From 16b28062aebce84661587017ebefe7ccdcb8f1f2 Mon Sep 17 00:00:00 2001
From: Martin Pecka <peckama2@fel.cvut.cz>
Date: Mon, 29 Mar 2021 19:32:34 +0200
Subject: [PATCH 01/51] Absolem: Sync Xacro: Trivial numeric representation
 changes.

---
 .../model.sdf                                 | 22 +++++++++----------
 1 file changed, 11 insertions(+), 11 deletions(-)

diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/model.sdf b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/model.sdf
index 795fd5d6..5b9254d8 100644
--- a/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/model.sdf
+++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/model.sdf
@@ -79,7 +79,7 @@
         </geometry>
       </collision>
       <collision name="base_link_fixed_joint_lump__antenna_collision_8">
-        <pose>-0.39064 0.0789 0.1551 3.1415926535897931 1.5707963267948966 3.1415926535897931</pose>
+        <pose>-0.39064 0.0789 0.1551 0 1.5707963267948966 0</pose>
         <geometry>
           <cylinder>
             <length>0.03718</length>
@@ -235,7 +235,7 @@
         </geometry>
       </visual>
       <visual name="base_link_fixed_joint_lump__imu_visual_3">
-        <pose>0 0 0.15 -3.1415926535897931 -0 0</pose>
+        <pose>0 0 0.15 -3.1415926535897931 0 0</pose>
         <geometry>
           <box>
             <size>0.005 0.005 0.005</size>
@@ -646,8 +646,8 @@
                                 <stddev>0.009</stddev>
                                 <bias_mean>0.00075</bias_mean>
                                 <bias_stddev>0.005</bias_stddev>
-                                <dynamic_bias_stddev>0.00002</dynamic_bias_stddev>
-                                <dynamic_bias_correlation_time>400.0</dynamic_bias_correlation_time>
+                                <dynamic_bias_stddev>2e-05</dynamic_bias_stddev>
+                                <dynamic_bias_correlation_time>400</dynamic_bias_correlation_time>
                                 <precision>0.00025</precision>
                             </noise>
                         </x>
@@ -657,8 +657,8 @@
                                 <stddev>0.009</stddev>
                                 <bias_mean>0.00075</bias_mean>
                                 <bias_stddev>0.005</bias_stddev>
-                                <dynamic_bias_stddev>0.00002</dynamic_bias_stddev>
-                                <dynamic_bias_correlation_time>400.0</dynamic_bias_correlation_time>
+                                <dynamic_bias_stddev>2e-05</dynamic_bias_stddev>
+                                <dynamic_bias_correlation_time>400</dynamic_bias_correlation_time>
                                 <precision>0.00025</precision>
                             </noise>
                         </y>
@@ -668,8 +668,8 @@
                                 <stddev>0.009</stddev>
                                 <bias_mean>0.00075</bias_mean>
                                 <bias_stddev>0.005</bias_stddev>
-                                <dynamic_bias_stddev>0.00002</dynamic_bias_stddev>
-                                <dynamic_bias_correlation_time>400.0</dynamic_bias_correlation_time>
+                                <dynamic_bias_stddev>2e-05</dynamic_bias_stddev>
+                                <dynamic_bias_correlation_time>400</dynamic_bias_correlation_time>
                                 <precision>0.00025</precision>
                             </noise>
                         </z>
@@ -682,7 +682,7 @@
                                 <bias_mean>0.05</bias_mean>
                                 <bias_stddev>0.0075</bias_stddev>
                                 <dynamic_bias_stddev>0.000375</dynamic_bias_stddev>
-                                <dynamic_bias_correlation_time>175.0</dynamic_bias_correlation_time>
+                                <dynamic_bias_correlation_time>175</dynamic_bias_correlation_time>
                                 <precision>0.005</precision>
                             </noise>
                         </x>
@@ -693,7 +693,7 @@
                                 <bias_mean>0.05</bias_mean>
                                 <bias_stddev>0.0075</bias_stddev>
                                 <dynamic_bias_stddev>0.000375</dynamic_bias_stddev>
-                                <dynamic_bias_correlation_time>175.0</dynamic_bias_correlation_time>
+                                <dynamic_bias_correlation_time>175</dynamic_bias_correlation_time>
                                 <precision>0.005</precision>
                             </noise>
                         </y>
@@ -704,7 +704,7 @@
                                 <bias_mean>0.05</bias_mean>
                                 <bias_stddev>0.0075</bias_stddev>
                                 <dynamic_bias_stddev>0.000375</dynamic_bias_stddev>
-                                <dynamic_bias_correlation_time>175.0</dynamic_bias_correlation_time>
+                                <dynamic_bias_correlation_time>175</dynamic_bias_correlation_time>
                                 <precision>0.005</precision>
                             </noise>
                         </z>

From c4a12617330734fbcb26bd00066420599df58b73 Mon Sep 17 00:00:00 2001
From: Martin Pecka <peckama2@fel.cvut.cz>
Date: Mon, 29 Mar 2021 19:33:21 +0200
Subject: [PATCH 02/51] Absolem: Sync Xacro: Whitespace only changes.

---
 .../model.sdf                                 | 142 +++++++++---------
 1 file changed, 71 insertions(+), 71 deletions(-)

diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/model.sdf b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/model.sdf
index 5b9254d8..b46d2db1 100644
--- a/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/model.sdf
+++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/model.sdf
@@ -639,77 +639,77 @@
         <always_on>1</always_on>
         <update_rate>50</update_rate>
         <imu>
-                    <angular_velocity>
-                        <x>
-                            <noise type="gaussian">
-                                <mean>0</mean>
-                                <stddev>0.009</stddev>
-                                <bias_mean>0.00075</bias_mean>
-                                <bias_stddev>0.005</bias_stddev>
-                                <dynamic_bias_stddev>2e-05</dynamic_bias_stddev>
-                                <dynamic_bias_correlation_time>400</dynamic_bias_correlation_time>
-                                <precision>0.00025</precision>
-                            </noise>
-                        </x>
-                        <y>
-                            <noise type="gaussian">
-                                <mean>0</mean>
-                                <stddev>0.009</stddev>
-                                <bias_mean>0.00075</bias_mean>
-                                <bias_stddev>0.005</bias_stddev>
-                                <dynamic_bias_stddev>2e-05</dynamic_bias_stddev>
-                                <dynamic_bias_correlation_time>400</dynamic_bias_correlation_time>
-                                <precision>0.00025</precision>
-                            </noise>
-                        </y>
-                        <z>
-                            <noise type="gaussian">
-                                <mean>0</mean>
-                                <stddev>0.009</stddev>
-                                <bias_mean>0.00075</bias_mean>
-                                <bias_stddev>0.005</bias_stddev>
-                                <dynamic_bias_stddev>2e-05</dynamic_bias_stddev>
-                                <dynamic_bias_correlation_time>400</dynamic_bias_correlation_time>
-                                <precision>0.00025</precision>
-                            </noise>
-                        </z>
-                    </angular_velocity>
-                    <linear_acceleration>
-                        <x>
-                            <noise type="gaussian">
-                                <mean>0</mean>
-                                <stddev>0.021</stddev>
-                                <bias_mean>0.05</bias_mean>
-                                <bias_stddev>0.0075</bias_stddev>
-                                <dynamic_bias_stddev>0.000375</dynamic_bias_stddev>
-                                <dynamic_bias_correlation_time>175</dynamic_bias_correlation_time>
-                                <precision>0.005</precision>
-                            </noise>
-                        </x>
-                        <y>
-                            <noise type="gaussian">
-                                <mean>0</mean>
-                                <stddev>0.021</stddev>
-                                <bias_mean>0.05</bias_mean>
-                                <bias_stddev>0.0075</bias_stddev>
-                                <dynamic_bias_stddev>0.000375</dynamic_bias_stddev>
-                                <dynamic_bias_correlation_time>175</dynamic_bias_correlation_time>
-                                <precision>0.005</precision>
-                            </noise>
-                        </y>
-                        <z>
-                            <noise type="gaussian">
-                                <mean>0</mean>
-                                <stddev>0.021</stddev>
-                                <bias_mean>0.05</bias_mean>
-                                <bias_stddev>0.0075</bias_stddev>
-                                <dynamic_bias_stddev>0.000375</dynamic_bias_stddev>
-                                <dynamic_bias_correlation_time>175</dynamic_bias_correlation_time>
-                                <precision>0.005</precision>
-                            </noise>
-                        </z>
-                    </linear_acceleration>
-                </imu>
+          <angular_velocity>
+            <x>
+              <noise type="gaussian">
+                <mean>0</mean>
+                <stddev>0.009</stddev>
+                <bias_mean>0.00075</bias_mean>
+                <bias_stddev>0.005</bias_stddev>
+                <dynamic_bias_stddev>2e-05</dynamic_bias_stddev>
+                <dynamic_bias_correlation_time>400</dynamic_bias_correlation_time>
+                <precision>0.00025</precision>
+              </noise>
+            </x>
+            <y>
+              <noise type="gaussian">
+                <mean>0</mean>
+                <stddev>0.009</stddev>
+                <bias_mean>0.00075</bias_mean>
+                <bias_stddev>0.005</bias_stddev>
+                <dynamic_bias_stddev>2e-05</dynamic_bias_stddev>
+                <dynamic_bias_correlation_time>400</dynamic_bias_correlation_time>
+                <precision>0.00025</precision>
+              </noise>
+            </y>
+            <z>
+              <noise type="gaussian">
+                <mean>0</mean>
+                <stddev>0.009</stddev>
+                <bias_mean>0.00075</bias_mean>
+                <bias_stddev>0.005</bias_stddev>
+                <dynamic_bias_stddev>2e-05</dynamic_bias_stddev>
+                <dynamic_bias_correlation_time>400</dynamic_bias_correlation_time>
+                <precision>0.00025</precision>
+              </noise>
+            </z>
+          </angular_velocity>
+          <linear_acceleration>
+            <x>
+              <noise type="gaussian">
+                <mean>0</mean>
+                <stddev>0.021</stddev>
+                <bias_mean>0.05</bias_mean>
+                <bias_stddev>0.0075</bias_stddev>
+                <dynamic_bias_stddev>0.000375</dynamic_bias_stddev>
+                <dynamic_bias_correlation_time>175</dynamic_bias_correlation_time>
+                <precision>0.005</precision>
+              </noise>
+            </x>
+            <y>
+              <noise type="gaussian">
+                <mean>0</mean>
+                <stddev>0.021</stddev>
+                <bias_mean>0.05</bias_mean>
+                <bias_stddev>0.0075</bias_stddev>
+                <dynamic_bias_stddev>0.000375</dynamic_bias_stddev>
+                <dynamic_bias_correlation_time>175</dynamic_bias_correlation_time>
+                <precision>0.005</precision>
+              </noise>
+            </y>
+            <z>
+              <noise type="gaussian">
+                <mean>0</mean>
+                <stddev>0.021</stddev>
+                <bias_mean>0.05</bias_mean>
+                <bias_stddev>0.0075</bias_stddev>
+                <dynamic_bias_stddev>0.000375</dynamic_bias_stddev>
+                <dynamic_bias_correlation_time>175</dynamic_bias_correlation_time>
+                <precision>0.005</precision>
+              </noise>
+            </z>
+          </linear_acceleration>
+        </imu>
         <pose>0 0 0.15 -3.1415926535897931 -0 0</pose>
       </sensor>
       <sensor name="omnicam_sensor0" type="camera">

From 7ebd9f72961f43857d76fa0fafb1079ae9badc25 Mon Sep 17 00:00:00 2001
From: Martin Pecka <peckama2@fel.cvut.cz>
Date: Mon, 29 Mar 2021 19:52:56 +0200
Subject: [PATCH 03/51] Absolem: Sync Xacro: 1e-5 changes.

---
 .../model.sdf                                    | 16 ++++++++--------
 1 file changed, 8 insertions(+), 8 deletions(-)

diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/model.sdf b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/model.sdf
index b46d2db1..62a18488 100644
--- a/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/model.sdf
+++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/model.sdf
@@ -1,5 +1,5 @@
 <?xml version='1.0' encoding='utf-8'?>
-<sdf version="1.6">
+<sdf version="1.7">
   <model name="ctu_cras_norlab_absolem_sensor_config_1">
     <link name="base_link">
       <inertial>
@@ -341,7 +341,7 @@
         </geometry>
       </visual>
       <visual name="base_link_fixed_joint_lump__camera_2_visual_16">
-        <pose>-0.01735 -0.055429 0.314721 -1.5725 0.00415 1.56975</pose>
+        <pose>-0.01735 -0.055429 0.314721 -1.5725 0.00415 1.56974</pose>
         <geometry>
           <box>
             <size>0.005 0.005 0.005</size>
@@ -349,7 +349,7 @@
         </geometry>
       </visual>
       <visual name="base_link_fixed_joint_lump__camera_2_sim_visual_17">
-        <pose>-0.01735 -0.055429 0.314721 -0.001705 0.00415 1.56975</pose>
+        <pose>-0.01735 -0.055429 0.314721 -0.001705 0.00415 1.56974</pose>
         <geometry>
           <box>
             <size>0.005 0.005 0.005</size>
@@ -474,7 +474,7 @@
         </geometry>
       </visual>
       <visual name="base_link_fixed_joint_lump__camera_link_visual_32">
-        <pose>0.133719 -0.010853 0.422031 2.07031 -0.013168 1.56329</pose>
+        <pose>0.133719 -0.010853 0.422031 2.07031 -0.013167 1.56329</pose>
         <geometry>
           <mesh>
             <uri>meshes/realsense_d435.dae</uri>
@@ -1179,7 +1179,7 @@
         </surface>
       </collision>
       <visual name="front_left_flipper_visual">
-        <pose>0 0 0 -2.95744 0 1.5707963267948966</pose>
+        <pose>0 0 0 -2.95743 -0 1.5707963267948966</pose>
         <geometry>
           <mesh>
             <uri>meshes/flipper.dae</uri>
@@ -1986,7 +1986,7 @@
         </surface>
       </collision>
       <visual name="rear_left_flipper_visual">
-        <pose>0 0 0 -2.95744 0 1.5707963267948966</pose>
+        <pose>0 0 0 -2.95743 -0 1.5707963267948966</pose>
         <geometry>
           <mesh>
             <uri>meshes/flipper.dae</uri>
@@ -2408,7 +2408,7 @@
         </surface>
       </collision>
       <visual name="front_right_flipper_visual">
-        <pose>0 0 0 -2.95744 -0 -1.5707963267948966</pose>
+        <pose>0 0 0 -2.95743 -0 -1.5707963267948966</pose>
         <geometry>
           <mesh>
             <uri>meshes/flipper.dae</uri>
@@ -2759,7 +2759,7 @@
         </surface>
       </collision>
       <visual name="rear_right_flipper_visual">
-        <pose>0 0 0 -2.95744 -0 -1.5707963267948966</pose>
+        <pose>0 0 0 -2.95743 -0 -1.5707963267948966</pose>
         <geometry>
           <mesh>
             <uri>meshes/flipper.dae</uri>

From 47fab893654996ef90da48cfb033d048077b0da4 Mon Sep 17 00:00:00 2001
From: Martin Pecka <peckama2@fel.cvut.cz>
Date: Mon, 29 Mar 2021 20:02:11 +0200
Subject: [PATCH 04/51] Absolem: Sync Xacro: Rotation switched to the opposite
 direction, but it doesn't matter as it only rotates a symmetrical cube
 visual.

---
 .../ctu_cras_norlab_absolem_sensor_config_1/model.sdf           | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/model.sdf b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/model.sdf
index 62a18488..359f966c 100644
--- a/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/model.sdf
+++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/model.sdf
@@ -397,7 +397,7 @@
         </geometry>
       </visual>
       <visual name="base_link_fixed_joint_lump__camera_5_sim_visual_23">
-        <pose>0.024083 -0.058382 0.376328 3.1415926535897931 -1.5707963267948966 0.945143</pose>
+        <pose>0.024083 -0.058382 0.376328 -2.19645 -1.5707963267948966 0</pose>
         <geometry>
           <box>
             <size>0.005 0.005 0.005</size>

From 306817ebcb96cd070e062cf71a73de2f4ee167a1 Mon Sep 17 00:00:00 2001
From: Martin Pecka <peckama2@fel.cvut.cz>
Date: Mon, 29 Mar 2021 20:05:00 +0200
Subject: [PATCH 05/51] Absolem: Sync Xacro: Switch to SDF 1.7 <pose
 relative_to="">.

No geometrical change (verified visually).
---
 .../model.sdf                                 | 172 +++++++++---------
 1 file changed, 86 insertions(+), 86 deletions(-)

diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/model.sdf b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/model.sdf
index 359f966c..1ebbee3d 100644
--- a/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/model.sdf
+++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/model.sdf
@@ -996,7 +996,7 @@
       </sensor>
     </link>
     <link name="laser">
-      <pose>0.2502 0 0.1407 -3.1415926535897931 -0 0</pose>
+      <pose relative_to="laser_j">0 0 0 0 -0 0</pose>
       <inertial>
         <pose>0 0 -0.04 0 -0 0</pose>
         <mass>1.1</mass>
@@ -1051,6 +1051,7 @@
       </sensor>
     </link>
     <joint name="laser_j" type="revolute">
+      <pose relative_to="base_link">0.2502 0 0.1407 -3.1415926535897931 0 0</pose>
       <child>laser</child>
       <parent>base_link</parent>
       <axis>
@@ -1065,7 +1066,6 @@
           <spring_reference>0</spring_reference>
           <spring_stiffness>0</spring_stiffness>
         </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
       </axis>
       <physics>
         <ode>
@@ -1079,7 +1079,7 @@
       </physics>
     </joint>
     <link name="left_track">
-      <pose>0 0.1985 0 0 -0 0</pose>
+      <pose relative_to="left_track_j">0 0 0 0 -0 0</pose>
       <inertial>
         <mass>1e-05</mass>
         <inertia>
@@ -1117,6 +1117,7 @@
       </visual>
     </link>
     <joint name="left_track_j" type="revolute">
+      <pose relative_to="base_link">0 0.1985 0 0 -0 0</pose>
       <child>left_track</child>
       <parent>base_link</parent>
       <axis>
@@ -1131,7 +1132,6 @@
           <spring_reference>0</spring_reference>
           <spring_stiffness>0</spring_stiffness>
         </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
       </axis>
       <physics>
         <ode>
@@ -1150,7 +1150,7 @@
       </physics>
     </joint>
     <link name="front_left_flipper">
-      <pose>0.25 0.272 0.0195 0 0.193732 0</pose>
+      <pose relative_to="front_left_flipper_j">0 0 0 0 -0 0</pose>
       <inertial>
         <mass>1e-05</mass>
         <inertia>
@@ -1188,6 +1188,7 @@
       </visual>
     </link>
     <joint name="front_left_flipper_j" type="revolute">
+      <pose relative_to="left_track">0.25 0.0735 0.0195 0 0.193732 0</pose>
       <child>front_left_flipper</child>
       <parent>left_track</parent>
       <axis>
@@ -1202,7 +1203,6 @@
           <spring_reference>0</spring_reference>
           <spring_stiffness>0</spring_stiffness>
         </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
       </axis>
       <physics>
         <ode>
@@ -1216,7 +1216,7 @@
       </physics>
     </joint>
     <link name="front_left_flipper_wheel1">
-      <pose>0.25 0.272 0.0195 0 0.193732 0</pose>
+      <pose relative_to="front_left_flipper_wheel1_j">0 0 0 0 -0 0</pose>
       <inertial>
         <pose>0.08 0 0 0 -0 0</pose>
         <mass>0.15</mass>
@@ -1257,6 +1257,7 @@
       </collision>
     </link>
     <joint name="front_left_flipper_wheel1_j" type="revolute">
+      <pose relative_to="front_left_flipper">0 0 0 0 -0 0</pose>
       <child>front_left_flipper_wheel1</child>
       <parent>front_left_flipper</parent>
       <axis>
@@ -1269,11 +1270,10 @@
           <spring_reference>0</spring_reference>
           <spring_stiffness>0</spring_stiffness>
         </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
       </axis>
     </joint>
     <link name="front_left_flipper_wheel2">
-      <pose>0.330957 0.272 0.003617 0 0.193732 0</pose>
+      <pose relative_to="front_left_flipper_wheel2_j">0 0 0 0 -0 0</pose>
       <inertial>
         <pose>0.08 0 0 0 -0 0</pose>
         <mass>0.15</mass>
@@ -1314,6 +1314,7 @@
       </collision>
     </link>
     <joint name="front_left_flipper_wheel2_j" type="revolute">
+      <pose relative_to="front_left_flipper">0.0825 0 0 0 -0 0</pose>
       <child>front_left_flipper_wheel2</child>
       <parent>front_left_flipper</parent>
       <axis>
@@ -1326,11 +1327,10 @@
           <spring_reference>0</spring_reference>
           <spring_stiffness>0</spring_stiffness>
         </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
       </axis>
     </joint>
     <link name="front_left_flipper_wheel3">
-      <pose>0.411913 0.272 -0.012266 0 0.193732 0</pose>
+      <pose relative_to="front_left_flipper_wheel3_j">0 0 0 0 -0 0</pose>
       <inertial>
         <pose>0.08 0 0 0 -0 0</pose>
         <mass>0.15</mass>
@@ -1371,6 +1371,7 @@
       </collision>
     </link>
     <joint name="front_left_flipper_wheel3_j" type="revolute">
+      <pose relative_to="front_left_flipper">0.165 0 0 0 -0 0</pose>
       <child>front_left_flipper_wheel3</child>
       <parent>front_left_flipper</parent>
       <axis>
@@ -1383,11 +1384,10 @@
           <spring_reference>0</spring_reference>
           <spring_stiffness>0</spring_stiffness>
         </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
       </axis>
     </joint>
     <link name="front_left_flipper_wheel4">
-      <pose>0.49287 0.272 -0.028149 0 0.193732 0</pose>
+      <pose relative_to="front_left_flipper_wheel4_j">0 0 0 0 -0 0</pose>
       <inertial>
         <pose>0.08 0 0 0 -0 0</pose>
         <mass>0.15</mass>
@@ -1428,6 +1428,7 @@
       </collision>
     </link>
     <joint name="front_left_flipper_wheel4_j" type="revolute">
+      <pose relative_to="front_left_flipper">0.2475 0 0 0 -0 0</pose>
       <child>front_left_flipper_wheel4</child>
       <parent>front_left_flipper</parent>
       <axis>
@@ -1440,11 +1441,10 @@
           <spring_reference>0</spring_reference>
           <spring_stiffness>0</spring_stiffness>
         </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
       </axis>
     </joint>
     <link name="front_left_flipper_wheel5">
-      <pose>0.573827 0.272 -0.044032 0 0.193732 0</pose>
+      <pose relative_to="front_left_flipper_wheel5_j">0 0 0 0 -0 0</pose>
       <inertial>
         <pose>0.08 0 0 0 -0 0</pose>
         <mass>0.15</mass>
@@ -1485,6 +1485,7 @@
       </collision>
     </link>
     <joint name="front_left_flipper_wheel5_j" type="revolute">
+      <pose relative_to="front_left_flipper">0.33 0 0 0 -0 0</pose>
       <child>front_left_flipper_wheel5</child>
       <parent>front_left_flipper</parent>
       <axis>
@@ -1497,11 +1498,10 @@
           <spring_reference>0</spring_reference>
           <spring_stiffness>0</spring_stiffness>
         </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
       </axis>
     </joint>
     <link name="left_track_wheel1">
-      <pose>0.25 0.1985 0.01855 0 -0 0</pose>
+      <pose relative_to="left_track_wheel1_j">0 0 0 0 -0 0</pose>
       <inertial>
         <pose>0 0 0.0141 0 -0 0</pose>
         <mass>0.7575</mass>
@@ -1542,6 +1542,7 @@
       </collision>
     </link>
     <joint name="left_track_wheel1_j" type="revolute">
+      <pose relative_to="left_track">0.25 0 0.01855 0 -0 0</pose>
       <child>left_track_wheel1</child>
       <parent>left_track</parent>
       <axis>
@@ -1554,11 +1555,10 @@
           <spring_reference>0</spring_reference>
           <spring_stiffness>0</spring_stiffness>
         </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
       </axis>
     </joint>
     <link name="left_track_wheel2">
-      <pose>0.178571 0.1985 0.01855 0 -0 0</pose>
+      <pose relative_to="left_track_wheel2_j">0 0 0 0 -0 0</pose>
       <inertial>
         <pose>0 0 0.0141 0 -0 0</pose>
         <mass>0.7575</mass>
@@ -1599,6 +1599,7 @@
       </collision>
     </link>
     <joint name="left_track_wheel2_j" type="revolute">
+      <pose relative_to="left_track">0.178571 0 0.01855 0 -0 0</pose>
       <child>left_track_wheel2</child>
       <parent>left_track</parent>
       <axis>
@@ -1611,11 +1612,10 @@
           <spring_reference>0</spring_reference>
           <spring_stiffness>0</spring_stiffness>
         </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
       </axis>
     </joint>
     <link name="left_track_wheel3">
-      <pose>0.107143 0.1985 0.01855 0 -0 0</pose>
+      <pose relative_to="left_track_wheel3_j">0 0 0 0 -0 0</pose>
       <inertial>
         <pose>0 0 0.0141 0 -0 0</pose>
         <mass>0.7575</mass>
@@ -1656,6 +1656,7 @@
       </collision>
     </link>
     <joint name="left_track_wheel3_j" type="revolute">
+      <pose relative_to="left_track">0.107143 0 0.01855 0 -0 0</pose>
       <child>left_track_wheel3</child>
       <parent>left_track</parent>
       <axis>
@@ -1668,11 +1669,10 @@
           <spring_reference>0</spring_reference>
           <spring_stiffness>0</spring_stiffness>
         </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
       </axis>
     </joint>
     <link name="left_track_wheel4">
-      <pose>0.035714 0.1985 0.01855 0 -0 0</pose>
+      <pose relative_to="left_track_wheel4_j">0 0 0 0 -0 0</pose>
       <inertial>
         <pose>0 0 0.0141 0 -0 0</pose>
         <mass>0.7575</mass>
@@ -1713,6 +1713,7 @@
       </collision>
     </link>
     <joint name="left_track_wheel4_j" type="revolute">
+      <pose relative_to="left_track">0.035714 0 0.01855 0 -0 0</pose>
       <child>left_track_wheel4</child>
       <parent>left_track</parent>
       <axis>
@@ -1725,11 +1726,10 @@
           <spring_reference>0</spring_reference>
           <spring_stiffness>0</spring_stiffness>
         </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
       </axis>
     </joint>
     <link name="left_track_wheel5">
-      <pose>-0.035714 0.1985 0.01855 0 -0 0</pose>
+      <pose relative_to="left_track_wheel5_j">0 0 0 0 -0 0</pose>
       <inertial>
         <pose>0 0 0.0141 0 -0 0</pose>
         <mass>0.7575</mass>
@@ -1770,6 +1770,7 @@
       </collision>
     </link>
     <joint name="left_track_wheel5_j" type="revolute">
+      <pose relative_to="left_track">-0.035714 0 0.01855 0 -0 0</pose>
       <child>left_track_wheel5</child>
       <parent>left_track</parent>
       <axis>
@@ -1782,11 +1783,10 @@
           <spring_reference>0</spring_reference>
           <spring_stiffness>0</spring_stiffness>
         </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
       </axis>
     </joint>
     <link name="left_track_wheel6">
-      <pose>-0.107143 0.1985 0.01855 0 -0 0</pose>
+      <pose relative_to="left_track_wheel6_j">0 0 0 0 -0 0</pose>
       <inertial>
         <pose>0 0 0.0141 0 -0 0</pose>
         <mass>0.7575</mass>
@@ -1827,6 +1827,7 @@
       </collision>
     </link>
     <joint name="left_track_wheel6_j" type="revolute">
+      <pose relative_to="left_track">-0.107143 0 0.01855 0 -0 0</pose>
       <child>left_track_wheel6</child>
       <parent>left_track</parent>
       <axis>
@@ -1839,11 +1840,10 @@
           <spring_reference>0</spring_reference>
           <spring_stiffness>0</spring_stiffness>
         </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
       </axis>
     </joint>
     <link name="left_track_wheel7">
-      <pose>-0.178571 0.1985 0.01855 0 -0 0</pose>
+      <pose relative_to="left_track_wheel7_j">0 0 0 0 -0 0</pose>
       <inertial>
         <pose>0 0 0.0141 0 -0 0</pose>
         <mass>0.7575</mass>
@@ -1884,6 +1884,7 @@
       </collision>
     </link>
     <joint name="left_track_wheel7_j" type="revolute">
+      <pose relative_to="left_track">-0.178571 0 0.01855 0 -0 0</pose>
       <child>left_track_wheel7</child>
       <parent>left_track</parent>
       <axis>
@@ -1896,11 +1897,10 @@
           <spring_reference>0</spring_reference>
           <spring_stiffness>0</spring_stiffness>
         </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
       </axis>
     </joint>
     <link name="left_track_wheel8">
-      <pose>-0.25 0.1985 0.01855 0 -0 0</pose>
+      <pose relative_to="left_track_wheel8_j">0 0 0 0 -0 0</pose>
       <inertial>
         <pose>0 0 0.0141 0 -0 0</pose>
         <mass>0.7575</mass>
@@ -1941,6 +1941,7 @@
       </collision>
     </link>
     <joint name="left_track_wheel8_j" type="revolute">
+      <pose relative_to="left_track">-0.25 0 0.01855 0 -0 0</pose>
       <child>left_track_wheel8</child>
       <parent>left_track</parent>
       <axis>
@@ -1953,11 +1954,10 @@
           <spring_reference>0</spring_reference>
           <spring_stiffness>0</spring_stiffness>
         </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
       </axis>
     </joint>
     <link name="rear_left_flipper">
-      <pose>-0.25 0.272 0.0195 3.1415926535897931 0.193732 3.1415926535897931</pose>
+      <pose relative_to="rear_left_flipper_j">0 0 0 0 -0 0</pose>
       <inertial>
         <mass>1e-05</mass>
         <inertia>
@@ -1995,6 +1995,7 @@
       </visual>
     </link>
     <joint name="rear_left_flipper_j" type="revolute">
+      <pose relative_to="left_track">-0.25 0.0735 0.0195 3.1415926535897931 0.193732 3.1415926535897931</pose>
       <child>rear_left_flipper</child>
       <parent>left_track</parent>
       <axis>
@@ -2009,7 +2010,6 @@
           <spring_reference>0</spring_reference>
           <spring_stiffness>0</spring_stiffness>
         </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
       </axis>
       <physics>
         <ode>
@@ -2023,7 +2023,7 @@
       </physics>
     </joint>
     <link name="rear_left_flipper_wheel1">
-      <pose>-0.25 0.272 0.0195 3.1415926535897931 0.193732 3.1415926535897931</pose>
+      <pose relative_to="rear_left_flipper_wheel1_j">0 0 0 0 -0 0</pose>
       <inertial>
         <pose>0.08 0 0 0 -0 0</pose>
         <mass>0.15</mass>
@@ -2064,6 +2064,7 @@
       </collision>
     </link>
     <joint name="rear_left_flipper_wheel1_j" type="revolute">
+      <pose relative_to="rear_left_flipper">0 0 0 0 -0 0</pose>
       <child>rear_left_flipper_wheel1</child>
       <parent>rear_left_flipper</parent>
       <axis>
@@ -2076,11 +2077,10 @@
           <spring_reference>0</spring_reference>
           <spring_stiffness>0</spring_stiffness>
         </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
       </axis>
     </joint>
     <link name="rear_left_flipper_wheel2">
-      <pose>-0.330957 0.272 0.003617 3.1415926535897931 0.193732 3.1415926535897931</pose>
+      <pose relative_to="rear_left_flipper_wheel2_j">0 0 0 0 -0 0</pose>
       <inertial>
         <pose>0.08 0 0 0 -0 0</pose>
         <mass>0.15</mass>
@@ -2121,6 +2121,7 @@
       </collision>
     </link>
     <joint name="rear_left_flipper_wheel2_j" type="revolute">
+      <pose relative_to="rear_left_flipper">0.0825 0 0 0 -0 0</pose>
       <child>rear_left_flipper_wheel2</child>
       <parent>rear_left_flipper</parent>
       <axis>
@@ -2133,11 +2134,10 @@
           <spring_reference>0</spring_reference>
           <spring_stiffness>0</spring_stiffness>
         </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
       </axis>
     </joint>
     <link name="rear_left_flipper_wheel3">
-      <pose>-0.411913 0.272 -0.012266 3.1415926535897931 0.193732 3.1415926535897931</pose>
+      <pose relative_to="rear_left_flipper_wheel3_j">0 0 0 0 -0 0</pose>
       <inertial>
         <pose>0.08 0 0 0 -0 0</pose>
         <mass>0.15</mass>
@@ -2178,6 +2178,7 @@
       </collision>
     </link>
     <joint name="rear_left_flipper_wheel3_j" type="revolute">
+      <pose relative_to="rear_left_flipper">0.165 0 0 0 -0 0</pose>
       <child>rear_left_flipper_wheel3</child>
       <parent>rear_left_flipper</parent>
       <axis>
@@ -2190,11 +2191,10 @@
           <spring_reference>0</spring_reference>
           <spring_stiffness>0</spring_stiffness>
         </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
       </axis>
     </joint>
     <link name="rear_left_flipper_wheel4">
-      <pose>-0.49287 0.272 -0.028149 3.1415926535897931 0.193732 3.1415926535897931</pose>
+      <pose relative_to="rear_left_flipper_wheel4_j">0 0 0 0 -0 0</pose>
       <inertial>
         <pose>0.08 0 0 0 -0 0</pose>
         <mass>0.15</mass>
@@ -2235,6 +2235,7 @@
       </collision>
     </link>
     <joint name="rear_left_flipper_wheel4_j" type="revolute">
+      <pose relative_to="rear_left_flipper">0.2475 0 0 0 -0 0</pose>
       <child>rear_left_flipper_wheel4</child>
       <parent>rear_left_flipper</parent>
       <axis>
@@ -2247,11 +2248,10 @@
           <spring_reference>0</spring_reference>
           <spring_stiffness>0</spring_stiffness>
         </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
       </axis>
     </joint>
     <link name="rear_left_flipper_wheel5">
-      <pose>-0.573827 0.272 -0.044032 3.1415926535897931 0.193732 3.1415926535897931</pose>
+      <pose relative_to="rear_left_flipper_wheel5_j">0 0 0 0 -0 0</pose>
       <inertial>
         <pose>0.08 0 0 0 -0 0</pose>
         <mass>0.15</mass>
@@ -2292,6 +2292,7 @@
       </collision>
     </link>
     <joint name="rear_left_flipper_wheel5_j" type="revolute">
+      <pose relative_to="rear_left_flipper">0.33 0 0 0 -0 0</pose>
       <child>rear_left_flipper_wheel5</child>
       <parent>rear_left_flipper</parent>
       <axis>
@@ -2304,11 +2305,10 @@
           <spring_reference>0</spring_reference>
           <spring_stiffness>0</spring_stiffness>
         </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
       </axis>
     </joint>
     <link name="right_track">
-      <pose>0 -0.1985 0 0 -0 0</pose>
+      <pose relative_to="right_track_j">0 0 0 0 -0 0</pose>
       <inertial>
         <mass>1e-05</mass>
         <inertia>
@@ -2346,6 +2346,7 @@
       </visual>
     </link>
     <joint name="right_track_j" type="revolute">
+      <pose relative_to="base_link">0 -0.1985 0 0 -0 0</pose>
       <child>right_track</child>
       <parent>base_link</parent>
       <axis>
@@ -2360,7 +2361,6 @@
           <spring_reference>0</spring_reference>
           <spring_stiffness>0</spring_stiffness>
         </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
       </axis>
       <physics>
         <ode>
@@ -2379,7 +2379,7 @@
       </physics>
     </joint>
     <link name="front_right_flipper">
-      <pose>0.25 -0.272 0.0195 3.1415926535897931 -0.193732 3.1415926535897931</pose>
+      <pose relative_to="front_right_flipper_j">0 0 0 0 -0 0</pose>
       <inertial>
         <mass>1e-05</mass>
         <inertia>
@@ -2417,6 +2417,7 @@
       </visual>
     </link>
     <joint name="front_right_flipper_j" type="revolute">
+      <pose relative_to="right_track">0.25 -0.0735 0.0195 3.1415926535897931 -0.193732 3.1415926535897931</pose>
       <child>front_right_flipper</child>
       <parent>right_track</parent>
       <axis>
@@ -2431,7 +2432,6 @@
           <spring_reference>0</spring_reference>
           <spring_stiffness>0</spring_stiffness>
         </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
       </axis>
       <physics>
         <ode>
@@ -2445,7 +2445,7 @@
       </physics>
     </joint>
     <link name="front_right_flipper_wheel1">
-      <pose>0.25 -0.272 0.0195 3.1415926535897931 -0.193732 3.1415926535897931</pose>
+      <pose relative_to="front_right_flipper_wheel1_j">0 0 0 0 -0 0</pose>
       <inertial>
         <pose>-0.08 0 0 0 -0 0</pose>
         <mass>0.15</mass>
@@ -2486,6 +2486,7 @@
       </collision>
     </link>
     <joint name="front_right_flipper_wheel1_j" type="revolute">
+      <pose relative_to="front_right_flipper">0 0 0 0 -0 0</pose>
       <child>front_right_flipper_wheel1</child>
       <parent>front_right_flipper</parent>
       <axis>
@@ -2498,11 +2499,10 @@
           <spring_reference>0</spring_reference>
           <spring_stiffness>0</spring_stiffness>
         </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
       </axis>
     </joint>
     <link name="front_right_flipper_wheel2">
-      <pose>0.330957 -0.272 0.003617 3.1415926535897931 -0.193732 3.1415926535897931</pose>
+      <pose relative_to="front_right_flipper_wheel2_j">0 0 0 0 -0 0</pose>
       <inertial>
         <pose>-0.08 0 0 0 -0 0</pose>
         <mass>0.15</mass>
@@ -2543,6 +2543,7 @@
       </collision>
     </link>
     <joint name="front_right_flipper_wheel2_j" type="revolute">
+      <pose relative_to="front_right_flipper">-0.0825 0 0 0 -0 0</pose>
       <child>front_right_flipper_wheel2</child>
       <parent>front_right_flipper</parent>
       <axis>
@@ -2555,11 +2556,10 @@
           <spring_reference>0</spring_reference>
           <spring_stiffness>0</spring_stiffness>
         </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
       </axis>
     </joint>
     <link name="front_right_flipper_wheel3">
-      <pose>0.411913 -0.272 -0.012266 3.1415926535897931 -0.193732 3.1415926535897931</pose>
+      <pose relative_to="front_right_flipper_wheel3_j">0 0 0 0 -0 0</pose>
       <inertial>
         <pose>-0.08 0 0 0 -0 0</pose>
         <mass>0.15</mass>
@@ -2600,6 +2600,7 @@
       </collision>
     </link>
     <joint name="front_right_flipper_wheel3_j" type="revolute">
+      <pose relative_to="front_right_flipper">-0.165 0 0 0 -0 0</pose>
       <child>front_right_flipper_wheel3</child>
       <parent>front_right_flipper</parent>
       <axis>
@@ -2612,11 +2613,10 @@
           <spring_reference>0</spring_reference>
           <spring_stiffness>0</spring_stiffness>
         </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
       </axis>
     </joint>
     <link name="front_right_flipper_wheel4">
-      <pose>0.49287 -0.272 -0.028149 3.1415926535897931 -0.193732 3.1415926535897931</pose>
+      <pose relative_to="front_right_flipper_wheel4_j">0 0 0 0 -0 0</pose>
       <inertial>
         <pose>-0.08 0 0 0 -0 0</pose>
         <mass>0.15</mass>
@@ -2657,6 +2657,7 @@
       </collision>
     </link>
     <joint name="front_right_flipper_wheel4_j" type="revolute">
+      <pose relative_to="front_right_flipper">-0.2475 0 0 0 -0 0</pose>
       <child>front_right_flipper_wheel4</child>
       <parent>front_right_flipper</parent>
       <axis>
@@ -2669,11 +2670,10 @@
           <spring_reference>0</spring_reference>
           <spring_stiffness>0</spring_stiffness>
         </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
       </axis>
     </joint>
     <link name="front_right_flipper_wheel5">
-      <pose>0.573827 -0.272 -0.044032 3.1415926535897931 -0.193732 3.1415926535897931</pose>
+      <pose relative_to="front_right_flipper_wheel5_j">0 0 0 0 -0 0</pose>
       <inertial>
         <pose>-0.08 0 0 0 -0 0</pose>
         <mass>0.15</mass>
@@ -2714,6 +2714,7 @@
       </collision>
     </link>
     <joint name="front_right_flipper_wheel5_j" type="revolute">
+      <pose relative_to="front_right_flipper">-0.33 0 0 0 -0 0</pose>
       <child>front_right_flipper_wheel5</child>
       <parent>front_right_flipper</parent>
       <axis>
@@ -2726,11 +2727,10 @@
           <spring_reference>0</spring_reference>
           <spring_stiffness>0</spring_stiffness>
         </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
       </axis>
     </joint>
     <link name="rear_right_flipper">
-      <pose>-0.25 -0.272 0.0195 0 -0.193732 0</pose>
+      <pose relative_to="rear_right_flipper_j">0 0 0 0 -0 0</pose>
       <inertial>
         <mass>1e-05</mass>
         <inertia>
@@ -2768,6 +2768,7 @@
       </visual>
     </link>
     <joint name="rear_right_flipper_j" type="revolute">
+      <pose relative_to="right_track">-0.25 -0.0735 0.0195 0 -0.193732 0</pose>
       <child>rear_right_flipper</child>
       <parent>right_track</parent>
       <axis>
@@ -2782,7 +2783,6 @@
           <spring_reference>0</spring_reference>
           <spring_stiffness>0</spring_stiffness>
         </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
       </axis>
       <physics>
         <ode>
@@ -2796,7 +2796,7 @@
       </physics>
     </joint>
     <link name="rear_right_flipper_wheel1">
-      <pose>-0.25 -0.272 0.0195 0 -0.193732 0</pose>
+      <pose relative_to="rear_right_flipper_wheel1_j">0 0 0 0 -0 0</pose>
       <inertial>
         <pose>-0.08 0 0 0 -0 0</pose>
         <mass>0.15</mass>
@@ -2837,6 +2837,7 @@
       </collision>
     </link>
     <joint name="rear_right_flipper_wheel1_j" type="revolute">
+      <pose relative_to="rear_right_flipper">0 0 0 0 -0 0</pose>
       <child>rear_right_flipper_wheel1</child>
       <parent>rear_right_flipper</parent>
       <axis>
@@ -2849,11 +2850,10 @@
           <spring_reference>0</spring_reference>
           <spring_stiffness>0</spring_stiffness>
         </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
       </axis>
     </joint>
     <link name="rear_right_flipper_wheel2">
-      <pose>-0.330957 -0.272 0.003617 0 -0.193732 0</pose>
+      <pose relative_to="rear_right_flipper_wheel2_j">0 0 0 0 -0 0</pose>
       <inertial>
         <pose>-0.08 0 0 0 -0 0</pose>
         <mass>0.15</mass>
@@ -2894,6 +2894,7 @@
       </collision>
     </link>
     <joint name="rear_right_flipper_wheel2_j" type="revolute">
+      <pose relative_to="rear_right_flipper">-0.0825 0 0 0 -0 0</pose>
       <child>rear_right_flipper_wheel2</child>
       <parent>rear_right_flipper</parent>
       <axis>
@@ -2906,11 +2907,10 @@
           <spring_reference>0</spring_reference>
           <spring_stiffness>0</spring_stiffness>
         </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
       </axis>
     </joint>
     <link name="rear_right_flipper_wheel3">
-      <pose>-0.411913 -0.272 -0.012266 0 -0.193732 0</pose>
+      <pose relative_to="rear_right_flipper_wheel3_j">0 0 0 0 -0 0</pose>
       <inertial>
         <pose>-0.08 0 0 0 -0 0</pose>
         <mass>0.15</mass>
@@ -2951,6 +2951,7 @@
       </collision>
     </link>
     <joint name="rear_right_flipper_wheel3_j" type="revolute">
+      <pose relative_to="rear_right_flipper">-0.165 0 0 0 -0 0</pose>
       <child>rear_right_flipper_wheel3</child>
       <parent>rear_right_flipper</parent>
       <axis>
@@ -2963,11 +2964,10 @@
           <spring_reference>0</spring_reference>
           <spring_stiffness>0</spring_stiffness>
         </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
       </axis>
     </joint>
     <link name="rear_right_flipper_wheel4">
-      <pose>-0.49287 -0.272 -0.028149 0 -0.193732 0</pose>
+      <pose relative_to="rear_right_flipper_wheel4_j">0 0 0 0 -0 0</pose>
       <inertial>
         <pose>-0.08 0 0 0 -0 0</pose>
         <mass>0.15</mass>
@@ -3008,6 +3008,7 @@
       </collision>
     </link>
     <joint name="rear_right_flipper_wheel4_j" type="revolute">
+      <pose relative_to="rear_right_flipper">-0.2475 0 0 0 -0 0</pose>
       <child>rear_right_flipper_wheel4</child>
       <parent>rear_right_flipper</parent>
       <axis>
@@ -3020,11 +3021,10 @@
           <spring_reference>0</spring_reference>
           <spring_stiffness>0</spring_stiffness>
         </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
       </axis>
     </joint>
     <link name="rear_right_flipper_wheel5">
-      <pose>-0.573827 -0.272 -0.044032 0 -0.193732 0</pose>
+      <pose relative_to="rear_right_flipper_wheel5_j">0 0 0 0 -0 0</pose>
       <inertial>
         <pose>-0.08 0 0 0 -0 0</pose>
         <mass>0.15</mass>
@@ -3065,6 +3065,7 @@
       </collision>
     </link>
     <joint name="rear_right_flipper_wheel5_j" type="revolute">
+      <pose relative_to="rear_right_flipper">-0.33 0 0 0 -0 0</pose>
       <child>rear_right_flipper_wheel5</child>
       <parent>rear_right_flipper</parent>
       <axis>
@@ -3077,11 +3078,10 @@
           <spring_reference>0</spring_reference>
           <spring_stiffness>0</spring_stiffness>
         </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
       </axis>
     </joint>
     <link name="right_track_wheel1">
-      <pose>0.25 -0.1985 0.01855 0 -0 0</pose>
+      <pose relative_to="right_track_wheel1_j">0 0 0 0 -0 0</pose>
       <inertial>
         <pose>0 0 0.0141 0 -0 0</pose>
         <mass>0.7575</mass>
@@ -3122,6 +3122,7 @@
       </collision>
     </link>
     <joint name="right_track_wheel1_j" type="revolute">
+      <pose relative_to="right_track">0.25 0 0.01855 0 -0 0</pose>
       <child>right_track_wheel1</child>
       <parent>right_track</parent>
       <axis>
@@ -3134,11 +3135,10 @@
           <spring_reference>0</spring_reference>
           <spring_stiffness>0</spring_stiffness>
         </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
       </axis>
     </joint>
     <link name="right_track_wheel2">
-      <pose>0.178571 -0.1985 0.01855 0 -0 0</pose>
+      <pose relative_to="right_track_wheel2_j">0 0 0 0 -0 0</pose>
       <inertial>
         <pose>0 0 0.0141 0 -0 0</pose>
         <mass>0.7575</mass>
@@ -3179,6 +3179,7 @@
       </collision>
     </link>
     <joint name="right_track_wheel2_j" type="revolute">
+      <pose relative_to="right_track">0.178571 0 0.01855 0 -0 0</pose>
       <child>right_track_wheel2</child>
       <parent>right_track</parent>
       <axis>
@@ -3191,11 +3192,10 @@
           <spring_reference>0</spring_reference>
           <spring_stiffness>0</spring_stiffness>
         </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
       </axis>
     </joint>
     <link name="right_track_wheel3">
-      <pose>0.107143 -0.1985 0.01855 0 -0 0</pose>
+      <pose relative_to="right_track_wheel3_j">0 0 0 0 -0 0</pose>
       <inertial>
         <pose>0 0 0.0141 0 -0 0</pose>
         <mass>0.7575</mass>
@@ -3236,6 +3236,7 @@
       </collision>
     </link>
     <joint name="right_track_wheel3_j" type="revolute">
+      <pose relative_to="right_track">0.107143 0 0.01855 0 -0 0</pose>
       <child>right_track_wheel3</child>
       <parent>right_track</parent>
       <axis>
@@ -3248,11 +3249,10 @@
           <spring_reference>0</spring_reference>
           <spring_stiffness>0</spring_stiffness>
         </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
       </axis>
     </joint>
     <link name="right_track_wheel4">
-      <pose>0.035714 -0.1985 0.01855 0 -0 0</pose>
+      <pose relative_to="right_track_wheel4_j">0 0 0 0 -0 0</pose>
       <inertial>
         <pose>0 0 0.0141 0 -0 0</pose>
         <mass>0.7575</mass>
@@ -3293,6 +3293,7 @@
       </collision>
     </link>
     <joint name="right_track_wheel4_j" type="revolute">
+      <pose relative_to="right_track">0.035714 0 0.01855 0 -0 0</pose>
       <child>right_track_wheel4</child>
       <parent>right_track</parent>
       <axis>
@@ -3305,11 +3306,10 @@
           <spring_reference>0</spring_reference>
           <spring_stiffness>0</spring_stiffness>
         </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
       </axis>
     </joint>
     <link name="right_track_wheel5">
-      <pose>-0.035714 -0.1985 0.01855 0 -0 0</pose>
+      <pose relative_to="right_track_wheel5_j">0 0 0 0 -0 0</pose>
       <inertial>
         <pose>0 0 0.0141 0 -0 0</pose>
         <mass>0.7575</mass>
@@ -3350,6 +3350,7 @@
       </collision>
     </link>
     <joint name="right_track_wheel5_j" type="revolute">
+      <pose relative_to="right_track">-0.035714 0 0.01855 0 -0 0</pose>
       <child>right_track_wheel5</child>
       <parent>right_track</parent>
       <axis>
@@ -3362,11 +3363,10 @@
           <spring_reference>0</spring_reference>
           <spring_stiffness>0</spring_stiffness>
         </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
       </axis>
     </joint>
     <link name="right_track_wheel6">
-      <pose>-0.107143 -0.1985 0.01855 0 -0 0</pose>
+      <pose relative_to="right_track_wheel6_j">0 0 0 0 -0 0</pose>
       <inertial>
         <pose>0 0 0.0141 0 -0 0</pose>
         <mass>0.7575</mass>
@@ -3407,6 +3407,7 @@
       </collision>
     </link>
     <joint name="right_track_wheel6_j" type="revolute">
+      <pose relative_to="right_track">-0.107143 0 0.01855 0 -0 0</pose>
       <child>right_track_wheel6</child>
       <parent>right_track</parent>
       <axis>
@@ -3419,11 +3420,10 @@
           <spring_reference>0</spring_reference>
           <spring_stiffness>0</spring_stiffness>
         </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
       </axis>
     </joint>
     <link name="right_track_wheel7">
-      <pose>-0.178571 -0.1985 0.01855 0 -0 0</pose>
+      <pose relative_to="right_track_wheel7_j">0 0 0 0 -0 0</pose>
       <inertial>
         <pose>0 0 0.0141 0 -0 0</pose>
         <mass>0.7575</mass>
@@ -3464,6 +3464,7 @@
       </collision>
     </link>
     <joint name="right_track_wheel7_j" type="revolute">
+      <pose relative_to="right_track">-0.178571 0 0.01855 0 -0 0</pose>
       <child>right_track_wheel7</child>
       <parent>right_track</parent>
       <axis>
@@ -3476,11 +3477,10 @@
           <spring_reference>0</spring_reference>
           <spring_stiffness>0</spring_stiffness>
         </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
       </axis>
     </joint>
     <link name="right_track_wheel8">
-      <pose>-0.25 -0.1985 0.01855 0 -0 0</pose>
+      <pose relative_to="right_track_wheel8_j">0 0 0 0 -0 0</pose>
       <inertial>
         <pose>0 0 0.0141 0 -0 0</pose>
         <mass>0.7575</mass>
@@ -3521,6 +3521,7 @@
       </collision>
     </link>
     <joint name="right_track_wheel8_j" type="revolute">
+      <pose relative_to="right_track">-0.25 0 0.01855 0 -0 0</pose>
       <child>right_track_wheel8</child>
       <parent>right_track</parent>
       <axis>
@@ -3533,7 +3534,6 @@
           <spring_reference>0</spring_reference>
           <spring_stiffness>0</spring_stiffness>
         </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
       </axis>
     </joint>
     <plugin name="cras::FlipperControlPlugin" filename="libflipper_control_plugin.so">

From 20511f572a99ab4f78acb223b3b4e65922d2c31a Mon Sep 17 00:00:00 2001
From: Martin Pecka <peckama2@fel.cvut.cz>
Date: Mon, 29 Mar 2021 20:08:51 +0200
Subject: [PATCH 06/51] Absolem: Sync Xacro: Move joint SDF above link.

---
 .../model.sdf                                 | 56 +++++++++----------
 1 file changed, 28 insertions(+), 28 deletions(-)

diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/model.sdf b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/model.sdf
index 1ebbee3d..761bd552 100644
--- a/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/model.sdf
+++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/model.sdf
@@ -995,6 +995,34 @@
         <pose>0.13592 -0.016338 0.419596 0.015 0.499467 -0.000319</pose>
       </sensor>
     </link>
+    <joint name="laser_j" type="revolute">
+      <pose relative_to="base_link">0.2502 0 0.1407 -3.1415926535897931 0 0</pose>
+      <child>laser</child>
+      <parent>base_link</parent>
+      <axis>
+        <xyz>1 0 0</xyz>
+        <limit>
+          <lower>-2.35619</lower>
+          <upper>2.35619</upper>
+          <effort>10</effort>
+          <velocity>1.2</velocity>
+        </limit>
+        <dynamics>
+          <spring_reference>0</spring_reference>
+          <spring_stiffness>0</spring_stiffness>
+        </dynamics>
+      </axis>
+      <physics>
+        <ode>
+          <implicit_spring_damper>1</implicit_spring_damper>
+          <cfm_damping>1</cfm_damping>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+        </ode>
+      </physics>
+    </joint>
     <link name="laser">
       <pose relative_to="laser_j">0 0 0 0 -0 0</pose>
       <inertial>
@@ -1050,34 +1078,6 @@
         </lidar>
       </sensor>
     </link>
-    <joint name="laser_j" type="revolute">
-      <pose relative_to="base_link">0.2502 0 0.1407 -3.1415926535897931 0 0</pose>
-      <child>laser</child>
-      <parent>base_link</parent>
-      <axis>
-        <xyz>1 0 0</xyz>
-        <limit>
-          <lower>-2.35619</lower>
-          <upper>2.35619</upper>
-          <effort>10</effort>
-          <velocity>1.2</velocity>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-      </axis>
-      <physics>
-        <ode>
-          <implicit_spring_damper>1</implicit_spring_damper>
-          <cfm_damping>1</cfm_damping>
-          <limit>
-            <cfm>0</cfm>
-            <erp>0.2</erp>
-          </limit>
-        </ode>
-      </physics>
-    </joint>
     <link name="left_track">
       <pose relative_to="left_track_j">0 0 0 0 -0 0</pose>
       <inertial>

From 3747f93f800d8c3c526009633b6d50b11d9500b7 Mon Sep 17 00:00:00 2001
From: Martin Pecka <peckama2@fel.cvut.cz>
Date: Mon, 29 Mar 2021 20:12:44 +0200
Subject: [PATCH 07/51] Absolem: Sync Xacro: Swap <parent> and <child> tag
 order.

---
 .../model.sdf                                 | 86 +++++++++----------
 1 file changed, 43 insertions(+), 43 deletions(-)

diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/model.sdf b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/model.sdf
index 761bd552..7d4e60a3 100644
--- a/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/model.sdf
+++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/model.sdf
@@ -997,8 +997,8 @@
     </link>
     <joint name="laser_j" type="revolute">
       <pose relative_to="base_link">0.2502 0 0.1407 -3.1415926535897931 0 0</pose>
-      <child>laser</child>
       <parent>base_link</parent>
+      <child>laser</child>
       <axis>
         <xyz>1 0 0</xyz>
         <limit>
@@ -1118,8 +1118,8 @@
     </link>
     <joint name="left_track_j" type="revolute">
       <pose relative_to="base_link">0 0.1985 0 0 -0 0</pose>
-      <child>left_track</child>
       <parent>base_link</parent>
+      <child>left_track</child>
       <axis>
         <xyz>0 1 0</xyz>
         <limit>
@@ -1189,8 +1189,8 @@
     </link>
     <joint name="front_left_flipper_j" type="revolute">
       <pose relative_to="left_track">0.25 0.0735 0.0195 0 0.193732 0</pose>
-      <child>front_left_flipper</child>
       <parent>left_track</parent>
+      <child>front_left_flipper</child>
       <axis>
         <xyz>0 1 0</xyz>
         <limit>
@@ -1258,8 +1258,8 @@
     </link>
     <joint name="front_left_flipper_wheel1_j" type="revolute">
       <pose relative_to="front_left_flipper">0 0 0 0 -0 0</pose>
-      <child>front_left_flipper_wheel1</child>
       <parent>front_left_flipper</parent>
+      <child>front_left_flipper_wheel1</child>
       <axis>
         <xyz>0 1 0</xyz>
         <limit>
@@ -1315,8 +1315,8 @@
     </link>
     <joint name="front_left_flipper_wheel2_j" type="revolute">
       <pose relative_to="front_left_flipper">0.0825 0 0 0 -0 0</pose>
-      <child>front_left_flipper_wheel2</child>
       <parent>front_left_flipper</parent>
+      <child>front_left_flipper_wheel2</child>
       <axis>
         <xyz>0 1 0</xyz>
         <limit>
@@ -1372,8 +1372,8 @@
     </link>
     <joint name="front_left_flipper_wheel3_j" type="revolute">
       <pose relative_to="front_left_flipper">0.165 0 0 0 -0 0</pose>
-      <child>front_left_flipper_wheel3</child>
       <parent>front_left_flipper</parent>
+      <child>front_left_flipper_wheel3</child>
       <axis>
         <xyz>0 1 0</xyz>
         <limit>
@@ -1429,8 +1429,8 @@
     </link>
     <joint name="front_left_flipper_wheel4_j" type="revolute">
       <pose relative_to="front_left_flipper">0.2475 0 0 0 -0 0</pose>
-      <child>front_left_flipper_wheel4</child>
       <parent>front_left_flipper</parent>
+      <child>front_left_flipper_wheel4</child>
       <axis>
         <xyz>0 1 0</xyz>
         <limit>
@@ -1486,8 +1486,8 @@
     </link>
     <joint name="front_left_flipper_wheel5_j" type="revolute">
       <pose relative_to="front_left_flipper">0.33 0 0 0 -0 0</pose>
-      <child>front_left_flipper_wheel5</child>
       <parent>front_left_flipper</parent>
+      <child>front_left_flipper_wheel5</child>
       <axis>
         <xyz>0 1 0</xyz>
         <limit>
@@ -1543,8 +1543,8 @@
     </link>
     <joint name="left_track_wheel1_j" type="revolute">
       <pose relative_to="left_track">0.25 0 0.01855 0 -0 0</pose>
-      <child>left_track_wheel1</child>
       <parent>left_track</parent>
+      <child>left_track_wheel1</child>
       <axis>
         <xyz>0 1 0</xyz>
         <limit>
@@ -1600,8 +1600,8 @@
     </link>
     <joint name="left_track_wheel2_j" type="revolute">
       <pose relative_to="left_track">0.178571 0 0.01855 0 -0 0</pose>
-      <child>left_track_wheel2</child>
       <parent>left_track</parent>
+      <child>left_track_wheel2</child>
       <axis>
         <xyz>0 1 0</xyz>
         <limit>
@@ -1657,8 +1657,8 @@
     </link>
     <joint name="left_track_wheel3_j" type="revolute">
       <pose relative_to="left_track">0.107143 0 0.01855 0 -0 0</pose>
-      <child>left_track_wheel3</child>
       <parent>left_track</parent>
+      <child>left_track_wheel3</child>
       <axis>
         <xyz>0 1 0</xyz>
         <limit>
@@ -1714,8 +1714,8 @@
     </link>
     <joint name="left_track_wheel4_j" type="revolute">
       <pose relative_to="left_track">0.035714 0 0.01855 0 -0 0</pose>
-      <child>left_track_wheel4</child>
       <parent>left_track</parent>
+      <child>left_track_wheel4</child>
       <axis>
         <xyz>0 1 0</xyz>
         <limit>
@@ -1771,8 +1771,8 @@
     </link>
     <joint name="left_track_wheel5_j" type="revolute">
       <pose relative_to="left_track">-0.035714 0 0.01855 0 -0 0</pose>
-      <child>left_track_wheel5</child>
       <parent>left_track</parent>
+      <child>left_track_wheel5</child>
       <axis>
         <xyz>0 1 0</xyz>
         <limit>
@@ -1828,8 +1828,8 @@
     </link>
     <joint name="left_track_wheel6_j" type="revolute">
       <pose relative_to="left_track">-0.107143 0 0.01855 0 -0 0</pose>
-      <child>left_track_wheel6</child>
       <parent>left_track</parent>
+      <child>left_track_wheel6</child>
       <axis>
         <xyz>0 1 0</xyz>
         <limit>
@@ -1885,8 +1885,8 @@
     </link>
     <joint name="left_track_wheel7_j" type="revolute">
       <pose relative_to="left_track">-0.178571 0 0.01855 0 -0 0</pose>
-      <child>left_track_wheel7</child>
       <parent>left_track</parent>
+      <child>left_track_wheel7</child>
       <axis>
         <xyz>0 1 0</xyz>
         <limit>
@@ -1942,8 +1942,8 @@
     </link>
     <joint name="left_track_wheel8_j" type="revolute">
       <pose relative_to="left_track">-0.25 0 0.01855 0 -0 0</pose>
-      <child>left_track_wheel8</child>
       <parent>left_track</parent>
+      <child>left_track_wheel8</child>
       <axis>
         <xyz>0 1 0</xyz>
         <limit>
@@ -1996,8 +1996,8 @@
     </link>
     <joint name="rear_left_flipper_j" type="revolute">
       <pose relative_to="left_track">-0.25 0.0735 0.0195 3.1415926535897931 0.193732 3.1415926535897931</pose>
-      <child>rear_left_flipper</child>
       <parent>left_track</parent>
+      <child>rear_left_flipper</child>
       <axis>
         <xyz>0 1 0</xyz>
         <limit>
@@ -2065,8 +2065,8 @@
     </link>
     <joint name="rear_left_flipper_wheel1_j" type="revolute">
       <pose relative_to="rear_left_flipper">0 0 0 0 -0 0</pose>
-      <child>rear_left_flipper_wheel1</child>
       <parent>rear_left_flipper</parent>
+      <child>rear_left_flipper_wheel1</child>
       <axis>
         <xyz>0 1 0</xyz>
         <limit>
@@ -2122,8 +2122,8 @@
     </link>
     <joint name="rear_left_flipper_wheel2_j" type="revolute">
       <pose relative_to="rear_left_flipper">0.0825 0 0 0 -0 0</pose>
-      <child>rear_left_flipper_wheel2</child>
       <parent>rear_left_flipper</parent>
+      <child>rear_left_flipper_wheel2</child>
       <axis>
         <xyz>0 1 0</xyz>
         <limit>
@@ -2179,8 +2179,8 @@
     </link>
     <joint name="rear_left_flipper_wheel3_j" type="revolute">
       <pose relative_to="rear_left_flipper">0.165 0 0 0 -0 0</pose>
-      <child>rear_left_flipper_wheel3</child>
       <parent>rear_left_flipper</parent>
+      <child>rear_left_flipper_wheel3</child>
       <axis>
         <xyz>0 1 0</xyz>
         <limit>
@@ -2236,8 +2236,8 @@
     </link>
     <joint name="rear_left_flipper_wheel4_j" type="revolute">
       <pose relative_to="rear_left_flipper">0.2475 0 0 0 -0 0</pose>
-      <child>rear_left_flipper_wheel4</child>
       <parent>rear_left_flipper</parent>
+      <child>rear_left_flipper_wheel4</child>
       <axis>
         <xyz>0 1 0</xyz>
         <limit>
@@ -2293,8 +2293,8 @@
     </link>
     <joint name="rear_left_flipper_wheel5_j" type="revolute">
       <pose relative_to="rear_left_flipper">0.33 0 0 0 -0 0</pose>
-      <child>rear_left_flipper_wheel5</child>
       <parent>rear_left_flipper</parent>
+      <child>rear_left_flipper_wheel5</child>
       <axis>
         <xyz>0 1 0</xyz>
         <limit>
@@ -2347,8 +2347,8 @@
     </link>
     <joint name="right_track_j" type="revolute">
       <pose relative_to="base_link">0 -0.1985 0 0 -0 0</pose>
-      <child>right_track</child>
       <parent>base_link</parent>
+      <child>right_track</child>
       <axis>
         <xyz>0 1 0</xyz>
         <limit>
@@ -2418,8 +2418,8 @@
     </link>
     <joint name="front_right_flipper_j" type="revolute">
       <pose relative_to="right_track">0.25 -0.0735 0.0195 3.1415926535897931 -0.193732 3.1415926535897931</pose>
-      <child>front_right_flipper</child>
       <parent>right_track</parent>
+      <child>front_right_flipper</child>
       <axis>
         <xyz>0 1 0</xyz>
         <limit>
@@ -2487,8 +2487,8 @@
     </link>
     <joint name="front_right_flipper_wheel1_j" type="revolute">
       <pose relative_to="front_right_flipper">0 0 0 0 -0 0</pose>
-      <child>front_right_flipper_wheel1</child>
       <parent>front_right_flipper</parent>
+      <child>front_right_flipper_wheel1</child>
       <axis>
         <xyz>0 1 0</xyz>
         <limit>
@@ -2544,8 +2544,8 @@
     </link>
     <joint name="front_right_flipper_wheel2_j" type="revolute">
       <pose relative_to="front_right_flipper">-0.0825 0 0 0 -0 0</pose>
-      <child>front_right_flipper_wheel2</child>
       <parent>front_right_flipper</parent>
+      <child>front_right_flipper_wheel2</child>
       <axis>
         <xyz>0 1 0</xyz>
         <limit>
@@ -2601,8 +2601,8 @@
     </link>
     <joint name="front_right_flipper_wheel3_j" type="revolute">
       <pose relative_to="front_right_flipper">-0.165 0 0 0 -0 0</pose>
-      <child>front_right_flipper_wheel3</child>
       <parent>front_right_flipper</parent>
+      <child>front_right_flipper_wheel3</child>
       <axis>
         <xyz>0 1 0</xyz>
         <limit>
@@ -2658,8 +2658,8 @@
     </link>
     <joint name="front_right_flipper_wheel4_j" type="revolute">
       <pose relative_to="front_right_flipper">-0.2475 0 0 0 -0 0</pose>
-      <child>front_right_flipper_wheel4</child>
       <parent>front_right_flipper</parent>
+      <child>front_right_flipper_wheel4</child>
       <axis>
         <xyz>0 1 0</xyz>
         <limit>
@@ -2715,8 +2715,8 @@
     </link>
     <joint name="front_right_flipper_wheel5_j" type="revolute">
       <pose relative_to="front_right_flipper">-0.33 0 0 0 -0 0</pose>
-      <child>front_right_flipper_wheel5</child>
       <parent>front_right_flipper</parent>
+      <child>front_right_flipper_wheel5</child>
       <axis>
         <xyz>0 1 0</xyz>
         <limit>
@@ -2769,8 +2769,8 @@
     </link>
     <joint name="rear_right_flipper_j" type="revolute">
       <pose relative_to="right_track">-0.25 -0.0735 0.0195 0 -0.193732 0</pose>
-      <child>rear_right_flipper</child>
       <parent>right_track</parent>
+      <child>rear_right_flipper</child>
       <axis>
         <xyz>0 1 0</xyz>
         <limit>
@@ -2838,8 +2838,8 @@
     </link>
     <joint name="rear_right_flipper_wheel1_j" type="revolute">
       <pose relative_to="rear_right_flipper">0 0 0 0 -0 0</pose>
-      <child>rear_right_flipper_wheel1</child>
       <parent>rear_right_flipper</parent>
+      <child>rear_right_flipper_wheel1</child>
       <axis>
         <xyz>0 1 0</xyz>
         <limit>
@@ -2895,8 +2895,8 @@
     </link>
     <joint name="rear_right_flipper_wheel2_j" type="revolute">
       <pose relative_to="rear_right_flipper">-0.0825 0 0 0 -0 0</pose>
-      <child>rear_right_flipper_wheel2</child>
       <parent>rear_right_flipper</parent>
+      <child>rear_right_flipper_wheel2</child>
       <axis>
         <xyz>0 1 0</xyz>
         <limit>
@@ -2952,8 +2952,8 @@
     </link>
     <joint name="rear_right_flipper_wheel3_j" type="revolute">
       <pose relative_to="rear_right_flipper">-0.165 0 0 0 -0 0</pose>
-      <child>rear_right_flipper_wheel3</child>
       <parent>rear_right_flipper</parent>
+      <child>rear_right_flipper_wheel3</child>
       <axis>
         <xyz>0 1 0</xyz>
         <limit>
@@ -3009,8 +3009,8 @@
     </link>
     <joint name="rear_right_flipper_wheel4_j" type="revolute">
       <pose relative_to="rear_right_flipper">-0.2475 0 0 0 -0 0</pose>
-      <child>rear_right_flipper_wheel4</child>
       <parent>rear_right_flipper</parent>
+      <child>rear_right_flipper_wheel4</child>
       <axis>
         <xyz>0 1 0</xyz>
         <limit>
@@ -3066,8 +3066,8 @@
     </link>
     <joint name="rear_right_flipper_wheel5_j" type="revolute">
       <pose relative_to="rear_right_flipper">-0.33 0 0 0 -0 0</pose>
-      <child>rear_right_flipper_wheel5</child>
       <parent>rear_right_flipper</parent>
+      <child>rear_right_flipper_wheel5</child>
       <axis>
         <xyz>0 1 0</xyz>
         <limit>
@@ -3123,8 +3123,8 @@
     </link>
     <joint name="right_track_wheel1_j" type="revolute">
       <pose relative_to="right_track">0.25 0 0.01855 0 -0 0</pose>
-      <child>right_track_wheel1</child>
       <parent>right_track</parent>
+      <child>right_track_wheel1</child>
       <axis>
         <xyz>0 1 0</xyz>
         <limit>
@@ -3180,8 +3180,8 @@
     </link>
     <joint name="right_track_wheel2_j" type="revolute">
       <pose relative_to="right_track">0.178571 0 0.01855 0 -0 0</pose>
-      <child>right_track_wheel2</child>
       <parent>right_track</parent>
+      <child>right_track_wheel2</child>
       <axis>
         <xyz>0 1 0</xyz>
         <limit>
@@ -3237,8 +3237,8 @@
     </link>
     <joint name="right_track_wheel3_j" type="revolute">
       <pose relative_to="right_track">0.107143 0 0.01855 0 -0 0</pose>
-      <child>right_track_wheel3</child>
       <parent>right_track</parent>
+      <child>right_track_wheel3</child>
       <axis>
         <xyz>0 1 0</xyz>
         <limit>
@@ -3294,8 +3294,8 @@
     </link>
     <joint name="right_track_wheel4_j" type="revolute">
       <pose relative_to="right_track">0.035714 0 0.01855 0 -0 0</pose>
-      <child>right_track_wheel4</child>
       <parent>right_track</parent>
+      <child>right_track_wheel4</child>
       <axis>
         <xyz>0 1 0</xyz>
         <limit>
@@ -3351,8 +3351,8 @@
     </link>
     <joint name="right_track_wheel5_j" type="revolute">
       <pose relative_to="right_track">-0.035714 0 0.01855 0 -0 0</pose>
-      <child>right_track_wheel5</child>
       <parent>right_track</parent>
+      <child>right_track_wheel5</child>
       <axis>
         <xyz>0 1 0</xyz>
         <limit>
@@ -3408,8 +3408,8 @@
     </link>
     <joint name="right_track_wheel6_j" type="revolute">
       <pose relative_to="right_track">-0.107143 0 0.01855 0 -0 0</pose>
-      <child>right_track_wheel6</child>
       <parent>right_track</parent>
+      <child>right_track_wheel6</child>
       <axis>
         <xyz>0 1 0</xyz>
         <limit>
@@ -3465,8 +3465,8 @@
     </link>
     <joint name="right_track_wheel7_j" type="revolute">
       <pose relative_to="right_track">-0.178571 0 0.01855 0 -0 0</pose>
-      <child>right_track_wheel7</child>
       <parent>right_track</parent>
+      <child>right_track_wheel7</child>
       <axis>
         <xyz>0 1 0</xyz>
         <limit>
@@ -3522,8 +3522,8 @@
     </link>
     <joint name="right_track_wheel8_j" type="revolute">
       <pose relative_to="right_track">-0.25 0 0.01855 0 -0 0</pose>
-      <child>right_track_wheel8</child>
       <parent>right_track</parent>
+      <child>right_track_wheel8</child>
       <axis>
         <xyz>0 1 0</xyz>
         <limit>

From 69a5059ce7b4ebda0518e604af2002dc96966792 Mon Sep 17 00:00:00 2001
From: Martin Pecka <peckama2@fel.cvut.cz>
Date: Mon, 29 Mar 2021 20:26:33 +0200
Subject: [PATCH 08/51] Absolem: Sync Xacro: Move joint SDF above link.

---
 .../model.sdf                                 | 66 +++++++++----------
 1 file changed, 33 insertions(+), 33 deletions(-)

diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/model.sdf b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/model.sdf
index 7d4e60a3..2a8755cc 100644
--- a/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/model.sdf
+++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/model.sdf
@@ -1078,6 +1078,39 @@
         </lidar>
       </sensor>
     </link>
+    <joint name="left_track_j" type="revolute">
+      <pose relative_to="base_link">0 0.1985 0 0 -0 0</pose>
+      <parent>base_link</parent>
+      <child>left_track</child>
+      <axis>
+        <xyz>0 1 0</xyz>
+        <limit>
+          <lower>0</lower>
+          <upper>0</upper>
+          <effort>0</effort>
+          <velocity>4</velocity>
+        </limit>
+        <dynamics>
+          <spring_reference>0</spring_reference>
+          <spring_stiffness>0</spring_stiffness>
+        </dynamics>
+      </axis>
+      <physics>
+        <ode>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+        </ode>
+      </physics>
+      <physics>
+        <ode>
+          <implicit_spring_damper>1</implicit_spring_damper>
+          <cfm>0</cfm>
+          <erp>0.95</erp>
+        </ode>
+      </physics>
+    </joint>
     <link name="left_track">
       <pose relative_to="left_track_j">0 0 0 0 -0 0</pose>
       <inertial>
@@ -1116,39 +1149,6 @@
         </geometry>
       </visual>
     </link>
-    <joint name="left_track_j" type="revolute">
-      <pose relative_to="base_link">0 0.1985 0 0 -0 0</pose>
-      <parent>base_link</parent>
-      <child>left_track</child>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>0</lower>
-          <upper>0</upper>
-          <effort>0</effort>
-          <velocity>4</velocity>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-      </axis>
-      <physics>
-        <ode>
-          <limit>
-            <cfm>0</cfm>
-            <erp>0.2</erp>
-          </limit>
-        </ode>
-      </physics>
-      <physics>
-        <ode>
-          <implicit_spring_damper>1</implicit_spring_damper>
-          <cfm>0</cfm>
-          <erp>0.95</erp>
-        </ode>
-      </physics>
-    </joint>
     <link name="front_left_flipper">
       <pose relative_to="front_left_flipper_j">0 0 0 0 -0 0</pose>
       <inertial>

From 3869ea51d929328e6190a01618c9572df62b1490 Mon Sep 17 00:00:00 2001
From: Martin Pecka <peckama2@fel.cvut.cz>
Date: Mon, 29 Mar 2021 20:26:40 +0200
Subject: [PATCH 09/51] Absolem: Sync Xacro: Move joint SDF above link.

---
 .../model.sdf                                 | 56 +++++++++----------
 1 file changed, 28 insertions(+), 28 deletions(-)

diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/model.sdf b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/model.sdf
index 2a8755cc..85fb32c5 100644
--- a/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/model.sdf
+++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/model.sdf
@@ -1149,6 +1149,34 @@
         </geometry>
       </visual>
     </link>
+    <joint name="front_left_flipper_j" type="revolute">
+      <pose relative_to="left_track">0.25 0.0735 0.0195 0 0.193732 0</pose>
+      <parent>left_track</parent>
+      <child>front_left_flipper</child>
+      <axis>
+        <xyz>0 1 0</xyz>
+        <limit>
+          <lower>-1e+16</lower>
+          <upper>1e+16</upper>
+          <effort>20</effort>
+          <velocity>0.785398</velocity>
+        </limit>
+        <dynamics>
+          <spring_reference>0</spring_reference>
+          <spring_stiffness>0</spring_stiffness>
+        </dynamics>
+      </axis>
+      <physics>
+        <ode>
+          <implicit_spring_damper>1</implicit_spring_damper>
+          <cfm_damping>1</cfm_damping>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+        </ode>
+      </physics>
+    </joint>
     <link name="front_left_flipper">
       <pose relative_to="front_left_flipper_j">0 0 0 0 -0 0</pose>
       <inertial>
@@ -1187,34 +1215,6 @@
         </geometry>
       </visual>
     </link>
-    <joint name="front_left_flipper_j" type="revolute">
-      <pose relative_to="left_track">0.25 0.0735 0.0195 0 0.193732 0</pose>
-      <parent>left_track</parent>
-      <child>front_left_flipper</child>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>20</effort>
-          <velocity>0.785398</velocity>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-      </axis>
-      <physics>
-        <ode>
-          <implicit_spring_damper>1</implicit_spring_damper>
-          <cfm_damping>1</cfm_damping>
-          <limit>
-            <cfm>0</cfm>
-            <erp>0.2</erp>
-          </limit>
-        </ode>
-      </physics>
-    </joint>
     <link name="front_left_flipper_wheel1">
       <pose relative_to="front_left_flipper_wheel1_j">0 0 0 0 -0 0</pose>
       <inertial>

From eb49c28ffe3994b20eceb79e9a5101a43dc7808c Mon Sep 17 00:00:00 2001
From: Martin Pecka <peckama2@fel.cvut.cz>
Date: Mon, 29 Mar 2021 20:26:47 +0200
Subject: [PATCH 10/51] Absolem: Sync Xacro: Move joint SDF above link.

---
 .../model.sdf                                 | 32 +++++++++----------
 1 file changed, 16 insertions(+), 16 deletions(-)

diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/model.sdf b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/model.sdf
index 85fb32c5..852ed416 100644
--- a/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/model.sdf
+++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/model.sdf
@@ -1215,6 +1215,22 @@
         </geometry>
       </visual>
     </link>
+    <joint name="front_left_flipper_wheel1_j" type="revolute">
+      <pose relative_to="front_left_flipper">0 0 0 0 -0 0</pose>
+      <parent>front_left_flipper</parent>
+      <child>front_left_flipper_wheel1</child>
+      <axis>
+        <xyz>0 1 0</xyz>
+        <limit>
+          <lower>-1e+16</lower>
+          <upper>1e+16</upper>
+        </limit>
+        <dynamics>
+          <spring_reference>0</spring_reference>
+          <spring_stiffness>0</spring_stiffness>
+        </dynamics>
+      </axis>
+    </joint>
     <link name="front_left_flipper_wheel1">
       <pose relative_to="front_left_flipper_wheel1_j">0 0 0 0 -0 0</pose>
       <inertial>
@@ -1256,22 +1272,6 @@
         </surface>
       </collision>
     </link>
-    <joint name="front_left_flipper_wheel1_j" type="revolute">
-      <pose relative_to="front_left_flipper">0 0 0 0 -0 0</pose>
-      <parent>front_left_flipper</parent>
-      <child>front_left_flipper_wheel1</child>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-      </axis>
-    </joint>
     <link name="front_left_flipper_wheel2">
       <pose relative_to="front_left_flipper_wheel2_j">0 0 0 0 -0 0</pose>
       <inertial>

From 89038655e9d08d34dd62db8db98c3361c976e917 Mon Sep 17 00:00:00 2001
From: Martin Pecka <peckama2@fel.cvut.cz>
Date: Mon, 29 Mar 2021 20:26:52 +0200
Subject: [PATCH 11/51] Absolem: Sync Xacro: Move joint SDF above link.

---
 .../model.sdf                                 | 32 +++++++++----------
 1 file changed, 16 insertions(+), 16 deletions(-)

diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/model.sdf b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/model.sdf
index 852ed416..15d034f2 100644
--- a/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/model.sdf
+++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/model.sdf
@@ -1272,6 +1272,22 @@
         </surface>
       </collision>
     </link>
+    <joint name="front_left_flipper_wheel2_j" type="revolute">
+      <pose relative_to="front_left_flipper">0.0825 0 0 0 -0 0</pose>
+      <parent>front_left_flipper</parent>
+      <child>front_left_flipper_wheel2</child>
+      <axis>
+        <xyz>0 1 0</xyz>
+        <limit>
+          <lower>-1e+16</lower>
+          <upper>1e+16</upper>
+        </limit>
+        <dynamics>
+          <spring_reference>0</spring_reference>
+          <spring_stiffness>0</spring_stiffness>
+        </dynamics>
+      </axis>
+    </joint>
     <link name="front_left_flipper_wheel2">
       <pose relative_to="front_left_flipper_wheel2_j">0 0 0 0 -0 0</pose>
       <inertial>
@@ -1313,22 +1329,6 @@
         </surface>
       </collision>
     </link>
-    <joint name="front_left_flipper_wheel2_j" type="revolute">
-      <pose relative_to="front_left_flipper">0.0825 0 0 0 -0 0</pose>
-      <parent>front_left_flipper</parent>
-      <child>front_left_flipper_wheel2</child>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-      </axis>
-    </joint>
     <link name="front_left_flipper_wheel3">
       <pose relative_to="front_left_flipper_wheel3_j">0 0 0 0 -0 0</pose>
       <inertial>

From 4d4ab4598b0c9fc641931ac88ef9b2d84fe15565 Mon Sep 17 00:00:00 2001
From: Martin Pecka <peckama2@fel.cvut.cz>
Date: Mon, 29 Mar 2021 20:26:57 +0200
Subject: [PATCH 12/51] Absolem: Sync Xacro: Move joint SDF above link.

---
 .../model.sdf                                 | 32 +++++++++----------
 1 file changed, 16 insertions(+), 16 deletions(-)

diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/model.sdf b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/model.sdf
index 15d034f2..18c67c76 100644
--- a/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/model.sdf
+++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/model.sdf
@@ -1329,6 +1329,22 @@
         </surface>
       </collision>
     </link>
+    <joint name="front_left_flipper_wheel3_j" type="revolute">
+      <pose relative_to="front_left_flipper">0.165 0 0 0 -0 0</pose>
+      <parent>front_left_flipper</parent>
+      <child>front_left_flipper_wheel3</child>
+      <axis>
+        <xyz>0 1 0</xyz>
+        <limit>
+          <lower>-1e+16</lower>
+          <upper>1e+16</upper>
+        </limit>
+        <dynamics>
+          <spring_reference>0</spring_reference>
+          <spring_stiffness>0</spring_stiffness>
+        </dynamics>
+      </axis>
+    </joint>
     <link name="front_left_flipper_wheel3">
       <pose relative_to="front_left_flipper_wheel3_j">0 0 0 0 -0 0</pose>
       <inertial>
@@ -1370,22 +1386,6 @@
         </surface>
       </collision>
     </link>
-    <joint name="front_left_flipper_wheel3_j" type="revolute">
-      <pose relative_to="front_left_flipper">0.165 0 0 0 -0 0</pose>
-      <parent>front_left_flipper</parent>
-      <child>front_left_flipper_wheel3</child>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-      </axis>
-    </joint>
     <link name="front_left_flipper_wheel4">
       <pose relative_to="front_left_flipper_wheel4_j">0 0 0 0 -0 0</pose>
       <inertial>

From f53df7604b97100b3c652a7e76a7cff985aed739 Mon Sep 17 00:00:00 2001
From: Martin Pecka <peckama2@fel.cvut.cz>
Date: Mon, 29 Mar 2021 20:27:05 +0200
Subject: [PATCH 13/51] Absolem: Sync Xacro: Move joint SDF above link.

---
 .../model.sdf                                 | 32 +++++++++----------
 1 file changed, 16 insertions(+), 16 deletions(-)

diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/model.sdf b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/model.sdf
index 18c67c76..ff74382e 100644
--- a/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/model.sdf
+++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/model.sdf
@@ -1386,6 +1386,22 @@
         </surface>
       </collision>
     </link>
+    <joint name="front_left_flipper_wheel4_j" type="revolute">
+      <pose relative_to="front_left_flipper">0.2475 0 0 0 -0 0</pose>
+      <parent>front_left_flipper</parent>
+      <child>front_left_flipper_wheel4</child>
+      <axis>
+        <xyz>0 1 0</xyz>
+        <limit>
+          <lower>-1e+16</lower>
+          <upper>1e+16</upper>
+        </limit>
+        <dynamics>
+          <spring_reference>0</spring_reference>
+          <spring_stiffness>0</spring_stiffness>
+        </dynamics>
+      </axis>
+    </joint>
     <link name="front_left_flipper_wheel4">
       <pose relative_to="front_left_flipper_wheel4_j">0 0 0 0 -0 0</pose>
       <inertial>
@@ -1427,22 +1443,6 @@
         </surface>
       </collision>
     </link>
-    <joint name="front_left_flipper_wheel4_j" type="revolute">
-      <pose relative_to="front_left_flipper">0.2475 0 0 0 -0 0</pose>
-      <parent>front_left_flipper</parent>
-      <child>front_left_flipper_wheel4</child>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-      </axis>
-    </joint>
     <link name="front_left_flipper_wheel5">
       <pose relative_to="front_left_flipper_wheel5_j">0 0 0 0 -0 0</pose>
       <inertial>

From 9f38efad82d973ef6819236d24f78ca939c2c572 Mon Sep 17 00:00:00 2001
From: Martin Pecka <peckama2@fel.cvut.cz>
Date: Mon, 29 Mar 2021 20:27:15 +0200
Subject: [PATCH 14/51] Absolem: Sync Xacro: Move joint SDF above link.

---
 .../model.sdf                                 | 32 +++++++++----------
 1 file changed, 16 insertions(+), 16 deletions(-)

diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/model.sdf b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/model.sdf
index ff74382e..17bd4fa0 100644
--- a/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/model.sdf
+++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/model.sdf
@@ -1443,6 +1443,22 @@
         </surface>
       </collision>
     </link>
+    <joint name="front_left_flipper_wheel5_j" type="revolute">
+      <pose relative_to="front_left_flipper">0.33 0 0 0 -0 0</pose>
+      <parent>front_left_flipper</parent>
+      <child>front_left_flipper_wheel5</child>
+      <axis>
+        <xyz>0 1 0</xyz>
+        <limit>
+          <lower>-1e+16</lower>
+          <upper>1e+16</upper>
+        </limit>
+        <dynamics>
+          <spring_reference>0</spring_reference>
+          <spring_stiffness>0</spring_stiffness>
+        </dynamics>
+      </axis>
+    </joint>
     <link name="front_left_flipper_wheel5">
       <pose relative_to="front_left_flipper_wheel5_j">0 0 0 0 -0 0</pose>
       <inertial>
@@ -1484,22 +1500,6 @@
         </surface>
       </collision>
     </link>
-    <joint name="front_left_flipper_wheel5_j" type="revolute">
-      <pose relative_to="front_left_flipper">0.33 0 0 0 -0 0</pose>
-      <parent>front_left_flipper</parent>
-      <child>front_left_flipper_wheel5</child>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-      </axis>
-    </joint>
     <link name="left_track_wheel1">
       <pose relative_to="left_track_wheel1_j">0 0 0 0 -0 0</pose>
       <inertial>

From e9decf113fb2bf265f040bc70a7b8613c2fac47a Mon Sep 17 00:00:00 2001
From: Martin Pecka <peckama2@fel.cvut.cz>
Date: Mon, 29 Mar 2021 20:27:19 +0200
Subject: [PATCH 15/51] Absolem: Sync Xacro: Move joint SDF above link.

---
 .../model.sdf                                 | 32 +++++++++----------
 1 file changed, 16 insertions(+), 16 deletions(-)

diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/model.sdf b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/model.sdf
index 17bd4fa0..c225f7e2 100644
--- a/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/model.sdf
+++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/model.sdf
@@ -1500,6 +1500,22 @@
         </surface>
       </collision>
     </link>
+    <joint name="left_track_wheel1_j" type="revolute">
+      <pose relative_to="left_track">0.25 0 0.01855 0 -0 0</pose>
+      <parent>left_track</parent>
+      <child>left_track_wheel1</child>
+      <axis>
+        <xyz>0 1 0</xyz>
+        <limit>
+          <lower>-1e+16</lower>
+          <upper>1e+16</upper>
+        </limit>
+        <dynamics>
+          <spring_reference>0</spring_reference>
+          <spring_stiffness>0</spring_stiffness>
+        </dynamics>
+      </axis>
+    </joint>
     <link name="left_track_wheel1">
       <pose relative_to="left_track_wheel1_j">0 0 0 0 -0 0</pose>
       <inertial>
@@ -1541,22 +1557,6 @@
         </surface>
       </collision>
     </link>
-    <joint name="left_track_wheel1_j" type="revolute">
-      <pose relative_to="left_track">0.25 0 0.01855 0 -0 0</pose>
-      <parent>left_track</parent>
-      <child>left_track_wheel1</child>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-      </axis>
-    </joint>
     <link name="left_track_wheel2">
       <pose relative_to="left_track_wheel2_j">0 0 0 0 -0 0</pose>
       <inertial>

From af1519e47a171a8086d1e6feea24dabb5de01a1c Mon Sep 17 00:00:00 2001
From: Martin Pecka <peckama2@fel.cvut.cz>
Date: Mon, 29 Mar 2021 20:27:25 +0200
Subject: [PATCH 16/51] Absolem: Sync Xacro: Move joint SDF above link.

---
 .../model.sdf                                 | 32 +++++++++----------
 1 file changed, 16 insertions(+), 16 deletions(-)

diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/model.sdf b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/model.sdf
index c225f7e2..8271060d 100644
--- a/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/model.sdf
+++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/model.sdf
@@ -1557,6 +1557,22 @@
         </surface>
       </collision>
     </link>
+    <joint name="left_track_wheel2_j" type="revolute">
+      <pose relative_to="left_track">0.178571 0 0.01855 0 -0 0</pose>
+      <parent>left_track</parent>
+      <child>left_track_wheel2</child>
+      <axis>
+        <xyz>0 1 0</xyz>
+        <limit>
+          <lower>-1e+16</lower>
+          <upper>1e+16</upper>
+        </limit>
+        <dynamics>
+          <spring_reference>0</spring_reference>
+          <spring_stiffness>0</spring_stiffness>
+        </dynamics>
+      </axis>
+    </joint>
     <link name="left_track_wheel2">
       <pose relative_to="left_track_wheel2_j">0 0 0 0 -0 0</pose>
       <inertial>
@@ -1598,22 +1614,6 @@
         </surface>
       </collision>
     </link>
-    <joint name="left_track_wheel2_j" type="revolute">
-      <pose relative_to="left_track">0.178571 0 0.01855 0 -0 0</pose>
-      <parent>left_track</parent>
-      <child>left_track_wheel2</child>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-      </axis>
-    </joint>
     <link name="left_track_wheel3">
       <pose relative_to="left_track_wheel3_j">0 0 0 0 -0 0</pose>
       <inertial>

From 5ae762306a7bd39aaddc11ebee607b8608ff67cf Mon Sep 17 00:00:00 2001
From: Martin Pecka <peckama2@fel.cvut.cz>
Date: Mon, 29 Mar 2021 20:27:30 +0200
Subject: [PATCH 17/51] Absolem: Sync Xacro: Move joint SDF above link.

---
 .../model.sdf                                 | 32 +++++++++----------
 1 file changed, 16 insertions(+), 16 deletions(-)

diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/model.sdf b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/model.sdf
index 8271060d..4b86b227 100644
--- a/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/model.sdf
+++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/model.sdf
@@ -1614,6 +1614,22 @@
         </surface>
       </collision>
     </link>
+    <joint name="left_track_wheel3_j" type="revolute">
+      <pose relative_to="left_track">0.107143 0 0.01855 0 -0 0</pose>
+      <parent>left_track</parent>
+      <child>left_track_wheel3</child>
+      <axis>
+        <xyz>0 1 0</xyz>
+        <limit>
+          <lower>-1e+16</lower>
+          <upper>1e+16</upper>
+        </limit>
+        <dynamics>
+          <spring_reference>0</spring_reference>
+          <spring_stiffness>0</spring_stiffness>
+        </dynamics>
+      </axis>
+    </joint>
     <link name="left_track_wheel3">
       <pose relative_to="left_track_wheel3_j">0 0 0 0 -0 0</pose>
       <inertial>
@@ -1655,22 +1671,6 @@
         </surface>
       </collision>
     </link>
-    <joint name="left_track_wheel3_j" type="revolute">
-      <pose relative_to="left_track">0.107143 0 0.01855 0 -0 0</pose>
-      <parent>left_track</parent>
-      <child>left_track_wheel3</child>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-      </axis>
-    </joint>
     <link name="left_track_wheel4">
       <pose relative_to="left_track_wheel4_j">0 0 0 0 -0 0</pose>
       <inertial>

From 0545cd42d52c38c5cf54f2d4e27cebfdfc22a417 Mon Sep 17 00:00:00 2001
From: Martin Pecka <peckama2@fel.cvut.cz>
Date: Mon, 29 Mar 2021 20:27:35 +0200
Subject: [PATCH 18/51] Absolem: Sync Xacro: Move joint SDF above link.

---
 .../model.sdf                                 | 32 +++++++++----------
 1 file changed, 16 insertions(+), 16 deletions(-)

diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/model.sdf b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/model.sdf
index 4b86b227..fe4db582 100644
--- a/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/model.sdf
+++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/model.sdf
@@ -1671,6 +1671,22 @@
         </surface>
       </collision>
     </link>
+    <joint name="left_track_wheel4_j" type="revolute">
+      <pose relative_to="left_track">0.035714 0 0.01855 0 -0 0</pose>
+      <parent>left_track</parent>
+      <child>left_track_wheel4</child>
+      <axis>
+        <xyz>0 1 0</xyz>
+        <limit>
+          <lower>-1e+16</lower>
+          <upper>1e+16</upper>
+        </limit>
+        <dynamics>
+          <spring_reference>0</spring_reference>
+          <spring_stiffness>0</spring_stiffness>
+        </dynamics>
+      </axis>
+    </joint>
     <link name="left_track_wheel4">
       <pose relative_to="left_track_wheel4_j">0 0 0 0 -0 0</pose>
       <inertial>
@@ -1712,22 +1728,6 @@
         </surface>
       </collision>
     </link>
-    <joint name="left_track_wheel4_j" type="revolute">
-      <pose relative_to="left_track">0.035714 0 0.01855 0 -0 0</pose>
-      <parent>left_track</parent>
-      <child>left_track_wheel4</child>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-      </axis>
-    </joint>
     <link name="left_track_wheel5">
       <pose relative_to="left_track_wheel5_j">0 0 0 0 -0 0</pose>
       <inertial>

From 81b32e0fe26772954b00c105787aeeed87979f3c Mon Sep 17 00:00:00 2001
From: Martin Pecka <peckama2@fel.cvut.cz>
Date: Mon, 29 Mar 2021 20:27:40 +0200
Subject: [PATCH 19/51] Absolem: Sync Xacro: Move joint SDF above link.

---
 .../model.sdf                                 | 32 +++++++++----------
 1 file changed, 16 insertions(+), 16 deletions(-)

diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/model.sdf b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/model.sdf
index fe4db582..829166f3 100644
--- a/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/model.sdf
+++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/model.sdf
@@ -1728,6 +1728,22 @@
         </surface>
       </collision>
     </link>
+    <joint name="left_track_wheel5_j" type="revolute">
+      <pose relative_to="left_track">-0.035714 0 0.01855 0 -0 0</pose>
+      <parent>left_track</parent>
+      <child>left_track_wheel5</child>
+      <axis>
+        <xyz>0 1 0</xyz>
+        <limit>
+          <lower>-1e+16</lower>
+          <upper>1e+16</upper>
+        </limit>
+        <dynamics>
+          <spring_reference>0</spring_reference>
+          <spring_stiffness>0</spring_stiffness>
+        </dynamics>
+      </axis>
+    </joint>
     <link name="left_track_wheel5">
       <pose relative_to="left_track_wheel5_j">0 0 0 0 -0 0</pose>
       <inertial>
@@ -1769,22 +1785,6 @@
         </surface>
       </collision>
     </link>
-    <joint name="left_track_wheel5_j" type="revolute">
-      <pose relative_to="left_track">-0.035714 0 0.01855 0 -0 0</pose>
-      <parent>left_track</parent>
-      <child>left_track_wheel5</child>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-      </axis>
-    </joint>
     <link name="left_track_wheel6">
       <pose relative_to="left_track_wheel6_j">0 0 0 0 -0 0</pose>
       <inertial>

From 8a77ca5f78762cbcd72f0fbe17cbe4fe87921a4b Mon Sep 17 00:00:00 2001
From: Martin Pecka <peckama2@fel.cvut.cz>
Date: Mon, 29 Mar 2021 20:27:46 +0200
Subject: [PATCH 20/51] Absolem: Sync Xacro: Move joint SDF above link.

---
 .../model.sdf                                 | 32 +++++++++----------
 1 file changed, 16 insertions(+), 16 deletions(-)

diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/model.sdf b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/model.sdf
index 829166f3..5272a9bc 100644
--- a/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/model.sdf
+++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/model.sdf
@@ -1785,6 +1785,22 @@
         </surface>
       </collision>
     </link>
+    <joint name="left_track_wheel6_j" type="revolute">
+      <pose relative_to="left_track">-0.107143 0 0.01855 0 -0 0</pose>
+      <parent>left_track</parent>
+      <child>left_track_wheel6</child>
+      <axis>
+        <xyz>0 1 0</xyz>
+        <limit>
+          <lower>-1e+16</lower>
+          <upper>1e+16</upper>
+        </limit>
+        <dynamics>
+          <spring_reference>0</spring_reference>
+          <spring_stiffness>0</spring_stiffness>
+        </dynamics>
+      </axis>
+    </joint>
     <link name="left_track_wheel6">
       <pose relative_to="left_track_wheel6_j">0 0 0 0 -0 0</pose>
       <inertial>
@@ -1826,22 +1842,6 @@
         </surface>
       </collision>
     </link>
-    <joint name="left_track_wheel6_j" type="revolute">
-      <pose relative_to="left_track">-0.107143 0 0.01855 0 -0 0</pose>
-      <parent>left_track</parent>
-      <child>left_track_wheel6</child>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-      </axis>
-    </joint>
     <link name="left_track_wheel7">
       <pose relative_to="left_track_wheel7_j">0 0 0 0 -0 0</pose>
       <inertial>

From de566a8ccdf83b80994d33aeee1dbe0e3436fdb0 Mon Sep 17 00:00:00 2001
From: Martin Pecka <peckama2@fel.cvut.cz>
Date: Mon, 29 Mar 2021 20:27:51 +0200
Subject: [PATCH 21/51] Absolem: Sync Xacro: Move joint SDF above link.

---
 .../model.sdf                                 | 32 +++++++++----------
 1 file changed, 16 insertions(+), 16 deletions(-)

diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/model.sdf b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/model.sdf
index 5272a9bc..38fa92d2 100644
--- a/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/model.sdf
+++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/model.sdf
@@ -1842,6 +1842,22 @@
         </surface>
       </collision>
     </link>
+    <joint name="left_track_wheel7_j" type="revolute">
+      <pose relative_to="left_track">-0.178571 0 0.01855 0 -0 0</pose>
+      <parent>left_track</parent>
+      <child>left_track_wheel7</child>
+      <axis>
+        <xyz>0 1 0</xyz>
+        <limit>
+          <lower>-1e+16</lower>
+          <upper>1e+16</upper>
+        </limit>
+        <dynamics>
+          <spring_reference>0</spring_reference>
+          <spring_stiffness>0</spring_stiffness>
+        </dynamics>
+      </axis>
+    </joint>
     <link name="left_track_wheel7">
       <pose relative_to="left_track_wheel7_j">0 0 0 0 -0 0</pose>
       <inertial>
@@ -1883,22 +1899,6 @@
         </surface>
       </collision>
     </link>
-    <joint name="left_track_wheel7_j" type="revolute">
-      <pose relative_to="left_track">-0.178571 0 0.01855 0 -0 0</pose>
-      <parent>left_track</parent>
-      <child>left_track_wheel7</child>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-      </axis>
-    </joint>
     <link name="left_track_wheel8">
       <pose relative_to="left_track_wheel8_j">0 0 0 0 -0 0</pose>
       <inertial>

From 62b37e83314e032778641113ae7614ed085dfafc Mon Sep 17 00:00:00 2001
From: Martin Pecka <peckama2@fel.cvut.cz>
Date: Mon, 29 Mar 2021 20:27:58 +0200
Subject: [PATCH 22/51] Absolem: Sync Xacro: Move joint SDF above link.

---
 .../model.sdf                                 | 32 +++++++++----------
 1 file changed, 16 insertions(+), 16 deletions(-)

diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/model.sdf b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/model.sdf
index 38fa92d2..d8998998 100644
--- a/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/model.sdf
+++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/model.sdf
@@ -1899,6 +1899,22 @@
         </surface>
       </collision>
     </link>
+    <joint name="left_track_wheel8_j" type="revolute">
+      <pose relative_to="left_track">-0.25 0 0.01855 0 -0 0</pose>
+      <parent>left_track</parent>
+      <child>left_track_wheel8</child>
+      <axis>
+        <xyz>0 1 0</xyz>
+        <limit>
+          <lower>-1e+16</lower>
+          <upper>1e+16</upper>
+        </limit>
+        <dynamics>
+          <spring_reference>0</spring_reference>
+          <spring_stiffness>0</spring_stiffness>
+        </dynamics>
+      </axis>
+    </joint>
     <link name="left_track_wheel8">
       <pose relative_to="left_track_wheel8_j">0 0 0 0 -0 0</pose>
       <inertial>
@@ -1940,22 +1956,6 @@
         </surface>
       </collision>
     </link>
-    <joint name="left_track_wheel8_j" type="revolute">
-      <pose relative_to="left_track">-0.25 0 0.01855 0 -0 0</pose>
-      <parent>left_track</parent>
-      <child>left_track_wheel8</child>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-      </axis>
-    </joint>
     <link name="rear_left_flipper">
       <pose relative_to="rear_left_flipper_j">0 0 0 0 -0 0</pose>
       <inertial>

From ad6b250aac8d1ef0d918722a7c596907abce4e2a Mon Sep 17 00:00:00 2001
From: Martin Pecka <peckama2@fel.cvut.cz>
Date: Mon, 29 Mar 2021 20:28:03 +0200
Subject: [PATCH 23/51] Absolem: Sync Xacro: Move joint SDF above link.

---
 .../model.sdf                                 | 56 +++++++++----------
 1 file changed, 28 insertions(+), 28 deletions(-)

diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/model.sdf b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/model.sdf
index d8998998..00deb658 100644
--- a/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/model.sdf
+++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/model.sdf
@@ -1956,6 +1956,34 @@
         </surface>
       </collision>
     </link>
+    <joint name="rear_left_flipper_j" type="revolute">
+      <pose relative_to="left_track">-0.25 0.0735 0.0195 3.1415926535897931 0.193732 3.1415926535897931</pose>
+      <parent>left_track</parent>
+      <child>rear_left_flipper</child>
+      <axis>
+        <xyz>0 1 0</xyz>
+        <limit>
+          <lower>-1e+16</lower>
+          <upper>1e+16</upper>
+          <effort>20</effort>
+          <velocity>0.785398</velocity>
+        </limit>
+        <dynamics>
+          <spring_reference>0</spring_reference>
+          <spring_stiffness>0</spring_stiffness>
+        </dynamics>
+      </axis>
+      <physics>
+        <ode>
+          <implicit_spring_damper>1</implicit_spring_damper>
+          <cfm_damping>1</cfm_damping>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+        </ode>
+      </physics>
+    </joint>
     <link name="rear_left_flipper">
       <pose relative_to="rear_left_flipper_j">0 0 0 0 -0 0</pose>
       <inertial>
@@ -1994,34 +2022,6 @@
         </geometry>
       </visual>
     </link>
-    <joint name="rear_left_flipper_j" type="revolute">
-      <pose relative_to="left_track">-0.25 0.0735 0.0195 3.1415926535897931 0.193732 3.1415926535897931</pose>
-      <parent>left_track</parent>
-      <child>rear_left_flipper</child>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>20</effort>
-          <velocity>0.785398</velocity>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-      </axis>
-      <physics>
-        <ode>
-          <implicit_spring_damper>1</implicit_spring_damper>
-          <cfm_damping>1</cfm_damping>
-          <limit>
-            <cfm>0</cfm>
-            <erp>0.2</erp>
-          </limit>
-        </ode>
-      </physics>
-    </joint>
     <link name="rear_left_flipper_wheel1">
       <pose relative_to="rear_left_flipper_wheel1_j">0 0 0 0 -0 0</pose>
       <inertial>

From c69f02e8025583e9ea23fe7027faa1022f3766d2 Mon Sep 17 00:00:00 2001
From: Martin Pecka <peckama2@fel.cvut.cz>
Date: Mon, 29 Mar 2021 20:28:08 +0200
Subject: [PATCH 24/51] Absolem: Sync Xacro: Move joint SDF above link.

---
 .../model.sdf                                 | 32 +++++++++----------
 1 file changed, 16 insertions(+), 16 deletions(-)

diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/model.sdf b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/model.sdf
index 00deb658..b3b5df20 100644
--- a/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/model.sdf
+++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/model.sdf
@@ -2022,6 +2022,22 @@
         </geometry>
       </visual>
     </link>
+    <joint name="rear_left_flipper_wheel1_j" type="revolute">
+      <pose relative_to="rear_left_flipper">0 0 0 0 -0 0</pose>
+      <parent>rear_left_flipper</parent>
+      <child>rear_left_flipper_wheel1</child>
+      <axis>
+        <xyz>0 1 0</xyz>
+        <limit>
+          <lower>-1e+16</lower>
+          <upper>1e+16</upper>
+        </limit>
+        <dynamics>
+          <spring_reference>0</spring_reference>
+          <spring_stiffness>0</spring_stiffness>
+        </dynamics>
+      </axis>
+    </joint>
     <link name="rear_left_flipper_wheel1">
       <pose relative_to="rear_left_flipper_wheel1_j">0 0 0 0 -0 0</pose>
       <inertial>
@@ -2063,22 +2079,6 @@
         </surface>
       </collision>
     </link>
-    <joint name="rear_left_flipper_wheel1_j" type="revolute">
-      <pose relative_to="rear_left_flipper">0 0 0 0 -0 0</pose>
-      <parent>rear_left_flipper</parent>
-      <child>rear_left_flipper_wheel1</child>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-      </axis>
-    </joint>
     <link name="rear_left_flipper_wheel2">
       <pose relative_to="rear_left_flipper_wheel2_j">0 0 0 0 -0 0</pose>
       <inertial>

From a0f404b4d9ba193e1caa8489db10207847f1456f Mon Sep 17 00:00:00 2001
From: Martin Pecka <peckama2@fel.cvut.cz>
Date: Mon, 29 Mar 2021 20:28:15 +0200
Subject: [PATCH 25/51] Absolem: Sync Xacro: Move joint SDF above link.

---
 .../model.sdf                                 | 32 +++++++++----------
 1 file changed, 16 insertions(+), 16 deletions(-)

diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/model.sdf b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/model.sdf
index b3b5df20..ee5407b1 100644
--- a/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/model.sdf
+++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/model.sdf
@@ -2079,6 +2079,22 @@
         </surface>
       </collision>
     </link>
+    <joint name="rear_left_flipper_wheel2_j" type="revolute">
+      <pose relative_to="rear_left_flipper">0.0825 0 0 0 -0 0</pose>
+      <parent>rear_left_flipper</parent>
+      <child>rear_left_flipper_wheel2</child>
+      <axis>
+        <xyz>0 1 0</xyz>
+        <limit>
+          <lower>-1e+16</lower>
+          <upper>1e+16</upper>
+        </limit>
+        <dynamics>
+          <spring_reference>0</spring_reference>
+          <spring_stiffness>0</spring_stiffness>
+        </dynamics>
+      </axis>
+    </joint>
     <link name="rear_left_flipper_wheel2">
       <pose relative_to="rear_left_flipper_wheel2_j">0 0 0 0 -0 0</pose>
       <inertial>
@@ -2120,22 +2136,6 @@
         </surface>
       </collision>
     </link>
-    <joint name="rear_left_flipper_wheel2_j" type="revolute">
-      <pose relative_to="rear_left_flipper">0.0825 0 0 0 -0 0</pose>
-      <parent>rear_left_flipper</parent>
-      <child>rear_left_flipper_wheel2</child>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-      </axis>
-    </joint>
     <link name="rear_left_flipper_wheel3">
       <pose relative_to="rear_left_flipper_wheel3_j">0 0 0 0 -0 0</pose>
       <inertial>

From 9d986fee764fb1c8ec68464cd97358cf1e8a26fa Mon Sep 17 00:00:00 2001
From: Martin Pecka <peckama2@fel.cvut.cz>
Date: Mon, 29 Mar 2021 20:28:20 +0200
Subject: [PATCH 26/51] Absolem: Sync Xacro: Move joint SDF above link.

---
 .../model.sdf                                 | 32 +++++++++----------
 1 file changed, 16 insertions(+), 16 deletions(-)

diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/model.sdf b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/model.sdf
index ee5407b1..b0bfc33d 100644
--- a/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/model.sdf
+++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/model.sdf
@@ -2136,6 +2136,22 @@
         </surface>
       </collision>
     </link>
+    <joint name="rear_left_flipper_wheel3_j" type="revolute">
+      <pose relative_to="rear_left_flipper">0.165 0 0 0 -0 0</pose>
+      <parent>rear_left_flipper</parent>
+      <child>rear_left_flipper_wheel3</child>
+      <axis>
+        <xyz>0 1 0</xyz>
+        <limit>
+          <lower>-1e+16</lower>
+          <upper>1e+16</upper>
+        </limit>
+        <dynamics>
+          <spring_reference>0</spring_reference>
+          <spring_stiffness>0</spring_stiffness>
+        </dynamics>
+      </axis>
+    </joint>
     <link name="rear_left_flipper_wheel3">
       <pose relative_to="rear_left_flipper_wheel3_j">0 0 0 0 -0 0</pose>
       <inertial>
@@ -2177,22 +2193,6 @@
         </surface>
       </collision>
     </link>
-    <joint name="rear_left_flipper_wheel3_j" type="revolute">
-      <pose relative_to="rear_left_flipper">0.165 0 0 0 -0 0</pose>
-      <parent>rear_left_flipper</parent>
-      <child>rear_left_flipper_wheel3</child>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-      </axis>
-    </joint>
     <link name="rear_left_flipper_wheel4">
       <pose relative_to="rear_left_flipper_wheel4_j">0 0 0 0 -0 0</pose>
       <inertial>

From 2a0eac1fd4465c44b85eee0b996795dec0268c7a Mon Sep 17 00:00:00 2001
From: Martin Pecka <peckama2@fel.cvut.cz>
Date: Mon, 29 Mar 2021 20:28:25 +0200
Subject: [PATCH 27/51] Absolem: Sync Xacro: Move joint SDF above link.

---
 .../model.sdf                                 | 32 +++++++++----------
 1 file changed, 16 insertions(+), 16 deletions(-)

diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/model.sdf b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/model.sdf
index b0bfc33d..fb82356b 100644
--- a/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/model.sdf
+++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/model.sdf
@@ -2193,6 +2193,22 @@
         </surface>
       </collision>
     </link>
+    <joint name="rear_left_flipper_wheel4_j" type="revolute">
+      <pose relative_to="rear_left_flipper">0.2475 0 0 0 -0 0</pose>
+      <parent>rear_left_flipper</parent>
+      <child>rear_left_flipper_wheel4</child>
+      <axis>
+        <xyz>0 1 0</xyz>
+        <limit>
+          <lower>-1e+16</lower>
+          <upper>1e+16</upper>
+        </limit>
+        <dynamics>
+          <spring_reference>0</spring_reference>
+          <spring_stiffness>0</spring_stiffness>
+        </dynamics>
+      </axis>
+    </joint>
     <link name="rear_left_flipper_wheel4">
       <pose relative_to="rear_left_flipper_wheel4_j">0 0 0 0 -0 0</pose>
       <inertial>
@@ -2234,22 +2250,6 @@
         </surface>
       </collision>
     </link>
-    <joint name="rear_left_flipper_wheel4_j" type="revolute">
-      <pose relative_to="rear_left_flipper">0.2475 0 0 0 -0 0</pose>
-      <parent>rear_left_flipper</parent>
-      <child>rear_left_flipper_wheel4</child>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-      </axis>
-    </joint>
     <link name="rear_left_flipper_wheel5">
       <pose relative_to="rear_left_flipper_wheel5_j">0 0 0 0 -0 0</pose>
       <inertial>

From b6c82e972a2b82459ade0b0738ce288537050f4f Mon Sep 17 00:00:00 2001
From: Martin Pecka <peckama2@fel.cvut.cz>
Date: Mon, 29 Mar 2021 20:28:30 +0200
Subject: [PATCH 28/51] Absolem: Sync Xacro: Move joint SDF above link.

---
 .../model.sdf                                 | 32 +++++++++----------
 1 file changed, 16 insertions(+), 16 deletions(-)

diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/model.sdf b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/model.sdf
index fb82356b..2c6a8526 100644
--- a/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/model.sdf
+++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/model.sdf
@@ -2250,6 +2250,22 @@
         </surface>
       </collision>
     </link>
+    <joint name="rear_left_flipper_wheel5_j" type="revolute">
+      <pose relative_to="rear_left_flipper">0.33 0 0 0 -0 0</pose>
+      <parent>rear_left_flipper</parent>
+      <child>rear_left_flipper_wheel5</child>
+      <axis>
+        <xyz>0 1 0</xyz>
+        <limit>
+          <lower>-1e+16</lower>
+          <upper>1e+16</upper>
+        </limit>
+        <dynamics>
+          <spring_reference>0</spring_reference>
+          <spring_stiffness>0</spring_stiffness>
+        </dynamics>
+      </axis>
+    </joint>
     <link name="rear_left_flipper_wheel5">
       <pose relative_to="rear_left_flipper_wheel5_j">0 0 0 0 -0 0</pose>
       <inertial>
@@ -2291,22 +2307,6 @@
         </surface>
       </collision>
     </link>
-    <joint name="rear_left_flipper_wheel5_j" type="revolute">
-      <pose relative_to="rear_left_flipper">0.33 0 0 0 -0 0</pose>
-      <parent>rear_left_flipper</parent>
-      <child>rear_left_flipper_wheel5</child>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-      </axis>
-    </joint>
     <link name="right_track">
       <pose relative_to="right_track_j">0 0 0 0 -0 0</pose>
       <inertial>

From 8d3d8cd57ec1399e7b53841c83787bf2f9fccb32 Mon Sep 17 00:00:00 2001
From: Martin Pecka <peckama2@fel.cvut.cz>
Date: Mon, 29 Mar 2021 20:28:36 +0200
Subject: [PATCH 29/51] Absolem: Sync Xacro: Move joint SDF above link.

---
 .../model.sdf                                 | 66 +++++++++----------
 1 file changed, 33 insertions(+), 33 deletions(-)

diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/model.sdf b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/model.sdf
index 2c6a8526..9990481d 100644
--- a/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/model.sdf
+++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/model.sdf
@@ -2307,6 +2307,39 @@
         </surface>
       </collision>
     </link>
+    <joint name="right_track_j" type="revolute">
+      <pose relative_to="base_link">0 -0.1985 0 0 -0 0</pose>
+      <parent>base_link</parent>
+      <child>right_track</child>
+      <axis>
+        <xyz>0 1 0</xyz>
+        <limit>
+          <lower>0</lower>
+          <upper>0</upper>
+          <effort>0</effort>
+          <velocity>4</velocity>
+        </limit>
+        <dynamics>
+          <spring_reference>0</spring_reference>
+          <spring_stiffness>0</spring_stiffness>
+        </dynamics>
+      </axis>
+      <physics>
+        <ode>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+        </ode>
+      </physics>
+      <physics>
+        <ode>
+          <implicit_spring_damper>1</implicit_spring_damper>
+          <cfm>0</cfm>
+          <erp>0.95</erp>
+        </ode>
+      </physics>
+    </joint>
     <link name="right_track">
       <pose relative_to="right_track_j">0 0 0 0 -0 0</pose>
       <inertial>
@@ -2345,39 +2378,6 @@
         </geometry>
       </visual>
     </link>
-    <joint name="right_track_j" type="revolute">
-      <pose relative_to="base_link">0 -0.1985 0 0 -0 0</pose>
-      <parent>base_link</parent>
-      <child>right_track</child>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>0</lower>
-          <upper>0</upper>
-          <effort>0</effort>
-          <velocity>4</velocity>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-      </axis>
-      <physics>
-        <ode>
-          <limit>
-            <cfm>0</cfm>
-            <erp>0.2</erp>
-          </limit>
-        </ode>
-      </physics>
-      <physics>
-        <ode>
-          <implicit_spring_damper>1</implicit_spring_damper>
-          <cfm>0</cfm>
-          <erp>0.95</erp>
-        </ode>
-      </physics>
-    </joint>
     <link name="front_right_flipper">
       <pose relative_to="front_right_flipper_j">0 0 0 0 -0 0</pose>
       <inertial>

From 0f3ec4a9ee549af2a61fe4c803257343b9313ef3 Mon Sep 17 00:00:00 2001
From: Martin Pecka <peckama2@fel.cvut.cz>
Date: Mon, 29 Mar 2021 20:28:41 +0200
Subject: [PATCH 30/51] Absolem: Sync Xacro: Move joint SDF above link.

---
 .../model.sdf                                 | 56 +++++++++----------
 1 file changed, 28 insertions(+), 28 deletions(-)

diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/model.sdf b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/model.sdf
index 9990481d..16f7f7b5 100644
--- a/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/model.sdf
+++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/model.sdf
@@ -2378,6 +2378,34 @@
         </geometry>
       </visual>
     </link>
+    <joint name="front_right_flipper_j" type="revolute">
+      <pose relative_to="right_track">0.25 -0.0735 0.0195 3.1415926535897931 -0.193732 3.1415926535897931</pose>
+      <parent>right_track</parent>
+      <child>front_right_flipper</child>
+      <axis>
+        <xyz>0 1 0</xyz>
+        <limit>
+          <lower>-1e+16</lower>
+          <upper>1e+16</upper>
+          <effort>20</effort>
+          <velocity>0.785398</velocity>
+        </limit>
+        <dynamics>
+          <spring_reference>0</spring_reference>
+          <spring_stiffness>0</spring_stiffness>
+        </dynamics>
+      </axis>
+      <physics>
+        <ode>
+          <implicit_spring_damper>1</implicit_spring_damper>
+          <cfm_damping>1</cfm_damping>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+        </ode>
+      </physics>
+    </joint>
     <link name="front_right_flipper">
       <pose relative_to="front_right_flipper_j">0 0 0 0 -0 0</pose>
       <inertial>
@@ -2416,34 +2444,6 @@
         </geometry>
       </visual>
     </link>
-    <joint name="front_right_flipper_j" type="revolute">
-      <pose relative_to="right_track">0.25 -0.0735 0.0195 3.1415926535897931 -0.193732 3.1415926535897931</pose>
-      <parent>right_track</parent>
-      <child>front_right_flipper</child>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>20</effort>
-          <velocity>0.785398</velocity>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-      </axis>
-      <physics>
-        <ode>
-          <implicit_spring_damper>1</implicit_spring_damper>
-          <cfm_damping>1</cfm_damping>
-          <limit>
-            <cfm>0</cfm>
-            <erp>0.2</erp>
-          </limit>
-        </ode>
-      </physics>
-    </joint>
     <link name="front_right_flipper_wheel1">
       <pose relative_to="front_right_flipper_wheel1_j">0 0 0 0 -0 0</pose>
       <inertial>

From 331065cbd52f20572dce53e81a863e5fa0315568 Mon Sep 17 00:00:00 2001
From: Martin Pecka <peckama2@fel.cvut.cz>
Date: Mon, 29 Mar 2021 20:28:47 +0200
Subject: [PATCH 31/51] Absolem: Sync Xacro: Move joint SDF above link.

---
 .../model.sdf                                 | 32 +++++++++----------
 1 file changed, 16 insertions(+), 16 deletions(-)

diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/model.sdf b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/model.sdf
index 16f7f7b5..c0535245 100644
--- a/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/model.sdf
+++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/model.sdf
@@ -2444,6 +2444,22 @@
         </geometry>
       </visual>
     </link>
+    <joint name="front_right_flipper_wheel1_j" type="revolute">
+      <pose relative_to="front_right_flipper">0 0 0 0 -0 0</pose>
+      <parent>front_right_flipper</parent>
+      <child>front_right_flipper_wheel1</child>
+      <axis>
+        <xyz>0 1 0</xyz>
+        <limit>
+          <lower>-1e+16</lower>
+          <upper>1e+16</upper>
+        </limit>
+        <dynamics>
+          <spring_reference>0</spring_reference>
+          <spring_stiffness>0</spring_stiffness>
+        </dynamics>
+      </axis>
+    </joint>
     <link name="front_right_flipper_wheel1">
       <pose relative_to="front_right_flipper_wheel1_j">0 0 0 0 -0 0</pose>
       <inertial>
@@ -2485,22 +2501,6 @@
         </surface>
       </collision>
     </link>
-    <joint name="front_right_flipper_wheel1_j" type="revolute">
-      <pose relative_to="front_right_flipper">0 0 0 0 -0 0</pose>
-      <parent>front_right_flipper</parent>
-      <child>front_right_flipper_wheel1</child>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-      </axis>
-    </joint>
     <link name="front_right_flipper_wheel2">
       <pose relative_to="front_right_flipper_wheel2_j">0 0 0 0 -0 0</pose>
       <inertial>

From e0a48c0f2e1888f34fb85423b35927e2a1130732 Mon Sep 17 00:00:00 2001
From: Martin Pecka <peckama2@fel.cvut.cz>
Date: Mon, 29 Mar 2021 20:28:55 +0200
Subject: [PATCH 32/51] Absolem: Sync Xacro: Move joint SDF above link.

---
 .../model.sdf                                 | 32 +++++++++----------
 1 file changed, 16 insertions(+), 16 deletions(-)

diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/model.sdf b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/model.sdf
index c0535245..b47679bc 100644
--- a/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/model.sdf
+++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/model.sdf
@@ -2501,6 +2501,22 @@
         </surface>
       </collision>
     </link>
+    <joint name="front_right_flipper_wheel2_j" type="revolute">
+      <pose relative_to="front_right_flipper">-0.0825 0 0 0 -0 0</pose>
+      <parent>front_right_flipper</parent>
+      <child>front_right_flipper_wheel2</child>
+      <axis>
+        <xyz>0 1 0</xyz>
+        <limit>
+          <lower>-1e+16</lower>
+          <upper>1e+16</upper>
+        </limit>
+        <dynamics>
+          <spring_reference>0</spring_reference>
+          <spring_stiffness>0</spring_stiffness>
+        </dynamics>
+      </axis>
+    </joint>
     <link name="front_right_flipper_wheel2">
       <pose relative_to="front_right_flipper_wheel2_j">0 0 0 0 -0 0</pose>
       <inertial>
@@ -2542,22 +2558,6 @@
         </surface>
       </collision>
     </link>
-    <joint name="front_right_flipper_wheel2_j" type="revolute">
-      <pose relative_to="front_right_flipper">-0.0825 0 0 0 -0 0</pose>
-      <parent>front_right_flipper</parent>
-      <child>front_right_flipper_wheel2</child>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-      </axis>
-    </joint>
     <link name="front_right_flipper_wheel3">
       <pose relative_to="front_right_flipper_wheel3_j">0 0 0 0 -0 0</pose>
       <inertial>

From dc9f449b34c4ed88e032e7590166b614bd729ef7 Mon Sep 17 00:00:00 2001
From: Martin Pecka <peckama2@fel.cvut.cz>
Date: Mon, 29 Mar 2021 20:29:00 +0200
Subject: [PATCH 33/51] Absolem: Sync Xacro: Move joint SDF above link.

---
 .../model.sdf                                 | 32 +++++++++----------
 1 file changed, 16 insertions(+), 16 deletions(-)

diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/model.sdf b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/model.sdf
index b47679bc..0ee9c2ec 100644
--- a/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/model.sdf
+++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/model.sdf
@@ -2558,6 +2558,22 @@
         </surface>
       </collision>
     </link>
+    <joint name="front_right_flipper_wheel3_j" type="revolute">
+      <pose relative_to="front_right_flipper">-0.165 0 0 0 -0 0</pose>
+      <parent>front_right_flipper</parent>
+      <child>front_right_flipper_wheel3</child>
+      <axis>
+        <xyz>0 1 0</xyz>
+        <limit>
+          <lower>-1e+16</lower>
+          <upper>1e+16</upper>
+        </limit>
+        <dynamics>
+          <spring_reference>0</spring_reference>
+          <spring_stiffness>0</spring_stiffness>
+        </dynamics>
+      </axis>
+    </joint>
     <link name="front_right_flipper_wheel3">
       <pose relative_to="front_right_flipper_wheel3_j">0 0 0 0 -0 0</pose>
       <inertial>
@@ -2599,22 +2615,6 @@
         </surface>
       </collision>
     </link>
-    <joint name="front_right_flipper_wheel3_j" type="revolute">
-      <pose relative_to="front_right_flipper">-0.165 0 0 0 -0 0</pose>
-      <parent>front_right_flipper</parent>
-      <child>front_right_flipper_wheel3</child>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-      </axis>
-    </joint>
     <link name="front_right_flipper_wheel4">
       <pose relative_to="front_right_flipper_wheel4_j">0 0 0 0 -0 0</pose>
       <inertial>

From 0c0772395f5c0a1f6f7df5fd2054f85ea0d95439 Mon Sep 17 00:00:00 2001
From: Martin Pecka <peckama2@fel.cvut.cz>
Date: Mon, 29 Mar 2021 20:29:07 +0200
Subject: [PATCH 34/51] Absolem: Sync Xacro: Move joint SDF above link.

---
 .../model.sdf                                 | 32 +++++++++----------
 1 file changed, 16 insertions(+), 16 deletions(-)

diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/model.sdf b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/model.sdf
index 0ee9c2ec..9e8109c8 100644
--- a/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/model.sdf
+++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/model.sdf
@@ -2615,6 +2615,22 @@
         </surface>
       </collision>
     </link>
+    <joint name="front_right_flipper_wheel4_j" type="revolute">
+      <pose relative_to="front_right_flipper">-0.2475 0 0 0 -0 0</pose>
+      <parent>front_right_flipper</parent>
+      <child>front_right_flipper_wheel4</child>
+      <axis>
+        <xyz>0 1 0</xyz>
+        <limit>
+          <lower>-1e+16</lower>
+          <upper>1e+16</upper>
+        </limit>
+        <dynamics>
+          <spring_reference>0</spring_reference>
+          <spring_stiffness>0</spring_stiffness>
+        </dynamics>
+      </axis>
+    </joint>
     <link name="front_right_flipper_wheel4">
       <pose relative_to="front_right_flipper_wheel4_j">0 0 0 0 -0 0</pose>
       <inertial>
@@ -2656,22 +2672,6 @@
         </surface>
       </collision>
     </link>
-    <joint name="front_right_flipper_wheel4_j" type="revolute">
-      <pose relative_to="front_right_flipper">-0.2475 0 0 0 -0 0</pose>
-      <parent>front_right_flipper</parent>
-      <child>front_right_flipper_wheel4</child>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-      </axis>
-    </joint>
     <link name="front_right_flipper_wheel5">
       <pose relative_to="front_right_flipper_wheel5_j">0 0 0 0 -0 0</pose>
       <inertial>

From cc8e7335b89aa0a06201612bd354f48b0960fa32 Mon Sep 17 00:00:00 2001
From: Martin Pecka <peckama2@fel.cvut.cz>
Date: Mon, 29 Mar 2021 20:29:13 +0200
Subject: [PATCH 35/51] Absolem: Sync Xacro: Move joint SDF above link.

---
 .../model.sdf                                 | 32 +++++++++----------
 1 file changed, 16 insertions(+), 16 deletions(-)

diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/model.sdf b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/model.sdf
index 9e8109c8..1f76e4aa 100644
--- a/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/model.sdf
+++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/model.sdf
@@ -2672,6 +2672,22 @@
         </surface>
       </collision>
     </link>
+    <joint name="front_right_flipper_wheel5_j" type="revolute">
+      <pose relative_to="front_right_flipper">-0.33 0 0 0 -0 0</pose>
+      <parent>front_right_flipper</parent>
+      <child>front_right_flipper_wheel5</child>
+      <axis>
+        <xyz>0 1 0</xyz>
+        <limit>
+          <lower>-1e+16</lower>
+          <upper>1e+16</upper>
+        </limit>
+        <dynamics>
+          <spring_reference>0</spring_reference>
+          <spring_stiffness>0</spring_stiffness>
+        </dynamics>
+      </axis>
+    </joint>
     <link name="front_right_flipper_wheel5">
       <pose relative_to="front_right_flipper_wheel5_j">0 0 0 0 -0 0</pose>
       <inertial>
@@ -2713,22 +2729,6 @@
         </surface>
       </collision>
     </link>
-    <joint name="front_right_flipper_wheel5_j" type="revolute">
-      <pose relative_to="front_right_flipper">-0.33 0 0 0 -0 0</pose>
-      <parent>front_right_flipper</parent>
-      <child>front_right_flipper_wheel5</child>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-      </axis>
-    </joint>
     <link name="rear_right_flipper">
       <pose relative_to="rear_right_flipper_j">0 0 0 0 -0 0</pose>
       <inertial>

From 9b787ec5cfd9abb29986bd7017d0daccbc18b66e Mon Sep 17 00:00:00 2001
From: Martin Pecka <peckama2@fel.cvut.cz>
Date: Mon, 29 Mar 2021 20:29:19 +0200
Subject: [PATCH 36/51] Absolem: Sync Xacro: Move joint SDF above link.

---
 .../model.sdf                                 | 56 +++++++++----------
 1 file changed, 28 insertions(+), 28 deletions(-)

diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/model.sdf b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/model.sdf
index 1f76e4aa..bc91dbb5 100644
--- a/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/model.sdf
+++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/model.sdf
@@ -2729,6 +2729,34 @@
         </surface>
       </collision>
     </link>
+    <joint name="rear_right_flipper_j" type="revolute">
+      <pose relative_to="right_track">-0.25 -0.0735 0.0195 0 -0.193732 0</pose>
+      <parent>right_track</parent>
+      <child>rear_right_flipper</child>
+      <axis>
+        <xyz>0 1 0</xyz>
+        <limit>
+          <lower>-1e+16</lower>
+          <upper>1e+16</upper>
+          <effort>20</effort>
+          <velocity>0.785398</velocity>
+        </limit>
+        <dynamics>
+          <spring_reference>0</spring_reference>
+          <spring_stiffness>0</spring_stiffness>
+        </dynamics>
+      </axis>
+      <physics>
+        <ode>
+          <implicit_spring_damper>1</implicit_spring_damper>
+          <cfm_damping>1</cfm_damping>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+        </ode>
+      </physics>
+    </joint>
     <link name="rear_right_flipper">
       <pose relative_to="rear_right_flipper_j">0 0 0 0 -0 0</pose>
       <inertial>
@@ -2767,34 +2795,6 @@
         </geometry>
       </visual>
     </link>
-    <joint name="rear_right_flipper_j" type="revolute">
-      <pose relative_to="right_track">-0.25 -0.0735 0.0195 0 -0.193732 0</pose>
-      <parent>right_track</parent>
-      <child>rear_right_flipper</child>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-          <effort>20</effort>
-          <velocity>0.785398</velocity>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-      </axis>
-      <physics>
-        <ode>
-          <implicit_spring_damper>1</implicit_spring_damper>
-          <cfm_damping>1</cfm_damping>
-          <limit>
-            <cfm>0</cfm>
-            <erp>0.2</erp>
-          </limit>
-        </ode>
-      </physics>
-    </joint>
     <link name="rear_right_flipper_wheel1">
       <pose relative_to="rear_right_flipper_wheel1_j">0 0 0 0 -0 0</pose>
       <inertial>

From fe4cca403d0dbf7e1f0438cedc97ee233f6b806b Mon Sep 17 00:00:00 2001
From: Martin Pecka <peckama2@fel.cvut.cz>
Date: Mon, 29 Mar 2021 20:29:25 +0200
Subject: [PATCH 37/51] Absolem: Sync Xacro: Move joint SDF above link.

---
 .../model.sdf                                 | 32 +++++++++----------
 1 file changed, 16 insertions(+), 16 deletions(-)

diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/model.sdf b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/model.sdf
index bc91dbb5..35f6a7a0 100644
--- a/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/model.sdf
+++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/model.sdf
@@ -2795,6 +2795,22 @@
         </geometry>
       </visual>
     </link>
+    <joint name="rear_right_flipper_wheel1_j" type="revolute">
+      <pose relative_to="rear_right_flipper">0 0 0 0 -0 0</pose>
+      <parent>rear_right_flipper</parent>
+      <child>rear_right_flipper_wheel1</child>
+      <axis>
+        <xyz>0 1 0</xyz>
+        <limit>
+          <lower>-1e+16</lower>
+          <upper>1e+16</upper>
+        </limit>
+        <dynamics>
+          <spring_reference>0</spring_reference>
+          <spring_stiffness>0</spring_stiffness>
+        </dynamics>
+      </axis>
+    </joint>
     <link name="rear_right_flipper_wheel1">
       <pose relative_to="rear_right_flipper_wheel1_j">0 0 0 0 -0 0</pose>
       <inertial>
@@ -2836,22 +2852,6 @@
         </surface>
       </collision>
     </link>
-    <joint name="rear_right_flipper_wheel1_j" type="revolute">
-      <pose relative_to="rear_right_flipper">0 0 0 0 -0 0</pose>
-      <parent>rear_right_flipper</parent>
-      <child>rear_right_flipper_wheel1</child>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-      </axis>
-    </joint>
     <link name="rear_right_flipper_wheel2">
       <pose relative_to="rear_right_flipper_wheel2_j">0 0 0 0 -0 0</pose>
       <inertial>

From 50f0edad1828bed692ce57c702ac1446ea5aa8a1 Mon Sep 17 00:00:00 2001
From: Martin Pecka <peckama2@fel.cvut.cz>
Date: Mon, 29 Mar 2021 20:29:31 +0200
Subject: [PATCH 38/51] Absolem: Sync Xacro: Move joint SDF above link.

---
 .../model.sdf                                 | 32 +++++++++----------
 1 file changed, 16 insertions(+), 16 deletions(-)

diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/model.sdf b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/model.sdf
index 35f6a7a0..c01713c3 100644
--- a/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/model.sdf
+++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/model.sdf
@@ -2852,6 +2852,22 @@
         </surface>
       </collision>
     </link>
+    <joint name="rear_right_flipper_wheel2_j" type="revolute">
+      <pose relative_to="rear_right_flipper">-0.0825 0 0 0 -0 0</pose>
+      <parent>rear_right_flipper</parent>
+      <child>rear_right_flipper_wheel2</child>
+      <axis>
+        <xyz>0 1 0</xyz>
+        <limit>
+          <lower>-1e+16</lower>
+          <upper>1e+16</upper>
+        </limit>
+        <dynamics>
+          <spring_reference>0</spring_reference>
+          <spring_stiffness>0</spring_stiffness>
+        </dynamics>
+      </axis>
+    </joint>
     <link name="rear_right_flipper_wheel2">
       <pose relative_to="rear_right_flipper_wheel2_j">0 0 0 0 -0 0</pose>
       <inertial>
@@ -2893,22 +2909,6 @@
         </surface>
       </collision>
     </link>
-    <joint name="rear_right_flipper_wheel2_j" type="revolute">
-      <pose relative_to="rear_right_flipper">-0.0825 0 0 0 -0 0</pose>
-      <parent>rear_right_flipper</parent>
-      <child>rear_right_flipper_wheel2</child>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-      </axis>
-    </joint>
     <link name="rear_right_flipper_wheel3">
       <pose relative_to="rear_right_flipper_wheel3_j">0 0 0 0 -0 0</pose>
       <inertial>

From 9631d20477632225dc6012d29e8105f6b8b7f65c Mon Sep 17 00:00:00 2001
From: Martin Pecka <peckama2@fel.cvut.cz>
Date: Mon, 29 Mar 2021 20:29:38 +0200
Subject: [PATCH 39/51] Absolem: Sync Xacro: Move joint SDF above link.

---
 .../model.sdf                                 | 32 +++++++++----------
 1 file changed, 16 insertions(+), 16 deletions(-)

diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/model.sdf b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/model.sdf
index c01713c3..7188dd96 100644
--- a/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/model.sdf
+++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/model.sdf
@@ -2909,6 +2909,22 @@
         </surface>
       </collision>
     </link>
+    <joint name="rear_right_flipper_wheel3_j" type="revolute">
+      <pose relative_to="rear_right_flipper">-0.165 0 0 0 -0 0</pose>
+      <parent>rear_right_flipper</parent>
+      <child>rear_right_flipper_wheel3</child>
+      <axis>
+        <xyz>0 1 0</xyz>
+        <limit>
+          <lower>-1e+16</lower>
+          <upper>1e+16</upper>
+        </limit>
+        <dynamics>
+          <spring_reference>0</spring_reference>
+          <spring_stiffness>0</spring_stiffness>
+        </dynamics>
+      </axis>
+    </joint>
     <link name="rear_right_flipper_wheel3">
       <pose relative_to="rear_right_flipper_wheel3_j">0 0 0 0 -0 0</pose>
       <inertial>
@@ -2950,22 +2966,6 @@
         </surface>
       </collision>
     </link>
-    <joint name="rear_right_flipper_wheel3_j" type="revolute">
-      <pose relative_to="rear_right_flipper">-0.165 0 0 0 -0 0</pose>
-      <parent>rear_right_flipper</parent>
-      <child>rear_right_flipper_wheel3</child>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-      </axis>
-    </joint>
     <link name="rear_right_flipper_wheel4">
       <pose relative_to="rear_right_flipper_wheel4_j">0 0 0 0 -0 0</pose>
       <inertial>

From 0c68d8ef1b76ad2b3b05949009699518a091e306 Mon Sep 17 00:00:00 2001
From: Martin Pecka <peckama2@fel.cvut.cz>
Date: Mon, 29 Mar 2021 20:29:44 +0200
Subject: [PATCH 40/51] Absolem: Sync Xacro: Move joint SDF above link.

---
 .../model.sdf                                 | 32 +++++++++----------
 1 file changed, 16 insertions(+), 16 deletions(-)

diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/model.sdf b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/model.sdf
index 7188dd96..05855f26 100644
--- a/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/model.sdf
+++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/model.sdf
@@ -2966,6 +2966,22 @@
         </surface>
       </collision>
     </link>
+    <joint name="rear_right_flipper_wheel4_j" type="revolute">
+      <pose relative_to="rear_right_flipper">-0.2475 0 0 0 -0 0</pose>
+      <parent>rear_right_flipper</parent>
+      <child>rear_right_flipper_wheel4</child>
+      <axis>
+        <xyz>0 1 0</xyz>
+        <limit>
+          <lower>-1e+16</lower>
+          <upper>1e+16</upper>
+        </limit>
+        <dynamics>
+          <spring_reference>0</spring_reference>
+          <spring_stiffness>0</spring_stiffness>
+        </dynamics>
+      </axis>
+    </joint>
     <link name="rear_right_flipper_wheel4">
       <pose relative_to="rear_right_flipper_wheel4_j">0 0 0 0 -0 0</pose>
       <inertial>
@@ -3007,22 +3023,6 @@
         </surface>
       </collision>
     </link>
-    <joint name="rear_right_flipper_wheel4_j" type="revolute">
-      <pose relative_to="rear_right_flipper">-0.2475 0 0 0 -0 0</pose>
-      <parent>rear_right_flipper</parent>
-      <child>rear_right_flipper_wheel4</child>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-      </axis>
-    </joint>
     <link name="rear_right_flipper_wheel5">
       <pose relative_to="rear_right_flipper_wheel5_j">0 0 0 0 -0 0</pose>
       <inertial>

From cfbe3a05a2466c46a4232a4d3c6717be9e3ccf99 Mon Sep 17 00:00:00 2001
From: Martin Pecka <peckama2@fel.cvut.cz>
Date: Mon, 29 Mar 2021 20:29:50 +0200
Subject: [PATCH 41/51] Absolem: Sync Xacro: Move joint SDF above link.

---
 .../model.sdf                                 | 32 +++++++++----------
 1 file changed, 16 insertions(+), 16 deletions(-)

diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/model.sdf b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/model.sdf
index 05855f26..6e21af5d 100644
--- a/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/model.sdf
+++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/model.sdf
@@ -3023,6 +3023,22 @@
         </surface>
       </collision>
     </link>
+    <joint name="rear_right_flipper_wheel5_j" type="revolute">
+      <pose relative_to="rear_right_flipper">-0.33 0 0 0 -0 0</pose>
+      <parent>rear_right_flipper</parent>
+      <child>rear_right_flipper_wheel5</child>
+      <axis>
+        <xyz>0 1 0</xyz>
+        <limit>
+          <lower>-1e+16</lower>
+          <upper>1e+16</upper>
+        </limit>
+        <dynamics>
+          <spring_reference>0</spring_reference>
+          <spring_stiffness>0</spring_stiffness>
+        </dynamics>
+      </axis>
+    </joint>
     <link name="rear_right_flipper_wheel5">
       <pose relative_to="rear_right_flipper_wheel5_j">0 0 0 0 -0 0</pose>
       <inertial>
@@ -3064,22 +3080,6 @@
         </surface>
       </collision>
     </link>
-    <joint name="rear_right_flipper_wheel5_j" type="revolute">
-      <pose relative_to="rear_right_flipper">-0.33 0 0 0 -0 0</pose>
-      <parent>rear_right_flipper</parent>
-      <child>rear_right_flipper_wheel5</child>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-      </axis>
-    </joint>
     <link name="right_track_wheel1">
       <pose relative_to="right_track_wheel1_j">0 0 0 0 -0 0</pose>
       <inertial>

From 1e76f9d63a057c7b9926dbbbb71425dfab6973af Mon Sep 17 00:00:00 2001
From: Martin Pecka <peckama2@fel.cvut.cz>
Date: Mon, 29 Mar 2021 20:29:57 +0200
Subject: [PATCH 42/51] Absolem: Sync Xacro: Move joint SDF above link.

---
 .../model.sdf                                 | 32 +++++++++----------
 1 file changed, 16 insertions(+), 16 deletions(-)

diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/model.sdf b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/model.sdf
index 6e21af5d..1cabed94 100644
--- a/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/model.sdf
+++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/model.sdf
@@ -3080,6 +3080,22 @@
         </surface>
       </collision>
     </link>
+    <joint name="right_track_wheel1_j" type="revolute">
+      <pose relative_to="right_track">0.25 0 0.01855 0 -0 0</pose>
+      <parent>right_track</parent>
+      <child>right_track_wheel1</child>
+      <axis>
+        <xyz>0 1 0</xyz>
+        <limit>
+          <lower>-1e+16</lower>
+          <upper>1e+16</upper>
+        </limit>
+        <dynamics>
+          <spring_reference>0</spring_reference>
+          <spring_stiffness>0</spring_stiffness>
+        </dynamics>
+      </axis>
+    </joint>
     <link name="right_track_wheel1">
       <pose relative_to="right_track_wheel1_j">0 0 0 0 -0 0</pose>
       <inertial>
@@ -3121,22 +3137,6 @@
         </surface>
       </collision>
     </link>
-    <joint name="right_track_wheel1_j" type="revolute">
-      <pose relative_to="right_track">0.25 0 0.01855 0 -0 0</pose>
-      <parent>right_track</parent>
-      <child>right_track_wheel1</child>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-      </axis>
-    </joint>
     <link name="right_track_wheel2">
       <pose relative_to="right_track_wheel2_j">0 0 0 0 -0 0</pose>
       <inertial>

From 24a980085b3840d62c68345601cdcc415c16118c Mon Sep 17 00:00:00 2001
From: Martin Pecka <peckama2@fel.cvut.cz>
Date: Mon, 29 Mar 2021 20:30:02 +0200
Subject: [PATCH 43/51] Absolem: Sync Xacro: Move joint SDF above link.

---
 .../model.sdf                                 | 32 +++++++++----------
 1 file changed, 16 insertions(+), 16 deletions(-)

diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/model.sdf b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/model.sdf
index 1cabed94..373f4909 100644
--- a/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/model.sdf
+++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/model.sdf
@@ -3137,6 +3137,22 @@
         </surface>
       </collision>
     </link>
+    <joint name="right_track_wheel2_j" type="revolute">
+      <pose relative_to="right_track">0.178571 0 0.01855 0 -0 0</pose>
+      <parent>right_track</parent>
+      <child>right_track_wheel2</child>
+      <axis>
+        <xyz>0 1 0</xyz>
+        <limit>
+          <lower>-1e+16</lower>
+          <upper>1e+16</upper>
+        </limit>
+        <dynamics>
+          <spring_reference>0</spring_reference>
+          <spring_stiffness>0</spring_stiffness>
+        </dynamics>
+      </axis>
+    </joint>
     <link name="right_track_wheel2">
       <pose relative_to="right_track_wheel2_j">0 0 0 0 -0 0</pose>
       <inertial>
@@ -3178,22 +3194,6 @@
         </surface>
       </collision>
     </link>
-    <joint name="right_track_wheel2_j" type="revolute">
-      <pose relative_to="right_track">0.178571 0 0.01855 0 -0 0</pose>
-      <parent>right_track</parent>
-      <child>right_track_wheel2</child>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-      </axis>
-    </joint>
     <link name="right_track_wheel3">
       <pose relative_to="right_track_wheel3_j">0 0 0 0 -0 0</pose>
       <inertial>

From 2f41d3e5631e2108ad2435ce7bcfa4460652900c Mon Sep 17 00:00:00 2001
From: Martin Pecka <peckama2@fel.cvut.cz>
Date: Mon, 29 Mar 2021 20:30:09 +0200
Subject: [PATCH 44/51] Absolem: Sync Xacro: Move joint SDF above link.

---
 .../model.sdf                                 | 32 +++++++++----------
 1 file changed, 16 insertions(+), 16 deletions(-)

diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/model.sdf b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/model.sdf
index 373f4909..387ac130 100644
--- a/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/model.sdf
+++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/model.sdf
@@ -3194,6 +3194,22 @@
         </surface>
       </collision>
     </link>
+    <joint name="right_track_wheel3_j" type="revolute">
+      <pose relative_to="right_track">0.107143 0 0.01855 0 -0 0</pose>
+      <parent>right_track</parent>
+      <child>right_track_wheel3</child>
+      <axis>
+        <xyz>0 1 0</xyz>
+        <limit>
+          <lower>-1e+16</lower>
+          <upper>1e+16</upper>
+        </limit>
+        <dynamics>
+          <spring_reference>0</spring_reference>
+          <spring_stiffness>0</spring_stiffness>
+        </dynamics>
+      </axis>
+    </joint>
     <link name="right_track_wheel3">
       <pose relative_to="right_track_wheel3_j">0 0 0 0 -0 0</pose>
       <inertial>
@@ -3235,22 +3251,6 @@
         </surface>
       </collision>
     </link>
-    <joint name="right_track_wheel3_j" type="revolute">
-      <pose relative_to="right_track">0.107143 0 0.01855 0 -0 0</pose>
-      <parent>right_track</parent>
-      <child>right_track_wheel3</child>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-      </axis>
-    </joint>
     <link name="right_track_wheel4">
       <pose relative_to="right_track_wheel4_j">0 0 0 0 -0 0</pose>
       <inertial>

From 01442af416306229c46f43cef70bc5ad6294289c Mon Sep 17 00:00:00 2001
From: Martin Pecka <peckama2@fel.cvut.cz>
Date: Mon, 29 Mar 2021 20:30:14 +0200
Subject: [PATCH 45/51] Absolem: Sync Xacro: Move joint SDF above link.

---
 .../model.sdf                                 | 32 +++++++++----------
 1 file changed, 16 insertions(+), 16 deletions(-)

diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/model.sdf b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/model.sdf
index 387ac130..0687c3ba 100644
--- a/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/model.sdf
+++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/model.sdf
@@ -3251,6 +3251,22 @@
         </surface>
       </collision>
     </link>
+    <joint name="right_track_wheel4_j" type="revolute">
+      <pose relative_to="right_track">0.035714 0 0.01855 0 -0 0</pose>
+      <parent>right_track</parent>
+      <child>right_track_wheel4</child>
+      <axis>
+        <xyz>0 1 0</xyz>
+        <limit>
+          <lower>-1e+16</lower>
+          <upper>1e+16</upper>
+        </limit>
+        <dynamics>
+          <spring_reference>0</spring_reference>
+          <spring_stiffness>0</spring_stiffness>
+        </dynamics>
+      </axis>
+    </joint>
     <link name="right_track_wheel4">
       <pose relative_to="right_track_wheel4_j">0 0 0 0 -0 0</pose>
       <inertial>
@@ -3292,22 +3308,6 @@
         </surface>
       </collision>
     </link>
-    <joint name="right_track_wheel4_j" type="revolute">
-      <pose relative_to="right_track">0.035714 0 0.01855 0 -0 0</pose>
-      <parent>right_track</parent>
-      <child>right_track_wheel4</child>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-      </axis>
-    </joint>
     <link name="right_track_wheel5">
       <pose relative_to="right_track_wheel5_j">0 0 0 0 -0 0</pose>
       <inertial>

From b7a90e1f6062010e7ba50a506a1cb3bb2e093a83 Mon Sep 17 00:00:00 2001
From: Martin Pecka <peckama2@fel.cvut.cz>
Date: Mon, 29 Mar 2021 20:30:20 +0200
Subject: [PATCH 46/51] Absolem: Sync Xacro: Move joint SDF above link.

---
 .../model.sdf                                 | 32 +++++++++----------
 1 file changed, 16 insertions(+), 16 deletions(-)

diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/model.sdf b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/model.sdf
index 0687c3ba..fe1f8c7c 100644
--- a/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/model.sdf
+++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/model.sdf
@@ -3308,6 +3308,22 @@
         </surface>
       </collision>
     </link>
+    <joint name="right_track_wheel5_j" type="revolute">
+      <pose relative_to="right_track">-0.035714 0 0.01855 0 -0 0</pose>
+      <parent>right_track</parent>
+      <child>right_track_wheel5</child>
+      <axis>
+        <xyz>0 1 0</xyz>
+        <limit>
+          <lower>-1e+16</lower>
+          <upper>1e+16</upper>
+        </limit>
+        <dynamics>
+          <spring_reference>0</spring_reference>
+          <spring_stiffness>0</spring_stiffness>
+        </dynamics>
+      </axis>
+    </joint>
     <link name="right_track_wheel5">
       <pose relative_to="right_track_wheel5_j">0 0 0 0 -0 0</pose>
       <inertial>
@@ -3349,22 +3365,6 @@
         </surface>
       </collision>
     </link>
-    <joint name="right_track_wheel5_j" type="revolute">
-      <pose relative_to="right_track">-0.035714 0 0.01855 0 -0 0</pose>
-      <parent>right_track</parent>
-      <child>right_track_wheel5</child>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-      </axis>
-    </joint>
     <link name="right_track_wheel6">
       <pose relative_to="right_track_wheel6_j">0 0 0 0 -0 0</pose>
       <inertial>

From 10c18bb88479047153a97e17faf76de36b40945d Mon Sep 17 00:00:00 2001
From: Martin Pecka <peckama2@fel.cvut.cz>
Date: Mon, 29 Mar 2021 20:30:25 +0200
Subject: [PATCH 47/51] Absolem: Sync Xacro: Move joint SDF above link.

---
 .../model.sdf                                 | 32 +++++++++----------
 1 file changed, 16 insertions(+), 16 deletions(-)

diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/model.sdf b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/model.sdf
index fe1f8c7c..8347ebfe 100644
--- a/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/model.sdf
+++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/model.sdf
@@ -3365,6 +3365,22 @@
         </surface>
       </collision>
     </link>
+    <joint name="right_track_wheel6_j" type="revolute">
+      <pose relative_to="right_track">-0.107143 0 0.01855 0 -0 0</pose>
+      <parent>right_track</parent>
+      <child>right_track_wheel6</child>
+      <axis>
+        <xyz>0 1 0</xyz>
+        <limit>
+          <lower>-1e+16</lower>
+          <upper>1e+16</upper>
+        </limit>
+        <dynamics>
+          <spring_reference>0</spring_reference>
+          <spring_stiffness>0</spring_stiffness>
+        </dynamics>
+      </axis>
+    </joint>
     <link name="right_track_wheel6">
       <pose relative_to="right_track_wheel6_j">0 0 0 0 -0 0</pose>
       <inertial>
@@ -3406,22 +3422,6 @@
         </surface>
       </collision>
     </link>
-    <joint name="right_track_wheel6_j" type="revolute">
-      <pose relative_to="right_track">-0.107143 0 0.01855 0 -0 0</pose>
-      <parent>right_track</parent>
-      <child>right_track_wheel6</child>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-      </axis>
-    </joint>
     <link name="right_track_wheel7">
       <pose relative_to="right_track_wheel7_j">0 0 0 0 -0 0</pose>
       <inertial>

From 59ef73e781e6ce2a15a7205002b22cca5beecd10 Mon Sep 17 00:00:00 2001
From: Martin Pecka <peckama2@fel.cvut.cz>
Date: Mon, 29 Mar 2021 20:30:32 +0200
Subject: [PATCH 48/51] Absolem: Sync Xacro: Move joint SDF above link.

---
 .../model.sdf                                 | 32 +++++++++----------
 1 file changed, 16 insertions(+), 16 deletions(-)

diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/model.sdf b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/model.sdf
index 8347ebfe..5d41a556 100644
--- a/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/model.sdf
+++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/model.sdf
@@ -3422,6 +3422,22 @@
         </surface>
       </collision>
     </link>
+    <joint name="right_track_wheel7_j" type="revolute">
+      <pose relative_to="right_track">-0.178571 0 0.01855 0 -0 0</pose>
+      <parent>right_track</parent>
+      <child>right_track_wheel7</child>
+      <axis>
+        <xyz>0 1 0</xyz>
+        <limit>
+          <lower>-1e+16</lower>
+          <upper>1e+16</upper>
+        </limit>
+        <dynamics>
+          <spring_reference>0</spring_reference>
+          <spring_stiffness>0</spring_stiffness>
+        </dynamics>
+      </axis>
+    </joint>
     <link name="right_track_wheel7">
       <pose relative_to="right_track_wheel7_j">0 0 0 0 -0 0</pose>
       <inertial>
@@ -3463,22 +3479,6 @@
         </surface>
       </collision>
     </link>
-    <joint name="right_track_wheel7_j" type="revolute">
-      <pose relative_to="right_track">-0.178571 0 0.01855 0 -0 0</pose>
-      <parent>right_track</parent>
-      <child>right_track_wheel7</child>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-      </axis>
-    </joint>
     <link name="right_track_wheel8">
       <pose relative_to="right_track_wheel8_j">0 0 0 0 -0 0</pose>
       <inertial>

From 0013c3e36e4a3e21c3bb4d35210b9a0d7b9db0f4 Mon Sep 17 00:00:00 2001
From: Martin Pecka <peckama2@fel.cvut.cz>
Date: Mon, 29 Mar 2021 20:30:40 +0200
Subject: [PATCH 49/51] Absolem: Sync Xacro: Move joint SDF above link.

---
 .../model.sdf                                 | 32 +++++++++----------
 1 file changed, 16 insertions(+), 16 deletions(-)

diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/model.sdf b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/model.sdf
index 5d41a556..ab6b9121 100644
--- a/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/model.sdf
+++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/model.sdf
@@ -3479,6 +3479,22 @@
         </surface>
       </collision>
     </link>
+    <joint name="right_track_wheel8_j" type="revolute">
+      <pose relative_to="right_track">-0.25 0 0.01855 0 -0 0</pose>
+      <parent>right_track</parent>
+      <child>right_track_wheel8</child>
+      <axis>
+        <xyz>0 1 0</xyz>
+        <limit>
+          <lower>-1e+16</lower>
+          <upper>1e+16</upper>
+        </limit>
+        <dynamics>
+          <spring_reference>0</spring_reference>
+          <spring_stiffness>0</spring_stiffness>
+        </dynamics>
+      </axis>
+    </joint>
     <link name="right_track_wheel8">
       <pose relative_to="right_track_wheel8_j">0 0 0 0 -0 0</pose>
       <inertial>
@@ -3520,22 +3536,6 @@
         </surface>
       </collision>
     </link>
-    <joint name="right_track_wheel8_j" type="revolute">
-      <pose relative_to="right_track">-0.25 0 0.01855 0 -0 0</pose>
-      <parent>right_track</parent>
-      <child>right_track_wheel8</child>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-      </axis>
-    </joint>
     <plugin name="cras::FlipperControlPlugin" filename="libflipper_control_plugin.so">
       <joint_name>front_left_flipper_j</joint_name>
       <max_velocity>0.8</max_velocity>

From cf7a4d211735bf097c149fc7062a9ebb3010320a Mon Sep 17 00:00:00 2001
From: Martin Pecka <peckama2@fel.cvut.cz>
Date: Mon, 29 Mar 2021 20:33:12 +0200
Subject: [PATCH 50/51] Absolem: Sync Xacro: Change IMU and friction parameters
 in Xacro to correspond to the desired values in SDF.

---
 .../urdf/nifti_robot.xacro                    | 74 ++++++++++---------
 1 file changed, 40 insertions(+), 34 deletions(-)

diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/urdf/nifti_robot.xacro b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/urdf/nifti_robot.xacro
index 18ed7c6b..7c6164d3 100644
--- a/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/urdf/nifti_robot.xacro
+++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/urdf/nifti_robot.xacro
@@ -1185,9 +1185,9 @@
 			</contact>
 			<friction>
 				<ode>
-					<mu>1</mu>
+					<mu>0.5</mu>
 					<mu2>1</mu2>
-					<slip1>0.035</slip1>
+					<slip1>0.00092</slip1>
 					<slip2>0</slip2>
 					<fdir1>0 0 1</fdir1>
 				</ode>
@@ -1205,9 +1205,9 @@
 			</contact>
 			<friction>
 				<ode>
-					<mu>1</mu>
+					<mu>0.5</mu>
 					<mu2>1</mu2>
-					<slip1>0.035</slip1>
+					<slip1>0.00092</slip1>
 					<slip2>0</slip2>
 					<fdir1>0 0 1</fdir1>
 				</ode>
@@ -1572,31 +1572,34 @@
 						<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>
+								<stddev>0.009</stddev>
+								<bias_mean>0.00075</bias_mean>
+								<bias_stddev>0.005</bias_stddev>
+								<dynamic_bias_stddev>0.00002</dynamic_bias_stddev>
+								<dynamic_bias_correlation_time>400.0</dynamic_bias_correlation_time>
+								<precision>0.00025</precision>
 							</noise>
 						</x>
 						<y>
 							<noise type="gaussian">
 								<mean>0</mean>
-								<stddev>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>
+								<stddev>0.009</stddev>
+								<bias_mean>0.00075</bias_mean>
+								<bias_stddev>0.005</bias_stddev>
+								<dynamic_bias_stddev>0.00002</dynamic_bias_stddev>
+								<dynamic_bias_correlation_time>400.0</dynamic_bias_correlation_time>
+								<precision>0.00025</precision>
 							</noise>
 						</y>
 						<z>
 							<noise type="gaussian">
 								<mean>0</mean>
-								<stddev>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>
+								<stddev>0.009</stddev>
+								<bias_mean>0.00075</bias_mean>
+								<bias_stddev>0.005</bias_stddev>
+								<dynamic_bias_stddev>0.00002</dynamic_bias_stddev>
+								<dynamic_bias_correlation_time>400.0</dynamic_bias_correlation_time>
+								<precision>0.00025</precision>
 							</noise>
 						</z>
 					</angular_velocity>
@@ -1604,31 +1607,34 @@
 						<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>
+								<stddev>0.021</stddev>
+								<bias_mean>0.05</bias_mean>
+								<bias_stddev>0.0075</bias_stddev>
+								<dynamic_bias_stddev>0.000375</dynamic_bias_stddev>
+								<dynamic_bias_correlation_time>175.0</dynamic_bias_correlation_time>
+								<precision>0.005</precision>
 							</noise>
 						</x>
 						<y>
 							<noise type="gaussian">
 								<mean>0</mean>
-								<stddev>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>
+								<stddev>0.021</stddev>
+								<bias_mean>0.05</bias_mean>
+								<bias_stddev>0.0075</bias_stddev>
+								<dynamic_bias_stddev>0.000375</dynamic_bias_stddev>
+								<dynamic_bias_correlation_time>175.0</dynamic_bias_correlation_time>
+								<precision>0.005</precision>
 							</noise>
 						</y>
 						<z>
 							<noise type="gaussian">
 								<mean>0</mean>
-								<stddev>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>
+								<stddev>0.021</stddev>
+								<bias_mean>0.05</bias_mean>
+								<bias_stddev>0.0075</bias_stddev>
+								<dynamic_bias_stddev>0.000375</dynamic_bias_stddev>
+								<dynamic_bias_correlation_time>175.0</dynamic_bias_correlation_time>
+								<precision>0.005</precision>
 							</noise>
 						</z>
 					</linear_acceleration>

From c7622132fd8866533637c0201e293451144e6b09 Mon Sep 17 00:00:00 2001
From: Martin Pecka <peckama2@fel.cvut.cz>
Date: Tue, 30 Mar 2021 13:12:45 +0200
Subject: [PATCH 51/51] Absolem: Sync Xacro: Fixed SDF 1.7 <sensor><pose> wrong
 lumping.

After this commit, the model.sdf can be exactly recreated by the update_robot_sdf script.

Until https://github.com/osrf/sdformat/pull/525 gets merged, `ign sdf -p` does not account for the reduced joint transform when outputting sensors attached to lumped frames. But it copies `<sensor><pose>` verbatim, so I took the old values from SDF and put them temporarily in `<sensor><pose>` where they specify relative position of the sensor to base_link where they get lumped.

Printing of the resulting SDF memory model results in flipping one Euler notation, but it's a 100% equivalent transform. Here's a proof by Ignition Math:

Quaterniond initialized by (-2.19645, -1.5707963267948966, 0) has:
 - coefs: -0.629608 -0.321859 -0.629608 0.321859
 - Euler: -2.19645 -1.5708 0

Quaterniond initialized by (3.1415926535897931, -1.5707963267948966, 0.945143) has:
 - coefs: 0.629608 0.321859 0.629608 -0.321859
 - Euler: -2.19645 -1.5708 0

This proves that the one changed line in model.sdf means no practical change.
---
 .../ctu_cras_norlab_absolem_sensor_config_1/model.sdf    | 2 +-
 .../urdf/nifti_robot.xacro                               | 9 +++++++++
 .../urdf/realsense.gazebo.xacro                          | 3 ++-
 3 files changed, 12 insertions(+), 2 deletions(-)

diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/model.sdf b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/model.sdf
index ab6b9121..da89133d 100644
--- a/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/model.sdf
+++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/model.sdf
@@ -944,7 +944,7 @@
             <scale_to_hfov>1</scale_to_hfov>
           </lens>
         </camera>
-        <pose>0.024083 -0.058382 0.376328 3.1415926535897931 -1.5707963267948966 0.945143</pose>
+        <pose>0.024083 -0.058382 0.376328 -2.19645 -1.5707963267948966 0</pose>
       </sensor>
       <sensor name="camera" type="rgbd_camera">
         <camera name="camera_camera">
diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/urdf/nifti_robot.xacro b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/urdf/nifti_robot.xacro
index 7c6164d3..650366eb 100644
--- a/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/urdf/nifti_robot.xacro
+++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/urdf/nifti_robot.xacro
@@ -1386,6 +1386,13 @@
 										</intrinsics>
 								</lens>
 						</camera>
+						<!-- Until https://github.com/osrf/sdformat/pull/525 gets merged, we work around the camera positions like this -->
+						<xacro:if value="${num == 0}"><pose>0.057346 -0.083518 0.313841 -0.000948 -0.000784 -2.19802</pose></xacro:if>
+						<xacro:if value="${num == 1}"><pose>0.009992 -0.096606 0.314114 -0.001069 0.000853 2.82791</pose></xacro:if>
+						<xacro:if value="${num == 2}"><pose>-0.01735 -0.055429 0.314721 -0.001705 0.00415 1.56975</pose></xacro:if>
+						<xacro:if value="${num == 3}"><pose>0.012561 -0.017068 0.314417 -0.000579 0.005611 0.313689</pose></xacro:if>
+						<xacro:if value="${num == 4}"><pose>0.058951 -0.03438 0.313899 -0.010815 0.001034 -0.943109</pose></xacro:if>
+						<xacro:if value="${num == 5}"><pose>0.024083 -0.058382 0.376328 3.1415926535897931 -1.5707963267948966 0.945143</pose></xacro:if>
 					</sensor>
 				</gazebo>
     </xacro:macro>
@@ -1639,6 +1646,8 @@
 						</z>
 					</linear_acceleration>
 				</imu>
+				<!-- Until https://github.com/osrf/sdformat/pull/525 gets merged, we work around the IMU position like this -->
+				<pose>0 0 0.15 -3.1415926535897931 -0 0</pose>
             </sensor>
         </xacro:if>
 	</gazebo>
diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/urdf/realsense.gazebo.xacro b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/urdf/realsense.gazebo.xacro
index ac8254e8..c237be57 100644
--- a/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/urdf/realsense.gazebo.xacro
+++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/urdf/realsense.gazebo.xacro
@@ -65,7 +65,8 @@ This is the Gazebo URDF model for the Intel RealSense D435 camera
           </camera>
           <always_on>1</always_on>
           <update_rate>$(arg realsense_fps)</update_rate>
-          <pose frame="">0.0 0 0.0 0 0.0 0</pose>
+          <!-- Until https://github.com/osrf/sdformat/pull/525 gets merged, we work around the camera position like this -->
+          <pose>0.13592 -0.016338 0.419596 0.015 0.499467 -0.000319</pose>
         </sensor>
     </gazebo>