176 6789 1519 1146 6790 1509 1154 6791 1508 1158 6792 1520 1160 6793 1522 1147 6794 1501 1147 6795 1501 1140 6796 1491 1158 6797 1520 1159 6798 1521 1161 6799 1523 1154 6800 1508 1154 6801 1508 1145 6802 1498 1159 6803 1521 1160 6804 1522 1195 6805 1524 1177 6806 1511 1177 6807 1511 1147 6808 1501 1160 6809 1522 1161 6810 1523 1196 6811 1525 1181 6812 1518 1181 6813 1518 1154 6814 1508 1161 6815 1523 1139 6816 1490 1162 6817 1526 1163 6818 1528 1163 6819 1528 1158 6820 1520 1139 6821 1490 1158 6822 1520 1163 6823 1528 1164 6824 1529 1164 6825 1529 1160 6826 1522 1158 6827 1520 1160 6828 1522 1164 6829 1529 1165 6830 1530 1165 6831 1530 1146 6832 1500 1160 6833 1522 1146 6834 1509 1165 6835 1531 1166 6836 1532 1166 6837 1532 1154 6838 1508 1146 6839 1509 1154 6840 1508 1166 6841 1532 1167 6842 1533 1167 6843 1533 1145 6844 1498 1154 6845 1508 1145 6846 1498 1167 6847 1533 1162 6848 1527 1162 6849 1527 1139 6850 1499 1145 6851 1498 1140 6852 1491 1168 6853 1534 1169 6854 1535 1169 6855 1535 1119 6856 1492 1140 6857 1491 1119 6858 1492 1169 6859 1535 1141 6860 1493 1149 6861 1503 1170 6862 1536 1148 6863 1502 1148 6864 1502 1170 6865 1536 1171 6866 1537 1171 6867 1537 1147 6868 1501 1148 6869 1502 1147 6870 1501 1171 6871 1537 1168 6872 1534 1168 6873 1534 1140 6874 1491 1147 6875 1501 1143 6876 1496 1172 6877 1538 1144 6878 1497 1144 6879 1497 1172 6880 1538 1173 6881 1539 1173 6882 1539 1159 6883 1521 1144 6884 1497 1159 6885 1521 1173 6886 1539 1174 6887 1540 1174 6888 1540 1161 6889 1523 1159 6890 1521 1161 6891 1523 1174 6892 1540 1175 6893 1541 1175 6894 1541 1153 6895 1507 1161 6896 1523 1153 6897 1507 1175 6898 1541 1152 6899 1506 1200 6900 1578 1203 6901 1582 1202 6902 1581 1202 6903 1581 1201 6904 1580 1200 6905 1578 1206 6906 1586 1209 6907 1589 1208 6908 1588 1208 6909 1588 1207 6910 1587 1206 6911 1586 1207 6912 1587 1208 6913 1588 1185 6914 1555 1185 6915 1555 1178 6916 1545 1207 6917 1587 1178 6918 1545 1185 6919 1555 1186 6920 1556 1186 6921 1556 1156 6922 1546 1178 6923 1545 1179 6924 1547 1187 6925 1557 1188 6926 1558 1188 6927 1558 1157 6928 1548 1179 6929 1547 1157 6930 1548 1188 6931 1558 1213 6932 1593 1213 6933 1593 1210 6934 1590 1157 6935 1548 1210 6936 1590 1213 6937 1593 1212 6938 1592 1212 6939 1592 1211 6940 1591 1210 6941 1590 1205 6942 1585 1204 6943 1584 1203 6944 1583 1203 6945 1583 1200 6946 1579 1205 6947 1585 1182 6948 1552 1191 6949 1562 1237 6950 1576 1237 6951 1576 1197 6952 1574 1182 6953 1552 1183 6954 1553 1192 6955 1563 1193 6956 1564 1193 6957 1564 1184 6958 1554 1183 6959 1553 1184 6960 1554 1193 6961 1564 1214 6962 1565 1214 6963 1565 1185 6964 1555 1184 6965 1554 1185 6966 1555 1214 6967 1565 1215 6968 1566 1215 6969 1566 1186 6970 1556 1185 6971 1555 1187 6972 1557 1216 6973 1567 1217 6974 1568 1217 6975 1568 1188 6976 1558 1187 6977 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7044 1560 1204 7045 1584 1205 7046 1585 1205 7047 1585 1181 7048 1550 1190 7049 1560 1181 7050 1550 1205 7051 1585 1200 7052 1579 1200 7053 1579 1176 7054 1551 1181 7055 1550 1177 7056 1543 1206 7057 1586 1207 7058 1587 1207 7059 1587 1155 7060 1544 1177 7061 1543 1155 7062 1544 1207 7063 1587 1178 7064 1545 1185 7065 1555 1208 7066 1588 1184 7067 1554 1184 7068 1554 1208 7069 1588 1209 7070 1589 1209 7071 1589 1183 7072 1553 1184 7073 1554 1183 7074 1553 1209 7075 1589 1206 7076 1586 1206 7077 1586 1177 7078 1543 1183 7079 1553 1157 7080 1548 1210 7081 1590 1180 7082 1549 1180 7083 1549 1210 7084 1590 1211 7085 1591 1211 7086 1591 1196 7087 1573 1180 7088 1549 1196 7089 1573 1211 7090 1591 1212 7091 1592 1212 7092 1592 1198 7093 1575 1196 7094 1573 1198 7095 1575 1212 7096 1592 1213 7097 1593 1213 7098 1593 1189 7099 1559 1198 7100 1575 1189 7101 1559 1213 7102 1593 1188 7103 1558 1242 7104 1630 1245 7105 1634 1244 7106 1633 1244 7107 1633 1243 7108 1632 1242 7109 1630 1248 7110 1638 1251 7111 1641 1250 7112 1640 1250 7113 1640 1249 7114 1639 1248 7115 1638 1249 7116 1639 1250 7117 1640 1222 7118 1607 1222 7119 1607 1214 7120 1597 1249 7121 1639 1214 7122 1597 1222 7123 1607 1223 7124 1608 1223 7125 1608 1215 7126 1598 1214 7127 1597 1216 7128 1599 1224 7129 1609 1225 7130 1610 1225 7131 1610 1217 7132 1600 1216 7133 1599 1217 7134 1600 1225 7135 1610 1255 7136 1645 1255 7137 1645 1252 7138 1642 1217 7139 1600 1252 7140 1642 1255 7141 1645 1254 7142 1644 1254 7143 1644 1253 7144 1643 1252 7145 1642 1247 7146 1637 1246 7147 1636 1245 7148 1635 1245 7149 1635 1242 7150 1631 1247 7151 1637 1219 7152 1604 1228 7153 1614 1240 7154 1628 1240 7155 1628 1238 7156 1626 1219 7157 1604 1220 7158 1605 1229 7159 1615 1230 7160 1616 1230 7161 1616 1221 7162 1606 1220 7163 1605 1221 7164 1606 1230 7165 1616 1231 7166 1617 1231 7167 1617 1222 7168 1607 1221 7169 1606 1222 7170 1607 1231 7171 1617 1232 7172 1618 1232 7173 1618 1223 7174 1608 1222 7175 1607 1224 7176 1609 1233 7177 1619 1234 7178 1620 1234 7179 1620 1225 7180 1610 1224 7181 1609 1225 7182 1610 1234 7183 1620 1235 7184 1621 1235 7185 1621 1226 7186 1611 1225 7187 1610 1226 7188 1611 1235 7189 1621 1241 7190 1629 1241 7191 1629 1239 7192 1627 1226 7193 1611 1227 7194 1612 1236 7195 1622 1228 7196 1623 1228 7197 1623 1219 7198 1613 1227 7199 1612 1237 7200 1624 1238 7201 1626 1220 7202 1605 1220 7203 1605 1192 7204 1595 1237 7205 1624 1199 7206 1625 1239 7207 1627 1227 7208 1612 1227 7209 1612 1218 7210 1602 1199 7211 1625 1238 7212 1626 1240 7213 1628 1229 7214 1615 1229 7215 1615 1220 7216 1605 1238 7217 1626 1239 7218 1627 1241 7219 1629 1236 7220 1622 1236 7221 1622 1227 7222 1612 1239 7223 1627 1191 7224 1594 1242 7225 1630 1243 7226 1632 1243 7227 1632 1237 7228 1624 1191 7229 1594 1237 7230 1624 1243 7231 1632 1244 7232 1633 1244 7233 1633 1238 7234 1626 1237 7235 1624 1238 7236 1626 1244 7237 1633 1245 7238 1634 1245 7239 1634 1219 7240 1604 1238 7241 1626 1219 7242 1613 1245 7243 1635 1246 7244 1636 1246 7245 1636 1227 7246 1612 1219 7247 1613 1227 7248 1612 1246 7249 1636 1247 7250 1637 1247 7251 1637 1218 7252 1602 1227 7253 1612 1218 7254 1602 1247 7255 1637 1242 7256 1631 1242 7257 1631 1191 7258 1603 1218 7259 1602 1192 7260 1595 1248 7261 1638 1249 7262 1639 1249 7263 1639 1193 7264 1596 1192 7265 1595 1193 7266 1596 1249 7267 1639 1214 7268 1597 1222 7269 1607 1250 7270 1640 1221 7271 1606 1221 7272 1606 1250 7273 1640 1251 7274 1641 1251 7275 1641 1220 7276 1605 1221 7277 1606 1220 7278 1605 1251 7279 1641 1248 7280 1638 1248 7281 1638 1192 7282 1595 1220 7283 1605 1217 7284 1600 1252 7285 1642 1194 7286 1601 1194 7287 1601 1252 7288 1642 1253 7289 1643 1253 7290 1643 1199 7291 1625 1194 7292 1601 1199 7293 1625 1253 7294 1643 1254 7295 1644 1254 7296 1644 1239 7297 1627 1199 7298 1625 1239 7299 1627 1254 7300 1644 1255 7301 1645 1255 7302 1645 1226 7303 1611 1239 7304 1627 1226 7305 1611 1255 7306 1645 1225 7307 1610</p></triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="X2_Wheel_Left" name="X2_Wheel_Left">
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diff --git a/submitted_models/robotika_freyja_sensor_config_1/meshes/wheel_right.dae b/submitted_models/robotika_freyja_sensor_config_1/meshes/wheel_right.dae
new file mode 100644
index 00000000..6c8bc12f
--- /dev/null
+++ b/submitted_models/robotika_freyja_sensor_config_1/meshes/wheel_right.dae
@@ -0,0 +1,10346 @@
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+</float_array>
+          <technique_common>
+            <accessor source="#X2_Wheel_Right-UV0-array" count="1646" stride="2">
+              <param name="S" type="float"/>
+              <param name="T" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <vertices id="X2_Wheel_Right-VERTEX">
+          <input semantic="POSITION" source="#X2_Wheel_Right-POSITION"/>
+        </vertices>
+        <triangles count="804" material="FBXASC0486FBXASC032-FBXASC032Default"><input semantic="VERTEX" offset="0" source="#X2_Wheel_Right-VERTEX"/><input semantic="NORMAL" offset="1" source="#X2_Wheel_Right-Normal0"/><input semantic="TEXCOORD" offset="2" set="0" source="#X2_Wheel_Right-UV0"/><p> 4 0 6 3 1 5 278 2 0 278 3 0 0 4 1 4 5 6 5 6 7 4 7 6 0 8 1 0 9 1 1 10 2 5 11 7 6 12 8 5 13 7 1 14 2 1 15 2 2 16 3 6 17 8 7 18 9 6 19 8 2 20 3 2 21 3 52 22 4 7 23 9 8 24 11 287 25 10 3 26 5 3 27 5 4 28 6 8 29 11 9 30 12 8 31 11 4 32 6 4 33 6 5 34 7 9 35 12 10 36 13 9 37 12 5 38 7 5 39 7 6 40 8 10 41 13 11 42 14 10 43 13 6 44 8 6 45 8 7 46 9 11 47 14 14 48 19 8 49 11 9 50 12 9 51 12 15 52 20 14 53 19 15 54 20 9 55 12 10 56 13 10 57 13 16 58 21 15 59 20 31 60 22 32 61 23 12 62 16 12 63 16 44 64 38 31 65 22 32 66 23 33 67 24 13 68 17 13 69 17 12 70 16 32 71 23 333 72 320 301 73 5 20 74 6 20 75 6 332 76 318 333 77 320 332 78 318 20 79 6 21 80 7 21 81 7 355 82 347 332 83 318 355 84 347 21 85 7 22 86 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329 2009 311 331 2010 315 45 2011 308 326 2012 305 326 2013 305 329 2014 311 331 2015 315 331 2016 315 289 2017 282 330 2018 312 330 2019 312 43 2020 306 47 2021 313 47 2022 313 44 2023 307 48 2024 314 48 2025 314 45 2026 308 331 2027 315 288 2028 281 329 2029 311 328 2030 310 328 2031 310 324 2032 303 288 2033 281 289 2034 282 331 2035 315 329 2036 311 329 2037 311 288 2038 281 289 2039 282 326 2040 305 45 2041 308 272 2042 316 272 2043 316 325 2044 304 326 2045 305 382 2046 381 383 2047 382 273 2048 317 273 2049 317 381 2050 380 382 2051 381 17 2052 1 296 2053 0 333 2054 320 333 2055 320 332 2056 318 17 2057 1 296 2058 269 295 2059 268 334 2060 321 334 2061 321 333 2062 319 296 2063 269 295 2064 268 294 2065 267 335 2066 322 335 2067 322 334 2068 321 295 2069 268 294 2070 267 293 2071 266 336 2072 323 336 2073 323 335 2074 322 294 2075 267 293 2076 266 188 2077 265 337 2078 325 337 2079 325 336 2080 323 293 2081 266 188 2082 163 187 2083 162 338 2084 326 338 2085 326 337 2086 324 188 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+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="X2_Wheel_Right" name="X2_Wheel_Right">
+      <node name="X2_Wheel_Right" id="X2_Wheel_Right" sid="X2_Wheel_Right"><matrix sid="matrix">1.000000 0.000000 0.000000 0.000000 0.000000 1.000000 0.000000 0.000000 0.000000 0.000000 1.000000 0.000000 0.000000 0.000000 0.000000 1.000000</matrix><instance_geometry url="#X2_Wheel_Right-lib"><bind_material><technique_common><instance_material symbol="FBXASC0486FBXASC032-FBXASC032Default" target="#FBXASC0486FBXASC032-FBXASC032Default"/><instance_material symbol="FBXASC0485FBXASC032-FBXASC032Default" target="#FBXASC0485FBXASC032-FBXASC032Default"/></technique_common></bind_material></instance_geometry><extra><technique profile="FCOLLADA"><visibility>1.000000</visibility></technique></extra></node>
+      <extra><technique profile="MAX3D"><frame_rate>30.000000</frame_rate></technique><technique profile="FCOLLADA"><start_time>0.000000</start_time><end_time>3.333333</end_time></technique></extra>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#X2_Wheel_Right"></instance_visual_scene>
+  </scene>
+</COLLADA>
diff --git a/submitted_models/robotika_freyja_sensor_config_1/model.config b/submitted_models/robotika_freyja_sensor_config_1/model.config
new file mode 100644
index 00000000..038b708d
--- /dev/null
+++ b/submitted_models/robotika_freyja_sensor_config_1/model.config
@@ -0,0 +1,17 @@
+
+<?xml version='1.0'?>
+<model>
+  <name>Robotika Freyja Config 1</name>
+  <version>1.0</version>
+  <sdf version='1.6'>model.sdf</sdf>
+
+  <author>
+    <name>Martin Dlouhy</name>
+    <email>md@robotika.cz</email>
+  </author>
+
+  <description>
+    Robot Freya with two RGBD cameras in low-resolution mode, two planar lidars, four  wide-angle cameras, compass, imu altimeter and gas sensor.
+  </description>
+</model>
+
diff --git a/submitted_models/robotika_freyja_sensor_config_1/model.sdf b/submitted_models/robotika_freyja_sensor_config_1/model.sdf
new file mode 100644
index 00000000..a3ea0655
--- /dev/null
+++ b/submitted_models/robotika_freyja_sensor_config_1/model.sdf
@@ -0,0 +1,1483 @@
+<?xml version="1.0"?>
+<sdf version="1.6">
+    <model name="ROBOTIKA_FREYJA">
+        <pose>0 0 0.1275 0 0 0</pose>
+        <enable_wind>1</enable_wind>
+        <link name="base_link">
+            <!-- Mass modelled as solid 0.3 x 0.24 x 0.08 cuboid at central
+                 bottom part of the robot, where battery and onboard computer
+                 are located, surrounded by ventilation space and lightweight
+                 chassis.
+                 Note: Most of the mass of the robot is *not* in the main body,
+                       but in wheels, which contain hub motors.
+                 https://en.wikipedia.org/wiki/List_of_moments_of_inertia
+            -->
+            <inertial>
+                <pose>0 0 0.0725 0 0 0</pose>
+                <mass>9.6</mass>
+                <inertia>
+                    <ixx>0.0512</ixx>
+                    <iyy>0.07712</iyy>
+                    <izz>0.11808</izz>
+                </inertia>
+            </inertial>
+
+            <!-- This bounding box covers also wheel mounts at the bottom and
+                 lidars on the top. -->
+            <collision name="chassis_collision">
+                <pose>0 0 0.105 0 0 0</pose>
+                <geometry>
+                    <box>
+                        <size>0.50 0.24 0.235</size>
+                    </box>
+                </geometry>
+            </collision>
+
+            <visual name="chassis_main_visual">
+                <pose>0 0 0.0725 0 0 0</pose>
+                <geometry>
+                    <box>
+                        <size>0.46 0.24 0.12</size>
+                    </box>
+                </geometry>
+                <material>
+                    <ambient>222 184 135 1</ambient>
+                    <diffuse>222 184 135 1</diffuse>
+                </material>
+            </visual>
+            <visual name="chassis_front_face_bottom">
+                <pose>0.24 0 0.0175 0 0 0</pose>
+                <geometry>
+                    <box>
+                        <size>0.02001 0.24 0.01</size>
+                    </box>
+                </geometry>
+                <material>
+                    <ambient>222 184 135 1</ambient>
+                    <diffuse>222 184 135 1</diffuse>
+                </material>
+            </visual>
+            <visual name="chassis_front_face_top">
+                <pose>0.24 0 0.1275 0 0 0</pose>
+                <geometry>
+                    <box>
+                        <size>0.02001 0.24 0.01</size>
+                    </box>
+                </geometry>
+                <material>
+                    <ambient>222 184 135 1</ambient>
+                    <diffuse>222 184 135 1</diffuse>
+                </material>
+            </visual>
+            <visual name="chassis_front_face_top_marker">
+                <pose>0.245 0 0.1325 0 0 0</pose>
+                <geometry>
+                    <box>
+                        <size>0.01 0.12 0.0001</size>
+                    </box>
+                </geometry>
+                <material>
+                    <ambient>0 180 0 1</ambient>
+                    <diffuse>0 180 0 1</diffuse>
+                </material>
+            </visual>
+            <visual name="chassis_front_face_left">
+                <pose>0.24 0.115 0.0725 0 0 0</pose>
+                <geometry>
+                    <box>
+                        <size>0.02001 0.01 0.12</size>
+                    </box>
+                </geometry>
+                <material>
+                    <ambient>222 184 135 1</ambient>
+                    <diffuse>222 184 135 1</diffuse>
+                </material>
+            </visual>
+            <visual name="chassis_front_face_right">
+                <pose>0.24 -0.115 0.0725 0 0 0</pose>
+                <geometry>
+                    <box>
+                        <size>0.02001 0.01 0.12</size>
+                    </box>
+                </geometry>
+                <material>
+                    <ambient>222 184 135 1</ambient>
+                    <diffuse>222 184 135 1</diffuse>
+                </material>
+            </visual>
+            <visual name="chassis_rear_face_bottom">
+                <pose>-0.24 0 0.0175 0 0 0</pose>
+                <geometry>
+                    <box>
+                        <size>0.02001 0.24 0.01</size>
+                    </box>
+                </geometry>
+                <material>
+                    <ambient>222 184 135 1</ambient>
+                    <diffuse>222 184 135 1</diffuse>
+                </material>
+            </visual>
+            <visual name="chassis_rear_face_top">
+                <pose>-0.24 0 0.1275 0 0 0</pose>
+                <geometry>
+                    <box>
+                        <size>0.02001 0.24 0.01</size>
+                    </box>
+                </geometry>
+                <material>
+                    <ambient>222 184 135 1</ambient>
+                    <diffuse>222 184 135 1</diffuse>
+                </material>
+            </visual>
+            <visual name="chassis_rear_face_top_marker">
+                <pose>-0.245 0 0.1325 0 0 0</pose>
+                <geometry>
+                    <box>
+                        <size>0.01 0.12 0.0001</size>
+                    </box>
+                </geometry>
+                <material>
+                    <ambient>180 0 0 1</ambient>
+                    <diffuse>180 0 0 1</diffuse>
+                </material>
+            </visual>
+            <visual name="chassis_rear_face_left">
+                <pose>-0.24 0.115 0.0725 0 0 0</pose>
+                <geometry>
+                    <box>
+                        <size>0.02001 0.01 0.12</size>
+                    </box>
+                </geometry>
+                <material>
+                    <ambient>222 184 135 1</ambient>
+                    <diffuse>222 184 135 1</diffuse>
+                </material>
+            </visual>
+            <visual name="chassis_rear_face_right">
+                <pose>-0.24 -0.115 0.0725 0 0 0</pose>
+                <geometry>
+                    <box>
+                        <size>0.02001 0.01 0.12</size>
+                    </box>
+                </geometry>
+                <material>
+                    <ambient>222 184 135 1</ambient>
+                    <diffuse>222 184 135 1</diffuse>
+                </material>
+            </visual>
+            <visual name="lidar_base_visual">
+                <pose>0 0 0.135 0 0 0</pose>
+                <geometry>
+                    <box>
+                        <size>0.3001 0.21 0.005</size>
+                    </box>
+                </geometry>
+                <material>
+                    <ambient>222 184 135 1</ambient>
+                    <diffuse>222 184 135 1</diffuse>
+                </material>
+            </visual>
+            <visual name="cable_cover_left_visual">
+                <pose>0 0.095 0.1475 0 0 0</pose>
+                <geometry>
+                    <box>
+                        <size>0.07 0.02 0.02001</size>
+                    </box>
+                </geometry>
+                <material>
+                    <ambient>222 184 135 1</ambient>
+                    <diffuse>222 184 135 1</diffuse>
+                </material>
+            </visual>
+            <visual name="cable_cover_right_visual">
+                <pose>0 -0.095 0.1475 0 0 0</pose>
+                <geometry>
+                    <box>
+                        <size>0.07 0.02 0.02001</size>
+                    </box>
+                </geometry>
+                <material>
+                    <ambient>222 184 135 1</ambient>
+                    <diffuse>222 184 135 1</diffuse>
+                </material>
+            </visual>
+            <visual name="cable_cover_top_visual">
+                <pose>0 0.0 0.16 0 0 0</pose>
+                <geometry>
+                    <box>
+                        <size>0.07 0.21 0.005</size>
+                    </box>
+                </geometry>
+                <material>
+                    <ambient>222 184 135 1</ambient>
+                    <diffuse>222 184 135 1</diffuse>
+                </material>
+            </visual>
+            <collision name="left_mount_collision">
+                <pose>0.0 0.17 0.085 0 0 0</pose>
+                <geometry>
+                    <box>
+                        <size>0.08 0.1 0.115</size>
+                    </box>
+                </geometry>
+            </collision>
+            <visual name="left_mount_visual">
+                <pose>0.0 0.17 0.0725 0 0 0</pose>
+                <geometry>
+                    <box>
+                        <size>0.08 0.1 0.09</size>
+                    </box>
+                </geometry>
+                <material>
+                    <ambient>222 184 135 1</ambient>
+                    <diffuse>222 184 135 1</diffuse>
+                </material>
+            </visual>
+            <visual name="left_mount_top_marker_visual">
+                <pose>0.0 0.215 0.1175 0 0 0</pose>
+                <geometry>
+                    <box>
+                        <size>0.08 0.01 0.0001</size>
+                    </box>
+                </geometry>
+                <material>
+                    <ambient>0 0 180 1</ambient>
+                    <diffuse>0 0 180 1</diffuse>
+                </material>
+            </visual>
+            <collision name="right_mount_collision">
+                <pose>0.0 -0.17 0.085 0 0 0</pose>
+                <geometry>
+                    <box>
+                        <size>0.08 0.1 0.115</size>
+                    </box>
+                </geometry>
+            </collision>
+            <visual name="right_mount_visual">
+                <pose>0.0 -0.17 0.0725 0 0 0</pose>
+                <geometry>
+                    <box>
+                        <size>0.08 0.1 0.09</size>
+                    </box>
+                </geometry>
+                <material>
+                    <ambient>222 184 135 1</ambient>
+                    <diffuse>222 184 135 1</diffuse>
+                </material>
+            </visual>
+            <visual name="right_mount_top_marker_visual">
+                <pose>0.0 -0.215 0.1175 0 0 0</pose>
+                <geometry>
+                    <box>
+                        <size>0.08 0.01 0.0001</size>
+                    </box>
+                </geometry>
+                <material>
+                    <ambient>220 220 0 1</ambient>
+                    <diffuse>220 220 0 1</diffuse>
+                </material>
+            </visual>
+            <visual name="emergency_stop_bottom_visual">
+                <pose>0.0 -0.155 0.125 0 0 0</pose>
+                <geometry>
+                    <cylinder>
+                        <length>0.015</length>
+                        <radius>0.015</radius>
+                    </cylinder>
+                </geometry>
+                <material>
+                    <ambient>180 180 180</ambient>
+                    <diffuse>180 180 180</diffuse>
+                </material>
+            </visual>
+            <visual name="emergency_stop_top_visual">
+                <pose>0.0 -0.155 0.135 0 0 0</pose>
+                <geometry>
+                    <cylinder>
+                        <length>0.005</length>
+                        <radius>0.02</radius>
+                    </cylinder>
+                </geometry>
+                <material>
+                    <ambient>255 0 0</ambient>
+                    <diffuse>255 0 0</diffuse>
+                </material>
+            </visual>
+            <visual name="power_switch_bottom_visual">
+                <pose>0.0 0.155 0.1225 0 0 0</pose>
+                <geometry>
+                    <cylinder>
+                        <length>0.005</length>
+                        <radius>0.015</radius>
+                    </cylinder>
+                </geometry>
+                <material>
+                    <ambient>0 0 0</ambient>
+                    <diffuse>0 0 0</diffuse>
+                </material>
+            </visual>
+            <visual name="power_switch_middle_visual">
+                <pose>0.0 0.155 0.1275 0 0 0</pose>
+                <geometry>
+                    <cylinder>
+                        <length>0.005</length>
+                        <radius>0.015</radius>
+                    </cylinder>
+                </geometry>
+                <material>
+                    <ambient>180 180 180</ambient>
+                    <diffuse>180 180 180</diffuse>
+                </material>
+            </visual>
+            <visual name="power_switch_top_visual">
+                <pose>0.0 0.155 0.1375 0 0 0.35</pose>
+                <geometry>
+                    <box>
+                        <size>0.025 0.005 0.01</size>
+                    </box>
+                </geometry>
+                <material>
+                    <ambient>0 0 0</ambient>
+                    <diffuse>0 0 0</diffuse>
+                </material>
+            </visual>
+
+            <!-- CMPS14 provides IMU and magnetic heading information.
+                https://www.robot-electronics.co.uk/cmps14-tilt-compensated-compass.html
+            -->
+            <sensor name="imu_sensor" type="imu">
+                <always_on>1</always_on>
+                <update_rate>50</update_rate>
+                <imu>
+                    <angular_velocity>
+                        <x>
+                            <noise type="gaussian">
+                                <mean>0</mean>
+                                <stddev>2e-4</stddev>
+                                <bias_mean>0.0000075</bias_mean>
+                                <bias_stddev>0.0000008</bias_stddev>
+                                <dynamic_bias_stddev>0.0000004</dynamic_bias_stddev>
+                                <dynamic_bias_correlation_time>1000.0</dynamic_bias_correlation_time>
+                            </noise>
+                        </x>
+                        <y>
+                            <noise type="gaussian">
+                                <mean>0</mean>
+                                <stddev>2e-4</stddev>
+                                <bias_mean>0.0000075</bias_mean>
+                                <bias_stddev>0.0000008</bias_stddev>
+                                <dynamic_bias_stddev>0.0000004</dynamic_bias_stddev>
+                                <dynamic_bias_correlation_time>1000.0</dynamic_bias_correlation_time>
+                            </noise>
+                        </y>
+                        <z>
+                            <noise type="gaussian">
+                                <mean>0</mean>
+                                <stddev>2e-4</stddev>
+                                <bias_mean>0.0000075</bias_mean>
+                                <bias_stddev>0.0000008</bias_stddev>
+                                <dynamic_bias_stddev>0.0000004</dynamic_bias_stddev>
+                                <dynamic_bias_correlation_time>1000.0</dynamic_bias_correlation_time>
+                            </noise>
+                        </z>
+                    </angular_velocity>
+                    <linear_acceleration>
+                        <x>
+                            <noise type="gaussian">
+                                <mean>0</mean>
+                                <stddev>1e-2</stddev>
+                                <bias_mean>0.1</bias_mean>
+                                <bias_stddev>0.001</bias_stddev>
+                                <dynamic_bias_stddev>0.002</dynamic_bias_stddev>
+                                <dynamic_bias_correlation_time>300.0</dynamic_bias_correlation_time>
+                            </noise>
+                        </x>
+                        <y>
+                            <noise type="gaussian">
+                                <mean>0</mean>
+                                <stddev>1e-2</stddev>
+                                <bias_mean>0.1</bias_mean>
+                                <bias_stddev>0.001</bias_stddev>
+                                <dynamic_bias_stddev>0.002</dynamic_bias_stddev>
+                                <dynamic_bias_correlation_time>300.0</dynamic_bias_correlation_time>
+                            </noise>
+                        </y>
+                        <z>
+                            <noise type="gaussian">
+                                <mean>0</mean>
+                                <stddev>1e-2</stddev>
+                                <bias_mean>0.1</bias_mean>
+                                <bias_stddev>0.001</bias_stddev>
+                                <dynamic_bias_stddev>0.002</dynamic_bias_stddev>
+                                <dynamic_bias_correlation_time>300.0</dynamic_bias_correlation_time>
+                            </noise>
+                        </z>
+                    </linear_acceleration>
+                </imu>
+            </sensor>
+            <sensor name="magnetometer" type="magnetometer">
+                <always_on>1</always_on>
+                <update_rate>50</update_rate>
+                <magnetometer>
+                    <x>
+                        <noise type="gaussian">
+                            <mean>0.000000080</mean>
+                            <bias_mean>0.000000400</bias_mean>
+                        </noise>
+                    </x>
+                    <y>
+                        <noise type="gaussian">
+                            <mean>0.000000080</mean>
+                            <bias_mean>0.000000400</bias_mean>
+                        </noise>
+                    </y>
+                    <z>
+                        <noise type="gaussian">
+                            <mean>0.000000080</mean>
+                            <bias_mean>0.000000400</bias_mean>
+                        </noise>
+                    </z>
+                </magnetometer>
+            </sensor>
+
+            <!-- Infineon DPS310
+                https://www.infineon.com/cms/en/product/sensor/pressure-sensors/absolute-pressure-sensors-map-bap/dps310/
+            -->
+            <sensor name="air_pressure" type="air_pressure">
+                <always_on>1</always_on>
+                <update_rate>20</update_rate>
+                <air_pressure>
+                    <reference_altitude>0</reference_altitude>
+                    <noise type="gaussian">
+                        <mean>0.00000008</mean>
+                    </noise>
+                </air_pressure>
+            </sensor>
+
+            <!-- 2x SICK TIM881P lidar, a prototype without a good public URL. It is derived from
+                the TIM58x family:
+                https://www.sick.com/ch/en/detection-and-ranging-solutions/2d-lidar-sensors/tim5xx/tim581-2050101/p/p619344
+                -->
+            <visual name="laser_front_bottom_visual">
+                <pose>0.12 0 0.16 0 0 0</pose>
+                <geometry>
+                    <box>
+                        <size>0.06 0.065 0.045</size>
+                    </box>
+                </geometry>
+                <material>
+                    <ambient>200 180 180 1</ambient>
+                    <diffuse>200 180 180 1</diffuse>
+                </material>
+            </visual>
+            <visual name="laser_front_top_visual">
+                <pose>0.12 0.0 0.2025 0 0 0</pose>
+                <geometry>
+                    <cylinder>
+                        <length>0.04</length>
+                        <radius>0.02</radius>
+                    </cylinder>
+                </geometry>
+                <material>
+                    <ambient>0 0 0 1</ambient>
+                    <diffuse>0 0 0 1</diffuse>
+                </material>
+            </visual>
+            <visual name="laser_front_cable_green">
+                <pose>0.045 0.01 0.1525 0 1.5707963267948966 0</pose>
+                <geometry>
+                    <cylinder>
+                        <length>0.09</length>
+                        <radius>0.005</radius>
+                    </cylinder>
+                </geometry>
+                <material>
+                    <ambient>120 255 120 1</ambient>
+                    <diffuse>120 255 120 1</diffuse>
+                </material>
+            </visual>
+            <visual name="laser_front_cable_black">
+                <pose>0.045 -0.01 0.1525 0 1.5707963267948966 0</pose>
+                <geometry>
+                    <cylinder>
+                        <length>0.09</length>
+                        <radius>0.005</radius>
+                    </cylinder>
+                </geometry>
+                <material>
+                    <ambient>10 10 10 1</ambient>
+                    <diffuse>10 10 10 1</diffuse>
+                </material>
+            </visual>
+            <sensor name="laser_front" type="gpu_lidar">
+                <pose>0.12 0 0.1925 0 0 0</pose>
+                <update_rate>15</update_rate>
+                <lidar>
+                    <scan>
+                        <horizontal>
+                            <samples>811</samples>
+                            <resolution>0.3333333333</resolution>
+                            <min_angle>-2.3562</min_angle>
+                            <max_angle>2.3562</max_angle>
+                        </horizontal>
+                    </scan>
+                    <range>
+                        <min>0.04</min>
+                        <max>25</max>
+                        <resolution>0.01</resolution>
+                    </range>
+                    <noise>
+                        <type>gaussian</type>
+                        <mean>0</mean>
+                        <stddev>0.01</stddev>
+                    </noise>
+                </lidar>
+            </sensor>
+
+            <visual name="laser_rear_bottom_visual">
+                <pose>-0.12 0 0.1625 0 0 0</pose>
+                <geometry>
+                    <box>
+                        <size>0.06 0.065 0.045</size>
+                    </box>
+                </geometry>
+                <material>
+                    <ambient>200 180 180 1</ambient>
+                    <diffuse>200 180 180 1</diffuse>
+                </material>
+            </visual>
+            <visual name="laser_rear_top_visual">
+                <pose>-0.12 0.0 0.2025 0 0 0</pose>
+                <geometry>
+                    <cylinder>
+                        <length>0.04</length>
+                        <radius>0.02</radius>
+                    </cylinder>
+                </geometry>
+                <material>
+                    <ambient>0 0 0 1</ambient>
+                    <diffuse>0 0 0 1</diffuse>
+                </material>
+            </visual>
+            <visual name="laser_rear_cable_green">
+                <pose>-0.045 -0.01 0.1525 0 1.5707963267948966 0</pose>
+                <geometry>
+                    <cylinder>
+                        <length>0.09</length>
+                        <radius>0.005</radius>
+                    </cylinder>
+                </geometry>
+                <material>
+                    <ambient>120 255 120 1</ambient>
+                    <diffuse>120 255 120 1</diffuse>
+                </material>
+            </visual>
+            <visual name="laser_rear_cable_black">
+                <pose>-0.045 0.01 0.1525 0 1.5707963267948966 0</pose>
+                <geometry>
+                    <cylinder>
+                        <length>0.09</length>
+                        <radius>0.005</radius>
+                    </cylinder>
+                </geometry>
+                <material>
+                    <ambient>10 10 10 1</ambient>
+                    <diffuse>10 10 10 1</diffuse>
+                </material>
+            </visual>
+            <sensor name="laser_rear" type="gpu_lidar">
+                <pose>-0.12 0 0.1925 0 0 3.141592</pose>
+                <update_rate>15</update_rate>
+                <lidar>
+                    <scan>
+                        <horizontal>
+                            <samples>811</samples>
+                            <resolution>0.3333333333</resolution>
+                            <min_angle>-2.3562</min_angle>
+                            <max_angle>2.3562</max_angle>
+                        </horizontal>
+                    </scan>
+                    <range>
+                        <min>0.04</min>
+                        <max>25</max>
+                        <resolution>0.01</resolution>
+                    </range>
+                    <noise>
+                        <type>gaussian</type>
+                        <mean>0</mean>
+                        <stddev>0.01</stddev>
+                    </noise>
+                </lidar>
+            </sensor>
+
+            <!-- 3x Mynt Eye D in low-reslution medium-fps mode.
+                https://www.mynteye.com/pages/mynt-eye-d
+                -->
+            <visual name="rgbd_front_visual">
+                <pose>0.235 0 0.1025 0 0 0</pose>
+                <geometry>
+                    <box>
+                        <size>0.03 0.162 0.03</size>
+                    </box>
+                </geometry>
+                <material>
+                    <ambient>0 0 0</ambient>
+                    <diffuse>0 0 0</diffuse>
+                </material>
+            </visual>
+            <sensor name="rgbd_front" type="rgbd_camera">
+                <pose>0.250001 0 0.1025 0 0 0</pose>
+                <always_on>1</always_on>
+                <update_rate>30</update_rate>
+                <camera name="rgbd_front_rgbd">
+                    <pose frame="">0 0 0 0 -1.5707 1.5707</pose>
+                    <horizontal_fov>1.483583268116444</horizontal_fov>
+                    <lens>
+                        <intrinsics>
+                          <!-- fx = fy = width / ( 2 * tan (hfov / 2 ) ) -->
+                          <fx>349.2</fx>
+                          <fy>349.2</fy>
+                          <!-- cx = ( width + 1 ) / 2 -->
+                          <cx>320.5</cx>
+                          <!-- cy = ( height + 1 ) / 2 -->
+                          <cy>180.5</cy>
+                          <s>0</s>
+                        </intrinsics>
+                    </lens>
+                    <distortion>
+                        <k1>0.0</k1>
+                        <k2>0.0</k2>
+                        <k3>0.0</k3>
+                        <p1>0.0</p1>
+                        <p2>0.0</p2>
+                        <center>0.5 0.5</center>
+                    </distortion>
+                    <image>
+                        <width>640</width>
+                        <height>360</height>
+                        <format>R8G8B8</format>
+                    </image>
+                    <clip>
+                        <near>0.01</near>
+                        <far>300</far>
+                    </clip>
+                    <depth_camera>
+                      <clip>
+                        <near>0.1</near>
+                        <far>10</far>
+                      </clip>
+                    </depth_camera>
+                    <noise>
+                        <type>gaussian</type>
+                        <mean>0</mean>
+                        <stddev>0.007</stddev>
+                    </noise>
+                </camera>
+            </sensor>
+
+            <visual name="rgbd_rear_visual">
+                <pose>-0.235 0 0.1025 0 0 0</pose>
+                <geometry>
+                    <box>
+                        <size>0.03 0.162 0.03</size>
+                    </box>
+                </geometry>
+                <material>
+                    <ambient>0 0 0</ambient>
+                    <diffuse>0 0 0</diffuse>
+                </material>
+            </visual>
+            <sensor name="rgbd_rear" type="rgbd_camera">
+                <pose>-0.250001 0 0.1025 0 0 3.141592653589793</pose>
+                <always_on>1</always_on>
+                <!-- Mynt Eye D in low-resolution high-fps mode. -->
+                <update_rate>30</update_rate>
+                <camera name="rear_rgbd">
+                    <pose frame="">0 0 0 0 -1.5707 1.5707</pose>
+                    <horizontal_fov>1.483583268116444</horizontal_fov>
+                    <lens>
+                        <intrinsics>
+                          <!-- fx = fy = width / ( 2 * tan (hfov / 2 ) ) -->
+                          <fx>349.2</fx>
+                          <fy>349.2</fy>
+                          <!-- cx = ( width + 1 ) / 2 -->
+                          <cx>320.5</cx>
+                          <!-- cy = ( height + 1 ) / 2 -->
+                          <cy>180.5</cy>
+                          <s>0</s>
+                        </intrinsics>
+                    </lens>
+                    <distortion>
+                        <k1>0.0</k1>
+                        <k2>0.0</k2>
+                        <k3>0.0</k3>
+                        <p1>0.0</p1>
+                        <p2>0.0</p2>
+                        <center>0.5 0.5</center>
+                    </distortion>
+                    <image>
+                        <width>640</width>
+                        <height>360</height>
+                        <format>R8G8B8</format>
+                    </image>
+                    <clip>
+                        <near>0.01</near>
+                        <far>300</far>
+                    </clip>
+                    <depth_camera>
+                      <clip>
+                        <near>0.1</near>
+                        <far>10</far>
+                      </clip>
+                    </depth_camera>
+                    <noise>
+                        <type>gaussian</type>
+                        <mean>0</mean>
+                        <stddev>0.007</stddev>
+                    </noise>
+                </camera>
+            </sensor>
+
+
+            <!-- Four KAYETON high-speed fisheye cameras running at medium speed,
+                undistorted into 1/4 of their original image size.
+                https://www.kayetoncctv.com/global-shutter-high-speed-120fps-hd-720p-webcam-uvc-plug-play-driverless-usb-camera-module-for-android-linux-windows-mac/
+              -->
+            <visual name="camera_front_visual">
+                <pose>0.2349 0 0.0725 0 1.5707963267948966 0</pose>
+                <geometry>
+                    <cylinder>
+                        <length>0.03</length>
+                        <radius>0.011</radius>
+                    </cylinder>
+                </geometry>
+                <material>
+                    <ambient>0 0 0 </ambient>
+                    <diffuse>0 0 0 </diffuse>
+                </material>
+            </visual>
+            <sensor name="camera_front" type="camera">
+                <pose>0.25 0 0.0725 0 0 0</pose>
+                <always_on>1</always_on>
+                <update_rate>30</update_rate>
+                <camera name="camera_front">
+                    <horizontal_fov>3.0</horizontal_fov>
+                    <lens>
+                        <intrinsics>
+                            <!-- fx = fy = width / ( 2 * tan (hfov / 2 ) ) -->
+                            <fx>11.3464</fx>
+                            <fy>11.3464</fy>
+                            <!-- cx = ( width + 1 ) / 2 -->
+                            <cx>340.5</cx>
+                            <!-- cy = ( height + 1 ) / 2 -->
+                            <cy>180.5</cy>
+                            <s>0</s>
+                        </intrinsics>
+                    </lens>
+                    <distortion>
+                        <k1>0.0</k1>
+                        <k2>0.0</k2>
+                        <k3>0.0</k3>
+                        <p1>0.0</p1>
+                        <p2>0.0</p2>
+                        <center>0.5 0.5</center>
+                    </distortion>
+                    <image>
+                        <width>640</width>
+                        <height>360</height>
+                        <format>R8G8B8</format>
+                    </image>
+                    <clip>
+                        <near>0.01</near>
+                        <far>300</far>
+                    </clip>
+                    <noise>
+                        <type>gaussian</type>
+                        <mean>0</mean>
+                        <stddev>0.007</stddev>
+                    </noise>
+                </camera>
+            </sensor>
+            <visual name="camera_rear_visual">
+                <pose>-0.2349 0 0.0725 0 -1.5707963267948966 0</pose>
+                <geometry>
+                    <cylinder>
+                        <length>0.03</length>
+                        <radius>0.011</radius>
+                    </cylinder>
+                </geometry>
+                <material>
+                    <ambient>0 0 0 </ambient>
+                    <diffuse>0 0 0 </diffuse>
+                </material>
+            </visual>
+            <sensor name="camera_rear" type="camera">
+                <pose>-0.25 0 0.0725 0 0 3.141592653589793</pose>
+                <always_on>1</always_on>
+                <update_rate>30</update_rate>
+                <camera name="camera_rear">
+                    <horizontal_fov>3.0</horizontal_fov>
+                    <lens>
+                        <intrinsics>
+                            <!-- fx = fy = width / ( 2 * tan (hfov / 2 ) ) -->
+                            <fx>11.3464</fx>
+                            <fy>11.3464</fy>
+                            <!-- cx = ( width + 1 ) / 2 -->
+                            <cx>320.5</cx>
+                            <!-- cy = ( height + 1 ) / 2 -->
+                            <cy>180.5</cy>
+                            <s>0</s>
+                        </intrinsics>
+                    </lens>
+                    <distortion>
+                        <k1>0.0</k1>
+                        <k2>0.0</k2>
+                        <k3>0.0</k3>
+                        <p1>0.0</p1>
+                        <p2>0.0</p2>
+                        <center>0.5 0.5</center>
+                    </distortion>
+                    <image>
+                        <width>640</width>
+                        <height>360</height>
+                        <format>R8G8B8</format>
+                    </image>
+                    <clip>
+                        <near>0.01</near>
+                        <far>300</far>
+                    </clip>
+                    <noise>
+                        <type>gaussian</type>
+                        <mean>0</mean>
+                        <stddev>0.007</stddev>
+                    </noise>
+                </camera>
+            </sensor>
+            <visual name="camera_left_visual">
+                <pose>0.0 0.22 0.0725 -1.5707963267948966 0 0</pose>
+                <geometry>
+                    <cylinder>
+                        <length>0.005</length>
+                        <radius>0.011</radius>
+                    </cylinder>
+                </geometry>
+                <material>
+                    <ambient>0 0 0 1</ambient>
+                    <diffuse>0 0 0 1</diffuse>
+                </material>
+            </visual>
+            <sensor name="camera_left" type="camera">
+                <pose>0.0 0.225 0 0.0725 0 0 1.5707963267948966</pose>
+                <always_on>1</always_on>
+                <update_rate>30</update_rate>
+                <camera name="camera_left">
+                    <horizontal_fov>3.0</horizontal_fov>
+                    <lens>
+                        <intrinsics>
+                            <!-- fx = fy = width / ( 2 * tan (hfov / 2 ) ) -->
+                            <fx>11.3464</fx>
+                            <fy>11.3464</fy>
+                            <!-- cx = ( width + 1 ) / 2 -->
+                            <cx>340.5</cx>
+                            <!-- cy = ( height + 1 ) / 2 -->
+                            <cy>180.5</cy>
+                            <s>0</s>
+                        </intrinsics>
+                    </lens>
+                    <distortion>
+                        <k1>0.0</k1>
+                        <k2>0.0</k2>
+                        <k3>0.0</k3>
+                        <p1>0.0</p1>
+                        <p2>0.0</p2>
+                        <center>0.5 0.5</center>
+                    </distortion>
+                    <image>
+                        <width>640</width>
+                        <height>360</height>
+                        <format>R8G8B8</format>
+                    </image>
+                    <clip>
+                        <near>0.01</near>
+                        <far>300</far>
+                    </clip>
+                    <noise>
+                        <type>gaussian</type>
+                        <mean>0</mean>
+                        <stddev>0.007</stddev>
+                    </noise>
+                </camera>
+            </sensor>
+            <visual name="camera_right_visual">
+                <pose>0.0 -0.22 0.0725 1.5707963267948966 0 0</pose>
+                <geometry>
+                    <cylinder>
+                        <length>0.005</length>
+                        <radius>0.011</radius>
+                    </cylinder>
+                </geometry>
+                <material>
+                    <ambient>0 0 0 1</ambient>
+                    <diffuse>0 0 0 1</diffuse>
+                </material>
+            </visual>
+            <sensor name="camera_right" type="camera">
+                <pose>0.0 -0.225 0.0725 0 0 -1.5707963267948966</pose>
+                <always_on>1</always_on>
+                <update_rate>30</update_rate>
+                <camera name="camera_right">
+                    <horizontal_fov>3.0</horizontal_fov>
+                    <lens>
+                        <intrinsics>
+                            <!-- fx = fy = width / ( 2 * tan (hfov / 2 ) ) -->
+                            <fx>11.3464</fx>
+                            <fy>11.3464</fy>
+                            <!-- cx = ( width + 1 ) / 2 -->
+                            <cx>340.5</cx>
+                            <!-- cy = ( height + 1 ) / 2 -->
+                            <cy>180.5</cy>
+                            <s>0</s>
+                        </intrinsics>
+                    </lens>
+                    <distortion>
+                        <k1>0.0</k1>
+                        <k2>0.0</k2>
+                        <k3>0.0</k3>
+                        <p1>0.0</p1>
+                        <p2>0.0</p2>
+                        <center>0.5 0.5</center>
+                    </distortion>
+                    <image>
+                        <width>640</width>
+                        <height>360</height>
+                        <format>R8G8B8</format>
+                    </image>
+                    <clip>
+                        <near>0.01</near>
+                        <far>300</far>
+                    </clip>
+                    <noise>
+                        <type>gaussian</type>
+                        <mean>0</mean>
+                        <stddev>0.007</stddev>
+                    </noise>
+                </camera>
+            </sensor>
+
+            <visual name="light_front_visual">
+                <pose>0.24 0 0.0425 0 1.5707963267948966 0</pose>
+                <geometry>
+                    <cylinder>
+                        <length>0.02001</length>
+                        <radius>0.004</radius>
+                    </cylinder>
+                </geometry>
+                <material>
+                    <ambient>255 255 115</ambient>
+                    <diffuse>255 255 115</diffuse>
+                </material>
+            </visual>
+            <light name="light_front" type="spot">
+                <pose>0.237 0 0.0425 0 0 0</pose>
+                <attenuation>
+                    <range>25</range>
+                    <linear>0</linear>
+                    <constant>0.1</constant>
+                    <quadratic>0.005</quadratic>
+                </attenuation>
+                <diffuse>0.8 0.8 0.5 1</diffuse>
+                <specular>0.8 0.8 0.5 1</specular>
+                <spot>
+                    <inner_angle>1.571</inner_angle>
+                    <outer_angle>2.1</outer_angle>
+                    <falloff>1</falloff>
+                </spot>
+                <direction>1 0 0</direction>
+                <cast_shadows>1</cast_shadows>
+            </light>
+            <visual name="light_rear_visual">
+                <pose>-0.24 0 0.0425 0 1.5707963267948966 0</pose>
+                <geometry>
+                    <cylinder>
+                        <length>0.02001</length>
+                        <radius>0.004</radius>
+                    </cylinder>
+                </geometry>
+                <material>
+                    <ambient>255 255 115</ambient>
+                    <diffuse>255 255 115</diffuse>
+                </material>
+            </visual>
+            <light name="light_rear" type="spot">
+                <pose>-0.237 0 0.0425 0 0 0</pose>
+                <attenuation>
+                    <range>25</range>
+                    <linear>0</linear>
+                    <constant>0.1</constant>
+                    <quadratic>0.005</quadratic>
+                </attenuation>
+                <diffuse>0.8 0.8 0.5 1</diffuse>
+                <specular>0.8 0.8 0.5 1</specular>
+                <spot>
+                    <inner_angle>1.571</inner_angle>
+                    <outer_angle>2.1</outer_angle>
+                    <falloff>1</falloff>
+                </spot>
+                <direction>-1 0 0</direction>
+                <cast_shadows>1</cast_shadows>
+            </light>
+            <visual name="light_left_visual">
+                <pose>0 0.22 0.0425 1.5707963267948966 0 0</pose>
+                <geometry>
+                    <cylinder>
+                        <length>0.0005</length>
+                        <radius>0.004</radius>
+                    </cylinder>
+                </geometry>
+                <material>
+                    <ambient>255 255 115</ambient>
+                    <diffuse>255 255 115</diffuse>
+                </material>
+            </visual>
+            <light name="light_left" type="spot">
+                <pose>0 0.22 0.0425 0 0 0</pose>
+                <attenuation>
+                    <range>25</range>
+                    <linear>0</linear>
+                    <constant>0.1</constant>
+                    <quadratic>0.005</quadratic>
+                </attenuation>
+                <diffuse>0.8 0.8 0.5 1</diffuse>
+                <specular>0.8 0.8 0.5 1</specular>
+                <spot>
+                    <inner_angle>1.571</inner_angle>
+                    <outer_angle>2.1</outer_angle>
+                    <falloff>1</falloff>
+                </spot>
+                <direction>0 1 0</direction>
+                <cast_shadows>1</cast_shadows>
+            </light>
+            <visual name="light_right_visual">
+                <pose>0 -0.22 0.0425 1.5707963267948966 0 0</pose>
+                <geometry>
+                    <cylinder>
+                        <length>0.0005</length>
+                        <radius>0.004</radius>
+                    </cylinder>
+                </geometry>
+                <material>
+                    <ambient>255 255 115</ambient>
+                    <diffuse>255 255 115</diffuse>
+                </material>
+            </visual>
+            <light name="light_right" type="spot">
+                <pose>0 -0.22 0.0425 0 0 0</pose>
+                <attenuation>
+                    <range>25</range>
+                    <linear>0</linear>
+                    <constant>0.1</constant>
+                    <quadratic>0.005</quadratic>
+                </attenuation>
+                <diffuse>0.8 0.8 0.5 1</diffuse>
+                <specular>0.8 0.8 0.5 1</specular>
+                <spot>
+                    <inner_angle>1.571</inner_angle>
+                    <outer_angle>2.1</outer_angle>
+                    <falloff>1</falloff>
+                </spot>
+                <direction>0 -1 0</direction>
+                <cast_shadows>1</cast_shadows>
+            </light>
+        </link>
+
+        <link name="front_left_wheel">
+            <pose>0.19 0.19 0 0 0 0</pose>
+            <!-- Inertia approximated by a solid cylinder of a smaller diameter
+                 than the whole wheel and almost full width (r=0.1, h=0.08),
+                 because most of the mass is is the hub motor, which is
+                 surrounded by air tire. -->
+            <inertial>
+                <mass>5.0</mass>
+                <inertia>
+                    <ixx>0.0153</ixx>
+                    <iyy>0.025</iyy>
+                    <izz>0.0153</izz>
+                </inertia>
+            </inertial>
+            <collision name="collision">
+                <pose>0 0 0 -1.5707963267948966 0 0</pose>
+                <geometry>
+                    <cylinder>
+                        <length>0.082</length>
+                        <radius>0.1275</radius>
+                    </cylinder>
+                </geometry>
+                <surface>
+                  <friction>
+                    <ode>
+                      <mu>1</mu>
+                      <mu2>1</mu2>
+                      <slip1>0.0475</slip1>
+                      <slip2>0</slip2>
+                      <fdir1>0 0 1</fdir1>
+                    </ode>
+                  </friction>
+                </surface>
+            </collision>
+            <visual name="tire_visual">
+                <pose>0 0 0 1.5708 0 0</pose>
+                <geometry>
+                    <mesh>
+                        <uri>meshes/wheel_left.dae</uri>
+                        <scale>1.3010204 1.3010204 2.05</scale>
+                    </mesh>
+                </geometry>
+            </visual>
+            <visual name="hub_visual">
+                <pose>0 -0.055 0 1.5707963267948966 0 0</pose>
+                <geometry>
+                    <cylinder>
+                        <length>0.025</length>
+                        <radius>0.04</radius>
+                    </cylinder>
+                </geometry>
+                <material>
+                    <ambient>128 128 128</ambient>
+                    <diffuse>128 128 128</diffuse>
+                </material>
+            </visual>
+            <visual name="axis_visual">
+                <pose>0 -0.08 0 1.5707963267948966 0 0</pose>
+                <geometry>
+                    <cylinder>
+                        <length>0.05</length>
+                        <radius>0.008</radius>
+                    </cylinder>
+                </geometry>
+                <material>
+                    <ambient>0 0 0</ambient>
+                    <diffuse>0 0 0</diffuse>
+                </material>
+            </visual>
+            <visual name="mount_visual">
+                <pose>0 -0.11 0 0 0 0</pose>
+                <geometry>
+                    <box>
+                        <size>0.05 0.07 0.025</size>
+                    </box>
+                </geometry>
+                <material>
+                    <ambient>128 128 128</ambient>
+                    <diffuse>128 128 128</diffuse>
+                </material>
+            </visual>
+        </link>
+
+        <link name="front_right_wheel">
+            <pose>0.19 -0.19 0 0 0 0</pose>
+            <inertial>
+                <mass>5.0</mass>
+                <inertia>
+                    <ixx>0.0153</ixx>
+                    <iyy>0.025</iyy>
+                    <izz>0.0153</izz>
+                </inertia>
+            </inertial>
+            <collision name="collision">
+                <pose>0 0 0 1.5707963267948966 0 0</pose>
+                <geometry>
+                    <cylinder>
+                        <length>0.082</length>
+                        <radius>0.1275</radius>
+                    </cylinder>
+                </geometry>
+                <surface>
+                  <friction>
+                    <ode>
+                      <mu>1</mu>
+                      <mu2>1</mu2>
+                      <slip1>0.0475</slip1>
+                      <slip2>0</slip2>
+                      <fdir1>0 0 1</fdir1>
+                    </ode>
+                  </friction>
+                </surface>
+            </collision>
+            <visual name="tire_visual">
+                <pose>0 0 0 1.5708 0 0</pose>
+                <geometry>
+                    <mesh>
+                        <uri>meshes/wheel_right.dae</uri>
+                        <scale>1.3010204 1.3010204 2.05</scale>
+                    </mesh>
+                </geometry>
+            </visual>
+            <visual name="hub_visual">
+                <pose>0 0.055 0 1.5707963267948966 0 0</pose>
+                <geometry>
+                    <cylinder>
+                        <length>0.025</length>
+                        <radius>0.04</radius>
+                    </cylinder>
+                </geometry>
+                <material>
+                    <ambient>128 128 128</ambient>
+                    <diffuse>128 128 128</diffuse>
+                </material>
+            </visual>
+            <visual name="axis_visual">
+                <pose>0 0.08 0 1.5707963267948966 0 0</pose>
+                <geometry>
+                    <cylinder>
+                        <length>0.05</length>
+                        <radius>0.008</radius>
+                    </cylinder>
+                </geometry>
+                <material>
+                    <ambient>0 0 0</ambient>
+                    <diffuse>0 0 0</diffuse>
+                </material>
+            </visual>
+            <visual name="mount_visual">
+                <pose>0 0.11 0 0 0 0</pose>
+                <geometry>
+                    <box>
+                        <size>0.05 0.07 0.025</size>
+                    </box>
+                </geometry>
+                <material>
+                    <ambient>128 128 128</ambient>
+                    <diffuse>128 128 128</diffuse>
+                </material>
+            </visual>
+        </link>
+
+        <link name="rear_left_wheel">
+            <pose>-0.19 0.19 0 0 0 0</pose>
+            <inertial>
+                <mass>5.0</mass>
+                <inertia>
+                    <ixx>0.0153</ixx>
+                    <iyy>0.025</iyy>
+                    <izz>0.0153</izz>
+                </inertia>
+            </inertial>
+            <collision name="collision">
+                <pose>0 0 0 -1.5707963267948966 0 0</pose>
+                <geometry>
+                    <cylinder>
+                        <length>0.082</length>
+                        <radius>0.1275</radius>
+                    </cylinder>
+                </geometry>
+                <surface>
+                  <friction>
+                    <ode>
+                      <mu>1</mu>
+                      <mu2>1</mu2>
+                      <slip1>0.0475</slip1>
+                      <slip2>0</slip2>
+                      <fdir1>0 0 1</fdir1>
+                    </ode>
+                  </friction>
+                </surface>
+            </collision>
+            <visual name="tire_visual">
+                <pose>0 0 0 1.5708 0 0</pose>
+                <geometry>
+                    <mesh>
+                        <uri>meshes/wheel_left.dae</uri>
+                        <scale>1.3010204 1.3010204 2.05</scale>
+                    </mesh>
+                </geometry>
+            </visual>
+            <visual name="hub_visual">
+                <pose>0 -0.055 0 1.5707963267948966 0 0</pose>
+                <geometry>
+                    <cylinder>
+                        <length>0.025</length>
+                        <radius>0.04</radius>
+                    </cylinder>
+                </geometry>
+                <material>
+                    <ambient>128 128 128</ambient>
+                    <diffuse>128 128 128</diffuse>
+                </material>
+            </visual>
+            <visual name="axis_visual">
+                <pose>0 -0.08 0 1.5707963267948966 0 0</pose>
+                <geometry>
+                    <cylinder>
+                        <length>0.05</length>
+                        <radius>0.008</radius>
+                    </cylinder>
+                </geometry>
+                <material>
+                    <ambient>0 0 0</ambient>
+                    <diffuse>0 0 0</diffuse>
+                </material>
+            </visual>
+            <visual name="mount_visual">
+                <pose>0 -0.11 0 0 0 0</pose>
+                <geometry>
+                    <box>
+                        <size>0.05 0.07 0.025</size>
+                    </box>
+                </geometry>
+                <material>
+                    <ambient>128 128 128</ambient>
+                    <diffuse>128 128 128</diffuse>
+                </material>
+            </visual>
+        </link>
+
+        <link name="rear_right_wheel">
+            <pose>-0.19 -0.19 0 0 0 0</pose>
+            <inertial>
+                <mass>5.0</mass>
+                <inertia>
+                    <ixx>0.0153</ixx>
+                    <iyy>0.025</iyy>
+                    <izz>0.0153</izz>
+                </inertia>
+            </inertial>
+            <collision name="collision">
+                <pose>0 0 0 1.5707963267948966 0 0</pose>
+                <geometry>
+                    <cylinder>
+                        <length>0.082</length>
+                        <radius>0.1275</radius>
+                    </cylinder>
+                </geometry>
+                <surface>
+                  <friction>
+                    <ode>
+                      <mu>1</mu>
+                      <mu2>1</mu2>
+                      <slip1>0.0475</slip1>
+                      <slip2>0</slip2>
+                      <fdir1>0 0 1</fdir1>
+                    </ode>
+                  </friction>
+                </surface>
+            </collision>
+            <visual name="tire_visual">
+                <pose>0 0 0 1.5708 0 0</pose>
+                <geometry>
+                    <mesh>
+                        <uri>meshes/wheel_right.dae</uri>
+                        <scale>1.3010204 1.3010204 2.05</scale>
+                    </mesh>
+                </geometry>
+            </visual>
+            <visual name="hub_visual">
+                <pose>0 0.055 0 1.5707963267948966 0 0</pose>
+                <geometry>
+                    <cylinder>
+                        <length>0.025</length>
+                        <radius>0.04</radius>
+                    </cylinder>
+                </geometry>
+                <material>
+                    <ambient>128 128 128</ambient>
+                    <diffuse>128 128 128</diffuse>
+                </material>
+            </visual>
+            <visual name="axis_visual">
+                <pose>0 0.08 0 1.5707963267948966 0 0</pose>
+                <geometry>
+                    <cylinder>
+                        <length>0.05</length>
+                        <radius>0.008</radius>
+                    </cylinder>
+                </geometry>
+                <material>
+                    <ambient>0 0 0</ambient>
+                    <diffuse>0 0 0</diffuse>
+                </material>
+            </visual>
+            <visual name="mount_visual">
+                <pose>0 0.11 0 0 0 0</pose>
+                <geometry>
+                    <box>
+                        <size>0.05 0.07 0.025</size>
+                    </box>
+                </geometry>
+                <material>
+                    <ambient>128 128 128</ambient>
+                    <diffuse>128 128 128</diffuse>
+                </material>
+            </visual>
+        </link>
+
+        <!-- 4x 500W hub motor with ~30 km/h maximum speed.
+            However, we operate them with a speed and torque limit
+            in software.
+            https://www.uumotor.com/10-inch-single-shaft-brushless-motor-sensorless.html
+        -->
+        <joint name="front_left_wheel_joint" type="revolute">
+            <child>front_left_wheel</child>
+            <parent>base_link</parent>
+            <axis>
+                <xyz>0 1 0</xyz>
+                <limit>
+                    <lower>-1.79769e+308</lower>
+                    <upper>+1.79769e+308</upper>
+                    <!-- 2.5 m/s => angular velocity of the wheel in rad/s -->
+                    <velocity>19.61</velocity>
+                    <!-- Torque in NM. -->
+                    <effort>10</effort>
+                </limit>
+                <use_parent_model_frame>1</use_parent_model_frame>
+            </axis>
+        </joint>
+
+        <joint name="rear_left_wheel_joint" type="revolute">
+            <parent>base_link</parent>
+            <child>rear_left_wheel</child>
+            <axis>
+                <xyz>0 1 0</xyz>
+                <limit>
+                    <lower>-1.79769e+308</lower>
+                    <upper>+1.79769e+308</upper>
+                    <!-- 2.5 m/s => angular velocity of the wheel in rad/s -->
+                    <velocity>19.61</velocity>
+                    <!-- Torque in NM. -->
+                    <effort>10</effort>
+                </limit>
+            </axis>
+        </joint>
+
+        <joint name="rear_right_wheel_joint" type="revolute">
+            <parent>base_link</parent>
+            <child>rear_right_wheel</child>
+            <axis>
+                <xyz>0 1 0</xyz>
+                <limit>
+                    <lower>-1.79769e+308</lower>
+                    <upper>+1.79769e+308</upper>
+                    <!-- 2.5 m/s => angular velocity of the wheel in rad/s -->
+                    <velocity>19.61</velocity>
+                    <!-- Torque in NM. -->
+                    <effort>10</effort>
+                </limit>
+            </axis>
+        </joint>
+
+        <joint name="front_right_wheel_joint" type="revolute">
+            <parent>base_link</parent>
+            <child>front_right_wheel</child>
+            <axis>
+                <xyz>0 1 0</xyz>
+                <limit>
+                    <lower>-1.79769e+308</lower>
+                    <upper>+1.79769e+308</upper>
+                    <!-- 2.5 m/s => angular velocity of the wheel in rad/s -->
+                    <velocity>19.61</velocity>
+                    <!-- Torque in NM. -->
+                    <effort>10</effort>
+                </limit>
+            </axis>
+        </joint>
+    </model>
+</sdf>
diff --git a/submitted_models/robotika_freyja_sensor_config_1/package.xml b/submitted_models/robotika_freyja_sensor_config_1/package.xml
new file mode 100644
index 00000000..6ec578ce
--- /dev/null
+++ b/submitted_models/robotika_freyja_sensor_config_1/package.xml
@@ -0,0 +1,19 @@
+<?xml version="1.0"?>
+<package>
+  <name>robotika_freyja_sensor_config_1</name>
+  <version>0.0.1</version>
+  <description>Robotika's ronbot Freyja with two RGBD cameras and four wide-angle monocular cameras.</description>
+
+  <author email="md@robotika.cz">Martin Dlouhy</author>
+  <maintainer email="md@orobotika.cz">Martin Dlouhy</maintainer>
+
+  <license>BSD</license>
+
+  <buildtool_depend>catkin</buildtool_depend>
+  <build_depend>roslaunch</build_depend>
+  <run_depend>urdf</run_depend>
+  <run_depend>xacro</run_depend>
+
+  <export>
+  </export>
+</package>
diff --git a/submitted_models/robotika_freyja_sensor_config_1/thumbnails/1.png b/submitted_models/robotika_freyja_sensor_config_1/thumbnails/1.png
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diff --git a/submitted_models/robotika_freyja_sensor_config_1/thumbnails/3.png b/submitted_models/robotika_freyja_sensor_config_1/thumbnails/3.png
new file mode 100644
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diff --git a/submitted_models/robotika_freyja_sensor_config_1/urdf/freyja_from_sdf.urdf b/submitted_models/robotika_freyja_sensor_config_1/urdf/freyja_from_sdf.urdf
new file mode 100644
index 00000000..2b7e5545
--- /dev/null
+++ b/submitted_models/robotika_freyja_sensor_config_1/urdf/freyja_from_sdf.urdf
@@ -0,0 +1,518 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name='ROBOTIKA_FREYJA'>
+  <link name='base_link'>
+    <inertial>
+      <origin xyz='0 0 0.0725' rpy='0 -0 0'/>
+      <mass value='9.6'/>
+      <inertia ixx='0.0512' ixy='0' ixz='0' iyy='0.07712' iyz='0' izz='0.11808'/>
+    </inertial>
+    <collision name='chassis_collision'>
+      <origin xyz='0 0 0.105' rpy='0 -0 0'/>
+      <geometry>
+        <box size='0.5 0.24 0.235'/>
+      </geometry>
+    </collision>
+    <collision name='left_mount_collision'>
+      <origin xyz='0 0.17 0.085' rpy='0 -0 0'/>
+      <geometry>
+        <box size='0.08 0.1 0.115'/>
+      </geometry>
+    </collision>
+    <collision name='right_mount_collision'>
+      <origin xyz='0 -0.17 0.085' rpy='0 -0 0'/>
+      <geometry>
+        <box size='0.08 0.1 0.115'/>
+      </geometry>
+    </collision>
+    <visual name='chassis_main_visual'>
+      <origin xyz='0 0 0.0725' rpy='0 -0 0'/>
+      <geometry>
+        <box size='0.46 0.24 0.12'/>
+      </geometry>
+    </visual>
+    <visual name='chassis_front_face_bottom'>
+      <origin xyz='0.24 0 0.0175' rpy='0 -0 0'/>
+      <geometry>
+        <box size='0.02001 0.24 0.01'/>
+      </geometry>
+    </visual>
+    <visual name='chassis_front_face_top'>
+      <origin xyz='0.24 0 0.1275' rpy='0 -0 0'/>
+      <geometry>
+        <box size='0.02001 0.24 0.01'/>
+      </geometry>
+    </visual>
+    <visual name='chassis_front_face_top_marker'>
+      <origin xyz='0.245 0 0.1325' rpy='0 -0 0'/>
+      <geometry>
+        <box size='0.01 0.12 0.0001'/>
+      </geometry>
+    </visual>
+    <visual name='chassis_front_face_left'>
+      <origin xyz='0.24 0.115 0.0725' rpy='0 -0 0'/>
+      <geometry>
+        <box size='0.02001 0.01 0.12'/>
+      </geometry>
+    </visual>
+    <visual name='chassis_front_face_right'>
+      <origin xyz='0.24 -0.115 0.0725' rpy='0 -0 0'/>
+      <geometry>
+        <box size='0.02001 0.01 0.12'/>
+      </geometry>
+    </visual>
+    <visual name='chassis_rear_face_bottom'>
+      <origin xyz='-0.24 0 0.0175' rpy='0 -0 0'/>
+      <geometry>
+        <box size='0.02001 0.24 0.01'/>
+      </geometry>
+    </visual>
+    <visual name='chassis_rear_face_top'>
+      <origin xyz='-0.24 0 0.1275' rpy='0 -0 0'/>
+      <geometry>
+        <box size='0.02001 0.24 0.01'/>
+      </geometry>
+    </visual>
+    <visual name='chassis_rear_face_top_marker'>
+      <origin xyz='-0.245 0 0.1325' rpy='0 -0 0'/>
+      <geometry>
+        <box size='0.01 0.12 0.0001'/>
+      </geometry>
+    </visual>
+    <visual name='chassis_rear_face_left'>
+      <origin xyz='-0.24 0.115 0.0725' rpy='0 -0 0'/>
+      <geometry>
+        <box size='0.02001 0.01 0.12'/>
+      </geometry>
+    </visual>
+    <visual name='chassis_rear_face_right'>
+      <origin xyz='-0.24 -0.115 0.0725' rpy='0 -0 0'/>
+      <geometry>
+        <box size='0.02001 0.01 0.12'/>
+      </geometry>
+    </visual>
+    <visual name='lidar_base_visual'>
+      <origin xyz='0 0 0.135' rpy='0 -0 0'/>
+      <geometry>
+        <box size='0.3001 0.21 0.005'/>
+      </geometry>
+    </visual>
+    <visual name='cable_cover_left_visual'>
+      <origin xyz='0 0.095 0.1475' rpy='0 -0 0'/>
+      <geometry>
+        <box size='0.07 0.02 0.02001'/>
+      </geometry>
+    </visual>
+    <visual name='cable_cover_right_visual'>
+      <origin xyz='0 -0.095 0.1475' rpy='0 -0 0'/>
+      <geometry>
+        <box size='0.07 0.02 0.02001'/>
+      </geometry>
+    </visual>
+    <visual name='cable_cover_top_visual'>
+      <origin xyz='0 0 0.16' rpy='0 -0 0'/>
+      <geometry>
+        <box size='0.07 0.21 0.005'/>
+      </geometry>
+    </visual>
+    <visual name='left_mount_visual'>
+      <origin xyz='0 0.17 0.0725' rpy='0 -0 0'/>
+      <geometry>
+        <box size='0.08 0.1 0.09'/>
+      </geometry>
+    </visual>
+    <visual name='left_mount_top_marker_visual'>
+      <origin xyz='0 0.215 0.1175' rpy='0 -0 0'/>
+      <geometry>
+        <box size='0.08 0.01 0.0001'/>
+      </geometry>
+    </visual>
+    <visual name='right_mount_visual'>
+      <origin xyz='0 -0.17 0.0725' rpy='0 -0 0'/>
+      <geometry>
+        <box size='0.08 0.1 0.09'/>
+      </geometry>
+    </visual>
+    <visual name='right_mount_top_marker_visual'>
+      <origin xyz='0 -0.215 0.1175' rpy='0 -0 0'/>
+      <geometry>
+        <box size='0.08 0.01 0.0001'/>
+      </geometry>
+    </visual>
+    <visual name='emergency_stop_bottom_visual'>
+      <origin xyz='0 -0.155 0.125' rpy='0 -0 0'/>
+      <geometry>
+        <cylinder radius='0.015' length='0.015'/>
+      </geometry>
+    </visual>
+    <visual name='emergency_stop_top_visual'>
+      <origin xyz='0 -0.155 0.135' rpy='0 -0 0'/>
+      <geometry>
+        <cylinder radius='0.02' length='0.005'/>
+      </geometry>
+    </visual>
+    <visual name='power_switch_bottom_visual'>
+      <origin xyz='0 0.155 0.1225' rpy='0 -0 0'/>
+      <geometry>
+        <cylinder radius='0.015' length='0.005'/>
+      </geometry>
+    </visual>
+    <visual name='power_switch_middle_visual'>
+      <origin xyz='0 0.155 0.1275' rpy='0 -0 0'/>
+      <geometry>
+        <cylinder radius='0.015' length='0.005'/>
+      </geometry>
+    </visual>
+    <visual name='power_switch_top_visual'>
+      <origin xyz='0 0.155 0.1375' rpy='0 -0 0.35'/>
+      <geometry>
+        <box size='0.025 0.005 0.01'/>
+      </geometry>
+    </visual>
+    <visual name='laser_front_bottom_visual'>
+      <origin xyz='0.12 0 0.16' rpy='0 -0 0'/>
+      <geometry>
+        <box size='0.06 0.065 0.045'/>
+      </geometry>
+    </visual>
+    <visual name='laser_front_top_visual'>
+      <origin xyz='0.12 0 0.2025' rpy='0 -0 0'/>
+      <geometry>
+        <cylinder radius='0.02' length='0.04'/>
+      </geometry>
+    </visual>
+    <visual name='laser_front_cable_green'>
+      <origin xyz='0.045 0.01 0.1525' rpy='0 1.5708 0'/>
+      <geometry>
+        <cylinder radius='0.005' length='0.09'/>
+      </geometry>
+    </visual>
+    <visual name='laser_front_cable_black'>
+      <origin xyz='0.045 -0.01 0.1525' rpy='0 1.5708 0'/>
+      <geometry>
+        <cylinder radius='0.005' length='0.09'/>
+      </geometry>
+    </visual>
+    <visual name='laser_rear_bottom_visual'>
+      <origin xyz='-0.12 0 0.1625' rpy='0 -0 0'/>
+      <geometry>
+        <box size='0.06 0.065 0.045'/>
+      </geometry>
+    </visual>
+    <visual name='laser_rear_top_visual'>
+      <origin xyz='-0.12 0 0.2025' rpy='0 -0 0'/>
+      <geometry>
+        <cylinder radius='0.02' length='0.04'/>
+      </geometry>
+    </visual>
+    <visual name='laser_rear_cable_green'>
+      <origin xyz='-0.045 -0.01 0.1525' rpy='0 1.5708 0'/>
+      <geometry>
+        <cylinder radius='0.005' length='0.09'/>
+      </geometry>
+    </visual>
+    <visual name='laser_rear_cable_black'>
+      <origin xyz='-0.045 0.01 0.1525' rpy='0 1.5708 0'/>
+      <geometry>
+        <cylinder radius='0.005' length='0.09'/>
+      </geometry>
+    </visual>
+    <visual name='rgbd_front_visual'>
+      <origin xyz='0.235 0 0.1025' rpy='0 -0 0'/>
+      <geometry>
+        <box size='0.03 0.162 0.03'/>
+      </geometry>
+    </visual>
+    <visual name='rgbd_rear_visual'>
+      <origin xyz='-0.235 0 0.1025' rpy='0 -0 0'/>
+      <geometry>
+        <box size='0.03 0.162 0.03'/>
+      </geometry>
+    </visual>
+    <visual name='camera_front_visual'>
+      <origin xyz='0.2349 0 0.0725' rpy='0 1.5708 0'/>
+      <geometry>
+        <cylinder radius='0.011' length='0.03'/>
+      </geometry>
+    </visual>
+    <visual name='camera_rear_visual'>
+      <origin xyz='-0.2349 0 0.0725' rpy='0 -1.5708 0'/>
+      <geometry>
+        <cylinder radius='0.011' length='0.03'/>
+      </geometry>
+    </visual>
+    <visual name='camera_left_visual'>
+      <origin xyz='0 0.22 0.0725' rpy='-1.5708 0 0'/>
+      <geometry>
+        <cylinder radius='0.011' length='0.005'/>
+      </geometry>
+    </visual>
+    <visual name='camera_right_visual'>
+      <origin xyz='0 -0.22 0.0725' rpy='1.5708 -0 0'/>
+      <geometry>
+        <cylinder radius='0.011' length='0.005'/>
+      </geometry>
+    </visual>
+    <visual name='light_front_visual'>
+      <origin xyz='0.24 0 0.0425' rpy='0 1.5708 0'/>
+      <geometry>
+        <cylinder radius='0.004' length='0.02001'/>
+      </geometry>
+    </visual>
+    <visual name='light_rear_visual'>
+      <origin xyz='-0.24 0 0.0425' rpy='0 1.5708 0'/>
+      <geometry>
+        <cylinder radius='0.004' length='0.02001'/>
+      </geometry>
+    </visual>
+    <visual name='light_left_visual'>
+      <origin xyz='0 0.22 0.0425' rpy='1.5708 -0 0'/>
+      <geometry>
+        <cylinder radius='0.004' length='0.0005'/>
+      </geometry>
+    </visual>
+    <visual name='light_right_visual'>
+      <origin xyz='0 -0.22 0.0425' rpy='1.5708 -0 0'/>
+      <geometry>
+        <cylinder radius='0.004' length='0.0005'/>
+      </geometry>
+    </visual>
+  </link>
+  <sensor name='imu_sensor' update_rate='50'>
+    <parent link='base_link'/>
+    <origin xyz='0 0 0' rpy='0 -0 0'/>
+  </sensor>
+  <sensor name='magnetometer' update_rate='50'>
+    <parent link='base_link'/>
+    <origin xyz='0 0 0' rpy='0 -0 0'/>
+  </sensor>
+  <sensor name='air_pressure' update_rate='20'>
+    <parent link='base_link'/>
+    <origin xyz='0 0 0' rpy='0 -0 0'/>
+  </sensor>
+  <sensor name='laser_front' update_rate='15'>
+    <parent link='base_link'/>
+    <origin xyz='0.12 0 0.1925' rpy='0 -0 0'/>
+  </sensor>
+  <sensor name='laser_rear' update_rate='15'>
+    <parent link='base_link'/>
+    <origin xyz='-0.12 0 0.1925' rpy='0 -0 3.14159'/>
+  </sensor>
+  <sensor name='rgbd_front' update_rate='30'>
+    <parent link='base_link'/>
+    <origin xyz='0.250001 0 0.1025' rpy='0 -0 0'/>
+    <camera>
+      <image width='640' height='360' format='R8G8B8' hfov='1.48358' near='0.01' far='300' />
+    </camera>
+  </sensor>
+  <sensor name='rgbd_rear' update_rate='30'>
+    <parent link='base_link'/>
+    <origin xyz='-0.250001 0 0.1025' rpy='0 -0 3.14159'/>
+    <camera>
+      <image width='640' height='360' format='R8G8B8' hfov='1.48358' near='0.01' far='300' />
+    </camera>
+  </sensor>
+  <sensor name='camera_front' update_rate='30'>
+    <parent link='base_link'/>
+    <origin xyz='0.25 0 0.0725' rpy='0 -0 0'/>
+    <camera>
+      <image width='640' height='360' format='R8G8B8' hfov='3' near='0.01' far='300' />
+    </camera>
+  </sensor>
+  <sensor name='camera_rear' update_rate='30'>
+    <parent link='base_link'/>
+    <origin xyz='-0.25 0 0.0725' rpy='0 -0 3.14159'/>
+    <camera>
+      <image width='640' height='360' format='R8G8B8' hfov='3' near='0.01' far='300' />
+    </camera>
+  </sensor>
+  <sensor name='camera_left' update_rate='30'>
+    <parent link='base_link'/>
+    <origin xyz='0 0.225 0' rpy='0.0725 -0 0'/>
+    <camera>
+      <image width='640' height='360' format='R8G8B8' hfov='3' near='0.01' far='300' />
+    </camera>
+  </sensor>
+  <sensor name='camera_right' update_rate='30'>
+    <parent link='base_link'/>
+    <origin xyz='0 -0.225 0.0725' rpy='0 0 -1.5708'/>
+    <camera>
+      <image width='640' height='360' format='R8G8B8' hfov='3' near='0.01' far='300' />
+    </camera>
+  </sensor>
+  <link name='front_left_wheel'>
+    <inertial>
+      <origin xyz='0 0 0' rpy='0 -0 0'/>
+      <mass value='5'/>
+      <inertia ixx='0.0153' ixy='0' ixz='0' iyy='0.025' iyz='0' izz='0.0153'/>
+    </inertial>
+    <collision name='collision'>
+      <origin xyz='0 0 0' rpy='-1.5708 0 0'/>
+      <geometry>
+        <cylinder radius='0.1275' length='0.082'/>
+      </geometry>
+    </collision>
+    <visual name='tire_visual'>
+      <origin xyz='0 0 0' rpy='1.5708 -0 0'/>
+      <geometry>
+        <mesh filename='meshes/wheel_left.dae' scale='1.30102 1.30102 2.05'/>
+      </geometry>
+    </visual>
+    <visual name='hub_visual'>
+      <origin xyz='0 -0.055 0' rpy='1.5708 -0 0'/>
+      <geometry>
+        <cylinder radius='0.04' length='0.025'/>
+      </geometry>
+    </visual>
+    <visual name='axis_visual'>
+      <origin xyz='0 -0.08 0' rpy='1.5708 -0 0'/>
+      <geometry>
+        <cylinder radius='0.008' length='0.05'/>
+      </geometry>
+    </visual>
+    <visual name='mount_visual'>
+      <origin xyz='0 -0.11 0' rpy='0 -0 0'/>
+      <geometry>
+        <box size='0.05 0.07 0.025'/>
+      </geometry>
+    </visual>
+  </link>
+  <link name='front_right_wheel'>
+    <inertial>
+      <origin xyz='0 0 0' rpy='0 -0 0'/>
+      <mass value='5'/>
+      <inertia ixx='0.0153' ixy='0' ixz='0' iyy='0.025' iyz='0' izz='0.0153'/>
+    </inertial>
+    <collision name='collision'>
+      <origin xyz='0 0 0' rpy='1.5708 -0 0'/>
+      <geometry>
+        <cylinder radius='0.1275' length='0.082'/>
+      </geometry>
+    </collision>
+    <visual name='tire_visual'>
+      <origin xyz='0 0 0' rpy='1.5708 -0 0'/>
+      <geometry>
+        <mesh filename='meshes/wheel_right.dae' scale='1.30102 1.30102 2.05'/>
+      </geometry>
+    </visual>
+    <visual name='hub_visual'>
+      <origin xyz='0 0.055 0' rpy='1.5708 -0 0'/>
+      <geometry>
+        <cylinder radius='0.04' length='0.025'/>
+      </geometry>
+    </visual>
+    <visual name='axis_visual'>
+      <origin xyz='0 0.08 0' rpy='1.5708 -0 0'/>
+      <geometry>
+        <cylinder radius='0.008' length='0.05'/>
+      </geometry>
+    </visual>
+    <visual name='mount_visual'>
+      <origin xyz='0 0.11 0' rpy='0 -0 0'/>
+      <geometry>
+        <box size='0.05 0.07 0.025'/>
+      </geometry>
+    </visual>
+  </link>
+  <link name='rear_left_wheel'>
+    <inertial>
+      <origin xyz='0 0 0' rpy='0 -0 0'/>
+      <mass value='5'/>
+      <inertia ixx='0.0153' ixy='0' ixz='0' iyy='0.025' iyz='0' izz='0.0153'/>
+    </inertial>
+    <collision name='collision'>
+      <origin xyz='0 0 0' rpy='-1.5708 0 0'/>
+      <geometry>
+        <cylinder radius='0.1275' length='0.082'/>
+      </geometry>
+    </collision>
+    <visual name='tire_visual'>
+      <origin xyz='0 0 0' rpy='1.5708 -0 0'/>
+      <geometry>
+        <mesh filename='meshes/wheel_left.dae' scale='1.30102 1.30102 2.05'/>
+      </geometry>
+    </visual>
+    <visual name='hub_visual'>
+      <origin xyz='0 -0.055 0' rpy='1.5708 -0 0'/>
+      <geometry>
+        <cylinder radius='0.04' length='0.025'/>
+      </geometry>
+    </visual>
+    <visual name='axis_visual'>
+      <origin xyz='0 -0.08 0' rpy='1.5708 -0 0'/>
+      <geometry>
+        <cylinder radius='0.008' length='0.05'/>
+      </geometry>
+    </visual>
+    <visual name='mount_visual'>
+      <origin xyz='0 -0.11 0' rpy='0 -0 0'/>
+      <geometry>
+        <box size='0.05 0.07 0.025'/>
+      </geometry>
+    </visual>
+  </link>
+  <link name='rear_right_wheel'>
+    <inertial>
+      <origin xyz='0 0 0' rpy='0 -0 0'/>
+      <mass value='5'/>
+      <inertia ixx='0.0153' ixy='0' ixz='0' iyy='0.025' iyz='0' izz='0.0153'/>
+    </inertial>
+    <collision name='collision'>
+      <origin xyz='0 0 0' rpy='1.5708 -0 0'/>
+      <geometry>
+        <cylinder radius='0.1275' length='0.082'/>
+      </geometry>
+    </collision>
+    <visual name='tire_visual'>
+      <origin xyz='0 0 0' rpy='1.5708 -0 0'/>
+      <geometry>
+        <mesh filename='meshes/wheel_right.dae' scale='1.30102 1.30102 2.05'/>
+      </geometry>
+    </visual>
+    <visual name='hub_visual'>
+      <origin xyz='0 0.055 0' rpy='1.5708 -0 0'/>
+      <geometry>
+        <cylinder radius='0.04' length='0.025'/>
+      </geometry>
+    </visual>
+    <visual name='axis_visual'>
+      <origin xyz='0 0.08 0' rpy='1.5708 -0 0'/>
+      <geometry>
+        <cylinder radius='0.008' length='0.05'/>
+      </geometry>
+    </visual>
+    <visual name='mount_visual'>
+      <origin xyz='0 0.11 0' rpy='0 -0 0'/>
+      <geometry>
+        <box size='0.05 0.07 0.025'/>
+      </geometry>
+    </visual>
+  </link>
+  <joint name='front_left_wheel_joint' type='revolute'>
+    <origin xyz='0.19 0.19 0' rpy='0 -0 0'/>
+    <parent link='base_link'/>
+    <child link='front_left_wheel'/>
+    <axis xyz='0 1 0'/>
+    <limit lower='-1.79769e+308' upper='1.79769e+308' effort='10' velocity='19.61'/>
+  </joint>
+  <joint name='rear_left_wheel_joint' type='revolute'>
+    <origin xyz='-0.19 0.19 0' rpy='0 -0 0'/>
+    <parent link='base_link'/>
+    <child link='rear_left_wheel'/>
+    <axis xyz='0 1 0'/>
+    <limit lower='-1.79769e+308' upper='1.79769e+308' effort='10' velocity='19.61'/>
+  </joint>
+  <joint name='rear_right_wheel_joint' type='revolute'>
+    <origin xyz='-0.19 -0.19 0' rpy='0 -0 0'/>
+    <parent link='base_link'/>
+    <child link='rear_right_wheel'/>
+    <axis xyz='0 1 0'/>
+    <limit lower='-1.79769e+308' upper='1.79769e+308' effort='10' velocity='19.61'/>
+  </joint>
+  <joint name='front_right_wheel_joint' type='revolute'>
+    <origin xyz='0.19 -0.19 0' rpy='0 -0 0'/>
+    <parent link='base_link'/>
+    <child link='front_right_wheel'/>
+    <axis xyz='0 1 0'/>
+    <limit lower='-1.79769e+308' upper='1.79769e+308' effort='10' velocity='19.61'/>
+  </joint>
+</robot>
diff --git a/submitted_models/robotika_freyja_sensor_config_1/urdf/model.xacro b/submitted_models/robotika_freyja_sensor_config_1/urdf/model.xacro
new file mode 100644
index 00000000..2a6bbf85
--- /dev/null
+++ b/submitted_models/robotika_freyja_sensor_config_1/urdf/model.xacro
@@ -0,0 +1,1469 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!-- =================================================================================== -->
+<!-- |    This document was autogenerated by xacro from /model.sdf                     | -->
+<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
+<!-- =================================================================================== -->
+<sdf version="1.6">
+  <model name="ROBOTIKA_FREYJA">
+    <pose>0 0 0.1275 0 0 0</pose>
+    <enable_wind>1</enable_wind>
+    <link name="base_link">
+      <!-- Mass modelled as solid 0.3 x 0.24 x 0.08 cuboid at central
+                 bottom part of the robot, where battery and onboard computer
+                 are located, surrounded by ventilation space and lightweight
+                 chassis.
+                 Note: Most of the mass of the robot is *not* in the main body,
+                       but in wheels, which contain hub motors.
+                 https://en.wikipedia.org/wiki/List_of_moments_of_inertia
+            -->
+      <inertial>
+        <pose>0 0 0.0725 0 0 0</pose>
+        <mass>9.6</mass>
+        <inertia>
+          <ixx>0.0512</ixx>
+          <iyy>0.07712</iyy>
+          <izz>0.11808</izz>
+        </inertia>
+      </inertial>
+      <!-- This bounding box covers also wheel mounts at the bottom and
+           lidars on the top. -->
+      <collision name="chassis_collision">
+        <pose>0 0 0.105 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.50 0.24 0.235</size>
+          </box>
+        </geometry>
+      </collision>
+      <visual name="chassis_main_visual">
+        <pose>0 0 0.0725 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.46 0.24 0.12</size>
+          </box>
+        </geometry>
+        <material>
+          <ambient>222 184 135 1</ambient>
+          <diffuse>222 184 135 1</diffuse>
+        </material>
+      </visual>
+      <visual name="chassis_front_face_bottom">
+        <pose>0.24 0 0.0175 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.02001 0.24 0.01</size>
+          </box>
+        </geometry>
+        <material>
+          <ambient>222 184 135 1</ambient>
+          <diffuse>222 184 135 1</diffuse>
+        </material>
+      </visual>
+      <visual name="chassis_front_face_top">
+        <pose>0.24 0 0.1275 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.02001 0.24 0.01</size>
+          </box>
+        </geometry>
+        <material>
+          <ambient>222 184 135 1</ambient>
+          <diffuse>222 184 135 1</diffuse>
+        </material>
+      </visual>
+      <visual name="chassis_front_face_top_marker">
+        <pose>0.245 0 0.1325 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.01 0.12 0.0001</size>
+          </box>
+        </geometry>
+        <material>
+          <ambient>0 180 0 1</ambient>
+          <diffuse>0 180 0 1</diffuse>
+        </material>
+      </visual>
+      <visual name="chassis_front_face_left">
+        <pose>0.24 0.115 0.0725 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.02001 0.01 0.12</size>
+          </box>
+        </geometry>
+        <material>
+          <ambient>222 184 135 1</ambient>
+          <diffuse>222 184 135 1</diffuse>
+        </material>
+      </visual>
+      <visual name="chassis_front_face_right">
+        <pose>0.24 -0.115 0.0725 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.02001 0.01 0.12</size>
+          </box>
+        </geometry>
+        <material>
+          <ambient>222 184 135 1</ambient>
+          <diffuse>222 184 135 1</diffuse>
+        </material>
+      </visual>
+      <visual name="chassis_rear_face_bottom">
+        <pose>-0.24 0 0.0175 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.02001 0.24 0.01</size>
+          </box>
+        </geometry>
+        <material>
+          <ambient>222 184 135 1</ambient>
+          <diffuse>222 184 135 1</diffuse>
+        </material>
+      </visual>
+      <visual name="chassis_rear_face_top">
+        <pose>-0.24 0 0.1275 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.02001 0.24 0.01</size>
+          </box>
+        </geometry>
+        <material>
+          <ambient>222 184 135 1</ambient>
+          <diffuse>222 184 135 1</diffuse>
+        </material>
+      </visual>
+      <visual name="chassis_rear_face_top_marker">
+        <pose>-0.245 0 0.1325 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.01 0.12 0.0001</size>
+          </box>
+        </geometry>
+        <material>
+          <ambient>180 0 0 1</ambient>
+          <diffuse>180 0 0 1</diffuse>
+        </material>
+      </visual>
+      <visual name="chassis_rear_face_left">
+        <pose>-0.24 0.115 0.0725 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.02001 0.01 0.12</size>
+          </box>
+        </geometry>
+        <material>
+          <ambient>222 184 135 1</ambient>
+          <diffuse>222 184 135 1</diffuse>
+        </material>
+      </visual>
+      <visual name="chassis_rear_face_right">
+        <pose>-0.24 -0.115 0.0725 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.02001 0.01 0.12</size>
+          </box>
+        </geometry>
+        <material>
+          <ambient>222 184 135 1</ambient>
+          <diffuse>222 184 135 1</diffuse>
+        </material>
+      </visual>
+      <visual name="lidar_base_visual">
+        <pose>0 0 0.135 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.3001 0.21 0.005</size>
+          </box>
+        </geometry>
+        <material>
+          <ambient>222 184 135 1</ambient>
+          <diffuse>222 184 135 1</diffuse>
+        </material>
+      </visual>
+      <visual name="cable_cover_left_visual">
+        <pose>0 0.095 0.1475 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.07 0.02 0.02001</size>
+          </box>
+        </geometry>
+        <material>
+          <ambient>222 184 135 1</ambient>
+          <diffuse>222 184 135 1</diffuse>
+        </material>
+      </visual>
+      <visual name="cable_cover_right_visual">
+        <pose>0 -0.095 0.1475 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.07 0.02 0.02001</size>
+          </box>
+        </geometry>
+        <material>
+          <ambient>222 184 135 1</ambient>
+          <diffuse>222 184 135 1</diffuse>
+        </material>
+      </visual>
+      <visual name="cable_cover_top_visual">
+        <pose>0 0.0 0.16 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.07 0.21 0.005</size>
+          </box>
+        </geometry>
+        <material>
+          <ambient>222 184 135 1</ambient>
+          <diffuse>222 184 135 1</diffuse>
+        </material>
+      </visual>
+      <collision name="left_mount_collision">
+        <pose>0.0 0.17 0.085 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.08 0.1 0.115</size>
+          </box>
+        </geometry>
+      </collision>
+      <visual name="left_mount_visual">
+        <pose>0.0 0.17 0.0725 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.08 0.1 0.09</size>
+          </box>
+        </geometry>
+        <material>
+          <ambient>222 184 135 1</ambient>
+          <diffuse>222 184 135 1</diffuse>
+        </material>
+      </visual>
+      <visual name="left_mount_top_marker_visual">
+        <pose>0.0 0.215 0.1175 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.08 0.01 0.0001</size>
+          </box>
+        </geometry>
+        <material>
+          <ambient>0 0 180 1</ambient>
+          <diffuse>0 0 180 1</diffuse>
+        </material>
+      </visual>
+      <collision name="right_mount_collision">
+        <pose>0.0 -0.17 0.085 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.08 0.1 0.115</size>
+          </box>
+        </geometry>
+      </collision>
+      <visual name="right_mount_visual">
+        <pose>0.0 -0.17 0.0725 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.08 0.1 0.09</size>
+          </box>
+        </geometry>
+        <material>
+          <ambient>222 184 135 1</ambient>
+          <diffuse>222 184 135 1</diffuse>
+        </material>
+      </visual>
+      <visual name="right_mount_top_marker_visual">
+        <pose>0.0 -0.215 0.1175 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.08 0.01 0.0001</size>
+          </box>
+        </geometry>
+        <material>
+          <ambient>220 220 0 1</ambient>
+          <diffuse>220 220 0 1</diffuse>
+        </material>
+      </visual>
+      <visual name="emergency_stop_bottom_visual">
+        <pose>0.0 -0.155 0.125 0 0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.015</length>
+            <radius>0.015</radius>
+          </cylinder>
+        </geometry>
+        <material>
+          <ambient>180 180 180</ambient>
+          <diffuse>180 180 180</diffuse>
+        </material>
+      </visual>
+      <visual name="emergency_stop_top_visual">
+        <pose>0.0 -0.155 0.135 0 0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.005</length>
+            <radius>0.02</radius>
+          </cylinder>
+        </geometry>
+        <material>
+          <ambient>255 0 0</ambient>
+          <diffuse>255 0 0</diffuse>
+        </material>
+      </visual>
+      <visual name="power_switch_bottom_visual">
+        <pose>0.0 0.155 0.1225 0 0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.005</length>
+            <radius>0.015</radius>
+          </cylinder>
+        </geometry>
+        <material>
+          <ambient>0 0 0</ambient>
+          <diffuse>0 0 0</diffuse>
+        </material>
+      </visual>
+      <visual name="power_switch_middle_visual">
+        <pose>0.0 0.155 0.1275 0 0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.005</length>
+            <radius>0.015</radius>
+          </cylinder>
+        </geometry>
+        <material>
+          <ambient>180 180 180</ambient>
+          <diffuse>180 180 180</diffuse>
+        </material>
+      </visual>
+      <visual name="power_switch_top_visual">
+        <pose>0.0 0.155 0.1375 0 0 0.35</pose>
+        <geometry>
+          <box>
+            <size>0.025 0.005 0.01</size>
+          </box>
+        </geometry>
+        <material>
+          <ambient>0 0 0</ambient>
+          <diffuse>0 0 0</diffuse>
+        </material>
+      </visual>
+      <!-- CMPS14 provides IMU and magnetic heading information.
+                https://www.robot-electronics.co.uk/cmps14-tilt-compensated-compass.html
+            -->
+      <sensor name="imu_sensor" type="imu">
+        <always_on>1</always_on>
+        <update_rate>50</update_rate>
+        <imu>
+          <angular_velocity>
+            <x>
+              <noise type="gaussian">
+                <mean>0</mean>
+                <stddev>2e-4</stddev>
+                <bias_mean>0.0000075</bias_mean>
+                <bias_stddev>0.0000008</bias_stddev>
+                <dynamic_bias_stddev>0.0000004</dynamic_bias_stddev>
+                <dynamic_bias_correlation_time>1000.0</dynamic_bias_correlation_time>
+              </noise>
+            </x>
+            <y>
+              <noise type="gaussian">
+                <mean>0</mean>
+                <stddev>2e-4</stddev>
+                <bias_mean>0.0000075</bias_mean>
+                <bias_stddev>0.0000008</bias_stddev>
+                <dynamic_bias_stddev>0.0000004</dynamic_bias_stddev>
+                <dynamic_bias_correlation_time>1000.0</dynamic_bias_correlation_time>
+              </noise>
+            </y>
+            <z>
+              <noise type="gaussian">
+                <mean>0</mean>
+                <stddev>2e-4</stddev>
+                <bias_mean>0.0000075</bias_mean>
+                <bias_stddev>0.0000008</bias_stddev>
+                <dynamic_bias_stddev>0.0000004</dynamic_bias_stddev>
+                <dynamic_bias_correlation_time>1000.0</dynamic_bias_correlation_time>
+              </noise>
+            </z>
+          </angular_velocity>
+          <linear_acceleration>
+            <x>
+              <noise type="gaussian">
+                <mean>0</mean>
+                <stddev>1e-2</stddev>
+                <bias_mean>0.1</bias_mean>
+                <bias_stddev>0.001</bias_stddev>
+                <dynamic_bias_stddev>0.002</dynamic_bias_stddev>
+                <dynamic_bias_correlation_time>300.0</dynamic_bias_correlation_time>
+              </noise>
+            </x>
+            <y>
+              <noise type="gaussian">
+                <mean>0</mean>
+                <stddev>1e-2</stddev>
+                <bias_mean>0.1</bias_mean>
+                <bias_stddev>0.001</bias_stddev>
+                <dynamic_bias_stddev>0.002</dynamic_bias_stddev>
+                <dynamic_bias_correlation_time>300.0</dynamic_bias_correlation_time>
+              </noise>
+            </y>
+            <z>
+              <noise type="gaussian">
+                <mean>0</mean>
+                <stddev>1e-2</stddev>
+                <bias_mean>0.1</bias_mean>
+                <bias_stddev>0.001</bias_stddev>
+                <dynamic_bias_stddev>0.002</dynamic_bias_stddev>
+                <dynamic_bias_correlation_time>300.0</dynamic_bias_correlation_time>
+              </noise>
+            </z>
+          </linear_acceleration>
+        </imu>
+      </sensor>
+      <sensor name="magnetometer" type="magnetometer">
+        <always_on>1</always_on>
+        <update_rate>50</update_rate>
+        <magnetometer>
+          <x>
+            <noise type="gaussian">
+              <mean>0.000000080</mean>
+              <bias_mean>0.000000400</bias_mean>
+            </noise>
+          </x>
+          <y>
+            <noise type="gaussian">
+              <mean>0.000000080</mean>
+              <bias_mean>0.000000400</bias_mean>
+            </noise>
+          </y>
+          <z>
+            <noise type="gaussian">
+              <mean>0.000000080</mean>
+              <bias_mean>0.000000400</bias_mean>
+            </noise>
+          </z>
+        </magnetometer>
+      </sensor>
+      <!-- Infineon DPS310
+                https://www.infineon.com/cms/en/product/sensor/pressure-sensors/absolute-pressure-sensors-map-bap/dps310/
+            -->
+      <sensor name="air_pressure" type="air_pressure">
+        <always_on>1</always_on>
+        <update_rate>20</update_rate>
+        <air_pressure>
+          <reference_altitude>0</reference_altitude>
+          <noise type="gaussian">
+            <mean>0.00000008</mean>
+          </noise>
+        </air_pressure>
+      </sensor>
+      <!-- 2x SICK TIM881P lidar, a prototype without a good public URL. It is derived from
+                the TIM58x family:
+                https://www.sick.com/ch/en/detection-and-ranging-solutions/2d-lidar-sensors/tim5xx/tim581-2050101/p/p619344
+                -->
+      <visual name="laser_front_bottom_visual">
+        <pose>0.12 0 0.16 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.06 0.065 0.045</size>
+          </box>
+        </geometry>
+        <material>
+          <ambient>200 180 180 1</ambient>
+          <diffuse>200 180 180 1</diffuse>
+        </material>
+      </visual>
+      <visual name="laser_front_top_visual">
+        <pose>0.12 0.0 0.2025 0 0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.04</length>
+            <radius>0.02</radius>
+          </cylinder>
+        </geometry>
+        <material>
+          <ambient>0 0 0 1</ambient>
+          <diffuse>0 0 0 1</diffuse>
+        </material>
+      </visual>
+      <visual name="laser_front_cable_green">
+        <pose>0.045 0.01 0.1525 0 1.5707963267948966 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.09</length>
+            <radius>0.005</radius>
+          </cylinder>
+        </geometry>
+        <material>
+          <ambient>120 255 120 1</ambient>
+          <diffuse>120 255 120 1</diffuse>
+        </material>
+      </visual>
+      <visual name="laser_front_cable_black">
+        <pose>0.045 -0.01 0.1525 0 1.5707963267948966 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.09</length>
+            <radius>0.005</radius>
+          </cylinder>
+        </geometry>
+        <material>
+          <ambient>10 10 10 1</ambient>
+          <diffuse>10 10 10 1</diffuse>
+        </material>
+      </visual>
+      <sensor name="laser_front" type="gpu_lidar">
+        <pose>0.12 0 0.1925 0 0 0</pose>
+        <update_rate>15</update_rate>
+        <lidar>
+          <scan>
+            <horizontal>
+              <samples>811</samples>
+              <resolution>0.3333333333</resolution>
+              <min_angle>-2.3562</min_angle>
+              <max_angle>2.3562</max_angle>
+            </horizontal>
+          </scan>
+          <range>
+            <min>0.04</min>
+            <max>25</max>
+            <resolution>0.01</resolution>
+          </range>
+          <noise>
+            <type>gaussian</type>
+            <mean>0</mean>
+            <stddev>0.01</stddev>
+          </noise>
+        </lidar>
+      </sensor>
+      <visual name="laser_rear_bottom_visual">
+        <pose>-0.12 0 0.1625 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.06 0.065 0.045</size>
+          </box>
+        </geometry>
+        <material>
+          <ambient>200 180 180 1</ambient>
+          <diffuse>200 180 180 1</diffuse>
+        </material>
+      </visual>
+      <visual name="laser_rear_top_visual">
+        <pose>-0.12 0.0 0.2025 0 0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.04</length>
+            <radius>0.02</radius>
+          </cylinder>
+        </geometry>
+        <material>
+          <ambient>0 0 0 1</ambient>
+          <diffuse>0 0 0 1</diffuse>
+        </material>
+      </visual>
+      <visual name="laser_rear_cable_green">
+        <pose>-0.045 -0.01 0.1525 0 1.5707963267948966 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.09</length>
+            <radius>0.005</radius>
+          </cylinder>
+        </geometry>
+        <material>
+          <ambient>120 255 120 1</ambient>
+          <diffuse>120 255 120 1</diffuse>
+        </material>
+      </visual>
+      <visual name="laser_rear_cable_black">
+        <pose>-0.045 0.01 0.1525 0 1.5707963267948966 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.09</length>
+            <radius>0.005</radius>
+          </cylinder>
+        </geometry>
+        <material>
+          <ambient>10 10 10 1</ambient>
+          <diffuse>10 10 10 1</diffuse>
+        </material>
+      </visual>
+      <sensor name="laser_rear" type="gpu_lidar">
+        <pose>-0.12 0 0.1925 0 0 3.141592</pose>
+        <update_rate>15</update_rate>
+        <lidar>
+          <scan>
+            <horizontal>
+              <samples>811</samples>
+              <resolution>0.3333333333</resolution>
+              <min_angle>-2.3562</min_angle>
+              <max_angle>2.3562</max_angle>
+            </horizontal>
+          </scan>
+          <range>
+            <min>0.04</min>
+            <max>25</max>
+            <resolution>0.01</resolution>
+          </range>
+          <noise>
+            <type>gaussian</type>
+            <mean>0</mean>
+            <stddev>0.01</stddev>
+          </noise>
+        </lidar>
+      </sensor>
+      <!-- 3x Mynt Eye D in low-resolution medium-fps mode.
+                https://www.mynteye.com/pages/mynt-eye-d
+                -->
+      <visual name="rgbd_front_visual">
+        <pose>0.235 0 0.1025 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.03 0.162 0.03</size>
+          </box>
+        </geometry>
+        <material>
+          <ambient>0 0 0</ambient>
+          <diffuse>0 0 0</diffuse>
+        </material>
+      </visual>
+      <sensor name="rgbd_front" type="rgbd_camera">
+        <pose>0.250001 0 0.1025 0 0 0</pose>
+        <always_on>1</always_on>
+        <update_rate>30</update_rate>
+        <camera name="rgbd_front_rgbd">
+          <pose frame="">0 0 0 0 -1.5707 1.5707</pose>
+          <horizontal_fov>1.483583268116444</horizontal_fov>
+          <lens>
+            <intrinsics>
+              <!-- fx = fy = width / ( 2 * tan (hfov / 2 ) ) -->
+              <fx>349.2</fx>
+              <fy>349.2</fy>
+              <!-- cx = ( width + 1 ) / 2 -->
+              <cx>320.5</cx>
+              <!-- cy = ( height + 1 ) / 2 -->
+              <cy>180.5</cy>
+              <s>0</s>
+            </intrinsics>
+          </lens>
+          <distortion>
+            <k1>0.0</k1>
+            <k2>0.0</k2>
+            <k3>0.0</k3>
+            <p1>0.0</p1>
+            <p2>0.0</p2>
+            <center>0.5 0.5</center>
+          </distortion>
+          <image>
+            <width>640</width>
+            <height>360</height>
+            <format>R8G8B8</format>
+          </image>
+          <clip>
+            <near>0.01</near>
+            <far>300</far>
+          </clip>
+          <depth_camera>
+            <clip>
+              <near>0.1</near>
+              <far>10</far>
+            </clip>
+          </depth_camera>
+          <noise>
+            <type>gaussian</type>
+            <mean>0</mean>
+            <stddev>0.007</stddev>
+          </noise>
+        </camera>
+      </sensor>
+      <visual name="rgbd_rear_visual">
+        <pose>-0.235 0 0.1025 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.03 0.162 0.03</size>
+          </box>
+        </geometry>
+        <material>
+          <ambient>0 0 0</ambient>
+          <diffuse>0 0 0</diffuse>
+        </material>
+      </visual>
+      <sensor name="rgbd_rear" type="rgbd_camera">
+        <pose>-0.250001 0 0.1025 0 0 3.141592653589793</pose>
+        <always_on>1</always_on>
+        <!-- Mynt Eye D in low-reslution high-fps mode. -->
+        <update_rate>30</update_rate>
+        <camera name="rear_rgbd">
+          <pose frame="">0 0 0 0 -1.5707 1.5707</pose>
+          <horizontal_fov>1.483583268116444</horizontal_fov>
+          <lens>
+            <intrinsics>
+              <!-- fx = fy = width / ( 2 * tan (hfov / 2 ) ) -->
+              <fx>349.2</fx>
+              <fy>349.2</fy>
+              <!-- cx = ( width + 1 ) / 2 -->
+              <cx>320.5</cx>
+              <!-- cy = ( height + 1 ) / 2 -->
+              <cy>180.5</cy>
+              <s>0</s>
+            </intrinsics>
+          </lens>
+          <distortion>
+            <k1>0.0</k1>
+            <k2>0.0</k2>
+            <k3>0.0</k3>
+            <p1>0.0</p1>
+            <p2>0.0</p2>
+            <center>0.5 0.5</center>
+          </distortion>
+          <image>
+            <width>640</width>
+            <height>360</height>
+            <format>R8G8B8</format>
+          </image>
+          <clip>
+            <near>0.01</near>
+            <far>300</far>
+          </clip>
+          <depth_camera>
+            <clip>
+              <near>0.1</near>
+              <far>10</far>
+            </clip>
+          </depth_camera>
+          <noise>
+            <type>gaussian</type>
+            <mean>0</mean>
+            <stddev>0.007</stddev>
+          </noise>
+        </camera>
+      </sensor>
+      <!-- Four KAYETON high-speed fisheye cameras running at medium speed,
+                undistorted into 1/4 of their original image size.
+                https://www.kayetoncctv.com/global-shutter-high-speed-120fps-hd-720p-webcam-uvc-plug-play-driverless-usb-camera-module-for-android-linux-windows-mac/
+              -->
+      <visual name="camera_front_visual">
+        <pose>0.2349 0 0.0725 0 1.5707963267948966 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.03</length>
+            <radius>0.011</radius>
+          </cylinder>
+        </geometry>
+        <material>
+          <ambient>0 0 0 </ambient>
+          <diffuse>0 0 0 </diffuse>
+        </material>
+      </visual>
+      <sensor name="camera_front" type="camera">
+        <pose>0.25 0 0.0725 0 0 0</pose>
+        <always_on>1</always_on>
+        <update_rate>30</update_rate>
+        <camera name="camera_front">
+          <horizontal_fov>3.0</horizontal_fov>
+          <lens>
+            <intrinsics>
+              <!-- fx = fy = width / ( 2 * tan (hfov / 2 ) ) -->
+              <fx>11.3464</fx>
+              <fy>11.3464</fy>
+              <!-- cx = ( width + 1 ) / 2 -->
+              <cx>340.5</cx>
+              <!-- cy = ( height + 1 ) / 2 -->
+              <cy>180.5</cy>
+              <s>0</s>
+            </intrinsics>
+          </lens>
+          <distortion>
+            <k1>0.0</k1>
+            <k2>0.0</k2>
+            <k3>0.0</k3>
+            <p1>0.0</p1>
+            <p2>0.0</p2>
+            <center>0.5 0.5</center>
+          </distortion>
+          <image>
+            <width>640</width>
+            <height>360</height>
+            <format>R8G8B8</format>
+          </image>
+          <clip>
+            <near>0.01</near>
+            <far>300</far>
+          </clip>
+          <noise>
+            <type>gaussian</type>
+            <mean>0</mean>
+            <stddev>0.007</stddev>
+          </noise>
+        </camera>
+      </sensor>
+      <visual name="camera_rear_visual">
+        <pose>-0.2349 0 0.0725 0 -1.5707963267948966 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.03</length>
+            <radius>0.011</radius>
+          </cylinder>
+        </geometry>
+        <material>
+          <ambient>0 0 0 </ambient>
+          <diffuse>0 0 0 </diffuse>
+        </material>
+      </visual>
+      <sensor name="camera_rear" type="camera">
+        <pose>-0.25 0 0.0725 0 0 3.141592653589793</pose>
+        <always_on>1</always_on>
+        <update_rate>30</update_rate>
+        <camera name="camera_rear">
+          <horizontal_fov>3.0</horizontal_fov>
+          <lens>
+            <intrinsics>
+              <!-- fx = fy = width / ( 2 * tan (hfov / 2 ) ) -->
+              <fx>11.3464</fx>
+              <fy>11.3464</fy>
+              <!-- cx = ( width + 1 ) / 2 -->
+              <cx>320.5</cx>
+              <!-- cy = ( height + 1 ) / 2 -->
+              <cy>180.5</cy>
+              <s>0</s>
+            </intrinsics>
+          </lens>
+          <distortion>
+            <k1>0.0</k1>
+            <k2>0.0</k2>
+            <k3>0.0</k3>
+            <p1>0.0</p1>
+            <p2>0.0</p2>
+            <center>0.5 0.5</center>
+          </distortion>
+          <image>
+            <width>640</width>
+            <height>360</height>
+            <format>R8G8B8</format>
+          </image>
+          <clip>
+            <near>0.01</near>
+            <far>300</far>
+          </clip>
+          <noise>
+            <type>gaussian</type>
+            <mean>0</mean>
+            <stddev>0.007</stddev>
+          </noise>
+        </camera>
+      </sensor>
+      <visual name="camera_left_visual">
+        <pose>0.0 0.22 0.0725 -1.5707963267948966 0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.005</length>
+            <radius>0.011</radius>
+          </cylinder>
+        </geometry>
+        <material>
+          <ambient>0 0 0 1</ambient>
+          <diffuse>0 0 0 1</diffuse>
+        </material>
+      </visual>
+      <sensor name="camera_left" type="camera">
+        <pose>0.0 0.225 0 0.0725 0 0 1.5707963267948966</pose>
+        <always_on>1</always_on>
+        <update_rate>30</update_rate>
+        <camera name="camera_left">
+          <horizontal_fov>3.0</horizontal_fov>
+          <lens>
+            <intrinsics>
+              <!-- fx = fy = width / ( 2 * tan (hfov / 2 ) ) -->
+              <fx>11.3464</fx>
+              <fy>11.3464</fy>
+              <!-- cx = ( width + 1 ) / 2 -->
+              <cx>340.5</cx>
+              <!-- cy = ( height + 1 ) / 2 -->
+              <cy>180.5</cy>
+              <s>0</s>
+            </intrinsics>
+          </lens>
+          <distortion>
+            <k1>0.0</k1>
+            <k2>0.0</k2>
+            <k3>0.0</k3>
+            <p1>0.0</p1>
+            <p2>0.0</p2>
+            <center>0.5 0.5</center>
+          </distortion>
+          <image>
+            <width>640</width>
+            <height>360</height>
+            <format>R8G8B8</format>
+          </image>
+          <clip>
+            <near>0.01</near>
+            <far>300</far>
+          </clip>
+          <noise>
+            <type>gaussian</type>
+            <mean>0</mean>
+            <stddev>0.007</stddev>
+          </noise>
+        </camera>
+      </sensor>
+      <visual name="camera_right_visual">
+        <pose>0.0 -0.22 0.0725 1.5707963267948966 0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.005</length>
+            <radius>0.011</radius>
+          </cylinder>
+        </geometry>
+        <material>
+          <ambient>0 0 0 1</ambient>
+          <diffuse>0 0 0 1</diffuse>
+        </material>
+      </visual>
+      <sensor name="camera_right" type="camera">
+        <pose>0.0 -0.225 0.0725 0 0 -1.5707963267948966</pose>
+        <always_on>1</always_on>
+        <update_rate>30</update_rate>
+        <camera name="camera_right">
+          <horizontal_fov>3.0</horizontal_fov>
+          <lens>
+            <intrinsics>
+              <!-- fx = fy = width / ( 2 * tan (hfov / 2 ) ) -->
+              <fx>11.3464</fx>
+              <fy>11.3464</fy>
+              <!-- cx = ( width + 1 ) / 2 -->
+              <cx>340.5</cx>
+              <!-- cy = ( height + 1 ) / 2 -->
+              <cy>180.5</cy>
+              <s>0</s>
+            </intrinsics>
+          </lens>
+          <distortion>
+            <k1>0.0</k1>
+            <k2>0.0</k2>
+            <k3>0.0</k3>
+            <p1>0.0</p1>
+            <p2>0.0</p2>
+            <center>0.5 0.5</center>
+          </distortion>
+          <image>
+            <width>640</width>
+            <height>360</height>
+            <format>R8G8B8</format>
+          </image>
+          <clip>
+            <near>0.01</near>
+            <far>300</far>
+          </clip>
+          <noise>
+            <type>gaussian</type>
+            <mean>0</mean>
+            <stddev>0.007</stddev>
+          </noise>
+        </camera>
+      </sensor>
+      <visual name="light_front_visual">
+        <pose>0.24 0 0.0425 0 1.5707963267948966 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.02001</length>
+            <radius>0.004</radius>
+          </cylinder>
+        </geometry>
+        <material>
+          <ambient>255 255 115</ambient>
+          <diffuse>255 255 115</diffuse>
+        </material>
+      </visual>
+      <light name="light_front" type="spot">
+        <pose>0.237 0 0.0425 0 0 0</pose>
+        <attenuation>
+          <range>25</range>
+          <linear>0</linear>
+          <constant>0.1</constant>
+          <quadratic>0.005</quadratic>
+        </attenuation>
+        <diffuse>0.8 0.8 0.5 1</diffuse>
+        <specular>0.8 0.8 0.5 1</specular>
+        <spot>
+          <inner_angle>1.571</inner_angle>
+          <outer_angle>2.1</outer_angle>
+          <falloff>1</falloff>
+        </spot>
+        <direction>1 0 0</direction>
+        <cast_shadows>1</cast_shadows>
+      </light>
+      <visual name="light_rear_visual">
+        <pose>-0.24 0 0.0425 0 1.5707963267948966 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.02001</length>
+            <radius>0.004</radius>
+          </cylinder>
+        </geometry>
+        <material>
+          <ambient>255 255 115</ambient>
+          <diffuse>255 255 115</diffuse>
+        </material>
+      </visual>
+      <light name="light_rear" type="spot">
+        <pose>-0.237 0 0.0425 0 0 0</pose>
+        <attenuation>
+          <range>25</range>
+          <linear>0</linear>
+          <constant>0.1</constant>
+          <quadratic>0.005</quadratic>
+        </attenuation>
+        <diffuse>0.8 0.8 0.5 1</diffuse>
+        <specular>0.8 0.8 0.5 1</specular>
+        <spot>
+          <inner_angle>1.571</inner_angle>
+          <outer_angle>2.1</outer_angle>
+          <falloff>1</falloff>
+        </spot>
+        <direction>-1 0 0</direction>
+        <cast_shadows>1</cast_shadows>
+      </light>
+      <visual name="light_left_visual">
+        <pose>0 0.22 0.0425 1.5707963267948966 0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.0005</length>
+            <radius>0.004</radius>
+          </cylinder>
+        </geometry>
+        <material>
+          <ambient>255 255 115</ambient>
+          <diffuse>255 255 115</diffuse>
+        </material>
+      </visual>
+      <light name="light_left" type="spot">
+        <pose>0 0.22 0.0425 0 0 0</pose>
+        <attenuation>
+          <range>25</range>
+          <linear>0</linear>
+          <constant>0.1</constant>
+          <quadratic>0.005</quadratic>
+        </attenuation>
+        <diffuse>0.8 0.8 0.5 1</diffuse>
+        <specular>0.8 0.8 0.5 1</specular>
+        <spot>
+          <inner_angle>1.571</inner_angle>
+          <outer_angle>2.1</outer_angle>
+          <falloff>1</falloff>
+        </spot>
+        <direction>0 1 0</direction>
+        <cast_shadows>1</cast_shadows>
+      </light>
+      <visual name="light_right_visual">
+        <pose>0 -0.22 0.0425 1.5707963267948966 0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.0005</length>
+            <radius>0.004</radius>
+          </cylinder>
+        </geometry>
+        <material>
+          <ambient>255 255 115</ambient>
+          <diffuse>255 255 115</diffuse>
+        </material>
+      </visual>
+      <light name="light_right" type="spot">
+        <pose>0 -0.22 0.0425 0 0 0</pose>
+        <attenuation>
+          <range>25</range>
+          <linear>0</linear>
+          <constant>0.1</constant>
+          <quadratic>0.005</quadratic>
+        </attenuation>
+        <diffuse>0.8 0.8 0.5 1</diffuse>
+        <specular>0.8 0.8 0.5 1</specular>
+        <spot>
+          <inner_angle>1.571</inner_angle>
+          <outer_angle>2.1</outer_angle>
+          <falloff>1</falloff>
+        </spot>
+        <direction>0 -1 0</direction>
+        <cast_shadows>1</cast_shadows>
+      </light>
+    </link>
+    <link name="front_left_wheel">
+      <pose>0.19 0.19 0 0 0 0</pose>
+      <!-- Inertia approximated by a solid cylinder of a smaller diameter
+                 than the whole wheel and almost full width (r=0.1, h=0.08),
+                 because most of the mass is is the hub motor, which is
+                 surrounded by air tire. -->
+      <inertial>
+        <mass>5.0</mass>
+        <inertia>
+          <ixx>0.0153</ixx>
+          <iyy>0.025</iyy>
+          <izz>0.0153</izz>
+        </inertia>
+      </inertial>
+      <collision name="collision">
+        <pose>0 0 0 -1.5707963267948966 0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.082</length>
+            <radius>0.1275</radius>
+          </cylinder>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>1</mu>
+              <mu2>1</mu2>
+              <slip1>0.0475</slip1>
+              <slip2>0</slip2>
+              <fdir1>0 0 1</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <visual name="tire_visual">
+        <pose>0 0 0 1.5708 0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>meshes/wheel_left.dae</uri>
+            <scale>1.3010204 1.3010204 2.05</scale>
+          </mesh>
+        </geometry>
+      </visual>
+      <visual name="hub_visual">
+        <pose>0 -0.055 0 1.5707963267948966 0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.025</length>
+            <radius>0.04</radius>
+          </cylinder>
+        </geometry>
+        <material>
+          <ambient>128 128 128</ambient>
+          <diffuse>128 128 128</diffuse>
+        </material>
+      </visual>
+      <visual name="axis_visual">
+        <pose>0 -0.08 0 1.5707963267948966 0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.05</length>
+            <radius>0.008</radius>
+          </cylinder>
+        </geometry>
+        <material>
+          <ambient>0 0 0</ambient>
+          <diffuse>0 0 0</diffuse>
+        </material>
+      </visual>
+      <visual name="mount_visual">
+        <pose>0 -0.11 0 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.05 0.07 0.025</size>
+          </box>
+        </geometry>
+        <material>
+          <ambient>128 128 128</ambient>
+          <diffuse>128 128 128</diffuse>
+        </material>
+      </visual>
+    </link>
+    <link name="front_right_wheel">
+      <pose>0.19 -0.19 0 0 0 0</pose>
+      <inertial>
+        <mass>5.0</mass>
+        <inertia>
+          <ixx>0.0153</ixx>
+          <iyy>0.025</iyy>
+          <izz>0.0153</izz>
+        </inertia>
+      </inertial>
+      <collision name="collision">
+        <pose>0 0 0 1.5707963267948966 0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.082</length>
+            <radius>0.1275</radius>
+          </cylinder>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>1</mu>
+              <mu2>1</mu2>
+              <slip1>0.0475</slip1>
+              <slip2>0</slip2>
+              <fdir1>0 0 1</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <visual name="tire_visual">
+        <pose>0 0 0 1.5708 0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>meshes/wheel_right.dae</uri>
+            <scale>1.3010204 1.3010204 2.05</scale>
+          </mesh>
+        </geometry>
+      </visual>
+      <visual name="hub_visual">
+        <pose>0 0.055 0 1.5707963267948966 0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.025</length>
+            <radius>0.04</radius>
+          </cylinder>
+        </geometry>
+        <material>
+          <ambient>128 128 128</ambient>
+          <diffuse>128 128 128</diffuse>
+        </material>
+      </visual>
+      <visual name="axis_visual">
+        <pose>0 0.08 0 1.5707963267948966 0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.05</length>
+            <radius>0.008</radius>
+          </cylinder>
+        </geometry>
+        <material>
+          <ambient>0 0 0</ambient>
+          <diffuse>0 0 0</diffuse>
+        </material>
+      </visual>
+      <visual name="mount_visual">
+        <pose>0 0.11 0 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.05 0.07 0.025</size>
+          </box>
+        </geometry>
+        <material>
+          <ambient>128 128 128</ambient>
+          <diffuse>128 128 128</diffuse>
+        </material>
+      </visual>
+    </link>
+    <link name="rear_left_wheel">
+      <pose>-0.19 0.19 0 0 0 0</pose>
+      <inertial>
+        <mass>5.0</mass>
+        <inertia>
+          <ixx>0.0153</ixx>
+          <iyy>0.025</iyy>
+          <izz>0.0153</izz>
+        </inertia>
+      </inertial>
+      <collision name="collision">
+        <pose>0 0 0 -1.5707963267948966 0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.082</length>
+            <radius>0.1275</radius>
+          </cylinder>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>1</mu>
+              <mu2>1</mu2>
+              <slip1>0.0475</slip1>
+              <slip2>0</slip2>
+              <fdir1>0 0 1</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <visual name="tire_visual">
+        <pose>0 0 0 1.5708 0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>meshes/wheel_left.dae</uri>
+            <scale>1.3010204 1.3010204 2.05</scale>
+          </mesh>
+        </geometry>
+      </visual>
+      <visual name="hub_visual">
+        <pose>0 -0.055 0 1.5707963267948966 0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.025</length>
+            <radius>0.04</radius>
+          </cylinder>
+        </geometry>
+        <material>
+          <ambient>128 128 128</ambient>
+          <diffuse>128 128 128</diffuse>
+        </material>
+      </visual>
+      <visual name="axis_visual">
+        <pose>0 -0.08 0 1.5707963267948966 0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.05</length>
+            <radius>0.008</radius>
+          </cylinder>
+        </geometry>
+        <material>
+          <ambient>0 0 0</ambient>
+          <diffuse>0 0 0</diffuse>
+        </material>
+      </visual>
+      <visual name="mount_visual">
+        <pose>0 -0.11 0 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.05 0.07 0.025</size>
+          </box>
+        </geometry>
+        <material>
+          <ambient>128 128 128</ambient>
+          <diffuse>128 128 128</diffuse>
+        </material>
+      </visual>
+    </link>
+    <link name="rear_right_wheel">
+      <pose>-0.19 -0.19 0 0 0 0</pose>
+      <inertial>
+        <mass>5.0</mass>
+        <inertia>
+          <ixx>0.0153</ixx>
+          <iyy>0.025</iyy>
+          <izz>0.0153</izz>
+        </inertia>
+      </inertial>
+      <collision name="collision">
+        <pose>0 0 0 1.5707963267948966 0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.082</length>
+            <radius>0.1275</radius>
+          </cylinder>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>1</mu>
+              <mu2>1</mu2>
+              <slip1>0.0475</slip1>
+              <slip2>0</slip2>
+              <fdir1>0 0 1</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <visual name="tire_visual">
+        <pose>0 0 0 1.5708 0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>meshes/wheel_right.dae</uri>
+            <scale>1.3010204 1.3010204 2.05</scale>
+          </mesh>
+        </geometry>
+      </visual>
+      <visual name="hub_visual">
+        <pose>0 0.055 0 1.5707963267948966 0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.025</length>
+            <radius>0.04</radius>
+          </cylinder>
+        </geometry>
+        <material>
+          <ambient>128 128 128</ambient>
+          <diffuse>128 128 128</diffuse>
+        </material>
+      </visual>
+      <visual name="axis_visual">
+        <pose>0 0.08 0 1.5707963267948966 0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.05</length>
+            <radius>0.008</radius>
+          </cylinder>
+        </geometry>
+        <material>
+          <ambient>0 0 0</ambient>
+          <diffuse>0 0 0</diffuse>
+        </material>
+      </visual>
+      <visual name="mount_visual">
+        <pose>0 0.11 0 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.05 0.07 0.025</size>
+          </box>
+        </geometry>
+        <material>
+          <ambient>128 128 128</ambient>
+          <diffuse>128 128 128</diffuse>
+        </material>
+      </visual>
+    </link>
+    <!-- 4x 500W hub motor with ~30 km/h maximum speed.
+            However, we operate them with a speed and torque limit
+            in software.
+            https://www.uumotor.com/10-inch-single-shaft-brushless-motor-sensorless.html
+        -->
+    <joint name="front_left_wheel_joint" type="revolute">
+      <child>front_left_wheel</child>
+      <parent>base_link</parent>
+      <axis>
+        <xyz>0 1 0</xyz>
+        <limit>
+          <lower>-1.79769e+308</lower>
+          <upper>+1.79769e+308</upper>
+          <!-- 2.5 m/s => angular velocity of the wheel in rad/s -->
+          <velocity>19.61</velocity>
+          <!-- Torque in NM. -->
+          <effort>10</effort>
+        </limit>
+        <use_parent_model_frame>1</use_parent_model_frame>
+      </axis>
+    </joint>
+    <joint name="rear_left_wheel_joint" type="revolute">
+      <parent>base_link</parent>
+      <child>rear_left_wheel</child>
+      <axis>
+        <xyz>0 1 0</xyz>
+        <limit>
+          <lower>-1.79769e+308</lower>
+          <upper>+1.79769e+308</upper>
+          <!-- 2.5 m/s => angular velocity of the wheel in rad/s -->
+          <velocity>19.61</velocity>
+          <!-- Torque in NM. -->
+          <effort>10</effort>
+        </limit>
+      </axis>
+    </joint>
+    <joint name="rear_right_wheel_joint" type="revolute">
+      <parent>base_link</parent>
+      <child>rear_right_wheel</child>
+      <axis>
+        <xyz>0 1 0</xyz>
+        <limit>
+          <lower>-1.79769e+308</lower>
+          <upper>+1.79769e+308</upper>
+          <!-- 2.5 m/s => angular velocity of the wheel in rad/s -->
+          <velocity>19.61</velocity>
+          <!-- Torque in NM. -->
+          <effort>10</effort>
+        </limit>
+      </axis>
+    </joint>
+    <joint name="front_right_wheel_joint" type="revolute">
+      <parent>base_link</parent>
+      <child>front_right_wheel</child>
+      <axis>
+        <xyz>0 1 0</xyz>
+        <limit>
+          <lower>-1.79769e+308</lower>
+          <upper>+1.79769e+308</upper>
+          <!-- 2.5 m/s => angular velocity of the wheel in rad/s -->
+          <velocity>19.61</velocity>
+          <!-- Torque in NM. -->
+          <effort>10</effort>
+        </limit>
+      </axis>
+    </joint>
+  </model>
+</sdf>
+
diff --git a/submitted_models/robotika_freyja_sensor_config_1/worlds/example.sdf b/submitted_models/robotika_freyja_sensor_config_1/worlds/example.sdf
new file mode 100644
index 00000000..9ea5042c
--- /dev/null
+++ b/submitted_models/robotika_freyja_sensor_config_1/worlds/example.sdf
@@ -0,0 +1,183 @@
+<?xml version="1.0" ?>
+<sdf version="1.6">
+  <world name="example">
+    <physics name="4ms" type="dart">
+      <max_step_size>0.004</max_step_size>
+      <real_time_factor>1.0</real_time_factor>
+    </physics>
+
+    <scene>
+      <ambient>0.2 0.2 0.2</ambient>
+      <background>0.8 0.8 0.8</background>
+    </scene>
+
+
+    <light type="directional" name="sun">
+      <cast_shadows>true</cast_shadows>
+      <pose>0 0 10 0 0 0</pose>
+      <diffuse>0.8 0.8 0.8 1</diffuse>
+      <specular>0.8 0.8 0.8 1</specular>
+      <attenuation>
+        <range>1</range>
+        <constant>0.9</constant>
+        <linear>1</linear>
+        <quadratic>0.001</quadratic>
+      </attenuation>
+      <direction>0.0 0.0 -1.0</direction>
+    </light>
+
+  <light name="light1" type="point">
+      <pose>0 0 4 0 0 0</pose>
+      <attenuation>
+        <range>1000</range>
+        <linear>0</linear>
+        <constant>0.1</constant>
+        <quadratic>0.005</quadratic>
+      </attenuation>
+      <diffuse>0.8 0.8 0.8 1</diffuse>
+      <specular>0.8 0.8 0.8 1</specular>
+      <spot>
+        <inner_angle>5</inner_angle>
+        <outer_angle>10.1</outer_angle>
+        <falloff>.1</falloff>
+      </spot>
+      <direction>0 0 -1</direction>
+    </light>
+    <light name="light2" type="spot">
+      <pose>0 0 4 0 0 0</pose>
+      <attenuation>
+        <range>1000</range>
+        <linear>0.1</linear>
+        <constant>0.2</constant>
+        <quadratic>0.005</quadratic>
+      </attenuation>
+      <diffuse>0.8 0.8 0.5 1</diffuse>
+      <specular>0.8 0.8 0.5 1</specular>
+      <spot>
+        <inner_angle>5</inner_angle>
+        <outer_angle>10.1</outer_angle>
+        <falloff>.1</falloff>
+      </spot>
+      <direction>0 0 -1</direction>
+    </light>
+    <!-- The staging area -->
+    <include>
+      <static>true</static>
+      <name>staging_area</name>
+      <pose>0 0 0 0 0 0</pose>
+      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/subt_tunnel_staging_area</uri>
+    </include>
+
+    <!-- Barriers -->
+    <include>
+      <name>barrier_0_-1</name>
+      <pose>8.0 -11 0 0 0 0</pose>
+      <uri> https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier </uri>
+    </include>
+  
+    <include>
+      <name>barrier_0_1</name>
+      <pose>8.0 11 0 0 0 0 </pose>
+      <uri> https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier </uri>
+    </include>
+  
+    <include>
+      <name>barrier_1_-1</name>
+      <pose>3.7 -11 0 0 0 0</pose>
+      <uri> https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier </uri>
+    </include>
+  
+    <include>
+      <name>barrier_1_1</name>
+      <pose>3.7 11 0 0 0 0</pose>
+      <uri> https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier </uri>
+    </include>
+  
+    <include>
+      <name>barrier_2_-1</name>
+      <pose>-0.5999999999999996 -11 0 0 0 0</pose>
+      <uri> https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier </uri>
+    </include>
+  
+    <include>
+      <name>barrier_2_1</name>
+      <pose>-0.5999999999999996 11 0 0 0 0</pose>
+      <uri> https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier </uri>
+    </include>
+  
+    <include>
+      <name>barrier_3_-1</name>
+      <pose>-4.899999999999999 -11 0 0 0 0</pose>
+      <uri> https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier </uri>
+    </include>
+  
+    <include>
+      <name>barrier_3_1</name>
+      <pose>-4.899999999999999 11 0 0 0 0</pose>
+      <uri> https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier </uri>
+    </include>
+  
+    <include>
+      <name>barrier_4_-1</name>
+      <pose>-9.2 -11 0 0 0 0</pose>
+      <uri> https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier </uri>
+    </include>
+  
+    <include>
+      <name>barrier_4_1</name>
+      <pose>-9.2 11 0 0 0 0</pose>
+      <uri> https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier </uri>
+    </include>
+  
+    <include>
+      <name>barrier_-9.5_-2</name>
+      <pose>10.5 -8.6 0 0 0 1.5707963267948966</pose>
+      <uri> https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier </uri>
+    </include>
+  
+    <include>
+      <name>barrier_-9.5_2</name>
+      <pose>10.5 8.6 0 0 0 1.5707963267948966</pose>
+      <uri> https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier </uri>
+    </include>
+  
+    <include>
+      <name>barrier_-32_-2</name>
+      <pose>-12 -8.6 0 0 0 1.5707963267948966</pose>
+      <uri> https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier </uri>
+    </include>
+  
+    <include>
+      <name>barrier_-32_-1</name>
+      <pose>-12 -4.3 0 0 0 1.5707963267948966</pose>
+      <uri> https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier </uri>
+    </include>
+  
+    <include>
+      <name>barrier_-32_0</name>
+      <pose>-12 0.0 0 0 0 1.5707963267948966</pose>
+      <uri> https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier </uri>
+    </include>
+  
+    <include>
+      <name>barrier_-32_1</name>
+      <pose>-12 4.3 0 0 0 1.5707963267948966</pose>
+      <uri> https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier </uri>
+    </include>
+
+    <include>
+      <name>barrier_-32_2</name>
+      <pose>-12 8.6 0 0 0 1.5707963267948966</pose>
+      <uri> https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier </uri>
+    </include>
+
+
+    <!-- The base station -->
+    <include>
+      <static>true</static>
+      <name>base_station</name>
+      <pose>-8 0 0 0 0 -1.5708</pose>
+      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Base Station</uri>
+    </include>
+  </world>
+</sdf>

From a58d0c29c4c19830bed35afa22afa2dcdd91cd23 Mon Sep 17 00:00:00 2001
From: md <devnull@localhost>
Date: Tue, 24 Mar 2020 20:10:24 +0100
Subject: [PATCH 02/15] Model submission for Freyja sensor configuration 1 from
 Robotika (FIXUP specification.md)

---
 .../specification.md                          | 75 +++++++++++++++++++
 1 file changed, 75 insertions(+)
 create mode 100644 submitted_models/robotika_freyja_sensor_config_1/specification.md

diff --git a/submitted_models/robotika_freyja_sensor_config_1/specification.md b/submitted_models/robotika_freyja_sensor_config_1/specification.md
new file mode 100644
index 00000000..b056d5c6
--- /dev/null
+++ b/submitted_models/robotika_freyja_sensor_config_1/specification.md
@@ -0,0 +1,75 @@
+<!--- This is a Markdown description of a robot model submitted for inclusion in the
+DARPA Subterranean Challenge Technology Repository -->
+# Robotika - Freyja
+This specifications.md file is a description and proof of virtual model validation for
+Robotika's robot Freyja with Sensor Configuration 1. This robot may be launched using
+a `roslaunch` command with the variable name `robotika_freyja_sensor_config_1`.
+## Description
+Freyja is a four-wheel all-terrain ground vehicle. With weight under 30 kg and its
+medium size, Freyja can be transported by a single person as a check-in baggage on an
+airplane.
+
+## Cost and Scale
+Robotika's Freyja has an estimated commercial cost of USD 7,000. It weighs approximately
+29.6  kg.
+
+## Sensors
+Freyja in Sensor Configuration 1 is equipped with forward-looking and backward looking
+medium-fps RGB & Depth cameras with wide field of view (Mynte Eye D), four even
+wider-field-of-view color cameras looking all around (KAYETON), two planar lidars
+(SICK TIM881P), and with other sensors, such as imu combined with a magnetic compass
+(CMPS14), an altimeter (Infineon DPS310), a CO2 sensor (MH-Z19B) and in-wheel encoders.
+
+The specifications for these instruments are provided below in
+the [Validation Links](#validation_links) section.
+
+The following specific sensors are declared payloads of this vehicle:
+
+* 2x RGBD camera &mdash; Mynt Eye D, modeled by `rgbd_camera` plugin.
+* 2x Planar lidar &mdash; SICK TIM881P, modeled by `gpu_lidar` plugin.
+* 4x Monocular camera &mdash; KAYETON, modeled by `camera` plugin.
+* Tilt-compensated compass &mdash; CMPS14, modeled by `imu` and `magnetometer`
+plugins.
+* Altimeter &mdash; Infineon DPS310, modeled by `air_pressure` plugin.
+* Wheel odometry - wheel encoders modelled by `pose-publisher`
+plugin.
+* Gas sensor &mdash; Winsen MH-Z19B, modeled by GasEmitterDetector plugin.
+## Control
+Freyja is controlled by the open-source Osgar framework or by custom Erro framework.
+## Motion Characteristics
+Based on the tests specified in the DARPA SubT Challenge [Model Preparation
+Guide](https://subtchallenge.com/\<fix_me\>), this vehicle has the following motion
+constraint characteristics:
+
+* _x_ velocity range from -2.5 m/s to 2.5 m/s
+* _x_ acceleration range from -10.6 m/s<sup>2</sup> to 10.6 m/s<sup>2</sup>
+* Turning radius of 0.0 m
+
+The constraints can be found in the following locations within the simulation model
+package:
+
+* Front left wheel maximum velocity and torque &mdash; model.sdf, lines 1415 and 1417
+* Other wheels &mdash; just below Front Left wheel in the same file.
+
+## Endurance Characteristics
+Based on the tests specified in the DARPA SubT Challenge [Model Preparation
+Guide](https://subtchallenge.com/\<fix_me\>), this vehicle has the following
+endurance characteristics:
+
+* Battery life of 14400 seconds
+
+## Diversions from Physical Hardware of Freyja
+Virtual Freyja is a faithful representation of real-world Freya both in appereance and
+in physical properties.
+
+# <a name="validation_links"></a>Freyja Validation and Specification Links
+
+* https://www.uumotor.com/10-inch-single-shaft-brushless-motor-sensorless.html
+* https://www.robot-electronics.co.uk/cmps14-tilt-compensated-compass.html
+* Nearest public documentation to TIM881P: https://www.sick.com/ch/en/detection-and-ranging-solutions/2d-lidar-sensors/tim5xx/tim581-2050101/p/p619344
+* https://www.kayetoncctv.com/global-shutter-high-speed-120fps-hd-720p-webcam-uvc-plug-play-driverless-usb-camera-module-for-android-linux-windows-mac/
+* https://www.infineon.com/cms/en/product/sensor/pressure-sensors/absolute-pressure-sensors-map-bap/dps310/
+* https://www.winsen-sensor.com/sensors/co2-sensor/mh-z19b.html
+* https://youtu.be/cHJ-ZloPmhE (speed test)
+* https://youtu.be/bZ83Zneuhf8 (rotation test)
+* https://drive.google.com/drive/folders/1M8W3vjP1G0Pz7oeB7dAkBjXhYE05hvxA?usp=sharing

From b35cfcd940d7e2b22f92e1fe03f90e04dafb78cb Mon Sep 17 00:00:00 2001
From: md <devnull@localhost>
Date: Thu, 26 Mar 2020 21:34:45 +0100
Subject: [PATCH 03/15] Update info about Freyja communication (LoRa)

---
 .../robotika_freyja_sensor_config_1/specification.md        | 6 ++++--
 1 file changed, 4 insertions(+), 2 deletions(-)

diff --git a/submitted_models/robotika_freyja_sensor_config_1/specification.md b/submitted_models/robotika_freyja_sensor_config_1/specification.md
index b056d5c6..3186c75c 100644
--- a/submitted_models/robotika_freyja_sensor_config_1/specification.md
+++ b/submitted_models/robotika_freyja_sensor_config_1/specification.md
@@ -59,8 +59,9 @@ endurance characteristics:
 * Battery life of 14400 seconds
 
 ## Diversions from Physical Hardware of Freyja
-Virtual Freyja is a faithful representation of real-world Freya both in appereance and
-in physical properties.
+Virtual Freyja is a faithful representation of real-world Freya both in appearance and
+in physical properties. It does not model long-range low-bandwidth (LoRa) mesh
+communication of the real robot.
 
 # <a name="validation_links"></a>Freyja Validation and Specification Links
 
@@ -73,3 +74,4 @@ in physical properties.
 * https://youtu.be/cHJ-ZloPmhE (speed test)
 * https://youtu.be/bZ83Zneuhf8 (rotation test)
 * https://drive.google.com/drive/folders/1M8W3vjP1G0Pz7oeB7dAkBjXhYE05hvxA?usp=sharing
+* https://heltec.org/project/wifi-lora-32/

From b091ac1244f51c1d34aec98cdbeb37e84fa6cd65 Mon Sep 17 00:00:00 2001
From: md <devnull@localhost>
Date: Mon, 30 Mar 2020 12:43:01 +0200
Subject: [PATCH 04/15] Freyja - fix camera center

---
 .../robotika_freyja_sensor_config_1/model.sdf | 24 +++++++++----------
 .../urdf/model.xacro                          | 24 +++++++++----------
 2 files changed, 24 insertions(+), 24 deletions(-)

diff --git a/submitted_models/robotika_freyja_sensor_config_1/model.sdf b/submitted_models/robotika_freyja_sensor_config_1/model.sdf
index a3ea0655..cbd49620 100644
--- a/submitted_models/robotika_freyja_sensor_config_1/model.sdf
+++ b/submitted_models/robotika_freyja_sensor_config_1/model.sdf
@@ -637,10 +637,10 @@
                           <!-- fx = fy = width / ( 2 * tan (hfov / 2 ) ) -->
                           <fx>349.2</fx>
                           <fy>349.2</fy>
-                          <!-- cx = ( width + 1 ) / 2 -->
-                          <cx>320.5</cx>
-                          <!-- cy = ( height + 1 ) / 2 -->
-                          <cy>180.5</cy>
+                          <!-- cx = ( width - 1 ) / 2 -->
+                          <cx>319.5</cx>
+                          <!-- cy = ( height - 1 ) / 2 -->
+                          <cy>179.5</cy>
                           <s>0</s>
                         </intrinsics>
                     </lens>
@@ -700,10 +700,10 @@
                           <!-- fx = fy = width / ( 2 * tan (hfov / 2 ) ) -->
                           <fx>349.2</fx>
                           <fy>349.2</fy>
-                          <!-- cx = ( width + 1 ) / 2 -->
-                          <cx>320.5</cx>
-                          <!-- cy = ( height + 1 ) / 2 -->
-                          <cy>180.5</cy>
+                          <!-- cx = ( width - 1 ) / 2 -->
+                          <cx>319.5</cx>
+                          <!-- cy = ( height - 1 ) / 2 -->
+                          <cy>179.5</cy>
                           <s>0</s>
                         </intrinsics>
                     </lens>
@@ -822,10 +822,10 @@
                             <!-- fx = fy = width / ( 2 * tan (hfov / 2 ) ) -->
                             <fx>11.3464</fx>
                             <fy>11.3464</fy>
-                            <!-- cx = ( width + 1 ) / 2 -->
-                            <cx>320.5</cx>
-                            <!-- cy = ( height + 1 ) / 2 -->
-                            <cy>180.5</cy>
+                            <!-- cx = ( width - 1 ) / 2 -->
+                            <cx>319.5</cx>
+                            <!-- cy = ( height - 1 ) / 2 -->
+                            <cy>179.5</cy>
                             <s>0</s>
                         </intrinsics>
                     </lens>
diff --git a/submitted_models/robotika_freyja_sensor_config_1/urdf/model.xacro b/submitted_models/robotika_freyja_sensor_config_1/urdf/model.xacro
index 2a6bbf85..a1ebdaf5 100644
--- a/submitted_models/robotika_freyja_sensor_config_1/urdf/model.xacro
+++ b/submitted_models/robotika_freyja_sensor_config_1/urdf/model.xacro
@@ -634,10 +634,10 @@
               <!-- fx = fy = width / ( 2 * tan (hfov / 2 ) ) -->
               <fx>349.2</fx>
               <fy>349.2</fy>
-              <!-- cx = ( width + 1 ) / 2 -->
-              <cx>320.5</cx>
-              <!-- cy = ( height + 1 ) / 2 -->
-              <cy>180.5</cy>
+              <!-- cx = ( width - 1 ) / 2 -->
+              <cx>319.5</cx>
+              <!-- cy = ( height - 1 ) / 2 -->
+              <cy>179.5</cy>
               <s>0</s>
             </intrinsics>
           </lens>
@@ -696,10 +696,10 @@
               <!-- fx = fy = width / ( 2 * tan (hfov / 2 ) ) -->
               <fx>349.2</fx>
               <fy>349.2</fy>
-              <!-- cx = ( width + 1 ) / 2 -->
-              <cx>320.5</cx>
-              <!-- cy = ( height + 1 ) / 2 -->
-              <cy>180.5</cy>
+              <!-- cx = ( width - 1 ) / 2 -->
+              <cx>319.5</cx>
+              <!-- cy = ( height - 1 ) / 2 -->
+              <cy>179.5</cy>
               <s>0</s>
             </intrinsics>
           </lens>
@@ -816,10 +816,10 @@
               <!-- fx = fy = width / ( 2 * tan (hfov / 2 ) ) -->
               <fx>11.3464</fx>
               <fy>11.3464</fy>
-              <!-- cx = ( width + 1 ) / 2 -->
-              <cx>320.5</cx>
-              <!-- cy = ( height + 1 ) / 2 -->
-              <cy>180.5</cy>
+              <!-- cx = ( width - 1 ) / 2 -->
+              <cx>319.5</cx>
+              <!-- cy = ( height - 1 ) / 2 -->
+              <cy>179.5</cy>
               <s>0</s>
             </intrinsics>
           </lens>

From cb445adebfa45935928403c189ee7df6d50b758a Mon Sep 17 00:00:00 2001
From: md <devnull@localhost>
Date: Mon, 30 Mar 2020 21:51:16 +0200
Subject: [PATCH 05/15] Robotika Freyja - fix filename model.urdf

---
 .../urdf/{freyja_from_sdf.urdf => model.urdf}                     | 0
 1 file changed, 0 insertions(+), 0 deletions(-)
 rename submitted_models/robotika_freyja_sensor_config_1/urdf/{freyja_from_sdf.urdf => model.urdf} (100%)

diff --git a/submitted_models/robotika_freyja_sensor_config_1/urdf/freyja_from_sdf.urdf b/submitted_models/robotika_freyja_sensor_config_1/urdf/model.urdf
similarity index 100%
rename from submitted_models/robotika_freyja_sensor_config_1/urdf/freyja_from_sdf.urdf
rename to submitted_models/robotika_freyja_sensor_config_1/urdf/model.urdf

From 9fd2804e808779b994f119aa181e07cbd088b837 Mon Sep 17 00:00:00 2001
From: md <devnull@localhost>
Date: Tue, 31 Mar 2020 08:17:43 +0200
Subject: [PATCH 06/15] Robotika Freyja - fix materials to be in parameters in
 range 0..1

---
 .../robotika_freyja_sensor_config_1/model.sdf | 2966 ++++++++---------
 1 file changed, 1483 insertions(+), 1483 deletions(-)

diff --git a/submitted_models/robotika_freyja_sensor_config_1/model.sdf b/submitted_models/robotika_freyja_sensor_config_1/model.sdf
index cbd49620..56fd218b 100644
--- a/submitted_models/robotika_freyja_sensor_config_1/model.sdf
+++ b/submitted_models/robotika_freyja_sensor_config_1/model.sdf
@@ -1,1483 +1,1483 @@
-<?xml version="1.0"?>
-<sdf version="1.6">
-    <model name="ROBOTIKA_FREYJA">
-        <pose>0 0 0.1275 0 0 0</pose>
-        <enable_wind>1</enable_wind>
-        <link name="base_link">
-            <!-- Mass modelled as solid 0.3 x 0.24 x 0.08 cuboid at central
-                 bottom part of the robot, where battery and onboard computer
-                 are located, surrounded by ventilation space and lightweight
-                 chassis.
-                 Note: Most of the mass of the robot is *not* in the main body,
-                       but in wheels, which contain hub motors.
-                 https://en.wikipedia.org/wiki/List_of_moments_of_inertia
-            -->
-            <inertial>
-                <pose>0 0 0.0725 0 0 0</pose>
-                <mass>9.6</mass>
-                <inertia>
-                    <ixx>0.0512</ixx>
-                    <iyy>0.07712</iyy>
-                    <izz>0.11808</izz>
-                </inertia>
-            </inertial>
-
-            <!-- This bounding box covers also wheel mounts at the bottom and
-                 lidars on the top. -->
-            <collision name="chassis_collision">
-                <pose>0 0 0.105 0 0 0</pose>
-                <geometry>
-                    <box>
-                        <size>0.50 0.24 0.235</size>
-                    </box>
-                </geometry>
-            </collision>
-
-            <visual name="chassis_main_visual">
-                <pose>0 0 0.0725 0 0 0</pose>
-                <geometry>
-                    <box>
-                        <size>0.46 0.24 0.12</size>
-                    </box>
-                </geometry>
-                <material>
-                    <ambient>222 184 135 1</ambient>
-                    <diffuse>222 184 135 1</diffuse>
-                </material>
-            </visual>
-            <visual name="chassis_front_face_bottom">
-                <pose>0.24 0 0.0175 0 0 0</pose>
-                <geometry>
-                    <box>
-                        <size>0.02001 0.24 0.01</size>
-                    </box>
-                </geometry>
-                <material>
-                    <ambient>222 184 135 1</ambient>
-                    <diffuse>222 184 135 1</diffuse>
-                </material>
-            </visual>
-            <visual name="chassis_front_face_top">
-                <pose>0.24 0 0.1275 0 0 0</pose>
-                <geometry>
-                    <box>
-                        <size>0.02001 0.24 0.01</size>
-                    </box>
-                </geometry>
-                <material>
-                    <ambient>222 184 135 1</ambient>
-                    <diffuse>222 184 135 1</diffuse>
-                </material>
-            </visual>
-            <visual name="chassis_front_face_top_marker">
-                <pose>0.245 0 0.1325 0 0 0</pose>
-                <geometry>
-                    <box>
-                        <size>0.01 0.12 0.0001</size>
-                    </box>
-                </geometry>
-                <material>
-                    <ambient>0 180 0 1</ambient>
-                    <diffuse>0 180 0 1</diffuse>
-                </material>
-            </visual>
-            <visual name="chassis_front_face_left">
-                <pose>0.24 0.115 0.0725 0 0 0</pose>
-                <geometry>
-                    <box>
-                        <size>0.02001 0.01 0.12</size>
-                    </box>
-                </geometry>
-                <material>
-                    <ambient>222 184 135 1</ambient>
-                    <diffuse>222 184 135 1</diffuse>
-                </material>
-            </visual>
-            <visual name="chassis_front_face_right">
-                <pose>0.24 -0.115 0.0725 0 0 0</pose>
-                <geometry>
-                    <box>
-                        <size>0.02001 0.01 0.12</size>
-                    </box>
-                </geometry>
-                <material>
-                    <ambient>222 184 135 1</ambient>
-                    <diffuse>222 184 135 1</diffuse>
-                </material>
-            </visual>
-            <visual name="chassis_rear_face_bottom">
-                <pose>-0.24 0 0.0175 0 0 0</pose>
-                <geometry>
-                    <box>
-                        <size>0.02001 0.24 0.01</size>
-                    </box>
-                </geometry>
-                <material>
-                    <ambient>222 184 135 1</ambient>
-                    <diffuse>222 184 135 1</diffuse>
-                </material>
-            </visual>
-            <visual name="chassis_rear_face_top">
-                <pose>-0.24 0 0.1275 0 0 0</pose>
-                <geometry>
-                    <box>
-                        <size>0.02001 0.24 0.01</size>
-                    </box>
-                </geometry>
-                <material>
-                    <ambient>222 184 135 1</ambient>
-                    <diffuse>222 184 135 1</diffuse>
-                </material>
-            </visual>
-            <visual name="chassis_rear_face_top_marker">
-                <pose>-0.245 0 0.1325 0 0 0</pose>
-                <geometry>
-                    <box>
-                        <size>0.01 0.12 0.0001</size>
-                    </box>
-                </geometry>
-                <material>
-                    <ambient>180 0 0 1</ambient>
-                    <diffuse>180 0 0 1</diffuse>
-                </material>
-            </visual>
-            <visual name="chassis_rear_face_left">
-                <pose>-0.24 0.115 0.0725 0 0 0</pose>
-                <geometry>
-                    <box>
-                        <size>0.02001 0.01 0.12</size>
-                    </box>
-                </geometry>
-                <material>
-                    <ambient>222 184 135 1</ambient>
-                    <diffuse>222 184 135 1</diffuse>
-                </material>
-            </visual>
-            <visual name="chassis_rear_face_right">
-                <pose>-0.24 -0.115 0.0725 0 0 0</pose>
-                <geometry>
-                    <box>
-                        <size>0.02001 0.01 0.12</size>
-                    </box>
-                </geometry>
-                <material>
-                    <ambient>222 184 135 1</ambient>
-                    <diffuse>222 184 135 1</diffuse>
-                </material>
-            </visual>
-            <visual name="lidar_base_visual">
-                <pose>0 0 0.135 0 0 0</pose>
-                <geometry>
-                    <box>
-                        <size>0.3001 0.21 0.005</size>
-                    </box>
-                </geometry>
-                <material>
-                    <ambient>222 184 135 1</ambient>
-                    <diffuse>222 184 135 1</diffuse>
-                </material>
-            </visual>
-            <visual name="cable_cover_left_visual">
-                <pose>0 0.095 0.1475 0 0 0</pose>
-                <geometry>
-                    <box>
-                        <size>0.07 0.02 0.02001</size>
-                    </box>
-                </geometry>
-                <material>
-                    <ambient>222 184 135 1</ambient>
-                    <diffuse>222 184 135 1</diffuse>
-                </material>
-            </visual>
-            <visual name="cable_cover_right_visual">
-                <pose>0 -0.095 0.1475 0 0 0</pose>
-                <geometry>
-                    <box>
-                        <size>0.07 0.02 0.02001</size>
-                    </box>
-                </geometry>
-                <material>
-                    <ambient>222 184 135 1</ambient>
-                    <diffuse>222 184 135 1</diffuse>
-                </material>
-            </visual>
-            <visual name="cable_cover_top_visual">
-                <pose>0 0.0 0.16 0 0 0</pose>
-                <geometry>
-                    <box>
-                        <size>0.07 0.21 0.005</size>
-                    </box>
-                </geometry>
-                <material>
-                    <ambient>222 184 135 1</ambient>
-                    <diffuse>222 184 135 1</diffuse>
-                </material>
-            </visual>
-            <collision name="left_mount_collision">
-                <pose>0.0 0.17 0.085 0 0 0</pose>
-                <geometry>
-                    <box>
-                        <size>0.08 0.1 0.115</size>
-                    </box>
-                </geometry>
-            </collision>
-            <visual name="left_mount_visual">
-                <pose>0.0 0.17 0.0725 0 0 0</pose>
-                <geometry>
-                    <box>
-                        <size>0.08 0.1 0.09</size>
-                    </box>
-                </geometry>
-                <material>
-                    <ambient>222 184 135 1</ambient>
-                    <diffuse>222 184 135 1</diffuse>
-                </material>
-            </visual>
-            <visual name="left_mount_top_marker_visual">
-                <pose>0.0 0.215 0.1175 0 0 0</pose>
-                <geometry>
-                    <box>
-                        <size>0.08 0.01 0.0001</size>
-                    </box>
-                </geometry>
-                <material>
-                    <ambient>0 0 180 1</ambient>
-                    <diffuse>0 0 180 1</diffuse>
-                </material>
-            </visual>
-            <collision name="right_mount_collision">
-                <pose>0.0 -0.17 0.085 0 0 0</pose>
-                <geometry>
-                    <box>
-                        <size>0.08 0.1 0.115</size>
-                    </box>
-                </geometry>
-            </collision>
-            <visual name="right_mount_visual">
-                <pose>0.0 -0.17 0.0725 0 0 0</pose>
-                <geometry>
-                    <box>
-                        <size>0.08 0.1 0.09</size>
-                    </box>
-                </geometry>
-                <material>
-                    <ambient>222 184 135 1</ambient>
-                    <diffuse>222 184 135 1</diffuse>
-                </material>
-            </visual>
-            <visual name="right_mount_top_marker_visual">
-                <pose>0.0 -0.215 0.1175 0 0 0</pose>
-                <geometry>
-                    <box>
-                        <size>0.08 0.01 0.0001</size>
-                    </box>
-                </geometry>
-                <material>
-                    <ambient>220 220 0 1</ambient>
-                    <diffuse>220 220 0 1</diffuse>
-                </material>
-            </visual>
-            <visual name="emergency_stop_bottom_visual">
-                <pose>0.0 -0.155 0.125 0 0 0</pose>
-                <geometry>
-                    <cylinder>
-                        <length>0.015</length>
-                        <radius>0.015</radius>
-                    </cylinder>
-                </geometry>
-                <material>
-                    <ambient>180 180 180</ambient>
-                    <diffuse>180 180 180</diffuse>
-                </material>
-            </visual>
-            <visual name="emergency_stop_top_visual">
-                <pose>0.0 -0.155 0.135 0 0 0</pose>
-                <geometry>
-                    <cylinder>
-                        <length>0.005</length>
-                        <radius>0.02</radius>
-                    </cylinder>
-                </geometry>
-                <material>
-                    <ambient>255 0 0</ambient>
-                    <diffuse>255 0 0</diffuse>
-                </material>
-            </visual>
-            <visual name="power_switch_bottom_visual">
-                <pose>0.0 0.155 0.1225 0 0 0</pose>
-                <geometry>
-                    <cylinder>
-                        <length>0.005</length>
-                        <radius>0.015</radius>
-                    </cylinder>
-                </geometry>
-                <material>
-                    <ambient>0 0 0</ambient>
-                    <diffuse>0 0 0</diffuse>
-                </material>
-            </visual>
-            <visual name="power_switch_middle_visual">
-                <pose>0.0 0.155 0.1275 0 0 0</pose>
-                <geometry>
-                    <cylinder>
-                        <length>0.005</length>
-                        <radius>0.015</radius>
-                    </cylinder>
-                </geometry>
-                <material>
-                    <ambient>180 180 180</ambient>
-                    <diffuse>180 180 180</diffuse>
-                </material>
-            </visual>
-            <visual name="power_switch_top_visual">
-                <pose>0.0 0.155 0.1375 0 0 0.35</pose>
-                <geometry>
-                    <box>
-                        <size>0.025 0.005 0.01</size>
-                    </box>
-                </geometry>
-                <material>
-                    <ambient>0 0 0</ambient>
-                    <diffuse>0 0 0</diffuse>
-                </material>
-            </visual>
-
-            <!-- CMPS14 provides IMU and magnetic heading information.
-                https://www.robot-electronics.co.uk/cmps14-tilt-compensated-compass.html
-            -->
-            <sensor name="imu_sensor" type="imu">
-                <always_on>1</always_on>
-                <update_rate>50</update_rate>
-                <imu>
-                    <angular_velocity>
-                        <x>
-                            <noise type="gaussian">
-                                <mean>0</mean>
-                                <stddev>2e-4</stddev>
-                                <bias_mean>0.0000075</bias_mean>
-                                <bias_stddev>0.0000008</bias_stddev>
-                                <dynamic_bias_stddev>0.0000004</dynamic_bias_stddev>
-                                <dynamic_bias_correlation_time>1000.0</dynamic_bias_correlation_time>
-                            </noise>
-                        </x>
-                        <y>
-                            <noise type="gaussian">
-                                <mean>0</mean>
-                                <stddev>2e-4</stddev>
-                                <bias_mean>0.0000075</bias_mean>
-                                <bias_stddev>0.0000008</bias_stddev>
-                                <dynamic_bias_stddev>0.0000004</dynamic_bias_stddev>
-                                <dynamic_bias_correlation_time>1000.0</dynamic_bias_correlation_time>
-                            </noise>
-                        </y>
-                        <z>
-                            <noise type="gaussian">
-                                <mean>0</mean>
-                                <stddev>2e-4</stddev>
-                                <bias_mean>0.0000075</bias_mean>
-                                <bias_stddev>0.0000008</bias_stddev>
-                                <dynamic_bias_stddev>0.0000004</dynamic_bias_stddev>
-                                <dynamic_bias_correlation_time>1000.0</dynamic_bias_correlation_time>
-                            </noise>
-                        </z>
-                    </angular_velocity>
-                    <linear_acceleration>
-                        <x>
-                            <noise type="gaussian">
-                                <mean>0</mean>
-                                <stddev>1e-2</stddev>
-                                <bias_mean>0.1</bias_mean>
-                                <bias_stddev>0.001</bias_stddev>
-                                <dynamic_bias_stddev>0.002</dynamic_bias_stddev>
-                                <dynamic_bias_correlation_time>300.0</dynamic_bias_correlation_time>
-                            </noise>
-                        </x>
-                        <y>
-                            <noise type="gaussian">
-                                <mean>0</mean>
-                                <stddev>1e-2</stddev>
-                                <bias_mean>0.1</bias_mean>
-                                <bias_stddev>0.001</bias_stddev>
-                                <dynamic_bias_stddev>0.002</dynamic_bias_stddev>
-                                <dynamic_bias_correlation_time>300.0</dynamic_bias_correlation_time>
-                            </noise>
-                        </y>
-                        <z>
-                            <noise type="gaussian">
-                                <mean>0</mean>
-                                <stddev>1e-2</stddev>
-                                <bias_mean>0.1</bias_mean>
-                                <bias_stddev>0.001</bias_stddev>
-                                <dynamic_bias_stddev>0.002</dynamic_bias_stddev>
-                                <dynamic_bias_correlation_time>300.0</dynamic_bias_correlation_time>
-                            </noise>
-                        </z>
-                    </linear_acceleration>
-                </imu>
-            </sensor>
-            <sensor name="magnetometer" type="magnetometer">
-                <always_on>1</always_on>
-                <update_rate>50</update_rate>
-                <magnetometer>
-                    <x>
-                        <noise type="gaussian">
-                            <mean>0.000000080</mean>
-                            <bias_mean>0.000000400</bias_mean>
-                        </noise>
-                    </x>
-                    <y>
-                        <noise type="gaussian">
-                            <mean>0.000000080</mean>
-                            <bias_mean>0.000000400</bias_mean>
-                        </noise>
-                    </y>
-                    <z>
-                        <noise type="gaussian">
-                            <mean>0.000000080</mean>
-                            <bias_mean>0.000000400</bias_mean>
-                        </noise>
-                    </z>
-                </magnetometer>
-            </sensor>
-
-            <!-- Infineon DPS310
-                https://www.infineon.com/cms/en/product/sensor/pressure-sensors/absolute-pressure-sensors-map-bap/dps310/
-            -->
-            <sensor name="air_pressure" type="air_pressure">
-                <always_on>1</always_on>
-                <update_rate>20</update_rate>
-                <air_pressure>
-                    <reference_altitude>0</reference_altitude>
-                    <noise type="gaussian">
-                        <mean>0.00000008</mean>
-                    </noise>
-                </air_pressure>
-            </sensor>
-
-            <!-- 2x SICK TIM881P lidar, a prototype without a good public URL. It is derived from
-                the TIM58x family:
-                https://www.sick.com/ch/en/detection-and-ranging-solutions/2d-lidar-sensors/tim5xx/tim581-2050101/p/p619344
-                -->
-            <visual name="laser_front_bottom_visual">
-                <pose>0.12 0 0.16 0 0 0</pose>
-                <geometry>
-                    <box>
-                        <size>0.06 0.065 0.045</size>
-                    </box>
-                </geometry>
-                <material>
-                    <ambient>200 180 180 1</ambient>
-                    <diffuse>200 180 180 1</diffuse>
-                </material>
-            </visual>
-            <visual name="laser_front_top_visual">
-                <pose>0.12 0.0 0.2025 0 0 0</pose>
-                <geometry>
-                    <cylinder>
-                        <length>0.04</length>
-                        <radius>0.02</radius>
-                    </cylinder>
-                </geometry>
-                <material>
-                    <ambient>0 0 0 1</ambient>
-                    <diffuse>0 0 0 1</diffuse>
-                </material>
-            </visual>
-            <visual name="laser_front_cable_green">
-                <pose>0.045 0.01 0.1525 0 1.5707963267948966 0</pose>
-                <geometry>
-                    <cylinder>
-                        <length>0.09</length>
-                        <radius>0.005</radius>
-                    </cylinder>
-                </geometry>
-                <material>
-                    <ambient>120 255 120 1</ambient>
-                    <diffuse>120 255 120 1</diffuse>
-                </material>
-            </visual>
-            <visual name="laser_front_cable_black">
-                <pose>0.045 -0.01 0.1525 0 1.5707963267948966 0</pose>
-                <geometry>
-                    <cylinder>
-                        <length>0.09</length>
-                        <radius>0.005</radius>
-                    </cylinder>
-                </geometry>
-                <material>
-                    <ambient>10 10 10 1</ambient>
-                    <diffuse>10 10 10 1</diffuse>
-                </material>
-            </visual>
-            <sensor name="laser_front" type="gpu_lidar">
-                <pose>0.12 0 0.1925 0 0 0</pose>
-                <update_rate>15</update_rate>
-                <lidar>
-                    <scan>
-                        <horizontal>
-                            <samples>811</samples>
-                            <resolution>0.3333333333</resolution>
-                            <min_angle>-2.3562</min_angle>
-                            <max_angle>2.3562</max_angle>
-                        </horizontal>
-                    </scan>
-                    <range>
-                        <min>0.04</min>
-                        <max>25</max>
-                        <resolution>0.01</resolution>
-                    </range>
-                    <noise>
-                        <type>gaussian</type>
-                        <mean>0</mean>
-                        <stddev>0.01</stddev>
-                    </noise>
-                </lidar>
-            </sensor>
-
-            <visual name="laser_rear_bottom_visual">
-                <pose>-0.12 0 0.1625 0 0 0</pose>
-                <geometry>
-                    <box>
-                        <size>0.06 0.065 0.045</size>
-                    </box>
-                </geometry>
-                <material>
-                    <ambient>200 180 180 1</ambient>
-                    <diffuse>200 180 180 1</diffuse>
-                </material>
-            </visual>
-            <visual name="laser_rear_top_visual">
-                <pose>-0.12 0.0 0.2025 0 0 0</pose>
-                <geometry>
-                    <cylinder>
-                        <length>0.04</length>
-                        <radius>0.02</radius>
-                    </cylinder>
-                </geometry>
-                <material>
-                    <ambient>0 0 0 1</ambient>
-                    <diffuse>0 0 0 1</diffuse>
-                </material>
-            </visual>
-            <visual name="laser_rear_cable_green">
-                <pose>-0.045 -0.01 0.1525 0 1.5707963267948966 0</pose>
-                <geometry>
-                    <cylinder>
-                        <length>0.09</length>
-                        <radius>0.005</radius>
-                    </cylinder>
-                </geometry>
-                <material>
-                    <ambient>120 255 120 1</ambient>
-                    <diffuse>120 255 120 1</diffuse>
-                </material>
-            </visual>
-            <visual name="laser_rear_cable_black">
-                <pose>-0.045 0.01 0.1525 0 1.5707963267948966 0</pose>
-                <geometry>
-                    <cylinder>
-                        <length>0.09</length>
-                        <radius>0.005</radius>
-                    </cylinder>
-                </geometry>
-                <material>
-                    <ambient>10 10 10 1</ambient>
-                    <diffuse>10 10 10 1</diffuse>
-                </material>
-            </visual>
-            <sensor name="laser_rear" type="gpu_lidar">
-                <pose>-0.12 0 0.1925 0 0 3.141592</pose>
-                <update_rate>15</update_rate>
-                <lidar>
-                    <scan>
-                        <horizontal>
-                            <samples>811</samples>
-                            <resolution>0.3333333333</resolution>
-                            <min_angle>-2.3562</min_angle>
-                            <max_angle>2.3562</max_angle>
-                        </horizontal>
-                    </scan>
-                    <range>
-                        <min>0.04</min>
-                        <max>25</max>
-                        <resolution>0.01</resolution>
-                    </range>
-                    <noise>
-                        <type>gaussian</type>
-                        <mean>0</mean>
-                        <stddev>0.01</stddev>
-                    </noise>
-                </lidar>
-            </sensor>
-
-            <!-- 3x Mynt Eye D in low-reslution medium-fps mode.
-                https://www.mynteye.com/pages/mynt-eye-d
-                -->
-            <visual name="rgbd_front_visual">
-                <pose>0.235 0 0.1025 0 0 0</pose>
-                <geometry>
-                    <box>
-                        <size>0.03 0.162 0.03</size>
-                    </box>
-                </geometry>
-                <material>
-                    <ambient>0 0 0</ambient>
-                    <diffuse>0 0 0</diffuse>
-                </material>
-            </visual>
-            <sensor name="rgbd_front" type="rgbd_camera">
-                <pose>0.250001 0 0.1025 0 0 0</pose>
-                <always_on>1</always_on>
-                <update_rate>30</update_rate>
-                <camera name="rgbd_front_rgbd">
-                    <pose frame="">0 0 0 0 -1.5707 1.5707</pose>
-                    <horizontal_fov>1.483583268116444</horizontal_fov>
-                    <lens>
-                        <intrinsics>
-                          <!-- fx = fy = width / ( 2 * tan (hfov / 2 ) ) -->
-                          <fx>349.2</fx>
-                          <fy>349.2</fy>
-                          <!-- cx = ( width - 1 ) / 2 -->
-                          <cx>319.5</cx>
-                          <!-- cy = ( height - 1 ) / 2 -->
-                          <cy>179.5</cy>
-                          <s>0</s>
-                        </intrinsics>
-                    </lens>
-                    <distortion>
-                        <k1>0.0</k1>
-                        <k2>0.0</k2>
-                        <k3>0.0</k3>
-                        <p1>0.0</p1>
-                        <p2>0.0</p2>
-                        <center>0.5 0.5</center>
-                    </distortion>
-                    <image>
-                        <width>640</width>
-                        <height>360</height>
-                        <format>R8G8B8</format>
-                    </image>
-                    <clip>
-                        <near>0.01</near>
-                        <far>300</far>
-                    </clip>
-                    <depth_camera>
-                      <clip>
-                        <near>0.1</near>
-                        <far>10</far>
-                      </clip>
-                    </depth_camera>
-                    <noise>
-                        <type>gaussian</type>
-                        <mean>0</mean>
-                        <stddev>0.007</stddev>
-                    </noise>
-                </camera>
-            </sensor>
-
-            <visual name="rgbd_rear_visual">
-                <pose>-0.235 0 0.1025 0 0 0</pose>
-                <geometry>
-                    <box>
-                        <size>0.03 0.162 0.03</size>
-                    </box>
-                </geometry>
-                <material>
-                    <ambient>0 0 0</ambient>
-                    <diffuse>0 0 0</diffuse>
-                </material>
-            </visual>
-            <sensor name="rgbd_rear" type="rgbd_camera">
-                <pose>-0.250001 0 0.1025 0 0 3.141592653589793</pose>
-                <always_on>1</always_on>
-                <!-- Mynt Eye D in low-resolution high-fps mode. -->
-                <update_rate>30</update_rate>
-                <camera name="rear_rgbd">
-                    <pose frame="">0 0 0 0 -1.5707 1.5707</pose>
-                    <horizontal_fov>1.483583268116444</horizontal_fov>
-                    <lens>
-                        <intrinsics>
-                          <!-- fx = fy = width / ( 2 * tan (hfov / 2 ) ) -->
-                          <fx>349.2</fx>
-                          <fy>349.2</fy>
-                          <!-- cx = ( width - 1 ) / 2 -->
-                          <cx>319.5</cx>
-                          <!-- cy = ( height - 1 ) / 2 -->
-                          <cy>179.5</cy>
-                          <s>0</s>
-                        </intrinsics>
-                    </lens>
-                    <distortion>
-                        <k1>0.0</k1>
-                        <k2>0.0</k2>
-                        <k3>0.0</k3>
-                        <p1>0.0</p1>
-                        <p2>0.0</p2>
-                        <center>0.5 0.5</center>
-                    </distortion>
-                    <image>
-                        <width>640</width>
-                        <height>360</height>
-                        <format>R8G8B8</format>
-                    </image>
-                    <clip>
-                        <near>0.01</near>
-                        <far>300</far>
-                    </clip>
-                    <depth_camera>
-                      <clip>
-                        <near>0.1</near>
-                        <far>10</far>
-                      </clip>
-                    </depth_camera>
-                    <noise>
-                        <type>gaussian</type>
-                        <mean>0</mean>
-                        <stddev>0.007</stddev>
-                    </noise>
-                </camera>
-            </sensor>
-
-
-            <!-- Four KAYETON high-speed fisheye cameras running at medium speed,
-                undistorted into 1/4 of their original image size.
-                https://www.kayetoncctv.com/global-shutter-high-speed-120fps-hd-720p-webcam-uvc-plug-play-driverless-usb-camera-module-for-android-linux-windows-mac/
-              -->
-            <visual name="camera_front_visual">
-                <pose>0.2349 0 0.0725 0 1.5707963267948966 0</pose>
-                <geometry>
-                    <cylinder>
-                        <length>0.03</length>
-                        <radius>0.011</radius>
-                    </cylinder>
-                </geometry>
-                <material>
-                    <ambient>0 0 0 </ambient>
-                    <diffuse>0 0 0 </diffuse>
-                </material>
-            </visual>
-            <sensor name="camera_front" type="camera">
-                <pose>0.25 0 0.0725 0 0 0</pose>
-                <always_on>1</always_on>
-                <update_rate>30</update_rate>
-                <camera name="camera_front">
-                    <horizontal_fov>3.0</horizontal_fov>
-                    <lens>
-                        <intrinsics>
-                            <!-- fx = fy = width / ( 2 * tan (hfov / 2 ) ) -->
-                            <fx>11.3464</fx>
-                            <fy>11.3464</fy>
-                            <!-- cx = ( width + 1 ) / 2 -->
-                            <cx>340.5</cx>
-                            <!-- cy = ( height + 1 ) / 2 -->
-                            <cy>180.5</cy>
-                            <s>0</s>
-                        </intrinsics>
-                    </lens>
-                    <distortion>
-                        <k1>0.0</k1>
-                        <k2>0.0</k2>
-                        <k3>0.0</k3>
-                        <p1>0.0</p1>
-                        <p2>0.0</p2>
-                        <center>0.5 0.5</center>
-                    </distortion>
-                    <image>
-                        <width>640</width>
-                        <height>360</height>
-                        <format>R8G8B8</format>
-                    </image>
-                    <clip>
-                        <near>0.01</near>
-                        <far>300</far>
-                    </clip>
-                    <noise>
-                        <type>gaussian</type>
-                        <mean>0</mean>
-                        <stddev>0.007</stddev>
-                    </noise>
-                </camera>
-            </sensor>
-            <visual name="camera_rear_visual">
-                <pose>-0.2349 0 0.0725 0 -1.5707963267948966 0</pose>
-                <geometry>
-                    <cylinder>
-                        <length>0.03</length>
-                        <radius>0.011</radius>
-                    </cylinder>
-                </geometry>
-                <material>
-                    <ambient>0 0 0 </ambient>
-                    <diffuse>0 0 0 </diffuse>
-                </material>
-            </visual>
-            <sensor name="camera_rear" type="camera">
-                <pose>-0.25 0 0.0725 0 0 3.141592653589793</pose>
-                <always_on>1</always_on>
-                <update_rate>30</update_rate>
-                <camera name="camera_rear">
-                    <horizontal_fov>3.0</horizontal_fov>
-                    <lens>
-                        <intrinsics>
-                            <!-- fx = fy = width / ( 2 * tan (hfov / 2 ) ) -->
-                            <fx>11.3464</fx>
-                            <fy>11.3464</fy>
-                            <!-- cx = ( width - 1 ) / 2 -->
-                            <cx>319.5</cx>
-                            <!-- cy = ( height - 1 ) / 2 -->
-                            <cy>179.5</cy>
-                            <s>0</s>
-                        </intrinsics>
-                    </lens>
-                    <distortion>
-                        <k1>0.0</k1>
-                        <k2>0.0</k2>
-                        <k3>0.0</k3>
-                        <p1>0.0</p1>
-                        <p2>0.0</p2>
-                        <center>0.5 0.5</center>
-                    </distortion>
-                    <image>
-                        <width>640</width>
-                        <height>360</height>
-                        <format>R8G8B8</format>
-                    </image>
-                    <clip>
-                        <near>0.01</near>
-                        <far>300</far>
-                    </clip>
-                    <noise>
-                        <type>gaussian</type>
-                        <mean>0</mean>
-                        <stddev>0.007</stddev>
-                    </noise>
-                </camera>
-            </sensor>
-            <visual name="camera_left_visual">
-                <pose>0.0 0.22 0.0725 -1.5707963267948966 0 0</pose>
-                <geometry>
-                    <cylinder>
-                        <length>0.005</length>
-                        <radius>0.011</radius>
-                    </cylinder>
-                </geometry>
-                <material>
-                    <ambient>0 0 0 1</ambient>
-                    <diffuse>0 0 0 1</diffuse>
-                </material>
-            </visual>
-            <sensor name="camera_left" type="camera">
-                <pose>0.0 0.225 0 0.0725 0 0 1.5707963267948966</pose>
-                <always_on>1</always_on>
-                <update_rate>30</update_rate>
-                <camera name="camera_left">
-                    <horizontal_fov>3.0</horizontal_fov>
-                    <lens>
-                        <intrinsics>
-                            <!-- fx = fy = width / ( 2 * tan (hfov / 2 ) ) -->
-                            <fx>11.3464</fx>
-                            <fy>11.3464</fy>
-                            <!-- cx = ( width + 1 ) / 2 -->
-                            <cx>340.5</cx>
-                            <!-- cy = ( height + 1 ) / 2 -->
-                            <cy>180.5</cy>
-                            <s>0</s>
-                        </intrinsics>
-                    </lens>
-                    <distortion>
-                        <k1>0.0</k1>
-                        <k2>0.0</k2>
-                        <k3>0.0</k3>
-                        <p1>0.0</p1>
-                        <p2>0.0</p2>
-                        <center>0.5 0.5</center>
-                    </distortion>
-                    <image>
-                        <width>640</width>
-                        <height>360</height>
-                        <format>R8G8B8</format>
-                    </image>
-                    <clip>
-                        <near>0.01</near>
-                        <far>300</far>
-                    </clip>
-                    <noise>
-                        <type>gaussian</type>
-                        <mean>0</mean>
-                        <stddev>0.007</stddev>
-                    </noise>
-                </camera>
-            </sensor>
-            <visual name="camera_right_visual">
-                <pose>0.0 -0.22 0.0725 1.5707963267948966 0 0</pose>
-                <geometry>
-                    <cylinder>
-                        <length>0.005</length>
-                        <radius>0.011</radius>
-                    </cylinder>
-                </geometry>
-                <material>
-                    <ambient>0 0 0 1</ambient>
-                    <diffuse>0 0 0 1</diffuse>
-                </material>
-            </visual>
-            <sensor name="camera_right" type="camera">
-                <pose>0.0 -0.225 0.0725 0 0 -1.5707963267948966</pose>
-                <always_on>1</always_on>
-                <update_rate>30</update_rate>
-                <camera name="camera_right">
-                    <horizontal_fov>3.0</horizontal_fov>
-                    <lens>
-                        <intrinsics>
-                            <!-- fx = fy = width / ( 2 * tan (hfov / 2 ) ) -->
-                            <fx>11.3464</fx>
-                            <fy>11.3464</fy>
-                            <!-- cx = ( width + 1 ) / 2 -->
-                            <cx>340.5</cx>
-                            <!-- cy = ( height + 1 ) / 2 -->
-                            <cy>180.5</cy>
-                            <s>0</s>
-                        </intrinsics>
-                    </lens>
-                    <distortion>
-                        <k1>0.0</k1>
-                        <k2>0.0</k2>
-                        <k3>0.0</k3>
-                        <p1>0.0</p1>
-                        <p2>0.0</p2>
-                        <center>0.5 0.5</center>
-                    </distortion>
-                    <image>
-                        <width>640</width>
-                        <height>360</height>
-                        <format>R8G8B8</format>
-                    </image>
-                    <clip>
-                        <near>0.01</near>
-                        <far>300</far>
-                    </clip>
-                    <noise>
-                        <type>gaussian</type>
-                        <mean>0</mean>
-                        <stddev>0.007</stddev>
-                    </noise>
-                </camera>
-            </sensor>
-
-            <visual name="light_front_visual">
-                <pose>0.24 0 0.0425 0 1.5707963267948966 0</pose>
-                <geometry>
-                    <cylinder>
-                        <length>0.02001</length>
-                        <radius>0.004</radius>
-                    </cylinder>
-                </geometry>
-                <material>
-                    <ambient>255 255 115</ambient>
-                    <diffuse>255 255 115</diffuse>
-                </material>
-            </visual>
-            <light name="light_front" type="spot">
-                <pose>0.237 0 0.0425 0 0 0</pose>
-                <attenuation>
-                    <range>25</range>
-                    <linear>0</linear>
-                    <constant>0.1</constant>
-                    <quadratic>0.005</quadratic>
-                </attenuation>
-                <diffuse>0.8 0.8 0.5 1</diffuse>
-                <specular>0.8 0.8 0.5 1</specular>
-                <spot>
-                    <inner_angle>1.571</inner_angle>
-                    <outer_angle>2.1</outer_angle>
-                    <falloff>1</falloff>
-                </spot>
-                <direction>1 0 0</direction>
-                <cast_shadows>1</cast_shadows>
-            </light>
-            <visual name="light_rear_visual">
-                <pose>-0.24 0 0.0425 0 1.5707963267948966 0</pose>
-                <geometry>
-                    <cylinder>
-                        <length>0.02001</length>
-                        <radius>0.004</radius>
-                    </cylinder>
-                </geometry>
-                <material>
-                    <ambient>255 255 115</ambient>
-                    <diffuse>255 255 115</diffuse>
-                </material>
-            </visual>
-            <light name="light_rear" type="spot">
-                <pose>-0.237 0 0.0425 0 0 0</pose>
-                <attenuation>
-                    <range>25</range>
-                    <linear>0</linear>
-                    <constant>0.1</constant>
-                    <quadratic>0.005</quadratic>
-                </attenuation>
-                <diffuse>0.8 0.8 0.5 1</diffuse>
-                <specular>0.8 0.8 0.5 1</specular>
-                <spot>
-                    <inner_angle>1.571</inner_angle>
-                    <outer_angle>2.1</outer_angle>
-                    <falloff>1</falloff>
-                </spot>
-                <direction>-1 0 0</direction>
-                <cast_shadows>1</cast_shadows>
-            </light>
-            <visual name="light_left_visual">
-                <pose>0 0.22 0.0425 1.5707963267948966 0 0</pose>
-                <geometry>
-                    <cylinder>
-                        <length>0.0005</length>
-                        <radius>0.004</radius>
-                    </cylinder>
-                </geometry>
-                <material>
-                    <ambient>255 255 115</ambient>
-                    <diffuse>255 255 115</diffuse>
-                </material>
-            </visual>
-            <light name="light_left" type="spot">
-                <pose>0 0.22 0.0425 0 0 0</pose>
-                <attenuation>
-                    <range>25</range>
-                    <linear>0</linear>
-                    <constant>0.1</constant>
-                    <quadratic>0.005</quadratic>
-                </attenuation>
-                <diffuse>0.8 0.8 0.5 1</diffuse>
-                <specular>0.8 0.8 0.5 1</specular>
-                <spot>
-                    <inner_angle>1.571</inner_angle>
-                    <outer_angle>2.1</outer_angle>
-                    <falloff>1</falloff>
-                </spot>
-                <direction>0 1 0</direction>
-                <cast_shadows>1</cast_shadows>
-            </light>
-            <visual name="light_right_visual">
-                <pose>0 -0.22 0.0425 1.5707963267948966 0 0</pose>
-                <geometry>
-                    <cylinder>
-                        <length>0.0005</length>
-                        <radius>0.004</radius>
-                    </cylinder>
-                </geometry>
-                <material>
-                    <ambient>255 255 115</ambient>
-                    <diffuse>255 255 115</diffuse>
-                </material>
-            </visual>
-            <light name="light_right" type="spot">
-                <pose>0 -0.22 0.0425 0 0 0</pose>
-                <attenuation>
-                    <range>25</range>
-                    <linear>0</linear>
-                    <constant>0.1</constant>
-                    <quadratic>0.005</quadratic>
-                </attenuation>
-                <diffuse>0.8 0.8 0.5 1</diffuse>
-                <specular>0.8 0.8 0.5 1</specular>
-                <spot>
-                    <inner_angle>1.571</inner_angle>
-                    <outer_angle>2.1</outer_angle>
-                    <falloff>1</falloff>
-                </spot>
-                <direction>0 -1 0</direction>
-                <cast_shadows>1</cast_shadows>
-            </light>
-        </link>
-
-        <link name="front_left_wheel">
-            <pose>0.19 0.19 0 0 0 0</pose>
-            <!-- Inertia approximated by a solid cylinder of a smaller diameter
-                 than the whole wheel and almost full width (r=0.1, h=0.08),
-                 because most of the mass is is the hub motor, which is
-                 surrounded by air tire. -->
-            <inertial>
-                <mass>5.0</mass>
-                <inertia>
-                    <ixx>0.0153</ixx>
-                    <iyy>0.025</iyy>
-                    <izz>0.0153</izz>
-                </inertia>
-            </inertial>
-            <collision name="collision">
-                <pose>0 0 0 -1.5707963267948966 0 0</pose>
-                <geometry>
-                    <cylinder>
-                        <length>0.082</length>
-                        <radius>0.1275</radius>
-                    </cylinder>
-                </geometry>
-                <surface>
-                  <friction>
-                    <ode>
-                      <mu>1</mu>
-                      <mu2>1</mu2>
-                      <slip1>0.0475</slip1>
-                      <slip2>0</slip2>
-                      <fdir1>0 0 1</fdir1>
-                    </ode>
-                  </friction>
-                </surface>
-            </collision>
-            <visual name="tire_visual">
-                <pose>0 0 0 1.5708 0 0</pose>
-                <geometry>
-                    <mesh>
-                        <uri>meshes/wheel_left.dae</uri>
-                        <scale>1.3010204 1.3010204 2.05</scale>
-                    </mesh>
-                </geometry>
-            </visual>
-            <visual name="hub_visual">
-                <pose>0 -0.055 0 1.5707963267948966 0 0</pose>
-                <geometry>
-                    <cylinder>
-                        <length>0.025</length>
-                        <radius>0.04</radius>
-                    </cylinder>
-                </geometry>
-                <material>
-                    <ambient>128 128 128</ambient>
-                    <diffuse>128 128 128</diffuse>
-                </material>
-            </visual>
-            <visual name="axis_visual">
-                <pose>0 -0.08 0 1.5707963267948966 0 0</pose>
-                <geometry>
-                    <cylinder>
-                        <length>0.05</length>
-                        <radius>0.008</radius>
-                    </cylinder>
-                </geometry>
-                <material>
-                    <ambient>0 0 0</ambient>
-                    <diffuse>0 0 0</diffuse>
-                </material>
-            </visual>
-            <visual name="mount_visual">
-                <pose>0 -0.11 0 0 0 0</pose>
-                <geometry>
-                    <box>
-                        <size>0.05 0.07 0.025</size>
-                    </box>
-                </geometry>
-                <material>
-                    <ambient>128 128 128</ambient>
-                    <diffuse>128 128 128</diffuse>
-                </material>
-            </visual>
-        </link>
-
-        <link name="front_right_wheel">
-            <pose>0.19 -0.19 0 0 0 0</pose>
-            <inertial>
-                <mass>5.0</mass>
-                <inertia>
-                    <ixx>0.0153</ixx>
-                    <iyy>0.025</iyy>
-                    <izz>0.0153</izz>
-                </inertia>
-            </inertial>
-            <collision name="collision">
-                <pose>0 0 0 1.5707963267948966 0 0</pose>
-                <geometry>
-                    <cylinder>
-                        <length>0.082</length>
-                        <radius>0.1275</radius>
-                    </cylinder>
-                </geometry>
-                <surface>
-                  <friction>
-                    <ode>
-                      <mu>1</mu>
-                      <mu2>1</mu2>
-                      <slip1>0.0475</slip1>
-                      <slip2>0</slip2>
-                      <fdir1>0 0 1</fdir1>
-                    </ode>
-                  </friction>
-                </surface>
-            </collision>
-            <visual name="tire_visual">
-                <pose>0 0 0 1.5708 0 0</pose>
-                <geometry>
-                    <mesh>
-                        <uri>meshes/wheel_right.dae</uri>
-                        <scale>1.3010204 1.3010204 2.05</scale>
-                    </mesh>
-                </geometry>
-            </visual>
-            <visual name="hub_visual">
-                <pose>0 0.055 0 1.5707963267948966 0 0</pose>
-                <geometry>
-                    <cylinder>
-                        <length>0.025</length>
-                        <radius>0.04</radius>
-                    </cylinder>
-                </geometry>
-                <material>
-                    <ambient>128 128 128</ambient>
-                    <diffuse>128 128 128</diffuse>
-                </material>
-            </visual>
-            <visual name="axis_visual">
-                <pose>0 0.08 0 1.5707963267948966 0 0</pose>
-                <geometry>
-                    <cylinder>
-                        <length>0.05</length>
-                        <radius>0.008</radius>
-                    </cylinder>
-                </geometry>
-                <material>
-                    <ambient>0 0 0</ambient>
-                    <diffuse>0 0 0</diffuse>
-                </material>
-            </visual>
-            <visual name="mount_visual">
-                <pose>0 0.11 0 0 0 0</pose>
-                <geometry>
-                    <box>
-                        <size>0.05 0.07 0.025</size>
-                    </box>
-                </geometry>
-                <material>
-                    <ambient>128 128 128</ambient>
-                    <diffuse>128 128 128</diffuse>
-                </material>
-            </visual>
-        </link>
-
-        <link name="rear_left_wheel">
-            <pose>-0.19 0.19 0 0 0 0</pose>
-            <inertial>
-                <mass>5.0</mass>
-                <inertia>
-                    <ixx>0.0153</ixx>
-                    <iyy>0.025</iyy>
-                    <izz>0.0153</izz>
-                </inertia>
-            </inertial>
-            <collision name="collision">
-                <pose>0 0 0 -1.5707963267948966 0 0</pose>
-                <geometry>
-                    <cylinder>
-                        <length>0.082</length>
-                        <radius>0.1275</radius>
-                    </cylinder>
-                </geometry>
-                <surface>
-                  <friction>
-                    <ode>
-                      <mu>1</mu>
-                      <mu2>1</mu2>
-                      <slip1>0.0475</slip1>
-                      <slip2>0</slip2>
-                      <fdir1>0 0 1</fdir1>
-                    </ode>
-                  </friction>
-                </surface>
-            </collision>
-            <visual name="tire_visual">
-                <pose>0 0 0 1.5708 0 0</pose>
-                <geometry>
-                    <mesh>
-                        <uri>meshes/wheel_left.dae</uri>
-                        <scale>1.3010204 1.3010204 2.05</scale>
-                    </mesh>
-                </geometry>
-            </visual>
-            <visual name="hub_visual">
-                <pose>0 -0.055 0 1.5707963267948966 0 0</pose>
-                <geometry>
-                    <cylinder>
-                        <length>0.025</length>
-                        <radius>0.04</radius>
-                    </cylinder>
-                </geometry>
-                <material>
-                    <ambient>128 128 128</ambient>
-                    <diffuse>128 128 128</diffuse>
-                </material>
-            </visual>
-            <visual name="axis_visual">
-                <pose>0 -0.08 0 1.5707963267948966 0 0</pose>
-                <geometry>
-                    <cylinder>
-                        <length>0.05</length>
-                        <radius>0.008</radius>
-                    </cylinder>
-                </geometry>
-                <material>
-                    <ambient>0 0 0</ambient>
-                    <diffuse>0 0 0</diffuse>
-                </material>
-            </visual>
-            <visual name="mount_visual">
-                <pose>0 -0.11 0 0 0 0</pose>
-                <geometry>
-                    <box>
-                        <size>0.05 0.07 0.025</size>
-                    </box>
-                </geometry>
-                <material>
-                    <ambient>128 128 128</ambient>
-                    <diffuse>128 128 128</diffuse>
-                </material>
-            </visual>
-        </link>
-
-        <link name="rear_right_wheel">
-            <pose>-0.19 -0.19 0 0 0 0</pose>
-            <inertial>
-                <mass>5.0</mass>
-                <inertia>
-                    <ixx>0.0153</ixx>
-                    <iyy>0.025</iyy>
-                    <izz>0.0153</izz>
-                </inertia>
-            </inertial>
-            <collision name="collision">
-                <pose>0 0 0 1.5707963267948966 0 0</pose>
-                <geometry>
-                    <cylinder>
-                        <length>0.082</length>
-                        <radius>0.1275</radius>
-                    </cylinder>
-                </geometry>
-                <surface>
-                  <friction>
-                    <ode>
-                      <mu>1</mu>
-                      <mu2>1</mu2>
-                      <slip1>0.0475</slip1>
-                      <slip2>0</slip2>
-                      <fdir1>0 0 1</fdir1>
-                    </ode>
-                  </friction>
-                </surface>
-            </collision>
-            <visual name="tire_visual">
-                <pose>0 0 0 1.5708 0 0</pose>
-                <geometry>
-                    <mesh>
-                        <uri>meshes/wheel_right.dae</uri>
-                        <scale>1.3010204 1.3010204 2.05</scale>
-                    </mesh>
-                </geometry>
-            </visual>
-            <visual name="hub_visual">
-                <pose>0 0.055 0 1.5707963267948966 0 0</pose>
-                <geometry>
-                    <cylinder>
-                        <length>0.025</length>
-                        <radius>0.04</radius>
-                    </cylinder>
-                </geometry>
-                <material>
-                    <ambient>128 128 128</ambient>
-                    <diffuse>128 128 128</diffuse>
-                </material>
-            </visual>
-            <visual name="axis_visual">
-                <pose>0 0.08 0 1.5707963267948966 0 0</pose>
-                <geometry>
-                    <cylinder>
-                        <length>0.05</length>
-                        <radius>0.008</radius>
-                    </cylinder>
-                </geometry>
-                <material>
-                    <ambient>0 0 0</ambient>
-                    <diffuse>0 0 0</diffuse>
-                </material>
-            </visual>
-            <visual name="mount_visual">
-                <pose>0 0.11 0 0 0 0</pose>
-                <geometry>
-                    <box>
-                        <size>0.05 0.07 0.025</size>
-                    </box>
-                </geometry>
-                <material>
-                    <ambient>128 128 128</ambient>
-                    <diffuse>128 128 128</diffuse>
-                </material>
-            </visual>
-        </link>
-
-        <!-- 4x 500W hub motor with ~30 km/h maximum speed.
-            However, we operate them with a speed and torque limit
-            in software.
-            https://www.uumotor.com/10-inch-single-shaft-brushless-motor-sensorless.html
-        -->
-        <joint name="front_left_wheel_joint" type="revolute">
-            <child>front_left_wheel</child>
-            <parent>base_link</parent>
-            <axis>
-                <xyz>0 1 0</xyz>
-                <limit>
-                    <lower>-1.79769e+308</lower>
-                    <upper>+1.79769e+308</upper>
-                    <!-- 2.5 m/s => angular velocity of the wheel in rad/s -->
-                    <velocity>19.61</velocity>
-                    <!-- Torque in NM. -->
-                    <effort>10</effort>
-                </limit>
-                <use_parent_model_frame>1</use_parent_model_frame>
-            </axis>
-        </joint>
-
-        <joint name="rear_left_wheel_joint" type="revolute">
-            <parent>base_link</parent>
-            <child>rear_left_wheel</child>
-            <axis>
-                <xyz>0 1 0</xyz>
-                <limit>
-                    <lower>-1.79769e+308</lower>
-                    <upper>+1.79769e+308</upper>
-                    <!-- 2.5 m/s => angular velocity of the wheel in rad/s -->
-                    <velocity>19.61</velocity>
-                    <!-- Torque in NM. -->
-                    <effort>10</effort>
-                </limit>
-            </axis>
-        </joint>
-
-        <joint name="rear_right_wheel_joint" type="revolute">
-            <parent>base_link</parent>
-            <child>rear_right_wheel</child>
-            <axis>
-                <xyz>0 1 0</xyz>
-                <limit>
-                    <lower>-1.79769e+308</lower>
-                    <upper>+1.79769e+308</upper>
-                    <!-- 2.5 m/s => angular velocity of the wheel in rad/s -->
-                    <velocity>19.61</velocity>
-                    <!-- Torque in NM. -->
-                    <effort>10</effort>
-                </limit>
-            </axis>
-        </joint>
-
-        <joint name="front_right_wheel_joint" type="revolute">
-            <parent>base_link</parent>
-            <child>front_right_wheel</child>
-            <axis>
-                <xyz>0 1 0</xyz>
-                <limit>
-                    <lower>-1.79769e+308</lower>
-                    <upper>+1.79769e+308</upper>
-                    <!-- 2.5 m/s => angular velocity of the wheel in rad/s -->
-                    <velocity>19.61</velocity>
-                    <!-- Torque in NM. -->
-                    <effort>10</effort>
-                </limit>
-            </axis>
-        </joint>
-    </model>
-</sdf>
+<?xml version="1.0"?>
+<sdf version="1.6">
+    <model name="ROBOTIKA_FREYJA">
+        <pose>0 0 0.1275 0 0 0</pose>
+        <enable_wind>1</enable_wind>
+        <link name="base_link">
+            <!-- Mass modelled as solid 0.3 x 0.24 x 0.08 cuboid at central
+                 bottom part of the robot, where battery and onboard computer
+                 are located, surrounded by ventilation space and lightweight
+                 chassis.
+                 Note: Most of the mass of the robot is *not* in the main body,
+                       but in wheels, which contain hub motors.
+                 https://en.wikipedia.org/wiki/List_of_moments_of_inertia
+            -->
+            <inertial>
+                <pose>0 0 0.0725 0 0 0</pose>
+                <mass>9.6</mass>
+                <inertia>
+                    <ixx>0.0512</ixx>
+                    <iyy>0.07712</iyy>
+                    <izz>0.11808</izz>
+                </inertia>
+            </inertial>
+
+            <!-- This bounding box covers also wheel mounts at the bottom and
+                 lidars on the top. -->
+            <collision name="chassis_collision">
+                <pose>0 0 0.105 0 0 0</pose>
+                <geometry>
+                    <box>
+                        <size>0.50 0.24 0.235</size>
+                    </box>
+                </geometry>
+            </collision>
+
+            <visual name="chassis_main_visual">
+                <pose>0 0 0.0725 0 0 0</pose>
+                <geometry>
+                    <box>
+                        <size>0.46 0.24 0.12</size>
+                    </box>
+                </geometry>
+                <material>
+                    <ambient>0.8706 0.7216 0.5294 1.0</ambient>
+                    <diffuse>0.8706 0.7216 0.5294 1.0</diffuse>
+                </material>
+            </visual>
+            <visual name="chassis_front_face_bottom">
+                <pose>0.24 0 0.0175 0 0 0</pose>
+                <geometry>
+                    <box>
+                        <size>0.02001 0.24 0.01</size>
+                    </box>
+                </geometry>
+                <material>
+                    <ambient>0.8706 0.7216 0.5294 1.0</ambient>
+                    <diffuse>0.8706 0.7216 0.5294 1.0</diffuse>
+                </material>
+            </visual>
+            <visual name="chassis_front_face_top">
+                <pose>0.24 0 0.1275 0 0 0</pose>
+                <geometry>
+                    <box>
+                        <size>0.02001 0.24 0.01</size>
+                    </box>
+                </geometry>
+                <material>
+                    <ambient>0.8706 0.7216 0.5294 1.0</ambient>
+                    <diffuse>0.8706 0.7216 0.5294 1.0</diffuse>
+                </material>
+            </visual>
+            <visual name="chassis_front_face_top_marker">
+                <pose>0.245 0 0.1325 0 0 0</pose>
+                <geometry>
+                    <box>
+                        <size>0.01 0.12 0.0001</size>
+                    </box>
+                </geometry>
+                <material>
+                    <ambient>0.0 0.7059 0.0 1.0</ambient>
+                    <diffuse>0.0 0.7059 0.0 1.0</diffuse>
+                </material>
+            </visual>
+            <visual name="chassis_front_face_left">
+                <pose>0.24 0.115 0.0725 0 0 0</pose>
+                <geometry>
+                    <box>
+                        <size>0.02001 0.01 0.12</size>
+                    </box>
+                </geometry>
+                <material>
+                    <ambient>0.8706 0.7216 0.5294 1.0</ambient>
+                    <diffuse>0.8706 0.7216 0.5294 1.0</diffuse>
+                </material>
+            </visual>
+            <visual name="chassis_front_face_right">
+                <pose>0.24 -0.115 0.0725 0 0 0</pose>
+                <geometry>
+                    <box>
+                        <size>0.02001 0.01 0.12</size>
+                    </box>
+                </geometry>
+                <material>
+                    <ambient>0.8706 0.7216 0.5294 1.0</ambient>
+                    <diffuse>0.8706 0.7216 0.5294 1.0</diffuse>
+                </material>
+            </visual>
+            <visual name="chassis_rear_face_bottom">
+                <pose>-0.24 0 0.0175 0 0 0</pose>
+                <geometry>
+                    <box>
+                        <size>0.02001 0.24 0.01</size>
+                    </box>
+                </geometry>
+                <material>
+                    <ambient>0.8706 0.7216 0.5294 1.0</ambient>
+                    <diffuse>0.8706 0.7216 0.5294 1.0</diffuse>
+                </material>
+            </visual>
+            <visual name="chassis_rear_face_top">
+                <pose>-0.24 0 0.1275 0 0 0</pose>
+                <geometry>
+                    <box>
+                        <size>0.02001 0.24 0.01</size>
+                    </box>
+                </geometry>
+                <material>
+                    <ambient>0.8706 0.7216 0.5294 1.0</ambient>
+                    <diffuse>0.8706 0.7216 0.5294 1.0</diffuse>
+                </material>
+            </visual>
+            <visual name="chassis_rear_face_top_marker">
+                <pose>-0.245 0 0.1325 0 0 0</pose>
+                <geometry>
+                    <box>
+                        <size>0.01 0.12 0.0001</size>
+                    </box>
+                </geometry>
+                <material>
+                    <ambient>0.7059 0.0 0.0 1.0</ambient>
+                    <diffuse>0.7059 0.0 0.0 1.0</diffuse>
+                </material>
+            </visual>
+            <visual name="chassis_rear_face_left">
+                <pose>-0.24 0.115 0.0725 0 0 0</pose>
+                <geometry>
+                    <box>
+                        <size>0.02001 0.01 0.12</size>
+                    </box>
+                </geometry>
+                <material>
+                    <ambient>0.8706 0.7216 0.5294 1.0</ambient>
+                    <diffuse>0.8706 0.7216 0.5294 1.0</diffuse>
+                </material>
+            </visual>
+            <visual name="chassis_rear_face_right">
+                <pose>-0.24 -0.115 0.0725 0 0 0</pose>
+                <geometry>
+                    <box>
+                        <size>0.02001 0.01 0.12</size>
+                    </box>
+                </geometry>
+                <material>
+                    <ambient>0.8706 0.7216 0.5294 1.0</ambient>
+                    <diffuse>0.8706 0.7216 0.5294 1.0</diffuse>
+                </material>
+            </visual>
+            <visual name="lidar_base_visual">
+                <pose>0 0 0.135 0 0 0</pose>
+                <geometry>
+                    <box>
+                        <size>0.3001 0.21 0.005</size>
+                    </box>
+                </geometry>
+                <material>
+                    <ambient>0.8706 0.7216 0.5294 1.0</ambient>
+                    <diffuse>0.8706 0.7216 0.5294 1.0</diffuse>
+                </material>
+            </visual>
+            <visual name="cable_cover_left_visual">
+                <pose>0 0.095 0.1475 0 0 0</pose>
+                <geometry>
+                    <box>
+                        <size>0.07 0.02 0.02001</size>
+                    </box>
+                </geometry>
+                <material>
+                    <ambient>0.8706 0.7216 0.5294 1.0</ambient>
+                    <diffuse>0.8706 0.7216 0.5294 1.0</diffuse>
+                </material>
+            </visual>
+            <visual name="cable_cover_right_visual">
+                <pose>0 -0.095 0.1475 0 0 0</pose>
+                <geometry>
+                    <box>
+                        <size>0.07 0.02 0.02001</size>
+                    </box>
+                </geometry>
+                <material>
+                    <ambient>0.8706 0.7216 0.5294 1.0</ambient>
+                    <diffuse>0.8706 0.7216 0.5294 1.0</diffuse>
+                </material>
+            </visual>
+            <visual name="cable_cover_top_visual">
+                <pose>0 0.0 0.16 0 0 0</pose>
+                <geometry>
+                    <box>
+                        <size>0.07 0.21 0.005</size>
+                    </box>
+                </geometry>
+                <material>
+                    <ambient>0.8706 0.7216 0.5294 1.0</ambient>
+                    <diffuse>0.8706 0.7216 0.5294 1.0</diffuse>
+                </material>
+            </visual>
+            <collision name="left_mount_collision">
+                <pose>0.0 0.17 0.085 0 0 0</pose>
+                <geometry>
+                    <box>
+                        <size>0.08 0.1 0.115</size>
+                    </box>
+                </geometry>
+            </collision>
+            <visual name="left_mount_visual">
+                <pose>0.0 0.17 0.0725 0 0 0</pose>
+                <geometry>
+                    <box>
+                        <size>0.08 0.1 0.09</size>
+                    </box>
+                </geometry>
+                <material>
+                    <ambient>0.8706 0.7216 0.5294 1.0</ambient>
+                    <diffuse>0.8706 0.7216 0.5294 1.0</diffuse>
+                </material>
+            </visual>
+            <visual name="left_mount_top_marker_visual">
+                <pose>0.0 0.215 0.1175 0 0 0</pose>
+                <geometry>
+                    <box>
+                        <size>0.08 0.01 0.0001</size>
+                    </box>
+                </geometry>
+                <material>
+                    <ambient>0.0 0.0 0.7059 1.0</ambient>
+                    <diffuse>0.0 0.0 0.7059 1.0</diffuse>
+                </material>
+            </visual>
+            <collision name="right_mount_collision">
+                <pose>0.0 -0.17 0.085 0 0 0</pose>
+                <geometry>
+                    <box>
+                        <size>0.08 0.1 0.115</size>
+                    </box>
+                </geometry>
+            </collision>
+            <visual name="right_mount_visual">
+                <pose>0.0 -0.17 0.0725 0 0 0</pose>
+                <geometry>
+                    <box>
+                        <size>0.08 0.1 0.09</size>
+                    </box>
+                </geometry>
+                <material>
+                    <ambient>0.8706 0.7216 0.5294 1.0</ambient>
+                    <diffuse>0.8706 0.7216 0.5294 1.0</diffuse>
+                </material>
+            </visual>
+            <visual name="right_mount_top_marker_visual">
+                <pose>0.0 -0.215 0.1175 0 0 0</pose>
+                <geometry>
+                    <box>
+                        <size>0.08 0.01 0.0001</size>
+                    </box>
+                </geometry>
+                <material>
+                    <ambient>0.8627 0.8627 0.0 1.0</ambient>
+                    <diffuse>0.8627 0.8627 0.0 1.0</diffuse>
+                </material>
+            </visual>
+            <visual name="emergency_stop_bottom_visual">
+                <pose>0.0 -0.155 0.125 0 0 0</pose>
+                <geometry>
+                    <cylinder>
+                        <length>0.015</length>
+                        <radius>0.015</radius>
+                    </cylinder>
+                </geometry>
+                <material>
+                    <ambient>0.7059 0.7059 0.7059 1.0</ambient>
+                    <diffuse>0.7059 0.7059 0.7059 1.0</diffuse>
+                </material>
+            </visual>
+            <visual name="emergency_stop_top_visual">
+                <pose>0.0 -0.155 0.135 0 0 0</pose>
+                <geometry>
+                    <cylinder>
+                        <length>0.005</length>
+                        <radius>0.02</radius>
+                    </cylinder>
+                </geometry>
+                <material>
+                    <ambient>1.0 0.0 0.0 1.0</ambient>
+                    <diffuse>1.0 0.0 0.0 1.0</diffuse>
+                </material>
+            </visual>
+            <visual name="power_switch_bottom_visual">
+                <pose>0.0 0.155 0.1225 0 0 0</pose>
+                <geometry>
+                    <cylinder>
+                        <length>0.005</length>
+                        <radius>0.015</radius>
+                    </cylinder>
+                </geometry>
+                <material>
+                    <ambient>0.0 0.0 0.0 1.0</ambient>
+                    <diffuse>0.0 0.0 0.0 1.0</diffuse>
+                </material>
+            </visual>
+            <visual name="power_switch_middle_visual">
+                <pose>0.0 0.155 0.1275 0 0 0</pose>
+                <geometry>
+                    <cylinder>
+                        <length>0.005</length>
+                        <radius>0.015</radius>
+                    </cylinder>
+                </geometry>
+                <material>
+                    <ambient>0.7059 0.7059 0.7059 1.0</ambient>
+                    <diffuse>0.7059 0.7059 0.7059 1.0</diffuse>
+                </material>
+            </visual>
+            <visual name="power_switch_top_visual">
+                <pose>0.0 0.155 0.1375 0 0 0.35</pose>
+                <geometry>
+                    <box>
+                        <size>0.025 0.005 0.01</size>
+                    </box>
+                </geometry>
+                <material>
+                    <ambient>0.0 0.0 0.0 1.0</ambient>
+                    <diffuse>0.0 0.0 0.0 1.0</diffuse>
+                </material>
+            </visual>
+
+            <!-- CMPS14 provides IMU and magnetic heading information.
+                https://www.robot-electronics.co.uk/cmps14-tilt-compensated-compass.html
+            -->
+            <sensor name="imu_sensor" type="imu">
+                <always_on>1</always_on>
+                <update_rate>50</update_rate>
+                <imu>
+                    <angular_velocity>
+                        <x>
+                            <noise type="gaussian">
+                                <mean>0</mean>
+                                <stddev>2e-4</stddev>
+                                <bias_mean>0.0000075</bias_mean>
+                                <bias_stddev>0.0000008</bias_stddev>
+                                <dynamic_bias_stddev>0.0000004</dynamic_bias_stddev>
+                                <dynamic_bias_correlation_time>1000.0</dynamic_bias_correlation_time>
+                            </noise>
+                        </x>
+                        <y>
+                            <noise type="gaussian">
+                                <mean>0</mean>
+                                <stddev>2e-4</stddev>
+                                <bias_mean>0.0000075</bias_mean>
+                                <bias_stddev>0.0000008</bias_stddev>
+                                <dynamic_bias_stddev>0.0000004</dynamic_bias_stddev>
+                                <dynamic_bias_correlation_time>1000.0</dynamic_bias_correlation_time>
+                            </noise>
+                        </y>
+                        <z>
+                            <noise type="gaussian">
+                                <mean>0</mean>
+                                <stddev>2e-4</stddev>
+                                <bias_mean>0.0000075</bias_mean>
+                                <bias_stddev>0.0000008</bias_stddev>
+                                <dynamic_bias_stddev>0.0000004</dynamic_bias_stddev>
+                                <dynamic_bias_correlation_time>1000.0</dynamic_bias_correlation_time>
+                            </noise>
+                        </z>
+                    </angular_velocity>
+                    <linear_acceleration>
+                        <x>
+                            <noise type="gaussian">
+                                <mean>0</mean>
+                                <stddev>1e-2</stddev>
+                                <bias_mean>0.1</bias_mean>
+                                <bias_stddev>0.001</bias_stddev>
+                                <dynamic_bias_stddev>0.002</dynamic_bias_stddev>
+                                <dynamic_bias_correlation_time>300.0</dynamic_bias_correlation_time>
+                            </noise>
+                        </x>
+                        <y>
+                            <noise type="gaussian">
+                                <mean>0</mean>
+                                <stddev>1e-2</stddev>
+                                <bias_mean>0.1</bias_mean>
+                                <bias_stddev>0.001</bias_stddev>
+                                <dynamic_bias_stddev>0.002</dynamic_bias_stddev>
+                                <dynamic_bias_correlation_time>300.0</dynamic_bias_correlation_time>
+                            </noise>
+                        </y>
+                        <z>
+                            <noise type="gaussian">
+                                <mean>0</mean>
+                                <stddev>1e-2</stddev>
+                                <bias_mean>0.1</bias_mean>
+                                <bias_stddev>0.001</bias_stddev>
+                                <dynamic_bias_stddev>0.002</dynamic_bias_stddev>
+                                <dynamic_bias_correlation_time>300.0</dynamic_bias_correlation_time>
+                            </noise>
+                        </z>
+                    </linear_acceleration>
+                </imu>
+            </sensor>
+            <sensor name="magnetometer" type="magnetometer">
+                <always_on>1</always_on>
+                <update_rate>50</update_rate>
+                <magnetometer>
+                    <x>
+                        <noise type="gaussian">
+                            <mean>0.000000080</mean>
+                            <bias_mean>0.000000400</bias_mean>
+                        </noise>
+                    </x>
+                    <y>
+                        <noise type="gaussian">
+                            <mean>0.000000080</mean>
+                            <bias_mean>0.000000400</bias_mean>
+                        </noise>
+                    </y>
+                    <z>
+                        <noise type="gaussian">
+                            <mean>0.000000080</mean>
+                            <bias_mean>0.000000400</bias_mean>
+                        </noise>
+                    </z>
+                </magnetometer>
+            </sensor>
+
+            <!-- Infineon DPS310
+                https://www.infineon.com/cms/en/product/sensor/pressure-sensors/absolute-pressure-sensors-map-bap/dps310/
+            -->
+            <sensor name="air_pressure" type="air_pressure">
+                <always_on>1</always_on>
+                <update_rate>20</update_rate>
+                <air_pressure>
+                    <reference_altitude>0</reference_altitude>
+                    <noise type="gaussian">
+                        <mean>0.00000008</mean>
+                    </noise>
+                </air_pressure>
+            </sensor>
+
+            <!-- 2x SICK TIM881P lidar, a prototype without a good public URL. It is derived from
+                the TIM58x family:
+                https://www.sick.com/ch/en/detection-and-ranging-solutions/2d-lidar-sensors/tim5xx/tim581-2050101/p/p619344
+                -->
+            <visual name="laser_front_bottom_visual">
+                <pose>0.12 0 0.16 0 0 0</pose>
+                <geometry>
+                    <box>
+                        <size>0.06 0.065 0.045</size>
+                    </box>
+                </geometry>
+                <material>
+                    <ambient>0.7843 0.7059 0.7059 1.0</ambient>
+                    <diffuse>0.7843 0.7059 0.7059 1.0</diffuse>
+                </material>
+            </visual>
+            <visual name="laser_front_top_visual">
+                <pose>0.12 0.0 0.2025 0 0 0</pose>
+                <geometry>
+                    <cylinder>
+                        <length>0.04</length>
+                        <radius>0.02</radius>
+                    </cylinder>
+                </geometry>
+                <material>
+                    <ambient>0.0 0.0 0.0 1.0</ambient>
+                    <diffuse>0.0 0.0 0.0 1.0</diffuse>
+                </material>
+            </visual>
+            <visual name="laser_front_cable_green">
+                <pose>0.045 0.01 0.1525 0 1.5707963267948966 0</pose>
+                <geometry>
+                    <cylinder>
+                        <length>0.09</length>
+                        <radius>0.005</radius>
+                    </cylinder>
+                </geometry>
+                <material>
+                    <ambient>0.4706 1.0 0.4706 1.0</ambient>
+                    <diffuse>0.4706 1.0 0.4706 1.0</diffuse>
+                </material>
+            </visual>
+            <visual name="laser_front_cable_black">
+                <pose>0.045 -0.01 0.1525 0 1.5707963267948966 0</pose>
+                <geometry>
+                    <cylinder>
+                        <length>0.09</length>
+                        <radius>0.005</radius>
+                    </cylinder>
+                </geometry>
+                <material>
+                    <ambient>0.03922 0.03922 0.03922 1.0</ambient>
+                    <diffuse>0.03922 0.03922 0.03922 1.0</diffuse>
+                </material>
+            </visual>
+            <sensor name="laser_front" type="gpu_lidar">
+                <pose>0.12 0 0.1925 0 0 0</pose>
+                <update_rate>15</update_rate>
+                <lidar>
+                    <scan>
+                        <horizontal>
+                            <samples>811</samples>
+                            <resolution>0.3333333333</resolution>
+                            <min_angle>-2.3562</min_angle>
+                            <max_angle>2.3562</max_angle>
+                        </horizontal>
+                    </scan>
+                    <range>
+                        <min>0.04</min>
+                        <max>25</max>
+                        <resolution>0.01</resolution>
+                    </range>
+                    <noise>
+                        <type>gaussian</type>
+                        <mean>0</mean>
+                        <stddev>0.01</stddev>
+                    </noise>
+                </lidar>
+            </sensor>
+
+            <visual name="laser_rear_bottom_visual">
+                <pose>-0.12 0 0.1625 0 0 0</pose>
+                <geometry>
+                    <box>
+                        <size>0.06 0.065 0.045</size>
+                    </box>
+                </geometry>
+                <material>
+                    <ambient>0.7843 0.7059 0.7059 1.0</ambient>
+                    <diffuse>0.7843 0.7059 0.7059 1.0</diffuse>
+                </material>
+            </visual>
+            <visual name="laser_rear_top_visual">
+                <pose>-0.12 0.0 0.2025 0 0 0</pose>
+                <geometry>
+                    <cylinder>
+                        <length>0.04</length>
+                        <radius>0.02</radius>
+                    </cylinder>
+                </geometry>
+                <material>
+                    <ambient>0.0 0.0 0.0 1.0</ambient>
+                    <diffuse>0.0 0.0 0.0 1.0</diffuse>
+                </material>
+            </visual>
+            <visual name="laser_rear_cable_green">
+                <pose>-0.045 -0.01 0.1525 0 1.5707963267948966 0</pose>
+                <geometry>
+                    <cylinder>
+                        <length>0.09</length>
+                        <radius>0.005</radius>
+                    </cylinder>
+                </geometry>
+                <material>
+                    <ambient>0.4706 1.0 0.4706 1.0</ambient>
+                    <diffuse>0.4706 1.0 0.4706 1.0</diffuse>
+                </material>
+            </visual>
+            <visual name="laser_rear_cable_black">
+                <pose>-0.045 0.01 0.1525 0 1.5707963267948966 0</pose>
+                <geometry>
+                    <cylinder>
+                        <length>0.09</length>
+                        <radius>0.005</radius>
+                    </cylinder>
+                </geometry>
+                <material>
+                    <ambient>0.03922 0.03922 0.03922 1.0</ambient>
+                    <diffuse>0.03922 0.03922 0.03922 1.0</diffuse>
+                </material>
+            </visual>
+            <sensor name="laser_rear" type="gpu_lidar">
+                <pose>-0.12 0 0.1925 0 0 3.141592</pose>
+                <update_rate>15</update_rate>
+                <lidar>
+                    <scan>
+                        <horizontal>
+                            <samples>811</samples>
+                            <resolution>0.3333333333</resolution>
+                            <min_angle>-2.3562</min_angle>
+                            <max_angle>2.3562</max_angle>
+                        </horizontal>
+                    </scan>
+                    <range>
+                        <min>0.04</min>
+                        <max>25</max>
+                        <resolution>0.01</resolution>
+                    </range>
+                    <noise>
+                        <type>gaussian</type>
+                        <mean>0</mean>
+                        <stddev>0.01</stddev>
+                    </noise>
+                </lidar>
+            </sensor>
+
+            <!-- 3x Mynt Eye D in low-reslution medium-fps mode.
+                https://www.mynteye.com/pages/mynt-eye-d
+                -->
+            <visual name="rgbd_front_visual">
+                <pose>0.235 0 0.1025 0 0 0</pose>
+                <geometry>
+                    <box>
+                        <size>0.03 0.162 0.03</size>
+                    </box>
+                </geometry>
+                <material>
+                    <ambient>0.0 0.0 0.0 1.0</ambient>
+                    <diffuse>0.0 0.0 0.0 1.0</diffuse>
+                </material>
+            </visual>
+            <sensor name="rgbd_front" type="rgbd_camera">
+                <pose>0.250001 0 0.1025 0 0 0</pose>
+                <always_on>1</always_on>
+                <update_rate>30</update_rate>
+                <camera name="rgbd_front_rgbd">
+                    <pose frame="">0 0 0 0 -1.5707 1.5707</pose>
+                    <horizontal_fov>1.483583268116444</horizontal_fov>
+                    <lens>
+                        <intrinsics>
+                          <!-- fx = fy = width / ( 2 * tan (hfov / 2 ) ) -->
+                          <fx>349.2</fx>
+                          <fy>349.2</fy>
+                          <!-- cx = ( width - 1 ) / 2 -->
+                          <cx>319.5</cx>
+                          <!-- cy = ( height - 1 ) / 2 -->
+                          <cy>179.5</cy>
+                          <s>0</s>
+                        </intrinsics>
+                    </lens>
+                    <distortion>
+                        <k1>0.0</k1>
+                        <k2>0.0</k2>
+                        <k3>0.0</k3>
+                        <p1>0.0</p1>
+                        <p2>0.0</p2>
+                        <center>0.5 0.5</center>
+                    </distortion>
+                    <image>
+                        <width>640</width>
+                        <height>360</height>
+                        <format>R8G8B8</format>
+                    </image>
+                    <clip>
+                        <near>0.01</near>
+                        <far>300</far>
+                    </clip>
+                    <depth_camera>
+                      <clip>
+                        <near>0.1</near>
+                        <far>10</far>
+                      </clip>
+                    </depth_camera>
+                    <noise>
+                        <type>gaussian</type>
+                        <mean>0</mean>
+                        <stddev>0.007</stddev>
+                    </noise>
+                </camera>
+            </sensor>
+
+            <visual name="rgbd_rear_visual">
+                <pose>-0.235 0 0.1025 0 0 0</pose>
+                <geometry>
+                    <box>
+                        <size>0.03 0.162 0.03</size>
+                    </box>
+                </geometry>
+                <material>
+                    <ambient>0.0 0.0 0.0 1.0</ambient>
+                    <diffuse>0.0 0.0 0.0 1.0</diffuse>
+                </material>
+            </visual>
+            <sensor name="rgbd_rear" type="rgbd_camera">
+                <pose>-0.250001 0 0.1025 0 0 3.141592653589793</pose>
+                <always_on>1</always_on>
+                <!-- Mynt Eye D in low-resolution high-fps mode. -->
+                <update_rate>30</update_rate>
+                <camera name="rear_rgbd">
+                    <pose frame="">0 0 0 0 -1.5707 1.5707</pose>
+                    <horizontal_fov>1.483583268116444</horizontal_fov>
+                    <lens>
+                        <intrinsics>
+                          <!-- fx = fy = width / ( 2 * tan (hfov / 2 ) ) -->
+                          <fx>349.2</fx>
+                          <fy>349.2</fy>
+                          <!-- cx = ( width - 1 ) / 2 -->
+                          <cx>319.5</cx>
+                          <!-- cy = ( height - 1 ) / 2 -->
+                          <cy>179.5</cy>
+                          <s>0</s>
+                        </intrinsics>
+                    </lens>
+                    <distortion>
+                        <k1>0.0</k1>
+                        <k2>0.0</k2>
+                        <k3>0.0</k3>
+                        <p1>0.0</p1>
+                        <p2>0.0</p2>
+                        <center>0.5 0.5</center>
+                    </distortion>
+                    <image>
+                        <width>640</width>
+                        <height>360</height>
+                        <format>R8G8B8</format>
+                    </image>
+                    <clip>
+                        <near>0.01</near>
+                        <far>300</far>
+                    </clip>
+                    <depth_camera>
+                      <clip>
+                        <near>0.1</near>
+                        <far>10</far>
+                      </clip>
+                    </depth_camera>
+                    <noise>
+                        <type>gaussian</type>
+                        <mean>0</mean>
+                        <stddev>0.007</stddev>
+                    </noise>
+                </camera>
+            </sensor>
+
+
+            <!-- Four KAYETON high-speed fisheye cameras running at medium speed,
+                undistorted into 1/4 of their original image size.
+                https://www.kayetoncctv.com/global-shutter-high-speed-120fps-hd-720p-webcam-uvc-plug-play-driverless-usb-camera-module-for-android-linux-windows-mac/
+              -->
+            <visual name="camera_front_visual">
+                <pose>0.2349 0 0.0725 0 1.5707963267948966 0</pose>
+                <geometry>
+                    <cylinder>
+                        <length>0.03</length>
+                        <radius>0.011</radius>
+                    </cylinder>
+                </geometry>
+                <material>
+                    <ambient>0.0 0.0 0.0 1.0</ambient>
+                    <diffuse>0.0 0.0 0.0 1.0</diffuse>
+                </material>
+            </visual>
+            <sensor name="camera_front" type="camera">
+                <pose>0.25 0 0.0725 0 0 0</pose>
+                <always_on>1</always_on>
+                <update_rate>30</update_rate>
+                <camera name="camera_front">
+                    <horizontal_fov>3.0</horizontal_fov>
+                    <lens>
+                        <intrinsics>
+                            <!-- fx = fy = width / ( 2 * tan (hfov / 2 ) ) -->
+                            <fx>11.3464</fx>
+                            <fy>11.3464</fy>
+                            <!-- cx = ( width + 1 ) / 2 -->
+                            <cx>340.5</cx>
+                            <!-- cy = ( height + 1 ) / 2 -->
+                            <cy>180.5</cy>
+                            <s>0</s>
+                        </intrinsics>
+                    </lens>
+                    <distortion>
+                        <k1>0.0</k1>
+                        <k2>0.0</k2>
+                        <k3>0.0</k3>
+                        <p1>0.0</p1>
+                        <p2>0.0</p2>
+                        <center>0.5 0.5</center>
+                    </distortion>
+                    <image>
+                        <width>640</width>
+                        <height>360</height>
+                        <format>R8G8B8</format>
+                    </image>
+                    <clip>
+                        <near>0.01</near>
+                        <far>300</far>
+                    </clip>
+                    <noise>
+                        <type>gaussian</type>
+                        <mean>0</mean>
+                        <stddev>0.007</stddev>
+                    </noise>
+                </camera>
+            </sensor>
+            <visual name="camera_rear_visual">
+                <pose>-0.2349 0 0.0725 0 -1.5707963267948966 0</pose>
+                <geometry>
+                    <cylinder>
+                        <length>0.03</length>
+                        <radius>0.011</radius>
+                    </cylinder>
+                </geometry>
+                <material>
+                    <ambient>0.0 0.0 0.0 1.0</ambient>
+                    <diffuse>0.0 0.0 0.0 1.0</diffuse>
+                </material>
+            </visual>
+            <sensor name="camera_rear" type="camera">
+                <pose>-0.25 0 0.0725 0 0 3.141592653589793</pose>
+                <always_on>1</always_on>
+                <update_rate>30</update_rate>
+                <camera name="camera_rear">
+                    <horizontal_fov>3.0</horizontal_fov>
+                    <lens>
+                        <intrinsics>
+                            <!-- fx = fy = width / ( 2 * tan (hfov / 2 ) ) -->
+                            <fx>11.3464</fx>
+                            <fy>11.3464</fy>
+                            <!-- cx = ( width - 1 ) / 2 -->
+                            <cx>319.5</cx>
+                            <!-- cy = ( height - 1 ) / 2 -->
+                            <cy>179.5</cy>
+                            <s>0</s>
+                        </intrinsics>
+                    </lens>
+                    <distortion>
+                        <k1>0.0</k1>
+                        <k2>0.0</k2>
+                        <k3>0.0</k3>
+                        <p1>0.0</p1>
+                        <p2>0.0</p2>
+                        <center>0.5 0.5</center>
+                    </distortion>
+                    <image>
+                        <width>640</width>
+                        <height>360</height>
+                        <format>R8G8B8</format>
+                    </image>
+                    <clip>
+                        <near>0.01</near>
+                        <far>300</far>
+                    </clip>
+                    <noise>
+                        <type>gaussian</type>
+                        <mean>0</mean>
+                        <stddev>0.007</stddev>
+                    </noise>
+                </camera>
+            </sensor>
+            <visual name="camera_left_visual">
+                <pose>0.0 0.22 0.0725 -1.5707963267948966 0 0</pose>
+                <geometry>
+                    <cylinder>
+                        <length>0.005</length>
+                        <radius>0.011</radius>
+                    </cylinder>
+                </geometry>
+                <material>
+                    <ambient>0.0 0.0 0.0 1.0</ambient>
+                    <diffuse>0.0 0.0 0.0 1.0</diffuse>
+                </material>
+            </visual>
+            <sensor name="camera_left" type="camera">
+                <pose>0.0 0.225 0 0.0725 0 0 1.5707963267948966</pose>
+                <always_on>1</always_on>
+                <update_rate>30</update_rate>
+                <camera name="camera_left">
+                    <horizontal_fov>3.0</horizontal_fov>
+                    <lens>
+                        <intrinsics>
+                            <!-- fx = fy = width / ( 2 * tan (hfov / 2 ) ) -->
+                            <fx>11.3464</fx>
+                            <fy>11.3464</fy>
+                            <!-- cx = ( width + 1 ) / 2 -->
+                            <cx>340.5</cx>
+                            <!-- cy = ( height + 1 ) / 2 -->
+                            <cy>180.5</cy>
+                            <s>0</s>
+                        </intrinsics>
+                    </lens>
+                    <distortion>
+                        <k1>0.0</k1>
+                        <k2>0.0</k2>
+                        <k3>0.0</k3>
+                        <p1>0.0</p1>
+                        <p2>0.0</p2>
+                        <center>0.5 0.5</center>
+                    </distortion>
+                    <image>
+                        <width>640</width>
+                        <height>360</height>
+                        <format>R8G8B8</format>
+                    </image>
+                    <clip>
+                        <near>0.01</near>
+                        <far>300</far>
+                    </clip>
+                    <noise>
+                        <type>gaussian</type>
+                        <mean>0</mean>
+                        <stddev>0.007</stddev>
+                    </noise>
+                </camera>
+            </sensor>
+            <visual name="camera_right_visual">
+                <pose>0.0 -0.22 0.0725 1.5707963267948966 0 0</pose>
+                <geometry>
+                    <cylinder>
+                        <length>0.005</length>
+                        <radius>0.011</radius>
+                    </cylinder>
+                </geometry>
+                <material>
+                    <ambient>0.0 0.0 0.0 1.0</ambient>
+                    <diffuse>0.0 0.0 0.0 1.0</diffuse>
+                </material>
+            </visual>
+            <sensor name="camera_right" type="camera">
+                <pose>0.0 -0.225 0.0725 0 0 -1.5707963267948966</pose>
+                <always_on>1</always_on>
+                <update_rate>30</update_rate>
+                <camera name="camera_right">
+                    <horizontal_fov>3.0</horizontal_fov>
+                    <lens>
+                        <intrinsics>
+                            <!-- fx = fy = width / ( 2 * tan (hfov / 2 ) ) -->
+                            <fx>11.3464</fx>
+                            <fy>11.3464</fy>
+                            <!-- cx = ( width + 1 ) / 2 -->
+                            <cx>340.5</cx>
+                            <!-- cy = ( height + 1 ) / 2 -->
+                            <cy>180.5</cy>
+                            <s>0</s>
+                        </intrinsics>
+                    </lens>
+                    <distortion>
+                        <k1>0.0</k1>
+                        <k2>0.0</k2>
+                        <k3>0.0</k3>
+                        <p1>0.0</p1>
+                        <p2>0.0</p2>
+                        <center>0.5 0.5</center>
+                    </distortion>
+                    <image>
+                        <width>640</width>
+                        <height>360</height>
+                        <format>R8G8B8</format>
+                    </image>
+                    <clip>
+                        <near>0.01</near>
+                        <far>300</far>
+                    </clip>
+                    <noise>
+                        <type>gaussian</type>
+                        <mean>0</mean>
+                        <stddev>0.007</stddev>
+                    </noise>
+                </camera>
+            </sensor>
+
+            <visual name="light_front_visual">
+                <pose>0.24 0 0.0425 0 1.5707963267948966 0</pose>
+                <geometry>
+                    <cylinder>
+                        <length>0.02001</length>
+                        <radius>0.004</radius>
+                    </cylinder>
+                </geometry>
+                <material>
+                    <ambient>1.0 1.0 0.451 1.0</ambient>
+                    <diffuse>1.0 1.0 0.451 1.0</diffuse>
+                </material>
+            </visual>
+            <light name="light_front" type="spot">
+                <pose>0.237 0 0.0425 0 0 0</pose>
+                <attenuation>
+                    <range>25</range>
+                    <linear>0</linear>
+                    <constant>0.1</constant>
+                    <quadratic>0.005</quadratic>
+                </attenuation>
+                <diffuse>0.8 0.8 0.5 1.0</diffuse>
+                <specular>0.8 0.8 0.5 1</specular>
+                <spot>
+                    <inner_angle>1.571</inner_angle>
+                    <outer_angle>2.1</outer_angle>
+                    <falloff>1</falloff>
+                </spot>
+                <direction>1 0 0</direction>
+                <cast_shadows>1</cast_shadows>
+            </light>
+            <visual name="light_rear_visual">
+                <pose>-0.24 0 0.0425 0 1.5707963267948966 0</pose>
+                <geometry>
+                    <cylinder>
+                        <length>0.02001</length>
+                        <radius>0.004</radius>
+                    </cylinder>
+                </geometry>
+                <material>
+                    <ambient>1.0 1.0 0.451 1.0</ambient>
+                    <diffuse>1.0 1.0 0.451 1.0</diffuse>
+                </material>
+            </visual>
+            <light name="light_rear" type="spot">
+                <pose>-0.237 0 0.0425 0 0 0</pose>
+                <attenuation>
+                    <range>25</range>
+                    <linear>0</linear>
+                    <constant>0.1</constant>
+                    <quadratic>0.005</quadratic>
+                </attenuation>
+                <diffuse>0.8 0.8 0.5 1.0</diffuse>
+                <specular>0.8 0.8 0.5 1</specular>
+                <spot>
+                    <inner_angle>1.571</inner_angle>
+                    <outer_angle>2.1</outer_angle>
+                    <falloff>1</falloff>
+                </spot>
+                <direction>-1 0 0</direction>
+                <cast_shadows>1</cast_shadows>
+            </light>
+            <visual name="light_left_visual">
+                <pose>0 0.22 0.0425 1.5707963267948966 0 0</pose>
+                <geometry>
+                    <cylinder>
+                        <length>0.0005</length>
+                        <radius>0.004</radius>
+                    </cylinder>
+                </geometry>
+                <material>
+                    <ambient>1.0 1.0 0.451 1.0</ambient>
+                    <diffuse>1.0 1.0 0.451 1.0</diffuse>
+                </material>
+            </visual>
+            <light name="light_left" type="spot">
+                <pose>0 0.22 0.0425 0 0 0</pose>
+                <attenuation>
+                    <range>25</range>
+                    <linear>0</linear>
+                    <constant>0.1</constant>
+                    <quadratic>0.005</quadratic>
+                </attenuation>
+                <diffuse>0.8 0.8 0.5 1.0</diffuse>
+                <specular>0.8 0.8 0.5 1</specular>
+                <spot>
+                    <inner_angle>1.571</inner_angle>
+                    <outer_angle>2.1</outer_angle>
+                    <falloff>1</falloff>
+                </spot>
+                <direction>0 1 0</direction>
+                <cast_shadows>1</cast_shadows>
+            </light>
+            <visual name="light_right_visual">
+                <pose>0 -0.22 0.0425 1.5707963267948966 0 0</pose>
+                <geometry>
+                    <cylinder>
+                        <length>0.0005</length>
+                        <radius>0.004</radius>
+                    </cylinder>
+                </geometry>
+                <material>
+                    <ambient>1.0 1.0 0.451 1.0</ambient>
+                    <diffuse>1.0 1.0 0.451 1.0</diffuse>
+                </material>
+            </visual>
+            <light name="light_right" type="spot">
+                <pose>0 -0.22 0.0425 0 0 0</pose>
+                <attenuation>
+                    <range>25</range>
+                    <linear>0</linear>
+                    <constant>0.1</constant>
+                    <quadratic>0.005</quadratic>
+                </attenuation>
+                <diffuse>0.8 0.8 0.5 1.0</diffuse>
+                <specular>0.8 0.8 0.5 1</specular>
+                <spot>
+                    <inner_angle>1.571</inner_angle>
+                    <outer_angle>2.1</outer_angle>
+                    <falloff>1</falloff>
+                </spot>
+                <direction>0 -1 0</direction>
+                <cast_shadows>1</cast_shadows>
+            </light>
+        </link>
+
+        <link name="front_left_wheel">
+            <pose>0.19 0.19 0 0 0 0</pose>
+            <!-- Inertia approximated by a solid cylinder of a smaller diameter
+                 than the whole wheel and almost full width (r=0.1, h=0.08),
+                 because most of the mass is is the hub motor, which is
+                 surrounded by air tire. -->
+            <inertial>
+                <mass>5.0</mass>
+                <inertia>
+                    <ixx>0.0153</ixx>
+                    <iyy>0.025</iyy>
+                    <izz>0.0153</izz>
+                </inertia>
+            </inertial>
+            <collision name="collision">
+                <pose>0 0 0 -1.5707963267948966 0 0</pose>
+                <geometry>
+                    <cylinder>
+                        <length>0.082</length>
+                        <radius>0.1275</radius>
+                    </cylinder>
+                </geometry>
+                <surface>
+                  <friction>
+                    <ode>
+                      <mu>1</mu>
+                      <mu2>1</mu2>
+                      <slip1>0.0475</slip1>
+                      <slip2>0</slip2>
+                      <fdir1>0 0 1</fdir1>
+                    </ode>
+                  </friction>
+                </surface>
+            </collision>
+            <visual name="tire_visual">
+                <pose>0 0 0 1.5708 0 0</pose>
+                <geometry>
+                    <mesh>
+                        <uri>meshes/wheel_left.dae</uri>
+                        <scale>1.3010204 1.3010204 2.05</scale>
+                    </mesh>
+                </geometry>
+            </visual>
+            <visual name="hub_visual">
+                <pose>0 -0.055 0 1.5707963267948966 0 0</pose>
+                <geometry>
+                    <cylinder>
+                        <length>0.025</length>
+                        <radius>0.04</radius>
+                    </cylinder>
+                </geometry>
+                <material>
+                    <ambient>0.502 0.502 0.502 1.0</ambient>
+                    <diffuse>0.502 0.502 0.502 1.0</diffuse>
+                </material>
+            </visual>
+            <visual name="axis_visual">
+                <pose>0 -0.08 0 1.5707963267948966 0 0</pose>
+                <geometry>
+                    <cylinder>
+                        <length>0.05</length>
+                        <radius>0.008</radius>
+                    </cylinder>
+                </geometry>
+                <material>
+                    <ambient>0.0 0.0 0.0 1.0</ambient>
+                    <diffuse>0.0 0.0 0.0 1.0</diffuse>
+                </material>
+            </visual>
+            <visual name="mount_visual">
+                <pose>0 -0.11 0 0 0 0</pose>
+                <geometry>
+                    <box>
+                        <size>0.05 0.07 0.025</size>
+                    </box>
+                </geometry>
+                <material>
+                    <ambient>0.502 0.502 0.502 1.0</ambient>
+                    <diffuse>0.502 0.502 0.502 1.0</diffuse>
+                </material>
+            </visual>
+        </link>
+
+        <link name="front_right_wheel">
+            <pose>0.19 -0.19 0 0 0 0</pose>
+            <inertial>
+                <mass>5.0</mass>
+                <inertia>
+                    <ixx>0.0153</ixx>
+                    <iyy>0.025</iyy>
+                    <izz>0.0153</izz>
+                </inertia>
+            </inertial>
+            <collision name="collision">
+                <pose>0 0 0 1.5707963267948966 0 0</pose>
+                <geometry>
+                    <cylinder>
+                        <length>0.082</length>
+                        <radius>0.1275</radius>
+                    </cylinder>
+                </geometry>
+                <surface>
+                  <friction>
+                    <ode>
+                      <mu>1</mu>
+                      <mu2>1</mu2>
+                      <slip1>0.0475</slip1>
+                      <slip2>0</slip2>
+                      <fdir1>0 0 1</fdir1>
+                    </ode>
+                  </friction>
+                </surface>
+            </collision>
+            <visual name="tire_visual">
+                <pose>0 0 0 1.5708 0 0</pose>
+                <geometry>
+                    <mesh>
+                        <uri>meshes/wheel_right.dae</uri>
+                        <scale>1.3010204 1.3010204 2.05</scale>
+                    </mesh>
+                </geometry>
+            </visual>
+            <visual name="hub_visual">
+                <pose>0 0.055 0 1.5707963267948966 0 0</pose>
+                <geometry>
+                    <cylinder>
+                        <length>0.025</length>
+                        <radius>0.04</radius>
+                    </cylinder>
+                </geometry>
+                <material>
+                    <ambient>0.502 0.502 0.502 1.0</ambient>
+                    <diffuse>0.502 0.502 0.502 1.0</diffuse>
+                </material>
+            </visual>
+            <visual name="axis_visual">
+                <pose>0 0.08 0 1.5707963267948966 0 0</pose>
+                <geometry>
+                    <cylinder>
+                        <length>0.05</length>
+                        <radius>0.008</radius>
+                    </cylinder>
+                </geometry>
+                <material>
+                    <ambient>0.0 0.0 0.0 1.0</ambient>
+                    <diffuse>0.0 0.0 0.0 1.0</diffuse>
+                </material>
+            </visual>
+            <visual name="mount_visual">
+                <pose>0 0.11 0 0 0 0</pose>
+                <geometry>
+                    <box>
+                        <size>0.05 0.07 0.025</size>
+                    </box>
+                </geometry>
+                <material>
+                    <ambient>0.502 0.502 0.502 1.0</ambient>
+                    <diffuse>0.502 0.502 0.502 1.0</diffuse>
+                </material>
+            </visual>
+        </link>
+
+        <link name="rear_left_wheel">
+            <pose>-0.19 0.19 0 0 0 0</pose>
+            <inertial>
+                <mass>5.0</mass>
+                <inertia>
+                    <ixx>0.0153</ixx>
+                    <iyy>0.025</iyy>
+                    <izz>0.0153</izz>
+                </inertia>
+            </inertial>
+            <collision name="collision">
+                <pose>0 0 0 -1.5707963267948966 0 0</pose>
+                <geometry>
+                    <cylinder>
+                        <length>0.082</length>
+                        <radius>0.1275</radius>
+                    </cylinder>
+                </geometry>
+                <surface>
+                  <friction>
+                    <ode>
+                      <mu>1</mu>
+                      <mu2>1</mu2>
+                      <slip1>0.0475</slip1>
+                      <slip2>0</slip2>
+                      <fdir1>0 0 1</fdir1>
+                    </ode>
+                  </friction>
+                </surface>
+            </collision>
+            <visual name="tire_visual">
+                <pose>0 0 0 1.5708 0 0</pose>
+                <geometry>
+                    <mesh>
+                        <uri>meshes/wheel_left.dae</uri>
+                        <scale>1.3010204 1.3010204 2.05</scale>
+                    </mesh>
+                </geometry>
+            </visual>
+            <visual name="hub_visual">
+                <pose>0 -0.055 0 1.5707963267948966 0 0</pose>
+                <geometry>
+                    <cylinder>
+                        <length>0.025</length>
+                        <radius>0.04</radius>
+                    </cylinder>
+                </geometry>
+                <material>
+                    <ambient>0.502 0.502 0.502 1.0</ambient>
+                    <diffuse>0.502 0.502 0.502 1.0</diffuse>
+                </material>
+            </visual>
+            <visual name="axis_visual">
+                <pose>0 -0.08 0 1.5707963267948966 0 0</pose>
+                <geometry>
+                    <cylinder>
+                        <length>0.05</length>
+                        <radius>0.008</radius>
+                    </cylinder>
+                </geometry>
+                <material>
+                    <ambient>0.0 0.0 0.0 1.0</ambient>
+                    <diffuse>0.0 0.0 0.0 1.0</diffuse>
+                </material>
+            </visual>
+            <visual name="mount_visual">
+                <pose>0 -0.11 0 0 0 0</pose>
+                <geometry>
+                    <box>
+                        <size>0.05 0.07 0.025</size>
+                    </box>
+                </geometry>
+                <material>
+                    <ambient>0.502 0.502 0.502 1.0</ambient>
+                    <diffuse>0.502 0.502 0.502 1.0</diffuse>
+                </material>
+            </visual>
+        </link>
+
+        <link name="rear_right_wheel">
+            <pose>-0.19 -0.19 0 0 0 0</pose>
+            <inertial>
+                <mass>5.0</mass>
+                <inertia>
+                    <ixx>0.0153</ixx>
+                    <iyy>0.025</iyy>
+                    <izz>0.0153</izz>
+                </inertia>
+            </inertial>
+            <collision name="collision">
+                <pose>0 0 0 1.5707963267948966 0 0</pose>
+                <geometry>
+                    <cylinder>
+                        <length>0.082</length>
+                        <radius>0.1275</radius>
+                    </cylinder>
+                </geometry>
+                <surface>
+                  <friction>
+                    <ode>
+                      <mu>1</mu>
+                      <mu2>1</mu2>
+                      <slip1>0.0475</slip1>
+                      <slip2>0</slip2>
+                      <fdir1>0 0 1</fdir1>
+                    </ode>
+                  </friction>
+                </surface>
+            </collision>
+            <visual name="tire_visual">
+                <pose>0 0 0 1.5708 0 0</pose>
+                <geometry>
+                    <mesh>
+                        <uri>meshes/wheel_right.dae</uri>
+                        <scale>1.3010204 1.3010204 2.05</scale>
+                    </mesh>
+                </geometry>
+            </visual>
+            <visual name="hub_visual">
+                <pose>0 0.055 0 1.5707963267948966 0 0</pose>
+                <geometry>
+                    <cylinder>
+                        <length>0.025</length>
+                        <radius>0.04</radius>
+                    </cylinder>
+                </geometry>
+                <material>
+                    <ambient>0.502 0.502 0.502 1.0</ambient>
+                    <diffuse>0.502 0.502 0.502 1.0</diffuse>
+                </material>
+            </visual>
+            <visual name="axis_visual">
+                <pose>0 0.08 0 1.5707963267948966 0 0</pose>
+                <geometry>
+                    <cylinder>
+                        <length>0.05</length>
+                        <radius>0.008</radius>
+                    </cylinder>
+                </geometry>
+                <material>
+                    <ambient>0.0 0.0 0.0 1.0</ambient>
+                    <diffuse>0.0 0.0 0.0 1.0</diffuse>
+                </material>
+            </visual>
+            <visual name="mount_visual">
+                <pose>0 0.11 0 0 0 0</pose>
+                <geometry>
+                    <box>
+                        <size>0.05 0.07 0.025</size>
+                    </box>
+                </geometry>
+                <material>
+                    <ambient>0.502 0.502 0.502 1.0</ambient>
+                    <diffuse>0.502 0.502 0.502 1.0</diffuse>
+                </material>
+            </visual>
+        </link>
+
+        <!-- 4x 500W hub motor with ~30 km/h maximum speed.
+            However, we operate them with a speed and torque limit
+            in software.
+            https://www.uumotor.com/10-inch-single-shaft-brushless-motor-sensorless.html
+        -->
+        <joint name="front_left_wheel_joint" type="revolute">
+            <child>front_left_wheel</child>
+            <parent>base_link</parent>
+            <axis>
+                <xyz>0 1 0</xyz>
+                <limit>
+                    <lower>-1.79769e+308</lower>
+                    <upper>+1.79769e+308</upper>
+                    <!-- 2.5 m/s => angular velocity of the wheel in rad/s -->
+                    <velocity>19.61</velocity>
+                    <!-- Torque in NM. -->
+                    <effort>10</effort>
+                </limit>
+                <use_parent_model_frame>1</use_parent_model_frame>
+            </axis>
+        </joint>
+
+        <joint name="rear_left_wheel_joint" type="revolute">
+            <parent>base_link</parent>
+            <child>rear_left_wheel</child>
+            <axis>
+                <xyz>0 1 0</xyz>
+                <limit>
+                    <lower>-1.79769e+308</lower>
+                    <upper>+1.79769e+308</upper>
+                    <!-- 2.5 m/s => angular velocity of the wheel in rad/s -->
+                    <velocity>19.61</velocity>
+                    <!-- Torque in NM. -->
+                    <effort>10</effort>
+                </limit>
+            </axis>
+        </joint>
+
+        <joint name="rear_right_wheel_joint" type="revolute">
+            <parent>base_link</parent>
+            <child>rear_right_wheel</child>
+            <axis>
+                <xyz>0 1 0</xyz>
+                <limit>
+                    <lower>-1.79769e+308</lower>
+                    <upper>+1.79769e+308</upper>
+                    <!-- 2.5 m/s => angular velocity of the wheel in rad/s -->
+                    <velocity>19.61</velocity>
+                    <!-- Torque in NM. -->
+                    <effort>10</effort>
+                </limit>
+            </axis>
+        </joint>
+
+        <joint name="front_right_wheel_joint" type="revolute">
+            <parent>base_link</parent>
+            <child>front_right_wheel</child>
+            <axis>
+                <xyz>0 1 0</xyz>
+                <limit>
+                    <lower>-1.79769e+308</lower>
+                    <upper>+1.79769e+308</upper>
+                    <!-- 2.5 m/s => angular velocity of the wheel in rad/s -->
+                    <velocity>19.61</velocity>
+                    <!-- Torque in NM. -->
+                    <effort>10</effort>
+                </limit>
+            </axis>
+        </joint>
+    </model>
+</sdf>

From 21ac7811eebc02d141571c65526be85b324cbdf1 Mon Sep 17 00:00:00 2001
From: md <devnull@localhost>
Date: Tue, 31 Mar 2020 15:58:25 +0200
Subject: [PATCH 07/15] Robotika Freyja - fix mount parts of the wheel

---
 .../robotika_freyja_sensor_config_1/model.sdf |  200 +-
 .../urdf/model.urdf                           | 1036 +++---
 .../urdf/model.xacro                          | 2938 ++++++++---------
 3 files changed, 2087 insertions(+), 2087 deletions(-)

diff --git a/submitted_models/robotika_freyja_sensor_config_1/model.sdf b/submitted_models/robotika_freyja_sensor_config_1/model.sdf
index 56fd218b..f9808298 100644
--- a/submitted_models/robotika_freyja_sensor_config_1/model.sdf
+++ b/submitted_models/robotika_freyja_sensor_config_1/model.sdf
@@ -341,6 +341,106 @@
                     <diffuse>0.0 0.0 0.0 1.0</diffuse>
                 </material>
             </visual>
+            <visual name="wheel_mount_front_left_axis_visual">
+                <pose>0.19 0.11 0 1.5707963267948966 0 0</pose>
+                <geometry>
+                    <cylinder>
+                        <length>0.05</length>
+                        <radius>0.008</radius>
+                    </cylinder>
+                </geometry>
+                <material>
+                    <ambient>0.0 0.0 0.0 1.0</ambient>
+                    <diffuse>0.0 0.0 0.0 1.0</diffuse>
+                </material>
+            </visual>
+            <visual name="wheel_mount_front_left_visual">
+                <pose>0.19 0.08 0 0 0 0</pose>
+                <geometry>
+                    <box>
+                        <size>0.05 0.07 0.025</size>
+                    </box>
+                </geometry>
+                <material>
+                    <ambient>0.502 0.502 0.502 1.0</ambient>
+                    <diffuse>0.502 0.502 0.502 1.0</diffuse>
+                </material>
+            </visual>
+            <visual name="wheel_mount_front_right_axis_visual">
+                <pose>0.19 -0.11 0 1.5707963267948966 0 0</pose>
+                <geometry>
+                    <cylinder>
+                        <length>0.05</length>
+                        <radius>0.008</radius>
+                    </cylinder>
+                </geometry>
+                <material>
+                    <ambient>0.0 0.0 0.0 1.0</ambient>
+                    <diffuse>0.0 0.0 0.0 1.0</diffuse>
+                </material>
+            </visual>
+            <visual name="wheel_mount_front_right_visual">
+                <pose>0.19 -0.08 0 0 0 0</pose>
+                <geometry>
+                    <box>
+                        <size>0.05 0.07 0.025</size>
+                    </box>
+                </geometry>
+                <material>
+                    <ambient>0.502 0.502 0.502 1.0</ambient>
+                    <diffuse>0.502 0.502 0.502 1.0</diffuse>
+                </material>
+            </visual>
+            <visual name="wheel_mount_rear_left_axis_visual">
+                <pose>-0.19 0.11 0 1.5707963267948966 0 0</pose>
+                <geometry>
+                    <cylinder>
+                        <length>0.05</length>
+                        <radius>0.008</radius>
+                    </cylinder>
+                </geometry>
+                <material>
+                    <ambient>0.0 0.0 0.0 1.0</ambient>
+                    <diffuse>0.0 0.0 0.0 1.0</diffuse>
+                </material>
+            </visual>
+            <visual name="wheel_mount_rear_left_visual">
+                <pose>-0.19 0.08 0 0 0 0</pose>
+                <geometry>
+                    <box>
+                        <size>0.05 0.07 0.025</size>
+                    </box>
+                </geometry>
+                <material>
+                    <ambient>0.502 0.502 0.502 1.0</ambient>
+                    <diffuse>0.502 0.502 0.502 1.0</diffuse>
+                </material>
+            </visual>
+            <visual name="wheel_mount_rear_right_axis_visual">
+                <pose>-0.19 -0.11 0 1.5707963267948966 0 0</pose>
+                <geometry>
+                    <cylinder>
+                        <length>0.05</length>
+                        <radius>0.008</radius>
+                    </cylinder>
+                </geometry>
+                <material>
+                    <ambient>0.0 0.0 0.0 1.0</ambient>
+                    <diffuse>0.0 0.0 0.0 1.0</diffuse>
+                </material>
+            </visual>
+            <visual name="wheel_mount_rear_right_visual">
+                <pose>-0.19 -0.08 0 0 0 0</pose>
+                <geometry>
+                    <box>
+                        <size>0.05 0.07 0.025</size>
+                    </box>
+                </geometry>
+                <material>
+                    <ambient>0.502 0.502 0.502 1.0</ambient>
+                    <diffuse>0.502 0.502 0.502 1.0</diffuse>
+                </material>
+            </visual>
 
             <!-- CMPS14 provides IMU and magnetic heading information.
                 https://www.robot-electronics.co.uk/cmps14-tilt-compensated-compass.html
@@ -1146,31 +1246,6 @@
                     <diffuse>0.502 0.502 0.502 1.0</diffuse>
                 </material>
             </visual>
-            <visual name="axis_visual">
-                <pose>0 -0.08 0 1.5707963267948966 0 0</pose>
-                <geometry>
-                    <cylinder>
-                        <length>0.05</length>
-                        <radius>0.008</radius>
-                    </cylinder>
-                </geometry>
-                <material>
-                    <ambient>0.0 0.0 0.0 1.0</ambient>
-                    <diffuse>0.0 0.0 0.0 1.0</diffuse>
-                </material>
-            </visual>
-            <visual name="mount_visual">
-                <pose>0 -0.11 0 0 0 0</pose>
-                <geometry>
-                    <box>
-                        <size>0.05 0.07 0.025</size>
-                    </box>
-                </geometry>
-                <material>
-                    <ambient>0.502 0.502 0.502 1.0</ambient>
-                    <diffuse>0.502 0.502 0.502 1.0</diffuse>
-                </material>
-            </visual>
         </link>
 
         <link name="front_right_wheel">
@@ -1225,31 +1300,6 @@
                     <diffuse>0.502 0.502 0.502 1.0</diffuse>
                 </material>
             </visual>
-            <visual name="axis_visual">
-                <pose>0 0.08 0 1.5707963267948966 0 0</pose>
-                <geometry>
-                    <cylinder>
-                        <length>0.05</length>
-                        <radius>0.008</radius>
-                    </cylinder>
-                </geometry>
-                <material>
-                    <ambient>0.0 0.0 0.0 1.0</ambient>
-                    <diffuse>0.0 0.0 0.0 1.0</diffuse>
-                </material>
-            </visual>
-            <visual name="mount_visual">
-                <pose>0 0.11 0 0 0 0</pose>
-                <geometry>
-                    <box>
-                        <size>0.05 0.07 0.025</size>
-                    </box>
-                </geometry>
-                <material>
-                    <ambient>0.502 0.502 0.502 1.0</ambient>
-                    <diffuse>0.502 0.502 0.502 1.0</diffuse>
-                </material>
-            </visual>
         </link>
 
         <link name="rear_left_wheel">
@@ -1304,31 +1354,6 @@
                     <diffuse>0.502 0.502 0.502 1.0</diffuse>
                 </material>
             </visual>
-            <visual name="axis_visual">
-                <pose>0 -0.08 0 1.5707963267948966 0 0</pose>
-                <geometry>
-                    <cylinder>
-                        <length>0.05</length>
-                        <radius>0.008</radius>
-                    </cylinder>
-                </geometry>
-                <material>
-                    <ambient>0.0 0.0 0.0 1.0</ambient>
-                    <diffuse>0.0 0.0 0.0 1.0</diffuse>
-                </material>
-            </visual>
-            <visual name="mount_visual">
-                <pose>0 -0.11 0 0 0 0</pose>
-                <geometry>
-                    <box>
-                        <size>0.05 0.07 0.025</size>
-                    </box>
-                </geometry>
-                <material>
-                    <ambient>0.502 0.502 0.502 1.0</ambient>
-                    <diffuse>0.502 0.502 0.502 1.0</diffuse>
-                </material>
-            </visual>
         </link>
 
         <link name="rear_right_wheel">
@@ -1383,31 +1408,6 @@
                     <diffuse>0.502 0.502 0.502 1.0</diffuse>
                 </material>
             </visual>
-            <visual name="axis_visual">
-                <pose>0 0.08 0 1.5707963267948966 0 0</pose>
-                <geometry>
-                    <cylinder>
-                        <length>0.05</length>
-                        <radius>0.008</radius>
-                    </cylinder>
-                </geometry>
-                <material>
-                    <ambient>0.0 0.0 0.0 1.0</ambient>
-                    <diffuse>0.0 0.0 0.0 1.0</diffuse>
-                </material>
-            </visual>
-            <visual name="mount_visual">
-                <pose>0 0.11 0 0 0 0</pose>
-                <geometry>
-                    <box>
-                        <size>0.05 0.07 0.025</size>
-                    </box>
-                </geometry>
-                <material>
-                    <ambient>0.502 0.502 0.502 1.0</ambient>
-                    <diffuse>0.502 0.502 0.502 1.0</diffuse>
-                </material>
-            </visual>
         </link>
 
         <!-- 4x 500W hub motor with ~30 km/h maximum speed.
diff --git a/submitted_models/robotika_freyja_sensor_config_1/urdf/model.urdf b/submitted_models/robotika_freyja_sensor_config_1/urdf/model.urdf
index 2b7e5545..c76a2f26 100644
--- a/submitted_models/robotika_freyja_sensor_config_1/urdf/model.urdf
+++ b/submitted_models/robotika_freyja_sensor_config_1/urdf/model.urdf
@@ -1,518 +1,518 @@
-<?xml version='1.0' encoding='utf-8'?>
-<robot name='ROBOTIKA_FREYJA'>
-  <link name='base_link'>
-    <inertial>
-      <origin xyz='0 0 0.0725' rpy='0 -0 0'/>
-      <mass value='9.6'/>
-      <inertia ixx='0.0512' ixy='0' ixz='0' iyy='0.07712' iyz='0' izz='0.11808'/>
-    </inertial>
-    <collision name='chassis_collision'>
-      <origin xyz='0 0 0.105' rpy='0 -0 0'/>
-      <geometry>
-        <box size='0.5 0.24 0.235'/>
-      </geometry>
-    </collision>
-    <collision name='left_mount_collision'>
-      <origin xyz='0 0.17 0.085' rpy='0 -0 0'/>
-      <geometry>
-        <box size='0.08 0.1 0.115'/>
-      </geometry>
-    </collision>
-    <collision name='right_mount_collision'>
-      <origin xyz='0 -0.17 0.085' rpy='0 -0 0'/>
-      <geometry>
-        <box size='0.08 0.1 0.115'/>
-      </geometry>
-    </collision>
-    <visual name='chassis_main_visual'>
-      <origin xyz='0 0 0.0725' rpy='0 -0 0'/>
-      <geometry>
-        <box size='0.46 0.24 0.12'/>
-      </geometry>
-    </visual>
-    <visual name='chassis_front_face_bottom'>
-      <origin xyz='0.24 0 0.0175' rpy='0 -0 0'/>
-      <geometry>
-        <box size='0.02001 0.24 0.01'/>
-      </geometry>
-    </visual>
-    <visual name='chassis_front_face_top'>
-      <origin xyz='0.24 0 0.1275' rpy='0 -0 0'/>
-      <geometry>
-        <box size='0.02001 0.24 0.01'/>
-      </geometry>
-    </visual>
-    <visual name='chassis_front_face_top_marker'>
-      <origin xyz='0.245 0 0.1325' rpy='0 -0 0'/>
-      <geometry>
-        <box size='0.01 0.12 0.0001'/>
-      </geometry>
-    </visual>
-    <visual name='chassis_front_face_left'>
-      <origin xyz='0.24 0.115 0.0725' rpy='0 -0 0'/>
-      <geometry>
-        <box size='0.02001 0.01 0.12'/>
-      </geometry>
-    </visual>
-    <visual name='chassis_front_face_right'>
-      <origin xyz='0.24 -0.115 0.0725' rpy='0 -0 0'/>
-      <geometry>
-        <box size='0.02001 0.01 0.12'/>
-      </geometry>
-    </visual>
-    <visual name='chassis_rear_face_bottom'>
-      <origin xyz='-0.24 0 0.0175' rpy='0 -0 0'/>
-      <geometry>
-        <box size='0.02001 0.24 0.01'/>
-      </geometry>
-    </visual>
-    <visual name='chassis_rear_face_top'>
-      <origin xyz='-0.24 0 0.1275' rpy='0 -0 0'/>
-      <geometry>
-        <box size='0.02001 0.24 0.01'/>
-      </geometry>
-    </visual>
-    <visual name='chassis_rear_face_top_marker'>
-      <origin xyz='-0.245 0 0.1325' rpy='0 -0 0'/>
-      <geometry>
-        <box size='0.01 0.12 0.0001'/>
-      </geometry>
-    </visual>
-    <visual name='chassis_rear_face_left'>
-      <origin xyz='-0.24 0.115 0.0725' rpy='0 -0 0'/>
-      <geometry>
-        <box size='0.02001 0.01 0.12'/>
-      </geometry>
-    </visual>
-    <visual name='chassis_rear_face_right'>
-      <origin xyz='-0.24 -0.115 0.0725' rpy='0 -0 0'/>
-      <geometry>
-        <box size='0.02001 0.01 0.12'/>
-      </geometry>
-    </visual>
-    <visual name='lidar_base_visual'>
-      <origin xyz='0 0 0.135' rpy='0 -0 0'/>
-      <geometry>
-        <box size='0.3001 0.21 0.005'/>
-      </geometry>
-    </visual>
-    <visual name='cable_cover_left_visual'>
-      <origin xyz='0 0.095 0.1475' rpy='0 -0 0'/>
-      <geometry>
-        <box size='0.07 0.02 0.02001'/>
-      </geometry>
-    </visual>
-    <visual name='cable_cover_right_visual'>
-      <origin xyz='0 -0.095 0.1475' rpy='0 -0 0'/>
-      <geometry>
-        <box size='0.07 0.02 0.02001'/>
-      </geometry>
-    </visual>
-    <visual name='cable_cover_top_visual'>
-      <origin xyz='0 0 0.16' rpy='0 -0 0'/>
-      <geometry>
-        <box size='0.07 0.21 0.005'/>
-      </geometry>
-    </visual>
-    <visual name='left_mount_visual'>
-      <origin xyz='0 0.17 0.0725' rpy='0 -0 0'/>
-      <geometry>
-        <box size='0.08 0.1 0.09'/>
-      </geometry>
-    </visual>
-    <visual name='left_mount_top_marker_visual'>
-      <origin xyz='0 0.215 0.1175' rpy='0 -0 0'/>
-      <geometry>
-        <box size='0.08 0.01 0.0001'/>
-      </geometry>
-    </visual>
-    <visual name='right_mount_visual'>
-      <origin xyz='0 -0.17 0.0725' rpy='0 -0 0'/>
-      <geometry>
-        <box size='0.08 0.1 0.09'/>
-      </geometry>
-    </visual>
-    <visual name='right_mount_top_marker_visual'>
-      <origin xyz='0 -0.215 0.1175' rpy='0 -0 0'/>
-      <geometry>
-        <box size='0.08 0.01 0.0001'/>
-      </geometry>
-    </visual>
-    <visual name='emergency_stop_bottom_visual'>
-      <origin xyz='0 -0.155 0.125' rpy='0 -0 0'/>
-      <geometry>
-        <cylinder radius='0.015' length='0.015'/>
-      </geometry>
-    </visual>
-    <visual name='emergency_stop_top_visual'>
-      <origin xyz='0 -0.155 0.135' rpy='0 -0 0'/>
-      <geometry>
-        <cylinder radius='0.02' length='0.005'/>
-      </geometry>
-    </visual>
-    <visual name='power_switch_bottom_visual'>
-      <origin xyz='0 0.155 0.1225' rpy='0 -0 0'/>
-      <geometry>
-        <cylinder radius='0.015' length='0.005'/>
-      </geometry>
-    </visual>
-    <visual name='power_switch_middle_visual'>
-      <origin xyz='0 0.155 0.1275' rpy='0 -0 0'/>
-      <geometry>
-        <cylinder radius='0.015' length='0.005'/>
-      </geometry>
-    </visual>
-    <visual name='power_switch_top_visual'>
-      <origin xyz='0 0.155 0.1375' rpy='0 -0 0.35'/>
-      <geometry>
-        <box size='0.025 0.005 0.01'/>
-      </geometry>
-    </visual>
-    <visual name='laser_front_bottom_visual'>
-      <origin xyz='0.12 0 0.16' rpy='0 -0 0'/>
-      <geometry>
-        <box size='0.06 0.065 0.045'/>
-      </geometry>
-    </visual>
-    <visual name='laser_front_top_visual'>
-      <origin xyz='0.12 0 0.2025' rpy='0 -0 0'/>
-      <geometry>
-        <cylinder radius='0.02' length='0.04'/>
-      </geometry>
-    </visual>
-    <visual name='laser_front_cable_green'>
-      <origin xyz='0.045 0.01 0.1525' rpy='0 1.5708 0'/>
-      <geometry>
-        <cylinder radius='0.005' length='0.09'/>
-      </geometry>
-    </visual>
-    <visual name='laser_front_cable_black'>
-      <origin xyz='0.045 -0.01 0.1525' rpy='0 1.5708 0'/>
-      <geometry>
-        <cylinder radius='0.005' length='0.09'/>
-      </geometry>
-    </visual>
-    <visual name='laser_rear_bottom_visual'>
-      <origin xyz='-0.12 0 0.1625' rpy='0 -0 0'/>
-      <geometry>
-        <box size='0.06 0.065 0.045'/>
-      </geometry>
-    </visual>
-    <visual name='laser_rear_top_visual'>
-      <origin xyz='-0.12 0 0.2025' rpy='0 -0 0'/>
-      <geometry>
-        <cylinder radius='0.02' length='0.04'/>
-      </geometry>
-    </visual>
-    <visual name='laser_rear_cable_green'>
-      <origin xyz='-0.045 -0.01 0.1525' rpy='0 1.5708 0'/>
-      <geometry>
-        <cylinder radius='0.005' length='0.09'/>
-      </geometry>
-    </visual>
-    <visual name='laser_rear_cable_black'>
-      <origin xyz='-0.045 0.01 0.1525' rpy='0 1.5708 0'/>
-      <geometry>
-        <cylinder radius='0.005' length='0.09'/>
-      </geometry>
-    </visual>
-    <visual name='rgbd_front_visual'>
-      <origin xyz='0.235 0 0.1025' rpy='0 -0 0'/>
-      <geometry>
-        <box size='0.03 0.162 0.03'/>
-      </geometry>
-    </visual>
-    <visual name='rgbd_rear_visual'>
-      <origin xyz='-0.235 0 0.1025' rpy='0 -0 0'/>
-      <geometry>
-        <box size='0.03 0.162 0.03'/>
-      </geometry>
-    </visual>
-    <visual name='camera_front_visual'>
-      <origin xyz='0.2349 0 0.0725' rpy='0 1.5708 0'/>
-      <geometry>
-        <cylinder radius='0.011' length='0.03'/>
-      </geometry>
-    </visual>
-    <visual name='camera_rear_visual'>
-      <origin xyz='-0.2349 0 0.0725' rpy='0 -1.5708 0'/>
-      <geometry>
-        <cylinder radius='0.011' length='0.03'/>
-      </geometry>
-    </visual>
-    <visual name='camera_left_visual'>
-      <origin xyz='0 0.22 0.0725' rpy='-1.5708 0 0'/>
-      <geometry>
-        <cylinder radius='0.011' length='0.005'/>
-      </geometry>
-    </visual>
-    <visual name='camera_right_visual'>
-      <origin xyz='0 -0.22 0.0725' rpy='1.5708 -0 0'/>
-      <geometry>
-        <cylinder radius='0.011' length='0.005'/>
-      </geometry>
-    </visual>
-    <visual name='light_front_visual'>
-      <origin xyz='0.24 0 0.0425' rpy='0 1.5708 0'/>
-      <geometry>
-        <cylinder radius='0.004' length='0.02001'/>
-      </geometry>
-    </visual>
-    <visual name='light_rear_visual'>
-      <origin xyz='-0.24 0 0.0425' rpy='0 1.5708 0'/>
-      <geometry>
-        <cylinder radius='0.004' length='0.02001'/>
-      </geometry>
-    </visual>
-    <visual name='light_left_visual'>
-      <origin xyz='0 0.22 0.0425' rpy='1.5708 -0 0'/>
-      <geometry>
-        <cylinder radius='0.004' length='0.0005'/>
-      </geometry>
-    </visual>
-    <visual name='light_right_visual'>
-      <origin xyz='0 -0.22 0.0425' rpy='1.5708 -0 0'/>
-      <geometry>
-        <cylinder radius='0.004' length='0.0005'/>
-      </geometry>
-    </visual>
-  </link>
-  <sensor name='imu_sensor' update_rate='50'>
-    <parent link='base_link'/>
-    <origin xyz='0 0 0' rpy='0 -0 0'/>
-  </sensor>
-  <sensor name='magnetometer' update_rate='50'>
-    <parent link='base_link'/>
-    <origin xyz='0 0 0' rpy='0 -0 0'/>
-  </sensor>
-  <sensor name='air_pressure' update_rate='20'>
-    <parent link='base_link'/>
-    <origin xyz='0 0 0' rpy='0 -0 0'/>
-  </sensor>
-  <sensor name='laser_front' update_rate='15'>
-    <parent link='base_link'/>
-    <origin xyz='0.12 0 0.1925' rpy='0 -0 0'/>
-  </sensor>
-  <sensor name='laser_rear' update_rate='15'>
-    <parent link='base_link'/>
-    <origin xyz='-0.12 0 0.1925' rpy='0 -0 3.14159'/>
-  </sensor>
-  <sensor name='rgbd_front' update_rate='30'>
-    <parent link='base_link'/>
-    <origin xyz='0.250001 0 0.1025' rpy='0 -0 0'/>
-    <camera>
-      <image width='640' height='360' format='R8G8B8' hfov='1.48358' near='0.01' far='300' />
-    </camera>
-  </sensor>
-  <sensor name='rgbd_rear' update_rate='30'>
-    <parent link='base_link'/>
-    <origin xyz='-0.250001 0 0.1025' rpy='0 -0 3.14159'/>
-    <camera>
-      <image width='640' height='360' format='R8G8B8' hfov='1.48358' near='0.01' far='300' />
-    </camera>
-  </sensor>
-  <sensor name='camera_front' update_rate='30'>
-    <parent link='base_link'/>
-    <origin xyz='0.25 0 0.0725' rpy='0 -0 0'/>
-    <camera>
-      <image width='640' height='360' format='R8G8B8' hfov='3' near='0.01' far='300' />
-    </camera>
-  </sensor>
-  <sensor name='camera_rear' update_rate='30'>
-    <parent link='base_link'/>
-    <origin xyz='-0.25 0 0.0725' rpy='0 -0 3.14159'/>
-    <camera>
-      <image width='640' height='360' format='R8G8B8' hfov='3' near='0.01' far='300' />
-    </camera>
-  </sensor>
-  <sensor name='camera_left' update_rate='30'>
-    <parent link='base_link'/>
-    <origin xyz='0 0.225 0' rpy='0.0725 -0 0'/>
-    <camera>
-      <image width='640' height='360' format='R8G8B8' hfov='3' near='0.01' far='300' />
-    </camera>
-  </sensor>
-  <sensor name='camera_right' update_rate='30'>
-    <parent link='base_link'/>
-    <origin xyz='0 -0.225 0.0725' rpy='0 0 -1.5708'/>
-    <camera>
-      <image width='640' height='360' format='R8G8B8' hfov='3' near='0.01' far='300' />
-    </camera>
-  </sensor>
-  <link name='front_left_wheel'>
-    <inertial>
-      <origin xyz='0 0 0' rpy='0 -0 0'/>
-      <mass value='5'/>
-      <inertia ixx='0.0153' ixy='0' ixz='0' iyy='0.025' iyz='0' izz='0.0153'/>
-    </inertial>
-    <collision name='collision'>
-      <origin xyz='0 0 0' rpy='-1.5708 0 0'/>
-      <geometry>
-        <cylinder radius='0.1275' length='0.082'/>
-      </geometry>
-    </collision>
-    <visual name='tire_visual'>
-      <origin xyz='0 0 0' rpy='1.5708 -0 0'/>
-      <geometry>
-        <mesh filename='meshes/wheel_left.dae' scale='1.30102 1.30102 2.05'/>
-      </geometry>
-    </visual>
-    <visual name='hub_visual'>
-      <origin xyz='0 -0.055 0' rpy='1.5708 -0 0'/>
-      <geometry>
-        <cylinder radius='0.04' length='0.025'/>
-      </geometry>
-    </visual>
-    <visual name='axis_visual'>
-      <origin xyz='0 -0.08 0' rpy='1.5708 -0 0'/>
-      <geometry>
-        <cylinder radius='0.008' length='0.05'/>
-      </geometry>
-    </visual>
-    <visual name='mount_visual'>
-      <origin xyz='0 -0.11 0' rpy='0 -0 0'/>
-      <geometry>
-        <box size='0.05 0.07 0.025'/>
-      </geometry>
-    </visual>
-  </link>
-  <link name='front_right_wheel'>
-    <inertial>
-      <origin xyz='0 0 0' rpy='0 -0 0'/>
-      <mass value='5'/>
-      <inertia ixx='0.0153' ixy='0' ixz='0' iyy='0.025' iyz='0' izz='0.0153'/>
-    </inertial>
-    <collision name='collision'>
-      <origin xyz='0 0 0' rpy='1.5708 -0 0'/>
-      <geometry>
-        <cylinder radius='0.1275' length='0.082'/>
-      </geometry>
-    </collision>
-    <visual name='tire_visual'>
-      <origin xyz='0 0 0' rpy='1.5708 -0 0'/>
-      <geometry>
-        <mesh filename='meshes/wheel_right.dae' scale='1.30102 1.30102 2.05'/>
-      </geometry>
-    </visual>
-    <visual name='hub_visual'>
-      <origin xyz='0 0.055 0' rpy='1.5708 -0 0'/>
-      <geometry>
-        <cylinder radius='0.04' length='0.025'/>
-      </geometry>
-    </visual>
-    <visual name='axis_visual'>
-      <origin xyz='0 0.08 0' rpy='1.5708 -0 0'/>
-      <geometry>
-        <cylinder radius='0.008' length='0.05'/>
-      </geometry>
-    </visual>
-    <visual name='mount_visual'>
-      <origin xyz='0 0.11 0' rpy='0 -0 0'/>
-      <geometry>
-        <box size='0.05 0.07 0.025'/>
-      </geometry>
-    </visual>
-  </link>
-  <link name='rear_left_wheel'>
-    <inertial>
-      <origin xyz='0 0 0' rpy='0 -0 0'/>
-      <mass value='5'/>
-      <inertia ixx='0.0153' ixy='0' ixz='0' iyy='0.025' iyz='0' izz='0.0153'/>
-    </inertial>
-    <collision name='collision'>
-      <origin xyz='0 0 0' rpy='-1.5708 0 0'/>
-      <geometry>
-        <cylinder radius='0.1275' length='0.082'/>
-      </geometry>
-    </collision>
-    <visual name='tire_visual'>
-      <origin xyz='0 0 0' rpy='1.5708 -0 0'/>
-      <geometry>
-        <mesh filename='meshes/wheel_left.dae' scale='1.30102 1.30102 2.05'/>
-      </geometry>
-    </visual>
-    <visual name='hub_visual'>
-      <origin xyz='0 -0.055 0' rpy='1.5708 -0 0'/>
-      <geometry>
-        <cylinder radius='0.04' length='0.025'/>
-      </geometry>
-    </visual>
-    <visual name='axis_visual'>
-      <origin xyz='0 -0.08 0' rpy='1.5708 -0 0'/>
-      <geometry>
-        <cylinder radius='0.008' length='0.05'/>
-      </geometry>
-    </visual>
-    <visual name='mount_visual'>
-      <origin xyz='0 -0.11 0' rpy='0 -0 0'/>
-      <geometry>
-        <box size='0.05 0.07 0.025'/>
-      </geometry>
-    </visual>
-  </link>
-  <link name='rear_right_wheel'>
-    <inertial>
-      <origin xyz='0 0 0' rpy='0 -0 0'/>
-      <mass value='5'/>
-      <inertia ixx='0.0153' ixy='0' ixz='0' iyy='0.025' iyz='0' izz='0.0153'/>
-    </inertial>
-    <collision name='collision'>
-      <origin xyz='0 0 0' rpy='1.5708 -0 0'/>
-      <geometry>
-        <cylinder radius='0.1275' length='0.082'/>
-      </geometry>
-    </collision>
-    <visual name='tire_visual'>
-      <origin xyz='0 0 0' rpy='1.5708 -0 0'/>
-      <geometry>
-        <mesh filename='meshes/wheel_right.dae' scale='1.30102 1.30102 2.05'/>
-      </geometry>
-    </visual>
-    <visual name='hub_visual'>
-      <origin xyz='0 0.055 0' rpy='1.5708 -0 0'/>
-      <geometry>
-        <cylinder radius='0.04' length='0.025'/>
-      </geometry>
-    </visual>
-    <visual name='axis_visual'>
-      <origin xyz='0 0.08 0' rpy='1.5708 -0 0'/>
-      <geometry>
-        <cylinder radius='0.008' length='0.05'/>
-      </geometry>
-    </visual>
-    <visual name='mount_visual'>
-      <origin xyz='0 0.11 0' rpy='0 -0 0'/>
-      <geometry>
-        <box size='0.05 0.07 0.025'/>
-      </geometry>
-    </visual>
-  </link>
-  <joint name='front_left_wheel_joint' type='revolute'>
-    <origin xyz='0.19 0.19 0' rpy='0 -0 0'/>
-    <parent link='base_link'/>
-    <child link='front_left_wheel'/>
-    <axis xyz='0 1 0'/>
-    <limit lower='-1.79769e+308' upper='1.79769e+308' effort='10' velocity='19.61'/>
-  </joint>
-  <joint name='rear_left_wheel_joint' type='revolute'>
-    <origin xyz='-0.19 0.19 0' rpy='0 -0 0'/>
-    <parent link='base_link'/>
-    <child link='rear_left_wheel'/>
-    <axis xyz='0 1 0'/>
-    <limit lower='-1.79769e+308' upper='1.79769e+308' effort='10' velocity='19.61'/>
-  </joint>
-  <joint name='rear_right_wheel_joint' type='revolute'>
-    <origin xyz='-0.19 -0.19 0' rpy='0 -0 0'/>
-    <parent link='base_link'/>
-    <child link='rear_right_wheel'/>
-    <axis xyz='0 1 0'/>
-    <limit lower='-1.79769e+308' upper='1.79769e+308' effort='10' velocity='19.61'/>
-  </joint>
-  <joint name='front_right_wheel_joint' type='revolute'>
-    <origin xyz='0.19 -0.19 0' rpy='0 -0 0'/>
-    <parent link='base_link'/>
-    <child link='front_right_wheel'/>
-    <axis xyz='0 1 0'/>
-    <limit lower='-1.79769e+308' upper='1.79769e+308' effort='10' velocity='19.61'/>
-  </joint>
-</robot>
+<?xml version='1.0' encoding='utf-8'?>
+<robot name='ROBOTIKA_FREYJA'>
+  <link name='base_link'>
+    <inertial>
+      <origin xyz='0 0 0.0725' rpy='0 -0 0'/>
+      <mass value='9.6'/>
+      <inertia ixx='0.0512' ixy='0' ixz='0' iyy='0.07712' iyz='0' izz='0.11808'/>
+    </inertial>
+    <collision name='chassis_collision'>
+      <origin xyz='0 0 0.105' rpy='0 -0 0'/>
+      <geometry>
+        <box size='0.5 0.24 0.235'/>
+      </geometry>
+    </collision>
+    <collision name='left_mount_collision'>
+      <origin xyz='0 0.17 0.085' rpy='0 -0 0'/>
+      <geometry>
+        <box size='0.08 0.1 0.115'/>
+      </geometry>
+    </collision>
+    <collision name='right_mount_collision'>
+      <origin xyz='0 -0.17 0.085' rpy='0 -0 0'/>
+      <geometry>
+        <box size='0.08 0.1 0.115'/>
+      </geometry>
+    </collision>
+    <visual name='chassis_main_visual'>
+      <origin xyz='0 0 0.0725' rpy='0 -0 0'/>
+      <geometry>
+        <box size='0.46 0.24 0.12'/>
+      </geometry>
+    </visual>
+    <visual name='chassis_front_face_bottom'>
+      <origin xyz='0.24 0 0.0175' rpy='0 -0 0'/>
+      <geometry>
+        <box size='0.02001 0.24 0.01'/>
+      </geometry>
+    </visual>
+    <visual name='chassis_front_face_top'>
+      <origin xyz='0.24 0 0.1275' rpy='0 -0 0'/>
+      <geometry>
+        <box size='0.02001 0.24 0.01'/>
+      </geometry>
+    </visual>
+    <visual name='chassis_front_face_top_marker'>
+      <origin xyz='0.245 0 0.1325' rpy='0 -0 0'/>
+      <geometry>
+        <box size='0.01 0.12 0.0001'/>
+      </geometry>
+    </visual>
+    <visual name='chassis_front_face_left'>
+      <origin xyz='0.24 0.115 0.0725' rpy='0 -0 0'/>
+      <geometry>
+        <box size='0.02001 0.01 0.12'/>
+      </geometry>
+    </visual>
+    <visual name='chassis_front_face_right'>
+      <origin xyz='0.24 -0.115 0.0725' rpy='0 -0 0'/>
+      <geometry>
+        <box size='0.02001 0.01 0.12'/>
+      </geometry>
+    </visual>
+    <visual name='chassis_rear_face_bottom'>
+      <origin xyz='-0.24 0 0.0175' rpy='0 -0 0'/>
+      <geometry>
+        <box size='0.02001 0.24 0.01'/>
+      </geometry>
+    </visual>
+    <visual name='chassis_rear_face_top'>
+      <origin xyz='-0.24 0 0.1275' rpy='0 -0 0'/>
+      <geometry>
+        <box size='0.02001 0.24 0.01'/>
+      </geometry>
+    </visual>
+    <visual name='chassis_rear_face_top_marker'>
+      <origin xyz='-0.245 0 0.1325' rpy='0 -0 0'/>
+      <geometry>
+        <box size='0.01 0.12 0.0001'/>
+      </geometry>
+    </visual>
+    <visual name='chassis_rear_face_left'>
+      <origin xyz='-0.24 0.115 0.0725' rpy='0 -0 0'/>
+      <geometry>
+        <box size='0.02001 0.01 0.12'/>
+      </geometry>
+    </visual>
+    <visual name='chassis_rear_face_right'>
+      <origin xyz='-0.24 -0.115 0.0725' rpy='0 -0 0'/>
+      <geometry>
+        <box size='0.02001 0.01 0.12'/>
+      </geometry>
+    </visual>
+    <visual name='lidar_base_visual'>
+      <origin xyz='0 0 0.135' rpy='0 -0 0'/>
+      <geometry>
+        <box size='0.3001 0.21 0.005'/>
+      </geometry>
+    </visual>
+    <visual name='cable_cover_left_visual'>
+      <origin xyz='0 0.095 0.1475' rpy='0 -0 0'/>
+      <geometry>
+        <box size='0.07 0.02 0.02001'/>
+      </geometry>
+    </visual>
+    <visual name='cable_cover_right_visual'>
+      <origin xyz='0 -0.095 0.1475' rpy='0 -0 0'/>
+      <geometry>
+        <box size='0.07 0.02 0.02001'/>
+      </geometry>
+    </visual>
+    <visual name='cable_cover_top_visual'>
+      <origin xyz='0 0 0.16' rpy='0 -0 0'/>
+      <geometry>
+        <box size='0.07 0.21 0.005'/>
+      </geometry>
+    </visual>
+    <visual name='left_mount_visual'>
+      <origin xyz='0 0.17 0.0725' rpy='0 -0 0'/>
+      <geometry>
+        <box size='0.08 0.1 0.09'/>
+      </geometry>
+    </visual>
+    <visual name='left_mount_top_marker_visual'>
+      <origin xyz='0 0.215 0.1175' rpy='0 -0 0'/>
+      <geometry>
+        <box size='0.08 0.01 0.0001'/>
+      </geometry>
+    </visual>
+    <visual name='right_mount_visual'>
+      <origin xyz='0 -0.17 0.0725' rpy='0 -0 0'/>
+      <geometry>
+        <box size='0.08 0.1 0.09'/>
+      </geometry>
+    </visual>
+    <visual name='right_mount_top_marker_visual'>
+      <origin xyz='0 -0.215 0.1175' rpy='0 -0 0'/>
+      <geometry>
+        <box size='0.08 0.01 0.0001'/>
+      </geometry>
+    </visual>
+    <visual name='emergency_stop_bottom_visual'>
+      <origin xyz='0 -0.155 0.125' rpy='0 -0 0'/>
+      <geometry>
+        <cylinder radius='0.015' length='0.015'/>
+      </geometry>
+    </visual>
+    <visual name='emergency_stop_top_visual'>
+      <origin xyz='0 -0.155 0.135' rpy='0 -0 0'/>
+      <geometry>
+        <cylinder radius='0.02' length='0.005'/>
+      </geometry>
+    </visual>
+    <visual name='power_switch_bottom_visual'>
+      <origin xyz='0 0.155 0.1225' rpy='0 -0 0'/>
+      <geometry>
+        <cylinder radius='0.015' length='0.005'/>
+      </geometry>
+    </visual>
+    <visual name='power_switch_middle_visual'>
+      <origin xyz='0 0.155 0.1275' rpy='0 -0 0'/>
+      <geometry>
+        <cylinder radius='0.015' length='0.005'/>
+      </geometry>
+    </visual>
+    <visual name='power_switch_top_visual'>
+      <origin xyz='0 0.155 0.1375' rpy='0 -0 0.35'/>
+      <geometry>
+        <box size='0.025 0.005 0.01'/>
+      </geometry>
+    </visual>
+    <visual name='wheel_mount_front_left_axis_visual'>
+      <origin xyz='0.19 0.11 0' rpy='1.5708 -0 0'/>
+      <geometry>
+        <cylinder radius='0.008' length='0.05'/>
+      </geometry>
+    </visual>
+    <visual name='wheel_mount_front_left_visual'>
+      <origin xyz='0.19 0.08 0' rpy='0 -0 0'/>
+      <geometry>
+        <box size='0.05 0.07 0.025'/>
+      </geometry>
+    </visual>
+    <visual name='wheel_mount_front_right_axis_visual'>
+      <origin xyz='0.19 -0.11 0' rpy='1.5708 -0 0'/>
+      <geometry>
+        <cylinder radius='0.008' length='0.05'/>
+      </geometry>
+    </visual>
+    <visual name='wheel_mount_front_right_visual'>
+      <origin xyz='0.19 -0.08 0' rpy='0 -0 0'/>
+      <geometry>
+        <box size='0.05 0.07 0.025'/>
+      </geometry>
+    </visual>
+    <visual name='wheel_mount_rear_left_axis_visual'>
+      <origin xyz='-0.19 0.11 0' rpy='1.5708 -0 0'/>
+      <geometry>
+        <cylinder radius='0.008' length='0.05'/>
+      </geometry>
+    </visual>
+    <visual name='wheel_mount_rear_left_visual'>
+      <origin xyz='-0.19 0.08 0' rpy='0 -0 0'/>
+      <geometry>
+        <box size='0.05 0.07 0.025'/>
+      </geometry>
+    </visual>
+    <visual name='wheel_mount_rear_right_axis_visual'>
+      <origin xyz='-0.19 -0.11 0' rpy='1.5708 -0 0'/>
+      <geometry>
+        <cylinder radius='0.008' length='0.05'/>
+      </geometry>
+    </visual>
+    <visual name='wheel_mount_rear_right_visual'>
+      <origin xyz='-0.19 -0.08 0' rpy='0 -0 0'/>
+      <geometry>
+        <box size='0.05 0.07 0.025'/>
+      </geometry>
+    </visual>
+    <visual name='laser_front_bottom_visual'>
+      <origin xyz='0.12 0 0.16' rpy='0 -0 0'/>
+      <geometry>
+        <box size='0.06 0.065 0.045'/>
+      </geometry>
+    </visual>
+    <visual name='laser_front_top_visual'>
+      <origin xyz='0.12 0 0.2025' rpy='0 -0 0'/>
+      <geometry>
+        <cylinder radius='0.02' length='0.04'/>
+      </geometry>
+    </visual>
+    <visual name='laser_front_cable_green'>
+      <origin xyz='0.045 0.01 0.1525' rpy='0 1.5708 0'/>
+      <geometry>
+        <cylinder radius='0.005' length='0.09'/>
+      </geometry>
+    </visual>
+    <visual name='laser_front_cable_black'>
+      <origin xyz='0.045 -0.01 0.1525' rpy='0 1.5708 0'/>
+      <geometry>
+        <cylinder radius='0.005' length='0.09'/>
+      </geometry>
+    </visual>
+    <visual name='laser_rear_bottom_visual'>
+      <origin xyz='-0.12 0 0.1625' rpy='0 -0 0'/>
+      <geometry>
+        <box size='0.06 0.065 0.045'/>
+      </geometry>
+    </visual>
+    <visual name='laser_rear_top_visual'>
+      <origin xyz='-0.12 0 0.2025' rpy='0 -0 0'/>
+      <geometry>
+        <cylinder radius='0.02' length='0.04'/>
+      </geometry>
+    </visual>
+    <visual name='laser_rear_cable_green'>
+      <origin xyz='-0.045 -0.01 0.1525' rpy='0 1.5708 0'/>
+      <geometry>
+        <cylinder radius='0.005' length='0.09'/>
+      </geometry>
+    </visual>
+    <visual name='laser_rear_cable_black'>
+      <origin xyz='-0.045 0.01 0.1525' rpy='0 1.5708 0'/>
+      <geometry>
+        <cylinder radius='0.005' length='0.09'/>
+      </geometry>
+    </visual>
+    <visual name='rgbd_front_visual'>
+      <origin xyz='0.235 0 0.1025' rpy='0 -0 0'/>
+      <geometry>
+        <box size='0.03 0.162 0.03'/>
+      </geometry>
+    </visual>
+    <visual name='rgbd_rear_visual'>
+      <origin xyz='-0.235 0 0.1025' rpy='0 -0 0'/>
+      <geometry>
+        <box size='0.03 0.162 0.03'/>
+      </geometry>
+    </visual>
+    <visual name='camera_front_visual'>
+      <origin xyz='0.2349 0 0.0725' rpy='0 1.5708 0'/>
+      <geometry>
+        <cylinder radius='0.011' length='0.03'/>
+      </geometry>
+    </visual>
+    <visual name='camera_rear_visual'>
+      <origin xyz='-0.2349 0 0.0725' rpy='0 -1.5708 0'/>
+      <geometry>
+        <cylinder radius='0.011' length='0.03'/>
+      </geometry>
+    </visual>
+    <visual name='camera_left_visual'>
+      <origin xyz='0 0.22 0.0725' rpy='-1.5708 0 0'/>
+      <geometry>
+        <cylinder radius='0.011' length='0.005'/>
+      </geometry>
+    </visual>
+    <visual name='camera_right_visual'>
+      <origin xyz='0 -0.22 0.0725' rpy='1.5708 -0 0'/>
+      <geometry>
+        <cylinder radius='0.011' length='0.005'/>
+      </geometry>
+    </visual>
+    <visual name='light_front_visual'>
+      <origin xyz='0.24 0 0.0425' rpy='0 1.5708 0'/>
+      <geometry>
+        <cylinder radius='0.004' length='0.02001'/>
+      </geometry>
+    </visual>
+    <visual name='light_rear_visual'>
+      <origin xyz='-0.24 0 0.0425' rpy='0 1.5708 0'/>
+      <geometry>
+        <cylinder radius='0.004' length='0.02001'/>
+      </geometry>
+    </visual>
+    <visual name='light_left_visual'>
+      <origin xyz='0 0.22 0.0425' rpy='1.5708 -0 0'/>
+      <geometry>
+        <cylinder radius='0.004' length='0.0005'/>
+      </geometry>
+    </visual>
+    <visual name='light_right_visual'>
+      <origin xyz='0 -0.22 0.0425' rpy='1.5708 -0 0'/>
+      <geometry>
+        <cylinder radius='0.004' length='0.0005'/>
+      </geometry>
+    </visual>
+  </link>
+  <sensor name='imu_sensor' update_rate='50'>
+    <parent link='base_link'/>
+    <origin xyz='0 0 0' rpy='0 -0 0'/>
+  </sensor>
+  <sensor name='magnetometer' update_rate='50'>
+    <parent link='base_link'/>
+    <origin xyz='0 0 0' rpy='0 -0 0'/>
+  </sensor>
+  <sensor name='air_pressure' update_rate='20'>
+    <parent link='base_link'/>
+    <origin xyz='0 0 0' rpy='0 -0 0'/>
+  </sensor>
+  <sensor name='laser_front' update_rate='15'>
+    <parent link='base_link'/>
+    <origin xyz='0.12 0 0.1925' rpy='0 -0 0'/>
+  </sensor>
+  <sensor name='laser_rear' update_rate='15'>
+    <parent link='base_link'/>
+    <origin xyz='-0.12 0 0.1925' rpy='0 -0 3.14159'/>
+  </sensor>
+  <sensor name='rgbd_front' update_rate='30'>
+    <parent link='base_link'/>
+    <origin xyz='0.250001 0 0.1025' rpy='0 -0 0'/>
+    <camera>
+      <image width='640' height='360' format='R8G8B8' hfov='1.48358' near='0.01' far='300' />
+    </camera>
+  </sensor>
+  <sensor name='rgbd_rear' update_rate='30'>
+    <parent link='base_link'/>
+    <origin xyz='-0.250001 0 0.1025' rpy='0 -0 3.14159'/>
+    <camera>
+      <image width='640' height='360' format='R8G8B8' hfov='1.48358' near='0.01' far='300' />
+    </camera>
+  </sensor>
+  <sensor name='camera_front' update_rate='30'>
+    <parent link='base_link'/>
+    <origin xyz='0.25 0 0.0725' rpy='0 -0 0'/>
+    <camera>
+      <image width='640' height='360' format='R8G8B8' hfov='3' near='0.01' far='300' />
+    </camera>
+  </sensor>
+  <sensor name='camera_rear' update_rate='30'>
+    <parent link='base_link'/>
+    <origin xyz='-0.25 0 0.0725' rpy='0 -0 3.14159'/>
+    <camera>
+      <image width='640' height='360' format='R8G8B8' hfov='3' near='0.01' far='300' />
+    </camera>
+  </sensor>
+  <sensor name='camera_left' update_rate='30'>
+    <parent link='base_link'/>
+    <origin xyz='0 0.225 0' rpy='0.0725 -0 0'/>
+    <camera>
+      <image width='640' height='360' format='R8G8B8' hfov='3' near='0.01' far='300' />
+    </camera>
+  </sensor>
+  <sensor name='camera_right' update_rate='30'>
+    <parent link='base_link'/>
+    <origin xyz='0 -0.225 0.0725' rpy='0 0 -1.5708'/>
+    <camera>
+      <image width='640' height='360' format='R8G8B8' hfov='3' near='0.01' far='300' />
+    </camera>
+  </sensor>
+  <link name='front_left_wheel'>
+    <inertial>
+      <origin xyz='0 0 0' rpy='0 -0 0'/>
+      <mass value='5'/>
+      <inertia ixx='0.0153' ixy='0' ixz='0' iyy='0.025' iyz='0' izz='0.0153'/>
+    </inertial>
+    <collision name='collision'>
+      <origin xyz='0 0 0' rpy='-1.5708 0 0'/>
+      <geometry>
+        <cylinder radius='0.1275' length='0.082'/>
+      </geometry>
+    </collision>
+    <visual name='tire_visual'>
+      <origin xyz='0 0 0' rpy='1.5708 -0 0'/>
+      <geometry>
+        <mesh filename='meshes/wheel_left.dae' scale='1.30102 1.30102 2.05'/>
+      </geometry>
+    </visual>
+    <visual name='hub_visual'>
+      <origin xyz='0 -0.055 0' rpy='1.5708 -0 0'/>
+      <geometry>
+        <cylinder radius='0.04' length='0.025'/>
+      </geometry>
+    </visual>
+  </link>
+  <link name='front_right_wheel'>
+    <inertial>
+      <origin xyz='0 0 0' rpy='0 -0 0'/>
+      <mass value='5'/>
+      <inertia ixx='0.0153' ixy='0' ixz='0' iyy='0.025' iyz='0' izz='0.0153'/>
+    </inertial>
+    <collision name='collision'>
+      <origin xyz='0 0 0' rpy='1.5708 -0 0'/>
+      <geometry>
+        <cylinder radius='0.1275' length='0.082'/>
+      </geometry>
+    </collision>
+    <visual name='tire_visual'>
+      <origin xyz='0 0 0' rpy='1.5708 -0 0'/>
+      <geometry>
+        <mesh filename='meshes/wheel_right.dae' scale='1.30102 1.30102 2.05'/>
+      </geometry>
+    </visual>
+    <visual name='hub_visual'>
+      <origin xyz='0 0.055 0' rpy='1.5708 -0 0'/>
+      <geometry>
+        <cylinder radius='0.04' length='0.025'/>
+      </geometry>
+    </visual>
+  </link>
+  <link name='rear_left_wheel'>
+    <inertial>
+      <origin xyz='0 0 0' rpy='0 -0 0'/>
+      <mass value='5'/>
+      <inertia ixx='0.0153' ixy='0' ixz='0' iyy='0.025' iyz='0' izz='0.0153'/>
+    </inertial>
+    <collision name='collision'>
+      <origin xyz='0 0 0' rpy='-1.5708 0 0'/>
+      <geometry>
+        <cylinder radius='0.1275' length='0.082'/>
+      </geometry>
+    </collision>
+    <visual name='tire_visual'>
+      <origin xyz='0 0 0' rpy='1.5708 -0 0'/>
+      <geometry>
+        <mesh filename='meshes/wheel_left.dae' scale='1.30102 1.30102 2.05'/>
+      </geometry>
+    </visual>
+    <visual name='hub_visual'>
+      <origin xyz='0 -0.055 0' rpy='1.5708 -0 0'/>
+      <geometry>
+        <cylinder radius='0.04' length='0.025'/>
+      </geometry>
+    </visual>
+  </link>
+  <link name='rear_right_wheel'>
+    <inertial>
+      <origin xyz='0 0 0' rpy='0 -0 0'/>
+      <mass value='5'/>
+      <inertia ixx='0.0153' ixy='0' ixz='0' iyy='0.025' iyz='0' izz='0.0153'/>
+    </inertial>
+    <collision name='collision'>
+      <origin xyz='0 0 0' rpy='1.5708 -0 0'/>
+      <geometry>
+        <cylinder radius='0.1275' length='0.082'/>
+      </geometry>
+    </collision>
+    <visual name='tire_visual'>
+      <origin xyz='0 0 0' rpy='1.5708 -0 0'/>
+      <geometry>
+        <mesh filename='meshes/wheel_right.dae' scale='1.30102 1.30102 2.05'/>
+      </geometry>
+    </visual>
+    <visual name='hub_visual'>
+      <origin xyz='0 0.055 0' rpy='1.5708 -0 0'/>
+      <geometry>
+        <cylinder radius='0.04' length='0.025'/>
+      </geometry>
+    </visual>
+  </link>
+  <joint name='front_left_wheel_joint' type='revolute'>
+    <origin xyz='0.19 0.19 0' rpy='0 -0 0'/>
+    <parent link='base_link'/>
+    <child link='front_left_wheel'/>
+    <axis xyz='0 1 0'/>
+    <limit lower='-1.79769e+308' upper='1.79769e+308' effort='10' velocity='19.61'/>
+  </joint>
+  <joint name='rear_left_wheel_joint' type='revolute'>
+    <origin xyz='-0.19 0.19 0' rpy='0 -0 0'/>
+    <parent link='base_link'/>
+    <child link='rear_left_wheel'/>
+    <axis xyz='0 1 0'/>
+    <limit lower='-1.79769e+308' upper='1.79769e+308' effort='10' velocity='19.61'/>
+  </joint>
+  <joint name='rear_right_wheel_joint' type='revolute'>
+    <origin xyz='-0.19 -0.19 0' rpy='0 -0 0'/>
+    <parent link='base_link'/>
+    <child link='rear_right_wheel'/>
+    <axis xyz='0 1 0'/>
+    <limit lower='-1.79769e+308' upper='1.79769e+308' effort='10' velocity='19.61'/>
+  </joint>
+  <joint name='front_right_wheel_joint' type='revolute'>
+    <origin xyz='0.19 -0.19 0' rpy='0 -0 0'/>
+    <parent link='base_link'/>
+    <child link='front_right_wheel'/>
+    <axis xyz='0 1 0'/>
+    <limit lower='-1.79769e+308' upper='1.79769e+308' effort='10' velocity='19.61'/>
+  </joint>
+</robot>
diff --git a/submitted_models/robotika_freyja_sensor_config_1/urdf/model.xacro b/submitted_models/robotika_freyja_sensor_config_1/urdf/model.xacro
index a1ebdaf5..158e00c8 100644
--- a/submitted_models/robotika_freyja_sensor_config_1/urdf/model.xacro
+++ b/submitted_models/robotika_freyja_sensor_config_1/urdf/model.xacro
@@ -1,1469 +1,1469 @@
-<?xml version="1.0" encoding="utf-8"?>
-<!-- =================================================================================== -->
-<!-- |    This document was autogenerated by xacro from /model.sdf                     | -->
-<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
-<!-- =================================================================================== -->
-<sdf version="1.6">
-  <model name="ROBOTIKA_FREYJA">
-    <pose>0 0 0.1275 0 0 0</pose>
-    <enable_wind>1</enable_wind>
-    <link name="base_link">
-      <!-- Mass modelled as solid 0.3 x 0.24 x 0.08 cuboid at central
-                 bottom part of the robot, where battery and onboard computer
-                 are located, surrounded by ventilation space and lightweight
-                 chassis.
-                 Note: Most of the mass of the robot is *not* in the main body,
-                       but in wheels, which contain hub motors.
-                 https://en.wikipedia.org/wiki/List_of_moments_of_inertia
-            -->
-      <inertial>
-        <pose>0 0 0.0725 0 0 0</pose>
-        <mass>9.6</mass>
-        <inertia>
-          <ixx>0.0512</ixx>
-          <iyy>0.07712</iyy>
-          <izz>0.11808</izz>
-        </inertia>
-      </inertial>
-      <!-- This bounding box covers also wheel mounts at the bottom and
-           lidars on the top. -->
-      <collision name="chassis_collision">
-        <pose>0 0 0.105 0 0 0</pose>
-        <geometry>
-          <box>
-            <size>0.50 0.24 0.235</size>
-          </box>
-        </geometry>
-      </collision>
-      <visual name="chassis_main_visual">
-        <pose>0 0 0.0725 0 0 0</pose>
-        <geometry>
-          <box>
-            <size>0.46 0.24 0.12</size>
-          </box>
-        </geometry>
-        <material>
-          <ambient>222 184 135 1</ambient>
-          <diffuse>222 184 135 1</diffuse>
-        </material>
-      </visual>
-      <visual name="chassis_front_face_bottom">
-        <pose>0.24 0 0.0175 0 0 0</pose>
-        <geometry>
-          <box>
-            <size>0.02001 0.24 0.01</size>
-          </box>
-        </geometry>
-        <material>
-          <ambient>222 184 135 1</ambient>
-          <diffuse>222 184 135 1</diffuse>
-        </material>
-      </visual>
-      <visual name="chassis_front_face_top">
-        <pose>0.24 0 0.1275 0 0 0</pose>
-        <geometry>
-          <box>
-            <size>0.02001 0.24 0.01</size>
-          </box>
-        </geometry>
-        <material>
-          <ambient>222 184 135 1</ambient>
-          <diffuse>222 184 135 1</diffuse>
-        </material>
-      </visual>
-      <visual name="chassis_front_face_top_marker">
-        <pose>0.245 0 0.1325 0 0 0</pose>
-        <geometry>
-          <box>
-            <size>0.01 0.12 0.0001</size>
-          </box>
-        </geometry>
-        <material>
-          <ambient>0 180 0 1</ambient>
-          <diffuse>0 180 0 1</diffuse>
-        </material>
-      </visual>
-      <visual name="chassis_front_face_left">
-        <pose>0.24 0.115 0.0725 0 0 0</pose>
-        <geometry>
-          <box>
-            <size>0.02001 0.01 0.12</size>
-          </box>
-        </geometry>
-        <material>
-          <ambient>222 184 135 1</ambient>
-          <diffuse>222 184 135 1</diffuse>
-        </material>
-      </visual>
-      <visual name="chassis_front_face_right">
-        <pose>0.24 -0.115 0.0725 0 0 0</pose>
-        <geometry>
-          <box>
-            <size>0.02001 0.01 0.12</size>
-          </box>
-        </geometry>
-        <material>
-          <ambient>222 184 135 1</ambient>
-          <diffuse>222 184 135 1</diffuse>
-        </material>
-      </visual>
-      <visual name="chassis_rear_face_bottom">
-        <pose>-0.24 0 0.0175 0 0 0</pose>
-        <geometry>
-          <box>
-            <size>0.02001 0.24 0.01</size>
-          </box>
-        </geometry>
-        <material>
-          <ambient>222 184 135 1</ambient>
-          <diffuse>222 184 135 1</diffuse>
-        </material>
-      </visual>
-      <visual name="chassis_rear_face_top">
-        <pose>-0.24 0 0.1275 0 0 0</pose>
-        <geometry>
-          <box>
-            <size>0.02001 0.24 0.01</size>
-          </box>
-        </geometry>
-        <material>
-          <ambient>222 184 135 1</ambient>
-          <diffuse>222 184 135 1</diffuse>
-        </material>
-      </visual>
-      <visual name="chassis_rear_face_top_marker">
-        <pose>-0.245 0 0.1325 0 0 0</pose>
-        <geometry>
-          <box>
-            <size>0.01 0.12 0.0001</size>
-          </box>
-        </geometry>
-        <material>
-          <ambient>180 0 0 1</ambient>
-          <diffuse>180 0 0 1</diffuse>
-        </material>
-      </visual>
-      <visual name="chassis_rear_face_left">
-        <pose>-0.24 0.115 0.0725 0 0 0</pose>
-        <geometry>
-          <box>
-            <size>0.02001 0.01 0.12</size>
-          </box>
-        </geometry>
-        <material>
-          <ambient>222 184 135 1</ambient>
-          <diffuse>222 184 135 1</diffuse>
-        </material>
-      </visual>
-      <visual name="chassis_rear_face_right">
-        <pose>-0.24 -0.115 0.0725 0 0 0</pose>
-        <geometry>
-          <box>
-            <size>0.02001 0.01 0.12</size>
-          </box>
-        </geometry>
-        <material>
-          <ambient>222 184 135 1</ambient>
-          <diffuse>222 184 135 1</diffuse>
-        </material>
-      </visual>
-      <visual name="lidar_base_visual">
-        <pose>0 0 0.135 0 0 0</pose>
-        <geometry>
-          <box>
-            <size>0.3001 0.21 0.005</size>
-          </box>
-        </geometry>
-        <material>
-          <ambient>222 184 135 1</ambient>
-          <diffuse>222 184 135 1</diffuse>
-        </material>
-      </visual>
-      <visual name="cable_cover_left_visual">
-        <pose>0 0.095 0.1475 0 0 0</pose>
-        <geometry>
-          <box>
-            <size>0.07 0.02 0.02001</size>
-          </box>
-        </geometry>
-        <material>
-          <ambient>222 184 135 1</ambient>
-          <diffuse>222 184 135 1</diffuse>
-        </material>
-      </visual>
-      <visual name="cable_cover_right_visual">
-        <pose>0 -0.095 0.1475 0 0 0</pose>
-        <geometry>
-          <box>
-            <size>0.07 0.02 0.02001</size>
-          </box>
-        </geometry>
-        <material>
-          <ambient>222 184 135 1</ambient>
-          <diffuse>222 184 135 1</diffuse>
-        </material>
-      </visual>
-      <visual name="cable_cover_top_visual">
-        <pose>0 0.0 0.16 0 0 0</pose>
-        <geometry>
-          <box>
-            <size>0.07 0.21 0.005</size>
-          </box>
-        </geometry>
-        <material>
-          <ambient>222 184 135 1</ambient>
-          <diffuse>222 184 135 1</diffuse>
-        </material>
-      </visual>
-      <collision name="left_mount_collision">
-        <pose>0.0 0.17 0.085 0 0 0</pose>
-        <geometry>
-          <box>
-            <size>0.08 0.1 0.115</size>
-          </box>
-        </geometry>
-      </collision>
-      <visual name="left_mount_visual">
-        <pose>0.0 0.17 0.0725 0 0 0</pose>
-        <geometry>
-          <box>
-            <size>0.08 0.1 0.09</size>
-          </box>
-        </geometry>
-        <material>
-          <ambient>222 184 135 1</ambient>
-          <diffuse>222 184 135 1</diffuse>
-        </material>
-      </visual>
-      <visual name="left_mount_top_marker_visual">
-        <pose>0.0 0.215 0.1175 0 0 0</pose>
-        <geometry>
-          <box>
-            <size>0.08 0.01 0.0001</size>
-          </box>
-        </geometry>
-        <material>
-          <ambient>0 0 180 1</ambient>
-          <diffuse>0 0 180 1</diffuse>
-        </material>
-      </visual>
-      <collision name="right_mount_collision">
-        <pose>0.0 -0.17 0.085 0 0 0</pose>
-        <geometry>
-          <box>
-            <size>0.08 0.1 0.115</size>
-          </box>
-        </geometry>
-      </collision>
-      <visual name="right_mount_visual">
-        <pose>0.0 -0.17 0.0725 0 0 0</pose>
-        <geometry>
-          <box>
-            <size>0.08 0.1 0.09</size>
-          </box>
-        </geometry>
-        <material>
-          <ambient>222 184 135 1</ambient>
-          <diffuse>222 184 135 1</diffuse>
-        </material>
-      </visual>
-      <visual name="right_mount_top_marker_visual">
-        <pose>0.0 -0.215 0.1175 0 0 0</pose>
-        <geometry>
-          <box>
-            <size>0.08 0.01 0.0001</size>
-          </box>
-        </geometry>
-        <material>
-          <ambient>220 220 0 1</ambient>
-          <diffuse>220 220 0 1</diffuse>
-        </material>
-      </visual>
-      <visual name="emergency_stop_bottom_visual">
-        <pose>0.0 -0.155 0.125 0 0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.015</length>
-            <radius>0.015</radius>
-          </cylinder>
-        </geometry>
-        <material>
-          <ambient>180 180 180</ambient>
-          <diffuse>180 180 180</diffuse>
-        </material>
-      </visual>
-      <visual name="emergency_stop_top_visual">
-        <pose>0.0 -0.155 0.135 0 0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.005</length>
-            <radius>0.02</radius>
-          </cylinder>
-        </geometry>
-        <material>
-          <ambient>255 0 0</ambient>
-          <diffuse>255 0 0</diffuse>
-        </material>
-      </visual>
-      <visual name="power_switch_bottom_visual">
-        <pose>0.0 0.155 0.1225 0 0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.005</length>
-            <radius>0.015</radius>
-          </cylinder>
-        </geometry>
-        <material>
-          <ambient>0 0 0</ambient>
-          <diffuse>0 0 0</diffuse>
-        </material>
-      </visual>
-      <visual name="power_switch_middle_visual">
-        <pose>0.0 0.155 0.1275 0 0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.005</length>
-            <radius>0.015</radius>
-          </cylinder>
-        </geometry>
-        <material>
-          <ambient>180 180 180</ambient>
-          <diffuse>180 180 180</diffuse>
-        </material>
-      </visual>
-      <visual name="power_switch_top_visual">
-        <pose>0.0 0.155 0.1375 0 0 0.35</pose>
-        <geometry>
-          <box>
-            <size>0.025 0.005 0.01</size>
-          </box>
-        </geometry>
-        <material>
-          <ambient>0 0 0</ambient>
-          <diffuse>0 0 0</diffuse>
-        </material>
-      </visual>
-      <!-- CMPS14 provides IMU and magnetic heading information.
-                https://www.robot-electronics.co.uk/cmps14-tilt-compensated-compass.html
-            -->
-      <sensor name="imu_sensor" type="imu">
-        <always_on>1</always_on>
-        <update_rate>50</update_rate>
-        <imu>
-          <angular_velocity>
-            <x>
-              <noise type="gaussian">
-                <mean>0</mean>
-                <stddev>2e-4</stddev>
-                <bias_mean>0.0000075</bias_mean>
-                <bias_stddev>0.0000008</bias_stddev>
-                <dynamic_bias_stddev>0.0000004</dynamic_bias_stddev>
-                <dynamic_bias_correlation_time>1000.0</dynamic_bias_correlation_time>
-              </noise>
-            </x>
-            <y>
-              <noise type="gaussian">
-                <mean>0</mean>
-                <stddev>2e-4</stddev>
-                <bias_mean>0.0000075</bias_mean>
-                <bias_stddev>0.0000008</bias_stddev>
-                <dynamic_bias_stddev>0.0000004</dynamic_bias_stddev>
-                <dynamic_bias_correlation_time>1000.0</dynamic_bias_correlation_time>
-              </noise>
-            </y>
-            <z>
-              <noise type="gaussian">
-                <mean>0</mean>
-                <stddev>2e-4</stddev>
-                <bias_mean>0.0000075</bias_mean>
-                <bias_stddev>0.0000008</bias_stddev>
-                <dynamic_bias_stddev>0.0000004</dynamic_bias_stddev>
-                <dynamic_bias_correlation_time>1000.0</dynamic_bias_correlation_time>
-              </noise>
-            </z>
-          </angular_velocity>
-          <linear_acceleration>
-            <x>
-              <noise type="gaussian">
-                <mean>0</mean>
-                <stddev>1e-2</stddev>
-                <bias_mean>0.1</bias_mean>
-                <bias_stddev>0.001</bias_stddev>
-                <dynamic_bias_stddev>0.002</dynamic_bias_stddev>
-                <dynamic_bias_correlation_time>300.0</dynamic_bias_correlation_time>
-              </noise>
-            </x>
-            <y>
-              <noise type="gaussian">
-                <mean>0</mean>
-                <stddev>1e-2</stddev>
-                <bias_mean>0.1</bias_mean>
-                <bias_stddev>0.001</bias_stddev>
-                <dynamic_bias_stddev>0.002</dynamic_bias_stddev>
-                <dynamic_bias_correlation_time>300.0</dynamic_bias_correlation_time>
-              </noise>
-            </y>
-            <z>
-              <noise type="gaussian">
-                <mean>0</mean>
-                <stddev>1e-2</stddev>
-                <bias_mean>0.1</bias_mean>
-                <bias_stddev>0.001</bias_stddev>
-                <dynamic_bias_stddev>0.002</dynamic_bias_stddev>
-                <dynamic_bias_correlation_time>300.0</dynamic_bias_correlation_time>
-              </noise>
-            </z>
-          </linear_acceleration>
-        </imu>
-      </sensor>
-      <sensor name="magnetometer" type="magnetometer">
-        <always_on>1</always_on>
-        <update_rate>50</update_rate>
-        <magnetometer>
-          <x>
-            <noise type="gaussian">
-              <mean>0.000000080</mean>
-              <bias_mean>0.000000400</bias_mean>
-            </noise>
-          </x>
-          <y>
-            <noise type="gaussian">
-              <mean>0.000000080</mean>
-              <bias_mean>0.000000400</bias_mean>
-            </noise>
-          </y>
-          <z>
-            <noise type="gaussian">
-              <mean>0.000000080</mean>
-              <bias_mean>0.000000400</bias_mean>
-            </noise>
-          </z>
-        </magnetometer>
-      </sensor>
-      <!-- Infineon DPS310
-                https://www.infineon.com/cms/en/product/sensor/pressure-sensors/absolute-pressure-sensors-map-bap/dps310/
-            -->
-      <sensor name="air_pressure" type="air_pressure">
-        <always_on>1</always_on>
-        <update_rate>20</update_rate>
-        <air_pressure>
-          <reference_altitude>0</reference_altitude>
-          <noise type="gaussian">
-            <mean>0.00000008</mean>
-          </noise>
-        </air_pressure>
-      </sensor>
-      <!-- 2x SICK TIM881P lidar, a prototype without a good public URL. It is derived from
-                the TIM58x family:
-                https://www.sick.com/ch/en/detection-and-ranging-solutions/2d-lidar-sensors/tim5xx/tim581-2050101/p/p619344
-                -->
-      <visual name="laser_front_bottom_visual">
-        <pose>0.12 0 0.16 0 0 0</pose>
-        <geometry>
-          <box>
-            <size>0.06 0.065 0.045</size>
-          </box>
-        </geometry>
-        <material>
-          <ambient>200 180 180 1</ambient>
-          <diffuse>200 180 180 1</diffuse>
-        </material>
-      </visual>
-      <visual name="laser_front_top_visual">
-        <pose>0.12 0.0 0.2025 0 0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.04</length>
-            <radius>0.02</radius>
-          </cylinder>
-        </geometry>
-        <material>
-          <ambient>0 0 0 1</ambient>
-          <diffuse>0 0 0 1</diffuse>
-        </material>
-      </visual>
-      <visual name="laser_front_cable_green">
-        <pose>0.045 0.01 0.1525 0 1.5707963267948966 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.09</length>
-            <radius>0.005</radius>
-          </cylinder>
-        </geometry>
-        <material>
-          <ambient>120 255 120 1</ambient>
-          <diffuse>120 255 120 1</diffuse>
-        </material>
-      </visual>
-      <visual name="laser_front_cable_black">
-        <pose>0.045 -0.01 0.1525 0 1.5707963267948966 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.09</length>
-            <radius>0.005</radius>
-          </cylinder>
-        </geometry>
-        <material>
-          <ambient>10 10 10 1</ambient>
-          <diffuse>10 10 10 1</diffuse>
-        </material>
-      </visual>
-      <sensor name="laser_front" type="gpu_lidar">
-        <pose>0.12 0 0.1925 0 0 0</pose>
-        <update_rate>15</update_rate>
-        <lidar>
-          <scan>
-            <horizontal>
-              <samples>811</samples>
-              <resolution>0.3333333333</resolution>
-              <min_angle>-2.3562</min_angle>
-              <max_angle>2.3562</max_angle>
-            </horizontal>
-          </scan>
-          <range>
-            <min>0.04</min>
-            <max>25</max>
-            <resolution>0.01</resolution>
-          </range>
-          <noise>
-            <type>gaussian</type>
-            <mean>0</mean>
-            <stddev>0.01</stddev>
-          </noise>
-        </lidar>
-      </sensor>
-      <visual name="laser_rear_bottom_visual">
-        <pose>-0.12 0 0.1625 0 0 0</pose>
-        <geometry>
-          <box>
-            <size>0.06 0.065 0.045</size>
-          </box>
-        </geometry>
-        <material>
-          <ambient>200 180 180 1</ambient>
-          <diffuse>200 180 180 1</diffuse>
-        </material>
-      </visual>
-      <visual name="laser_rear_top_visual">
-        <pose>-0.12 0.0 0.2025 0 0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.04</length>
-            <radius>0.02</radius>
-          </cylinder>
-        </geometry>
-        <material>
-          <ambient>0 0 0 1</ambient>
-          <diffuse>0 0 0 1</diffuse>
-        </material>
-      </visual>
-      <visual name="laser_rear_cable_green">
-        <pose>-0.045 -0.01 0.1525 0 1.5707963267948966 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.09</length>
-            <radius>0.005</radius>
-          </cylinder>
-        </geometry>
-        <material>
-          <ambient>120 255 120 1</ambient>
-          <diffuse>120 255 120 1</diffuse>
-        </material>
-      </visual>
-      <visual name="laser_rear_cable_black">
-        <pose>-0.045 0.01 0.1525 0 1.5707963267948966 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.09</length>
-            <radius>0.005</radius>
-          </cylinder>
-        </geometry>
-        <material>
-          <ambient>10 10 10 1</ambient>
-          <diffuse>10 10 10 1</diffuse>
-        </material>
-      </visual>
-      <sensor name="laser_rear" type="gpu_lidar">
-        <pose>-0.12 0 0.1925 0 0 3.141592</pose>
-        <update_rate>15</update_rate>
-        <lidar>
-          <scan>
-            <horizontal>
-              <samples>811</samples>
-              <resolution>0.3333333333</resolution>
-              <min_angle>-2.3562</min_angle>
-              <max_angle>2.3562</max_angle>
-            </horizontal>
-          </scan>
-          <range>
-            <min>0.04</min>
-            <max>25</max>
-            <resolution>0.01</resolution>
-          </range>
-          <noise>
-            <type>gaussian</type>
-            <mean>0</mean>
-            <stddev>0.01</stddev>
-          </noise>
-        </lidar>
-      </sensor>
-      <!-- 3x Mynt Eye D in low-resolution medium-fps mode.
-                https://www.mynteye.com/pages/mynt-eye-d
-                -->
-      <visual name="rgbd_front_visual">
-        <pose>0.235 0 0.1025 0 0 0</pose>
-        <geometry>
-          <box>
-            <size>0.03 0.162 0.03</size>
-          </box>
-        </geometry>
-        <material>
-          <ambient>0 0 0</ambient>
-          <diffuse>0 0 0</diffuse>
-        </material>
-      </visual>
-      <sensor name="rgbd_front" type="rgbd_camera">
-        <pose>0.250001 0 0.1025 0 0 0</pose>
-        <always_on>1</always_on>
-        <update_rate>30</update_rate>
-        <camera name="rgbd_front_rgbd">
-          <pose frame="">0 0 0 0 -1.5707 1.5707</pose>
-          <horizontal_fov>1.483583268116444</horizontal_fov>
-          <lens>
-            <intrinsics>
-              <!-- fx = fy = width / ( 2 * tan (hfov / 2 ) ) -->
-              <fx>349.2</fx>
-              <fy>349.2</fy>
-              <!-- cx = ( width - 1 ) / 2 -->
-              <cx>319.5</cx>
-              <!-- cy = ( height - 1 ) / 2 -->
-              <cy>179.5</cy>
-              <s>0</s>
-            </intrinsics>
-          </lens>
-          <distortion>
-            <k1>0.0</k1>
-            <k2>0.0</k2>
-            <k3>0.0</k3>
-            <p1>0.0</p1>
-            <p2>0.0</p2>
-            <center>0.5 0.5</center>
-          </distortion>
-          <image>
-            <width>640</width>
-            <height>360</height>
-            <format>R8G8B8</format>
-          </image>
-          <clip>
-            <near>0.01</near>
-            <far>300</far>
-          </clip>
-          <depth_camera>
-            <clip>
-              <near>0.1</near>
-              <far>10</far>
-            </clip>
-          </depth_camera>
-          <noise>
-            <type>gaussian</type>
-            <mean>0</mean>
-            <stddev>0.007</stddev>
-          </noise>
-        </camera>
-      </sensor>
-      <visual name="rgbd_rear_visual">
-        <pose>-0.235 0 0.1025 0 0 0</pose>
-        <geometry>
-          <box>
-            <size>0.03 0.162 0.03</size>
-          </box>
-        </geometry>
-        <material>
-          <ambient>0 0 0</ambient>
-          <diffuse>0 0 0</diffuse>
-        </material>
-      </visual>
-      <sensor name="rgbd_rear" type="rgbd_camera">
-        <pose>-0.250001 0 0.1025 0 0 3.141592653589793</pose>
-        <always_on>1</always_on>
-        <!-- Mynt Eye D in low-reslution high-fps mode. -->
-        <update_rate>30</update_rate>
-        <camera name="rear_rgbd">
-          <pose frame="">0 0 0 0 -1.5707 1.5707</pose>
-          <horizontal_fov>1.483583268116444</horizontal_fov>
-          <lens>
-            <intrinsics>
-              <!-- fx = fy = width / ( 2 * tan (hfov / 2 ) ) -->
-              <fx>349.2</fx>
-              <fy>349.2</fy>
-              <!-- cx = ( width - 1 ) / 2 -->
-              <cx>319.5</cx>
-              <!-- cy = ( height - 1 ) / 2 -->
-              <cy>179.5</cy>
-              <s>0</s>
-            </intrinsics>
-          </lens>
-          <distortion>
-            <k1>0.0</k1>
-            <k2>0.0</k2>
-            <k3>0.0</k3>
-            <p1>0.0</p1>
-            <p2>0.0</p2>
-            <center>0.5 0.5</center>
-          </distortion>
-          <image>
-            <width>640</width>
-            <height>360</height>
-            <format>R8G8B8</format>
-          </image>
-          <clip>
-            <near>0.01</near>
-            <far>300</far>
-          </clip>
-          <depth_camera>
-            <clip>
-              <near>0.1</near>
-              <far>10</far>
-            </clip>
-          </depth_camera>
-          <noise>
-            <type>gaussian</type>
-            <mean>0</mean>
-            <stddev>0.007</stddev>
-          </noise>
-        </camera>
-      </sensor>
-      <!-- Four KAYETON high-speed fisheye cameras running at medium speed,
-                undistorted into 1/4 of their original image size.
-                https://www.kayetoncctv.com/global-shutter-high-speed-120fps-hd-720p-webcam-uvc-plug-play-driverless-usb-camera-module-for-android-linux-windows-mac/
-              -->
-      <visual name="camera_front_visual">
-        <pose>0.2349 0 0.0725 0 1.5707963267948966 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.03</length>
-            <radius>0.011</radius>
-          </cylinder>
-        </geometry>
-        <material>
-          <ambient>0 0 0 </ambient>
-          <diffuse>0 0 0 </diffuse>
-        </material>
-      </visual>
-      <sensor name="camera_front" type="camera">
-        <pose>0.25 0 0.0725 0 0 0</pose>
-        <always_on>1</always_on>
-        <update_rate>30</update_rate>
-        <camera name="camera_front">
-          <horizontal_fov>3.0</horizontal_fov>
-          <lens>
-            <intrinsics>
-              <!-- fx = fy = width / ( 2 * tan (hfov / 2 ) ) -->
-              <fx>11.3464</fx>
-              <fy>11.3464</fy>
-              <!-- cx = ( width + 1 ) / 2 -->
-              <cx>340.5</cx>
-              <!-- cy = ( height + 1 ) / 2 -->
-              <cy>180.5</cy>
-              <s>0</s>
-            </intrinsics>
-          </lens>
-          <distortion>
-            <k1>0.0</k1>
-            <k2>0.0</k2>
-            <k3>0.0</k3>
-            <p1>0.0</p1>
-            <p2>0.0</p2>
-            <center>0.5 0.5</center>
-          </distortion>
-          <image>
-            <width>640</width>
-            <height>360</height>
-            <format>R8G8B8</format>
-          </image>
-          <clip>
-            <near>0.01</near>
-            <far>300</far>
-          </clip>
-          <noise>
-            <type>gaussian</type>
-            <mean>0</mean>
-            <stddev>0.007</stddev>
-          </noise>
-        </camera>
-      </sensor>
-      <visual name="camera_rear_visual">
-        <pose>-0.2349 0 0.0725 0 -1.5707963267948966 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.03</length>
-            <radius>0.011</radius>
-          </cylinder>
-        </geometry>
-        <material>
-          <ambient>0 0 0 </ambient>
-          <diffuse>0 0 0 </diffuse>
-        </material>
-      </visual>
-      <sensor name="camera_rear" type="camera">
-        <pose>-0.25 0 0.0725 0 0 3.141592653589793</pose>
-        <always_on>1</always_on>
-        <update_rate>30</update_rate>
-        <camera name="camera_rear">
-          <horizontal_fov>3.0</horizontal_fov>
-          <lens>
-            <intrinsics>
-              <!-- fx = fy = width / ( 2 * tan (hfov / 2 ) ) -->
-              <fx>11.3464</fx>
-              <fy>11.3464</fy>
-              <!-- cx = ( width - 1 ) / 2 -->
-              <cx>319.5</cx>
-              <!-- cy = ( height - 1 ) / 2 -->
-              <cy>179.5</cy>
-              <s>0</s>
-            </intrinsics>
-          </lens>
-          <distortion>
-            <k1>0.0</k1>
-            <k2>0.0</k2>
-            <k3>0.0</k3>
-            <p1>0.0</p1>
-            <p2>0.0</p2>
-            <center>0.5 0.5</center>
-          </distortion>
-          <image>
-            <width>640</width>
-            <height>360</height>
-            <format>R8G8B8</format>
-          </image>
-          <clip>
-            <near>0.01</near>
-            <far>300</far>
-          </clip>
-          <noise>
-            <type>gaussian</type>
-            <mean>0</mean>
-            <stddev>0.007</stddev>
-          </noise>
-        </camera>
-      </sensor>
-      <visual name="camera_left_visual">
-        <pose>0.0 0.22 0.0725 -1.5707963267948966 0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.005</length>
-            <radius>0.011</radius>
-          </cylinder>
-        </geometry>
-        <material>
-          <ambient>0 0 0 1</ambient>
-          <diffuse>0 0 0 1</diffuse>
-        </material>
-      </visual>
-      <sensor name="camera_left" type="camera">
-        <pose>0.0 0.225 0 0.0725 0 0 1.5707963267948966</pose>
-        <always_on>1</always_on>
-        <update_rate>30</update_rate>
-        <camera name="camera_left">
-          <horizontal_fov>3.0</horizontal_fov>
-          <lens>
-            <intrinsics>
-              <!-- fx = fy = width / ( 2 * tan (hfov / 2 ) ) -->
-              <fx>11.3464</fx>
-              <fy>11.3464</fy>
-              <!-- cx = ( width + 1 ) / 2 -->
-              <cx>340.5</cx>
-              <!-- cy = ( height + 1 ) / 2 -->
-              <cy>180.5</cy>
-              <s>0</s>
-            </intrinsics>
-          </lens>
-          <distortion>
-            <k1>0.0</k1>
-            <k2>0.0</k2>
-            <k3>0.0</k3>
-            <p1>0.0</p1>
-            <p2>0.0</p2>
-            <center>0.5 0.5</center>
-          </distortion>
-          <image>
-            <width>640</width>
-            <height>360</height>
-            <format>R8G8B8</format>
-          </image>
-          <clip>
-            <near>0.01</near>
-            <far>300</far>
-          </clip>
-          <noise>
-            <type>gaussian</type>
-            <mean>0</mean>
-            <stddev>0.007</stddev>
-          </noise>
-        </camera>
-      </sensor>
-      <visual name="camera_right_visual">
-        <pose>0.0 -0.22 0.0725 1.5707963267948966 0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.005</length>
-            <radius>0.011</radius>
-          </cylinder>
-        </geometry>
-        <material>
-          <ambient>0 0 0 1</ambient>
-          <diffuse>0 0 0 1</diffuse>
-        </material>
-      </visual>
-      <sensor name="camera_right" type="camera">
-        <pose>0.0 -0.225 0.0725 0 0 -1.5707963267948966</pose>
-        <always_on>1</always_on>
-        <update_rate>30</update_rate>
-        <camera name="camera_right">
-          <horizontal_fov>3.0</horizontal_fov>
-          <lens>
-            <intrinsics>
-              <!-- fx = fy = width / ( 2 * tan (hfov / 2 ) ) -->
-              <fx>11.3464</fx>
-              <fy>11.3464</fy>
-              <!-- cx = ( width + 1 ) / 2 -->
-              <cx>340.5</cx>
-              <!-- cy = ( height + 1 ) / 2 -->
-              <cy>180.5</cy>
-              <s>0</s>
-            </intrinsics>
-          </lens>
-          <distortion>
-            <k1>0.0</k1>
-            <k2>0.0</k2>
-            <k3>0.0</k3>
-            <p1>0.0</p1>
-            <p2>0.0</p2>
-            <center>0.5 0.5</center>
-          </distortion>
-          <image>
-            <width>640</width>
-            <height>360</height>
-            <format>R8G8B8</format>
-          </image>
-          <clip>
-            <near>0.01</near>
-            <far>300</far>
-          </clip>
-          <noise>
-            <type>gaussian</type>
-            <mean>0</mean>
-            <stddev>0.007</stddev>
-          </noise>
-        </camera>
-      </sensor>
-      <visual name="light_front_visual">
-        <pose>0.24 0 0.0425 0 1.5707963267948966 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.02001</length>
-            <radius>0.004</radius>
-          </cylinder>
-        </geometry>
-        <material>
-          <ambient>255 255 115</ambient>
-          <diffuse>255 255 115</diffuse>
-        </material>
-      </visual>
-      <light name="light_front" type="spot">
-        <pose>0.237 0 0.0425 0 0 0</pose>
-        <attenuation>
-          <range>25</range>
-          <linear>0</linear>
-          <constant>0.1</constant>
-          <quadratic>0.005</quadratic>
-        </attenuation>
-        <diffuse>0.8 0.8 0.5 1</diffuse>
-        <specular>0.8 0.8 0.5 1</specular>
-        <spot>
-          <inner_angle>1.571</inner_angle>
-          <outer_angle>2.1</outer_angle>
-          <falloff>1</falloff>
-        </spot>
-        <direction>1 0 0</direction>
-        <cast_shadows>1</cast_shadows>
-      </light>
-      <visual name="light_rear_visual">
-        <pose>-0.24 0 0.0425 0 1.5707963267948966 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.02001</length>
-            <radius>0.004</radius>
-          </cylinder>
-        </geometry>
-        <material>
-          <ambient>255 255 115</ambient>
-          <diffuse>255 255 115</diffuse>
-        </material>
-      </visual>
-      <light name="light_rear" type="spot">
-        <pose>-0.237 0 0.0425 0 0 0</pose>
-        <attenuation>
-          <range>25</range>
-          <linear>0</linear>
-          <constant>0.1</constant>
-          <quadratic>0.005</quadratic>
-        </attenuation>
-        <diffuse>0.8 0.8 0.5 1</diffuse>
-        <specular>0.8 0.8 0.5 1</specular>
-        <spot>
-          <inner_angle>1.571</inner_angle>
-          <outer_angle>2.1</outer_angle>
-          <falloff>1</falloff>
-        </spot>
-        <direction>-1 0 0</direction>
-        <cast_shadows>1</cast_shadows>
-      </light>
-      <visual name="light_left_visual">
-        <pose>0 0.22 0.0425 1.5707963267948966 0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.0005</length>
-            <radius>0.004</radius>
-          </cylinder>
-        </geometry>
-        <material>
-          <ambient>255 255 115</ambient>
-          <diffuse>255 255 115</diffuse>
-        </material>
-      </visual>
-      <light name="light_left" type="spot">
-        <pose>0 0.22 0.0425 0 0 0</pose>
-        <attenuation>
-          <range>25</range>
-          <linear>0</linear>
-          <constant>0.1</constant>
-          <quadratic>0.005</quadratic>
-        </attenuation>
-        <diffuse>0.8 0.8 0.5 1</diffuse>
-        <specular>0.8 0.8 0.5 1</specular>
-        <spot>
-          <inner_angle>1.571</inner_angle>
-          <outer_angle>2.1</outer_angle>
-          <falloff>1</falloff>
-        </spot>
-        <direction>0 1 0</direction>
-        <cast_shadows>1</cast_shadows>
-      </light>
-      <visual name="light_right_visual">
-        <pose>0 -0.22 0.0425 1.5707963267948966 0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.0005</length>
-            <radius>0.004</radius>
-          </cylinder>
-        </geometry>
-        <material>
-          <ambient>255 255 115</ambient>
-          <diffuse>255 255 115</diffuse>
-        </material>
-      </visual>
-      <light name="light_right" type="spot">
-        <pose>0 -0.22 0.0425 0 0 0</pose>
-        <attenuation>
-          <range>25</range>
-          <linear>0</linear>
-          <constant>0.1</constant>
-          <quadratic>0.005</quadratic>
-        </attenuation>
-        <diffuse>0.8 0.8 0.5 1</diffuse>
-        <specular>0.8 0.8 0.5 1</specular>
-        <spot>
-          <inner_angle>1.571</inner_angle>
-          <outer_angle>2.1</outer_angle>
-          <falloff>1</falloff>
-        </spot>
-        <direction>0 -1 0</direction>
-        <cast_shadows>1</cast_shadows>
-      </light>
-    </link>
-    <link name="front_left_wheel">
-      <pose>0.19 0.19 0 0 0 0</pose>
-      <!-- Inertia approximated by a solid cylinder of a smaller diameter
-                 than the whole wheel and almost full width (r=0.1, h=0.08),
-                 because most of the mass is is the hub motor, which is
-                 surrounded by air tire. -->
-      <inertial>
-        <mass>5.0</mass>
-        <inertia>
-          <ixx>0.0153</ixx>
-          <iyy>0.025</iyy>
-          <izz>0.0153</izz>
-        </inertia>
-      </inertial>
-      <collision name="collision">
-        <pose>0 0 0 -1.5707963267948966 0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.082</length>
-            <radius>0.1275</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <friction>
-            <ode>
-              <mu>1</mu>
-              <mu2>1</mu2>
-              <slip1>0.0475</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-      <visual name="tire_visual">
-        <pose>0 0 0 1.5708 0 0</pose>
-        <geometry>
-          <mesh>
-            <uri>meshes/wheel_left.dae</uri>
-            <scale>1.3010204 1.3010204 2.05</scale>
-          </mesh>
-        </geometry>
-      </visual>
-      <visual name="hub_visual">
-        <pose>0 -0.055 0 1.5707963267948966 0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.025</length>
-            <radius>0.04</radius>
-          </cylinder>
-        </geometry>
-        <material>
-          <ambient>128 128 128</ambient>
-          <diffuse>128 128 128</diffuse>
-        </material>
-      </visual>
-      <visual name="axis_visual">
-        <pose>0 -0.08 0 1.5707963267948966 0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.05</length>
-            <radius>0.008</radius>
-          </cylinder>
-        </geometry>
-        <material>
-          <ambient>0 0 0</ambient>
-          <diffuse>0 0 0</diffuse>
-        </material>
-      </visual>
-      <visual name="mount_visual">
-        <pose>0 -0.11 0 0 0 0</pose>
-        <geometry>
-          <box>
-            <size>0.05 0.07 0.025</size>
-          </box>
-        </geometry>
-        <material>
-          <ambient>128 128 128</ambient>
-          <diffuse>128 128 128</diffuse>
-        </material>
-      </visual>
-    </link>
-    <link name="front_right_wheel">
-      <pose>0.19 -0.19 0 0 0 0</pose>
-      <inertial>
-        <mass>5.0</mass>
-        <inertia>
-          <ixx>0.0153</ixx>
-          <iyy>0.025</iyy>
-          <izz>0.0153</izz>
-        </inertia>
-      </inertial>
-      <collision name="collision">
-        <pose>0 0 0 1.5707963267948966 0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.082</length>
-            <radius>0.1275</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <friction>
-            <ode>
-              <mu>1</mu>
-              <mu2>1</mu2>
-              <slip1>0.0475</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-      <visual name="tire_visual">
-        <pose>0 0 0 1.5708 0 0</pose>
-        <geometry>
-          <mesh>
-            <uri>meshes/wheel_right.dae</uri>
-            <scale>1.3010204 1.3010204 2.05</scale>
-          </mesh>
-        </geometry>
-      </visual>
-      <visual name="hub_visual">
-        <pose>0 0.055 0 1.5707963267948966 0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.025</length>
-            <radius>0.04</radius>
-          </cylinder>
-        </geometry>
-        <material>
-          <ambient>128 128 128</ambient>
-          <diffuse>128 128 128</diffuse>
-        </material>
-      </visual>
-      <visual name="axis_visual">
-        <pose>0 0.08 0 1.5707963267948966 0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.05</length>
-            <radius>0.008</radius>
-          </cylinder>
-        </geometry>
-        <material>
-          <ambient>0 0 0</ambient>
-          <diffuse>0 0 0</diffuse>
-        </material>
-      </visual>
-      <visual name="mount_visual">
-        <pose>0 0.11 0 0 0 0</pose>
-        <geometry>
-          <box>
-            <size>0.05 0.07 0.025</size>
-          </box>
-        </geometry>
-        <material>
-          <ambient>128 128 128</ambient>
-          <diffuse>128 128 128</diffuse>
-        </material>
-      </visual>
-    </link>
-    <link name="rear_left_wheel">
-      <pose>-0.19 0.19 0 0 0 0</pose>
-      <inertial>
-        <mass>5.0</mass>
-        <inertia>
-          <ixx>0.0153</ixx>
-          <iyy>0.025</iyy>
-          <izz>0.0153</izz>
-        </inertia>
-      </inertial>
-      <collision name="collision">
-        <pose>0 0 0 -1.5707963267948966 0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.082</length>
-            <radius>0.1275</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <friction>
-            <ode>
-              <mu>1</mu>
-              <mu2>1</mu2>
-              <slip1>0.0475</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-      <visual name="tire_visual">
-        <pose>0 0 0 1.5708 0 0</pose>
-        <geometry>
-          <mesh>
-            <uri>meshes/wheel_left.dae</uri>
-            <scale>1.3010204 1.3010204 2.05</scale>
-          </mesh>
-        </geometry>
-      </visual>
-      <visual name="hub_visual">
-        <pose>0 -0.055 0 1.5707963267948966 0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.025</length>
-            <radius>0.04</radius>
-          </cylinder>
-        </geometry>
-        <material>
-          <ambient>128 128 128</ambient>
-          <diffuse>128 128 128</diffuse>
-        </material>
-      </visual>
-      <visual name="axis_visual">
-        <pose>0 -0.08 0 1.5707963267948966 0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.05</length>
-            <radius>0.008</radius>
-          </cylinder>
-        </geometry>
-        <material>
-          <ambient>0 0 0</ambient>
-          <diffuse>0 0 0</diffuse>
-        </material>
-      </visual>
-      <visual name="mount_visual">
-        <pose>0 -0.11 0 0 0 0</pose>
-        <geometry>
-          <box>
-            <size>0.05 0.07 0.025</size>
-          </box>
-        </geometry>
-        <material>
-          <ambient>128 128 128</ambient>
-          <diffuse>128 128 128</diffuse>
-        </material>
-      </visual>
-    </link>
-    <link name="rear_right_wheel">
-      <pose>-0.19 -0.19 0 0 0 0</pose>
-      <inertial>
-        <mass>5.0</mass>
-        <inertia>
-          <ixx>0.0153</ixx>
-          <iyy>0.025</iyy>
-          <izz>0.0153</izz>
-        </inertia>
-      </inertial>
-      <collision name="collision">
-        <pose>0 0 0 1.5707963267948966 0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.082</length>
-            <radius>0.1275</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <friction>
-            <ode>
-              <mu>1</mu>
-              <mu2>1</mu2>
-              <slip1>0.0475</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-      <visual name="tire_visual">
-        <pose>0 0 0 1.5708 0 0</pose>
-        <geometry>
-          <mesh>
-            <uri>meshes/wheel_right.dae</uri>
-            <scale>1.3010204 1.3010204 2.05</scale>
-          </mesh>
-        </geometry>
-      </visual>
-      <visual name="hub_visual">
-        <pose>0 0.055 0 1.5707963267948966 0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.025</length>
-            <radius>0.04</radius>
-          </cylinder>
-        </geometry>
-        <material>
-          <ambient>128 128 128</ambient>
-          <diffuse>128 128 128</diffuse>
-        </material>
-      </visual>
-      <visual name="axis_visual">
-        <pose>0 0.08 0 1.5707963267948966 0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.05</length>
-            <radius>0.008</radius>
-          </cylinder>
-        </geometry>
-        <material>
-          <ambient>0 0 0</ambient>
-          <diffuse>0 0 0</diffuse>
-        </material>
-      </visual>
-      <visual name="mount_visual">
-        <pose>0 0.11 0 0 0 0</pose>
-        <geometry>
-          <box>
-            <size>0.05 0.07 0.025</size>
-          </box>
-        </geometry>
-        <material>
-          <ambient>128 128 128</ambient>
-          <diffuse>128 128 128</diffuse>
-        </material>
-      </visual>
-    </link>
-    <!-- 4x 500W hub motor with ~30 km/h maximum speed.
-            However, we operate them with a speed and torque limit
-            in software.
-            https://www.uumotor.com/10-inch-single-shaft-brushless-motor-sensorless.html
-        -->
-    <joint name="front_left_wheel_joint" type="revolute">
-      <child>front_left_wheel</child>
-      <parent>base_link</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1.79769e+308</lower>
-          <upper>+1.79769e+308</upper>
-          <!-- 2.5 m/s => angular velocity of the wheel in rad/s -->
-          <velocity>19.61</velocity>
-          <!-- Torque in NM. -->
-          <effort>10</effort>
-        </limit>
-        <use_parent_model_frame>1</use_parent_model_frame>
-      </axis>
-    </joint>
-    <joint name="rear_left_wheel_joint" type="revolute">
-      <parent>base_link</parent>
-      <child>rear_left_wheel</child>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1.79769e+308</lower>
-          <upper>+1.79769e+308</upper>
-          <!-- 2.5 m/s => angular velocity of the wheel in rad/s -->
-          <velocity>19.61</velocity>
-          <!-- Torque in NM. -->
-          <effort>10</effort>
-        </limit>
-      </axis>
-    </joint>
-    <joint name="rear_right_wheel_joint" type="revolute">
-      <parent>base_link</parent>
-      <child>rear_right_wheel</child>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1.79769e+308</lower>
-          <upper>+1.79769e+308</upper>
-          <!-- 2.5 m/s => angular velocity of the wheel in rad/s -->
-          <velocity>19.61</velocity>
-          <!-- Torque in NM. -->
-          <effort>10</effort>
-        </limit>
-      </axis>
-    </joint>
-    <joint name="front_right_wheel_joint" type="revolute">
-      <parent>base_link</parent>
-      <child>front_right_wheel</child>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1.79769e+308</lower>
-          <upper>+1.79769e+308</upper>
-          <!-- 2.5 m/s => angular velocity of the wheel in rad/s -->
-          <velocity>19.61</velocity>
-          <!-- Torque in NM. -->
-          <effort>10</effort>
-        </limit>
-      </axis>
-    </joint>
-  </model>
-</sdf>
-
+<?xml version="1.0" encoding="utf-8"?>
+<!-- =================================================================================== -->
+<!-- |    This document was autogenerated by xacro from src/subt/submitted_models/robotika_freyja_sensor_config_1/model.sdf | -->
+<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
+<!-- =================================================================================== -->
+<sdf version="1.6">
+  <model name="ROBOTIKA_FREYJA">
+    <pose>0 0 0.1275 0 0 0</pose>
+    <enable_wind>1</enable_wind>
+    <link name="base_link">
+      <!-- Mass modelled as solid 0.3 x 0.24 x 0.08 cuboid at central
+                 bottom part of the robot, where battery and onboard computer
+                 are located, surrounded by ventilation space and lightweight
+                 chassis.
+                 Note: Most of the mass of the robot is *not* in the main body,
+                       but in wheels, which contain hub motors.
+                 https://en.wikipedia.org/wiki/List_of_moments_of_inertia
+            -->
+      <inertial>
+        <pose>0 0 0.0725 0 0 0</pose>
+        <mass>9.6</mass>
+        <inertia>
+          <ixx>0.0512</ixx>
+          <iyy>0.07712</iyy>
+          <izz>0.11808</izz>
+        </inertia>
+      </inertial>
+      <!-- This bounding box covers also wheel mounts at the bottom and
+                 lidars on the top. -->
+      <collision name="chassis_collision">
+        <pose>0 0 0.105 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.50 0.24 0.235</size>
+          </box>
+        </geometry>
+      </collision>
+      <visual name="chassis_main_visual">
+        <pose>0 0 0.0725 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.46 0.24 0.12</size>
+          </box>
+        </geometry>
+        <material>
+          <ambient>0.8706 0.7216 0.5294 1.0</ambient>
+          <diffuse>0.8706 0.7216 0.5294 1.0</diffuse>
+        </material>
+      </visual>
+      <visual name="chassis_front_face_bottom">
+        <pose>0.24 0 0.0175 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.02001 0.24 0.01</size>
+          </box>
+        </geometry>
+        <material>
+          <ambient>0.8706 0.7216 0.5294 1.0</ambient>
+          <diffuse>0.8706 0.7216 0.5294 1.0</diffuse>
+        </material>
+      </visual>
+      <visual name="chassis_front_face_top">
+        <pose>0.24 0 0.1275 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.02001 0.24 0.01</size>
+          </box>
+        </geometry>
+        <material>
+          <ambient>0.8706 0.7216 0.5294 1.0</ambient>
+          <diffuse>0.8706 0.7216 0.5294 1.0</diffuse>
+        </material>
+      </visual>
+      <visual name="chassis_front_face_top_marker">
+        <pose>0.245 0 0.1325 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.01 0.12 0.0001</size>
+          </box>
+        </geometry>
+        <material>
+          <ambient>0.0 0.7059 0.0 1.0</ambient>
+          <diffuse>0.0 0.7059 0.0 1.0</diffuse>
+        </material>
+      </visual>
+      <visual name="chassis_front_face_left">
+        <pose>0.24 0.115 0.0725 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.02001 0.01 0.12</size>
+          </box>
+        </geometry>
+        <material>
+          <ambient>0.8706 0.7216 0.5294 1.0</ambient>
+          <diffuse>0.8706 0.7216 0.5294 1.0</diffuse>
+        </material>
+      </visual>
+      <visual name="chassis_front_face_right">
+        <pose>0.24 -0.115 0.0725 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.02001 0.01 0.12</size>
+          </box>
+        </geometry>
+        <material>
+          <ambient>0.8706 0.7216 0.5294 1.0</ambient>
+          <diffuse>0.8706 0.7216 0.5294 1.0</diffuse>
+        </material>
+      </visual>
+      <visual name="chassis_rear_face_bottom">
+        <pose>-0.24 0 0.0175 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.02001 0.24 0.01</size>
+          </box>
+        </geometry>
+        <material>
+          <ambient>0.8706 0.7216 0.5294 1.0</ambient>
+          <diffuse>0.8706 0.7216 0.5294 1.0</diffuse>
+        </material>
+      </visual>
+      <visual name="chassis_rear_face_top">
+        <pose>-0.24 0 0.1275 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.02001 0.24 0.01</size>
+          </box>
+        </geometry>
+        <material>
+          <ambient>0.8706 0.7216 0.5294 1.0</ambient>
+          <diffuse>0.8706 0.7216 0.5294 1.0</diffuse>
+        </material>
+      </visual>
+      <visual name="chassis_rear_face_top_marker">
+        <pose>-0.245 0 0.1325 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.01 0.12 0.0001</size>
+          </box>
+        </geometry>
+        <material>
+          <ambient>0.7059 0.0 0.0 1.0</ambient>
+          <diffuse>0.7059 0.0 0.0 1.0</diffuse>
+        </material>
+      </visual>
+      <visual name="chassis_rear_face_left">
+        <pose>-0.24 0.115 0.0725 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.02001 0.01 0.12</size>
+          </box>
+        </geometry>
+        <material>
+          <ambient>0.8706 0.7216 0.5294 1.0</ambient>
+          <diffuse>0.8706 0.7216 0.5294 1.0</diffuse>
+        </material>
+      </visual>
+      <visual name="chassis_rear_face_right">
+        <pose>-0.24 -0.115 0.0725 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.02001 0.01 0.12</size>
+          </box>
+        </geometry>
+        <material>
+          <ambient>0.8706 0.7216 0.5294 1.0</ambient>
+          <diffuse>0.8706 0.7216 0.5294 1.0</diffuse>
+        </material>
+      </visual>
+      <visual name="lidar_base_visual">
+        <pose>0 0 0.135 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.3001 0.21 0.005</size>
+          </box>
+        </geometry>
+        <material>
+          <ambient>0.8706 0.7216 0.5294 1.0</ambient>
+          <diffuse>0.8706 0.7216 0.5294 1.0</diffuse>
+        </material>
+      </visual>
+      <visual name="cable_cover_left_visual">
+        <pose>0 0.095 0.1475 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.07 0.02 0.02001</size>
+          </box>
+        </geometry>
+        <material>
+          <ambient>0.8706 0.7216 0.5294 1.0</ambient>
+          <diffuse>0.8706 0.7216 0.5294 1.0</diffuse>
+        </material>
+      </visual>
+      <visual name="cable_cover_right_visual">
+        <pose>0 -0.095 0.1475 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.07 0.02 0.02001</size>
+          </box>
+        </geometry>
+        <material>
+          <ambient>0.8706 0.7216 0.5294 1.0</ambient>
+          <diffuse>0.8706 0.7216 0.5294 1.0</diffuse>
+        </material>
+      </visual>
+      <visual name="cable_cover_top_visual">
+        <pose>0 0.0 0.16 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.07 0.21 0.005</size>
+          </box>
+        </geometry>
+        <material>
+          <ambient>0.8706 0.7216 0.5294 1.0</ambient>
+          <diffuse>0.8706 0.7216 0.5294 1.0</diffuse>
+        </material>
+      </visual>
+      <collision name="left_mount_collision">
+        <pose>0.0 0.17 0.085 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.08 0.1 0.115</size>
+          </box>
+        </geometry>
+      </collision>
+      <visual name="left_mount_visual">
+        <pose>0.0 0.17 0.0725 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.08 0.1 0.09</size>
+          </box>
+        </geometry>
+        <material>
+          <ambient>0.8706 0.7216 0.5294 1.0</ambient>
+          <diffuse>0.8706 0.7216 0.5294 1.0</diffuse>
+        </material>
+      </visual>
+      <visual name="left_mount_top_marker_visual">
+        <pose>0.0 0.215 0.1175 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.08 0.01 0.0001</size>
+          </box>
+        </geometry>
+        <material>
+          <ambient>0.0 0.0 0.7059 1.0</ambient>
+          <diffuse>0.0 0.0 0.7059 1.0</diffuse>
+        </material>
+      </visual>
+      <collision name="right_mount_collision">
+        <pose>0.0 -0.17 0.085 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.08 0.1 0.115</size>
+          </box>
+        </geometry>
+      </collision>
+      <visual name="right_mount_visual">
+        <pose>0.0 -0.17 0.0725 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.08 0.1 0.09</size>
+          </box>
+        </geometry>
+        <material>
+          <ambient>0.8706 0.7216 0.5294 1.0</ambient>
+          <diffuse>0.8706 0.7216 0.5294 1.0</diffuse>
+        </material>
+      </visual>
+      <visual name="right_mount_top_marker_visual">
+        <pose>0.0 -0.215 0.1175 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.08 0.01 0.0001</size>
+          </box>
+        </geometry>
+        <material>
+          <ambient>0.8627 0.8627 0.0 1.0</ambient>
+          <diffuse>0.8627 0.8627 0.0 1.0</diffuse>
+        </material>
+      </visual>
+      <visual name="emergency_stop_bottom_visual">
+        <pose>0.0 -0.155 0.125 0 0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.015</length>
+            <radius>0.015</radius>
+          </cylinder>
+        </geometry>
+        <material>
+          <ambient>0.7059 0.7059 0.7059 1.0</ambient>
+          <diffuse>0.7059 0.7059 0.7059 1.0</diffuse>
+        </material>
+      </visual>
+      <visual name="emergency_stop_top_visual">
+        <pose>0.0 -0.155 0.135 0 0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.005</length>
+            <radius>0.02</radius>
+          </cylinder>
+        </geometry>
+        <material>
+          <ambient>1.0 0.0 0.0 1.0</ambient>
+          <diffuse>1.0 0.0 0.0 1.0</diffuse>
+        </material>
+      </visual>
+      <visual name="power_switch_bottom_visual">
+        <pose>0.0 0.155 0.1225 0 0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.005</length>
+            <radius>0.015</radius>
+          </cylinder>
+        </geometry>
+        <material>
+          <ambient>0.0 0.0 0.0 1.0</ambient>
+          <diffuse>0.0 0.0 0.0 1.0</diffuse>
+        </material>
+      </visual>
+      <visual name="power_switch_middle_visual">
+        <pose>0.0 0.155 0.1275 0 0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.005</length>
+            <radius>0.015</radius>
+          </cylinder>
+        </geometry>
+        <material>
+          <ambient>0.7059 0.7059 0.7059 1.0</ambient>
+          <diffuse>0.7059 0.7059 0.7059 1.0</diffuse>
+        </material>
+      </visual>
+      <visual name="power_switch_top_visual">
+        <pose>0.0 0.155 0.1375 0 0 0.35</pose>
+        <geometry>
+          <box>
+            <size>0.025 0.005 0.01</size>
+          </box>
+        </geometry>
+        <material>
+          <ambient>0.0 0.0 0.0 1.0</ambient>
+          <diffuse>0.0 0.0 0.0 1.0</diffuse>
+        </material>
+      </visual>
+      <visual name="wheel_mount_front_left_axis_visual">
+        <pose>0.19 0.11 0 1.5707963267948966 0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.05</length>
+            <radius>0.008</radius>
+          </cylinder>
+        </geometry>
+        <material>
+          <ambient>0.0 0.0 0.0 1.0</ambient>
+          <diffuse>0.0 0.0 0.0 1.0</diffuse>
+        </material>
+      </visual>
+      <visual name="wheel_mount_front_left_visual">
+        <pose>0.19 0.08 0 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.05 0.07 0.025</size>
+          </box>
+        </geometry>
+        <material>
+          <ambient>0.502 0.502 0.502 1.0</ambient>
+          <diffuse>0.502 0.502 0.502 1.0</diffuse>
+        </material>
+      </visual>
+      <visual name="wheel_mount_front_right_axis_visual">
+        <pose>0.19 -0.11 0 1.5707963267948966 0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.05</length>
+            <radius>0.008</radius>
+          </cylinder>
+        </geometry>
+        <material>
+          <ambient>0.0 0.0 0.0 1.0</ambient>
+          <diffuse>0.0 0.0 0.0 1.0</diffuse>
+        </material>
+      </visual>
+      <visual name="wheel_mount_front_right_visual">
+        <pose>0.19 -0.08 0 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.05 0.07 0.025</size>
+          </box>
+        </geometry>
+        <material>
+          <ambient>0.502 0.502 0.502 1.0</ambient>
+          <diffuse>0.502 0.502 0.502 1.0</diffuse>
+        </material>
+      </visual>
+      <visual name="wheel_mount_rear_left_axis_visual">
+        <pose>-0.19 0.11 0 1.5707963267948966 0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.05</length>
+            <radius>0.008</radius>
+          </cylinder>
+        </geometry>
+        <material>
+          <ambient>0.0 0.0 0.0 1.0</ambient>
+          <diffuse>0.0 0.0 0.0 1.0</diffuse>
+        </material>
+      </visual>
+      <visual name="wheel_mount_rear_left_visual">
+        <pose>-0.19 0.08 0 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.05 0.07 0.025</size>
+          </box>
+        </geometry>
+        <material>
+          <ambient>0.502 0.502 0.502 1.0</ambient>
+          <diffuse>0.502 0.502 0.502 1.0</diffuse>
+        </material>
+      </visual>
+      <visual name="wheel_mount_rear_right_axis_visual">
+        <pose>-0.19 -0.11 0 1.5707963267948966 0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.05</length>
+            <radius>0.008</radius>
+          </cylinder>
+        </geometry>
+        <material>
+          <ambient>0.0 0.0 0.0 1.0</ambient>
+          <diffuse>0.0 0.0 0.0 1.0</diffuse>
+        </material>
+      </visual>
+      <visual name="wheel_mount_rear_right_visual">
+        <pose>-0.19 -0.08 0 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.05 0.07 0.025</size>
+          </box>
+        </geometry>
+        <material>
+          <ambient>0.502 0.502 0.502 1.0</ambient>
+          <diffuse>0.502 0.502 0.502 1.0</diffuse>
+        </material>
+      </visual>
+      <!-- CMPS14 provides IMU and magnetic heading information.
+                https://www.robot-electronics.co.uk/cmps14-tilt-compensated-compass.html
+            -->
+      <sensor name="imu_sensor" type="imu">
+        <always_on>1</always_on>
+        <update_rate>50</update_rate>
+        <imu>
+          <angular_velocity>
+            <x>
+              <noise type="gaussian">
+                <mean>0</mean>
+                <stddev>2e-4</stddev>
+                <bias_mean>0.0000075</bias_mean>
+                <bias_stddev>0.0000008</bias_stddev>
+                <dynamic_bias_stddev>0.0000004</dynamic_bias_stddev>
+                <dynamic_bias_correlation_time>1000.0</dynamic_bias_correlation_time>
+              </noise>
+            </x>
+            <y>
+              <noise type="gaussian">
+                <mean>0</mean>
+                <stddev>2e-4</stddev>
+                <bias_mean>0.0000075</bias_mean>
+                <bias_stddev>0.0000008</bias_stddev>
+                <dynamic_bias_stddev>0.0000004</dynamic_bias_stddev>
+                <dynamic_bias_correlation_time>1000.0</dynamic_bias_correlation_time>
+              </noise>
+            </y>
+            <z>
+              <noise type="gaussian">
+                <mean>0</mean>
+                <stddev>2e-4</stddev>
+                <bias_mean>0.0000075</bias_mean>
+                <bias_stddev>0.0000008</bias_stddev>
+                <dynamic_bias_stddev>0.0000004</dynamic_bias_stddev>
+                <dynamic_bias_correlation_time>1000.0</dynamic_bias_correlation_time>
+              </noise>
+            </z>
+          </angular_velocity>
+          <linear_acceleration>
+            <x>
+              <noise type="gaussian">
+                <mean>0</mean>
+                <stddev>1e-2</stddev>
+                <bias_mean>0.1</bias_mean>
+                <bias_stddev>0.001</bias_stddev>
+                <dynamic_bias_stddev>0.002</dynamic_bias_stddev>
+                <dynamic_bias_correlation_time>300.0</dynamic_bias_correlation_time>
+              </noise>
+            </x>
+            <y>
+              <noise type="gaussian">
+                <mean>0</mean>
+                <stddev>1e-2</stddev>
+                <bias_mean>0.1</bias_mean>
+                <bias_stddev>0.001</bias_stddev>
+                <dynamic_bias_stddev>0.002</dynamic_bias_stddev>
+                <dynamic_bias_correlation_time>300.0</dynamic_bias_correlation_time>
+              </noise>
+            </y>
+            <z>
+              <noise type="gaussian">
+                <mean>0</mean>
+                <stddev>1e-2</stddev>
+                <bias_mean>0.1</bias_mean>
+                <bias_stddev>0.001</bias_stddev>
+                <dynamic_bias_stddev>0.002</dynamic_bias_stddev>
+                <dynamic_bias_correlation_time>300.0</dynamic_bias_correlation_time>
+              </noise>
+            </z>
+          </linear_acceleration>
+        </imu>
+      </sensor>
+      <sensor name="magnetometer" type="magnetometer">
+        <always_on>1</always_on>
+        <update_rate>50</update_rate>
+        <magnetometer>
+          <x>
+            <noise type="gaussian">
+              <mean>0.000000080</mean>
+              <bias_mean>0.000000400</bias_mean>
+            </noise>
+          </x>
+          <y>
+            <noise type="gaussian">
+              <mean>0.000000080</mean>
+              <bias_mean>0.000000400</bias_mean>
+            </noise>
+          </y>
+          <z>
+            <noise type="gaussian">
+              <mean>0.000000080</mean>
+              <bias_mean>0.000000400</bias_mean>
+            </noise>
+          </z>
+        </magnetometer>
+      </sensor>
+      <!-- Infineon DPS310
+                https://www.infineon.com/cms/en/product/sensor/pressure-sensors/absolute-pressure-sensors-map-bap/dps310/
+            -->
+      <sensor name="air_pressure" type="air_pressure">
+        <always_on>1</always_on>
+        <update_rate>20</update_rate>
+        <air_pressure>
+          <reference_altitude>0</reference_altitude>
+          <noise type="gaussian">
+            <mean>0.00000008</mean>
+          </noise>
+        </air_pressure>
+      </sensor>
+      <!-- 2x SICK TIM881P lidar, a prototype without a good public URL. It is derived from
+                the TIM58x family:
+                https://www.sick.com/ch/en/detection-and-ranging-solutions/2d-lidar-sensors/tim5xx/tim581-2050101/p/p619344
+                -->
+      <visual name="laser_front_bottom_visual">
+        <pose>0.12 0 0.16 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.06 0.065 0.045</size>
+          </box>
+        </geometry>
+        <material>
+          <ambient>0.7843 0.7059 0.7059 1.0</ambient>
+          <diffuse>0.7843 0.7059 0.7059 1.0</diffuse>
+        </material>
+      </visual>
+      <visual name="laser_front_top_visual">
+        <pose>0.12 0.0 0.2025 0 0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.04</length>
+            <radius>0.02</radius>
+          </cylinder>
+        </geometry>
+        <material>
+          <ambient>0.0 0.0 0.0 1.0</ambient>
+          <diffuse>0.0 0.0 0.0 1.0</diffuse>
+        </material>
+      </visual>
+      <visual name="laser_front_cable_green">
+        <pose>0.045 0.01 0.1525 0 1.5707963267948966 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.09</length>
+            <radius>0.005</radius>
+          </cylinder>
+        </geometry>
+        <material>
+          <ambient>0.4706 1.0 0.4706 1.0</ambient>
+          <diffuse>0.4706 1.0 0.4706 1.0</diffuse>
+        </material>
+      </visual>
+      <visual name="laser_front_cable_black">
+        <pose>0.045 -0.01 0.1525 0 1.5707963267948966 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.09</length>
+            <radius>0.005</radius>
+          </cylinder>
+        </geometry>
+        <material>
+          <ambient>0.03922 0.03922 0.03922 1.0</ambient>
+          <diffuse>0.03922 0.03922 0.03922 1.0</diffuse>
+        </material>
+      </visual>
+      <sensor name="laser_front" type="gpu_lidar">
+        <pose>0.12 0 0.1925 0 0 0</pose>
+        <update_rate>15</update_rate>
+        <lidar>
+          <scan>
+            <horizontal>
+              <samples>811</samples>
+              <resolution>0.3333333333</resolution>
+              <min_angle>-2.3562</min_angle>
+              <max_angle>2.3562</max_angle>
+            </horizontal>
+          </scan>
+          <range>
+            <min>0.04</min>
+            <max>25</max>
+            <resolution>0.01</resolution>
+          </range>
+          <noise>
+            <type>gaussian</type>
+            <mean>0</mean>
+            <stddev>0.01</stddev>
+          </noise>
+        </lidar>
+      </sensor>
+      <visual name="laser_rear_bottom_visual">
+        <pose>-0.12 0 0.1625 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.06 0.065 0.045</size>
+          </box>
+        </geometry>
+        <material>
+          <ambient>0.7843 0.7059 0.7059 1.0</ambient>
+          <diffuse>0.7843 0.7059 0.7059 1.0</diffuse>
+        </material>
+      </visual>
+      <visual name="laser_rear_top_visual">
+        <pose>-0.12 0.0 0.2025 0 0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.04</length>
+            <radius>0.02</radius>
+          </cylinder>
+        </geometry>
+        <material>
+          <ambient>0.0 0.0 0.0 1.0</ambient>
+          <diffuse>0.0 0.0 0.0 1.0</diffuse>
+        </material>
+      </visual>
+      <visual name="laser_rear_cable_green">
+        <pose>-0.045 -0.01 0.1525 0 1.5707963267948966 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.09</length>
+            <radius>0.005</radius>
+          </cylinder>
+        </geometry>
+        <material>
+          <ambient>0.4706 1.0 0.4706 1.0</ambient>
+          <diffuse>0.4706 1.0 0.4706 1.0</diffuse>
+        </material>
+      </visual>
+      <visual name="laser_rear_cable_black">
+        <pose>-0.045 0.01 0.1525 0 1.5707963267948966 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.09</length>
+            <radius>0.005</radius>
+          </cylinder>
+        </geometry>
+        <material>
+          <ambient>0.03922 0.03922 0.03922 1.0</ambient>
+          <diffuse>0.03922 0.03922 0.03922 1.0</diffuse>
+        </material>
+      </visual>
+      <sensor name="laser_rear" type="gpu_lidar">
+        <pose>-0.12 0 0.1925 0 0 3.141592</pose>
+        <update_rate>15</update_rate>
+        <lidar>
+          <scan>
+            <horizontal>
+              <samples>811</samples>
+              <resolution>0.3333333333</resolution>
+              <min_angle>-2.3562</min_angle>
+              <max_angle>2.3562</max_angle>
+            </horizontal>
+          </scan>
+          <range>
+            <min>0.04</min>
+            <max>25</max>
+            <resolution>0.01</resolution>
+          </range>
+          <noise>
+            <type>gaussian</type>
+            <mean>0</mean>
+            <stddev>0.01</stddev>
+          </noise>
+        </lidar>
+      </sensor>
+      <!-- 3x Mynt Eye D in low-reslution medium-fps mode.
+                https://www.mynteye.com/pages/mynt-eye-d
+                -->
+      <visual name="rgbd_front_visual">
+        <pose>0.235 0 0.1025 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.03 0.162 0.03</size>
+          </box>
+        </geometry>
+        <material>
+          <ambient>0.0 0.0 0.0 1.0</ambient>
+          <diffuse>0.0 0.0 0.0 1.0</diffuse>
+        </material>
+      </visual>
+      <sensor name="rgbd_front" type="rgbd_camera">
+        <pose>0.250001 0 0.1025 0 0 0</pose>
+        <always_on>1</always_on>
+        <update_rate>30</update_rate>
+        <camera name="rgbd_front_rgbd">
+          <pose frame="">0 0 0 0 -1.5707 1.5707</pose>
+          <horizontal_fov>1.483583268116444</horizontal_fov>
+          <lens>
+            <intrinsics>
+              <!-- fx = fy = width / ( 2 * tan (hfov / 2 ) ) -->
+              <fx>349.2</fx>
+              <fy>349.2</fy>
+              <!-- cx = ( width - 1 ) / 2 -->
+              <cx>319.5</cx>
+              <!-- cy = ( height - 1 ) / 2 -->
+              <cy>179.5</cy>
+              <s>0</s>
+            </intrinsics>
+          </lens>
+          <distortion>
+            <k1>0.0</k1>
+            <k2>0.0</k2>
+            <k3>0.0</k3>
+            <p1>0.0</p1>
+            <p2>0.0</p2>
+            <center>0.5 0.5</center>
+          </distortion>
+          <image>
+            <width>640</width>
+            <height>360</height>
+            <format>R8G8B8</format>
+          </image>
+          <clip>
+            <near>0.01</near>
+            <far>300</far>
+          </clip>
+          <depth_camera>
+            <clip>
+              <near>0.1</near>
+              <far>10</far>
+            </clip>
+          </depth_camera>
+          <noise>
+            <type>gaussian</type>
+            <mean>0</mean>
+            <stddev>0.007</stddev>
+          </noise>
+        </camera>
+      </sensor>
+      <visual name="rgbd_rear_visual">
+        <pose>-0.235 0 0.1025 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.03 0.162 0.03</size>
+          </box>
+        </geometry>
+        <material>
+          <ambient>0.0 0.0 0.0 1.0</ambient>
+          <diffuse>0.0 0.0 0.0 1.0</diffuse>
+        </material>
+      </visual>
+      <sensor name="rgbd_rear" type="rgbd_camera">
+        <pose>-0.250001 0 0.1025 0 0 3.141592653589793</pose>
+        <always_on>1</always_on>
+        <!-- Mynt Eye D in low-resolution high-fps mode. -->
+        <update_rate>30</update_rate>
+        <camera name="rear_rgbd">
+          <pose frame="">0 0 0 0 -1.5707 1.5707</pose>
+          <horizontal_fov>1.483583268116444</horizontal_fov>
+          <lens>
+            <intrinsics>
+              <!-- fx = fy = width / ( 2 * tan (hfov / 2 ) ) -->
+              <fx>349.2</fx>
+              <fy>349.2</fy>
+              <!-- cx = ( width - 1 ) / 2 -->
+              <cx>319.5</cx>
+              <!-- cy = ( height - 1 ) / 2 -->
+              <cy>179.5</cy>
+              <s>0</s>
+            </intrinsics>
+          </lens>
+          <distortion>
+            <k1>0.0</k1>
+            <k2>0.0</k2>
+            <k3>0.0</k3>
+            <p1>0.0</p1>
+            <p2>0.0</p2>
+            <center>0.5 0.5</center>
+          </distortion>
+          <image>
+            <width>640</width>
+            <height>360</height>
+            <format>R8G8B8</format>
+          </image>
+          <clip>
+            <near>0.01</near>
+            <far>300</far>
+          </clip>
+          <depth_camera>
+            <clip>
+              <near>0.1</near>
+              <far>10</far>
+            </clip>
+          </depth_camera>
+          <noise>
+            <type>gaussian</type>
+            <mean>0</mean>
+            <stddev>0.007</stddev>
+          </noise>
+        </camera>
+      </sensor>
+      <!-- Four KAYETON high-speed fisheye cameras running at medium speed,
+                undistorted into 1/4 of their original image size.
+                https://www.kayetoncctv.com/global-shutter-high-speed-120fps-hd-720p-webcam-uvc-plug-play-driverless-usb-camera-module-for-android-linux-windows-mac/
+              -->
+      <visual name="camera_front_visual">
+        <pose>0.2349 0 0.0725 0 1.5707963267948966 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.03</length>
+            <radius>0.011</radius>
+          </cylinder>
+        </geometry>
+        <material>
+          <ambient>0.0 0.0 0.0 1.0</ambient>
+          <diffuse>0.0 0.0 0.0 1.0</diffuse>
+        </material>
+      </visual>
+      <sensor name="camera_front" type="camera">
+        <pose>0.25 0 0.0725 0 0 0</pose>
+        <always_on>1</always_on>
+        <update_rate>30</update_rate>
+        <camera name="camera_front">
+          <horizontal_fov>3.0</horizontal_fov>
+          <lens>
+            <intrinsics>
+              <!-- fx = fy = width / ( 2 * tan (hfov / 2 ) ) -->
+              <fx>11.3464</fx>
+              <fy>11.3464</fy>
+              <!-- cx = ( width + 1 ) / 2 -->
+              <cx>340.5</cx>
+              <!-- cy = ( height + 1 ) / 2 -->
+              <cy>180.5</cy>
+              <s>0</s>
+            </intrinsics>
+          </lens>
+          <distortion>
+            <k1>0.0</k1>
+            <k2>0.0</k2>
+            <k3>0.0</k3>
+            <p1>0.0</p1>
+            <p2>0.0</p2>
+            <center>0.5 0.5</center>
+          </distortion>
+          <image>
+            <width>640</width>
+            <height>360</height>
+            <format>R8G8B8</format>
+          </image>
+          <clip>
+            <near>0.01</near>
+            <far>300</far>
+          </clip>
+          <noise>
+            <type>gaussian</type>
+            <mean>0</mean>
+            <stddev>0.007</stddev>
+          </noise>
+        </camera>
+      </sensor>
+      <visual name="camera_rear_visual">
+        <pose>-0.2349 0 0.0725 0 -1.5707963267948966 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.03</length>
+            <radius>0.011</radius>
+          </cylinder>
+        </geometry>
+        <material>
+          <ambient>0.0 0.0 0.0 1.0</ambient>
+          <diffuse>0.0 0.0 0.0 1.0</diffuse>
+        </material>
+      </visual>
+      <sensor name="camera_rear" type="camera">
+        <pose>-0.25 0 0.0725 0 0 3.141592653589793</pose>
+        <always_on>1</always_on>
+        <update_rate>30</update_rate>
+        <camera name="camera_rear">
+          <horizontal_fov>3.0</horizontal_fov>
+          <lens>
+            <intrinsics>
+              <!-- fx = fy = width / ( 2 * tan (hfov / 2 ) ) -->
+              <fx>11.3464</fx>
+              <fy>11.3464</fy>
+              <!-- cx = ( width - 1 ) / 2 -->
+              <cx>319.5</cx>
+              <!-- cy = ( height - 1 ) / 2 -->
+              <cy>179.5</cy>
+              <s>0</s>
+            </intrinsics>
+          </lens>
+          <distortion>
+            <k1>0.0</k1>
+            <k2>0.0</k2>
+            <k3>0.0</k3>
+            <p1>0.0</p1>
+            <p2>0.0</p2>
+            <center>0.5 0.5</center>
+          </distortion>
+          <image>
+            <width>640</width>
+            <height>360</height>
+            <format>R8G8B8</format>
+          </image>
+          <clip>
+            <near>0.01</near>
+            <far>300</far>
+          </clip>
+          <noise>
+            <type>gaussian</type>
+            <mean>0</mean>
+            <stddev>0.007</stddev>
+          </noise>
+        </camera>
+      </sensor>
+      <visual name="camera_left_visual">
+        <pose>0.0 0.22 0.0725 -1.5707963267948966 0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.005</length>
+            <radius>0.011</radius>
+          </cylinder>
+        </geometry>
+        <material>
+          <ambient>0.0 0.0 0.0 1.0</ambient>
+          <diffuse>0.0 0.0 0.0 1.0</diffuse>
+        </material>
+      </visual>
+      <sensor name="camera_left" type="camera">
+        <pose>0.0 0.225 0 0.0725 0 0 1.5707963267948966</pose>
+        <always_on>1</always_on>
+        <update_rate>30</update_rate>
+        <camera name="camera_left">
+          <horizontal_fov>3.0</horizontal_fov>
+          <lens>
+            <intrinsics>
+              <!-- fx = fy = width / ( 2 * tan (hfov / 2 ) ) -->
+              <fx>11.3464</fx>
+              <fy>11.3464</fy>
+              <!-- cx = ( width + 1 ) / 2 -->
+              <cx>340.5</cx>
+              <!-- cy = ( height + 1 ) / 2 -->
+              <cy>180.5</cy>
+              <s>0</s>
+            </intrinsics>
+          </lens>
+          <distortion>
+            <k1>0.0</k1>
+            <k2>0.0</k2>
+            <k3>0.0</k3>
+            <p1>0.0</p1>
+            <p2>0.0</p2>
+            <center>0.5 0.5</center>
+          </distortion>
+          <image>
+            <width>640</width>
+            <height>360</height>
+            <format>R8G8B8</format>
+          </image>
+          <clip>
+            <near>0.01</near>
+            <far>300</far>
+          </clip>
+          <noise>
+            <type>gaussian</type>
+            <mean>0</mean>
+            <stddev>0.007</stddev>
+          </noise>
+        </camera>
+      </sensor>
+      <visual name="camera_right_visual">
+        <pose>0.0 -0.22 0.0725 1.5707963267948966 0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.005</length>
+            <radius>0.011</radius>
+          </cylinder>
+        </geometry>
+        <material>
+          <ambient>0.0 0.0 0.0 1.0</ambient>
+          <diffuse>0.0 0.0 0.0 1.0</diffuse>
+        </material>
+      </visual>
+      <sensor name="camera_right" type="camera">
+        <pose>0.0 -0.225 0.0725 0 0 -1.5707963267948966</pose>
+        <always_on>1</always_on>
+        <update_rate>30</update_rate>
+        <camera name="camera_right">
+          <horizontal_fov>3.0</horizontal_fov>
+          <lens>
+            <intrinsics>
+              <!-- fx = fy = width / ( 2 * tan (hfov / 2 ) ) -->
+              <fx>11.3464</fx>
+              <fy>11.3464</fy>
+              <!-- cx = ( width + 1 ) / 2 -->
+              <cx>340.5</cx>
+              <!-- cy = ( height + 1 ) / 2 -->
+              <cy>180.5</cy>
+              <s>0</s>
+            </intrinsics>
+          </lens>
+          <distortion>
+            <k1>0.0</k1>
+            <k2>0.0</k2>
+            <k3>0.0</k3>
+            <p1>0.0</p1>
+            <p2>0.0</p2>
+            <center>0.5 0.5</center>
+          </distortion>
+          <image>
+            <width>640</width>
+            <height>360</height>
+            <format>R8G8B8</format>
+          </image>
+          <clip>
+            <near>0.01</near>
+            <far>300</far>
+          </clip>
+          <noise>
+            <type>gaussian</type>
+            <mean>0</mean>
+            <stddev>0.007</stddev>
+          </noise>
+        </camera>
+      </sensor>
+      <visual name="light_front_visual">
+        <pose>0.24 0 0.0425 0 1.5707963267948966 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.02001</length>
+            <radius>0.004</radius>
+          </cylinder>
+        </geometry>
+        <material>
+          <ambient>1.0 1.0 0.451 1.0</ambient>
+          <diffuse>1.0 1.0 0.451 1.0</diffuse>
+        </material>
+      </visual>
+      <light name="light_front" type="spot">
+        <pose>0.237 0 0.0425 0 0 0</pose>
+        <attenuation>
+          <range>25</range>
+          <linear>0</linear>
+          <constant>0.1</constant>
+          <quadratic>0.005</quadratic>
+        </attenuation>
+        <diffuse>0.8 0.8 0.5 1.0</diffuse>
+        <specular>0.8 0.8 0.5 1</specular>
+        <spot>
+          <inner_angle>1.571</inner_angle>
+          <outer_angle>2.1</outer_angle>
+          <falloff>1</falloff>
+        </spot>
+        <direction>1 0 0</direction>
+        <cast_shadows>1</cast_shadows>
+      </light>
+      <visual name="light_rear_visual">
+        <pose>-0.24 0 0.0425 0 1.5707963267948966 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.02001</length>
+            <radius>0.004</radius>
+          </cylinder>
+        </geometry>
+        <material>
+          <ambient>1.0 1.0 0.451 1.0</ambient>
+          <diffuse>1.0 1.0 0.451 1.0</diffuse>
+        </material>
+      </visual>
+      <light name="light_rear" type="spot">
+        <pose>-0.237 0 0.0425 0 0 0</pose>
+        <attenuation>
+          <range>25</range>
+          <linear>0</linear>
+          <constant>0.1</constant>
+          <quadratic>0.005</quadratic>
+        </attenuation>
+        <diffuse>0.8 0.8 0.5 1.0</diffuse>
+        <specular>0.8 0.8 0.5 1</specular>
+        <spot>
+          <inner_angle>1.571</inner_angle>
+          <outer_angle>2.1</outer_angle>
+          <falloff>1</falloff>
+        </spot>
+        <direction>-1 0 0</direction>
+        <cast_shadows>1</cast_shadows>
+      </light>
+      <visual name="light_left_visual">
+        <pose>0 0.22 0.0425 1.5707963267948966 0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.0005</length>
+            <radius>0.004</radius>
+          </cylinder>
+        </geometry>
+        <material>
+          <ambient>1.0 1.0 0.451 1.0</ambient>
+          <diffuse>1.0 1.0 0.451 1.0</diffuse>
+        </material>
+      </visual>
+      <light name="light_left" type="spot">
+        <pose>0 0.22 0.0425 0 0 0</pose>
+        <attenuation>
+          <range>25</range>
+          <linear>0</linear>
+          <constant>0.1</constant>
+          <quadratic>0.005</quadratic>
+        </attenuation>
+        <diffuse>0.8 0.8 0.5 1.0</diffuse>
+        <specular>0.8 0.8 0.5 1</specular>
+        <spot>
+          <inner_angle>1.571</inner_angle>
+          <outer_angle>2.1</outer_angle>
+          <falloff>1</falloff>
+        </spot>
+        <direction>0 1 0</direction>
+        <cast_shadows>1</cast_shadows>
+      </light>
+      <visual name="light_right_visual">
+        <pose>0 -0.22 0.0425 1.5707963267948966 0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.0005</length>
+            <radius>0.004</radius>
+          </cylinder>
+        </geometry>
+        <material>
+          <ambient>1.0 1.0 0.451 1.0</ambient>
+          <diffuse>1.0 1.0 0.451 1.0</diffuse>
+        </material>
+      </visual>
+      <light name="light_right" type="spot">
+        <pose>0 -0.22 0.0425 0 0 0</pose>
+        <attenuation>
+          <range>25</range>
+          <linear>0</linear>
+          <constant>0.1</constant>
+          <quadratic>0.005</quadratic>
+        </attenuation>
+        <diffuse>0.8 0.8 0.5 1.0</diffuse>
+        <specular>0.8 0.8 0.5 1</specular>
+        <spot>
+          <inner_angle>1.571</inner_angle>
+          <outer_angle>2.1</outer_angle>
+          <falloff>1</falloff>
+        </spot>
+        <direction>0 -1 0</direction>
+        <cast_shadows>1</cast_shadows>
+      </light>
+    </link>
+    <link name="front_left_wheel">
+      <pose>0.19 0.19 0 0 0 0</pose>
+      <!-- Inertia approximated by a solid cylinder of a smaller diameter
+                 than the whole wheel and almost full width (r=0.1, h=0.08),
+                 because most of the mass is is the hub motor, which is
+                 surrounded by air tire. -->
+      <inertial>
+        <mass>5.0</mass>
+        <inertia>
+          <ixx>0.0153</ixx>
+          <iyy>0.025</iyy>
+          <izz>0.0153</izz>
+        </inertia>
+      </inertial>
+      <collision name="collision">
+        <pose>0 0 0 -1.5707963267948966 0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.082</length>
+            <radius>0.1275</radius>
+          </cylinder>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>1</mu>
+              <mu2>1</mu2>
+              <slip1>0.0475</slip1>
+              <slip2>0</slip2>
+              <fdir1>0 0 1</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <visual name="tire_visual">
+        <pose>0 0 0 1.5708 0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>meshes/wheel_left.dae</uri>
+            <scale>1.3010204 1.3010204 2.05</scale>
+          </mesh>
+        </geometry>
+      </visual>
+      <visual name="hub_visual">
+        <pose>0 -0.055 0 1.5707963267948966 0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.025</length>
+            <radius>0.04</radius>
+          </cylinder>
+        </geometry>
+        <material>
+          <ambient>0.502 0.502 0.502 1.0</ambient>
+          <diffuse>0.502 0.502 0.502 1.0</diffuse>
+        </material>
+      </visual>
+    </link>
+    <link name="front_right_wheel">
+      <pose>0.19 -0.19 0 0 0 0</pose>
+      <inertial>
+        <mass>5.0</mass>
+        <inertia>
+          <ixx>0.0153</ixx>
+          <iyy>0.025</iyy>
+          <izz>0.0153</izz>
+        </inertia>
+      </inertial>
+      <collision name="collision">
+        <pose>0 0 0 1.5707963267948966 0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.082</length>
+            <radius>0.1275</radius>
+          </cylinder>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>1</mu>
+              <mu2>1</mu2>
+              <slip1>0.0475</slip1>
+              <slip2>0</slip2>
+              <fdir1>0 0 1</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <visual name="tire_visual">
+        <pose>0 0 0 1.5708 0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>meshes/wheel_right.dae</uri>
+            <scale>1.3010204 1.3010204 2.05</scale>
+          </mesh>
+        </geometry>
+      </visual>
+      <visual name="hub_visual">
+        <pose>0 0.055 0 1.5707963267948966 0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.025</length>
+            <radius>0.04</radius>
+          </cylinder>
+        </geometry>
+        <material>
+          <ambient>0.502 0.502 0.502 1.0</ambient>
+          <diffuse>0.502 0.502 0.502 1.0</diffuse>
+        </material>
+      </visual>
+    </link>
+    <link name="rear_left_wheel">
+      <pose>-0.19 0.19 0 0 0 0</pose>
+      <inertial>
+        <mass>5.0</mass>
+        <inertia>
+          <ixx>0.0153</ixx>
+          <iyy>0.025</iyy>
+          <izz>0.0153</izz>
+        </inertia>
+      </inertial>
+      <collision name="collision">
+        <pose>0 0 0 -1.5707963267948966 0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.082</length>
+            <radius>0.1275</radius>
+          </cylinder>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>1</mu>
+              <mu2>1</mu2>
+              <slip1>0.0475</slip1>
+              <slip2>0</slip2>
+              <fdir1>0 0 1</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <visual name="tire_visual">
+        <pose>0 0 0 1.5708 0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>meshes/wheel_left.dae</uri>
+            <scale>1.3010204 1.3010204 2.05</scale>
+          </mesh>
+        </geometry>
+      </visual>
+      <visual name="hub_visual">
+        <pose>0 -0.055 0 1.5707963267948966 0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.025</length>
+            <radius>0.04</radius>
+          </cylinder>
+        </geometry>
+        <material>
+          <ambient>0.502 0.502 0.502 1.0</ambient>
+          <diffuse>0.502 0.502 0.502 1.0</diffuse>
+        </material>
+      </visual>
+    </link>
+    <link name="rear_right_wheel">
+      <pose>-0.19 -0.19 0 0 0 0</pose>
+      <inertial>
+        <mass>5.0</mass>
+        <inertia>
+          <ixx>0.0153</ixx>
+          <iyy>0.025</iyy>
+          <izz>0.0153</izz>
+        </inertia>
+      </inertial>
+      <collision name="collision">
+        <pose>0 0 0 1.5707963267948966 0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.082</length>
+            <radius>0.1275</radius>
+          </cylinder>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>1</mu>
+              <mu2>1</mu2>
+              <slip1>0.0475</slip1>
+              <slip2>0</slip2>
+              <fdir1>0 0 1</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <visual name="tire_visual">
+        <pose>0 0 0 1.5708 0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>meshes/wheel_right.dae</uri>
+            <scale>1.3010204 1.3010204 2.05</scale>
+          </mesh>
+        </geometry>
+      </visual>
+      <visual name="hub_visual">
+        <pose>0 0.055 0 1.5707963267948966 0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.025</length>
+            <radius>0.04</radius>
+          </cylinder>
+        </geometry>
+        <material>
+          <ambient>0.502 0.502 0.502 1.0</ambient>
+          <diffuse>0.502 0.502 0.502 1.0</diffuse>
+        </material>
+      </visual>
+    </link>
+    <!-- 4x 500W hub motor with ~30 km/h maximum speed.
+            However, we operate them with a speed and torque limit
+            in software.
+            https://www.uumotor.com/10-inch-single-shaft-brushless-motor-sensorless.html
+        -->
+    <joint name="front_left_wheel_joint" type="revolute">
+      <child>front_left_wheel</child>
+      <parent>base_link</parent>
+      <axis>
+        <xyz>0 1 0</xyz>
+        <limit>
+          <lower>-1.79769e+308</lower>
+          <upper>+1.79769e+308</upper>
+          <!-- 2.5 m/s => angular velocity of the wheel in rad/s -->
+          <velocity>19.61</velocity>
+          <!-- Torque in NM. -->
+          <effort>10</effort>
+        </limit>
+        <use_parent_model_frame>1</use_parent_model_frame>
+      </axis>
+    </joint>
+    <joint name="rear_left_wheel_joint" type="revolute">
+      <parent>base_link</parent>
+      <child>rear_left_wheel</child>
+      <axis>
+        <xyz>0 1 0</xyz>
+        <limit>
+          <lower>-1.79769e+308</lower>
+          <upper>+1.79769e+308</upper>
+          <!-- 2.5 m/s => angular velocity of the wheel in rad/s -->
+          <velocity>19.61</velocity>
+          <!-- Torque in NM. -->
+          <effort>10</effort>
+        </limit>
+      </axis>
+    </joint>
+    <joint name="rear_right_wheel_joint" type="revolute">
+      <parent>base_link</parent>
+      <child>rear_right_wheel</child>
+      <axis>
+        <xyz>0 1 0</xyz>
+        <limit>
+          <lower>-1.79769e+308</lower>
+          <upper>+1.79769e+308</upper>
+          <!-- 2.5 m/s => angular velocity of the wheel in rad/s -->
+          <velocity>19.61</velocity>
+          <!-- Torque in NM. -->
+          <effort>10</effort>
+        </limit>
+      </axis>
+    </joint>
+    <joint name="front_right_wheel_joint" type="revolute">
+      <parent>base_link</parent>
+      <child>front_right_wheel</child>
+      <axis>
+        <xyz>0 1 0</xyz>
+        <limit>
+          <lower>-1.79769e+308</lower>
+          <upper>+1.79769e+308</upper>
+          <!-- 2.5 m/s => angular velocity of the wheel in rad/s -->
+          <velocity>19.61</velocity>
+          <!-- Torque in NM. -->
+          <effort>10</effort>
+        </limit>
+      </axis>
+    </joint>
+  </model>
+</sdf>
+

From bbbe9826a4a7f187a528b528a18c51d792df7649 Mon Sep 17 00:00:00 2001
From: Nate Koenig <natekoenig@gmail.com>
Date: Thu, 2 Apr 2020 11:21:15 -0700
Subject: [PATCH 08/15] Branch for pull request #423


From 3a74b1d22ad139e0255d0e014acc945c9d528689 Mon Sep 17 00:00:00 2001
From: Martin Dlouhy <md@robotika.cz>
Date: Sun, 31 May 2020 08:28:53 +0200
Subject: [PATCH 09/15] Virtual Freyja fixes

---
 .../launch/spawner.rb                         |  4 +-
 .../launch/vehicle_topics.launch              |  8 +--
 .../robotika_freyja_sensor_config_1/model.sdf | 56 +++++++++---------
 .../urdf/model.xacro                          | 58 +++++++++----------
 4 files changed, 63 insertions(+), 63 deletions(-)

diff --git a/submitted_models/robotika_freyja_sensor_config_1/launch/spawner.rb b/submitted_models/robotika_freyja_sensor_config_1/launch/spawner.rb
index a0a501b8..1be11624 100644
--- a/submitted_models/robotika_freyja_sensor_config_1/launch/spawner.rb
+++ b/submitted_models/robotika_freyja_sensor_config_1/launch/spawner.rb
@@ -40,9 +40,9 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
           <open_circuit_voltage_linear_coef>-7.2</open_circuit_voltage_linear_coef>
           <initial_charge>20</initial_charge>
           <capacity>20</capacity>
-          <resistance>0.052</resistance>
+          <resistance>0.0052</resistance>
           <smooth_current_tau>5.0</smooth_current_tau>
-          <power_load>100</power_load>
+          <power_load>10</power_load>
           <start_on_motion>true</start_on_motion>
         </plugin>
        <!-- Gas Sensor plugin -->"
diff --git a/submitted_models/robotika_freyja_sensor_config_1/launch/vehicle_topics.launch b/submitted_models/robotika_freyja_sensor_config_1/launch/vehicle_topics.launch
index bae512f5..1f61728d 100644
--- a/submitted_models/robotika_freyja_sensor_config_1/launch/vehicle_topics.launch
+++ b/submitted_models/robotika_freyja_sensor_config_1/launch/vehicle_topics.launch
@@ -62,7 +62,7 @@
       type="parameter_bridge"
       name="ros_ign_bridge_rgbd_front"
       args="$(arg sensor_prefix)/rgbd_front/points@sensor_msgs/PointCloud2[ignition.msgs.PointCloudPacked">
-      <remap from="$(arg sensor_prefix)/rgbd_front/points" to="rgbd_front/depth/points"/>
+      <remap from="$(arg sensor_prefix)/rgbd_front/points" to="rgbd_front/points"/>
     </node>
     <node
       pkg="ros_ign_image"
@@ -92,7 +92,7 @@
       type="parameter_bridge"
       name="ros_ign_bridge_rgbd_rear"
       args="$(arg sensor_prefix)/rgbd_rear/points@sensor_msgs/PointCloud2[ignition.msgs.PointCloudPacked">
-      <remap from="$(arg sensor_prefix)/rgbd_rear/points" to="rgbd_rear/depth/points"/>
+      <remap from="$(arg sensor_prefix)/rgbd_rear/points" to="rgbd_rear/points"/>
     </node>
     <node
       pkg="ros_ign_image"
@@ -188,14 +188,14 @@
       type="parameter_bridge"
       name="ros_ign_bridge_camera_right"
       args="$(arg sensor_prefix)/camera_right/camera_info@sensor_msgs/CameraInfo[ignition.msgs.CameraInfo">
-      <remap from="$(arg sensor_prefix)/camera_right/camera_info" to="camera_rear/camera_info"/>
+      <remap from="$(arg sensor_prefix)/camera_right/camera_info" to="camera_right/camera_info"/>
     </node>
     <node
       pkg="ros_ign_image"
       type="image_bridge"
       name="ros_ign_image_camera_right"
       args="$(arg sensor_prefix)/camera_right/image">
-      <remap from="$(arg sensor_prefix)/camera_right/image" to="camera_rear/image_raw"/>
+      <remap from="$(arg sensor_prefix)/camera_right/image" to="camera_right/image_raw"/>
     </node>
 
     <!-- UGV -->
diff --git a/submitted_models/robotika_freyja_sensor_config_1/model.sdf b/submitted_models/robotika_freyja_sensor_config_1/model.sdf
index f9808298..f42a9ea3 100644
--- a/submitted_models/robotika_freyja_sensor_config_1/model.sdf
+++ b/submitted_models/robotika_freyja_sensor_config_1/model.sdf
@@ -616,7 +616,7 @@
                     <scan>
                         <horizontal>
                             <samples>811</samples>
-                            <resolution>0.3333333333</resolution>
+                            <resolution>1</resolution>
                             <min_angle>-2.3562</min_angle>
                             <max_angle>2.3562</max_angle>
                         </horizontal>
@@ -692,7 +692,7 @@
                     <scan>
                         <horizontal>
                             <samples>811</samples>
-                            <resolution>0.3333333333</resolution>
+                            <resolution>1</resolution>
                             <min_angle>-2.3562</min_angle>
                             <max_angle>2.3562</max_angle>
                         </horizontal>
@@ -861,16 +861,16 @@
                 <always_on>1</always_on>
                 <update_rate>30</update_rate>
                 <camera name="camera_front">
-                    <horizontal_fov>3.0</horizontal_fov>
+                    <horizontal_fov>2.27</horizontal_fov>
                     <lens>
                         <intrinsics>
                             <!-- fx = fy = width / ( 2 * tan (hfov / 2 ) ) -->
-                            <fx>11.3464</fx>
-                            <fy>11.3464</fy>
-                            <!-- cx = ( width + 1 ) / 2 -->
-                            <cx>340.5</cx>
-                            <!-- cy = ( height + 1 ) / 2 -->
-                            <cy>180.5</cy>
+                            <fx>149.01</fx>
+                            <fy>149.01</fy>
+                            <!-- cx = ( width - 1 ) / 2 -->
+                            <cx>339.5</cx>
+                            <!-- cy = ( height - 1 ) / 2 -->
+                            <cy>179.5</cy>
                             <s>0</s>
                         </intrinsics>
                     </lens>
@@ -916,14 +916,14 @@
                 <always_on>1</always_on>
                 <update_rate>30</update_rate>
                 <camera name="camera_rear">
-                    <horizontal_fov>3.0</horizontal_fov>
+                    <horizontal_fov>2.27</horizontal_fov>
                     <lens>
                         <intrinsics>
                             <!-- fx = fy = width / ( 2 * tan (hfov / 2 ) ) -->
-                            <fx>11.3464</fx>
-                            <fy>11.3464</fy>
+                            <fx>149.01</fx>
+                            <fy>149.01</fy>
                             <!-- cx = ( width - 1 ) / 2 -->
-                            <cx>319.5</cx>
+                            <cx>339.5</cx>
                             <!-- cy = ( height - 1 ) / 2 -->
                             <cy>179.5</cy>
                             <s>0</s>
@@ -967,20 +967,20 @@
                 </material>
             </visual>
             <sensor name="camera_left" type="camera">
-                <pose>0.0 0.225 0 0.0725 0 0 1.5707963267948966</pose>
+                <pose>0.0 0.225 0.0725 0 0 1.5707963267948966</pose>
                 <always_on>1</always_on>
                 <update_rate>30</update_rate>
                 <camera name="camera_left">
-                    <horizontal_fov>3.0</horizontal_fov>
+                    <horizontal_fov>2.27</horizontal_fov>
                     <lens>
                         <intrinsics>
                             <!-- fx = fy = width / ( 2 * tan (hfov / 2 ) ) -->
-                            <fx>11.3464</fx>
-                            <fy>11.3464</fy>
-                            <!-- cx = ( width + 1 ) / 2 -->
-                            <cx>340.5</cx>
-                            <!-- cy = ( height + 1 ) / 2 -->
-                            <cy>180.5</cy>
+                            <fx>149.01</fx>
+                            <fy>149.01</fy>
+                            <!-- cx = ( width - 1 ) / 2 -->
+                            <cx>339.5</cx>
+                            <!-- cy = ( height - 1 ) / 2 -->
+                            <cy>179.5</cy>
                             <s>0</s>
                         </intrinsics>
                     </lens>
@@ -1026,16 +1026,16 @@
                 <always_on>1</always_on>
                 <update_rate>30</update_rate>
                 <camera name="camera_right">
-                    <horizontal_fov>3.0</horizontal_fov>
+                    <horizontal_fov>2.27</horizontal_fov>
                     <lens>
                         <intrinsics>
                             <!-- fx = fy = width / ( 2 * tan (hfov / 2 ) ) -->
-                            <fx>11.3464</fx>
-                            <fy>11.3464</fy>
-                            <!-- cx = ( width + 1 ) / 2 -->
-                            <cx>340.5</cx>
-                            <!-- cy = ( height + 1 ) / 2 -->
-                            <cy>180.5</cy>
+                            <fx>149.01</fx>
+                            <fy>149.01</fy>
+                            <!-- cx = ( width - 1 ) / 2 -->
+                            <cx>339.5</cx>
+                            <!-- cy = ( height - 1 ) / 2 -->
+                            <cy>179.5</cy>
                             <s>0</s>
                         </intrinsics>
                     </lens>
diff --git a/submitted_models/robotika_freyja_sensor_config_1/urdf/model.xacro b/submitted_models/robotika_freyja_sensor_config_1/urdf/model.xacro
index 158e00c8..6a26c244 100644
--- a/submitted_models/robotika_freyja_sensor_config_1/urdf/model.xacro
+++ b/submitted_models/robotika_freyja_sensor_config_1/urdf/model.xacro
@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="utf-8"?>
 <!-- =================================================================================== -->
-<!-- |    This document was autogenerated by xacro from src/subt/submitted_models/robotika_freyja_sensor_config_1/model.sdf | -->
+<!-- |    This document was autogenerated by xacro from robotika_freyja_sensor_config_1/model.sdf | -->
 <!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
 <!-- =================================================================================== -->
 <sdf version="1.6">
@@ -615,7 +615,7 @@
           <scan>
             <horizontal>
               <samples>811</samples>
-              <resolution>0.3333333333</resolution>
+              <resolution>1</resolution>
               <min_angle>-2.3562</min_angle>
               <max_angle>2.3562</max_angle>
             </horizontal>
@@ -690,7 +690,7 @@
           <scan>
             <horizontal>
               <samples>811</samples>
-              <resolution>0.3333333333</resolution>
+              <resolution>1</resolution>
               <min_angle>-2.3562</min_angle>
               <max_angle>2.3562</max_angle>
             </horizontal>
@@ -855,16 +855,16 @@
         <always_on>1</always_on>
         <update_rate>30</update_rate>
         <camera name="camera_front">
-          <horizontal_fov>3.0</horizontal_fov>
+          <horizontal_fov>2.27</horizontal_fov>
           <lens>
             <intrinsics>
               <!-- fx = fy = width / ( 2 * tan (hfov / 2 ) ) -->
-              <fx>11.3464</fx>
-              <fy>11.3464</fy>
-              <!-- cx = ( width + 1 ) / 2 -->
-              <cx>340.5</cx>
-              <!-- cy = ( height + 1 ) / 2 -->
-              <cy>180.5</cy>
+              <fx>149.01</fx>
+              <fy>149.01</fy>
+              <!-- cx = ( width - 1 ) / 2 -->
+              <cx>339.5</cx>
+              <!-- cy = ( height - 1 ) / 2 -->
+              <cy>179.5</cy>
               <s>0</s>
             </intrinsics>
           </lens>
@@ -910,14 +910,14 @@
         <always_on>1</always_on>
         <update_rate>30</update_rate>
         <camera name="camera_rear">
-          <horizontal_fov>3.0</horizontal_fov>
+          <horizontal_fov>2.27</horizontal_fov>
           <lens>
             <intrinsics>
               <!-- fx = fy = width / ( 2 * tan (hfov / 2 ) ) -->
-              <fx>11.3464</fx>
-              <fy>11.3464</fy>
+              <fx>149.01</fx>
+              <fy>149.01</fy>
               <!-- cx = ( width - 1 ) / 2 -->
-              <cx>319.5</cx>
+              <cx>339.5</cx>
               <!-- cy = ( height - 1 ) / 2 -->
               <cy>179.5</cy>
               <s>0</s>
@@ -961,20 +961,20 @@
         </material>
       </visual>
       <sensor name="camera_left" type="camera">
-        <pose>0.0 0.225 0 0.0725 0 0 1.5707963267948966</pose>
+        <pose>0.0 0.225 0.0725 0 0 1.5707963267948966</pose>
         <always_on>1</always_on>
         <update_rate>30</update_rate>
         <camera name="camera_left">
-          <horizontal_fov>3.0</horizontal_fov>
+          <horizontal_fov>2.27</horizontal_fov>
           <lens>
             <intrinsics>
               <!-- fx = fy = width / ( 2 * tan (hfov / 2 ) ) -->
-              <fx>11.3464</fx>
-              <fy>11.3464</fy>
-              <!-- cx = ( width + 1 ) / 2 -->
-              <cx>340.5</cx>
-              <!-- cy = ( height + 1 ) / 2 -->
-              <cy>180.5</cy>
+              <fx>149.01</fx>
+              <fy>149.01</fy>
+              <!-- cx = ( width - 1 ) / 2 -->
+              <cx>339.5</cx>
+              <!-- cy = ( height - 1 ) / 2 -->
+              <cy>179.5</cy>
               <s>0</s>
             </intrinsics>
           </lens>
@@ -1020,16 +1020,16 @@
         <always_on>1</always_on>
         <update_rate>30</update_rate>
         <camera name="camera_right">
-          <horizontal_fov>3.0</horizontal_fov>
+          <horizontal_fov>2.27</horizontal_fov>
           <lens>
             <intrinsics>
               <!-- fx = fy = width / ( 2 * tan (hfov / 2 ) ) -->
-              <fx>11.3464</fx>
-              <fy>11.3464</fy>
-              <!-- cx = ( width + 1 ) / 2 -->
-              <cx>340.5</cx>
-              <!-- cy = ( height + 1 ) / 2 -->
-              <cy>180.5</cy>
+              <fx>149.01</fx>
+              <fy>149.01</fy>
+              <!-- cx = ( width - 1 ) / 2 -->
+              <cx>339.5</cx>
+              <!-- cy = ( height - 1 ) / 2 -->
+              <cy>179.5</cy>
               <s>0</s>
             </intrinsics>
           </lens>

From d5bd2ae049c8d47dca9b96675ae89644b835f548 Mon Sep 17 00:00:00 2001
From: Martin Dlouhy <md@robotika.cz>
Date: Wed, 3 Jun 2020 10:16:53 +0200
Subject: [PATCH 10/15] Virtual Freyja - fix power_load to reflect much longer
 durability

---
 .../robotika_freyja_sensor_config_1/launch/spawner.rb           | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/submitted_models/robotika_freyja_sensor_config_1/launch/spawner.rb b/submitted_models/robotika_freyja_sensor_config_1/launch/spawner.rb
index 1be11624..d4848a7c 100644
--- a/submitted_models/robotika_freyja_sensor_config_1/launch/spawner.rb
+++ b/submitted_models/robotika_freyja_sensor_config_1/launch/spawner.rb
@@ -42,7 +42,7 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
           <capacity>20</capacity>
           <resistance>0.0052</resistance>
           <smooth_current_tau>5.0</smooth_current_tau>
-          <power_load>10</power_load>
+          <power_load>1.25</power_load>
           <start_on_motion>true</start_on_motion>
         </plugin>
        <!-- Gas Sensor plugin -->"

From 9c6006b99daa0eda3064dff9606d809947553ecc Mon Sep 17 00:00:00 2001
From: Arthur Schang <arthur.schang@parsons.com>
Date: Wed, 3 Jun 2020 14:10:15 -0400
Subject: [PATCH 11/15] Adjustment of battery life to 240 minutes.

---
 .../robotika_freyja_sensor_config_1/launch/spawner.rb           | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/submitted_models/robotika_freyja_sensor_config_1/launch/spawner.rb b/submitted_models/robotika_freyja_sensor_config_1/launch/spawner.rb
index d4848a7c..ffe0dcfe 100644
--- a/submitted_models/robotika_freyja_sensor_config_1/launch/spawner.rb
+++ b/submitted_models/robotika_freyja_sensor_config_1/launch/spawner.rb
@@ -42,7 +42,7 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
           <capacity>20</capacity>
           <resistance>0.0052</resistance>
           <smooth_current_tau>5.0</smooth_current_tau>
-          <power_load>1.25</power_load>
+          <power_load>1.2552</power_load>
           <start_on_motion>true</start_on_motion>
         </plugin>
        <!-- Gas Sensor plugin -->"

From 6cef276737537a98dc2744ef2f7cea2972a3a0a4 Mon Sep 17 00:00:00 2001
From: Nate Koenig <nate@openrobotics.org>
Date: Mon, 15 Jun 2020 15:31:14 -0700
Subject: [PATCH 12/15] update model to use tf2 static pose messages, and added
 a better xacro file

Signed-off-by: Nate Koenig <nate@openrobotics.org>
---
 .../launch/spawner.rb                         |   22 +-
 .../launch/vehicle_topics.launch              |   10 +-
 .../robotika_freyja_sensor_config_1/model.sdf |   24 +-
 .../urdf/model.urdf                           |   10 +-
 .../urdf/model.xacro                          | 1987 +++++------------
 5 files changed, 564 insertions(+), 1489 deletions(-)

diff --git a/submitted_models/robotika_freyja_sensor_config_1/launch/spawner.rb b/submitted_models/robotika_freyja_sensor_config_1/launch/spawner.rb
index ffe0dcfe..beaf2986 100644
--- a/submitted_models/robotika_freyja_sensor_config_1/launch/spawner.rb
+++ b/submitted_models/robotika_freyja_sensor_config_1/launch/spawner.rb
@@ -1,11 +1,10 @@
 def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
   <<-HEREDOC
-  <plugin name=\"ignition::launch::GazeboFactory\"
-          filename=\"libignition-launch-gazebo-factory.so\">
+  <spawn name='#{_name}'>
     <name>#{_name}</name>
     <allow_renaming>false</allow_renaming>
     <pose>#{_x} #{_y} #{_z + 0.15} #{_roll} #{_pitch} #{_yaw}</pose>
-    <world>#{$worldName}</world>
+    <world>#{_worldName}</world>
     <is_performer>true</is_performer>
     <sdf version='1.6'>
       <include>
@@ -21,6 +20,10 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
           <wheel_separation>0.38</wheel_separation>
           <wheel_radius>0.1275</wheel_radius>
           <topic>/model/#{_name}/cmd_vel_relay</topic>
+          <min_velocity>-2.5</min_velocity>
+          <max_velocity>2.5</max_velocity>
+          <min_acceleration>-10.6</min_acceleration>
+          <max_acceleration>10.6</max_acceleration>
         </plugin>
         <!-- Publish robot state information -->
         <plugin filename=\"libignition-gazebo-pose-publisher-system.so\"
@@ -30,6 +33,9 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
           <publish_collision_pose>false</publish_collision_pose>
           <publish_visual_pose>false</publish_visual_pose>
           <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
+          <use_pose_vector_msg>true</use_pose_vector_msg>
+          <static_publisher>true</static_publisher>
+          <static_update_frequency>1</static_update_frequency>
         </plugin>
         <!-- Battery plugin -->
         <plugin filename=\"libignition-gazebo-linearbatteryplugin-system.so\"
@@ -54,17 +60,17 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
        </plugin>
         </include>
       </sdf>
-    </plugin>
+    </spawn>
   HEREDOC
 end
 
 def rosExecutables(_name, _worldName)
   <<-HEREDOC
-  <executable name='freyja_description'>
-      <command>roslaunch --wait robotika_freyja_sensor_config_1 description.launch world_name:=#{$worldName} name:=#{_name}</command>
+  <executable name='robot_description'>
+      <command>roslaunch --wait robotika_freyja_sensor_config_1 description.launch world_name:=#{_worldName} name:=#{_name}</command>
     </executable>
-    <executable name='freyja_ros_ign_bridge'>
-      <command>roslaunch --wait robotika_freyja_sensor_config_1 vehicle_topics.launch world_name:=#{$worldName} name:=#{_name}</command>
+    <executable name='topics'>
+      <command>roslaunch --wait robotika_freyja_sensor_config_1 vehicle_topics.launch world_name:=#{_worldName} name:=#{_name}</command>
     </executable>
   HEREDOC
 end
diff --git a/submitted_models/robotika_freyja_sensor_config_1/launch/vehicle_topics.launch b/submitted_models/robotika_freyja_sensor_config_1/launch/vehicle_topics.launch
index 1f61728d..4a124a48 100644
--- a/submitted_models/robotika_freyja_sensor_config_1/launch/vehicle_topics.launch
+++ b/submitted_models/robotika_freyja_sensor_config_1/launch/vehicle_topics.launch
@@ -45,9 +45,17 @@
       pkg="ros_ign_bridge"
       type="parameter_bridge"
       name="ros_ign_bridge_pose"
-      args="/model/$(arg name)/pose@geometry_msgs/TransformStamped[ignition.msgs.Pose">
+      args="/model/$(arg name)/pose@tf2_msgs/TFMessage[ignition.msgs.Pose_V">
       <remap from="/model/$(arg name)/pose" to="pose"/>
     </node>
+    <node
+      pkg="ros_ign_bridge"
+      type="parameter_bridge"
+      name="ros_ign_bridge_pose_static"
+      args="/model/$(arg name)/pose_static@tf2_msgs/TFMessage[ignition.msgs.Pose_V">
+      <remap from="/model/$(arg name)/pose_static" to="pose_static"/>
+    </node>
+
     <node
       pkg="ros_ign_bridge"
       type="parameter_bridge"
diff --git a/submitted_models/robotika_freyja_sensor_config_1/model.sdf b/submitted_models/robotika_freyja_sensor_config_1/model.sdf
index f42a9ea3..f681c101 100644
--- a/submitted_models/robotika_freyja_sensor_config_1/model.sdf
+++ b/submitted_models/robotika_freyja_sensor_config_1/model.sdf
@@ -1204,7 +1204,7 @@
                     <izz>0.0153</izz>
                 </inertia>
             </inertial>
-            <collision name="collision">
+            <collision name="front_left_wheel_collision">
                 <pose>0 0 0 -1.5707963267948966 0 0</pose>
                 <geometry>
                     <cylinder>
@@ -1224,7 +1224,7 @@
                   </friction>
                 </surface>
             </collision>
-            <visual name="tire_visual">
+            <visual name="front_left_wheel_tire_visual">
                 <pose>0 0 0 1.5708 0 0</pose>
                 <geometry>
                     <mesh>
@@ -1233,7 +1233,7 @@
                     </mesh>
                 </geometry>
             </visual>
-            <visual name="hub_visual">
+            <visual name="front_left_wheel_hub_visual">
                 <pose>0 -0.055 0 1.5707963267948966 0 0</pose>
                 <geometry>
                     <cylinder>
@@ -1258,7 +1258,7 @@
                     <izz>0.0153</izz>
                 </inertia>
             </inertial>
-            <collision name="collision">
+            <collision name="front_right_wheel_collision">
                 <pose>0 0 0 1.5707963267948966 0 0</pose>
                 <geometry>
                     <cylinder>
@@ -1278,7 +1278,7 @@
                   </friction>
                 </surface>
             </collision>
-            <visual name="tire_visual">
+            <visual name="front_right_wheel_tire_visual">
                 <pose>0 0 0 1.5708 0 0</pose>
                 <geometry>
                     <mesh>
@@ -1287,7 +1287,7 @@
                     </mesh>
                 </geometry>
             </visual>
-            <visual name="hub_visual">
+            <visual name="front_right_wheel_hub_visual">
                 <pose>0 0.055 0 1.5707963267948966 0 0</pose>
                 <geometry>
                     <cylinder>
@@ -1312,7 +1312,7 @@
                     <izz>0.0153</izz>
                 </inertia>
             </inertial>
-            <collision name="collision">
+            <collision name="rear_left_wheel_collision">
                 <pose>0 0 0 -1.5707963267948966 0 0</pose>
                 <geometry>
                     <cylinder>
@@ -1332,7 +1332,7 @@
                   </friction>
                 </surface>
             </collision>
-            <visual name="tire_visual">
+            <visual name="rear_left_wheel_tire_visual">
                 <pose>0 0 0 1.5708 0 0</pose>
                 <geometry>
                     <mesh>
@@ -1341,7 +1341,7 @@
                     </mesh>
                 </geometry>
             </visual>
-            <visual name="hub_visual">
+            <visual name="rear_left_wheel_hub_visual">
                 <pose>0 -0.055 0 1.5707963267948966 0 0</pose>
                 <geometry>
                     <cylinder>
@@ -1366,7 +1366,7 @@
                     <izz>0.0153</izz>
                 </inertia>
             </inertial>
-            <collision name="collision">
+            <collision name="rear_right_wheel_collision">
                 <pose>0 0 0 1.5707963267948966 0 0</pose>
                 <geometry>
                     <cylinder>
@@ -1386,7 +1386,7 @@
                   </friction>
                 </surface>
             </collision>
-            <visual name="tire_visual">
+            <visual name="rear_right_wheel_tire_visual">
                 <pose>0 0 0 1.5708 0 0</pose>
                 <geometry>
                     <mesh>
@@ -1395,7 +1395,7 @@
                     </mesh>
                 </geometry>
             </visual>
-            <visual name="hub_visual">
+            <visual name="rear_right_wheel_hub_visual">
                 <pose>0 0.055 0 1.5707963267948966 0 0</pose>
                 <geometry>
                     <cylinder>
diff --git a/submitted_models/robotika_freyja_sensor_config_1/urdf/model.urdf b/submitted_models/robotika_freyja_sensor_config_1/urdf/model.urdf
index c76a2f26..f354a7db 100644
--- a/submitted_models/robotika_freyja_sensor_config_1/urdf/model.urdf
+++ b/submitted_models/robotika_freyja_sensor_config_1/urdf/model.urdf
@@ -1,5 +1,5 @@
 <?xml version='1.0' encoding='utf-8'?>
-<robot name='ROBOTIKA_FREYJA'>
+<robot name='robotika_freyja'>
   <link name='base_link'>
     <inertial>
       <origin xyz='0 0 0.0725' rpy='0 -0 0'/>
@@ -325,6 +325,14 @@
       </geometry>
     </visual>
   </link>
+  <!-- Base footprint is on the ground under the robot -->
+  <link name="base_footprint"/>
+  <joint name="base_footprint_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 -0.1275"/>
+    <parent link="base_link"/>
+    <child link="base_footprint"/>
+  </joint>
+
   <sensor name='imu_sensor' update_rate='50'>
     <parent link='base_link'/>
     <origin xyz='0 0 0' rpy='0 -0 0'/>
diff --git a/submitted_models/robotika_freyja_sensor_config_1/urdf/model.xacro b/submitted_models/robotika_freyja_sensor_config_1/urdf/model.xacro
index 6a26c244..c7f44494 100644
--- a/submitted_models/robotika_freyja_sensor_config_1/urdf/model.xacro
+++ b/submitted_models/robotika_freyja_sensor_config_1/urdf/model.xacro
@@ -1,1469 +1,522 @@
 <?xml version="1.0" encoding="utf-8"?>
-<!-- =================================================================================== -->
-<!-- |    This document was autogenerated by xacro from robotika_freyja_sensor_config_1/model.sdf | -->
-<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
-<!-- =================================================================================== -->
-<sdf version="1.6">
-  <model name="ROBOTIKA_FREYJA">
-    <pose>0 0 0.1275 0 0 0</pose>
-    <enable_wind>1</enable_wind>
-    <link name="base_link">
-      <!-- Mass modelled as solid 0.3 x 0.24 x 0.08 cuboid at central
-                 bottom part of the robot, where battery and onboard computer
-                 are located, surrounded by ventilation space and lightweight
-                 chassis.
-                 Note: Most of the mass of the robot is *not* in the main body,
-                       but in wheels, which contain hub motors.
-                 https://en.wikipedia.org/wiki/List_of_moments_of_inertia
-            -->
-      <inertial>
-        <pose>0 0 0.0725 0 0 0</pose>
-        <mass>9.6</mass>
-        <inertia>
-          <ixx>0.0512</ixx>
-          <iyy>0.07712</iyy>
-          <izz>0.11808</izz>
-        </inertia>
-      </inertial>
-      <!-- This bounding box covers also wheel mounts at the bottom and
-                 lidars on the top. -->
-      <collision name="chassis_collision">
-        <pose>0 0 0.105 0 0 0</pose>
-        <geometry>
-          <box>
-            <size>0.50 0.24 0.235</size>
-          </box>
-        </geometry>
-      </collision>
-      <visual name="chassis_main_visual">
-        <pose>0 0 0.0725 0 0 0</pose>
-        <geometry>
-          <box>
-            <size>0.46 0.24 0.12</size>
-          </box>
-        </geometry>
-        <material>
-          <ambient>0.8706 0.7216 0.5294 1.0</ambient>
-          <diffuse>0.8706 0.7216 0.5294 1.0</diffuse>
-        </material>
-      </visual>
-      <visual name="chassis_front_face_bottom">
-        <pose>0.24 0 0.0175 0 0 0</pose>
-        <geometry>
-          <box>
-            <size>0.02001 0.24 0.01</size>
-          </box>
-        </geometry>
-        <material>
-          <ambient>0.8706 0.7216 0.5294 1.0</ambient>
-          <diffuse>0.8706 0.7216 0.5294 1.0</diffuse>
-        </material>
-      </visual>
-      <visual name="chassis_front_face_top">
-        <pose>0.24 0 0.1275 0 0 0</pose>
-        <geometry>
-          <box>
-            <size>0.02001 0.24 0.01</size>
-          </box>
-        </geometry>
-        <material>
-          <ambient>0.8706 0.7216 0.5294 1.0</ambient>
-          <diffuse>0.8706 0.7216 0.5294 1.0</diffuse>
-        </material>
-      </visual>
-      <visual name="chassis_front_face_top_marker">
-        <pose>0.245 0 0.1325 0 0 0</pose>
-        <geometry>
-          <box>
-            <size>0.01 0.12 0.0001</size>
-          </box>
-        </geometry>
-        <material>
-          <ambient>0.0 0.7059 0.0 1.0</ambient>
-          <diffuse>0.0 0.7059 0.0 1.0</diffuse>
-        </material>
-      </visual>
-      <visual name="chassis_front_face_left">
-        <pose>0.24 0.115 0.0725 0 0 0</pose>
-        <geometry>
-          <box>
-            <size>0.02001 0.01 0.12</size>
-          </box>
-        </geometry>
-        <material>
-          <ambient>0.8706 0.7216 0.5294 1.0</ambient>
-          <diffuse>0.8706 0.7216 0.5294 1.0</diffuse>
-        </material>
-      </visual>
-      <visual name="chassis_front_face_right">
-        <pose>0.24 -0.115 0.0725 0 0 0</pose>
-        <geometry>
-          <box>
-            <size>0.02001 0.01 0.12</size>
-          </box>
-        </geometry>
-        <material>
-          <ambient>0.8706 0.7216 0.5294 1.0</ambient>
-          <diffuse>0.8706 0.7216 0.5294 1.0</diffuse>
-        </material>
-      </visual>
-      <visual name="chassis_rear_face_bottom">
-        <pose>-0.24 0 0.0175 0 0 0</pose>
-        <geometry>
-          <box>
-            <size>0.02001 0.24 0.01</size>
-          </box>
-        </geometry>
-        <material>
-          <ambient>0.8706 0.7216 0.5294 1.0</ambient>
-          <diffuse>0.8706 0.7216 0.5294 1.0</diffuse>
-        </material>
-      </visual>
-      <visual name="chassis_rear_face_top">
-        <pose>-0.24 0 0.1275 0 0 0</pose>
-        <geometry>
-          <box>
-            <size>0.02001 0.24 0.01</size>
-          </box>
-        </geometry>
-        <material>
-          <ambient>0.8706 0.7216 0.5294 1.0</ambient>
-          <diffuse>0.8706 0.7216 0.5294 1.0</diffuse>
-        </material>
-      </visual>
-      <visual name="chassis_rear_face_top_marker">
-        <pose>-0.245 0 0.1325 0 0 0</pose>
-        <geometry>
-          <box>
-            <size>0.01 0.12 0.0001</size>
-          </box>
-        </geometry>
-        <material>
-          <ambient>0.7059 0.0 0.0 1.0</ambient>
-          <diffuse>0.7059 0.0 0.0 1.0</diffuse>
-        </material>
-      </visual>
-      <visual name="chassis_rear_face_left">
-        <pose>-0.24 0.115 0.0725 0 0 0</pose>
-        <geometry>
-          <box>
-            <size>0.02001 0.01 0.12</size>
-          </box>
-        </geometry>
-        <material>
-          <ambient>0.8706 0.7216 0.5294 1.0</ambient>
-          <diffuse>0.8706 0.7216 0.5294 1.0</diffuse>
-        </material>
-      </visual>
-      <visual name="chassis_rear_face_right">
-        <pose>-0.24 -0.115 0.0725 0 0 0</pose>
-        <geometry>
-          <box>
-            <size>0.02001 0.01 0.12</size>
-          </box>
-        </geometry>
-        <material>
-          <ambient>0.8706 0.7216 0.5294 1.0</ambient>
-          <diffuse>0.8706 0.7216 0.5294 1.0</diffuse>
-        </material>
-      </visual>
-      <visual name="lidar_base_visual">
-        <pose>0 0 0.135 0 0 0</pose>
-        <geometry>
-          <box>
-            <size>0.3001 0.21 0.005</size>
-          </box>
-        </geometry>
-        <material>
-          <ambient>0.8706 0.7216 0.5294 1.0</ambient>
-          <diffuse>0.8706 0.7216 0.5294 1.0</diffuse>
-        </material>
-      </visual>
-      <visual name="cable_cover_left_visual">
-        <pose>0 0.095 0.1475 0 0 0</pose>
-        <geometry>
-          <box>
-            <size>0.07 0.02 0.02001</size>
-          </box>
-        </geometry>
-        <material>
-          <ambient>0.8706 0.7216 0.5294 1.0</ambient>
-          <diffuse>0.8706 0.7216 0.5294 1.0</diffuse>
-        </material>
-      </visual>
-      <visual name="cable_cover_right_visual">
-        <pose>0 -0.095 0.1475 0 0 0</pose>
-        <geometry>
-          <box>
-            <size>0.07 0.02 0.02001</size>
-          </box>
-        </geometry>
-        <material>
-          <ambient>0.8706 0.7216 0.5294 1.0</ambient>
-          <diffuse>0.8706 0.7216 0.5294 1.0</diffuse>
-        </material>
-      </visual>
-      <visual name="cable_cover_top_visual">
-        <pose>0 0.0 0.16 0 0 0</pose>
-        <geometry>
-          <box>
-            <size>0.07 0.21 0.005</size>
-          </box>
-        </geometry>
-        <material>
-          <ambient>0.8706 0.7216 0.5294 1.0</ambient>
-          <diffuse>0.8706 0.7216 0.5294 1.0</diffuse>
-        </material>
-      </visual>
-      <collision name="left_mount_collision">
-        <pose>0.0 0.17 0.085 0 0 0</pose>
-        <geometry>
-          <box>
-            <size>0.08 0.1 0.115</size>
-          </box>
-        </geometry>
-      </collision>
-      <visual name="left_mount_visual">
-        <pose>0.0 0.17 0.0725 0 0 0</pose>
-        <geometry>
-          <box>
-            <size>0.08 0.1 0.09</size>
-          </box>
-        </geometry>
-        <material>
-          <ambient>0.8706 0.7216 0.5294 1.0</ambient>
-          <diffuse>0.8706 0.7216 0.5294 1.0</diffuse>
-        </material>
-      </visual>
-      <visual name="left_mount_top_marker_visual">
-        <pose>0.0 0.215 0.1175 0 0 0</pose>
-        <geometry>
-          <box>
-            <size>0.08 0.01 0.0001</size>
-          </box>
-        </geometry>
-        <material>
-          <ambient>0.0 0.0 0.7059 1.0</ambient>
-          <diffuse>0.0 0.0 0.7059 1.0</diffuse>
-        </material>
-      </visual>
-      <collision name="right_mount_collision">
-        <pose>0.0 -0.17 0.085 0 0 0</pose>
-        <geometry>
-          <box>
-            <size>0.08 0.1 0.115</size>
-          </box>
-        </geometry>
-      </collision>
-      <visual name="right_mount_visual">
-        <pose>0.0 -0.17 0.0725 0 0 0</pose>
-        <geometry>
-          <box>
-            <size>0.08 0.1 0.09</size>
-          </box>
-        </geometry>
-        <material>
-          <ambient>0.8706 0.7216 0.5294 1.0</ambient>
-          <diffuse>0.8706 0.7216 0.5294 1.0</diffuse>
-        </material>
-      </visual>
-      <visual name="right_mount_top_marker_visual">
-        <pose>0.0 -0.215 0.1175 0 0 0</pose>
-        <geometry>
-          <box>
-            <size>0.08 0.01 0.0001</size>
-          </box>
-        </geometry>
-        <material>
-          <ambient>0.8627 0.8627 0.0 1.0</ambient>
-          <diffuse>0.8627 0.8627 0.0 1.0</diffuse>
-        </material>
-      </visual>
-      <visual name="emergency_stop_bottom_visual">
-        <pose>0.0 -0.155 0.125 0 0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.015</length>
-            <radius>0.015</radius>
-          </cylinder>
-        </geometry>
-        <material>
-          <ambient>0.7059 0.7059 0.7059 1.0</ambient>
-          <diffuse>0.7059 0.7059 0.7059 1.0</diffuse>
-        </material>
-      </visual>
-      <visual name="emergency_stop_top_visual">
-        <pose>0.0 -0.155 0.135 0 0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.005</length>
-            <radius>0.02</radius>
-          </cylinder>
-        </geometry>
-        <material>
-          <ambient>1.0 0.0 0.0 1.0</ambient>
-          <diffuse>1.0 0.0 0.0 1.0</diffuse>
-        </material>
-      </visual>
-      <visual name="power_switch_bottom_visual">
-        <pose>0.0 0.155 0.1225 0 0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.005</length>
-            <radius>0.015</radius>
-          </cylinder>
-        </geometry>
-        <material>
-          <ambient>0.0 0.0 0.0 1.0</ambient>
-          <diffuse>0.0 0.0 0.0 1.0</diffuse>
-        </material>
-      </visual>
-      <visual name="power_switch_middle_visual">
-        <pose>0.0 0.155 0.1275 0 0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.005</length>
-            <radius>0.015</radius>
-          </cylinder>
-        </geometry>
-        <material>
-          <ambient>0.7059 0.7059 0.7059 1.0</ambient>
-          <diffuse>0.7059 0.7059 0.7059 1.0</diffuse>
-        </material>
-      </visual>
-      <visual name="power_switch_top_visual">
-        <pose>0.0 0.155 0.1375 0 0 0.35</pose>
-        <geometry>
-          <box>
-            <size>0.025 0.005 0.01</size>
-          </box>
-        </geometry>
-        <material>
-          <ambient>0.0 0.0 0.0 1.0</ambient>
-          <diffuse>0.0 0.0 0.0 1.0</diffuse>
-        </material>
-      </visual>
-      <visual name="wheel_mount_front_left_axis_visual">
-        <pose>0.19 0.11 0 1.5707963267948966 0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.05</length>
-            <radius>0.008</radius>
-          </cylinder>
-        </geometry>
-        <material>
-          <ambient>0.0 0.0 0.0 1.0</ambient>
-          <diffuse>0.0 0.0 0.0 1.0</diffuse>
-        </material>
-      </visual>
-      <visual name="wheel_mount_front_left_visual">
-        <pose>0.19 0.08 0 0 0 0</pose>
-        <geometry>
-          <box>
-            <size>0.05 0.07 0.025</size>
-          </box>
-        </geometry>
-        <material>
-          <ambient>0.502 0.502 0.502 1.0</ambient>
-          <diffuse>0.502 0.502 0.502 1.0</diffuse>
-        </material>
-      </visual>
-      <visual name="wheel_mount_front_right_axis_visual">
-        <pose>0.19 -0.11 0 1.5707963267948966 0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.05</length>
-            <radius>0.008</radius>
-          </cylinder>
-        </geometry>
-        <material>
-          <ambient>0.0 0.0 0.0 1.0</ambient>
-          <diffuse>0.0 0.0 0.0 1.0</diffuse>
-        </material>
-      </visual>
-      <visual name="wheel_mount_front_right_visual">
-        <pose>0.19 -0.08 0 0 0 0</pose>
-        <geometry>
-          <box>
-            <size>0.05 0.07 0.025</size>
-          </box>
-        </geometry>
-        <material>
-          <ambient>0.502 0.502 0.502 1.0</ambient>
-          <diffuse>0.502 0.502 0.502 1.0</diffuse>
-        </material>
-      </visual>
-      <visual name="wheel_mount_rear_left_axis_visual">
-        <pose>-0.19 0.11 0 1.5707963267948966 0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.05</length>
-            <radius>0.008</radius>
-          </cylinder>
-        </geometry>
-        <material>
-          <ambient>0.0 0.0 0.0 1.0</ambient>
-          <diffuse>0.0 0.0 0.0 1.0</diffuse>
-        </material>
-      </visual>
-      <visual name="wheel_mount_rear_left_visual">
-        <pose>-0.19 0.08 0 0 0 0</pose>
-        <geometry>
-          <box>
-            <size>0.05 0.07 0.025</size>
-          </box>
-        </geometry>
-        <material>
-          <ambient>0.502 0.502 0.502 1.0</ambient>
-          <diffuse>0.502 0.502 0.502 1.0</diffuse>
-        </material>
-      </visual>
-      <visual name="wheel_mount_rear_right_axis_visual">
-        <pose>-0.19 -0.11 0 1.5707963267948966 0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.05</length>
-            <radius>0.008</radius>
-          </cylinder>
-        </geometry>
-        <material>
-          <ambient>0.0 0.0 0.0 1.0</ambient>
-          <diffuse>0.0 0.0 0.0 1.0</diffuse>
-        </material>
-      </visual>
-      <visual name="wheel_mount_rear_right_visual">
-        <pose>-0.19 -0.08 0 0 0 0</pose>
-        <geometry>
-          <box>
-            <size>0.05 0.07 0.025</size>
-          </box>
-        </geometry>
-        <material>
-          <ambient>0.502 0.502 0.502 1.0</ambient>
-          <diffuse>0.502 0.502 0.502 1.0</diffuse>
-        </material>
-      </visual>
-      <!-- CMPS14 provides IMU and magnetic heading information.
-                https://www.robot-electronics.co.uk/cmps14-tilt-compensated-compass.html
-            -->
-      <sensor name="imu_sensor" type="imu">
-        <always_on>1</always_on>
-        <update_rate>50</update_rate>
-        <imu>
-          <angular_velocity>
-            <x>
-              <noise type="gaussian">
-                <mean>0</mean>
-                <stddev>2e-4</stddev>
-                <bias_mean>0.0000075</bias_mean>
-                <bias_stddev>0.0000008</bias_stddev>
-                <dynamic_bias_stddev>0.0000004</dynamic_bias_stddev>
-                <dynamic_bias_correlation_time>1000.0</dynamic_bias_correlation_time>
-              </noise>
-            </x>
-            <y>
-              <noise type="gaussian">
-                <mean>0</mean>
-                <stddev>2e-4</stddev>
-                <bias_mean>0.0000075</bias_mean>
-                <bias_stddev>0.0000008</bias_stddev>
-                <dynamic_bias_stddev>0.0000004</dynamic_bias_stddev>
-                <dynamic_bias_correlation_time>1000.0</dynamic_bias_correlation_time>
-              </noise>
-            </y>
-            <z>
-              <noise type="gaussian">
-                <mean>0</mean>
-                <stddev>2e-4</stddev>
-                <bias_mean>0.0000075</bias_mean>
-                <bias_stddev>0.0000008</bias_stddev>
-                <dynamic_bias_stddev>0.0000004</dynamic_bias_stddev>
-                <dynamic_bias_correlation_time>1000.0</dynamic_bias_correlation_time>
-              </noise>
-            </z>
-          </angular_velocity>
-          <linear_acceleration>
-            <x>
-              <noise type="gaussian">
-                <mean>0</mean>
-                <stddev>1e-2</stddev>
-                <bias_mean>0.1</bias_mean>
-                <bias_stddev>0.001</bias_stddev>
-                <dynamic_bias_stddev>0.002</dynamic_bias_stddev>
-                <dynamic_bias_correlation_time>300.0</dynamic_bias_correlation_time>
-              </noise>
-            </x>
-            <y>
-              <noise type="gaussian">
-                <mean>0</mean>
-                <stddev>1e-2</stddev>
-                <bias_mean>0.1</bias_mean>
-                <bias_stddev>0.001</bias_stddev>
-                <dynamic_bias_stddev>0.002</dynamic_bias_stddev>
-                <dynamic_bias_correlation_time>300.0</dynamic_bias_correlation_time>
-              </noise>
-            </y>
-            <z>
-              <noise type="gaussian">
-                <mean>0</mean>
-                <stddev>1e-2</stddev>
-                <bias_mean>0.1</bias_mean>
-                <bias_stddev>0.001</bias_stddev>
-                <dynamic_bias_stddev>0.002</dynamic_bias_stddev>
-                <dynamic_bias_correlation_time>300.0</dynamic_bias_correlation_time>
-              </noise>
-            </z>
-          </linear_acceleration>
-        </imu>
-      </sensor>
-      <sensor name="magnetometer" type="magnetometer">
-        <always_on>1</always_on>
-        <update_rate>50</update_rate>
-        <magnetometer>
-          <x>
-            <noise type="gaussian">
-              <mean>0.000000080</mean>
-              <bias_mean>0.000000400</bias_mean>
-            </noise>
-          </x>
-          <y>
-            <noise type="gaussian">
-              <mean>0.000000080</mean>
-              <bias_mean>0.000000400</bias_mean>
-            </noise>
-          </y>
-          <z>
-            <noise type="gaussian">
-              <mean>0.000000080</mean>
-              <bias_mean>0.000000400</bias_mean>
-            </noise>
-          </z>
-        </magnetometer>
-      </sensor>
-      <!-- Infineon DPS310
-                https://www.infineon.com/cms/en/product/sensor/pressure-sensors/absolute-pressure-sensors-map-bap/dps310/
-            -->
-      <sensor name="air_pressure" type="air_pressure">
-        <always_on>1</always_on>
-        <update_rate>20</update_rate>
-        <air_pressure>
-          <reference_altitude>0</reference_altitude>
-          <noise type="gaussian">
-            <mean>0.00000008</mean>
-          </noise>
-        </air_pressure>
-      </sensor>
-      <!-- 2x SICK TIM881P lidar, a prototype without a good public URL. It is derived from
-                the TIM58x family:
-                https://www.sick.com/ch/en/detection-and-ranging-solutions/2d-lidar-sensors/tim5xx/tim581-2050101/p/p619344
-                -->
-      <visual name="laser_front_bottom_visual">
-        <pose>0.12 0 0.16 0 0 0</pose>
-        <geometry>
-          <box>
-            <size>0.06 0.065 0.045</size>
-          </box>
-        </geometry>
-        <material>
-          <ambient>0.7843 0.7059 0.7059 1.0</ambient>
-          <diffuse>0.7843 0.7059 0.7059 1.0</diffuse>
-        </material>
-      </visual>
-      <visual name="laser_front_top_visual">
-        <pose>0.12 0.0 0.2025 0 0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.04</length>
-            <radius>0.02</radius>
-          </cylinder>
-        </geometry>
-        <material>
-          <ambient>0.0 0.0 0.0 1.0</ambient>
-          <diffuse>0.0 0.0 0.0 1.0</diffuse>
-        </material>
-      </visual>
-      <visual name="laser_front_cable_green">
-        <pose>0.045 0.01 0.1525 0 1.5707963267948966 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.09</length>
-            <radius>0.005</radius>
-          </cylinder>
-        </geometry>
-        <material>
-          <ambient>0.4706 1.0 0.4706 1.0</ambient>
-          <diffuse>0.4706 1.0 0.4706 1.0</diffuse>
-        </material>
-      </visual>
-      <visual name="laser_front_cable_black">
-        <pose>0.045 -0.01 0.1525 0 1.5707963267948966 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.09</length>
-            <radius>0.005</radius>
-          </cylinder>
-        </geometry>
-        <material>
-          <ambient>0.03922 0.03922 0.03922 1.0</ambient>
-          <diffuse>0.03922 0.03922 0.03922 1.0</diffuse>
-        </material>
-      </visual>
-      <sensor name="laser_front" type="gpu_lidar">
-        <pose>0.12 0 0.1925 0 0 0</pose>
-        <update_rate>15</update_rate>
-        <lidar>
-          <scan>
-            <horizontal>
-              <samples>811</samples>
-              <resolution>1</resolution>
-              <min_angle>-2.3562</min_angle>
-              <max_angle>2.3562</max_angle>
-            </horizontal>
-          </scan>
-          <range>
-            <min>0.04</min>
-            <max>25</max>
-            <resolution>0.01</resolution>
-          </range>
-          <noise>
-            <type>gaussian</type>
-            <mean>0</mean>
-            <stddev>0.01</stddev>
-          </noise>
-        </lidar>
-      </sensor>
-      <visual name="laser_rear_bottom_visual">
-        <pose>-0.12 0 0.1625 0 0 0</pose>
-        <geometry>
-          <box>
-            <size>0.06 0.065 0.045</size>
-          </box>
-        </geometry>
-        <material>
-          <ambient>0.7843 0.7059 0.7059 1.0</ambient>
-          <diffuse>0.7843 0.7059 0.7059 1.0</diffuse>
-        </material>
-      </visual>
-      <visual name="laser_rear_top_visual">
-        <pose>-0.12 0.0 0.2025 0 0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.04</length>
-            <radius>0.02</radius>
-          </cylinder>
-        </geometry>
-        <material>
-          <ambient>0.0 0.0 0.0 1.0</ambient>
-          <diffuse>0.0 0.0 0.0 1.0</diffuse>
-        </material>
-      </visual>
-      <visual name="laser_rear_cable_green">
-        <pose>-0.045 -0.01 0.1525 0 1.5707963267948966 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.09</length>
-            <radius>0.005</radius>
-          </cylinder>
-        </geometry>
-        <material>
-          <ambient>0.4706 1.0 0.4706 1.0</ambient>
-          <diffuse>0.4706 1.0 0.4706 1.0</diffuse>
-        </material>
-      </visual>
-      <visual name="laser_rear_cable_black">
-        <pose>-0.045 0.01 0.1525 0 1.5707963267948966 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.09</length>
-            <radius>0.005</radius>
-          </cylinder>
-        </geometry>
-        <material>
-          <ambient>0.03922 0.03922 0.03922 1.0</ambient>
-          <diffuse>0.03922 0.03922 0.03922 1.0</diffuse>
-        </material>
-      </visual>
-      <sensor name="laser_rear" type="gpu_lidar">
-        <pose>-0.12 0 0.1925 0 0 3.141592</pose>
-        <update_rate>15</update_rate>
-        <lidar>
-          <scan>
-            <horizontal>
-              <samples>811</samples>
-              <resolution>1</resolution>
-              <min_angle>-2.3562</min_angle>
-              <max_angle>2.3562</max_angle>
-            </horizontal>
-          </scan>
-          <range>
-            <min>0.04</min>
-            <max>25</max>
-            <resolution>0.01</resolution>
-          </range>
-          <noise>
-            <type>gaussian</type>
-            <mean>0</mean>
-            <stddev>0.01</stddev>
-          </noise>
-        </lidar>
-      </sensor>
-      <!-- 3x Mynt Eye D in low-reslution medium-fps mode.
-                https://www.mynteye.com/pages/mynt-eye-d
-                -->
-      <visual name="rgbd_front_visual">
-        <pose>0.235 0 0.1025 0 0 0</pose>
-        <geometry>
-          <box>
-            <size>0.03 0.162 0.03</size>
-          </box>
-        </geometry>
-        <material>
-          <ambient>0.0 0.0 0.0 1.0</ambient>
-          <diffuse>0.0 0.0 0.0 1.0</diffuse>
-        </material>
-      </visual>
-      <sensor name="rgbd_front" type="rgbd_camera">
-        <pose>0.250001 0 0.1025 0 0 0</pose>
-        <always_on>1</always_on>
-        <update_rate>30</update_rate>
-        <camera name="rgbd_front_rgbd">
-          <pose frame="">0 0 0 0 -1.5707 1.5707</pose>
-          <horizontal_fov>1.483583268116444</horizontal_fov>
-          <lens>
-            <intrinsics>
-              <!-- fx = fy = width / ( 2 * tan (hfov / 2 ) ) -->
-              <fx>349.2</fx>
-              <fy>349.2</fy>
-              <!-- cx = ( width - 1 ) / 2 -->
-              <cx>319.5</cx>
-              <!-- cy = ( height - 1 ) / 2 -->
-              <cy>179.5</cy>
-              <s>0</s>
-            </intrinsics>
-          </lens>
-          <distortion>
-            <k1>0.0</k1>
-            <k2>0.0</k2>
-            <k3>0.0</k3>
-            <p1>0.0</p1>
-            <p2>0.0</p2>
-            <center>0.5 0.5</center>
-          </distortion>
-          <image>
-            <width>640</width>
-            <height>360</height>
-            <format>R8G8B8</format>
-          </image>
-          <clip>
-            <near>0.01</near>
-            <far>300</far>
-          </clip>
-          <depth_camera>
-            <clip>
-              <near>0.1</near>
-              <far>10</far>
-            </clip>
-          </depth_camera>
-          <noise>
-            <type>gaussian</type>
-            <mean>0</mean>
-            <stddev>0.007</stddev>
-          </noise>
-        </camera>
-      </sensor>
-      <visual name="rgbd_rear_visual">
-        <pose>-0.235 0 0.1025 0 0 0</pose>
-        <geometry>
-          <box>
-            <size>0.03 0.162 0.03</size>
-          </box>
-        </geometry>
-        <material>
-          <ambient>0.0 0.0 0.0 1.0</ambient>
-          <diffuse>0.0 0.0 0.0 1.0</diffuse>
-        </material>
-      </visual>
-      <sensor name="rgbd_rear" type="rgbd_camera">
-        <pose>-0.250001 0 0.1025 0 0 3.141592653589793</pose>
-        <always_on>1</always_on>
-        <!-- Mynt Eye D in low-resolution high-fps mode. -->
-        <update_rate>30</update_rate>
-        <camera name="rear_rgbd">
-          <pose frame="">0 0 0 0 -1.5707 1.5707</pose>
-          <horizontal_fov>1.483583268116444</horizontal_fov>
-          <lens>
-            <intrinsics>
-              <!-- fx = fy = width / ( 2 * tan (hfov / 2 ) ) -->
-              <fx>349.2</fx>
-              <fy>349.2</fy>
-              <!-- cx = ( width - 1 ) / 2 -->
-              <cx>319.5</cx>
-              <!-- cy = ( height - 1 ) / 2 -->
-              <cy>179.5</cy>
-              <s>0</s>
-            </intrinsics>
-          </lens>
-          <distortion>
-            <k1>0.0</k1>
-            <k2>0.0</k2>
-            <k3>0.0</k3>
-            <p1>0.0</p1>
-            <p2>0.0</p2>
-            <center>0.5 0.5</center>
-          </distortion>
-          <image>
-            <width>640</width>
-            <height>360</height>
-            <format>R8G8B8</format>
-          </image>
-          <clip>
-            <near>0.01</near>
-            <far>300</far>
-          </clip>
-          <depth_camera>
-            <clip>
-              <near>0.1</near>
-              <far>10</far>
-            </clip>
-          </depth_camera>
-          <noise>
-            <type>gaussian</type>
-            <mean>0</mean>
-            <stddev>0.007</stddev>
-          </noise>
-        </camera>
-      </sensor>
-      <!-- Four KAYETON high-speed fisheye cameras running at medium speed,
-                undistorted into 1/4 of their original image size.
-                https://www.kayetoncctv.com/global-shutter-high-speed-120fps-hd-720p-webcam-uvc-plug-play-driverless-usb-camera-module-for-android-linux-windows-mac/
-              -->
-      <visual name="camera_front_visual">
-        <pose>0.2349 0 0.0725 0 1.5707963267948966 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.03</length>
-            <radius>0.011</radius>
-          </cylinder>
-        </geometry>
-        <material>
-          <ambient>0.0 0.0 0.0 1.0</ambient>
-          <diffuse>0.0 0.0 0.0 1.0</diffuse>
-        </material>
-      </visual>
-      <sensor name="camera_front" type="camera">
-        <pose>0.25 0 0.0725 0 0 0</pose>
-        <always_on>1</always_on>
-        <update_rate>30</update_rate>
-        <camera name="camera_front">
-          <horizontal_fov>2.27</horizontal_fov>
-          <lens>
-            <intrinsics>
-              <!-- fx = fy = width / ( 2 * tan (hfov / 2 ) ) -->
-              <fx>149.01</fx>
-              <fy>149.01</fy>
-              <!-- cx = ( width - 1 ) / 2 -->
-              <cx>339.5</cx>
-              <!-- cy = ( height - 1 ) / 2 -->
-              <cy>179.5</cy>
-              <s>0</s>
-            </intrinsics>
-          </lens>
-          <distortion>
-            <k1>0.0</k1>
-            <k2>0.0</k2>
-            <k3>0.0</k3>
-            <p1>0.0</p1>
-            <p2>0.0</p2>
-            <center>0.5 0.5</center>
-          </distortion>
-          <image>
-            <width>640</width>
-            <height>360</height>
-            <format>R8G8B8</format>
-          </image>
-          <clip>
-            <near>0.01</near>
-            <far>300</far>
-          </clip>
-          <noise>
-            <type>gaussian</type>
-            <mean>0</mean>
-            <stddev>0.007</stddev>
-          </noise>
-        </camera>
-      </sensor>
-      <visual name="camera_rear_visual">
-        <pose>-0.2349 0 0.0725 0 -1.5707963267948966 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.03</length>
-            <radius>0.011</radius>
-          </cylinder>
-        </geometry>
-        <material>
-          <ambient>0.0 0.0 0.0 1.0</ambient>
-          <diffuse>0.0 0.0 0.0 1.0</diffuse>
-        </material>
-      </visual>
-      <sensor name="camera_rear" type="camera">
-        <pose>-0.25 0 0.0725 0 0 3.141592653589793</pose>
-        <always_on>1</always_on>
-        <update_rate>30</update_rate>
-        <camera name="camera_rear">
-          <horizontal_fov>2.27</horizontal_fov>
-          <lens>
-            <intrinsics>
-              <!-- fx = fy = width / ( 2 * tan (hfov / 2 ) ) -->
-              <fx>149.01</fx>
-              <fy>149.01</fy>
-              <!-- cx = ( width - 1 ) / 2 -->
-              <cx>339.5</cx>
-              <!-- cy = ( height - 1 ) / 2 -->
-              <cy>179.5</cy>
-              <s>0</s>
-            </intrinsics>
-          </lens>
-          <distortion>
-            <k1>0.0</k1>
-            <k2>0.0</k2>
-            <k3>0.0</k3>
-            <p1>0.0</p1>
-            <p2>0.0</p2>
-            <center>0.5 0.5</center>
-          </distortion>
-          <image>
-            <width>640</width>
-            <height>360</height>
-            <format>R8G8B8</format>
-          </image>
-          <clip>
-            <near>0.01</near>
-            <far>300</far>
-          </clip>
-          <noise>
-            <type>gaussian</type>
-            <mean>0</mean>
-            <stddev>0.007</stddev>
-          </noise>
-        </camera>
-      </sensor>
-      <visual name="camera_left_visual">
-        <pose>0.0 0.22 0.0725 -1.5707963267948966 0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.005</length>
-            <radius>0.011</radius>
-          </cylinder>
-        </geometry>
-        <material>
-          <ambient>0.0 0.0 0.0 1.0</ambient>
-          <diffuse>0.0 0.0 0.0 1.0</diffuse>
-        </material>
-      </visual>
-      <sensor name="camera_left" type="camera">
-        <pose>0.0 0.225 0.0725 0 0 1.5707963267948966</pose>
-        <always_on>1</always_on>
-        <update_rate>30</update_rate>
-        <camera name="camera_left">
-          <horizontal_fov>2.27</horizontal_fov>
-          <lens>
-            <intrinsics>
-              <!-- fx = fy = width / ( 2 * tan (hfov / 2 ) ) -->
-              <fx>149.01</fx>
-              <fy>149.01</fy>
-              <!-- cx = ( width - 1 ) / 2 -->
-              <cx>339.5</cx>
-              <!-- cy = ( height - 1 ) / 2 -->
-              <cy>179.5</cy>
-              <s>0</s>
-            </intrinsics>
-          </lens>
-          <distortion>
-            <k1>0.0</k1>
-            <k2>0.0</k2>
-            <k3>0.0</k3>
-            <p1>0.0</p1>
-            <p2>0.0</p2>
-            <center>0.5 0.5</center>
-          </distortion>
-          <image>
-            <width>640</width>
-            <height>360</height>
-            <format>R8G8B8</format>
-          </image>
-          <clip>
-            <near>0.01</near>
-            <far>300</far>
-          </clip>
-          <noise>
-            <type>gaussian</type>
-            <mean>0</mean>
-            <stddev>0.007</stddev>
-          </noise>
-        </camera>
-      </sensor>
-      <visual name="camera_right_visual">
-        <pose>0.0 -0.22 0.0725 1.5707963267948966 0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.005</length>
-            <radius>0.011</radius>
-          </cylinder>
-        </geometry>
-        <material>
-          <ambient>0.0 0.0 0.0 1.0</ambient>
-          <diffuse>0.0 0.0 0.0 1.0</diffuse>
-        </material>
-      </visual>
-      <sensor name="camera_right" type="camera">
-        <pose>0.0 -0.225 0.0725 0 0 -1.5707963267948966</pose>
-        <always_on>1</always_on>
-        <update_rate>30</update_rate>
-        <camera name="camera_right">
-          <horizontal_fov>2.27</horizontal_fov>
-          <lens>
-            <intrinsics>
-              <!-- fx = fy = width / ( 2 * tan (hfov / 2 ) ) -->
-              <fx>149.01</fx>
-              <fy>149.01</fy>
-              <!-- cx = ( width - 1 ) / 2 -->
-              <cx>339.5</cx>
-              <!-- cy = ( height - 1 ) / 2 -->
-              <cy>179.5</cy>
-              <s>0</s>
-            </intrinsics>
-          </lens>
-          <distortion>
-            <k1>0.0</k1>
-            <k2>0.0</k2>
-            <k3>0.0</k3>
-            <p1>0.0</p1>
-            <p2>0.0</p2>
-            <center>0.5 0.5</center>
-          </distortion>
-          <image>
-            <width>640</width>
-            <height>360</height>
-            <format>R8G8B8</format>
-          </image>
-          <clip>
-            <near>0.01</near>
-            <far>300</far>
-          </clip>
-          <noise>
-            <type>gaussian</type>
-            <mean>0</mean>
-            <stddev>0.007</stddev>
-          </noise>
-        </camera>
-      </sensor>
-      <visual name="light_front_visual">
-        <pose>0.24 0 0.0425 0 1.5707963267948966 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.02001</length>
-            <radius>0.004</radius>
-          </cylinder>
-        </geometry>
-        <material>
-          <ambient>1.0 1.0 0.451 1.0</ambient>
-          <diffuse>1.0 1.0 0.451 1.0</diffuse>
-        </material>
-      </visual>
-      <light name="light_front" type="spot">
-        <pose>0.237 0 0.0425 0 0 0</pose>
-        <attenuation>
-          <range>25</range>
-          <linear>0</linear>
-          <constant>0.1</constant>
-          <quadratic>0.005</quadratic>
-        </attenuation>
-        <diffuse>0.8 0.8 0.5 1.0</diffuse>
-        <specular>0.8 0.8 0.5 1</specular>
-        <spot>
-          <inner_angle>1.571</inner_angle>
-          <outer_angle>2.1</outer_angle>
-          <falloff>1</falloff>
-        </spot>
-        <direction>1 0 0</direction>
-        <cast_shadows>1</cast_shadows>
-      </light>
-      <visual name="light_rear_visual">
-        <pose>-0.24 0 0.0425 0 1.5707963267948966 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.02001</length>
-            <radius>0.004</radius>
-          </cylinder>
-        </geometry>
-        <material>
-          <ambient>1.0 1.0 0.451 1.0</ambient>
-          <diffuse>1.0 1.0 0.451 1.0</diffuse>
-        </material>
-      </visual>
-      <light name="light_rear" type="spot">
-        <pose>-0.237 0 0.0425 0 0 0</pose>
-        <attenuation>
-          <range>25</range>
-          <linear>0</linear>
-          <constant>0.1</constant>
-          <quadratic>0.005</quadratic>
-        </attenuation>
-        <diffuse>0.8 0.8 0.5 1.0</diffuse>
-        <specular>0.8 0.8 0.5 1</specular>
-        <spot>
-          <inner_angle>1.571</inner_angle>
-          <outer_angle>2.1</outer_angle>
-          <falloff>1</falloff>
-        </spot>
-        <direction>-1 0 0</direction>
-        <cast_shadows>1</cast_shadows>
-      </light>
-      <visual name="light_left_visual">
-        <pose>0 0.22 0.0425 1.5707963267948966 0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.0005</length>
-            <radius>0.004</radius>
-          </cylinder>
-        </geometry>
-        <material>
-          <ambient>1.0 1.0 0.451 1.0</ambient>
-          <diffuse>1.0 1.0 0.451 1.0</diffuse>
-        </material>
-      </visual>
-      <light name="light_left" type="spot">
-        <pose>0 0.22 0.0425 0 0 0</pose>
-        <attenuation>
-          <range>25</range>
-          <linear>0</linear>
-          <constant>0.1</constant>
-          <quadratic>0.005</quadratic>
-        </attenuation>
-        <diffuse>0.8 0.8 0.5 1.0</diffuse>
-        <specular>0.8 0.8 0.5 1</specular>
-        <spot>
-          <inner_angle>1.571</inner_angle>
-          <outer_angle>2.1</outer_angle>
-          <falloff>1</falloff>
-        </spot>
-        <direction>0 1 0</direction>
-        <cast_shadows>1</cast_shadows>
-      </light>
-      <visual name="light_right_visual">
-        <pose>0 -0.22 0.0425 1.5707963267948966 0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.0005</length>
-            <radius>0.004</radius>
-          </cylinder>
-        </geometry>
-        <material>
-          <ambient>1.0 1.0 0.451 1.0</ambient>
-          <diffuse>1.0 1.0 0.451 1.0</diffuse>
-        </material>
-      </visual>
-      <light name="light_right" type="spot">
-        <pose>0 -0.22 0.0425 0 0 0</pose>
-        <attenuation>
-          <range>25</range>
-          <linear>0</linear>
-          <constant>0.1</constant>
-          <quadratic>0.005</quadratic>
-        </attenuation>
-        <diffuse>0.8 0.8 0.5 1.0</diffuse>
-        <specular>0.8 0.8 0.5 1</specular>
-        <spot>
-          <inner_angle>1.571</inner_angle>
-          <outer_angle>2.1</outer_angle>
-          <falloff>1</falloff>
-        </spot>
-        <direction>0 -1 0</direction>
-        <cast_shadows>1</cast_shadows>
-      </light>
-    </link>
-    <link name="front_left_wheel">
-      <pose>0.19 0.19 0 0 0 0</pose>
-      <!-- Inertia approximated by a solid cylinder of a smaller diameter
-                 than the whole wheel and almost full width (r=0.1, h=0.08),
-                 because most of the mass is is the hub motor, which is
-                 surrounded by air tire. -->
-      <inertial>
-        <mass>5.0</mass>
-        <inertia>
-          <ixx>0.0153</ixx>
-          <iyy>0.025</iyy>
-          <izz>0.0153</izz>
-        </inertia>
-      </inertial>
-      <collision name="collision">
-        <pose>0 0 0 -1.5707963267948966 0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.082</length>
-            <radius>0.1275</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <friction>
-            <ode>
-              <mu>1</mu>
-              <mu2>1</mu2>
-              <slip1>0.0475</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-      <visual name="tire_visual">
-        <pose>0 0 0 1.5708 0 0</pose>
-        <geometry>
-          <mesh>
-            <uri>meshes/wheel_left.dae</uri>
-            <scale>1.3010204 1.3010204 2.05</scale>
-          </mesh>
-        </geometry>
-      </visual>
-      <visual name="hub_visual">
-        <pose>0 -0.055 0 1.5707963267948966 0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.025</length>
-            <radius>0.04</radius>
-          </cylinder>
-        </geometry>
-        <material>
-          <ambient>0.502 0.502 0.502 1.0</ambient>
-          <diffuse>0.502 0.502 0.502 1.0</diffuse>
-        </material>
-      </visual>
-    </link>
-    <link name="front_right_wheel">
-      <pose>0.19 -0.19 0 0 0 0</pose>
-      <inertial>
-        <mass>5.0</mass>
-        <inertia>
-          <ixx>0.0153</ixx>
-          <iyy>0.025</iyy>
-          <izz>0.0153</izz>
-        </inertia>
-      </inertial>
-      <collision name="collision">
-        <pose>0 0 0 1.5707963267948966 0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.082</length>
-            <radius>0.1275</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <friction>
-            <ode>
-              <mu>1</mu>
-              <mu2>1</mu2>
-              <slip1>0.0475</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-      <visual name="tire_visual">
-        <pose>0 0 0 1.5708 0 0</pose>
-        <geometry>
-          <mesh>
-            <uri>meshes/wheel_right.dae</uri>
-            <scale>1.3010204 1.3010204 2.05</scale>
-          </mesh>
-        </geometry>
-      </visual>
-      <visual name="hub_visual">
-        <pose>0 0.055 0 1.5707963267948966 0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.025</length>
-            <radius>0.04</radius>
-          </cylinder>
-        </geometry>
-        <material>
-          <ambient>0.502 0.502 0.502 1.0</ambient>
-          <diffuse>0.502 0.502 0.502 1.0</diffuse>
-        </material>
-      </visual>
-    </link>
-    <link name="rear_left_wheel">
-      <pose>-0.19 0.19 0 0 0 0</pose>
-      <inertial>
-        <mass>5.0</mass>
-        <inertia>
-          <ixx>0.0153</ixx>
-          <iyy>0.025</iyy>
-          <izz>0.0153</izz>
-        </inertia>
-      </inertial>
-      <collision name="collision">
-        <pose>0 0 0 -1.5707963267948966 0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.082</length>
-            <radius>0.1275</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <friction>
-            <ode>
-              <mu>1</mu>
-              <mu2>1</mu2>
-              <slip1>0.0475</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-      <visual name="tire_visual">
-        <pose>0 0 0 1.5708 0 0</pose>
-        <geometry>
-          <mesh>
-            <uri>meshes/wheel_left.dae</uri>
-            <scale>1.3010204 1.3010204 2.05</scale>
-          </mesh>
-        </geometry>
-      </visual>
-      <visual name="hub_visual">
-        <pose>0 -0.055 0 1.5707963267948966 0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.025</length>
-            <radius>0.04</radius>
-          </cylinder>
-        </geometry>
-        <material>
-          <ambient>0.502 0.502 0.502 1.0</ambient>
-          <diffuse>0.502 0.502 0.502 1.0</diffuse>
-        </material>
-      </visual>
-    </link>
-    <link name="rear_right_wheel">
-      <pose>-0.19 -0.19 0 0 0 0</pose>
-      <inertial>
-        <mass>5.0</mass>
-        <inertia>
-          <ixx>0.0153</ixx>
-          <iyy>0.025</iyy>
-          <izz>0.0153</izz>
-        </inertia>
-      </inertial>
-      <collision name="collision">
-        <pose>0 0 0 1.5707963267948966 0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.082</length>
-            <radius>0.1275</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <friction>
-            <ode>
-              <mu>1</mu>
-              <mu2>1</mu2>
-              <slip1>0.0475</slip1>
-              <slip2>0</slip2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-      <visual name="tire_visual">
-        <pose>0 0 0 1.5708 0 0</pose>
-        <geometry>
-          <mesh>
-            <uri>meshes/wheel_right.dae</uri>
-            <scale>1.3010204 1.3010204 2.05</scale>
-          </mesh>
-        </geometry>
-      </visual>
-      <visual name="hub_visual">
-        <pose>0 0.055 0 1.5707963267948966 0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.025</length>
-            <radius>0.04</radius>
-          </cylinder>
-        </geometry>
-        <material>
-          <ambient>0.502 0.502 0.502 1.0</ambient>
-          <diffuse>0.502 0.502 0.502 1.0</diffuse>
-        </material>
-      </visual>
-    </link>
-    <!-- 4x 500W hub motor with ~30 km/h maximum speed.
-            However, we operate them with a speed and torque limit
-            in software.
-            https://www.uumotor.com/10-inch-single-shaft-brushless-motor-sensorless.html
-        -->
-    <joint name="front_left_wheel_joint" type="revolute">
-      <child>front_left_wheel</child>
-      <parent>base_link</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1.79769e+308</lower>
-          <upper>+1.79769e+308</upper>
-          <!-- 2.5 m/s => angular velocity of the wheel in rad/s -->
-          <velocity>19.61</velocity>
-          <!-- Torque in NM. -->
-          <effort>10</effort>
-        </limit>
-        <use_parent_model_frame>1</use_parent_model_frame>
-      </axis>
-    </joint>
-    <joint name="rear_left_wheel_joint" type="revolute">
-      <parent>base_link</parent>
-      <child>rear_left_wheel</child>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1.79769e+308</lower>
-          <upper>+1.79769e+308</upper>
-          <!-- 2.5 m/s => angular velocity of the wheel in rad/s -->
-          <velocity>19.61</velocity>
-          <!-- Torque in NM. -->
-          <effort>10</effort>
-        </limit>
-      </axis>
-    </joint>
-    <joint name="rear_right_wheel_joint" type="revolute">
-      <parent>base_link</parent>
-      <child>rear_right_wheel</child>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1.79769e+308</lower>
-          <upper>+1.79769e+308</upper>
-          <!-- 2.5 m/s => angular velocity of the wheel in rad/s -->
-          <velocity>19.61</velocity>
-          <!-- Torque in NM. -->
-          <effort>10</effort>
-        </limit>
-      </axis>
-    </joint>
-    <joint name="front_right_wheel_joint" type="revolute">
-      <parent>base_link</parent>
-      <child>front_right_wheel</child>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1.79769e+308</lower>
-          <upper>+1.79769e+308</upper>
-          <!-- 2.5 m/s => angular velocity of the wheel in rad/s -->
-          <velocity>19.61</velocity>
-          <!-- Torque in NM. -->
-          <effort>10</effort>
-        </limit>
-      </axis>
-    </joint>
-  </model>
-</sdf>
+<robot name='robotika_freyja_sensor_config_1' xmlns:xacro='http://ros.org/wiki/xacro'>
+  <xacro:arg name="name" default="robotika_freyja_sensor_config_1"/>
+  <xacro:property name="robot_namespace" value="$(arg name)"/>
 
+  <link name='${robot_namespace}/base_link'>
+    <inertial>
+      <origin xyz='0 0 0.0725' rpy='0 -0 0'/>
+      <mass value='9.6'/>
+      <inertia ixx='0.0512' ixy='0' ixz='0' iyy='0.07712' iyz='0' izz='0.11808'/>
+    </inertial>
+    <collision name='chassis_collision'>
+      <origin xyz='0 0 0.105' rpy='0 -0 0'/>
+      <geometry>
+        <box size='0.5 0.24 0.235'/>
+      </geometry>
+    </collision>
+    <collision name='left_mount_collision'>
+      <origin xyz='0 0.17 0.085' rpy='0 -0 0'/>
+      <geometry>
+        <box size='0.08 0.1 0.115'/>
+      </geometry>
+    </collision>
+    <collision name='right_mount_collision'>
+      <origin xyz='0 -0.17 0.085' rpy='0 -0 0'/>
+      <geometry>
+        <box size='0.08 0.1 0.115'/>
+      </geometry>
+    </collision>
+    <visual name='chassis_main_visual'>
+      <origin xyz='0 0 0.0725' rpy='0 -0 0'/>
+      <geometry>
+        <box size='0.46 0.24 0.12'/>
+      </geometry>
+    </visual>
+    <visual name='chassis_front_face_bottom'>
+      <origin xyz='0.24 0 0.0175' rpy='0 -0 0'/>
+      <geometry>
+        <box size='0.02001 0.24 0.01'/>
+      </geometry>
+    </visual>
+    <visual name='chassis_front_face_top'>
+      <origin xyz='0.24 0 0.1275' rpy='0 -0 0'/>
+      <geometry>
+        <box size='0.02001 0.24 0.01'/>
+      </geometry>
+    </visual>
+    <visual name='chassis_front_face_top_marker'>
+      <origin xyz='0.245 0 0.1325' rpy='0 -0 0'/>
+      <geometry>
+        <box size='0.01 0.12 0.0001'/>
+      </geometry>
+    </visual>
+    <visual name='chassis_front_face_left'>
+      <origin xyz='0.24 0.115 0.0725' rpy='0 -0 0'/>
+      <geometry>
+        <box size='0.02001 0.01 0.12'/>
+      </geometry>
+    </visual>
+    <visual name='chassis_front_face_right'>
+      <origin xyz='0.24 -0.115 0.0725' rpy='0 -0 0'/>
+      <geometry>
+        <box size='0.02001 0.01 0.12'/>
+      </geometry>
+    </visual>
+    <visual name='chassis_rear_face_bottom'>
+      <origin xyz='-0.24 0 0.0175' rpy='0 -0 0'/>
+      <geometry>
+        <box size='0.02001 0.24 0.01'/>
+      </geometry>
+    </visual>
+    <visual name='chassis_rear_face_top'>
+      <origin xyz='-0.24 0 0.1275' rpy='0 -0 0'/>
+      <geometry>
+        <box size='0.02001 0.24 0.01'/>
+      </geometry>
+    </visual>
+    <visual name='chassis_rear_face_top_marker'>
+      <origin xyz='-0.245 0 0.1325' rpy='0 -0 0'/>
+      <geometry>
+        <box size='0.01 0.12 0.0001'/>
+      </geometry>
+    </visual>
+    <visual name='chassis_rear_face_left'>
+      <origin xyz='-0.24 0.115 0.0725' rpy='0 -0 0'/>
+      <geometry>
+        <box size='0.02001 0.01 0.12'/>
+      </geometry>
+    </visual>
+    <visual name='chassis_rear_face_right'>
+      <origin xyz='-0.24 -0.115 0.0725' rpy='0 -0 0'/>
+      <geometry>
+        <box size='0.02001 0.01 0.12'/>
+      </geometry>
+    </visual>
+    <visual name='lidar_base_visual'>
+      <origin xyz='0 0 0.135' rpy='0 -0 0'/>
+      <geometry>
+        <box size='0.3001 0.21 0.005'/>
+      </geometry>
+    </visual>
+    <visual name='cable_cover_left_visual'>
+      <origin xyz='0 0.095 0.1475' rpy='0 -0 0'/>
+      <geometry>
+        <box size='0.07 0.02 0.02001'/>
+      </geometry>
+    </visual>
+    <visual name='cable_cover_right_visual'>
+      <origin xyz='0 -0.095 0.1475' rpy='0 -0 0'/>
+      <geometry>
+        <box size='0.07 0.02 0.02001'/>
+      </geometry>
+    </visual>
+    <visual name='cable_cover_top_visual'>
+      <origin xyz='0 0 0.16' rpy='0 -0 0'/>
+      <geometry>
+        <box size='0.07 0.21 0.005'/>
+      </geometry>
+    </visual>
+    <visual name='left_mount_visual'>
+      <origin xyz='0 0.17 0.0725' rpy='0 -0 0'/>
+      <geometry>
+        <box size='0.08 0.1 0.09'/>
+      </geometry>
+    </visual>
+    <visual name='left_mount_top_marker_visual'>
+      <origin xyz='0 0.215 0.1175' rpy='0 -0 0'/>
+      <geometry>
+        <box size='0.08 0.01 0.0001'/>
+      </geometry>
+    </visual>
+    <visual name='right_mount_visual'>
+      <origin xyz='0 -0.17 0.0725' rpy='0 -0 0'/>
+      <geometry>
+        <box size='0.08 0.1 0.09'/>
+      </geometry>
+    </visual>
+    <visual name='right_mount_top_marker_visual'>
+      <origin xyz='0 -0.215 0.1175' rpy='0 -0 0'/>
+      <geometry>
+        <box size='0.08 0.01 0.0001'/>
+      </geometry>
+    </visual>
+    <visual name='emergency_stop_bottom_visual'>
+      <origin xyz='0 -0.155 0.125' rpy='0 -0 0'/>
+      <geometry>
+        <cylinder radius='0.015' length='0.015'/>
+      </geometry>
+    </visual>
+    <visual name='emergency_stop_top_visual'>
+      <origin xyz='0 -0.155 0.135' rpy='0 -0 0'/>
+      <geometry>
+        <cylinder radius='0.02' length='0.005'/>
+      </geometry>
+    </visual>
+    <visual name='power_switch_bottom_visual'>
+      <origin xyz='0 0.155 0.1225' rpy='0 -0 0'/>
+      <geometry>
+        <cylinder radius='0.015' length='0.005'/>
+      </geometry>
+    </visual>
+    <visual name='power_switch_middle_visual'>
+      <origin xyz='0 0.155 0.1275' rpy='0 -0 0'/>
+      <geometry>
+        <cylinder radius='0.015' length='0.005'/>
+      </geometry>
+    </visual>
+    <visual name='power_switch_top_visual'>
+      <origin xyz='0 0.155 0.1375' rpy='0 -0 0.35'/>
+      <geometry>
+        <box size='0.025 0.005 0.01'/>
+      </geometry>
+    </visual>
+    <visual name='wheel_mount_front_left_axis_visual'>
+      <origin xyz='0.19 0.11 0' rpy='1.5708 -0 0'/>
+      <geometry>
+        <cylinder radius='0.008' length='0.05'/>
+      </geometry>
+    </visual>
+    <visual name='wheel_mount_front_left_visual'>
+      <origin xyz='0.19 0.08 0' rpy='0 -0 0'/>
+      <geometry>
+        <box size='0.05 0.07 0.025'/>
+      </geometry>
+    </visual>
+    <visual name='wheel_mount_front_right_axis_visual'>
+      <origin xyz='0.19 -0.11 0' rpy='1.5708 -0 0'/>
+      <geometry>
+        <cylinder radius='0.008' length='0.05'/>
+      </geometry>
+    </visual>
+    <visual name='wheel_mount_front_right_visual'>
+      <origin xyz='0.19 -0.08 0' rpy='0 -0 0'/>
+      <geometry>
+        <box size='0.05 0.07 0.025'/>
+      </geometry>
+    </visual>
+    <visual name='wheel_mount_rear_left_axis_visual'>
+      <origin xyz='-0.19 0.11 0' rpy='1.5708 -0 0'/>
+      <geometry>
+        <cylinder radius='0.008' length='0.05'/>
+      </geometry>
+    </visual>
+    <visual name='wheel_mount_rear_left_visual'>
+      <origin xyz='-0.19 0.08 0' rpy='0 -0 0'/>
+      <geometry>
+        <box size='0.05 0.07 0.025'/>
+      </geometry>
+    </visual>
+    <visual name='wheel_mount_rear_right_axis_visual'>
+      <origin xyz='-0.19 -0.11 0' rpy='1.5708 -0 0'/>
+      <geometry>
+        <cylinder radius='0.008' length='0.05'/>
+      </geometry>
+    </visual>
+    <visual name='wheel_mount_rear_right_visual'>
+      <origin xyz='-0.19 -0.08 0' rpy='0 -0 0'/>
+      <geometry>
+        <box size='0.05 0.07 0.025'/>
+      </geometry>
+    </visual>
+    <visual name='laser_front_bottom_visual'>
+      <origin xyz='0.12 0 0.16' rpy='0 -0 0'/>
+      <geometry>
+        <box size='0.06 0.065 0.045'/>
+      </geometry>
+    </visual>
+    <visual name='laser_front_top_visual'>
+      <origin xyz='0.12 0 0.2025' rpy='0 -0 0'/>
+      <geometry>
+        <cylinder radius='0.02' length='0.04'/>
+      </geometry>
+    </visual>
+    <visual name='laser_front_cable_green'>
+      <origin xyz='0.045 0.01 0.1525' rpy='0 1.5708 0'/>
+      <geometry>
+        <cylinder radius='0.005' length='0.09'/>
+      </geometry>
+    </visual>
+    <visual name='laser_front_cable_black'>
+      <origin xyz='0.045 -0.01 0.1525' rpy='0 1.5708 0'/>
+      <geometry>
+        <cylinder radius='0.005' length='0.09'/>
+      </geometry>
+    </visual>
+    <visual name='laser_rear_bottom_visual'>
+      <origin xyz='-0.12 0 0.1625' rpy='0 -0 0'/>
+      <geometry>
+        <box size='0.06 0.065 0.045'/>
+      </geometry>
+    </visual>
+    <visual name='laser_rear_top_visual'>
+      <origin xyz='-0.12 0 0.2025' rpy='0 -0 0'/>
+      <geometry>
+        <cylinder radius='0.02' length='0.04'/>
+      </geometry>
+    </visual>
+    <visual name='laser_rear_cable_green'>
+      <origin xyz='-0.045 -0.01 0.1525' rpy='0 1.5708 0'/>
+      <geometry>
+        <cylinder radius='0.005' length='0.09'/>
+      </geometry>
+    </visual>
+    <visual name='laser_rear_cable_black'>
+      <origin xyz='-0.045 0.01 0.1525' rpy='0 1.5708 0'/>
+      <geometry>
+        <cylinder radius='0.005' length='0.09'/>
+      </geometry>
+    </visual>
+    <visual name='rgbd_front_visual'>
+      <origin xyz='0.235 0 0.1025' rpy='0 -0 0'/>
+      <geometry>
+        <box size='0.03 0.162 0.03'/>
+      </geometry>
+    </visual>
+    <visual name='rgbd_rear_visual'>
+      <origin xyz='-0.235 0 0.1025' rpy='0 -0 0'/>
+      <geometry>
+        <box size='0.03 0.162 0.03'/>
+      </geometry>
+    </visual>
+    <visual name='camera_front_visual'>
+      <origin xyz='0.2349 0 0.0725' rpy='0 1.5708 0'/>
+      <geometry>
+        <cylinder radius='0.011' length='0.03'/>
+      </geometry>
+    </visual>
+    <visual name='camera_rear_visual'>
+      <origin xyz='-0.2349 0 0.0725' rpy='0 -1.5708 0'/>
+      <geometry>
+        <cylinder radius='0.011' length='0.03'/>
+      </geometry>
+    </visual>
+    <visual name='camera_left_visual'>
+      <origin xyz='0 0.22 0.0725' rpy='-1.5708 0 0'/>
+      <geometry>
+        <cylinder radius='0.011' length='0.005'/>
+      </geometry>
+    </visual>
+    <visual name='camera_right_visual'>
+      <origin xyz='0 -0.22 0.0725' rpy='1.5708 -0 0'/>
+      <geometry>
+        <cylinder radius='0.011' length='0.005'/>
+      </geometry>
+    </visual>
+    <visual name='light_front_visual'>
+      <origin xyz='0.24 0 0.0425' rpy='0 1.5708 0'/>
+      <geometry>
+        <cylinder radius='0.004' length='0.02001'/>
+      </geometry>
+    </visual>
+    <visual name='light_rear_visual'>
+      <origin xyz='-0.24 0 0.0425' rpy='0 1.5708 0'/>
+      <geometry>
+        <cylinder radius='0.004' length='0.02001'/>
+      </geometry>
+    </visual>
+    <visual name='light_left_visual'>
+      <origin xyz='0 0.22 0.0425' rpy='1.5708 -0 0'/>
+      <geometry>
+        <cylinder radius='0.004' length='0.0005'/>
+      </geometry>
+    </visual>
+    <visual name='light_right_visual'>
+      <origin xyz='0 -0.22 0.0425' rpy='1.5708 -0 0'/>
+      <geometry>
+        <cylinder radius='0.004' length='0.0005'/>
+      </geometry>
+    </visual>
+  </link>
+
+  <sensor name='imu_sensor' update_rate='50'>
+    <parent link='${robot_namespace}/base_link'/>
+    <origin xyz='0 0 0' rpy='0 -0 0'/>
+  </sensor>
+  <sensor name='magnetometer' update_rate='50'>
+    <parent link='${robot_namespace}/base_link'/>
+    <origin xyz='0 0 0' rpy='0 -0 0'/>
+  </sensor>
+  <sensor name='air_pressure' update_rate='20'>
+    <parent link='${robot_namespace}/base_link'/>
+    <origin xyz='0 0 0' rpy='0 -0 0'/>
+  </sensor>
+  <sensor name='laser_front' update_rate='15'>
+    <parent link='${robot_namespace}/base_link'/>
+    <origin xyz='0.12 0 0.1925' rpy='0 -0 0'/>
+  </sensor>
+  <sensor name='laser_rear' update_rate='15'>
+    <parent link='${robot_namespace}/base_link'/>
+    <origin xyz='-0.12 0 0.1925' rpy='0 -0 3.14159'/>
+  </sensor>
+  <sensor name='rgbd_front' update_rate='30'>
+    <parent link='${robot_namespace}/base_link'/>
+    <origin xyz='0.250001 0 0.1025' rpy='0 -0 0'/>
+    <camera>
+      <image width='640' height='360' format='R8G8B8' hfov='1.48358' near='0.01' far='300' />
+    </camera>
+  </sensor>
+  <sensor name='rgbd_rear' update_rate='30'>
+    <parent link='${robot_namespace}/base_link'/>
+    <origin xyz='-0.250001 0 0.1025' rpy='0 -0 3.14159'/>
+    <camera>
+      <image width='640' height='360' format='R8G8B8' hfov='1.48358' near='0.01' far='300' />
+    </camera>
+  </sensor>
+  <sensor name='camera_front' update_rate='30'>
+    <parent link='${robot_namespace}/base_link'/>
+    <origin xyz='0.25 0 0.0725' rpy='0 -0 0'/>
+    <camera>
+      <image width='640' height='360' format='R8G8B8' hfov='3' near='0.01' far='300' />
+    </camera>
+  </sensor>
+  <sensor name='camera_rear' update_rate='30'>
+    <parent link='${robot_namespace}/base_link'/>
+    <origin xyz='-0.25 0 0.0725' rpy='0 -0 3.14159'/>
+    <camera>
+      <image width='640' height='360' format='R8G8B8' hfov='3' near='0.01' far='300' />
+    </camera>
+  </sensor>
+  <sensor name='camera_left' update_rate='30'>
+    <parent link='${robot_namespace}/base_link'/>
+    <origin xyz='0 0.225 0' rpy='0.0725 -0 0'/>
+    <camera>
+      <image width='640' height='360' format='R8G8B8' hfov='3' near='0.01' far='300' />
+    </camera>
+  </sensor>
+  <sensor name='camera_right' update_rate='30'>
+    <parent link='${robot_namespace}/base_link'/>
+    <origin xyz='0 -0.225 0.0725' rpy='0 0 -1.5708'/>
+    <camera>
+      <image width='640' height='360' format='R8G8B8' hfov='3' near='0.01' far='300' />
+    </camera>
+  </sensor>
+  <link name='${robot_namespace}/front_left_wheel'>
+    <inertial>
+      <origin xyz='0 0 0' rpy='0 -0 0'/>
+      <mass value='5'/>
+      <inertia ixx='0.0153' ixy='0' ixz='0' iyy='0.025' iyz='0' izz='0.0153'/>
+    </inertial>
+    <collision name='front_left_wheel_collision'>
+      <origin xyz='0 0 0' rpy='-1.5708 0 0'/>
+      <geometry>
+        <cylinder radius='0.1275' length='0.082'/>
+      </geometry>
+    </collision>
+    <visual name='front_left_wheel_tire_visual'>
+      <origin xyz='0 0 0' rpy='1.5708 -0 0'/>
+      <geometry>
+        <mesh filename='meshes/wheel_left.dae' scale='1.30102 1.30102 2.05'/>
+      </geometry>
+    </visual>
+    <visual name='front_left_wheel_hub_visual'>
+      <origin xyz='0 -0.055 0' rpy='1.5708 -0 0'/>
+      <geometry>
+        <cylinder radius='0.04' length='0.025'/>
+      </geometry>
+    </visual>
+  </link>
+  <link name='${robot_namespace}/front_right_wheel'>
+    <inertial>
+      <origin xyz='0 0 0' rpy='0 -0 0'/>
+      <mass value='5'/>
+      <inertia ixx='0.0153' ixy='0' ixz='0' iyy='0.025' iyz='0' izz='0.0153'/>
+    </inertial>
+    <collision name='front_right_wheel_collision'>
+      <origin xyz='0 0 0' rpy='1.5708 -0 0'/>
+      <geometry>
+        <cylinder radius='0.1275' length='0.082'/>
+      </geometry>
+    </collision>
+    <visual name='front_right_wheel_tire_visual'>
+      <origin xyz='0 0 0' rpy='1.5708 -0 0'/>
+      <geometry>
+        <mesh filename='meshes/wheel_right.dae' scale='1.30102 1.30102 2.05'/>
+      </geometry>
+    </visual>
+    <visual name='front_right_wheel_hub_visual'>
+      <origin xyz='0 0.055 0' rpy='1.5708 -0 0'/>
+      <geometry>
+        <cylinder radius='0.04' length='0.025'/>
+      </geometry>
+    </visual>
+  </link>
+  <link name='${robot_namespace}/rear_left_wheel'>
+    <inertial>
+      <origin xyz='0 0 0' rpy='0 -0 0'/>
+      <mass value='5'/>
+      <inertia ixx='0.0153' ixy='0' ixz='0' iyy='0.025' iyz='0' izz='0.0153'/>
+    </inertial>
+    <collision name='rear_left_wheel_collision'>
+      <origin xyz='0 0 0' rpy='-1.5708 0 0'/>
+      <geometry>
+        <cylinder radius='0.1275' length='0.082'/>
+      </geometry>
+    </collision>
+    <visual name='rear_left_wheel_tire_visual'>
+      <origin xyz='0 0 0' rpy='1.5708 -0 0'/>
+      <geometry>
+        <mesh filename='meshes/wheel_left.dae' scale='1.30102 1.30102 2.05'/>
+      </geometry>
+    </visual>
+    <visual name='rear_left_wheel_hub_visual'>
+      <origin xyz='0 -0.055 0' rpy='1.5708 -0 0'/>
+      <geometry>
+        <cylinder radius='0.04' length='0.025'/>
+      </geometry>
+    </visual>
+  </link>
+  <link name='${robot_namespace}/rear_right_wheel'>
+    <inertial>
+      <origin xyz='0 0 0' rpy='0 -0 0'/>
+      <mass value='5'/>
+      <inertia ixx='0.0153' ixy='0' ixz='0' iyy='0.025' iyz='0' izz='0.0153'/>
+    </inertial>
+    <collision name='rear_right_wheel_collision'>
+      <origin xyz='0 0 0' rpy='1.5708 -0 0'/>
+      <geometry>
+        <cylinder radius='0.1275' length='0.082'/>
+      </geometry>
+    </collision>
+    <visual name='rear_right_wheel_tire_visual'>
+      <origin xyz='0 0 0' rpy='1.5708 -0 0'/>
+      <geometry>
+        <mesh filename='meshes/wheel_right.dae' scale='1.30102 1.30102 2.05'/>
+      </geometry>
+    </visual>
+    <visual name='rear_right_wheel_hub_visual'>
+      <origin xyz='0 0.055 0' rpy='1.5708 -0 0'/>
+      <geometry>
+        <cylinder radius='0.04' length='0.025'/>
+      </geometry>
+    </visual>
+  </link>
+  <joint name='front_left_wheel_joint' type='revolute'>
+    <origin xyz='0.19 0.19 0' rpy='0 -0 0'/>
+    <parent link='${robot_namespace}/base_link'/>
+    <child link='${robot_namespace}/front_left_wheel'/>
+    <axis xyz='0 1 0'/>
+    <limit lower='-1.79769e+308' upper='1.79769e+308' effort='10' velocity='19.61'/>
+  </joint>
+  <joint name='rear_left_wheel_joint' type='revolute'>
+    <origin xyz='-0.19 0.19 0' rpy='0 -0 0'/>
+    <parent link='${robot_namespace}/base_link'/>
+    <child link='${robot_namespace}/rear_left_wheel'/>
+    <axis xyz='0 1 0'/>
+    <limit lower='-1.79769e+308' upper='1.79769e+308' effort='10' velocity='19.61'/>
+  </joint>
+  <joint name='rear_right_wheel_joint' type='revolute'>
+    <origin xyz='-0.19 -0.19 0' rpy='0 -0 0'/>
+    <parent link='${robot_namespace}/base_link'/>
+    <child link='${robot_namespace}/rear_right_wheel'/>
+    <axis xyz='0 1 0'/>
+    <limit lower='-1.79769e+308' upper='1.79769e+308' effort='10' velocity='19.61'/>
+  </joint>
+  <joint name='front_right_wheel_joint' type='revolute'>
+    <origin xyz='0.19 -0.19 0' rpy='0 -0 0'/>
+    <parent link='${robot_namespace}/base_link'/>
+    <child link='${robot_namespace}/front_right_wheel'/>
+    <axis xyz='0 1 0'/>
+    <limit lower='-1.79769e+308' upper='1.79769e+308' effort='10' velocity='19.61'/>
+  </joint>
+</robot>

From 1c3339c50ca446e7e8a8a6e69b838f3cdd085cee Mon Sep 17 00:00:00 2001
From: Nate Koenig <nate@openrobotics.org>
Date: Mon, 15 Jun 2020 16:27:49 -0700
Subject: [PATCH 13/15] spacing

Signed-off-by: Nate Koenig <nate@openrobotics.org>
---
 .../robotika_freyja_sensor_config_1/model.sdf | 2944 ++++++++---------
 1 file changed, 1472 insertions(+), 1472 deletions(-)

diff --git a/submitted_models/robotika_freyja_sensor_config_1/model.sdf b/submitted_models/robotika_freyja_sensor_config_1/model.sdf
index f681c101..5332353a 100644
--- a/submitted_models/robotika_freyja_sensor_config_1/model.sdf
+++ b/submitted_models/robotika_freyja_sensor_config_1/model.sdf
@@ -1,1483 +1,1483 @@
 <?xml version="1.0"?>
 <sdf version="1.6">
-    <model name="ROBOTIKA_FREYJA">
-        <pose>0 0 0.1275 0 0 0</pose>
-        <enable_wind>1</enable_wind>
-        <link name="base_link">
-            <!-- Mass modelled as solid 0.3 x 0.24 x 0.08 cuboid at central
-                 bottom part of the robot, where battery and onboard computer
-                 are located, surrounded by ventilation space and lightweight
-                 chassis.
-                 Note: Most of the mass of the robot is *not* in the main body,
-                       but in wheels, which contain hub motors.
-                 https://en.wikipedia.org/wiki/List_of_moments_of_inertia
-            -->
-            <inertial>
-                <pose>0 0 0.0725 0 0 0</pose>
-                <mass>9.6</mass>
-                <inertia>
-                    <ixx>0.0512</ixx>
-                    <iyy>0.07712</iyy>
-                    <izz>0.11808</izz>
-                </inertia>
-            </inertial>
+  <model name="ROBOTIKA_FREYJA">
+    <pose>0 0 0.1275 0 0 0</pose>
+    <enable_wind>1</enable_wind>
+    <link name="base_link">
+    <!-- Mass modelled as solid 0.3 x 0.24 x 0.08 cuboid at central
+         bottom part of the robot, where battery and onboard computer
+         are located, surrounded by ventilation space and lightweight
+         chassis.
+         Note: Most of the mass of the robot is *not* in the main body,
+               but in wheels, which contain hub motors.
+         https://en.wikipedia.org/wiki/List_of_moments_of_inertia
+    -->
+      <inertial>
+        <pose>0 0 0.0725 0 0 0</pose>
+        <mass>9.6</mass>
+        <inertia>
+          <ixx>0.0512</ixx>
+          <iyy>0.07712</iyy>
+          <izz>0.11808</izz>
+        </inertia>
+      </inertial>
+  
+      <!-- This bounding box covers also wheel mounts at the bottom and
+           lidars on the top. -->
+      <collision name="chassis_collision">
+        <pose>0 0 0.105 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.50 0.24 0.235</size>
+          </box>
+        </geometry>
+      </collision>
+  
+      <visual name="chassis_main_visual">
+        <pose>0 0 0.0725 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.46 0.24 0.12</size>
+          </box>
+        </geometry>
+        <material>
+          <ambient>0.8706 0.7216 0.5294 1.0</ambient>
+          <diffuse>0.8706 0.7216 0.5294 1.0</diffuse>
+        </material>
+      </visual>
+      <visual name="chassis_front_face_bottom">
+        <pose>0.24 0 0.0175 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.02001 0.24 0.01</size>
+          </box>
+        </geometry>
+        <material>
+          <ambient>0.8706 0.7216 0.5294 1.0</ambient>
+          <diffuse>0.8706 0.7216 0.5294 1.0</diffuse>
+        </material>
+      </visual>
+      <visual name="chassis_front_face_top">
+        <pose>0.24 0 0.1275 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.02001 0.24 0.01</size>
+          </box>
+        </geometry>
+        <material>
+          <ambient>0.8706 0.7216 0.5294 1.0</ambient>
+          <diffuse>0.8706 0.7216 0.5294 1.0</diffuse>
+        </material>
+      </visual>
+      <visual name="chassis_front_face_top_marker">
+        <pose>0.245 0 0.1325 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.01 0.12 0.0001</size>
+          </box>
+        </geometry>
+        <material>
+          <ambient>0.0 0.7059 0.0 1.0</ambient>
+          <diffuse>0.0 0.7059 0.0 1.0</diffuse>
+        </material>
+      </visual>
+      <visual name="chassis_front_face_left">
+        <pose>0.24 0.115 0.0725 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.02001 0.01 0.12</size>
+          </box>
+        </geometry>
+        <material>
+          <ambient>0.8706 0.7216 0.5294 1.0</ambient>
+          <diffuse>0.8706 0.7216 0.5294 1.0</diffuse>
+        </material>
+      </visual>
+      <visual name="chassis_front_face_right">
+        <pose>0.24 -0.115 0.0725 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.02001 0.01 0.12</size>
+          </box>
+        </geometry>
+        <material>
+          <ambient>0.8706 0.7216 0.5294 1.0</ambient>
+          <diffuse>0.8706 0.7216 0.5294 1.0</diffuse>
+        </material>
+      </visual>
+      <visual name="chassis_rear_face_bottom">
+        <pose>-0.24 0 0.0175 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.02001 0.24 0.01</size>
+          </box>
+        </geometry>
+        <material>
+          <ambient>0.8706 0.7216 0.5294 1.0</ambient>
+          <diffuse>0.8706 0.7216 0.5294 1.0</diffuse>
+        </material>
+      </visual>
+      <visual name="chassis_rear_face_top">
+        <pose>-0.24 0 0.1275 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.02001 0.24 0.01</size>
+          </box>
+        </geometry>
+        <material>
+          <ambient>0.8706 0.7216 0.5294 1.0</ambient>
+          <diffuse>0.8706 0.7216 0.5294 1.0</diffuse>
+        </material>
+      </visual>
+      <visual name="chassis_rear_face_top_marker">
+        <pose>-0.245 0 0.1325 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.01 0.12 0.0001</size>
+          </box>
+        </geometry>
+        <material>
+          <ambient>0.7059 0.0 0.0 1.0</ambient>
+          <diffuse>0.7059 0.0 0.0 1.0</diffuse>
+        </material>
+      </visual>
+      <visual name="chassis_rear_face_left">
+        <pose>-0.24 0.115 0.0725 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.02001 0.01 0.12</size>
+          </box>
+        </geometry>
+        <material>
+          <ambient>0.8706 0.7216 0.5294 1.0</ambient>
+          <diffuse>0.8706 0.7216 0.5294 1.0</diffuse>
+        </material>
+      </visual>
+      <visual name="chassis_rear_face_right">
+        <pose>-0.24 -0.115 0.0725 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.02001 0.01 0.12</size>
+          </box>
+        </geometry>
+        <material>
+          <ambient>0.8706 0.7216 0.5294 1.0</ambient>
+          <diffuse>0.8706 0.7216 0.5294 1.0</diffuse>
+        </material>
+      </visual>
+      <visual name="lidar_base_visual">
+        <pose>0 0 0.135 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.3001 0.21 0.005</size>
+          </box>
+        </geometry>
+        <material>
+          <ambient>0.8706 0.7216 0.5294 1.0</ambient>
+          <diffuse>0.8706 0.7216 0.5294 1.0</diffuse>
+        </material>
+      </visual>
+      <visual name="cable_cover_left_visual">
+        <pose>0 0.095 0.1475 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.07 0.02 0.02001</size>
+          </box>
+        </geometry>
+        <material>
+          <ambient>0.8706 0.7216 0.5294 1.0</ambient>
+          <diffuse>0.8706 0.7216 0.5294 1.0</diffuse>
+        </material>
+      </visual>
+      <visual name="cable_cover_right_visual">
+        <pose>0 -0.095 0.1475 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.07 0.02 0.02001</size>
+          </box>
+        </geometry>
+        <material>
+          <ambient>0.8706 0.7216 0.5294 1.0</ambient>
+          <diffuse>0.8706 0.7216 0.5294 1.0</diffuse>
+        </material>
+      </visual>
+      <visual name="cable_cover_top_visual">
+        <pose>0 0.0 0.16 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.07 0.21 0.005</size>
+          </box>
+        </geometry>
+        <material>
+          <ambient>0.8706 0.7216 0.5294 1.0</ambient>
+          <diffuse>0.8706 0.7216 0.5294 1.0</diffuse>
+        </material>
+      </visual>
+      <collision name="left_mount_collision">
+        <pose>0.0 0.17 0.085 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.08 0.1 0.115</size>
+          </box>
+        </geometry>
+      </collision>
+      <visual name="left_mount_visual">
+        <pose>0.0 0.17 0.0725 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.08 0.1 0.09</size>
+          </box>
+        </geometry>
+        <material>
+          <ambient>0.8706 0.7216 0.5294 1.0</ambient>
+          <diffuse>0.8706 0.7216 0.5294 1.0</diffuse>
+        </material>
+      </visual>
+      <visual name="left_mount_top_marker_visual">
+        <pose>0.0 0.215 0.1175 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.08 0.01 0.0001</size>
+          </box>
+        </geometry>
+        <material>
+          <ambient>0.0 0.0 0.7059 1.0</ambient>
+          <diffuse>0.0 0.0 0.7059 1.0</diffuse>
+        </material>
+      </visual>
+      <collision name="right_mount_collision">
+        <pose>0.0 -0.17 0.085 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.08 0.1 0.115</size>
+          </box>
+        </geometry>
+      </collision>
+      <visual name="right_mount_visual">
+        <pose>0.0 -0.17 0.0725 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.08 0.1 0.09</size>
+          </box>
+        </geometry>
+        <material>
+          <ambient>0.8706 0.7216 0.5294 1.0</ambient>
+          <diffuse>0.8706 0.7216 0.5294 1.0</diffuse>
+        </material>
+      </visual>
+      <visual name="right_mount_top_marker_visual">
+        <pose>0.0 -0.215 0.1175 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.08 0.01 0.0001</size>
+          </box>
+        </geometry>
+        <material>
+          <ambient>0.8627 0.8627 0.0 1.0</ambient>
+          <diffuse>0.8627 0.8627 0.0 1.0</diffuse>
+        </material>
+      </visual>
+      <visual name="emergency_stop_bottom_visual">
+        <pose>0.0 -0.155 0.125 0 0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.015</length>
+            <radius>0.015</radius>
+          </cylinder>
+        </geometry>
+        <material>
+          <ambient>0.7059 0.7059 0.7059 1.0</ambient>
+          <diffuse>0.7059 0.7059 0.7059 1.0</diffuse>
+        </material>
+      </visual>
+      <visual name="emergency_stop_top_visual">
+        <pose>0.0 -0.155 0.135 0 0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.005</length>
+            <radius>0.02</radius>
+          </cylinder>
+        </geometry>
+        <material>
+          <ambient>1.0 0.0 0.0 1.0</ambient>
+          <diffuse>1.0 0.0 0.0 1.0</diffuse>
+        </material>
+      </visual>
+      <visual name="power_switch_bottom_visual">
+        <pose>0.0 0.155 0.1225 0 0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.005</length>
+            <radius>0.015</radius>
+          </cylinder>
+        </geometry>
+        <material>
+          <ambient>0.0 0.0 0.0 1.0</ambient>
+          <diffuse>0.0 0.0 0.0 1.0</diffuse>
+        </material>
+      </visual>
+      <visual name="power_switch_middle_visual">
+        <pose>0.0 0.155 0.1275 0 0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.005</length>
+            <radius>0.015</radius>
+          </cylinder>
+        </geometry>
+        <material>
+          <ambient>0.7059 0.7059 0.7059 1.0</ambient>
+          <diffuse>0.7059 0.7059 0.7059 1.0</diffuse>
+        </material>
+      </visual>
+      <visual name="power_switch_top_visual">
+        <pose>0.0 0.155 0.1375 0 0 0.35</pose>
+        <geometry>
+          <box>
+            <size>0.025 0.005 0.01</size>
+          </box>
+        </geometry>
+        <material>
+          <ambient>0.0 0.0 0.0 1.0</ambient>
+          <diffuse>0.0 0.0 0.0 1.0</diffuse>
+        </material>
+      </visual>
+      <visual name="wheel_mount_front_left_axis_visual">
+        <pose>0.19 0.11 0 1.5707963267948966 0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.05</length>
+            <radius>0.008</radius>
+          </cylinder>
+        </geometry>
+        <material>
+          <ambient>0.0 0.0 0.0 1.0</ambient>
+          <diffuse>0.0 0.0 0.0 1.0</diffuse>
+        </material>
+      </visual>
+      <visual name="wheel_mount_front_left_visual">
+        <pose>0.19 0.08 0 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.05 0.07 0.025</size>
+          </box>
+        </geometry>
+        <material>
+          <ambient>0.502 0.502 0.502 1.0</ambient>
+          <diffuse>0.502 0.502 0.502 1.0</diffuse>
+        </material>
+      </visual>
+      <visual name="wheel_mount_front_right_axis_visual">
+        <pose>0.19 -0.11 0 1.5707963267948966 0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.05</length>
+            <radius>0.008</radius>
+          </cylinder>
+        </geometry>
+        <material>
+          <ambient>0.0 0.0 0.0 1.0</ambient>
+          <diffuse>0.0 0.0 0.0 1.0</diffuse>
+        </material>
+      </visual>
+      <visual name="wheel_mount_front_right_visual">
+        <pose>0.19 -0.08 0 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.05 0.07 0.025</size>
+          </box>
+        </geometry>
+        <material>
+          <ambient>0.502 0.502 0.502 1.0</ambient>
+          <diffuse>0.502 0.502 0.502 1.0</diffuse>
+        </material>
+      </visual>
+      <visual name="wheel_mount_rear_left_axis_visual">
+        <pose>-0.19 0.11 0 1.5707963267948966 0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.05</length>
+            <radius>0.008</radius>
+          </cylinder>
+        </geometry>
+        <material>
+          <ambient>0.0 0.0 0.0 1.0</ambient>
+          <diffuse>0.0 0.0 0.0 1.0</diffuse>
+        </material>
+      </visual>
+      <visual name="wheel_mount_rear_left_visual">
+        <pose>-0.19 0.08 0 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.05 0.07 0.025</size>
+          </box>
+        </geometry>
+        <material>
+          <ambient>0.502 0.502 0.502 1.0</ambient>
+          <diffuse>0.502 0.502 0.502 1.0</diffuse>
+        </material>
+      </visual>
+      <visual name="wheel_mount_rear_right_axis_visual">
+        <pose>-0.19 -0.11 0 1.5707963267948966 0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.05</length>
+            <radius>0.008</radius>
+          </cylinder>
+        </geometry>
+        <material>
+          <ambient>0.0 0.0 0.0 1.0</ambient>
+          <diffuse>0.0 0.0 0.0 1.0</diffuse>
+        </material>
+      </visual>
+      <visual name="wheel_mount_rear_right_visual">
+        <pose>-0.19 -0.08 0 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.05 0.07 0.025</size>
+          </box>
+        </geometry>
+        <material>
+          <ambient>0.502 0.502 0.502 1.0</ambient>
+          <diffuse>0.502 0.502 0.502 1.0</diffuse>
+        </material>
+      </visual>
+  
+      <!-- CMPS14 provides IMU and magnetic heading information.
+           https://www.robot-electronics.co.uk/cmps14-tilt-compensated-compass.html
+      -->
+      <sensor name="imu_sensor" type="imu">
+        <always_on>1</always_on>
+        <update_rate>50</update_rate>
+        <imu>
+          <angular_velocity>
+            <x>
+              <noise type="gaussian">
+                <mean>0</mean>
+                <stddev>2e-4</stddev>
+                <bias_mean>0.0000075</bias_mean>
+                <bias_stddev>0.0000008</bias_stddev>
+                <dynamic_bias_stddev>0.0000004</dynamic_bias_stddev>
+                <dynamic_bias_correlation_time>1000.0</dynamic_bias_correlation_time>
+              </noise>
+            </x>
+            <y>
+              <noise type="gaussian">
+                <mean>0</mean>
+                <stddev>2e-4</stddev>
+                <bias_mean>0.0000075</bias_mean>
+                <bias_stddev>0.0000008</bias_stddev>
+                <dynamic_bias_stddev>0.0000004</dynamic_bias_stddev>
+                <dynamic_bias_correlation_time>1000.0</dynamic_bias_correlation_time>
+              </noise>
+            </y>
+            <z>
+              <noise type="gaussian">
+                <mean>0</mean>
+                <stddev>2e-4</stddev>
+                <bias_mean>0.0000075</bias_mean>
+                <bias_stddev>0.0000008</bias_stddev>
+                <dynamic_bias_stddev>0.0000004</dynamic_bias_stddev>
+                <dynamic_bias_correlation_time>1000.0</dynamic_bias_correlation_time>
+              </noise>
+            </z>
+          </angular_velocity>
+          <linear_acceleration>
+            <x>
+              <noise type="gaussian">
+                <mean>0</mean>
+                <stddev>1e-2</stddev>
+                <bias_mean>0.1</bias_mean>
+                <bias_stddev>0.001</bias_stddev>
+                <dynamic_bias_stddev>0.002</dynamic_bias_stddev>
+                <dynamic_bias_correlation_time>300.0</dynamic_bias_correlation_time>
+              </noise>
+            </x>
+            <y>
+              <noise type="gaussian">
+                <mean>0</mean>
+                <stddev>1e-2</stddev>
+                <bias_mean>0.1</bias_mean>
+                <bias_stddev>0.001</bias_stddev>
+                <dynamic_bias_stddev>0.002</dynamic_bias_stddev>
+                <dynamic_bias_correlation_time>300.0</dynamic_bias_correlation_time>
+              </noise>
+            </y>
+            <z>
+              <noise type="gaussian">
+                <mean>0</mean>
+                <stddev>1e-2</stddev>
+                <bias_mean>0.1</bias_mean>
+                <bias_stddev>0.001</bias_stddev>
+                <dynamic_bias_stddev>0.002</dynamic_bias_stddev>
+                <dynamic_bias_correlation_time>300.0</dynamic_bias_correlation_time>
+              </noise>
+            </z>
+          </linear_acceleration>
+        </imu>
+      </sensor>
+      <sensor name="magnetometer" type="magnetometer">
+        <always_on>1</always_on>
+        <update_rate>50</update_rate>
+        <magnetometer>
+          <x>
+            <noise type="gaussian">
+              <mean>0.000000080</mean>
+              <bias_mean>0.000000400</bias_mean>
+            </noise>
+          </x>
+          <y>
+            <noise type="gaussian">
+              <mean>0.000000080</mean>
+              <bias_mean>0.000000400</bias_mean>
+            </noise>
+          </y>
+          <z>
+            <noise type="gaussian">
+              <mean>0.000000080</mean>
+              <bias_mean>0.000000400</bias_mean>
+            </noise>
+          </z>
+        </magnetometer>
+      </sensor>
+  
+      <!-- Infineon DPS310
+           https://www.infineon.com/cms/en/product/sensor/pressure-sensors/absolute-pressure-sensors-map-bap/dps310/
+      -->
+      <sensor name="air_pressure" type="air_pressure">
+        <always_on>1</always_on>
+        <update_rate>20</update_rate>
+        <air_pressure>
+          <reference_altitude>0</reference_altitude>
+          <noise type="gaussian">
+            <mean>0.00000008</mean>
+          </noise>
+        </air_pressure>
+      </sensor>
+  
+      <!-- 2x SICK TIM881P lidar, a prototype without a good public URL. It is derived from
+           the TIM58x family:
+           https://www.sick.com/ch/en/detection-and-ranging-solutions/2d-lidar-sensors/tim5xx/tim581-2050101/p/p619344
+      -->
+      <visual name="laser_front_bottom_visual">
+        <pose>0.12 0 0.16 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.06 0.065 0.045</size>
+          </box>
+        </geometry>
+        <material>
+          <ambient>0.7843 0.7059 0.7059 1.0</ambient>
+          <diffuse>0.7843 0.7059 0.7059 1.0</diffuse>
+        </material>
+      </visual>
+      <visual name="laser_front_top_visual">
+        <pose>0.12 0.0 0.2025 0 0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.04</length>
+            <radius>0.02</radius>
+          </cylinder>
+        </geometry>
+        <material>
+          <ambient>0.0 0.0 0.0 1.0</ambient>
+          <diffuse>0.0 0.0 0.0 1.0</diffuse>
+        </material>
+      </visual>
+      <visual name="laser_front_cable_green">
+        <pose>0.045 0.01 0.1525 0 1.5707963267948966 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.09</length>
+            <radius>0.005</radius>
+          </cylinder>
+        </geometry>
+        <material>
+          <ambient>0.4706 1.0 0.4706 1.0</ambient>
+          <diffuse>0.4706 1.0 0.4706 1.0</diffuse>
+        </material>
+      </visual>
+      <visual name="laser_front_cable_black">
+        <pose>0.045 -0.01 0.1525 0 1.5707963267948966 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.09</length>
+            <radius>0.005</radius>
+          </cylinder>
+        </geometry>
+        <material>
+          <ambient>0.03922 0.03922 0.03922 1.0</ambient>
+          <diffuse>0.03922 0.03922 0.03922 1.0</diffuse>
+        </material>
+      </visual>
+      <sensor name="laser_front" type="gpu_lidar">
+        <pose>0.12 0 0.1925 0 0 0</pose>
+        <update_rate>15</update_rate>
+        <lidar>
+          <scan>
+            <horizontal>
+              <samples>811</samples>
+              <resolution>1</resolution>
+              <min_angle>-2.3562</min_angle>
+              <max_angle>2.3562</max_angle>
+            </horizontal>
+          </scan>
+          <range>
+            <min>0.04</min>
+            <max>25</max>
+            <resolution>0.01</resolution>
+          </range>
+          <noise>
+            <type>gaussian</type>
+            <mean>0</mean>
+            <stddev>0.01</stddev>
+          </noise>
+        </lidar>
+      </sensor>
+  
+      <visual name="laser_rear_bottom_visual">
+        <pose>-0.12 0 0.1625 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.06 0.065 0.045</size>
+          </box>
+        </geometry>
+        <material>
+          <ambient>0.7843 0.7059 0.7059 1.0</ambient>
+          <diffuse>0.7843 0.7059 0.7059 1.0</diffuse>
+        </material>
+      </visual>
+      <visual name="laser_rear_top_visual">
+        <pose>-0.12 0.0 0.2025 0 0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.04</length>
+            <radius>0.02</radius>
+          </cylinder>
+        </geometry>
+        <material>
+          <ambient>0.0 0.0 0.0 1.0</ambient>
+          <diffuse>0.0 0.0 0.0 1.0</diffuse>
+        </material>
+      </visual>
+      <visual name="laser_rear_cable_green">
+        <pose>-0.045 -0.01 0.1525 0 1.5707963267948966 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.09</length>
+            <radius>0.005</radius>
+          </cylinder>
+        </geometry>
+        <material>
+          <ambient>0.4706 1.0 0.4706 1.0</ambient>
+          <diffuse>0.4706 1.0 0.4706 1.0</diffuse>
+        </material>
+      </visual>
+      <visual name="laser_rear_cable_black">
+        <pose>-0.045 0.01 0.1525 0 1.5707963267948966 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.09</length>
+            <radius>0.005</radius>
+          </cylinder>
+        </geometry>
+        <material>
+          <ambient>0.03922 0.03922 0.03922 1.0</ambient>
+          <diffuse>0.03922 0.03922 0.03922 1.0</diffuse>
+        </material>
+      </visual>
+      <sensor name="laser_rear" type="gpu_lidar">
+        <pose>-0.12 0 0.1925 0 0 3.141592</pose>
+        <update_rate>15</update_rate>
+        <lidar>
+          <scan>
+            <horizontal>
+              <samples>811</samples>
+              <resolution>1</resolution>
+              <min_angle>-2.3562</min_angle>
+              <max_angle>2.3562</max_angle>
+            </horizontal>
+          </scan>
+          <range>
+            <min>0.04</min>
+            <max>25</max>
+            <resolution>0.01</resolution>
+          </range>
+          <noise>
+            <type>gaussian</type>
+            <mean>0</mean>
+            <stddev>0.01</stddev>
+          </noise>
+        </lidar>
+      </sensor>
+  
+      <!-- 3x Mynt Eye D in low-reslution medium-fps mode.
+           https://www.mynteye.com/pages/mynt-eye-d
+      -->
+      <visual name="rgbd_front_visual">
+        <pose>0.235 0 0.1025 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.03 0.162 0.03</size>
+          </box>
+        </geometry>
+        <material>
+          <ambient>0.0 0.0 0.0 1.0</ambient>
+          <diffuse>0.0 0.0 0.0 1.0</diffuse>
+        </material>
+      </visual>
+      <sensor name="rgbd_front" type="rgbd_camera">
+        <pose>0.250001 0 0.1025 0 0 0</pose>
+        <always_on>1</always_on>
+        <update_rate>30</update_rate>
+        <camera name="rgbd_front_rgbd">
+          <pose frame="">0 0 0 0 -1.5707 1.5707</pose>
+          <horizontal_fov>1.483583268116444</horizontal_fov>
+          <lens>
+            <intrinsics>
+              <!-- fx = fy = width / ( 2 * tan (hfov / 2 ) ) -->
+              <fx>349.2</fx>
+              <fy>349.2</fy>
+              <!-- cx = ( width - 1 ) / 2 -->
+              <cx>319.5</cx>
+              <!-- cy = ( height - 1 ) / 2 -->
+              <cy>179.5</cy>
+              <s>0</s>
+            </intrinsics>
+          </lens>
+          <distortion>
+            <k1>0.0</k1>
+            <k2>0.0</k2>
+            <k3>0.0</k3>
+            <p1>0.0</p1>
+            <p2>0.0</p2>
+            <center>0.5 0.5</center>
+          </distortion>
+          <image>
+            <width>640</width>
+            <height>360</height>
+            <format>R8G8B8</format>
+          </image>
+          <clip>
+            <near>0.01</near>
+            <far>300</far>
+          </clip>
+          <depth_camera>
+            <clip>
+              <near>0.1</near>
+              <far>10</far>
+            </clip>
+          </depth_camera>
+          <noise>
+            <type>gaussian</type>
+            <mean>0</mean>
+            <stddev>0.007</stddev>
+          </noise>
+        </camera>
+      </sensor>
+  
+      <visual name="rgbd_rear_visual">
+        <pose>-0.235 0 0.1025 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.03 0.162 0.03</size>
+          </box>
+        </geometry>
+        <material>
+          <ambient>0.0 0.0 0.0 1.0</ambient>
+          <diffuse>0.0 0.0 0.0 1.0</diffuse>
+        </material>
+      </visual>
+      <sensor name="rgbd_rear" type="rgbd_camera">
+        <pose>-0.250001 0 0.1025 0 0 3.141592653589793</pose>
+        <always_on>1</always_on>
+        <!-- Mynt Eye D in low-resolution high-fps mode. -->
+        <update_rate>30</update_rate>
+        <camera name="rear_rgbd">
+          <pose frame="">0 0 0 0 -1.5707 1.5707</pose>
+          <horizontal_fov>1.483583268116444</horizontal_fov>
+          <lens>
+            <intrinsics>
+              <!-- fx = fy = width / ( 2 * tan (hfov / 2 ) ) -->
+              <fx>349.2</fx>
+              <fy>349.2</fy>
+              <!-- cx = ( width - 1 ) / 2 -->
+              <cx>319.5</cx>
+              <!-- cy = ( height - 1 ) / 2 -->
+              <cy>179.5</cy>
+              <s>0</s>
+            </intrinsics>
+          </lens>
+          <distortion>
+            <k1>0.0</k1>
+            <k2>0.0</k2>
+            <k3>0.0</k3>
+            <p1>0.0</p1>
+            <p2>0.0</p2>
+            <center>0.5 0.5</center>
+          </distortion>
+          <image>
+            <width>640</width>
+            <height>360</height>
+            <format>R8G8B8</format>
+          </image>
+          <clip>
+            <near>0.01</near>
+            <far>300</far>
+          </clip>
+          <depth_camera>
+            <clip>
+              <near>0.1</near>
+              <far>10</far>
+            </clip>
+          </depth_camera>
+          <noise>
+            <type>gaussian</type>
+            <mean>0</mean>
+            <stddev>0.007</stddev>
+          </noise>
+        </camera>
+      </sensor>
+  
+  
+      <!-- Four KAYETON high-speed fisheye cameras running at medium speed,
+           undistorted into 1/4 of their original image size.
+           https://www.kayetoncctv.com/global-shutter-high-speed-120fps-hd-720p-webcam-uvc-plug-play-driverless-usb-camera-module-for-android-linux-windows-mac/
+      -->
+      <visual name="camera_front_visual">
+        <pose>0.2349 0 0.0725 0 1.5707963267948966 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.03</length>
+            <radius>0.011</radius>
+          </cylinder>
+        </geometry>
+        <material>
+          <ambient>0.0 0.0 0.0 1.0</ambient>
+          <diffuse>0.0 0.0 0.0 1.0</diffuse>
+        </material>
+      </visual>
+      <sensor name="camera_front" type="camera">
+        <pose>0.25 0 0.0725 0 0 0</pose>
+        <always_on>1</always_on>
+        <update_rate>30</update_rate>
+        <camera name="camera_front">
+          <horizontal_fov>2.27</horizontal_fov>
+          <lens>
+            <intrinsics>
+              <!-- fx = fy = width / ( 2 * tan (hfov / 2 ) ) -->
+              <fx>149.01</fx>
+              <fy>149.01</fy>
+              <!-- cx = ( width - 1 ) / 2 -->
+              <cx>339.5</cx>
+              <!-- cy = ( height - 1 ) / 2 -->
+              <cy>179.5</cy>
+              <s>0</s>
+            </intrinsics>
+          </lens>
+          <distortion>
+            <k1>0.0</k1>
+            <k2>0.0</k2>
+            <k3>0.0</k3>
+            <p1>0.0</p1>
+            <p2>0.0</p2>
+            <center>0.5 0.5</center>
+          </distortion>
+          <image>
+            <width>640</width>
+            <height>360</height>
+            <format>R8G8B8</format>
+          </image>
+          <clip>
+            <near>0.01</near>
+            <far>300</far>
+          </clip>
+          <noise>
+            <type>gaussian</type>
+            <mean>0</mean>
+            <stddev>0.007</stddev>
+          </noise>
+        </camera>
+      </sensor>
+      <visual name="camera_rear_visual">
+        <pose>-0.2349 0 0.0725 0 -1.5707963267948966 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.03</length>
+            <radius>0.011</radius>
+          </cylinder>
+        </geometry>
+        <material>
+          <ambient>0.0 0.0 0.0 1.0</ambient>
+          <diffuse>0.0 0.0 0.0 1.0</diffuse>
+        </material>
+      </visual>
+      <sensor name="camera_rear" type="camera">
+        <pose>-0.25 0 0.0725 0 0 3.141592653589793</pose>
+        <always_on>1</always_on>
+        <update_rate>30</update_rate>
+        <camera name="camera_rear">
+          <horizontal_fov>2.27</horizontal_fov>
+          <lens>
+            <intrinsics>
+              <!-- fx = fy = width / ( 2 * tan (hfov / 2 ) ) -->
+              <fx>149.01</fx>
+              <fy>149.01</fy>
+              <!-- cx = ( width - 1 ) / 2 -->
+              <cx>339.5</cx>
+              <!-- cy = ( height - 1 ) / 2 -->
+              <cy>179.5</cy>
+              <s>0</s>
+            </intrinsics>
+          </lens>
+          <distortion>
+            <k1>0.0</k1>
+            <k2>0.0</k2>
+            <k3>0.0</k3>
+            <p1>0.0</p1>
+            <p2>0.0</p2>
+            <center>0.5 0.5</center>
+          </distortion>
+          <image>
+            <width>640</width>
+            <height>360</height>
+            <format>R8G8B8</format>
+          </image>
+          <clip>
+            <near>0.01</near>
+            <far>300</far>
+          </clip>
+          <noise>
+            <type>gaussian</type>
+            <mean>0</mean>
+            <stddev>0.007</stddev>
+          </noise>
+        </camera>
+      </sensor>
+      <visual name="camera_left_visual">
+        <pose>0.0 0.22 0.0725 -1.5707963267948966 0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.005</length>
+            <radius>0.011</radius>
+          </cylinder>
+        </geometry>
+        <material>
+          <ambient>0.0 0.0 0.0 1.0</ambient>
+          <diffuse>0.0 0.0 0.0 1.0</diffuse>
+        </material>
+      </visual>
+      <sensor name="camera_left" type="camera">
+        <pose>0.0 0.225 0.0725 0 0 1.5707963267948966</pose>
+        <always_on>1</always_on>
+        <update_rate>30</update_rate>
+        <camera name="camera_left">
+          <horizontal_fov>2.27</horizontal_fov>
+          <lens>
+            <intrinsics>
+              <!-- fx = fy = width / ( 2 * tan (hfov / 2 ) ) -->
+              <fx>149.01</fx>
+              <fy>149.01</fy>
+              <!-- cx = ( width - 1 ) / 2 -->
+              <cx>339.5</cx>
+              <!-- cy = ( height - 1 ) / 2 -->
+              <cy>179.5</cy>
+              <s>0</s>
+            </intrinsics>
+          </lens>
+          <distortion>
+            <k1>0.0</k1>
+            <k2>0.0</k2>
+            <k3>0.0</k3>
+            <p1>0.0</p1>
+            <p2>0.0</p2>
+            <center>0.5 0.5</center>
+          </distortion>
+          <image>
+            <width>640</width>
+            <height>360</height>
+            <format>R8G8B8</format>
+          </image>
+          <clip>
+            <near>0.01</near>
+            <far>300</far>
+          </clip>
+          <noise>
+            <type>gaussian</type>
+            <mean>0</mean>
+            <stddev>0.007</stddev>
+          </noise>
+        </camera>
+      </sensor>
+      <visual name="camera_right_visual">
+        <pose>0.0 -0.22 0.0725 1.5707963267948966 0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.005</length>
+            <radius>0.011</radius>
+          </cylinder>
+        </geometry>
+        <material>
+          <ambient>0.0 0.0 0.0 1.0</ambient>
+          <diffuse>0.0 0.0 0.0 1.0</diffuse>
+        </material>
+      </visual>
+      <sensor name="camera_right" type="camera">
+        <pose>0.0 -0.225 0.0725 0 0 -1.5707963267948966</pose>
+        <always_on>1</always_on>
+        <update_rate>30</update_rate>
+        <camera name="camera_right">
+          <horizontal_fov>2.27</horizontal_fov>
+          <lens>
+            <intrinsics>
+              <!-- fx = fy = width / ( 2 * tan (hfov / 2 ) ) -->
+              <fx>149.01</fx>
+              <fy>149.01</fy>
+              <!-- cx = ( width - 1 ) / 2 -->
+              <cx>339.5</cx>
+              <!-- cy = ( height - 1 ) / 2 -->
+              <cy>179.5</cy>
+              <s>0</s>
+            </intrinsics>
+          </lens>
+          <distortion>
+            <k1>0.0</k1>
+            <k2>0.0</k2>
+            <k3>0.0</k3>
+            <p1>0.0</p1>
+            <p2>0.0</p2>
+            <center>0.5 0.5</center>
+          </distortion>
+          <image>
+            <width>640</width>
+            <height>360</height>
+            <format>R8G8B8</format>
+          </image>
+          <clip>
+            <near>0.01</near>
+            <far>300</far>
+          </clip>
+          <noise>
+            <type>gaussian</type>
+            <mean>0</mean>
+            <stddev>0.007</stddev>
+          </noise>
+        </camera>
+      </sensor>
+  
+      <visual name="light_front_visual">
+        <pose>0.24 0 0.0425 0 1.5707963267948966 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.02001</length>
+            <radius>0.004</radius>
+          </cylinder>
+        </geometry>
+        <material>
+          <ambient>1.0 1.0 0.451 1.0</ambient>
+          <diffuse>1.0 1.0 0.451 1.0</diffuse>
+        </material>
+      </visual>
+      <light name="light_front" type="spot">
+        <pose>0.237 0 0.0425 0 0 0</pose>
+        <attenuation>
+          <range>25</range>
+          <linear>0</linear>
+          <constant>0.1</constant>
+          <quadratic>0.005</quadratic>
+        </attenuation>
+        <diffuse>0.8 0.8 0.5 1.0</diffuse>
+        <specular>0.8 0.8 0.5 1</specular>
+        <spot>
+          <inner_angle>1.571</inner_angle>
+          <outer_angle>2.1</outer_angle>
+          <falloff>1</falloff>
+        </spot>
+        <direction>1 0 0</direction>
+        <cast_shadows>1</cast_shadows>
+      </light>
+      <visual name="light_rear_visual">
+        <pose>-0.24 0 0.0425 0 1.5707963267948966 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.02001</length>
+            <radius>0.004</radius>
+          </cylinder>
+        </geometry>
+        <material>
+          <ambient>1.0 1.0 0.451 1.0</ambient>
+          <diffuse>1.0 1.0 0.451 1.0</diffuse>
+        </material>
+      </visual>
+      <light name="light_rear" type="spot">
+        <pose>-0.237 0 0.0425 0 0 0</pose>
+        <attenuation>
+          <range>25</range>
+          <linear>0</linear>
+          <constant>0.1</constant>
+          <quadratic>0.005</quadratic>
+        </attenuation>
+        <diffuse>0.8 0.8 0.5 1.0</diffuse>
+        <specular>0.8 0.8 0.5 1</specular>
+        <spot>
+          <inner_angle>1.571</inner_angle>
+          <outer_angle>2.1</outer_angle>
+          <falloff>1</falloff>
+        </spot>
+        <direction>-1 0 0</direction>
+        <cast_shadows>1</cast_shadows>
+      </light>
+      <visual name="light_left_visual">
+        <pose>0 0.22 0.0425 1.5707963267948966 0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.0005</length>
+            <radius>0.004</radius>
+          </cylinder>
+        </geometry>
+        <material>
+          <ambient>1.0 1.0 0.451 1.0</ambient>
+          <diffuse>1.0 1.0 0.451 1.0</diffuse>
+        </material>
+      </visual>
+      <light name="light_left" type="spot">
+        <pose>0 0.22 0.0425 0 0 0</pose>
+        <attenuation>
+          <range>25</range>
+          <linear>0</linear>
+          <constant>0.1</constant>
+          <quadratic>0.005</quadratic>
+        </attenuation>
+        <diffuse>0.8 0.8 0.5 1.0</diffuse>
+        <specular>0.8 0.8 0.5 1</specular>
+        <spot>
+          <inner_angle>1.571</inner_angle>
+          <outer_angle>2.1</outer_angle>
+          <falloff>1</falloff>
+        </spot>
+        <direction>0 1 0</direction>
+        <cast_shadows>1</cast_shadows>
+      </light>
+      <visual name="light_right_visual">
+        <pose>0 -0.22 0.0425 1.5707963267948966 0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.0005</length>
+            <radius>0.004</radius>
+          </cylinder>
+        </geometry>
+        <material>
+          <ambient>1.0 1.0 0.451 1.0</ambient>
+          <diffuse>1.0 1.0 0.451 1.0</diffuse>
+        </material>
+      </visual>
+      <light name="light_right" type="spot">
+        <pose>0 -0.22 0.0425 0 0 0</pose>
+        <attenuation>
+          <range>25</range>
+          <linear>0</linear>
+          <constant>0.1</constant>
+          <quadratic>0.005</quadratic>
+        </attenuation>
+        <diffuse>0.8 0.8 0.5 1.0</diffuse>
+        <specular>0.8 0.8 0.5 1</specular>
+        <spot>
+          <inner_angle>1.571</inner_angle>
+          <outer_angle>2.1</outer_angle>
+          <falloff>1</falloff>
+        </spot>
+        <direction>0 -1 0</direction>
+        <cast_shadows>1</cast_shadows>
+      </light>
+    </link>
 
-            <!-- This bounding box covers also wheel mounts at the bottom and
-                 lidars on the top. -->
-            <collision name="chassis_collision">
-                <pose>0 0 0.105 0 0 0</pose>
-                <geometry>
-                    <box>
-                        <size>0.50 0.24 0.235</size>
-                    </box>
-                </geometry>
-            </collision>
+    <link name="front_left_wheel">
+      <pose>0.19 0.19 0 0 0 0</pose>
+      <!-- Inertia approximated by a solid cylinder of a smaller diameter
+           than the whole wheel and almost full width (r=0.1, h=0.08),
+           because most of the mass is is the hub motor, which is
+           surrounded by air tire. -->
+      <inertial>
+        <mass>5.0</mass>
+        <inertia>
+          <ixx>0.0153</ixx>
+          <iyy>0.025</iyy>
+          <izz>0.0153</izz>
+        </inertia>
+      </inertial>
+      <collision name="front_left_wheel_collision">
+        <pose>0 0 0 -1.5707963267948966 0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.082</length>
+            <radius>0.1275</radius>
+          </cylinder>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>1</mu>
+              <mu2>1</mu2>
+              <slip1>0.0475</slip1>
+              <slip2>0</slip2>
+              <fdir1>0 0 1</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <visual name="front_left_wheel_tire_visual">
+        <pose>0 0 0 1.5708 0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>meshes/wheel_left.dae</uri>
+            <scale>1.3010204 1.3010204 2.05</scale>
+          </mesh>
+        </geometry>
+      </visual>
+      <visual name="front_left_wheel_hub_visual">
+        <pose>0 -0.055 0 1.5707963267948966 0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.025</length>
+            <radius>0.04</radius>
+          </cylinder>
+        </geometry>
+        <material>
+          <ambient>0.502 0.502 0.502 1.0</ambient>
+          <diffuse>0.502 0.502 0.502 1.0</diffuse>
+        </material>
+      </visual>
+    </link>
 
-            <visual name="chassis_main_visual">
-                <pose>0 0 0.0725 0 0 0</pose>
-                <geometry>
-                    <box>
-                        <size>0.46 0.24 0.12</size>
-                    </box>
-                </geometry>
-                <material>
-                    <ambient>0.8706 0.7216 0.5294 1.0</ambient>
-                    <diffuse>0.8706 0.7216 0.5294 1.0</diffuse>
-                </material>
-            </visual>
-            <visual name="chassis_front_face_bottom">
-                <pose>0.24 0 0.0175 0 0 0</pose>
-                <geometry>
-                    <box>
-                        <size>0.02001 0.24 0.01</size>
-                    </box>
-                </geometry>
-                <material>
-                    <ambient>0.8706 0.7216 0.5294 1.0</ambient>
-                    <diffuse>0.8706 0.7216 0.5294 1.0</diffuse>
-                </material>
-            </visual>
-            <visual name="chassis_front_face_top">
-                <pose>0.24 0 0.1275 0 0 0</pose>
-                <geometry>
-                    <box>
-                        <size>0.02001 0.24 0.01</size>
-                    </box>
-                </geometry>
-                <material>
-                    <ambient>0.8706 0.7216 0.5294 1.0</ambient>
-                    <diffuse>0.8706 0.7216 0.5294 1.0</diffuse>
-                </material>
-            </visual>
-            <visual name="chassis_front_face_top_marker">
-                <pose>0.245 0 0.1325 0 0 0</pose>
-                <geometry>
-                    <box>
-                        <size>0.01 0.12 0.0001</size>
-                    </box>
-                </geometry>
-                <material>
-                    <ambient>0.0 0.7059 0.0 1.0</ambient>
-                    <diffuse>0.0 0.7059 0.0 1.0</diffuse>
-                </material>
-            </visual>
-            <visual name="chassis_front_face_left">
-                <pose>0.24 0.115 0.0725 0 0 0</pose>
-                <geometry>
-                    <box>
-                        <size>0.02001 0.01 0.12</size>
-                    </box>
-                </geometry>
-                <material>
-                    <ambient>0.8706 0.7216 0.5294 1.0</ambient>
-                    <diffuse>0.8706 0.7216 0.5294 1.0</diffuse>
-                </material>
-            </visual>
-            <visual name="chassis_front_face_right">
-                <pose>0.24 -0.115 0.0725 0 0 0</pose>
-                <geometry>
-                    <box>
-                        <size>0.02001 0.01 0.12</size>
-                    </box>
-                </geometry>
-                <material>
-                    <ambient>0.8706 0.7216 0.5294 1.0</ambient>
-                    <diffuse>0.8706 0.7216 0.5294 1.0</diffuse>
-                </material>
-            </visual>
-            <visual name="chassis_rear_face_bottom">
-                <pose>-0.24 0 0.0175 0 0 0</pose>
-                <geometry>
-                    <box>
-                        <size>0.02001 0.24 0.01</size>
-                    </box>
-                </geometry>
-                <material>
-                    <ambient>0.8706 0.7216 0.5294 1.0</ambient>
-                    <diffuse>0.8706 0.7216 0.5294 1.0</diffuse>
-                </material>
-            </visual>
-            <visual name="chassis_rear_face_top">
-                <pose>-0.24 0 0.1275 0 0 0</pose>
-                <geometry>
-                    <box>
-                        <size>0.02001 0.24 0.01</size>
-                    </box>
-                </geometry>
-                <material>
-                    <ambient>0.8706 0.7216 0.5294 1.0</ambient>
-                    <diffuse>0.8706 0.7216 0.5294 1.0</diffuse>
-                </material>
-            </visual>
-            <visual name="chassis_rear_face_top_marker">
-                <pose>-0.245 0 0.1325 0 0 0</pose>
-                <geometry>
-                    <box>
-                        <size>0.01 0.12 0.0001</size>
-                    </box>
-                </geometry>
-                <material>
-                    <ambient>0.7059 0.0 0.0 1.0</ambient>
-                    <diffuse>0.7059 0.0 0.0 1.0</diffuse>
-                </material>
-            </visual>
-            <visual name="chassis_rear_face_left">
-                <pose>-0.24 0.115 0.0725 0 0 0</pose>
-                <geometry>
-                    <box>
-                        <size>0.02001 0.01 0.12</size>
-                    </box>
-                </geometry>
-                <material>
-                    <ambient>0.8706 0.7216 0.5294 1.0</ambient>
-                    <diffuse>0.8706 0.7216 0.5294 1.0</diffuse>
-                </material>
-            </visual>
-            <visual name="chassis_rear_face_right">
-                <pose>-0.24 -0.115 0.0725 0 0 0</pose>
-                <geometry>
-                    <box>
-                        <size>0.02001 0.01 0.12</size>
-                    </box>
-                </geometry>
-                <material>
-                    <ambient>0.8706 0.7216 0.5294 1.0</ambient>
-                    <diffuse>0.8706 0.7216 0.5294 1.0</diffuse>
-                </material>
-            </visual>
-            <visual name="lidar_base_visual">
-                <pose>0 0 0.135 0 0 0</pose>
-                <geometry>
-                    <box>
-                        <size>0.3001 0.21 0.005</size>
-                    </box>
-                </geometry>
-                <material>
-                    <ambient>0.8706 0.7216 0.5294 1.0</ambient>
-                    <diffuse>0.8706 0.7216 0.5294 1.0</diffuse>
-                </material>
-            </visual>
-            <visual name="cable_cover_left_visual">
-                <pose>0 0.095 0.1475 0 0 0</pose>
-                <geometry>
-                    <box>
-                        <size>0.07 0.02 0.02001</size>
-                    </box>
-                </geometry>
-                <material>
-                    <ambient>0.8706 0.7216 0.5294 1.0</ambient>
-                    <diffuse>0.8706 0.7216 0.5294 1.0</diffuse>
-                </material>
-            </visual>
-            <visual name="cable_cover_right_visual">
-                <pose>0 -0.095 0.1475 0 0 0</pose>
-                <geometry>
-                    <box>
-                        <size>0.07 0.02 0.02001</size>
-                    </box>
-                </geometry>
-                <material>
-                    <ambient>0.8706 0.7216 0.5294 1.0</ambient>
-                    <diffuse>0.8706 0.7216 0.5294 1.0</diffuse>
-                </material>
-            </visual>
-            <visual name="cable_cover_top_visual">
-                <pose>0 0.0 0.16 0 0 0</pose>
-                <geometry>
-                    <box>
-                        <size>0.07 0.21 0.005</size>
-                    </box>
-                </geometry>
-                <material>
-                    <ambient>0.8706 0.7216 0.5294 1.0</ambient>
-                    <diffuse>0.8706 0.7216 0.5294 1.0</diffuse>
-                </material>
-            </visual>
-            <collision name="left_mount_collision">
-                <pose>0.0 0.17 0.085 0 0 0</pose>
-                <geometry>
-                    <box>
-                        <size>0.08 0.1 0.115</size>
-                    </box>
-                </geometry>
-            </collision>
-            <visual name="left_mount_visual">
-                <pose>0.0 0.17 0.0725 0 0 0</pose>
-                <geometry>
-                    <box>
-                        <size>0.08 0.1 0.09</size>
-                    </box>
-                </geometry>
-                <material>
-                    <ambient>0.8706 0.7216 0.5294 1.0</ambient>
-                    <diffuse>0.8706 0.7216 0.5294 1.0</diffuse>
-                </material>
-            </visual>
-            <visual name="left_mount_top_marker_visual">
-                <pose>0.0 0.215 0.1175 0 0 0</pose>
-                <geometry>
-                    <box>
-                        <size>0.08 0.01 0.0001</size>
-                    </box>
-                </geometry>
-                <material>
-                    <ambient>0.0 0.0 0.7059 1.0</ambient>
-                    <diffuse>0.0 0.0 0.7059 1.0</diffuse>
-                </material>
-            </visual>
-            <collision name="right_mount_collision">
-                <pose>0.0 -0.17 0.085 0 0 0</pose>
-                <geometry>
-                    <box>
-                        <size>0.08 0.1 0.115</size>
-                    </box>
-                </geometry>
-            </collision>
-            <visual name="right_mount_visual">
-                <pose>0.0 -0.17 0.0725 0 0 0</pose>
-                <geometry>
-                    <box>
-                        <size>0.08 0.1 0.09</size>
-                    </box>
-                </geometry>
-                <material>
-                    <ambient>0.8706 0.7216 0.5294 1.0</ambient>
-                    <diffuse>0.8706 0.7216 0.5294 1.0</diffuse>
-                </material>
-            </visual>
-            <visual name="right_mount_top_marker_visual">
-                <pose>0.0 -0.215 0.1175 0 0 0</pose>
-                <geometry>
-                    <box>
-                        <size>0.08 0.01 0.0001</size>
-                    </box>
-                </geometry>
-                <material>
-                    <ambient>0.8627 0.8627 0.0 1.0</ambient>
-                    <diffuse>0.8627 0.8627 0.0 1.0</diffuse>
-                </material>
-            </visual>
-            <visual name="emergency_stop_bottom_visual">
-                <pose>0.0 -0.155 0.125 0 0 0</pose>
-                <geometry>
-                    <cylinder>
-                        <length>0.015</length>
-                        <radius>0.015</radius>
-                    </cylinder>
-                </geometry>
-                <material>
-                    <ambient>0.7059 0.7059 0.7059 1.0</ambient>
-                    <diffuse>0.7059 0.7059 0.7059 1.0</diffuse>
-                </material>
-            </visual>
-            <visual name="emergency_stop_top_visual">
-                <pose>0.0 -0.155 0.135 0 0 0</pose>
-                <geometry>
-                    <cylinder>
-                        <length>0.005</length>
-                        <radius>0.02</radius>
-                    </cylinder>
-                </geometry>
-                <material>
-                    <ambient>1.0 0.0 0.0 1.0</ambient>
-                    <diffuse>1.0 0.0 0.0 1.0</diffuse>
-                </material>
-            </visual>
-            <visual name="power_switch_bottom_visual">
-                <pose>0.0 0.155 0.1225 0 0 0</pose>
-                <geometry>
-                    <cylinder>
-                        <length>0.005</length>
-                        <radius>0.015</radius>
-                    </cylinder>
-                </geometry>
-                <material>
-                    <ambient>0.0 0.0 0.0 1.0</ambient>
-                    <diffuse>0.0 0.0 0.0 1.0</diffuse>
-                </material>
-            </visual>
-            <visual name="power_switch_middle_visual">
-                <pose>0.0 0.155 0.1275 0 0 0</pose>
-                <geometry>
-                    <cylinder>
-                        <length>0.005</length>
-                        <radius>0.015</radius>
-                    </cylinder>
-                </geometry>
-                <material>
-                    <ambient>0.7059 0.7059 0.7059 1.0</ambient>
-                    <diffuse>0.7059 0.7059 0.7059 1.0</diffuse>
-                </material>
-            </visual>
-            <visual name="power_switch_top_visual">
-                <pose>0.0 0.155 0.1375 0 0 0.35</pose>
-                <geometry>
-                    <box>
-                        <size>0.025 0.005 0.01</size>
-                    </box>
-                </geometry>
-                <material>
-                    <ambient>0.0 0.0 0.0 1.0</ambient>
-                    <diffuse>0.0 0.0 0.0 1.0</diffuse>
-                </material>
-            </visual>
-            <visual name="wheel_mount_front_left_axis_visual">
-                <pose>0.19 0.11 0 1.5707963267948966 0 0</pose>
-                <geometry>
-                    <cylinder>
-                        <length>0.05</length>
-                        <radius>0.008</radius>
-                    </cylinder>
-                </geometry>
-                <material>
-                    <ambient>0.0 0.0 0.0 1.0</ambient>
-                    <diffuse>0.0 0.0 0.0 1.0</diffuse>
-                </material>
-            </visual>
-            <visual name="wheel_mount_front_left_visual">
-                <pose>0.19 0.08 0 0 0 0</pose>
-                <geometry>
-                    <box>
-                        <size>0.05 0.07 0.025</size>
-                    </box>
-                </geometry>
-                <material>
-                    <ambient>0.502 0.502 0.502 1.0</ambient>
-                    <diffuse>0.502 0.502 0.502 1.0</diffuse>
-                </material>
-            </visual>
-            <visual name="wheel_mount_front_right_axis_visual">
-                <pose>0.19 -0.11 0 1.5707963267948966 0 0</pose>
-                <geometry>
-                    <cylinder>
-                        <length>0.05</length>
-                        <radius>0.008</radius>
-                    </cylinder>
-                </geometry>
-                <material>
-                    <ambient>0.0 0.0 0.0 1.0</ambient>
-                    <diffuse>0.0 0.0 0.0 1.0</diffuse>
-                </material>
-            </visual>
-            <visual name="wheel_mount_front_right_visual">
-                <pose>0.19 -0.08 0 0 0 0</pose>
-                <geometry>
-                    <box>
-                        <size>0.05 0.07 0.025</size>
-                    </box>
-                </geometry>
-                <material>
-                    <ambient>0.502 0.502 0.502 1.0</ambient>
-                    <diffuse>0.502 0.502 0.502 1.0</diffuse>
-                </material>
-            </visual>
-            <visual name="wheel_mount_rear_left_axis_visual">
-                <pose>-0.19 0.11 0 1.5707963267948966 0 0</pose>
-                <geometry>
-                    <cylinder>
-                        <length>0.05</length>
-                        <radius>0.008</radius>
-                    </cylinder>
-                </geometry>
-                <material>
-                    <ambient>0.0 0.0 0.0 1.0</ambient>
-                    <diffuse>0.0 0.0 0.0 1.0</diffuse>
-                </material>
-            </visual>
-            <visual name="wheel_mount_rear_left_visual">
-                <pose>-0.19 0.08 0 0 0 0</pose>
-                <geometry>
-                    <box>
-                        <size>0.05 0.07 0.025</size>
-                    </box>
-                </geometry>
-                <material>
-                    <ambient>0.502 0.502 0.502 1.0</ambient>
-                    <diffuse>0.502 0.502 0.502 1.0</diffuse>
-                </material>
-            </visual>
-            <visual name="wheel_mount_rear_right_axis_visual">
-                <pose>-0.19 -0.11 0 1.5707963267948966 0 0</pose>
-                <geometry>
-                    <cylinder>
-                        <length>0.05</length>
-                        <radius>0.008</radius>
-                    </cylinder>
-                </geometry>
-                <material>
-                    <ambient>0.0 0.0 0.0 1.0</ambient>
-                    <diffuse>0.0 0.0 0.0 1.0</diffuse>
-                </material>
-            </visual>
-            <visual name="wheel_mount_rear_right_visual">
-                <pose>-0.19 -0.08 0 0 0 0</pose>
-                <geometry>
-                    <box>
-                        <size>0.05 0.07 0.025</size>
-                    </box>
-                </geometry>
-                <material>
-                    <ambient>0.502 0.502 0.502 1.0</ambient>
-                    <diffuse>0.502 0.502 0.502 1.0</diffuse>
-                </material>
-            </visual>
+    <link name="front_right_wheel">
+      <pose>0.19 -0.19 0 0 0 0</pose>
+      <inertial>
+        <mass>5.0</mass>
+        <inertia>
+          <ixx>0.0153</ixx>
+          <iyy>0.025</iyy>
+          <izz>0.0153</izz>
+        </inertia>
+      </inertial>
+      <collision name="front_right_wheel_collision">
+        <pose>0 0 0 1.5707963267948966 0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.082</length>
+            <radius>0.1275</radius>
+          </cylinder>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>1</mu>
+              <mu2>1</mu2>
+              <slip1>0.0475</slip1>
+              <slip2>0</slip2>
+              <fdir1>0 0 1</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <visual name="front_right_wheel_tire_visual">
+        <pose>0 0 0 1.5708 0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>meshes/wheel_right.dae</uri>
+            <scale>1.3010204 1.3010204 2.05</scale>
+          </mesh>
+        </geometry>
+      </visual>
+      <visual name="front_right_wheel_hub_visual">
+        <pose>0 0.055 0 1.5707963267948966 0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.025</length>
+            <radius>0.04</radius>
+          </cylinder>
+        </geometry>
+        <material>
+          <ambient>0.502 0.502 0.502 1.0</ambient>
+          <diffuse>0.502 0.502 0.502 1.0</diffuse>
+        </material>
+      </visual>
+    </link>
 
-            <!-- CMPS14 provides IMU and magnetic heading information.
-                https://www.robot-electronics.co.uk/cmps14-tilt-compensated-compass.html
-            -->
-            <sensor name="imu_sensor" type="imu">
-                <always_on>1</always_on>
-                <update_rate>50</update_rate>
-                <imu>
-                    <angular_velocity>
-                        <x>
-                            <noise type="gaussian">
-                                <mean>0</mean>
-                                <stddev>2e-4</stddev>
-                                <bias_mean>0.0000075</bias_mean>
-                                <bias_stddev>0.0000008</bias_stddev>
-                                <dynamic_bias_stddev>0.0000004</dynamic_bias_stddev>
-                                <dynamic_bias_correlation_time>1000.0</dynamic_bias_correlation_time>
-                            </noise>
-                        </x>
-                        <y>
-                            <noise type="gaussian">
-                                <mean>0</mean>
-                                <stddev>2e-4</stddev>
-                                <bias_mean>0.0000075</bias_mean>
-                                <bias_stddev>0.0000008</bias_stddev>
-                                <dynamic_bias_stddev>0.0000004</dynamic_bias_stddev>
-                                <dynamic_bias_correlation_time>1000.0</dynamic_bias_correlation_time>
-                            </noise>
-                        </y>
-                        <z>
-                            <noise type="gaussian">
-                                <mean>0</mean>
-                                <stddev>2e-4</stddev>
-                                <bias_mean>0.0000075</bias_mean>
-                                <bias_stddev>0.0000008</bias_stddev>
-                                <dynamic_bias_stddev>0.0000004</dynamic_bias_stddev>
-                                <dynamic_bias_correlation_time>1000.0</dynamic_bias_correlation_time>
-                            </noise>
-                        </z>
-                    </angular_velocity>
-                    <linear_acceleration>
-                        <x>
-                            <noise type="gaussian">
-                                <mean>0</mean>
-                                <stddev>1e-2</stddev>
-                                <bias_mean>0.1</bias_mean>
-                                <bias_stddev>0.001</bias_stddev>
-                                <dynamic_bias_stddev>0.002</dynamic_bias_stddev>
-                                <dynamic_bias_correlation_time>300.0</dynamic_bias_correlation_time>
-                            </noise>
-                        </x>
-                        <y>
-                            <noise type="gaussian">
-                                <mean>0</mean>
-                                <stddev>1e-2</stddev>
-                                <bias_mean>0.1</bias_mean>
-                                <bias_stddev>0.001</bias_stddev>
-                                <dynamic_bias_stddev>0.002</dynamic_bias_stddev>
-                                <dynamic_bias_correlation_time>300.0</dynamic_bias_correlation_time>
-                            </noise>
-                        </y>
-                        <z>
-                            <noise type="gaussian">
-                                <mean>0</mean>
-                                <stddev>1e-2</stddev>
-                                <bias_mean>0.1</bias_mean>
-                                <bias_stddev>0.001</bias_stddev>
-                                <dynamic_bias_stddev>0.002</dynamic_bias_stddev>
-                                <dynamic_bias_correlation_time>300.0</dynamic_bias_correlation_time>
-                            </noise>
-                        </z>
-                    </linear_acceleration>
-                </imu>
-            </sensor>
-            <sensor name="magnetometer" type="magnetometer">
-                <always_on>1</always_on>
-                <update_rate>50</update_rate>
-                <magnetometer>
-                    <x>
-                        <noise type="gaussian">
-                            <mean>0.000000080</mean>
-                            <bias_mean>0.000000400</bias_mean>
-                        </noise>
-                    </x>
-                    <y>
-                        <noise type="gaussian">
-                            <mean>0.000000080</mean>
-                            <bias_mean>0.000000400</bias_mean>
-                        </noise>
-                    </y>
-                    <z>
-                        <noise type="gaussian">
-                            <mean>0.000000080</mean>
-                            <bias_mean>0.000000400</bias_mean>
-                        </noise>
-                    </z>
-                </magnetometer>
-            </sensor>
+    <link name="rear_left_wheel">
+      <pose>-0.19 0.19 0 0 0 0</pose>
+      <inertial>
+        <mass>5.0</mass>
+        <inertia>
+          <ixx>0.0153</ixx>
+          <iyy>0.025</iyy>
+          <izz>0.0153</izz>
+        </inertia>
+      </inertial>
+      <collision name="rear_left_wheel_collision">
+        <pose>0 0 0 -1.5707963267948966 0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.082</length>
+            <radius>0.1275</radius>
+          </cylinder>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>1</mu>
+              <mu2>1</mu2>
+              <slip1>0.0475</slip1>
+              <slip2>0</slip2>
+              <fdir1>0 0 1</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <visual name="rear_left_wheel_tire_visual">
+        <pose>0 0 0 1.5708 0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>meshes/wheel_left.dae</uri>
+            <scale>1.3010204 1.3010204 2.05</scale>
+          </mesh>
+        </geometry>
+      </visual>
+      <visual name="rear_left_wheel_hub_visual">
+        <pose>0 -0.055 0 1.5707963267948966 0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.025</length>
+            <radius>0.04</radius>
+          </cylinder>
+        </geometry>
+        <material>
+          <ambient>0.502 0.502 0.502 1.0</ambient>
+          <diffuse>0.502 0.502 0.502 1.0</diffuse>
+        </material>
+      </visual>
+    </link>
 
-            <!-- Infineon DPS310
-                https://www.infineon.com/cms/en/product/sensor/pressure-sensors/absolute-pressure-sensors-map-bap/dps310/
-            -->
-            <sensor name="air_pressure" type="air_pressure">
-                <always_on>1</always_on>
-                <update_rate>20</update_rate>
-                <air_pressure>
-                    <reference_altitude>0</reference_altitude>
-                    <noise type="gaussian">
-                        <mean>0.00000008</mean>
-                    </noise>
-                </air_pressure>
-            </sensor>
+    <link name="rear_right_wheel">
+      <pose>-0.19 -0.19 0 0 0 0</pose>
+      <inertial>
+        <mass>5.0</mass>
+        <inertia>
+          <ixx>0.0153</ixx>
+          <iyy>0.025</iyy>
+          <izz>0.0153</izz>
+        </inertia>
+      </inertial>
+      <collision name="rear_right_wheel_collision">
+        <pose>0 0 0 1.5707963267948966 0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.082</length>
+            <radius>0.1275</radius>
+          </cylinder>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>1</mu>
+              <mu2>1</mu2>
+              <slip1>0.0475</slip1>
+              <slip2>0</slip2>
+              <fdir1>0 0 1</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <visual name="rear_right_wheel_tire_visual">
+        <pose>0 0 0 1.5708 0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>meshes/wheel_right.dae</uri>
+            <scale>1.3010204 1.3010204 2.05</scale>
+          </mesh>
+        </geometry>
+      </visual>
+      <visual name="rear_right_wheel_hub_visual">
+        <pose>0 0.055 0 1.5707963267948966 0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.025</length>
+            <radius>0.04</radius>
+          </cylinder>
+        </geometry>
+        <material>
+          <ambient>0.502 0.502 0.502 1.0</ambient>
+          <diffuse>0.502 0.502 0.502 1.0</diffuse>
+        </material>
+      </visual>
+    </link>
 
-            <!-- 2x SICK TIM881P lidar, a prototype without a good public URL. It is derived from
-                the TIM58x family:
-                https://www.sick.com/ch/en/detection-and-ranging-solutions/2d-lidar-sensors/tim5xx/tim581-2050101/p/p619344
-                -->
-            <visual name="laser_front_bottom_visual">
-                <pose>0.12 0 0.16 0 0 0</pose>
-                <geometry>
-                    <box>
-                        <size>0.06 0.065 0.045</size>
-                    </box>
-                </geometry>
-                <material>
-                    <ambient>0.7843 0.7059 0.7059 1.0</ambient>
-                    <diffuse>0.7843 0.7059 0.7059 1.0</diffuse>
-                </material>
-            </visual>
-            <visual name="laser_front_top_visual">
-                <pose>0.12 0.0 0.2025 0 0 0</pose>
-                <geometry>
-                    <cylinder>
-                        <length>0.04</length>
-                        <radius>0.02</radius>
-                    </cylinder>
-                </geometry>
-                <material>
-                    <ambient>0.0 0.0 0.0 1.0</ambient>
-                    <diffuse>0.0 0.0 0.0 1.0</diffuse>
-                </material>
-            </visual>
-            <visual name="laser_front_cable_green">
-                <pose>0.045 0.01 0.1525 0 1.5707963267948966 0</pose>
-                <geometry>
-                    <cylinder>
-                        <length>0.09</length>
-                        <radius>0.005</radius>
-                    </cylinder>
-                </geometry>
-                <material>
-                    <ambient>0.4706 1.0 0.4706 1.0</ambient>
-                    <diffuse>0.4706 1.0 0.4706 1.0</diffuse>
-                </material>
-            </visual>
-            <visual name="laser_front_cable_black">
-                <pose>0.045 -0.01 0.1525 0 1.5707963267948966 0</pose>
-                <geometry>
-                    <cylinder>
-                        <length>0.09</length>
-                        <radius>0.005</radius>
-                    </cylinder>
-                </geometry>
-                <material>
-                    <ambient>0.03922 0.03922 0.03922 1.0</ambient>
-                    <diffuse>0.03922 0.03922 0.03922 1.0</diffuse>
-                </material>
-            </visual>
-            <sensor name="laser_front" type="gpu_lidar">
-                <pose>0.12 0 0.1925 0 0 0</pose>
-                <update_rate>15</update_rate>
-                <lidar>
-                    <scan>
-                        <horizontal>
-                            <samples>811</samples>
-                            <resolution>1</resolution>
-                            <min_angle>-2.3562</min_angle>
-                            <max_angle>2.3562</max_angle>
-                        </horizontal>
-                    </scan>
-                    <range>
-                        <min>0.04</min>
-                        <max>25</max>
-                        <resolution>0.01</resolution>
-                    </range>
-                    <noise>
-                        <type>gaussian</type>
-                        <mean>0</mean>
-                        <stddev>0.01</stddev>
-                    </noise>
-                </lidar>
-            </sensor>
+    <!-- 4x 500W hub motor with ~30 km/h maximum speed.
+         However, we operate them with a speed and torque limit
+         in software.
+         https://www.uumotor.com/10-inch-single-shaft-brushless-motor-sensorless.html
+    -->
+    <joint name="front_left_wheel_joint" type="revolute">
+      <child>front_left_wheel</child>
+      <parent>base_link</parent>
+      <axis>
+        <xyz>0 1 0</xyz>
+        <limit>
+          <lower>-1.79769e+308</lower>
+          <upper>+1.79769e+308</upper>
+          <!-- 2.5 m/s => angular velocity of the wheel in rad/s -->
+          <velocity>19.61</velocity>
+          <!-- Torque in NM. -->
+          <effort>10</effort>
+        </limit>
+        <use_parent_model_frame>1</use_parent_model_frame>
+      </axis>
+    </joint>
 
-            <visual name="laser_rear_bottom_visual">
-                <pose>-0.12 0 0.1625 0 0 0</pose>
-                <geometry>
-                    <box>
-                        <size>0.06 0.065 0.045</size>
-                    </box>
-                </geometry>
-                <material>
-                    <ambient>0.7843 0.7059 0.7059 1.0</ambient>
-                    <diffuse>0.7843 0.7059 0.7059 1.0</diffuse>
-                </material>
-            </visual>
-            <visual name="laser_rear_top_visual">
-                <pose>-0.12 0.0 0.2025 0 0 0</pose>
-                <geometry>
-                    <cylinder>
-                        <length>0.04</length>
-                        <radius>0.02</radius>
-                    </cylinder>
-                </geometry>
-                <material>
-                    <ambient>0.0 0.0 0.0 1.0</ambient>
-                    <diffuse>0.0 0.0 0.0 1.0</diffuse>
-                </material>
-            </visual>
-            <visual name="laser_rear_cable_green">
-                <pose>-0.045 -0.01 0.1525 0 1.5707963267948966 0</pose>
-                <geometry>
-                    <cylinder>
-                        <length>0.09</length>
-                        <radius>0.005</radius>
-                    </cylinder>
-                </geometry>
-                <material>
-                    <ambient>0.4706 1.0 0.4706 1.0</ambient>
-                    <diffuse>0.4706 1.0 0.4706 1.0</diffuse>
-                </material>
-            </visual>
-            <visual name="laser_rear_cable_black">
-                <pose>-0.045 0.01 0.1525 0 1.5707963267948966 0</pose>
-                <geometry>
-                    <cylinder>
-                        <length>0.09</length>
-                        <radius>0.005</radius>
-                    </cylinder>
-                </geometry>
-                <material>
-                    <ambient>0.03922 0.03922 0.03922 1.0</ambient>
-                    <diffuse>0.03922 0.03922 0.03922 1.0</diffuse>
-                </material>
-            </visual>
-            <sensor name="laser_rear" type="gpu_lidar">
-                <pose>-0.12 0 0.1925 0 0 3.141592</pose>
-                <update_rate>15</update_rate>
-                <lidar>
-                    <scan>
-                        <horizontal>
-                            <samples>811</samples>
-                            <resolution>1</resolution>
-                            <min_angle>-2.3562</min_angle>
-                            <max_angle>2.3562</max_angle>
-                        </horizontal>
-                    </scan>
-                    <range>
-                        <min>0.04</min>
-                        <max>25</max>
-                        <resolution>0.01</resolution>
-                    </range>
-                    <noise>
-                        <type>gaussian</type>
-                        <mean>0</mean>
-                        <stddev>0.01</stddev>
-                    </noise>
-                </lidar>
-            </sensor>
+    <joint name="rear_left_wheel_joint" type="revolute">
+      <parent>base_link</parent>
+      <child>rear_left_wheel</child>
+      <axis>
+        <xyz>0 1 0</xyz>
+        <limit>
+          <lower>-1.79769e+308</lower>
+          <upper>+1.79769e+308</upper>
+          <!-- 2.5 m/s => angular velocity of the wheel in rad/s -->
+          <velocity>19.61</velocity>
+          <!-- Torque in NM. -->
+          <effort>10</effort>
+        </limit>
+      </axis>
+    </joint>
 
-            <!-- 3x Mynt Eye D in low-reslution medium-fps mode.
-                https://www.mynteye.com/pages/mynt-eye-d
-                -->
-            <visual name="rgbd_front_visual">
-                <pose>0.235 0 0.1025 0 0 0</pose>
-                <geometry>
-                    <box>
-                        <size>0.03 0.162 0.03</size>
-                    </box>
-                </geometry>
-                <material>
-                    <ambient>0.0 0.0 0.0 1.0</ambient>
-                    <diffuse>0.0 0.0 0.0 1.0</diffuse>
-                </material>
-            </visual>
-            <sensor name="rgbd_front" type="rgbd_camera">
-                <pose>0.250001 0 0.1025 0 0 0</pose>
-                <always_on>1</always_on>
-                <update_rate>30</update_rate>
-                <camera name="rgbd_front_rgbd">
-                    <pose frame="">0 0 0 0 -1.5707 1.5707</pose>
-                    <horizontal_fov>1.483583268116444</horizontal_fov>
-                    <lens>
-                        <intrinsics>
-                          <!-- fx = fy = width / ( 2 * tan (hfov / 2 ) ) -->
-                          <fx>349.2</fx>
-                          <fy>349.2</fy>
-                          <!-- cx = ( width - 1 ) / 2 -->
-                          <cx>319.5</cx>
-                          <!-- cy = ( height - 1 ) / 2 -->
-                          <cy>179.5</cy>
-                          <s>0</s>
-                        </intrinsics>
-                    </lens>
-                    <distortion>
-                        <k1>0.0</k1>
-                        <k2>0.0</k2>
-                        <k3>0.0</k3>
-                        <p1>0.0</p1>
-                        <p2>0.0</p2>
-                        <center>0.5 0.5</center>
-                    </distortion>
-                    <image>
-                        <width>640</width>
-                        <height>360</height>
-                        <format>R8G8B8</format>
-                    </image>
-                    <clip>
-                        <near>0.01</near>
-                        <far>300</far>
-                    </clip>
-                    <depth_camera>
-                      <clip>
-                        <near>0.1</near>
-                        <far>10</far>
-                      </clip>
-                    </depth_camera>
-                    <noise>
-                        <type>gaussian</type>
-                        <mean>0</mean>
-                        <stddev>0.007</stddev>
-                    </noise>
-                </camera>
-            </sensor>
+    <joint name="rear_right_wheel_joint" type="revolute">
+      <parent>base_link</parent>
+      <child>rear_right_wheel</child>
+      <axis>
+        <xyz>0 1 0</xyz>
+        <limit>
+          <lower>-1.79769e+308</lower>
+          <upper>+1.79769e+308</upper>
+          <!-- 2.5 m/s => angular velocity of the wheel in rad/s -->
+          <velocity>19.61</velocity>
+          <!-- Torque in NM. -->
+          <effort>10</effort>
+        </limit>
+      </axis>
+    </joint>
 
-            <visual name="rgbd_rear_visual">
-                <pose>-0.235 0 0.1025 0 0 0</pose>
-                <geometry>
-                    <box>
-                        <size>0.03 0.162 0.03</size>
-                    </box>
-                </geometry>
-                <material>
-                    <ambient>0.0 0.0 0.0 1.0</ambient>
-                    <diffuse>0.0 0.0 0.0 1.0</diffuse>
-                </material>
-            </visual>
-            <sensor name="rgbd_rear" type="rgbd_camera">
-                <pose>-0.250001 0 0.1025 0 0 3.141592653589793</pose>
-                <always_on>1</always_on>
-                <!-- Mynt Eye D in low-resolution high-fps mode. -->
-                <update_rate>30</update_rate>
-                <camera name="rear_rgbd">
-                    <pose frame="">0 0 0 0 -1.5707 1.5707</pose>
-                    <horizontal_fov>1.483583268116444</horizontal_fov>
-                    <lens>
-                        <intrinsics>
-                          <!-- fx = fy = width / ( 2 * tan (hfov / 2 ) ) -->
-                          <fx>349.2</fx>
-                          <fy>349.2</fy>
-                          <!-- cx = ( width - 1 ) / 2 -->
-                          <cx>319.5</cx>
-                          <!-- cy = ( height - 1 ) / 2 -->
-                          <cy>179.5</cy>
-                          <s>0</s>
-                        </intrinsics>
-                    </lens>
-                    <distortion>
-                        <k1>0.0</k1>
-                        <k2>0.0</k2>
-                        <k3>0.0</k3>
-                        <p1>0.0</p1>
-                        <p2>0.0</p2>
-                        <center>0.5 0.5</center>
-                    </distortion>
-                    <image>
-                        <width>640</width>
-                        <height>360</height>
-                        <format>R8G8B8</format>
-                    </image>
-                    <clip>
-                        <near>0.01</near>
-                        <far>300</far>
-                    </clip>
-                    <depth_camera>
-                      <clip>
-                        <near>0.1</near>
-                        <far>10</far>
-                      </clip>
-                    </depth_camera>
-                    <noise>
-                        <type>gaussian</type>
-                        <mean>0</mean>
-                        <stddev>0.007</stddev>
-                    </noise>
-                </camera>
-            </sensor>
-
-
-            <!-- Four KAYETON high-speed fisheye cameras running at medium speed,
-                undistorted into 1/4 of their original image size.
-                https://www.kayetoncctv.com/global-shutter-high-speed-120fps-hd-720p-webcam-uvc-plug-play-driverless-usb-camera-module-for-android-linux-windows-mac/
-              -->
-            <visual name="camera_front_visual">
-                <pose>0.2349 0 0.0725 0 1.5707963267948966 0</pose>
-                <geometry>
-                    <cylinder>
-                        <length>0.03</length>
-                        <radius>0.011</radius>
-                    </cylinder>
-                </geometry>
-                <material>
-                    <ambient>0.0 0.0 0.0 1.0</ambient>
-                    <diffuse>0.0 0.0 0.0 1.0</diffuse>
-                </material>
-            </visual>
-            <sensor name="camera_front" type="camera">
-                <pose>0.25 0 0.0725 0 0 0</pose>
-                <always_on>1</always_on>
-                <update_rate>30</update_rate>
-                <camera name="camera_front">
-                    <horizontal_fov>2.27</horizontal_fov>
-                    <lens>
-                        <intrinsics>
-                            <!-- fx = fy = width / ( 2 * tan (hfov / 2 ) ) -->
-                            <fx>149.01</fx>
-                            <fy>149.01</fy>
-                            <!-- cx = ( width - 1 ) / 2 -->
-                            <cx>339.5</cx>
-                            <!-- cy = ( height - 1 ) / 2 -->
-                            <cy>179.5</cy>
-                            <s>0</s>
-                        </intrinsics>
-                    </lens>
-                    <distortion>
-                        <k1>0.0</k1>
-                        <k2>0.0</k2>
-                        <k3>0.0</k3>
-                        <p1>0.0</p1>
-                        <p2>0.0</p2>
-                        <center>0.5 0.5</center>
-                    </distortion>
-                    <image>
-                        <width>640</width>
-                        <height>360</height>
-                        <format>R8G8B8</format>
-                    </image>
-                    <clip>
-                        <near>0.01</near>
-                        <far>300</far>
-                    </clip>
-                    <noise>
-                        <type>gaussian</type>
-                        <mean>0</mean>
-                        <stddev>0.007</stddev>
-                    </noise>
-                </camera>
-            </sensor>
-            <visual name="camera_rear_visual">
-                <pose>-0.2349 0 0.0725 0 -1.5707963267948966 0</pose>
-                <geometry>
-                    <cylinder>
-                        <length>0.03</length>
-                        <radius>0.011</radius>
-                    </cylinder>
-                </geometry>
-                <material>
-                    <ambient>0.0 0.0 0.0 1.0</ambient>
-                    <diffuse>0.0 0.0 0.0 1.0</diffuse>
-                </material>
-            </visual>
-            <sensor name="camera_rear" type="camera">
-                <pose>-0.25 0 0.0725 0 0 3.141592653589793</pose>
-                <always_on>1</always_on>
-                <update_rate>30</update_rate>
-                <camera name="camera_rear">
-                    <horizontal_fov>2.27</horizontal_fov>
-                    <lens>
-                        <intrinsics>
-                            <!-- fx = fy = width / ( 2 * tan (hfov / 2 ) ) -->
-                            <fx>149.01</fx>
-                            <fy>149.01</fy>
-                            <!-- cx = ( width - 1 ) / 2 -->
-                            <cx>339.5</cx>
-                            <!-- cy = ( height - 1 ) / 2 -->
-                            <cy>179.5</cy>
-                            <s>0</s>
-                        </intrinsics>
-                    </lens>
-                    <distortion>
-                        <k1>0.0</k1>
-                        <k2>0.0</k2>
-                        <k3>0.0</k3>
-                        <p1>0.0</p1>
-                        <p2>0.0</p2>
-                        <center>0.5 0.5</center>
-                    </distortion>
-                    <image>
-                        <width>640</width>
-                        <height>360</height>
-                        <format>R8G8B8</format>
-                    </image>
-                    <clip>
-                        <near>0.01</near>
-                        <far>300</far>
-                    </clip>
-                    <noise>
-                        <type>gaussian</type>
-                        <mean>0</mean>
-                        <stddev>0.007</stddev>
-                    </noise>
-                </camera>
-            </sensor>
-            <visual name="camera_left_visual">
-                <pose>0.0 0.22 0.0725 -1.5707963267948966 0 0</pose>
-                <geometry>
-                    <cylinder>
-                        <length>0.005</length>
-                        <radius>0.011</radius>
-                    </cylinder>
-                </geometry>
-                <material>
-                    <ambient>0.0 0.0 0.0 1.0</ambient>
-                    <diffuse>0.0 0.0 0.0 1.0</diffuse>
-                </material>
-            </visual>
-            <sensor name="camera_left" type="camera">
-                <pose>0.0 0.225 0.0725 0 0 1.5707963267948966</pose>
-                <always_on>1</always_on>
-                <update_rate>30</update_rate>
-                <camera name="camera_left">
-                    <horizontal_fov>2.27</horizontal_fov>
-                    <lens>
-                        <intrinsics>
-                            <!-- fx = fy = width / ( 2 * tan (hfov / 2 ) ) -->
-                            <fx>149.01</fx>
-                            <fy>149.01</fy>
-                            <!-- cx = ( width - 1 ) / 2 -->
-                            <cx>339.5</cx>
-                            <!-- cy = ( height - 1 ) / 2 -->
-                            <cy>179.5</cy>
-                            <s>0</s>
-                        </intrinsics>
-                    </lens>
-                    <distortion>
-                        <k1>0.0</k1>
-                        <k2>0.0</k2>
-                        <k3>0.0</k3>
-                        <p1>0.0</p1>
-                        <p2>0.0</p2>
-                        <center>0.5 0.5</center>
-                    </distortion>
-                    <image>
-                        <width>640</width>
-                        <height>360</height>
-                        <format>R8G8B8</format>
-                    </image>
-                    <clip>
-                        <near>0.01</near>
-                        <far>300</far>
-                    </clip>
-                    <noise>
-                        <type>gaussian</type>
-                        <mean>0</mean>
-                        <stddev>0.007</stddev>
-                    </noise>
-                </camera>
-            </sensor>
-            <visual name="camera_right_visual">
-                <pose>0.0 -0.22 0.0725 1.5707963267948966 0 0</pose>
-                <geometry>
-                    <cylinder>
-                        <length>0.005</length>
-                        <radius>0.011</radius>
-                    </cylinder>
-                </geometry>
-                <material>
-                    <ambient>0.0 0.0 0.0 1.0</ambient>
-                    <diffuse>0.0 0.0 0.0 1.0</diffuse>
-                </material>
-            </visual>
-            <sensor name="camera_right" type="camera">
-                <pose>0.0 -0.225 0.0725 0 0 -1.5707963267948966</pose>
-                <always_on>1</always_on>
-                <update_rate>30</update_rate>
-                <camera name="camera_right">
-                    <horizontal_fov>2.27</horizontal_fov>
-                    <lens>
-                        <intrinsics>
-                            <!-- fx = fy = width / ( 2 * tan (hfov / 2 ) ) -->
-                            <fx>149.01</fx>
-                            <fy>149.01</fy>
-                            <!-- cx = ( width - 1 ) / 2 -->
-                            <cx>339.5</cx>
-                            <!-- cy = ( height - 1 ) / 2 -->
-                            <cy>179.5</cy>
-                            <s>0</s>
-                        </intrinsics>
-                    </lens>
-                    <distortion>
-                        <k1>0.0</k1>
-                        <k2>0.0</k2>
-                        <k3>0.0</k3>
-                        <p1>0.0</p1>
-                        <p2>0.0</p2>
-                        <center>0.5 0.5</center>
-                    </distortion>
-                    <image>
-                        <width>640</width>
-                        <height>360</height>
-                        <format>R8G8B8</format>
-                    </image>
-                    <clip>
-                        <near>0.01</near>
-                        <far>300</far>
-                    </clip>
-                    <noise>
-                        <type>gaussian</type>
-                        <mean>0</mean>
-                        <stddev>0.007</stddev>
-                    </noise>
-                </camera>
-            </sensor>
-
-            <visual name="light_front_visual">
-                <pose>0.24 0 0.0425 0 1.5707963267948966 0</pose>
-                <geometry>
-                    <cylinder>
-                        <length>0.02001</length>
-                        <radius>0.004</radius>
-                    </cylinder>
-                </geometry>
-                <material>
-                    <ambient>1.0 1.0 0.451 1.0</ambient>
-                    <diffuse>1.0 1.0 0.451 1.0</diffuse>
-                </material>
-            </visual>
-            <light name="light_front" type="spot">
-                <pose>0.237 0 0.0425 0 0 0</pose>
-                <attenuation>
-                    <range>25</range>
-                    <linear>0</linear>
-                    <constant>0.1</constant>
-                    <quadratic>0.005</quadratic>
-                </attenuation>
-                <diffuse>0.8 0.8 0.5 1.0</diffuse>
-                <specular>0.8 0.8 0.5 1</specular>
-                <spot>
-                    <inner_angle>1.571</inner_angle>
-                    <outer_angle>2.1</outer_angle>
-                    <falloff>1</falloff>
-                </spot>
-                <direction>1 0 0</direction>
-                <cast_shadows>1</cast_shadows>
-            </light>
-            <visual name="light_rear_visual">
-                <pose>-0.24 0 0.0425 0 1.5707963267948966 0</pose>
-                <geometry>
-                    <cylinder>
-                        <length>0.02001</length>
-                        <radius>0.004</radius>
-                    </cylinder>
-                </geometry>
-                <material>
-                    <ambient>1.0 1.0 0.451 1.0</ambient>
-                    <diffuse>1.0 1.0 0.451 1.0</diffuse>
-                </material>
-            </visual>
-            <light name="light_rear" type="spot">
-                <pose>-0.237 0 0.0425 0 0 0</pose>
-                <attenuation>
-                    <range>25</range>
-                    <linear>0</linear>
-                    <constant>0.1</constant>
-                    <quadratic>0.005</quadratic>
-                </attenuation>
-                <diffuse>0.8 0.8 0.5 1.0</diffuse>
-                <specular>0.8 0.8 0.5 1</specular>
-                <spot>
-                    <inner_angle>1.571</inner_angle>
-                    <outer_angle>2.1</outer_angle>
-                    <falloff>1</falloff>
-                </spot>
-                <direction>-1 0 0</direction>
-                <cast_shadows>1</cast_shadows>
-            </light>
-            <visual name="light_left_visual">
-                <pose>0 0.22 0.0425 1.5707963267948966 0 0</pose>
-                <geometry>
-                    <cylinder>
-                        <length>0.0005</length>
-                        <radius>0.004</radius>
-                    </cylinder>
-                </geometry>
-                <material>
-                    <ambient>1.0 1.0 0.451 1.0</ambient>
-                    <diffuse>1.0 1.0 0.451 1.0</diffuse>
-                </material>
-            </visual>
-            <light name="light_left" type="spot">
-                <pose>0 0.22 0.0425 0 0 0</pose>
-                <attenuation>
-                    <range>25</range>
-                    <linear>0</linear>
-                    <constant>0.1</constant>
-                    <quadratic>0.005</quadratic>
-                </attenuation>
-                <diffuse>0.8 0.8 0.5 1.0</diffuse>
-                <specular>0.8 0.8 0.5 1</specular>
-                <spot>
-                    <inner_angle>1.571</inner_angle>
-                    <outer_angle>2.1</outer_angle>
-                    <falloff>1</falloff>
-                </spot>
-                <direction>0 1 0</direction>
-                <cast_shadows>1</cast_shadows>
-            </light>
-            <visual name="light_right_visual">
-                <pose>0 -0.22 0.0425 1.5707963267948966 0 0</pose>
-                <geometry>
-                    <cylinder>
-                        <length>0.0005</length>
-                        <radius>0.004</radius>
-                    </cylinder>
-                </geometry>
-                <material>
-                    <ambient>1.0 1.0 0.451 1.0</ambient>
-                    <diffuse>1.0 1.0 0.451 1.0</diffuse>
-                </material>
-            </visual>
-            <light name="light_right" type="spot">
-                <pose>0 -0.22 0.0425 0 0 0</pose>
-                <attenuation>
-                    <range>25</range>
-                    <linear>0</linear>
-                    <constant>0.1</constant>
-                    <quadratic>0.005</quadratic>
-                </attenuation>
-                <diffuse>0.8 0.8 0.5 1.0</diffuse>
-                <specular>0.8 0.8 0.5 1</specular>
-                <spot>
-                    <inner_angle>1.571</inner_angle>
-                    <outer_angle>2.1</outer_angle>
-                    <falloff>1</falloff>
-                </spot>
-                <direction>0 -1 0</direction>
-                <cast_shadows>1</cast_shadows>
-            </light>
-        </link>
-
-        <link name="front_left_wheel">
-            <pose>0.19 0.19 0 0 0 0</pose>
-            <!-- Inertia approximated by a solid cylinder of a smaller diameter
-                 than the whole wheel and almost full width (r=0.1, h=0.08),
-                 because most of the mass is is the hub motor, which is
-                 surrounded by air tire. -->
-            <inertial>
-                <mass>5.0</mass>
-                <inertia>
-                    <ixx>0.0153</ixx>
-                    <iyy>0.025</iyy>
-                    <izz>0.0153</izz>
-                </inertia>
-            </inertial>
-            <collision name="front_left_wheel_collision">
-                <pose>0 0 0 -1.5707963267948966 0 0</pose>
-                <geometry>
-                    <cylinder>
-                        <length>0.082</length>
-                        <radius>0.1275</radius>
-                    </cylinder>
-                </geometry>
-                <surface>
-                  <friction>
-                    <ode>
-                      <mu>1</mu>
-                      <mu2>1</mu2>
-                      <slip1>0.0475</slip1>
-                      <slip2>0</slip2>
-                      <fdir1>0 0 1</fdir1>
-                    </ode>
-                  </friction>
-                </surface>
-            </collision>
-            <visual name="front_left_wheel_tire_visual">
-                <pose>0 0 0 1.5708 0 0</pose>
-                <geometry>
-                    <mesh>
-                        <uri>meshes/wheel_left.dae</uri>
-                        <scale>1.3010204 1.3010204 2.05</scale>
-                    </mesh>
-                </geometry>
-            </visual>
-            <visual name="front_left_wheel_hub_visual">
-                <pose>0 -0.055 0 1.5707963267948966 0 0</pose>
-                <geometry>
-                    <cylinder>
-                        <length>0.025</length>
-                        <radius>0.04</radius>
-                    </cylinder>
-                </geometry>
-                <material>
-                    <ambient>0.502 0.502 0.502 1.0</ambient>
-                    <diffuse>0.502 0.502 0.502 1.0</diffuse>
-                </material>
-            </visual>
-        </link>
-
-        <link name="front_right_wheel">
-            <pose>0.19 -0.19 0 0 0 0</pose>
-            <inertial>
-                <mass>5.0</mass>
-                <inertia>
-                    <ixx>0.0153</ixx>
-                    <iyy>0.025</iyy>
-                    <izz>0.0153</izz>
-                </inertia>
-            </inertial>
-            <collision name="front_right_wheel_collision">
-                <pose>0 0 0 1.5707963267948966 0 0</pose>
-                <geometry>
-                    <cylinder>
-                        <length>0.082</length>
-                        <radius>0.1275</radius>
-                    </cylinder>
-                </geometry>
-                <surface>
-                  <friction>
-                    <ode>
-                      <mu>1</mu>
-                      <mu2>1</mu2>
-                      <slip1>0.0475</slip1>
-                      <slip2>0</slip2>
-                      <fdir1>0 0 1</fdir1>
-                    </ode>
-                  </friction>
-                </surface>
-            </collision>
-            <visual name="front_right_wheel_tire_visual">
-                <pose>0 0 0 1.5708 0 0</pose>
-                <geometry>
-                    <mesh>
-                        <uri>meshes/wheel_right.dae</uri>
-                        <scale>1.3010204 1.3010204 2.05</scale>
-                    </mesh>
-                </geometry>
-            </visual>
-            <visual name="front_right_wheel_hub_visual">
-                <pose>0 0.055 0 1.5707963267948966 0 0</pose>
-                <geometry>
-                    <cylinder>
-                        <length>0.025</length>
-                        <radius>0.04</radius>
-                    </cylinder>
-                </geometry>
-                <material>
-                    <ambient>0.502 0.502 0.502 1.0</ambient>
-                    <diffuse>0.502 0.502 0.502 1.0</diffuse>
-                </material>
-            </visual>
-        </link>
-
-        <link name="rear_left_wheel">
-            <pose>-0.19 0.19 0 0 0 0</pose>
-            <inertial>
-                <mass>5.0</mass>
-                <inertia>
-                    <ixx>0.0153</ixx>
-                    <iyy>0.025</iyy>
-                    <izz>0.0153</izz>
-                </inertia>
-            </inertial>
-            <collision name="rear_left_wheel_collision">
-                <pose>0 0 0 -1.5707963267948966 0 0</pose>
-                <geometry>
-                    <cylinder>
-                        <length>0.082</length>
-                        <radius>0.1275</radius>
-                    </cylinder>
-                </geometry>
-                <surface>
-                  <friction>
-                    <ode>
-                      <mu>1</mu>
-                      <mu2>1</mu2>
-                      <slip1>0.0475</slip1>
-                      <slip2>0</slip2>
-                      <fdir1>0 0 1</fdir1>
-                    </ode>
-                  </friction>
-                </surface>
-            </collision>
-            <visual name="rear_left_wheel_tire_visual">
-                <pose>0 0 0 1.5708 0 0</pose>
-                <geometry>
-                    <mesh>
-                        <uri>meshes/wheel_left.dae</uri>
-                        <scale>1.3010204 1.3010204 2.05</scale>
-                    </mesh>
-                </geometry>
-            </visual>
-            <visual name="rear_left_wheel_hub_visual">
-                <pose>0 -0.055 0 1.5707963267948966 0 0</pose>
-                <geometry>
-                    <cylinder>
-                        <length>0.025</length>
-                        <radius>0.04</radius>
-                    </cylinder>
-                </geometry>
-                <material>
-                    <ambient>0.502 0.502 0.502 1.0</ambient>
-                    <diffuse>0.502 0.502 0.502 1.0</diffuse>
-                </material>
-            </visual>
-        </link>
-
-        <link name="rear_right_wheel">
-            <pose>-0.19 -0.19 0 0 0 0</pose>
-            <inertial>
-                <mass>5.0</mass>
-                <inertia>
-                    <ixx>0.0153</ixx>
-                    <iyy>0.025</iyy>
-                    <izz>0.0153</izz>
-                </inertia>
-            </inertial>
-            <collision name="rear_right_wheel_collision">
-                <pose>0 0 0 1.5707963267948966 0 0</pose>
-                <geometry>
-                    <cylinder>
-                        <length>0.082</length>
-                        <radius>0.1275</radius>
-                    </cylinder>
-                </geometry>
-                <surface>
-                  <friction>
-                    <ode>
-                      <mu>1</mu>
-                      <mu2>1</mu2>
-                      <slip1>0.0475</slip1>
-                      <slip2>0</slip2>
-                      <fdir1>0 0 1</fdir1>
-                    </ode>
-                  </friction>
-                </surface>
-            </collision>
-            <visual name="rear_right_wheel_tire_visual">
-                <pose>0 0 0 1.5708 0 0</pose>
-                <geometry>
-                    <mesh>
-                        <uri>meshes/wheel_right.dae</uri>
-                        <scale>1.3010204 1.3010204 2.05</scale>
-                    </mesh>
-                </geometry>
-            </visual>
-            <visual name="rear_right_wheel_hub_visual">
-                <pose>0 0.055 0 1.5707963267948966 0 0</pose>
-                <geometry>
-                    <cylinder>
-                        <length>0.025</length>
-                        <radius>0.04</radius>
-                    </cylinder>
-                </geometry>
-                <material>
-                    <ambient>0.502 0.502 0.502 1.0</ambient>
-                    <diffuse>0.502 0.502 0.502 1.0</diffuse>
-                </material>
-            </visual>
-        </link>
-
-        <!-- 4x 500W hub motor with ~30 km/h maximum speed.
-            However, we operate them with a speed and torque limit
-            in software.
-            https://www.uumotor.com/10-inch-single-shaft-brushless-motor-sensorless.html
-        -->
-        <joint name="front_left_wheel_joint" type="revolute">
-            <child>front_left_wheel</child>
-            <parent>base_link</parent>
-            <axis>
-                <xyz>0 1 0</xyz>
-                <limit>
-                    <lower>-1.79769e+308</lower>
-                    <upper>+1.79769e+308</upper>
-                    <!-- 2.5 m/s => angular velocity of the wheel in rad/s -->
-                    <velocity>19.61</velocity>
-                    <!-- Torque in NM. -->
-                    <effort>10</effort>
-                </limit>
-                <use_parent_model_frame>1</use_parent_model_frame>
-            </axis>
-        </joint>
-
-        <joint name="rear_left_wheel_joint" type="revolute">
-            <parent>base_link</parent>
-            <child>rear_left_wheel</child>
-            <axis>
-                <xyz>0 1 0</xyz>
-                <limit>
-                    <lower>-1.79769e+308</lower>
-                    <upper>+1.79769e+308</upper>
-                    <!-- 2.5 m/s => angular velocity of the wheel in rad/s -->
-                    <velocity>19.61</velocity>
-                    <!-- Torque in NM. -->
-                    <effort>10</effort>
-                </limit>
-            </axis>
-        </joint>
-
-        <joint name="rear_right_wheel_joint" type="revolute">
-            <parent>base_link</parent>
-            <child>rear_right_wheel</child>
-            <axis>
-                <xyz>0 1 0</xyz>
-                <limit>
-                    <lower>-1.79769e+308</lower>
-                    <upper>+1.79769e+308</upper>
-                    <!-- 2.5 m/s => angular velocity of the wheel in rad/s -->
-                    <velocity>19.61</velocity>
-                    <!-- Torque in NM. -->
-                    <effort>10</effort>
-                </limit>
-            </axis>
-        </joint>
-
-        <joint name="front_right_wheel_joint" type="revolute">
-            <parent>base_link</parent>
-            <child>front_right_wheel</child>
-            <axis>
-                <xyz>0 1 0</xyz>
-                <limit>
-                    <lower>-1.79769e+308</lower>
-                    <upper>+1.79769e+308</upper>
-                    <!-- 2.5 m/s => angular velocity of the wheel in rad/s -->
-                    <velocity>19.61</velocity>
-                    <!-- Torque in NM. -->
-                    <effort>10</effort>
-                </limit>
-            </axis>
-        </joint>
-    </model>
+    <joint name="front_right_wheel_joint" type="revolute">
+      <parent>base_link</parent>
+      <child>front_right_wheel</child>
+      <axis>
+        <xyz>0 1 0</xyz>
+        <limit>
+          <lower>-1.79769e+308</lower>
+          <upper>+1.79769e+308</upper>
+          <!-- 2.5 m/s => angular velocity of the wheel in rad/s -->
+          <velocity>19.61</velocity>
+          <!-- Torque in NM. -->
+          <effort>10</effort>
+        </limit>
+      </axis>
+    </joint>
+  </model>
 </sdf>

From 6493f479f4acaa85910b23a2aedc01579d795412 Mon Sep 17 00:00:00 2001
From: Nate Koenig <nate@openrobotics.org>
Date: Tue, 16 Jun 2020 15:29:39 -0700
Subject: [PATCH 14/15] Download model

Signed-off-by: Nate Koenig <nate@openrobotics.org>
---
 docker/download_models.sh                                     | 1 +
 submitted_models/robotika_freyja_sensor_config_1/model.config | 2 +-
 submitted_models/robotika_freyja_sensor_config_1/model.sdf    | 2 +-
 3 files changed, 3 insertions(+), 2 deletions(-)

diff --git a/docker/download_models.sh b/docker/download_models.sh
index f055d157..ab68aaaa 100755
--- a/docker/download_models.sh
+++ b/docker/download_models.sh
@@ -55,6 +55,7 @@ ign fuel download --url "https://fuel.ignitionrobotics.org/OpenRobotics/models/C
 ign fuel download --url "https://fuel.ignitionrobotics.org/OpenRobotics/models/SOPHISTICATED_ENGINEERING_X2_SENSOR_CONFIG_1" -v 4
 ign fuel download --url "https://fuel.ignitionrobotics.org/OpenRobotics/models/SOPHISTICATED_ENGINEERING_X4_SENSOR_CONFIG_1" -v 4
 ign fuel download --url "https://fuel.ignitionrobotics.org/OpenRobotics/models/DronePlatformX1" -v 4
+ign fuel download --url "https://fuel.ignitionrobotics.org/OpenRobotics/models/ROBOTIKA_FREYJA_SENSOR_CONFIG_1" -v 4
 
 # Download the tunnel circuit models
 ign fuel download --url "https://fuel.ignitionrobotics.org/OpenRobotics/models/subt_tunnel_staging_area" -v 4
diff --git a/submitted_models/robotika_freyja_sensor_config_1/model.config b/submitted_models/robotika_freyja_sensor_config_1/model.config
index 038b708d..aeb3dee3 100644
--- a/submitted_models/robotika_freyja_sensor_config_1/model.config
+++ b/submitted_models/robotika_freyja_sensor_config_1/model.config
@@ -1,7 +1,7 @@
 
 <?xml version='1.0'?>
 <model>
-  <name>Robotika Freyja Config 1</name>
+  <name>Robotika Freyja Sensor Config 1</name>
   <version>1.0</version>
   <sdf version='1.6'>model.sdf</sdf>
 
diff --git a/submitted_models/robotika_freyja_sensor_config_1/model.sdf b/submitted_models/robotika_freyja_sensor_config_1/model.sdf
index 5332353a..41df8fbc 100644
--- a/submitted_models/robotika_freyja_sensor_config_1/model.sdf
+++ b/submitted_models/robotika_freyja_sensor_config_1/model.sdf
@@ -1,6 +1,6 @@
 <?xml version="1.0"?>
 <sdf version="1.6">
-  <model name="ROBOTIKA_FREYJA">
+  <model name="robotika_freyja_sensor_config_1">
     <pose>0 0 0.1275 0 0 0</pose>
     <enable_wind>1</enable_wind>
     <link name="base_link">

From fe566c7de99a92f476dc18f1906e3a1119d69043 Mon Sep 17 00:00:00 2001
From: Nate Koenig <nate@openrobotics.org>
Date: Thu, 18 Jun 2020 11:45:19 -0700
Subject: [PATCH 15/15] Updated thumbnails and battery life

Signed-off-by: Nate Koenig <nate@openrobotics.org>
---
 .../launch/spawner.rb                         |   4 ++--
 .../thumbnails/1.png                          | Bin 261898 -> 45633 bytes
 .../thumbnails/2.png                          | Bin 318791 -> 18391 bytes
 .../thumbnails/3.png                          | Bin 227549 -> 19502 bytes
 .../thumbnails/4.png                          | Bin 308516 -> 11394 bytes
 .../thumbnails/5.png                          | Bin 255788 -> 23941 bytes
 6 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/submitted_models/robotika_freyja_sensor_config_1/launch/spawner.rb b/submitted_models/robotika_freyja_sensor_config_1/launch/spawner.rb
index beaf2986..b527fa44 100644
--- a/submitted_models/robotika_freyja_sensor_config_1/launch/spawner.rb
+++ b/submitted_models/robotika_freyja_sensor_config_1/launch/spawner.rb
@@ -44,8 +44,8 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
           <voltage>25.2</voltage>
           <open_circuit_voltage_constant_coef>25.2</open_circuit_voltage_constant_coef>
           <open_circuit_voltage_linear_coef>-7.2</open_circuit_voltage_linear_coef>
-          <initial_charge>20</initial_charge>
-          <capacity>20</capacity>
+          <initial_charge>5</initial_charge>
+          <capacity>5</capacity>
           <resistance>0.0052</resistance>
           <smooth_current_tau>5.0</smooth_current_tau>
           <power_load>1.2552</power_load>
diff --git a/submitted_models/robotika_freyja_sensor_config_1/thumbnails/1.png b/submitted_models/robotika_freyja_sensor_config_1/thumbnails/1.png
index d4873c87fe1aa06b695f72af172bdcd39d31ee5b..d6c27b2c8046404b51372ee6682a544325c8e7fa 100644
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