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..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
@@ -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>
@@ -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>
@@ -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>
@@ -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>
@@ -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>
@@ -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>0.00002</dynamic_bias_stddev>
-                                <dynamic_bias_correlation_time>400.0</dynamic_bias_correlation_time>
-                                <precision>0.00025</precision>
-                            </noise>
-                        </x>
-                        <y>
-                            <noise type="gaussian">
-                                <mean>0</mean>
-                                <stddev>0.009</stddev>
-                                <bias_mean>0.00075</bias_mean>
-                                <bias_stddev>0.005</bias_stddev>
-                                <dynamic_bias_stddev>0.00002</dynamic_bias_stddev>
-                                <dynamic_bias_correlation_time>400.0</dynamic_bias_correlation_time>
-                                <precision>0.00025</precision>
-                            </noise>
-                        </y>
-                        <z>
-                            <noise type="gaussian">
-                                <mean>0</mean>
-                                <stddev>0.009</stddev>
-                                <bias_mean>0.00075</bias_mean>
-                                <bias_stddev>0.005</bias_stddev>
-                                <dynamic_bias_stddev>0.00002</dynamic_bias_stddev>
-                                <dynamic_bias_correlation_time>400.0</dynamic_bias_correlation_time>
-                                <precision>0.00025</precision>
-                            </noise>
-                        </z>
-                    </angular_velocity>
-                    <linear_acceleration>
-                        <x>
-                            <noise type="gaussian">
-                                <mean>0</mean>
-                                <stddev>0.021</stddev>
-                                <bias_mean>0.05</bias_mean>
-                                <bias_stddev>0.0075</bias_stddev>
-                                <dynamic_bias_stddev>0.000375</dynamic_bias_stddev>
-                                <dynamic_bias_correlation_time>175.0</dynamic_bias_correlation_time>
-                                <precision>0.005</precision>
-                            </noise>
-                        </x>
-                        <y>
-                            <noise type="gaussian">
-                                <mean>0</mean>
-                                <stddev>0.021</stddev>
-                                <bias_mean>0.05</bias_mean>
-                                <bias_stddev>0.0075</bias_stddev>
-                                <dynamic_bias_stddev>0.000375</dynamic_bias_stddev>
-                                <dynamic_bias_correlation_time>175.0</dynamic_bias_correlation_time>
-                                <precision>0.005</precision>
-                            </noise>
-                        </y>
-                        <z>
-                            <noise type="gaussian">
-                                <mean>0</mean>
-                                <stddev>0.021</stddev>
-                                <bias_mean>0.05</bias_mean>
-                                <bias_stddev>0.0075</bias_stddev>
-                                <dynamic_bias_stddev>0.000375</dynamic_bias_stddev>
-                                <dynamic_bias_correlation_time>175.0</dynamic_bias_correlation_time>
-                                <precision>0.005</precision>
-                            </noise>
-                        </z>
-                    </linear_acceleration>
-                </imu>
+          <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">
@@ -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">
@@ -995,8 +995,36 @@
         <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>
+      <parent>base_link</parent>
+      <child>laser</child>
+      <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>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>
@@ -1050,36 +1078,41 @@
         </lidar>
       </sensor>
     </link>
-    <joint name="laser_j" type="revolute">
-      <child>laser</child>
+    <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>1 0 0</xyz>
+        <xyz>0 1 0</xyz>
         <limit>
-          <lower>-2.35619</lower>
-          <upper>2.35619</upper>
-          <effort>10</effort>
-          <velocity>1.2</velocity>
+          <lower>0</lower>
+          <upper>0</upper>
+          <effort>0</effort>
+          <velocity>4</velocity>
         </limit>
         <dynamics>
           <spring_reference>0</spring_reference>
           <spring_stiffness>0</spring_stiffness>
         </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
       </axis>
       <physics>
         <ode>
-          <implicit_spring_damper>1</implicit_spring_damper>
-          <cfm_damping>1</cfm_damping>
           <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>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>
@@ -1116,41 +1149,36 @@
         </geometry>
       </visual>
     </link>
-    <joint name="left_track_j" type="revolute">
-      <child>left_track</child>
-      <parent>base_link</parent>
+    <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>0</lower>
-          <upper>0</upper>
-          <effort>0</effort>
-          <velocity>4</velocity>
+          <lower>-1e+16</lower>
+          <upper>1e+16</upper>
+          <effort>20</effort>
+          <velocity>0.785398</velocity>
         </limit>
         <dynamics>
           <spring_reference>0</spring_reference>
           <spring_stiffness>0</spring_stiffness>
         </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
       </axis>
       <physics>
         <ode>
+          <implicit_spring_damper>1</implicit_spring_damper>
+          <cfm_damping>1</cfm_damping>
           <limit>
             <cfm>0</cfm>
             <erp>0.2</erp>
           </limit>
         </ode>
       </physics>
-      <physics>
-        <ode>
-          <implicit_spring_damper>1</implicit_spring_damper>
-          <cfm>0</cfm>
-          <erp>0.95</erp>
-        </ode>
-      </physics>
     </joint>
     <link name="front_left_flipper">
-      <pose>0.25 0.272 0.0195 0 0.193732 0</pose>
+      <pose relative_to="front_left_flipper_j">0 0 0 0 -0 0</pose>
       <inertial>
         <mass>1e-05</mass>
         <inertia>
@@ -1179,7 +1207,7 @@
         </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>
@@ -1187,36 +1215,24 @@
         </geometry>
       </visual>
     </link>
-    <joint name="front_left_flipper_j" type="revolute">
-      <child>front_left_flipper</child>
-      <parent>left_track</parent>
+    <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>
-          <effort>20</effort>
-          <velocity>0.785398</velocity>
         </limit>
         <dynamics>
           <spring_reference>0</spring_reference>
           <spring_stiffness>0</spring_stiffness>
         </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
       </axis>
-      <physics>
-        <ode>
-          <implicit_spring_damper>1</implicit_spring_damper>
-          <cfm_damping>1</cfm_damping>
-          <limit>
-            <cfm>0</cfm>
-            <erp>0.2</erp>
-          </limit>
-        </ode>
-      </physics>
     </joint>
     <link name="front_left_flipper_wheel1">
-      <pose>0.25 0.272 0.0195 0 0.193732 0</pose>
+      <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>
@@ -1256,9 +1272,10 @@
         </surface>
       </collision>
     </link>
-    <joint name="front_left_flipper_wheel1_j" type="revolute">
-      <child>front_left_flipper_wheel1</child>
+    <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>
@@ -1269,11 +1286,10 @@
           <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>
@@ -1313,9 +1329,10 @@
         </surface>
       </collision>
     </link>
-    <joint name="front_left_flipper_wheel2_j" type="revolute">
-      <child>front_left_flipper_wheel2</child>
+    <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>
@@ -1326,11 +1343,10 @@
           <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>
@@ -1370,9 +1386,10 @@
         </surface>
       </collision>
     </link>
-    <joint name="front_left_flipper_wheel3_j" type="revolute">
-      <child>front_left_flipper_wheel3</child>
+    <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>
@@ -1383,11 +1400,10 @@
           <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>
@@ -1427,9 +1443,10 @@
         </surface>
       </collision>
     </link>
-    <joint name="front_left_flipper_wheel4_j" type="revolute">
-      <child>front_left_flipper_wheel4</child>
+    <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>
@@ -1440,11 +1457,10 @@
           <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>
@@ -1484,9 +1500,10 @@
         </surface>
       </collision>
     </link>
-    <joint name="front_left_flipper_wheel5_j" type="revolute">
-      <child>front_left_flipper_wheel5</child>
-      <parent>front_left_flipper</parent>
+    <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>
@@ -1497,11 +1514,10 @@
           <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>
@@ -1541,9 +1557,10 @@
         </surface>
       </collision>
     </link>
-    <joint name="left_track_wheel1_j" type="revolute">
-      <child>left_track_wheel1</child>
+    <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>
@@ -1554,11 +1571,10 @@
           <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>
@@ -1598,9 +1614,10 @@
         </surface>
       </collision>
     </link>
-    <joint name="left_track_wheel2_j" type="revolute">
-      <child>left_track_wheel2</child>
+    <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>
@@ -1611,11 +1628,10 @@
           <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>
@@ -1655,9 +1671,10 @@
         </surface>
       </collision>
     </link>
-    <joint name="left_track_wheel3_j" type="revolute">
-      <child>left_track_wheel3</child>
+    <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>
@@ -1668,11 +1685,10 @@
           <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>
@@ -1712,9 +1728,10 @@
         </surface>
       </collision>
     </link>
-    <joint name="left_track_wheel4_j" type="revolute">
-      <child>left_track_wheel4</child>
+    <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>
@@ -1725,11 +1742,10 @@
           <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>
@@ -1769,9 +1785,10 @@
         </surface>
       </collision>
     </link>
-    <joint name="left_track_wheel5_j" type="revolute">
-      <child>left_track_wheel5</child>
+    <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>
@@ -1782,11 +1799,10 @@
           <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>
@@ -1826,9 +1842,10 @@
         </surface>
       </collision>
     </link>
-    <joint name="left_track_wheel6_j" type="revolute">
-      <child>left_track_wheel6</child>
+    <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>
@@ -1839,11 +1856,10 @@
           <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>
@@ -1883,9 +1899,10 @@
         </surface>
       </collision>
     </link>
-    <joint name="left_track_wheel7_j" type="revolute">
-      <child>left_track_wheel7</child>
+    <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>
@@ -1896,11 +1913,10 @@
           <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>
@@ -1940,24 +1956,36 @@
         </surface>
       </collision>
     </link>
-    <joint name="left_track_wheel8_j" type="revolute">
-      <child>left_track_wheel8</child>
+    <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>
-        <use_parent_model_frame>0</use_parent_model_frame>
       </axis>
+      <physics>
+        <ode>
+          <implicit_spring_damper>1</implicit_spring_damper>
+          <cfm_damping>1</cfm_damping>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+        </ode>
+      </physics>
     </joint>
     <link name="rear_left_flipper">
-      <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>
@@ -1986,7 +2014,7 @@
         </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>
@@ -1994,36 +2022,24 @@
         </geometry>
       </visual>
     </link>
-    <joint name="rear_left_flipper_j" type="revolute">
-      <child>rear_left_flipper</child>
-      <parent>left_track</parent>
+    <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>
-          <effort>20</effort>
-          <velocity>0.785398</velocity>
         </limit>
         <dynamics>
           <spring_reference>0</spring_reference>
           <spring_stiffness>0</spring_stiffness>
         </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
       </axis>
-      <physics>
-        <ode>
-          <implicit_spring_damper>1</implicit_spring_damper>
-          <cfm_damping>1</cfm_damping>
-          <limit>
-            <cfm>0</cfm>
-            <erp>0.2</erp>
-          </limit>
-        </ode>
-      </physics>
     </joint>
     <link name="rear_left_flipper_wheel1">
-      <pose>-0.25 0.272 0.0195 3.1415926535897931 0.193732 3.1415926535897931</pose>
+      <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>
@@ -2063,9 +2079,10 @@
         </surface>
       </collision>
     </link>
-    <joint name="rear_left_flipper_wheel1_j" type="revolute">
-      <child>rear_left_flipper_wheel1</child>
+    <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>
@@ -2076,11 +2093,10 @@
           <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>
@@ -2120,9 +2136,10 @@
         </surface>
       </collision>
     </link>
-    <joint name="rear_left_flipper_wheel2_j" type="revolute">
-      <child>rear_left_flipper_wheel2</child>
+    <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>
@@ -2133,11 +2150,10 @@
           <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>
@@ -2177,9 +2193,10 @@
         </surface>
       </collision>
     </link>
-    <joint name="rear_left_flipper_wheel3_j" type="revolute">
-      <child>rear_left_flipper_wheel3</child>
+    <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>
@@ -2190,11 +2207,10 @@
           <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>
@@ -2234,9 +2250,10 @@
         </surface>
       </collision>
     </link>
-    <joint name="rear_left_flipper_wheel4_j" type="revolute">
-      <child>rear_left_flipper_wheel4</child>
+    <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>
@@ -2247,11 +2264,10 @@
           <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>
@@ -2291,24 +2307,41 @@
         </surface>
       </collision>
     </link>
-    <joint name="rear_left_flipper_wheel5_j" type="revolute">
-      <child>rear_left_flipper_wheel5</child>
-      <parent>rear_left_flipper</parent>
+    <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>-1e+16</lower>
-          <upper>1e+16</upper>
+          <lower>0</lower>
+          <upper>0</upper>
+          <effort>0</effort>
+          <velocity>4</velocity>
         </limit>
         <dynamics>
           <spring_reference>0</spring_reference>
           <spring_stiffness>0</spring_stiffness>
         </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
       </axis>
+      <physics>
+        <ode>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+        </ode>
+      </physics>
+      <physics>
+        <ode>
+          <implicit_spring_damper>1</implicit_spring_damper>
+          <cfm>0</cfm>
+          <erp>0.95</erp>
+        </ode>
+      </physics>
     </joint>
     <link name="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>
@@ -2345,41 +2378,36 @@
         </geometry>
       </visual>
     </link>
-    <joint name="right_track_j" type="revolute">
-      <child>right_track</child>
-      <parent>base_link</parent>
+    <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>0</lower>
-          <upper>0</upper>
-          <effort>0</effort>
-          <velocity>4</velocity>
+          <lower>-1e+16</lower>
+          <upper>1e+16</upper>
+          <effort>20</effort>
+          <velocity>0.785398</velocity>
         </limit>
         <dynamics>
           <spring_reference>0</spring_reference>
           <spring_stiffness>0</spring_stiffness>
         </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
       </axis>
       <physics>
         <ode>
+          <implicit_spring_damper>1</implicit_spring_damper>
+          <cfm_damping>1</cfm_damping>
           <limit>
             <cfm>0</cfm>
             <erp>0.2</erp>
           </limit>
         </ode>
       </physics>
-      <physics>
-        <ode>
-          <implicit_spring_damper>1</implicit_spring_damper>
-          <cfm>0</cfm>
-          <erp>0.95</erp>
-        </ode>
-      </physics>
     </joint>
     <link name="front_right_flipper">
-      <pose>0.25 -0.272 0.0195 3.1415926535897931 -0.193732 3.1415926535897931</pose>
+      <pose relative_to="front_right_flipper_j">0 0 0 0 -0 0</pose>
       <inertial>
         <mass>1e-05</mass>
         <inertia>
@@ -2408,7 +2436,7 @@
         </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>
@@ -2416,36 +2444,24 @@
         </geometry>
       </visual>
     </link>
-    <joint name="front_right_flipper_j" type="revolute">
-      <child>front_right_flipper</child>
-      <parent>right_track</parent>
+    <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>
-          <effort>20</effort>
-          <velocity>0.785398</velocity>
         </limit>
         <dynamics>
           <spring_reference>0</spring_reference>
           <spring_stiffness>0</spring_stiffness>
         </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
       </axis>
-      <physics>
-        <ode>
-          <implicit_spring_damper>1</implicit_spring_damper>
-          <cfm_damping>1</cfm_damping>
-          <limit>
-            <cfm>0</cfm>
-            <erp>0.2</erp>
-          </limit>
-        </ode>
-      </physics>
     </joint>
     <link name="front_right_flipper_wheel1">
-      <pose>0.25 -0.272 0.0195 3.1415926535897931 -0.193732 3.1415926535897931</pose>
+      <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>
@@ -2485,9 +2501,10 @@
         </surface>
       </collision>
     </link>
-    <joint name="front_right_flipper_wheel1_j" type="revolute">
-      <child>front_right_flipper_wheel1</child>
+    <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>
@@ -2498,11 +2515,10 @@
           <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>
@@ -2542,9 +2558,10 @@
         </surface>
       </collision>
     </link>
-    <joint name="front_right_flipper_wheel2_j" type="revolute">
-      <child>front_right_flipper_wheel2</child>
+    <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>
@@ -2555,11 +2572,10 @@
           <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>
@@ -2599,9 +2615,10 @@
         </surface>
       </collision>
     </link>
-    <joint name="front_right_flipper_wheel3_j" type="revolute">
-      <child>front_right_flipper_wheel3</child>
+    <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>
@@ -2612,11 +2629,10 @@
           <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>
@@ -2656,9 +2672,10 @@
         </surface>
       </collision>
     </link>
-    <joint name="front_right_flipper_wheel4_j" type="revolute">
-      <child>front_right_flipper_wheel4</child>
+    <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>
@@ -2669,11 +2686,10 @@
           <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>
@@ -2713,24 +2729,36 @@
         </surface>
       </collision>
     </link>
-    <joint name="front_right_flipper_wheel5_j" type="revolute">
-      <child>front_right_flipper_wheel5</child>
-      <parent>front_right_flipper</parent>
+    <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>
-        <use_parent_model_frame>0</use_parent_model_frame>
       </axis>
+      <physics>
+        <ode>
+          <implicit_spring_damper>1</implicit_spring_damper>
+          <cfm_damping>1</cfm_damping>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+        </ode>
+      </physics>
     </joint>
     <link name="rear_right_flipper">
-      <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>
@@ -2759,7 +2787,7 @@
         </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>
@@ -2767,36 +2795,24 @@
         </geometry>
       </visual>
     </link>
-    <joint name="rear_right_flipper_j" type="revolute">
-      <child>rear_right_flipper</child>
-      <parent>right_track</parent>
+    <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>
-          <effort>20</effort>
-          <velocity>0.785398</velocity>
         </limit>
         <dynamics>
           <spring_reference>0</spring_reference>
           <spring_stiffness>0</spring_stiffness>
         </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
       </axis>
-      <physics>
-        <ode>
-          <implicit_spring_damper>1</implicit_spring_damper>
-          <cfm_damping>1</cfm_damping>
-          <limit>
-            <cfm>0</cfm>
-            <erp>0.2</erp>
-          </limit>
-        </ode>
-      </physics>
     </joint>
     <link name="rear_right_flipper_wheel1">
-      <pose>-0.25 -0.272 0.0195 0 -0.193732 0</pose>
+      <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>
@@ -2836,9 +2852,10 @@
         </surface>
       </collision>
     </link>
-    <joint name="rear_right_flipper_wheel1_j" type="revolute">
-      <child>rear_right_flipper_wheel1</child>
+    <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>
@@ -2849,11 +2866,10 @@
           <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>
@@ -2893,9 +2909,10 @@
         </surface>
       </collision>
     </link>
-    <joint name="rear_right_flipper_wheel2_j" type="revolute">
-      <child>rear_right_flipper_wheel2</child>
+    <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>
@@ -2906,11 +2923,10 @@
           <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>
@@ -2950,9 +2966,10 @@
         </surface>
       </collision>
     </link>
-    <joint name="rear_right_flipper_wheel3_j" type="revolute">
-      <child>rear_right_flipper_wheel3</child>
+    <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>
@@ -2963,11 +2980,10 @@
           <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>
@@ -3007,9 +3023,10 @@
         </surface>
       </collision>
     </link>
-    <joint name="rear_right_flipper_wheel4_j" type="revolute">
-      <child>rear_right_flipper_wheel4</child>
+    <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>
@@ -3020,11 +3037,10 @@
           <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>
@@ -3064,9 +3080,10 @@
         </surface>
       </collision>
     </link>
-    <joint name="rear_right_flipper_wheel5_j" type="revolute">
-      <child>rear_right_flipper_wheel5</child>
-      <parent>rear_right_flipper</parent>
+    <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>
@@ -3077,11 +3094,10 @@
           <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>
@@ -3121,9 +3137,10 @@
         </surface>
       </collision>
     </link>
-    <joint name="right_track_wheel1_j" type="revolute">
-      <child>right_track_wheel1</child>
+    <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>
@@ -3134,11 +3151,10 @@
           <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>
@@ -3178,9 +3194,10 @@
         </surface>
       </collision>
     </link>
-    <joint name="right_track_wheel2_j" type="revolute">
-      <child>right_track_wheel2</child>
+    <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>
@@ -3191,11 +3208,10 @@
           <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>
@@ -3235,9 +3251,10 @@
         </surface>
       </collision>
     </link>
-    <joint name="right_track_wheel3_j" type="revolute">
-      <child>right_track_wheel3</child>
+    <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>
@@ -3248,11 +3265,10 @@
           <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>
@@ -3292,9 +3308,10 @@
         </surface>
       </collision>
     </link>
-    <joint name="right_track_wheel4_j" type="revolute">
-      <child>right_track_wheel4</child>
+    <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>
@@ -3305,11 +3322,10 @@
           <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>
@@ -3349,9 +3365,10 @@
         </surface>
       </collision>
     </link>
-    <joint name="right_track_wheel5_j" type="revolute">
-      <child>right_track_wheel5</child>
+    <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>
@@ -3362,11 +3379,10 @@
           <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>
@@ -3406,9 +3422,10 @@
         </surface>
       </collision>
     </link>
-    <joint name="right_track_wheel6_j" type="revolute">
-      <child>right_track_wheel6</child>
+    <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>
@@ -3419,11 +3436,10 @@
           <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>
@@ -3463,9 +3479,10 @@
         </surface>
       </collision>
     </link>
-    <joint name="right_track_wheel7_j" type="revolute">
-      <child>right_track_wheel7</child>
+    <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>
@@ -3476,11 +3493,10 @@
           <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>
@@ -3520,22 +3536,6 @@
         </surface>
       </collision>
     </link>
-    <joint name="right_track_wheel8_j" type="revolute">
-      <child>right_track_wheel8</child>
-      <parent>right_track</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
     <plugin name="cras::FlipperControlPlugin" filename="libflipper_control_plugin.so">
       <joint_name>front_left_flipper_j</joint_name>
       <max_velocity>0.8</max_velocity>
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..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
@@ -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>
@@ -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>
@@ -1572,31 +1579,34 @@
 						<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>
@@ -1604,35 +1614,40 @@
 						<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>
 				</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>