diff --git a/CustomRobots/roverrobotics_description/meshes/flipper_chassis.dae b/CustomRobots/roverrobotics_description/meshes/flipper_chassis.dae
new file mode 100644
index 000000000..e4cb7b36e
--- /dev/null
+++ b/CustomRobots/roverrobotics_description/meshes/flipper_chassis.dae
@@ -0,0 +1,92 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
+  <asset>
+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 3.6.0 commit date:2023-06-27, commit time:08:08, hash:c7fc78b81ecb</authoring_tool>
+    </contributor>
+    <created>2023-07-05T22:25:52</created>
+    <modified>2023-07-05T22:25:52</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_effects>
+    <effect id="ID9_004-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <color sid="diffuse">0.153 0.153 0.153 1</color>
+            </diffuse>
+            <reflectivity>
+              <float sid="specular">0.5</float>
+            </reflectivity>
+            <index_of_refraction>
+              <float sid="ior">1.45</float>
+            </index_of_refraction>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
+  <library_images/>
+  <library_materials>
+    <material id="ID9_004-material" name="ID9.004">
+      <instance_effect url="#ID9_004-effect"/>
+    </material>
+  </library_materials>
+  <library_geometries>
+    <geometry id="ID3_004-mesh" name="ID3.004">
+      <mesh>
+        <source id="ID3_004-mesh-positions">
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103770 114996 103760 114998 103762 115047 103811 114980 103744 115055 103819 115011 103775 114978 103742 115056 103820 115001 103765 115007 103771 114979 103743 114995 103759 114985 103749 115006 103770 115007 103771 115057 103821 115049 103813 115048 103812 114980 103744 114979 103743 115007 103771 114978 103742 115001 103765 114979 103743 115049 103813 115058 103822 115050 103814 115041 103805 115048 103812 115042 103806 115048 103812 115056 103820 115057 103821 115050 103814 115043 103807 115049 103813 115046 103810 115054 103818 115039 103803 114977 103741 114988 103752 115051 103815 114981 103745 115059 103823 114996 103760 115054 103818 114996 103760 115047 103811 115054 103818 115046 103810 115060 103824 115059 103823 115061 103825 114997 103761 114981 103745 114996 103760 115054 103818 115061 103825 115055 103819 115006 103770 114997 103761 114996 103760 115059 103823 115011 103775 115062 103826 114978 103742 115006 103770 114997 103761 115061 103825 115056 103820 115063 103827 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104107 115344 104108 115330 104094 115329 104093 115338 104102 115338 104102 115344 104108 115330 104094 115290 104054 115329 104093 115331 104095 115279 104043 115281 104045 115339 104103 115291 104055 115290 104054 115280 104044 115290 104054 115331 104095 115286 104050 115285 104049 115339 104103 115281 104045 115325 104089 115250 104014 115252 104016 115269 104033 115333 104097 115267 104031 115342 104106 115341 104105 115345 104109 115252 104016 115251 104015 115336 104100 115251 104015 115273 104037 115340 104104 115343 104107 115342 104106 115346 104110 115341 104105 115340 104104 115345 104109 115344 104108 115343 104107 115347 104111 115342 104106 115345 104109 115346 104110 115330 104094 115344 104108 115348 104112 115343 104107 115346 104110 115347 104111 115331 104095 115330 104094 115349 104113 115344 104108 115347 104111 115348 104112 115350 104114 115293 104057 115294 104058 115330 104094 115348 104112 115349 104113 115294 104058 115286 104050 115331 104095 115349 104113 115294 104058 115331 104095 115285 104049 115281 104045 115286 104050 115333 104097 115269 104033 115250 104014 115250 104014 115273 104037 115251 104015 115272 104036 115351 104115 115273 104037 115269 104033 115272 104036 115273 104037 115351 104115 115352 104116 115340 104104 115273 104037 115351 104115 115340 104104 115352 104116 115353 104117 115345 104109 115340 104104 115352 104116 115345 104109 115353 104117 115354 104118 115346 104110 115345 104109 115353 104117 115346 104110 115354 104118 115355 104119 115347 104111 115346 104110 115354 104118 115347 104111 115355 104119 115356 104120 115348 104112 115347 104111 115355 104119 115348 104112 115356 104120 115350 104114 115349 104113 115348 104112 115356 104120 115349 104113 115350 104114 115294 104058 115349 104113 115287 104051 115286 104050 115294 104058 115357 163 115358 163 115359 163 115360 104121 115361 104121 115362 104121 115363 104122 115362 104122 115364 104122 115363 104123 115360 104123 115362 104123 115362 104124 115365 104124 115366 104124 115364 163 115362 163 115367 163 115368 104125 115369 104125 115370 104125 115367 163 115362 163 115366 163 115371 104126 115372 104126 115373 104126 115374 163 115375 163 115376 163 115377 104127 115378 104127 115379 104127 115359 163 115380 163 115357 163 115381 163 115357 163 115380 163 115382 163 115383 163 115384 163 115385 163 115357 163 115381 163 115386 104128 115387 104128 115388 104128 115389 163 115386 163 115388 163 115390 104129 115391 104129 115389 104129 115392 104130 115393 104130 115394 104130 115395 104131 115396 104131 115397 104131 115398 104132 115399 104132 115400 104132 115398 163 115400 163 115401 163 115402 104133 115400 104133 115399 104133 115403 163 115400 163 115404 163 115403 104134 115401 104134 115400 104134 115405 163 115406 163 115407 163 115408 104135 115409 104135 115400 104135 115410 163 115411 163 115412 163 115413 163 115414 163 115411 163 115415 163 115411 163 115414 163 115410 163 115413 163 115411 163 115416 163 115417 163 115418 163 115419 163 115420 163 115421 163 115417 163 115422 163 115418 163 115423 104136 115424 104136 115425 104136 115426 163 115427 163 115428 163 115429 163 115430 163 115431 163 115432 163 115433 163 115434 163 115435 104137 115436 104137 115437 104137 115438 104138 115439 104138 115440 104138 115441 163 115442 163 115443 163 115436 104139 115435 104139 115393 104139 115392 163 115394 163 115444 163 115445 104140 115446 104140 115447 104140 115390 163 115448 163 115391 163 115444 104141 115394 104141 115449 104141 115450 163 115451 163 115452 163 115453 163 115454 163 115455 163 115456 104142 115366 104142 115457 104142 115432 104143 115434 104143 115458 104143 115459 163 115460 163 115461 163 115462 104144 115463 104144 115433 104144 115433 104145 115463 104145 115434 104145 115462 163 115464 163 115465 163 115465 163 115463 163 115462 163 115466 104146 115464 104146 115467 104146 115464 104147 115466 104147 115465 104147 115468 104148 115416 104148 115469 104148 115470 104149 115471 104149 115472 104149 115422 104150 115473 104150 115418 104150 115474 104151 115475 104151 115476 104151 115420 163 115419 163 115477 163 115478 104152 115420 104152 115415 104152 115421 163 115420 163 115478 163 115415 163 115420 163 115411 163 115397 104153 115474 104153 115476 104153 115479 104154 115475 104154 115480 104154 115481 163 115480 163 115482 163 115480 104155 115481 104155 115479 104155 115483 163 115484 163 115485 163 115482 163 115485 163 115484 163 115426 163 115486 163 115487 163 115483 163 115488 163 115486 163 115489 104156 115490 104156 115491 104156 115492 104157 115493 104157 115491 104157 115427 104158 115426 104158 115487 104158 115494 163 115495 163 115496 163 115497 104159 115498 104159 115499 104159 115490 104160 115489 104160 115428 104160 115493 104161 115489 104161 115491 104161 115500 104162 115501 104162 115502 104162 115503 104163 115387 104164 115386 104165 115435 104166 115437 104166 115492 104166 115504 104167 115505 104167 115506 104167 115507 163 115508 163 115509 163 115502 104168 115510 104168 115500 104168 115511 104169 115512 104169 115513 104169 115514 104170 115515 104170 115495 104170 115392 163 115436 163 115393 163 115493 163 115492 163 115437 163 115428 104171 115427 104171 115490 104171 115486 104172 115488 104172 115487 104172 115483 104173 115485 104173 115488 104173 115482 104174 115484 104174 115481 104174 115476 104175 115475 104175 115479 104175 115397 104176 115396 104176 115474 104176 115516 163 115517 163 115518 163 115519 104177 115520 104177 115395 104177 115395 104178 115520 104178 115396 104178 115519 163 115521 163 115522 163 115522 163 115520 163 115519 163 115411 104179 115420 104179 115521 104179 115521 104180 115420 104180 115522 104180 115411 104181 115521 104181 115523 104181 115440 104182 115524 104182 115438 104182 115439 104183 115518 104183 115517 104183 115525 104184 115516 104184 115526 104184 115527 104185 115526 104185 115528 104185 115526 104186 115527 104186 115525 104186 115529 104187 115530 104187 115531 104187 115528 163 115531 163 115530 163 115442 163 115532 163 115533 163 115529 163 115534 163 115532 163 115499 104188 115535 104188 115497 104188 115536 163 115498 163 115497 163 115443 104189 115442 104189 115533 104189 115537 163 115501 163 115538 163 115449 163 115454 163 115539 163 115499 104190 115441 104190 115535 104190 115540 163 115541 163 115542 163 115543 163 115544 163 115545 163 115546 163 115510 163 115502 163 115536 163 115391 163 115448 163 115369 104191 115368 104191 115547 104191 115548 163 115549 163 115550 163 115370 104192 115549 104192 115368 104192 115537 163 115551 163 115552 163 115454 163 115453 163 115539 163 115388 163 115390 163 115389 163 115498 163 115536 163 115448 163 115441 104193 115443 104193 115535 104193 115532 104194 115534 104194 115533 104194 115529 104195 115531 104195 115534 104195 115528 104196 115530 104196 115527 104196 115517 163 115516 163 115525 163 115553 163 115554 163 115555 163 115524 104197 115440 104197 115556 104197 115438 163 115518 163 115439 163 115556 104198 115557 104199 115558 104200 115558 163 115524 163 115556 163 115523 104201 115557 104202 115559 104203 115557 104204 115523 104204 115558 104204 115523 163 115559 163 115411 163 115452 163 115560 163 115561 163 115561 163 115553 163 115555 163 115562 104205 115554 104205 115563 104205 115564 104206 115563 104206 115565 104206 115563 104207 115564 104207 115562 104207 115566 163 115567 163 115568 163 115565 163 115568 163 115567 163 115447 104208 115569 104208 115570 104208 115566 163 115571 163 115569 163 115375 104209 115552 104209 115572 104209 115538 104210 115551 104210 115537 104210 115445 104211 115447 104211 115570 104211 115573 104212 115574 104212 115575 104212 115576 163 115577 163 115578 163 115374 104213 115376 104213 115446 104213 115503 104214 115444 104214 115579 104214 115375 104215 115572 104215 115376 104215 115580 163 115581 163 115582 163 115583 104216 115584 104216 115585 104216 115586 104217 115587 104217 115588 104217 115587 104218 115589 104219 115590 104220 115587 104221 115590 104221 115588 104221 115591 163 115592 163 115593 163 115594 163 115595 163 115596 163 115500 104222 115538 104222 115501 104222 115572 163 115552 163 115551 163 115446 104223 115445 104223 115374 104223 115569 104224 115571 104224 115570 104224 115566 104225 115568 104225 115571 104225 115565 104226 115567 104226 115564 104226 115555 163 115554 163 115562 163 115597 163 115507 163 115598 163 115451 163 115560 163 115452 163 115560 104227 115553 104227 115561 104227 115599 163 115451 163 115450 163 115599 104228 115600 104229 115559 104230 115600 163 115599 163 115450 163 115559 163 115601 163 115411 163 115600 104231 115601 104232 115559 104233 115597 104234 115598 104234 115602 104234 115602 163 115603 163 115604 163 115411 104235 115605 104235 115408 104235 115606 163 115603 163 115607 163 115603 104236 115606 104236 115604 104236 115608 163 115609 163 115610 163 115607 104237 115610 104237 115609 104237 115506 104238 115611 104238 115612 104238 115608 163 115613 163 115611 163 115544 163 115614 163 115615 163 115550 163 115616 163 115548 163 115504 104239 115506 104239 115612 104239 115617 163 115618 163 115619 163 115620 104240 115621 104240 115373 104240 115543 104241 115545 104241 115505 104241 115546 163 115387 163 115622 163 115544 104242 115615 104242 115545 104242 115373 104243 115621 104243 115371 104243 115614 163 115548 163 115616 163 115623 104244 115624 104244 115625 104244 115626 163 115627 163 115628 163 115629 163 115630 163 115631 163 115430 163 115429 163 115632 163 115633 104245 115634 104245 115635 104245 115370 163 115550 163 115549 163 115615 163 115614 163 115616 163 115505 104246 115504 104246 115543 104246 115611 104247 115613 104247 115612 104247 115608 104248 115610 104248 115613 104248 115607 104249 115609 104249 115606 104249 115597 163 115602 163 115604 163 115636 163 115637 163 115638 163 115639 163 115509 163 115508 163 115509 104250 115598 104250 115507 104250 115639 163 115405 163 115407 163 115405 163 115639 163 115508 163 115406 104251 115601 104251 115407 104251 115601 104252 115605 104252 115411 104252 115406 163 115605 163 115601 163 115411 163 115408 163 115400 163 115638 104253 115637 104253 115578 104253 115640 104254 115641 104254 115642 104254 115641 104255 115640 104255 115636 104255 115643 104256 115644 104256 115645 104256 115641 104257 115644 104257 115642 104257 115646 163 115647 163 115648 163 115643 163 115645 163 115647 163 115575 104258 115646 104258 115649 104258 115650 104259 115651 104259 115652 104259 115651 104260 115650 104260 115586 104260 115573 163 115575 163 115649 163 115653 104261 115632 104261 115429 104261 115372 104262 115371 104262 115574 104262 115547 104263 115510 104263 115654 104263 115655 163 115593 163 115592 163 115656 104264 115593 104264 115655 104264 115620 163 115650 163 115652 163 115657 163 115658 163 115659 163 115658 163 115660 163 115659 163 115661 104265 115662 104265 115663 104265 115664 104266 115665 104266 115666 104266 115667 163 115668 163 115669 163 115588 163 115651 163 115586 163 115621 163 115620 163 115652 163 115574 104267 115573 104267 115372 104267 115646 104268 115648 104268 115649 104268 115647 104269 115645 104269 115648 104269 115644 104270 115643 104270 115642 104270 115637 163 115636 163 115640 163 115670 104271 115671 104271 115619 104271 115672 163 115577 163 115576 163 115577 163 115638 163 115578 163 115672 163 115673 163 115674 163 115673 163 115672 163 115576 163 115605 104272 115674 104273 115675 104274 115673 163 115675 163 115674 163 115605 104275 115675 104276 115408 104277 115676 104278 115677 104278 115678 104278 115671 104279 115670 104279 115679 104279 115680 163 115681 163 115682 163 115681 163 115680 163 115679 163 115683 104280 115684 104280 115685 104280 115681 163 115684 163 115682 163 115686 163 115687 163 115688 163 115683 163 115685 163 115687 163 115585 104281 115686 104281 115689 104281 115690 104282 115691 104282 115692 104282 115656 104283 115691 104283 115690 104283 115583 163 115585 163 115689 163 115693 104284 115694 104284 115695 104284 115696 104285 115660 104285 115658 104285 115431 104286 115430 104286 115584 104286 115589 163 115369 163 115697 163 115698 163 115699 163 115700 163 115701 163 115694 163 115693 163 115653 163 115690 163 115692 163 115702 104287 115703 104287 115704 104287 115630 104288 115705 104288 115631 104288 115706 104289 115707 104289 115708 104289 115709 104290 115710 104290 115711 104290 115712 104291 115713 104291 115714 104291 115655 163 115691 163 115656 163 115632 104292 115653 104292 115692 104292 115584 104293 115583 104293 115431 104293 115686 104294 115688 104294 115689 104294 115687 104295 115685 104295 115688 104295 115684 104296 115683 104296 115682 104296 115671 163 115679 163 115680 163 115715 104297 115400 104297 115409 104297 115716 163 115618 163 115617 163 115618 163 115670 163 115619 163 115716 163 115717 163 115718 163 115717 163 115716 163 115617 163 115408 163 115718 163 115719 163 115717 163 115719 163 115718 163 115408 104298 115719 104298 115409 104298 115720 163 115721 163 115722 163 115722 163 115723 163 115720 163 115724 163 115725 163 115726 163 115725 163 115724 163 115721 163 115727 104299 115728 104299 115729 104299 115725 163 115728 163 115726 163 115730 163 115731 163 115732 163 115727 163 115729 163 115731 163 115627 163 115730 163 115733 163 115705 104300 115701 104300 115631 104300 115734 104301 115735 104301 115736 104301 115628 163 115627 163 115733 163 115737 104302 115738 104302 115739 104302 115740 163 115741 163 115704 163 115657 104303 115659 104303 115626 104303 115591 163 115590 163 115742 163 115743 104304 115744 104304 115745 104304 115746 163 115738 163 115737 163 115696 163 115693 163 115695 163 115747 163 115748 163 115749 163 115749 163 115750 163 115747 163 115702 163 115704 163 115741 163 115751 163 115752 163 115753 163 115754 163 115755 163 115756 163 115705 163 115694 163 115701 163 115660 104305 115696 104305 115695 104305 115626 104306 115628 104306 115657 104306 115730 104307 115732 104307 115733 104307 115731 104308 115729 104308 115732 104308 115728 104309 115727 104309 115726 104309 115722 163 115721 163 115724 163 115757 104310 115745 104310 115698 104310 115757 163 115698 163 115700 163 115723 163 115677 163 115676 163 115676 104311 115720 104311 115723 104311 115758 163 115678 163 115677 163 115759 104312 115758 104312 115760 104312 115758 104313 115759 104313 115678 104313 115409 104314 115760 104314 115715 104314 115759 163 115760 163 115409 163 115743 163 115761 163 115744 163 115762 163 115763 163 115764 163 115763 163 115762 163 115761 163 115765 104315 115766 104315 115767 104315 115763 163 115766 163 115764 163 115768 163 115769 163 115770 163 115765 104316 115767 104316 115769 104316 115736 104317 115768 104317 115771 104317 115750 104318 115746 104318 115747 104318 115772 104319 115773 104319 115774 104319 115734 163 115736 163 115771 163 115775 104320 115776 104320 115777 104320 115778 163 115779 163 115751 163 115703 104321 115702 104321 115735 104321 115629 163 115592 163 115780 163 115781 104322 115782 104322 115783 104322 115784 163 115776 163 115775 163 115740 163 115737 163 115739 163 115785 163 115786 163 115787 163 115787 163 115788 163 115785 163 115789 163 115790 163 115791 163 115792 163 115793 163 115794 163 115795 163 115796 163 115797 163 115750 163 115738 163 115746 163 115741 163 115740 163 115739 163 115735 104323 115734 104323 115703 104323 115768 104324 115770 104324 115771 104324 115769 104325 115767 104325 115770 104325 115766 104326 115765 104326 115764 104326 115744 163 115761 163 115762 163 115798 104327 115799 104327 115800 104327 115801 163 115802 163 115799 163 115757 163 115743 163 115745 163 115803 104328 115804 104329 115715 104330 115805 104331 115699 104331 115803 104331 115699 104332 115805 104332 115700 104332 115805 163 115803 163 115715 163 115715 104333 115804 104333 115400 104333 115782 104334 115781 104334 115806 104334 115798 104335 115800 104335 115807 104335 115808 163 115809 163 115810 163 115809 163 115808 163 115806 163 115811 104336 115812 104336 115813 104336 115809 163 115812 163 115810 163 115814 163 115815 163 115816 163 115811 163 115813 163 115815 163 115774 104337 115814 104337 115817 104337 115788 104338 115784 104338 115785 104338 115818 104339 115819 104339 115820 104339 115772 104340 115774 104340 115817 104340 115821 104341 115822 104341 115823 104341 115824 163 115825 163 115792 163 115753 104342 115752 104342 115773 104342 115751 104343 115779 104343 115752 104343 115826 104344 115748 104344 115630 104344 115778 163 115775 163 115777 163 115827 163 115828 163 115829 163 115790 163 115789 163 115830 163 115831 104345 115832 104345 115833 104345 115834 104346 115835 104346 115836 104346 115837 104347 115838 104347 115839 104347 115788 163 115776 163 115784 163 115779 163 115778 163 115777 163 115773 104348 115772 104348 115753 104348 115814 104349 115816 104349 115817 104349 115815 104350 115813 104350 115816 104350 115812 104351 115811 104351 115810 104351 115782 163 115806 163 115808 163 115840 104352 115841 104352 115842 104352 115783 163 115798 163 115807 163 115807 104353 115781 104353 115783 104353 115404 163 115840 163 115842 163 115804 104354 115840 104354 115400 104354 115801 104355 115804 104355 115802 104355 115799 104356 115802 104356 115800 104356 115801 104357 115840 104358 115804 104359 115400 163 115840 163 115404 163 115843 163 115844 163 115845 163 115846 104360 115847 104360 115848 104360 115849 163 115850 163 115851 163 115850 163 115849 163 115852 163 115853 104361 115854 104361 115855 104361 115850 163 115854 163 115851 163 115856 104362 115857 104362 115858 104362 115853 104363 115855 104363 115857 104363 115820 163 115856 163 115859 163 115860 163 115455 163 115454 163 115460 104364 115432 104364 115458 104364 115861 104365 115514 104365 115862 104365 115459 104366 115461 104366 115863 104366 115460 104367 115458 104367 115461 104367 115863 163 115864 163 115865 163 115865 163 115459 163 115863 163 115864 104217 115455 104217 115860 104217 115864 104368 115860 104368 115865 104368 115866 104369 115867 104369 115868 104369 115869 104370 115870 104370 115871 104370 115872 163 115861 163 115873 163 115419 104371 115861 104371 115874 104371 115862 163 115874 163 115861 163 115875 163 115419 163 115876 163 115419 104372 115874 104372 115876 104372 115468 104373 115469 104373 115877 104373 115878 104374 115419 104374 115879 104374 115419 104375 115875 104375 115879 104375 115477 163 115473 163 115422 163 115880 104376 115419 104376 115881 104376 115419 104377 115878 104377 115881 104377 115882 163 115473 163 115477 163 115883 104378 115419 104378 115884 104378 115419 104379 115880 104379 115884 104379 115416 104380 115468 104380 115417 104380 115885 163 115419 163 115886 163 115419 104381 115883 104381 115886 104381 115882 104382 115419 104382 115887 104382 115419 104383 115885 104383 115887 104383 115477 104384 115419 104384 115882 104384 115877 163 115888 163 115425 163 115888 104385 115877 104385 115469 104385 115423 163 115470 163 115424 163 115888 163 115423 163 115425 163 115472 163 115471 163 115467 163 115424 104386 115470 104386 115472 104386 115466 163 115467 163 115471 163 115367 163 115366 163 115456 163 115889 163 115890 163 115891 163 115892 104387 115893 104387 115894 104387 115895 104388 115896 104388 115897 104388 115898 163 115899 163 115623 163 115894 104389 115893 104389 115900 104389 115901 163 115902 163 115861 163 115903 163 115904 163 115905 163 115906 104390 115907 104390 115908 104390 115366 104391 115365 104392 115904 104393 115365 163 115905 163 115904 163 115909 163 115910 163 115911 163 115456 163 115457 163 115912 163 115913 104394 115900 104394 115914 104394 115892 104395 115915 104395 115893 104395 115916 104396 115871 104396 115915 104396 115915 104397 115892 104397 115916 104397 115917 163 115870 163 115869 163 115869 104398 115871 104398 115916 104398 115918 104399 115919 104399 115920 104399 115921 163 115595 163 115594 163 115922 163 115923 163 115924 163 115923 163 115919 163 115924 163 115925 104400 115926 104400 115922 104400 115926 163 115923 163 115922 163 115926 163 115925 163 115927 163 115539 104401 115453 104401 115925 104401 115496 104402 115495 104402 115928 104402 115929 163 115596 163 115595 163 115921 104403 115930 104403 115539 104403 115512 163 115931 163 115513 163 115932 104404 115933 104404 115934 104404 115934 104405 115931 104405 115932 104405 115933 104406 115932 104406 115935 104406 115449 104407 115579 104407 115444 104407 115936 163 115937 163 115938 163 115935 163 115938 163 115937 163 115939 104408 115940 104408 115667 104408 115936 163 115941 163 115939 163 115903 104409 115896 104409 115895 104409 115942 163 115943 163 115665 163 115667 104410 115940 104410 115668 104410 115944 104411 115945 104411 115946 104411 115947 163 115948 163 115949 163 115624 104412 115669 104412 115625 104412 115899 104413 115624 104413 115623 104413 115950 104414 115951 104414 115952 104414 115953 104415 115954 104415 115955 104415 115895 104416 115897 104416 115898 104416 115954 163 115956 163 115957 163 115957 163 115955 163 115954 163 115951 104417 115950 104417 115958 104417 115362 104418 115956 104418 115365 104418 115959 163 115712 163 115714 163 115905 163 115896 163 115903 163 115899 163 115898 163 115897 163 115669 104419 115668 104419 115625 104419 115939 104420 115941 104420 115940 104420 115936 104421 115938 104421 115941 104421 115935 104422 115937 104422 115933 104422 115513 163 115931 163 115934 163 115633 104423 115960 104423 115634 104423 115511 163 115596 163 115929 163 115929 104424 115512 104424 115511 104424 115594 104425 115930 104425 115921 104425 115579 163 115449 163 115930 163 115449 104426 115539 104426 115930 104426 115961 104427 115635 104427 115634 104427 115960 163 115962 163 115579 163 115890 163 115963 163 115891 163 115964 163 115965 163 115966 163 115966 104428 115963 104428 115964 104428 115965 104429 115964 104429 115967 104429 115503 104430 115622 104430 115387 104430 115968 163 115969 163 115970 163 115967 163 115970 163 115969 163 115971 104431 115972 104431 115710 104431 115968 104432 115973 104432 115971 104432 115909 104433 115911 104433 115953 104433 115974 163 115975 163 115976 163 115711 163 115710 163 115972 163 115977 163 115957 163 115956 163 115978 104434 115979 104434 115958 104434 115980 104435 115981 104435 115982 104435 115666 163 115709 163 115664 163 115666 104436 115665 104436 115943 104436 115983 163 115984 163 115985 163 115983 104437 115985 104437 115986 104437 115911 163 115910 163 115942 163 115978 163 115977 163 115987 163 115987 163 115979 163 115978 163 115988 104438 115989 104438 115379 104438 115956 163 115362 163 115977 163 115955 104439 115909 104439 115953 104439 115943 163 115942 163 115910 163 115709 104440 115711 104440 115664 104440 115971 104441 115973 104441 115972 104441 115968 104442 115970 104442 115973 104442 115967 104443 115969 104443 115965 104443 115891 163 115963 163 115966 163 115908 104444 115990 104444 115906 104444 115889 104445 115635 104445 115961 104445 115961 104446 115890 104446 115889 104446 115633 163 115962 163 115960 163 115622 163 115503 163 115962 163 115503 104447 115579 104447 115962 104447 115991 104448 115907 104448 115906 104448 115990 163 115992 163 115622 163 115661 163 115993 163 115662 163 115994 104449 115995 104449 115996 104449 115996 104450 115993 104450 115994 104450 115995 104451 115994 104451 115997 104451 115546 163 115654 163 115510 163 115998 163 115999 163 116000 163 115997 104452 116000 104452 115999 104452 116001 163 116002 163 115706 163 115998 104453 116003 104453 116001 104453 115959 104454 115714 104454 116004 104454 116005 163 116006 163 116007 163 115707 163 115706 163 116002 163 116008 104455 116009 104455 116010 104455 116011 104456 115984 104456 116012 104456 115713 104457 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113356 125539 113371 125523 113355 125552 113384 125535 113367 125534 113366 125535 113367 125521 113353 125523 113355 125554 113386 125524 113356 125520 113352 125524 113356 125554 113386 125548 113380 125509 113341 125508 113340 125546 113378 125549 113381 125555 113387 125550 113382 125551 113383 125505 113337 125556 113388 125509 113341 125550 113382 125518 113350 125552 113384 125551 113383 125557 113389 125505 113337 125518 113350 125556 113388 125535 113367 125552 113384 125558 113390 125551 113383 125556 113388 125557 113389 125521 113353 125535 113367 125559 113391 125557 113389 125558 113390 125552 113384 125520 113352 125524 113356 125521 113353 125535 113367 125558 113390 125559 113391 125559 113391 125522 113354 125521 113353 125560 113392 125520 113352 125528 113360 125520 113352 125560 113392 125554 113386 125556 113388 125518 113350 125561 113393 125550 113382 125509 113341 125546 113378 125557 113389 125556 113388 125562 113394 125518 113350 125563 113395 125561 113393 125558 113390 125557 113389 125564 113396 125556 113388 125561 113393 125562 113394 125559 113391 125558 113390 125565 113397 125557 113389 125562 113394 125564 113396 125522 113354 125559 113391 125566 113398 125558 113390 125564 113396 125565 113397 125528 113360 125522 113354 125553 113385 125565 113397 125566 113398 125559 113391 125566 113398 125553 113385 125522 113354 125525 113357 125528 113360 125526 113358 125528 113360 125525 113357 125560 113392 125555 113387 125514 113346 125512 113344 125567 113399 125511 113343 125513 113345 125550 113382 125563 113395 125518 113350 125511 113343 125563 113395 125512 113344 125568 113400 125567 113399 125569 113401 125567 113399 125561 113393 125511 113343 125570 113402 125568 113400 125571 113403 125568 113400 125562 113394 125567 113399 125572 113404 125570 113402 125573 113405 125570 113402 125564 113396 125568 113400 125574 113406 125572 113404 125575 113407 125572 113404 125565 113397 125570 113402 125533 113365 125574 113406 125576 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113549 125716 113550 125717 113551 125713 113547 125705 113539 125705 113539 125716 113550 125706 113540 125707 113541 125706 113540 125708 113542 125709 113543 125703 113537 125700 113534 125706 113540 125709 113543 125708 113542 125695 113529 125700 113534 125696 113530 125718 113552 125719 113553 125720 113554 125721 113555 125722 113556 125723 113557 125724 113558 125725 113559 125726 113560 125727 113561 125728 113562 125729 113563 125730 113564 125731 113565 125732 113566 125733 113567 125734 113568 125735 113569 125736 113570 125737 113571 125738 113572 125739 113573 125740 113574 125741 113575 125742 113576 125743 113577 125744 113578 125745 113579 125746 113580 125747 113581 125748 113582 125749 113583 125750 113584 125751 113585 125752 113586 125753 113587 125754 113588 125755 113589 125756 113590 125757 113591 125758 113592 125759 113593 125760 113594 125761 113595 125762 113596 125763 113597 125764 113598 125765 113599 125766 113600 125767 113601 125768 113602 125769 113603 125770 113604 125771 113605 125772 113606 125773 113607 125774 113608 125775 113609 125776 113610 125777 113611 125777 113611 125771 113605 125775 113609 125778 113612 125779 113613 125776 113610 125777 113611 125776 113610 125779 113613 125780 113614 125778 113612 125781 113615 125778 113612 125780 113614 125779 113613 125781 113615 125782 113616 125783 113617 125783 113617 125780 113614 125781 113615 125784 113618 125785 113619 125782 113616 125783 113617 125782 113616 125785 113619 125786 113620 125784 113618 125787 113621 125784 113618 125786 113620 125785 113619 125787 113621 125788 113622 125789 113623 125789 113623 125786 113620 125787 113621 125790 113624 125791 113625 125788 113622 125789 113623 125788 113622 125791 113625 125719 113553 125790 113624 125720 113554 125790 113624 125719 113553 125791 113625 125770 113604 125769 113603 125774 113608 125771 113605 125770 113604 125775 113609 125764 113598 125773 113607 125772 113606 125772 113606 125774 113608 125769 113603 125767 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133350 120323 133351 164 133352 164 133304 164 133353 164 133354 164 133355 164 133274 164 133273 164 133281 164 133356 164 133357 164 133301 164 133281 120324 133358 120325 133279 120326 133281 120327 133273 120327 133358 120327 133281 120328 133359 120328 133360 120328 133280 164 133359 164 133281 164 133360 164 133302 164 133281 164 133302 164 133356 164 133301 164 133361 120329 133362 120329 133301 120329 133361 164 133301 164 133357 164 133363 164 133364 164 133301 164 133363 120330 133301 120330 133362 120330 133301 164 133365 164 133277 164 133365 164 133301 164 133364 164 133277 164 133365 164 133278 164 133233 120331 133235 120331 133232 120331 133295 164 133292 164 133291 164 133339 164 133194 164 133262 164 133340 164 133336 164 133366 164 133346 120332 133245 120332 133367 120332 133368 120333 133226 120333 133218 120333 133369 120334 133216 120334 133219 120334 133188 164 133208 164 133189 164 133209 164 133212 164 133370 164 133371 164 133197 164 133184 164 133196 164 133372 164 133206 164 133207 120335 133204 120335 133205 120335 133323 164 133373 164 133202 164 133323 120336 133374 120336 133321 120336 133315 120337 133375 120337 133319 120337 133376 120338 133377 120338 133378 120338 133354 164 133379 164 133380 164 133353 120339 133355 120339 133381 120339 133382 120340 133383 120340 133381 120340 133384 120341 133383 120341 133382 120341 133384 164 133385 164 133351 164 133351 120342 133383 120342 133384 120342 133304 120343 133352 120343 133275 120343 133386 164 133387 164 133388 164 133389 120344 133390 120344 133388 120344 133317 164 133316 164 133325 164 133317 164 133325 164 133324 164 133315 120345 133320 120345 133316 120345 133375 164 133376 164 133319 164 133391 164 133194 164 133253 164 133377 164 133314 164 133378 164 133375 120346 133377 120346 133376 120346 133313 164 133312 164 133268 164 133378 164 133314 164 133313 164 133194 164 133391 164 133385 164 133267 120347 133269 120347 133380 120347 133268 120348 133312 120348 133269 120348 133385 120349 133392 120350 133393 120351 133394 164 133379 164 133354 164 133379 164 133267 164 133380 164 133352 164 133385 164 133393 164 133351 164 133385 164 133352 164 133354 164 133353 164 133394 164 133355 120352 133382 120352 133381 120352 133391 164 133392 164 133385 164 133338 164 133220 164 133194 164 133395 120353 133331 120353 133330 120353 133333 120354 133332 120354 133254 120354 133261 164 133339 164 133262 164 133326 164 133258 164 133396 164 133264 120355 133311 120355 133265 120355 133303 164 133298 164 133300 164 133272 120356 133271 120356 133303 120356 133272 120357 133307 120357 133270 120357 133307 120358 133306 120358 133305 120358 133306 120359 133264 120359 133266 120359 133311 120360 133310 120360 133265 120360 133309 164 133318 164 133310 164 133260 120361 133259 120361 133318 120361 133260 164 133396 164 133258 164 133396 164 133327 164 133326 164 133327 164 133256 164 133255 164 133256 120362 133333 120362 133254 120362 133331 120363 133395 120363 133332 120363 133330 120364 133329 120364 133395 120364 133328 120365 133335 120365 133329 120365 133328 164 133337 164 133334 164 133337 164 133366 164 133336 164 133366 164 133341 164 133340 164 133341 120366 133248 120366 133247 120366 133343 120367 133342 120367 133246 120367 133344 120368 133345 120368 133342 120368 133346 120369 133367 120369 133345 120369 133346 164 133244 164 133245 164 133244 120370 133236 120370 133237 120370 133236 164 133235 164 133234 164 133232 164 133231 164 133233 164 133225 120371 133224 120371 133231 120371 133226 120372 133368 120372 133224 120372 133218 120373 133217 120373 133368 120373 133218 164 133369 164 133219 164 133369 164 133215 164 133216 164 133215 164 133188 164 133187 164 133208 120374 133210 120374 133189 120374 133209 120375 133370 120375 133210 120375 133212 120376 133211 120376 133370 120376 133186 164 133185 164 133211 164 133186 120377 133371 120377 133184 120377 133371 120378 133198 120378 133197 120378 133198 120379 133372 120379 133196 120379 133372 120380 133207 120380 133206 120380 133204 164 133203 164 133205 164 133202 120381 133373 120381 133203 120381 133323 120382 133322 120382 133373 120382 133374 120383 133199 120383 133321 120383 133200 120384 133214 120384 133201 120384 133374 164 133200 164 133199 164 133213 164 133192 164 133191 164 133201 120385 133214 120385 133213 120385 133191 164 133190 164 133223 164 133222 120386 133221 120386 133228 120386 133223 164 133190 164 133221 164 133390 164 133229 164 133228 164 133230 164 133222 164 133228 164 133388 120387 133387 120387 133389 120387 133390 120388 133389 120388 133229 120388 133386 120389 133238 120389 133387 120389 133239 120390 133349 120390 133240 120390 133386 164 133239 164 133238 164 133348 164 133350 164 133347 164 133240 164 133349 164 133348 164 133243 164 133347 164 133350 164 133397 165 133398 165 133399 165 133400 120391 133401 120391 133402 120391 133403 165 133404 165 133405 165 133406 165 133407 165 133408 165 133409 165 133410 165 133411 165 133412 120392 133413 120392 133414 120392 133413 120393 133415 120393 133414 120393 133416 120394 133417 120394 133418 120394 133406 120395 133419 120395 133402 120395 133420 165 133421 165 133422 165 133412 165 133414 165 133423 165 133409 120396 133424 120396 133425 120396 133426 120397 133427 120397 133428 120397 133429 120398 133430 120398 133431 120398 133432 165 133433 165 133434 165 133424 165 133435 165 133425 165 133436 120399 133404 120399 133437 120399 133433 165 133438 165 133439 165 133420 120400 133440 120400 133421 120400 133441 120401 133423 120401 133442 120401 133413 165 133425 165 133435 165 133443 120402 133444 120402 133445 120402 133446 165 133447 165 133448 165 133405 120403 133449 120403 133450 120403 133441 165 133451 165 133423 165 133437 165 133452 165 133453 165 133454 165 133455 165 133456 165 133457 165 133399 165 133398 165 133458 120404 133459 120404 133460 120404 133458 165 133455 165 133461 165 133462 165 133463 165 133464 165 133463 120405 133465 120405 133464 120405 133466 120406 133467 120406 133468 120406 133469 120407 133470 120407 133471 120407 133469 165 133467 165 133470 165 133472 165 133473 165 133474 165 133472 165 133471 165 133473 165 133475 120408 133476 120408 133477 120408 133478 165 133479 165 133480 165 133481 120409 133482 120409 133483 120409 133484 120410 133485 120410 133486 120410 133487 165 133482 165 133488 165 133489 165 133490 165 133487 165 133491 120411 133492 120411 133493 120411 133494 165 133493 165 133495 165 133496 165 133497 165 133498 165 133499 165 133488 165 133482 165 133500 165 133498 165 133501 165 133502 165 133503 165 133504 165 133501 120412 133505 120412 133500 120412 133497 120413 133506 120413 133507 120413 133507 165 133502 165 133504 165 133501 165 133490 165 133508 165 133509 120414 133510 120414 133483 120414 133503 120415 133511 120415 133495 120415 133476 120416 133475 120416 133492 120416 133509 165 133486 165 133485 165 133512 165 133513 165 133478 165 133475 120417 133514 120417 133515 120417 133486 165 133513 165 133516 165 133480 165 133479 165 133517 165 133474 165 133473 165 133515 165 133518 165 133519 165 133520 165 133519 120418 133479 120418 133520 120418 133521 165 133522 165 133520 165 133473 120419 133471 120419 133470 120419 133521 120420 133523 120420 133524 120420 133521 120421 133524 120421 133522 120421 133462 120422 133525 120422 133521 120422 133470 165 133467 165 133466 165 133526 120423 133466 120423 133468 120423 133462 120424 133527 120424 133525 120424 133528 120425 133529 120425 133466 120425 133466 120426 133526 120426 133528 120426 133529 120427 133530 120427 133531 120427 133458 165 133460 165 133463 165 133531 165 133532 165 133533 165 133529 120428 133531 120428 133533 120428 133534 165 133535 165 133536 165 133461 165 133455 165 133454 165 133537 165 133538 165 133455 165 133539 165 133535 165 133534 165 133537 165 133540 165 133541 165 133542 120429 133538 120429 133537 120429 133540 120430 133543 120430 133541 120430 133544 165 133430 165 133545 165 133449 120431 133546 120431 133450 120431 133543 165 133540 165 133547 165 133548 165 133549 165 133550 165 133549 165 133548 165 133540 165 133549 120432 133451 120432 133550 120432 133551 165 133465 165 133463 165 133530 165 133529 165 133528 165 133479 165 133478 165 133513 165 133552 120433 133444 120433 133448 120433 133439 165 133553 165 133443 165 133554 165 133429 165 133555 165 133401 165 133556 165 133417 165 133400 165 133402 165 133557 165 133558 120434 133407 120434 133559 120434 133428 165 133560 165 133410 165 133442 165 133423 165 133414 165 133549 165 133423 165 133451 165 133547 120435 133540 120435 133548 120435 133542 165 133537 165 133541 165 133456 120436 133455 120436 133538 120436 133459 165 133458 165 133461 165 133551 165 133463 165 133460 165 133527 120437 133462 120437 133464 120437 133523 120438 133521 120438 133525 120438 133518 165 133520 165 133522 165 133517 165 133479 165 133519 165 133516 165 133513 165 133512 165 133484 120439 133486 120439 133516 120439 133509 165 133483 165 133486 165 133483 120440 133510 120440 133481 120440 133482 120441 133481 120441 133499 120441 133490 165 133482 165 133487 165 133489 165 133508 165 133490 165 133508 165 133505 165 133501 165 133501 165 133498 165 133497 165 133506 120442 133497 120442 133496 120442 133504 165 133497 165 133507 165 133503 120443 133495 120443 133504 120443 133495 120444 133511 120444 133494 120444 133495 165 133493 165 133492 165 133491 165 133476 165 133492 165 133475 120445 133477 120445 133514 120445 133515 120446 133473 120446 133475 120446 133418 120447 133561 120447 133416 120447 133562 120448 133561 120448 133563 120448 133418 120449 133563 120449 133561 120449 133564 165 133446 165 133532 165 133565 120450 133566 120450 133567 120450 133533 165 133532 165 133568 165 133533 120451 133568 120451 133397 120451 133569 165 133570 165 133539 165 133570 165 133535 165 133539 165 133436 165 133570 165 133569 165 133449 165 133436 165 133569 165 133398 165 133536 165 133457 165 133457 165 133536 165 133535 165 133533 165 133397 165 133399 165 133532 120452 133446 120452 133568 120452 133447 165 133446 165 133564 165 133552 165 133448 165 133447 165 133445 165 133444 165 133552 165 133553 165 133444 165 133443 165 133438 165 133553 165 133439 165 133434 165 133433 165 133439 165 133432 120453 133434 120453 133554 120453 133555 165 133571 165 133554 165 133571 165 133432 165 133554 165 133431 165 133555 165 133429 165 133545 165 133430 165 133429 165 133572 165 133565 165 133573 165 133565 165 133572 165 133545 165 133545 120454 133572 120454 133544 120454 133565 120455 133567 120455 133573 120455 133574 120456 133567 120456 133566 120456 133562 165 133563 165 133574 165 133574 165 133566 165 133562 165 133401 120457 133417 120457 133416 120457 133400 165 133556 165 133401 165 133406 120458 133575 120458 133419 120458 133402 120459 133419 120459 133557 120459 133407 120460 133576 120460 133408 120460 133406 120461 133408 120461 133575 120461 133559 120462 133426 120462 133558 120462 133407 120463 133558 120463 133576 120463 133560 120464 133428 120464 133427 120464 133427 120465 133426 120465 133559 120465 133411 165 133410 165 133560 165 133435 165 133415 165 133413 165 133424 165 133409 165 133411 165 133422 120466 133412 120466 133423 120466 133577 120467 133404 120467 133403 120467 133422 120468 133421 120468 133412 120468 133578 120469 133420 120469 133579 120469 133420 120470 133578 120470 133440 120470 133579 165 133453 165 133580 165 133580 120471 133578 120471 133579 120471 133452 120472 133437 120472 133581 120472 133580 165 133453 165 133452 165 133581 120473 133437 120474 133404 120475 133449 165 133404 165 133436 165 133405 165 133404 165 133449 165 133582 120476 133583 120477 133584 120478 133585 120479 133584 120478 133586 120480 133583 120477 133586 120480 133584 120478 133587 120481 133588 120482 133585 120479 133585 120479 133586 120480 133587 120481 133588 120482 133589 120483 133590 120484 133589 120483 133588 120482 133587 120481 133591 120485 133590 120484 133592 120486 133589 120483 133592 120486 133590 120484 133593 120487 133594 120488 133591 120485 133591 120485 133592 120486 133593 120487 133594 120488 133595 120489 133596 120490 133595 120489 133594 120488 133593 120487 133597 120491 133596 120490 133598 120492 133595 120489 133598 120492 133596 120490 133599 120493 133600 120494 133597 120491 133597 120491 133598 120492 133599 120493 133600 120494 133601 120495 133602 120496 133601 120495 133600 120494 133599 120493 133603 120497 133602 120496 133604 120498 133601 120495 133604 120498 133602 120496 133605 120499 133606 120500 133603 120497 133603 120497 133604 120498 133605 120499 133606 120500 133607 120501 133608 120502 133607 120501 133606 120500 133605 120499 133609 120503 133608 120502 133610 120504 133607 120501 133610 120504 133608 120502 133611 120505 133612 120506 133609 120503 133609 120503 133610 120504 133611 120505 133612 120506 133613 120507 133614 120508 133613 120507 133612 120506 133611 120505 133615 120509 133614 120508 133616 120510 133613 120507 133616 120510 133614 120508 133617 120511 133618 120512 133615 120509 133615 120509 133616 120510 133617 120511 133619 120513 133618 120512 133617 120511 133619 120513 133620 120514 133618 120512 133583 120477 133582 120476 133621 120515 133622 120516 133623 120517 133621 120515 133621 120515 133582 120476 133622 120516 133623 120517 133624 120518 133625 120519 133624 120518 133623 120517 133622 120516 133626 120520 133625 120519 133627 120521 133624 120518 133627 120521 133625 120519 133628 120522 133629 120523 133626 120520 133626 120520 133627 120521 133628 120522 133629 120523 133630 120524 133631 120525 133630 120524 133629 120523 133628 120522 133632 120526 133631 120525 133633 120527 133630 120524 133633 120527 133631 120525 133634 120528 133635 120529 133632 120526 133632 120526 133633 120527 133634 120528 133635 120529 133636 120530 133637 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133661 120555 133658 120552 133661 120555 133659 120553 133662 120556 133663 120557 133660 120554 133660 120554 133661 120555 133662 120556 133663 120557 133664 120558 133665 120559 133664 120558 133663 120557 133662 120556 133666 120560 133665 120559 133667 120561 133664 120558 133667 120561 133665 120559 133668 120562 133669 120563 133666 120560 133666 120560 133667 120561 133668 120562 133669 120563 133670 120564 133671 120565 133670 120564 133669 120563 133668 120562 133672 120566 133671 120565 133673 120567 133670 120564 133673 120567 133671 120565 133674 120568 133675 120569 133672 120566 133672 120566 133673 120567 133674 120568 133675 120569 133676 120570 133677 120571 133676 120570 133675 120569 133674 120568 133678 120572 133677 120571 133679 120573 133676 120570 133679 120573 133677 120571 133680 120574 133681 120575 133678 120572 133678 120572 133679 120573 133680 120574 133681 120575 133682 120576 133683 120577 133682 120576 133681 120575 133680 120574 133684 120578 133683 120577 133685 120579 133682 120576 133685 120579 133683 120577 133686 120580 133687 120581 133684 120578 133684 120578 133685 120579 133686 120580 133687 120581 133688 120582 133689 120583 133688 120582 133687 120581 133686 120580 133690 120584 133689 120583 133691 120585 133688 120582 133691 120585 133689 120583 133692 120586 133693 120587 133690 120584 133690 120584 133691 120585 133692 120586 133694 120588 133693 120587 133692 120586 133694 120588 133695 120589 133693 120587 133658 120552 133657 120551 133696 120590 133697 120591 133698 120592 133696 120590 133696 120590 133657 120551 133697 120591 133698 120592 133699 120593 133700 120594 133699 120593 133698 120592 133697 120591 133701 120595 133700 120594 133702 120596 133699 120593 133702 120596 133700 120594 133703 120597 133704 120598 133701 120595 133701 120595 133702 120596 133703 120597 133704 120598 133705 120599 133706 120600 133705 120599 133704 120598 133703 120597 133707 120601 133706 120600 133708 120602 133705 120599 133708 120602 133706 120600 133709 120603 133710 120604 133707 120601 133707 120601 133708 120602 133709 120603 133710 120604 133711 120605 133712 120606 133711 120605 133710 120604 133709 120603 133713 120607 133712 120606 133714 120608 133711 120605 133714 120608 133712 120606 133715 120609 133716 120610 133713 120607 133713 120607 133714 120608 133715 120609 133716 120610 133717 120611 133718 120612 133717 120611 133716 120610 133715 120609 133719 120613 133718 120612 133720 120614 133717 120611 133720 120614 133718 120612 133721 120615 133722 120616 133719 120613 133719 120613 133720 120614 133721 120615 133722 120616 133723 120617 133724 120618 133723 120617 133722 120616 133721 120615 133725 120619 133724 120618 133726 120620 133723 120617 133726 120620 133724 120618 133727 120621 133728 120622 133725 120619 133725 120619 133726 120620 133727 120621 133728 120622 133729 120623 133730 120624 133729 120623 133728 120622 133727 120621 133729 120623 133695 120589 133730 120624 133730 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120721 133789 120711 133791 120713 133800 120722 133801 120723 133802 120724 133803 120725 133804 120726 133805 120727 133806 120728 133807 120729 133798 120720 133779 120701 133808 120730 133809 120731 133810 120732 133785 120707 133784 120706 133811 120733 133812 120734 133813 120735 133811 120733 133784 120706 133814 120736 133811 120733 133815 120737 133816 120738 133802 120724 133817 120739 133818 120740 133819 120741 133818 120740 133820 120742 133821 120743 133779 120701 133822 120744 133820 120742 133786 120708 133823 120745 133799 120721 133816 120738 133824 120746 133802 120724 133825 120747 133826 120748 133827 120749 133828 120750 133777 120699 133823 120745 133787 120709 133829 120751 133788 120710 133830 120752 133823 120745 133788 120710 133830 120752 133788 120710 133831 120753 133829 120751 133787 120709 133781 120703 133831 120753 133832 120754 133830 120752 133788 120710 133829 120751 133831 120753 133833 120755 133834 120756 133835 120757 133832 120754 133835 120757 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214687 194279 214685 194277 214686 194278 214684 194276 214686 194278 214687 194279 214688 194280</p>
+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="ID2" name="ID2" type="NODE">
+        <matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0.1410846 0 0 0 1</matrix>
+        <instance_geometry url="#ID3_004-mesh" name="ID2">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="ID9_004-material" target="#ID9_004-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
\ No newline at end of file
diff --git a/CustomRobots/roverrobotics_description/meshes/flipper_track.dae b/CustomRobots/roverrobotics_description/meshes/flipper_track.dae
new file mode 100644
index 000000000..bd61375ea
--- /dev/null
+++ b/CustomRobots/roverrobotics_description/meshes/flipper_track.dae
@@ -0,0 +1,89 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
+  <asset>
+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 3.6.0 commit date:2023-06-27, commit time:08:08, hash:c7fc78b81ecb</authoring_tool>
+    </contributor>
+    <created>2023-07-05T22:19:37</created>
+    <modified>2023-07-05T22:19:37</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_effects>
+    <effect id="ID9_001-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <color sid="diffuse">0.153 0.153 0.153 1</color>
+            </diffuse>
+            <reflectivity>
+              <float sid="specular">0.5</float>
+            </reflectivity>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
+  <library_images/>
+  <library_materials>
+    <material id="ID9_001-material" name="ID9.001">
+      <instance_effect url="#ID9_001-effect"/>
+    </material>
+  </library_materials>
+  <library_geometries>
+    <geometry id="ID3_001-mesh" name="ID3.001">
+      <mesh>
+        <source id="ID3_001-mesh-positions">
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+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
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+          </technique_common>
+        </source>
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11308 6 11294 6 11309 8742 11311 8742 11310 8742 11294 6 11312 6 11309 6 11313 6 11309 6 11314 6 11315 10158 11309 10158 11316 10158 11317 6 11318 6 11309 6 11319 8257 11320 8257 11309 8257 11321 6 11309 6 11322 6 11309 10159 11318 10159 11322 10159 11323 6 11319 6 11309 6 11317 6 11309 6 11324 6 11324 6 11309 6 11320 6 11309 6 11321 6 11325 6 11315 743 11314 743 11309 743 11313 6 11323 6 11309 6 11311 6 11309 6 11312 6 11310 6 11316 6 11309 6 11294 10160 11326 10160 11312 10160 11306 6 11294 6 11308 6 11294 10161 11307 10161 11326 10161 11294 10162 11304 10162 11303 10162 11301 10163 11305 10163 11294 10163 11327 6 11296 6 11294 6 11328 28 11330 28 11329 28 11328 28 11331 28 11330 28 11332 8420 11334 8421 11333 8422 11335 8423 11334 8421 11336 10164 11334 8421 11335 8423 11333 8422 11337 10165 11338 10166 11336 10164 11335 8423 11336 10164 11338 10166 11337 10165 11340 10167 11339 10168 11339 10168 11338 10166 11337 10165 11341 10169 11340 10167 11342 10170 11340 10167 11341 10169 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10285 11533 10289 11532 10287 11534 8568 11532 10287 11533 10289 11531 10288 11533 10289 11534 8568 11535 8569 11536 186 11538 186 11537 186 11537 186 11539 186 11536 186 11540 16 11542 16 11541 16 11543 16 11544 16 11540 16 11545 924 11540 924 11546 924 11547 10008 11540 10008 11544 10008 11540 10290 11548 10290 11543 10290 11545 1004 11549 1004 11540 1004 11540 8101 11547 8101 11546 8101 11542 8245 11540 8245 11549 8245 11540 10291 11551 10291 11550 10291 11540 8898 11541 8898 11551 8898 11540 10292 11550 10292 11552 10292 11553 16 11555 16 11554 16 11555 1339 11557 1339 11556 1339 11555 10293 11559 10293 11558 10293 11557 16 11555 16 11558 16 11555 10294 11561 10294 11560 10294 11559 16 11555 16 11560 16 11555 10295 11563 10295 11562 10295 11561 16 11555 16 11562 16 11564 16 11554 16 11555 16 11563 1183 11555 1183 11553 1183 11565 16 11555 16 11566 16 11565 16 11564 16 11555 16 11567 16 11555 16 11568 16 11567 16 11566 16 11555 16 11569 837 11555 837 11570 837 11569 16 11568 16 11555 16 11540 10296 11571 10296 11570 10296 11570 16 11555 16 11540 16 11540 1410 11573 1410 11572 1410 11571 10297 11540 10297 11572 10297 11540 16 11552 16 11573 16 11574 10298 11576 10298 11575 10298 11575 6 11577 6 11574 6 11578 6 11579 6 11574 6 11578 6 11574 6 11577 6 11580 6 11581 6 11574 6 11580 6 11574 6 11579 6 11574 9066 11583 9066 11582 9066 11574 10299 11585 10299 11584 10299 11586 10022 11587 10022 11574 10022 11582 6 11588 6 11574 6 11589 10300 11591 10300 11590 10300 11574 6 11592 6 11589 6 11593 6 11589 6 11594 6 11595 6 11589 6 11596 6 11597 6 11598 6 11589 6 11599 8257 11600 8257 11589 8257 11601 8114 11589 8114 11602 8114 11589 913 11598 913 11602 913 11603 6 11599 6 11589 6 11597 6 11589 6 11604 6 11604 741 11589 741 11600 741 11589 6 11601 6 11605 6 11595 6 11594 6 11589 6 11593 6 11603 6 11589 6 11591 6 11589 6 11592 6 11590 6 11596 6 11589 6 11574 10301 11606 10301 11592 10301 11586 6 11574 6 11588 6 11574 10302 11587 10302 11606 10302 11574 10303 11584 10303 11583 10303 11581 7953 11585 7953 11574 7953 11607 6 11576 6 11574 6 11608 28 11610 28 11609 28 11608 28 11611 28 11610 28 11612 10304 11614 7955 11613 10305 11615 7957 11614 7955 11616 10306 11614 7955 11615 7957 11613 10305 11617 10307 11618 9596 11616 10306 11615 7957 11616 10306 11618 9596 11617 10307 11620 10029 11619 10308 11619 10308 11618 9596 11617 10307 11621 10031 11620 10029 11622 8123 11620 10029 11621 10031 11619 10308 11623 7965 11624 8124 11622 8123 11621 10031 11622 8123 11624 8124 11625 7967 11624 8124 11623 7965 11626 10309 11612 10304 11613 10305 11626 10309 11628 10310 11627 10311 11627 10311 11612 10304 11626 10309 11629 10034 11628 10310 11630 8128 11628 10310 11629 10034 11627 10311 11631 10312 11632 7974 11630 8128 11629 10034 11630 8128 11632 7974 11631 10312 11634 10313 11633 8933 11633 8933 11632 7974 11631 10312 11635 10314 11634 10313 11636 8133 11634 10313 11635 10314 11633 8933 11635 10314 11636 8133 11637 8134 11638 10315 11640 10316 11639 10317 11638 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20444 23803 20737 23539 20435 23803 20737 23804 20738 23548 20444 23648 20543 23547 20442 23805 20739 23804 20738 23803 20737 23806 20740 23805 20739 23807 20741 23546 20440 23644 20539 23545 20441 23807 20741 23546 20440 23802 20736 23806 20740 23807 20741 23802 20736 23804 20738 23805 20739 23806 20740 23574 20468 23572 20467 23565 20460 23808 20742 23563 20459 23565 20460 23565 20460 23572 20467 23809 20743 23568 20462 23808 20742 23809 20743 23577 20472 23573 20469 23574 20468 23576 20471 23573 20469 23577 20472 23569 20464 23570 20466 23576 20471 23566 20461 23570 20466 23571 20465 23567 20463 23568 20462 23809 20743 23563 20459 23808 20742 23810 20744 23563 20459 23810 20744 23811 20745 23808 20742 23565 20460 23809 20743 23812 20746 23811 20745 23810 20744 23813 20747 23812 20746 23814 20748 23566 20461 23567 20463 23570 20466 23814 20748 23566 20461 23571 20465 23813 20747 23814 20748 23571 20465 23811 20745 23812 20746 23813 20747 23815 20749 23590 20485 23595 20750 23595 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20509 23822 20764 23821 20763 23823 20765 23621 20517 23622 20516 23626 20521 23823 20765 23621 20517 23627 20523 23822 20764 23823 20765 23627 20523 23616 20510 23821 20763 23822 20764</p>
+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="ID2" name="ID2" type="NODE">
+        <matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
+        <instance_geometry url="#ID3_001-mesh" name="ID2">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="ID9_001-material" target="#ID9_001-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
\ No newline at end of file
diff --git a/CustomRobots/roverrobotics_description/meshes/pro_tire.dae b/CustomRobots/roverrobotics_description/meshes/pro_tire.dae
new file mode 100644
index 000000000..2dafa8835
--- /dev/null
+++ b/CustomRobots/roverrobotics_description/meshes/pro_tire.dae
@@ -0,0 +1,92 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
+  <asset>
+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 3.6.0 commit date:2023-06-27, commit time:08:08, hash:c7fc78b81ecb</authoring_tool>
+    </contributor>
+    <created>2023-07-06T19:41:01</created>
+    <modified>2023-07-06T19:41:01</modified>
+    <unit name="millimeter" meter="0.001"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_effects>
+    <effect id="Material_007-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <color sid="diffuse">0.18 0.18 0.18 1</color>
+            </diffuse>
+            <reflectivity>
+              <float sid="specular">0.5</float>
+            </reflectivity>
+            <index_of_refraction>
+              <float sid="ior">1.45</float>
+            </index_of_refraction>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
+  <library_images/>
+  <library_materials>
+    <material id="Material_007-material" name="Material.007">
+      <instance_effect url="#Material_007-effect"/>
+    </material>
+  </library_materials>
+  <library_geometries>
+    <geometry id="LeftFrontTire_002-mesh" name="LeftFrontTire.002">
+      <mesh>
+        <source id="LeftFrontTire_002-mesh-positions">
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2742 1399 2743 1398 2743 1402 2743 1399 2743 1402 2743 1403 2743 1400 2744 1399 2744 1403 2744 1400 2745 1403 2745 1404 2745 1404 2746 1401 2746 1400 2746 1404 2747 1405 2747 1401 2747 1402 2748 1401 2748 1405 2748 1402 2749 1405 2749 1406 2749 1403 2750 1402 2750 1406 2750 1403 2751 1406 2751 1407 2751 1404 2752 1403 2752 1407 2752 1404 2753 1407 2753 1408 2753 1408 2754 1405 2754 1404 2754 1408 2755 1409 2755 1405 2755 1406 2756 1405 2756 1409 2756 1406 2757 1409 2757 1410 2757 1407 2758 1406 2758 1410 2758 1407 2758 1410 2758 1411 2758 1408 2574 1407 2574 1411 2574 1408 2759 1411 2759 1412 2759 1412 2760 1409 2760 1408 2760 1412 2761 1413 2761 1409 2761 1410 2762 1409 2762 1413 2762 1410 2565 1413 2565 1414 2565 1411 2763 1410 2763 1414 2763 1411 2763 1414 2763 1415 2763 1412 2764 1411 2764 1415 2764 1412 2574 1415 2574 1416 2574 1416 2765 1413 2765 1412 2765 1416 2766 1417 2766 1413 2766 1414 2767 1413 2767 1417 2767 1414 2565 1417 2565 1418 2565 1415 2768 1414 2768 1418 2768 1415 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+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="LeftFrontTire" name="LeftFrontTire" type="NODE">
+        <matrix sid="transform">1.25498e-5 0.1229723 0.9924101 1.96014e-7 -0.002809449 0.9924061 -0.1229718 3.72151e-7 -0.9999961 -0.002786582 3.57939e-4 4.85421e-7 0 0 0 1</matrix>
+        <instance_geometry url="#LeftFrontTire_002-mesh" name="LeftFrontTire">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="Material_007-material" target="#Material_007-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
\ No newline at end of file
diff --git a/CustomRobots/roverrobotics_description/meshes/rover_payload.dae b/CustomRobots/roverrobotics_description/meshes/rover_payload.dae
new file mode 100644
index 000000000..852a180ef
--- /dev/null
+++ b/CustomRobots/roverrobotics_description/meshes/rover_payload.dae
@@ -0,0 +1,17878 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
+  <asset>
+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 3.6.0 commit date:2023-06-27, commit time:08:08, hash:c7fc78b81ecb</authoring_tool>
+    </contributor>
+    <created>2023-07-03T13:20:24</created>
+    <modified>2023-07-03T13:20:24</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_effects>
+    <effect id="ID9_003-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <color sid="diffuse">0.15 0.15 0.15 1</color>
+            </diffuse>
+            <reflectivity>
+              <float sid="specular">0.5</float>
+            </reflectivity>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
+    <effect id="ID148-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <color sid="diffuse">0.5376753 0.5376753 0.5376753 1</color>
+            </diffuse>
+            <reflectivity>
+              <float sid="specular">0.5</float>
+            </reflectivity>
+            <transparent opaque="A_ONE">
+              <color sid="alpha">0 0 0 0.3694675</color>
+            </transparent>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
+  <library_images/>
+  <library_materials>
+    <material id="ID9_003-material" name="ID9.003">
+      <instance_effect url="#ID9_003-effect"/>
+    </material>
+    <material id="ID148-material" name="ID148">
+      <instance_effect url="#ID148-effect"/>
+    </material>
+  </library_materials>
+  <library_geometries>
+    <geometry id="ID2543-mesh" name="ID2543">
+      <mesh>
+        <source id="ID2543-mesh-positions">
+          <float_array id="ID2543-mesh-positions-array" count="12">0.1391839 0.04767328 -0.196254 0.138629 0.04767328 -0.196246 0.139063 0.04767328 -0.196151 0.139158 0.04767328 -0.1966969</float_array>
+          <technique_common>
+            <accessor source="#ID2543-mesh-positions-array" count="4" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <source id="ID2543-mesh-normals">
+          <float_array id="ID2543-mesh-normals-array" count="6">0 1 0 0 1 -3.69604e-6</float_array>
+          <technique_common>
+            <accessor source="#ID2543-mesh-normals-array" count="2" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <vertices id="ID2543-mesh-vertices">
+          <input semantic="POSITION" source="#ID2543-mesh-positions"/>
+        </vertices>
+        <triangles material="ID9_003-material" count="2">
+          <input semantic="VERTEX" source="#ID2543-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#ID2543-mesh-normals" offset="1"/>
+          <p>0 0 1 0 2 0 1 1 0 1 3 1</p>
+        </triangles>
+      </mesh>
+    </geometry>
+    <geometry id="ID2537-mesh" name="ID2537">
+      <mesh>
+        <source id="ID2537-mesh-positions">
+          <float_array id="ID2537-mesh-positions-array" count="39">0.139149 0.04767328 -0.1961719 0.139109 0.04767328 -0.196151 0.139063 0.04767328 -0.196151 0.1391839 0.04767328 -0.196254 0.139063 0.04767328 -0.196151 0.139109 0.04767328 -0.196151 0.139177 0.04767328 -0.196209 0.1391839 0.04767328 -0.196254 0.139149 0.04767328 -0.1961719 0.139177 0.04767328 -0.196209 0.139177 0.04767328 -0.196209 0.1391839 0.04767328 -0.196254 0.139109 0.04767328 -0.196151</float_array>
+          <technique_common>
+            <accessor source="#ID2537-mesh-positions-array" count="13" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <source id="ID2537-mesh-normals">
+          <float_array id="ID2537-mesh-normals-array" count="24">0 -1 0 0 1 9.59693e-5 0 -1 8.76578e-5 0 -1 -8.4248e-5 0 1 8.09558e-5 0 1 8.09771e-5 0 1 8.10254e-5 0 1 0</float_array>
+          <technique_common>
+            <accessor source="#ID2537-mesh-normals-array" count="8" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <vertices id="ID2537-mesh-vertices">
+          <input semantic="POSITION" source="#ID2537-mesh-positions"/>
+        </vertices>
+        <triangles material="ID9_003-material" count="6">
+          <input semantic="VERTEX" source="#ID2537-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#ID2537-mesh-normals" offset="1"/>
+          <p>0 0 1 0 2 0 3 1 4 1 5 1 2 2 6 2 0 2 2 3 7 3 6 3 5 4 8 5 9 6 10 7 11 7 12 7</p>
+        </triangles>
+      </mesh>
+    </geometry>
+    <geometry id="ID2531-mesh" name="ID2531">
+      <mesh>
+        <source id="ID2531-mesh-positions">
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+          <technique_common>
+            <accessor source="#ID2531-mesh-positions-array" count="5" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <source id="ID2531-mesh-normals">
+          <float_array id="ID2531-mesh-normals-array" count="6">0 -1 -1.7507e-4 0 -1 0</float_array>
+          <technique_common>
+            <accessor source="#ID2531-mesh-normals-array" count="2" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <vertices id="ID2531-mesh-vertices">
+          <input semantic="POSITION" source="#ID2531-mesh-positions"/>
+        </vertices>
+        <triangles material="ID9_003-material" count="3">
+          <input semantic="VERTEX" source="#ID2531-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#ID2531-mesh-normals" offset="1"/>
+          <p>0 0 1 0 2 0 0 1 3 1 1 1 2 1 1 1 4 1</p>
+        </triangles>
+      </mesh>
+    </geometry>
+    <geometry id="ID2525-mesh" name="ID2525">
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+        </triangles>
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1916 2768 1917 2769 1918 2770 1919 2771 1920 2772 1921 2696 1922 2697 1922 2773 1922 2774 16 2775 16 2710 16 2776 1923 2777 1924 2778 1925 2779 16 2780 16 2781 16 2454 16 2774 16 2710 16 2782 1926 2783 1927 2784 1928 2785 1929 2786 1930 2787 1931 2788 16 2757 16 2789 16 2790 1932 2791 1933 2792 1934 2784 1935 2783 1936 2793 1937 2762 16 2794 16 2795 16 2796 1938 2797 1939 2798 1940 2799 1941 2800 1942 2801 1943 2802 1944 2739 1944 2696 1944 2803 1945 2804 1946 2805 1947 2806 16 2807 16 2774 16 2801 1948 2800 1949 2808 1950 2809 1951 2810 1952 2811 1953 2812 1954 2813 1955 2814 1956 2815 1957 2816 1958 2817 1959 2818 1960 2819 1961 2820 1962 2821 16 2795 16 2822 16 2822 16 2806 16 2821 16 2779 16 2781 16 2823 16 2821 16 2762 16 2795 16 2821 1963 2774 1963 2454 1963 2821 16 2806 16 2774 16 2824 1964 2825 1964 2826 1964 2827 1965 2828 1965 2829 1965 2830 1966 2831 1966 2832 1966 2833 1967 2834 1967 2835 1967 2836 1968 2837 1968 2838 1968 2839 1969 2840 1969 2841 1969 2842 1970 2843 1971 2844 1971 2845 1972 2846 1973 2847 1973 2848 1974 2849 1974 2850 1974 2851 1975 2852 1975 2853 1975 2854 1976 2855 1976 2856 1976 2857 1977 2858 1977 2859 1977 2860 1978 2861 1979 2862 1980 2863 1981 2864 1982 2865 1983 2866 1984 2867 1985 2868 1986</p>
+        </triangles>
+      </mesh>
+    </geometry>
+    <geometry id="ID275-mesh" name="ID275">
+      <mesh>
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+          <technique_common>
+            <accessor source="#ID275-mesh-normals-array" count="3270" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <vertices id="ID275-mesh-vertices">
+          <input semantic="POSITION" source="#ID275-mesh-positions"/>
+        </vertices>
+        <triangles material="ID9_003-material" count="1650">
+          <input semantic="VERTEX" source="#ID275-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#ID275-mesh-normals" offset="1"/>
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835 912 1332 912 1333 913 1334 914 1335 915 1336 916 877 916 1337 916 1338 917 1339 917 1340 917 1341 918 1342 918 1343 918 886 919 885 919 1344 919 1345 920 1339 920 1338 920 1346 921 759 921 1347 921 1348 922 1349 922 1350 922 1351 923 1352 923 1353 923 1354 924 1355 924 1356 924 1357 925 1358 925 1359 925 1260 926 1360 926 1259 926 1260 927 1361 927 1360 927 1362 24 1361 24 1260 24 1363 928 1364 929 1365 930 1365 931 1364 932 1366 933 1165 24 1367 24 773 24 1368 934 1367 934 1165 934 1369 935 1370 935 1371 935 1347 936 759 936 1372 936 1373 937 1374 937 1375 937 1376 938 1377 938 1378 938 1379 939 1380 939 1381 939 1382 940 1383 941 1384 942 1385 943 1386 944 1387 945 1388 946 1389 946 1390 946 1391 947 1392 948 1393 949 1394 950 1395 950 1396 950 1397 951 1398 951 1399 951 1400 952 1401 952 1402 952 1403 953 1404 954 1405 955 1406 956 1407 957 1408 957 1409 958 1410 958 1411 958 1412 959 1413 959 1414 959 1415 960 1416 961 1417 962 1418 952 1419 952 1420 952 1421 963 1422 963 1423 963 1424 964 1425 964 1426 964 1427 965 1428 966 1429 967 1430 968 1431 968 1432 968 1433 969 1434 970 1435 971 1436 972 1437 973 1438 972 1439 974 1440 974 1441 974 1442 975 1443 976 1444 977 1445 978 1446 978 1447 978 1448 979 1449 979 1450 979 1451 980 1452 981 1453 982 1454 983 1455 983 1456 983 1457 984 1458 984 1459 984 1460 985 1461 986 1462 987 1463 988 1464 989 1465 990 1466 991 1467 992 1468 993 1469 994 1470 994 1471 994 1472 995 1473 996 1474 997 1474 998 1473 998 1475 998 1476 999 1157 999 1477 999 1477 24 1157 24 1478 24 1479 1000 1480 1000 1481 1000 1482 1001 1483 1001 1484 1001 1485 1002 1486 1002 1487 1002 1488 1003 1489 1003 1490 1003 1491 1004 1492 1005 1493 1006 1494 1007 1495 1007 1496 1007 1497 1008 1498 1008 1499 1008 1500 1009 1501 1009 1502 1009 1503 1010 1504 1010 1505 1010 1506 1011 1507 1011 1508 1011 1509 1012 1510 1012 1511 1012 1512 1013 1513 1013 1514 1013 1515 1014 1516 1014 1517 1014 1518 1015 1519 1015 1520 1015 1521 1016 1522 1016 1523 1016 1524 1017 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1227 1793 1228 1361 24 1794 24 1795 24 1362 24 1794 24 1361 24 1796 1229 1792 1230 1791 1231 1797 1232 1798 1232 1799 1232 1800 1233 1801 1234 1802 1235 1803 1236 1804 1237 1805 1238 1806 1239 1807 1240 1808 1241 1809 1242 1810 1243 1811 1244 1812 1245 1813 1246 1814 1247 1815 1248 1816 1248 1817 1248 1818 1249 1819 1250 1820 1251 1821 1252 1822 1252 1823 1252 1824 1253 1825 1253 1826 1253 1827 1254 1828 1254 1829 1254 1830 1255 1831 1256 1832 1257 1833 1258 1834 1258 1835 1258 1836 1259 1837 1259 1838 1259 1839 1260 1840 1260 1841 1260 1842 1261 1843 1262 1844 1263 1845 1264 1846 1265 1847 1266 1848 1267 1849 1268 1850 1269 1851 1270 1852 1270 1853 1270 1854 1271 1855 1271 1856 1271 1857 1272 1858 1273 1859 1274 1860 1275 1861 1275 1862 1275 1592 24 1372 24 1863 24 1864 1276 1865 1277 1866 1278 1867 1279 1868 1280 1869 1281 1870 1282 1871 1283 1872 1284 1873 1285 1874 1285 1875 1285 1876 1286 1877 1287 1878 1288 1879 1289 1880 1289 1881 1289 1744 1290 1882 1290 1777 1290 1883 1291 1880 1291 1879 1291 1884 1292 1885 1293 1886 1294 1887 1295 1888 1295 1889 1295 1890 1296 1891 1297 1892 1298 1893 1299 1894 1299 1895 1299 1896 1300 1897 1301 1898 1302 1899 1303 1900 1304 1901 1305 1902 1306 1903 1307 1904 1308 1905 1309 1906 1310 1907 1311 1908 1312 1909 1313 1910 1314 1911 1315 1912 1315 1913 1315 1737 1316 1669 1316 1914 1316 1915 1317 1916 1317 1917 1317 1918 1318 1919 1319 1920 1320 1921 1321 1922 1322 1923 1323 1924 1324 1925 1324 1926 1324 1927 1325 1928 1326 1929 1327 1930 1328 1931 1329 1932 1330 1933 1331 1934 1332 1935 1333 1936 1334 1937 1335 1938 1336 1939 1337 1940 1337 1941 1337 1942 1338 1943 1338 1944 1339 1945 1340 1946 1341 1947 1342 1948 1343 1949 1344 1950 1345 1951 1346 1952 1347 1953 1348 1954 1349 1955 1350 1956 1351 1957 1352 1958 1353 1959 1354 1960 1355 1961 1355 1962 1355 1963 1356 1964 1357 1965 1358 1966 1359 1967 1360 1968 1361 1969 1362 1970 1362 1971 1362 1972 1363 1973 1364 1974 1365 1975 1366 1976 1366 1977 1366 1978 1367 1979 1368 1980 1369 1981 1370 1982 1370 1983 1370 1984 1371 1985 1371 1986 1371 1986 1371 1985 1371 1987 1371 1667 1372 1988 1372 1668 1372 1989 1373 1990 1374 1991 1375 1992 22 1993 22 1994 22 1992 22 1995 22 1993 22 1996 1376 1997 1377 1998 1378 1999 1379 2000 1380 2001 1381 2002 1382 2003 1383 2004 1384 2005 1385 2006 1385 2007 1385 2007 1386 2006 1386 2008 1386 1735 24 2009 24 2010 24 1736 24 2009 24 1735 24 2011 1387 2012 1387 2013 1387 1374 24 2014 24 2015 24 1668 24 2016 24 2017 24 2017 24 2018 24 1668 24 2019 1388 2020 1388 2021 1388 2022 1389 2023 1389 2024 1389 2025 1390 2026 1391 2027 1392 2028 1393 2029 1394 2030 1395 2031 1396 2032 1396 2033 1396 2034 1397 2035 1398 2036 1399 2037 1400 2038 1401 2039 1402 2040 1403 2041 1403 2042 1403 2043 1404 2044 1405 2045 1406 2046 1407 2047 1407 2048 1407 2049 1408 2050 1408 2051 1408 2052 1409 2053 1410 2054 1411 2055 1412 2056 1413 2057 1414 2058 1415 2059 1416 2060 1417 2061 1418 2062 1419 2063 1420 1863 24 1372 24 2064 24 2065 1421 2066 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2159 1497 2160 1498 2161 1499 2162 1500 2163 1501 2164 1502 2165 1503 2166 1504 2167 1505 2168 1477 2169 1477 2170 1477 2171 1506 2172 1506 2173 1506 2174 1507 2175 1508 2176 1509 2177 1510 2178 1511 2179 1512 2180 1513 2181 1514 2182 1515 2183 1516 2184 1516 2185 1516 2186 1517 2187 1518 2188 1517 2189 1519 2190 1520 2191 1521 2192 1522 2193 1523 2194 1524 2195 1525 2196 1525 2197 1525 1737 24 1914 24 2198 24 2199 1526 2200 1527 2201 1528 2202 1529 2203 1530 2204 1531 2205 1532 2206 1532 2207 1532 2208 1533 2209 1534 2210 1535 2211 1536 2212 1536 2213 1536 2214 1537 2215 1538 2216 1539 2217 1540 2218 1541 2219 1542 2220 1543 2221 1543 2222 1543 2223 1544 2224 1545 2225 1546 2226 1547 2227 1548 2228 1549 2229 1550 2230 1551 2231 1552 2232 1553 2233 1554 2234 1555 2235 1556 2236 1557 2237 1558 2238 1559 2239 1560 2240 1561 2241 1562 2242 1563 2243 1564 2244 1565 2245 1566 2246 1567 2247 1568 2248 1569 2249 1570 2250 1571 2251 1571 2252 1571 1778 1572 1777 1572 2253 1572 2254 1573 2248 1573 2247 1573 2255 1574 2256 1575 2257 1576 2258 1577 2259 1577 2260 1578 2261 1579 2262 1580 2263 1581 2264 1582 2265 1582 2266 1582 2267 1583 2268 1584 2269 1585 2270 24 2098 24 1362 24 2271 1586 2272 1586 2273 1586 2273 1587 2272 1587 2274 1587 2017 1588 2016 1588 2275 1588 2276 1589 2277 1589 2278 1589 2279 1590 2280 1591 2281 1592 2282 1593 2283 1593 2284 1593 2285 1594 2286 1594 2287 1595 2288 1596 2289 1597 2290 1598 2291 1599 2292 1600 2293 1599 2294 1601 2295 1602 2296 1603 2297 1604 2298 1605 2299 1605 2300 1606 2301 1607 2302 1608 2303 1609 2304 1610 2305 1611 2306 1612 2307 1613 2308 1614 2309 1615 2310 1616 2311 1617 2312 1618 2313 1619 2314 1620 2315 1621 2316 1622 2317 1623 2318 1624 2319 1625 2320 1626 2321 1627 2322 1628 2323 1629 2324 1630 2325 1630 2326 1630 2327 1631 2328 1632 2329 1633 2330 1634 2331 1635 2332 1636 2333 1637 2334 1638 2335 1639 2336 1640 2337 1640 2338 1640 2339 1641 2340 1641 2341 1641 2338 1642 2337 1642 2342 1642 2343 22 2344 22 1995 22 2343 22 1995 22 1992 22 2345 1643 2346 1644 2347 1645 2348 1646 2349 1646 2350 1646 2351 1647 2352 1647 2353 1647 2354 1648 2355 1649 2356 1650 2357 1651 2358 1652 2359 1653 2360 1654 2361 1655 2362 1656 2363 1657 2364 1657 2365 1657 2366 1658 2367 1659 2368 1660 2369 1661 2370 1661 2371 1661 2372 1662 2373 1663 2374 1664 2375 1665 2376 1666 2377 1667 2378 1668 2379 1669 2380 1670 2381 24 2382 24 1736 24 2383 1671 2384 1671 2339 1671 2385 24 1736 24 2386 24 2387 1672 2388 1673 2389 1674 2390 1675 2391 1676 2392 1677 2393 1678 2394 1679 2395 1678 2396 1680 2397 1681 2398 1682 1737 1683 2198 1683 2399 1683 2400 1684 2401 1685 2402 1686 2104 24 2064 24 2403 24 2404 1687 2405 1688 2406 1689 2407 1690 2408 1691 2409 1692 2410 1693 2411 1693 2412 1693 2413 1694 2414 1695 2415 1696 2416 1697 2417 1698 2418 1699 2419 1700 2420 1701 2421 1702 2422 1703 2423 1704 2424 1704 2425 1705 2426 1706 2427 1707 2428 1708 2429 1708 2430 1708 2431 1709 2432 1709 2433 1709 2434 1710 2435 1710 2436 1710 2437 1711 2438 1712 2439 1713 2440 1714 2441 1714 2442 1714 2443 1715 2444 1716 2445 1717 2446 1718 2447 1718 2448 1719 2449 1720 2450 1721 2451 1722 2452 1723 2453 1724 2454 1725 2455 1726 2456 1727 2457 1728 2458 1729 2459 1730 2460 1731 2461 1732 2462 1733 2463 1734 2464 1735 2465 1735 2466 1735 2467 1736 2468 1737 2469 1738 2470 1739 2471 1740 2472 1740 2473 1741 2474 1742 2475 1743 2476 1744 2477 1745 2478 1746 2479 1747 2480 1748 2481 1749 2482 1750 2483 1751 2484 1750 2485 1752 2486 1753 2487 1754 2488 1755 2489 1756 2490 1757 2491 1758 2492 1759 2493 1760 2494 1761 2495 1762 2496 1763 2497 1764 2498 1765 2499 1766 2500 1767 2501 1768 2502 1769 2503 1770 2504 1770 2505 1770 2506 1771 2507 1772 2508 1773 2509 1774 2510 1774 2511 1774 2512 1775 2513 1776 2514 1777 2515 1778 2516 1779 2517 1780 2518 1781 2519 1781 2520 1781 2521 1782 2522 1782 2523 1783 2399 24 2198 24 2524 24 2525 1784 2526 1785 2527 1786 2528 1787 2529 1787 2098 1787 2270 24 2528 24 2098 24 2530 1788 2526 1789 2525 1790 2531 1791 2532 1792 2533 1793 2534 1794 2110 1794 2535 1794 2106 1795 2110 1795 2534 1795 2536 1796 2537 1797 2538 1798 2539 1799 2540 1800 2541 1801 2542 1802 2543 1803 2544 1804 2545 1805 2546 1805 2547 1805 2548 1806 2549 1806 2550 1806 2550 1807 2549 1807 2551 1807 2017 1808 2552 1808 2018 1808 2553 24 2552 24 2017 24 2554 1809 2555 1810 2556 1811 2556 1812 2555 1813 2557 1810 2558 1814 2252 1814 2559 1814 1778 1815 2253 1815 2560 1815 2561 1816 2562 1817 2563 1818 2564 1819 2565 1820 2566 1821 2567 1822 2568 1822 2569 1822 2570 1823 2571 1824 2572 1825 2573 1826 2574 1826 2575 1826 2576 1827 2577 1827 2578 1827 2579 1828 2580 1829 2581 1830 2582 1831 2583 1832 2584 1833 2585 1834 2586 1835 2587 1836 2588 1837 2589 1837 2590 1838 2591 1839 2592 1839 2593 1839 2594 1840 2595 1841 2596 1841 2597 1842 2598 1842 2599 1842 2600 1843 2601 1844 2602 1845 2603 1846 2604 1847 2605 1848 2606 1849 2607 1849 2608 1849 2609 1850 2610 1850 2611 1850 2612 1851 2613 1851 2614 1851 2615 1852 2616 1853 2617 1854 2618 1826 2619 1826 2620 1826 2621 1855 2622 1855 2623 1855 2624 1856 2625 1857 2626 1858 2403 24 2064 24 2627 24 2403 1859 2627 1859 2628 1859 2629 1860 2630 1861 2631 1862 2632 1863 2633 1864 2634 1865 2635 1866 2636 1867 2637 1868 2638 1869 2639 1869 2640 1869 2640 1870 2639 1870 2641 1870 2642 24 2381 24 2385 24 2643 1871 2644 1872 2645 1873 2399 24 2524 24 2646 24 2647 22 2648 22 2649 22 2650 1874 2344 1874 2343 1874 2651 1875 2652 1876 2653 1877 2552 24 2654 24 2018 24 2655 24 2656 24 2657 24 2658 1878 2659 1879 2660 1880 2661 1881 2662 1882 2663 1883 2664 1884 2665 1885 2666 1886 2667 1887 2668 1888 2669 1889 2670 1890 2671 1891 2672 1892 2673 1893 2674 1894 2675 1895 2676 1896 2677 1897 2678 1898 2628 1899 2627 1899 2646 1899 2534 1900 2535 1900 2650 1900 2679 24 2680 24 2681 24 2682 1901 2683 1902 2684 1903 1778 1904 2560 1904 2685 1904 2686 1905 2687 1906 2688 1905 2689 1907 2690 1907 2691 1907 2692 1908 2693 1909 2694 1910 2695 1911 2528 1911 2270 1911 2696 1912 2693 1913 2692 1914 2697 1915 2698 1916 2699 1917 2699 1918 2698 1919 2700 1920 2270 1921 2701 1921 2695 1921 2702 24 2654 24 2552 24 2703 1922 2704 1922 2705 1922 2705 1922 2704 1922 2706 1922 2560 24 2707 24 2708 24 2685 1923 2560 1923 2708 1923 2709 24 2385 24 2386 24 2710 1924 2711 1925 2712 1926 2713 24 2386 24 2714 24 2713 1927 2709 1927 2386 1927 2715 1928 2716 1928 2717 1928 2718 1929 2385 1929 2709 1929 2717 1930 2716 1930 2719 1930 2720 1931 2721 1932 2722 1933 2723 1934 2724 1935 2725 1936 2726 1937 2727 1938 2728 1939 2655 1940 2729 1940 2656 1940 2729 24 2730 24 2656 24 2714 1941 2731 1941 2713 1941 2714 24 2732 24 2731 24 2733 1942 2734 1943 2735 1944 2736 1945 2737 1945 2738 1945 2739 1946 2740 1947 2741 1948 2742 1949 2743 1950 2744 1951 2745 1952 2746 1952 2747 1952 2748 1953 2749 1953 2750 1953 2747 1954 2746 1954 2751 1954 2752 24 2753 24 2701 24 2754 24 2755 24 2654 24 2756 1955 2749 1955 2748 1955 2270 1956 2752 1956 2701 1956 2757 1957 2758 1957 2759 1957 2760 1958 2761 1959 2762 1960 2685 24 2708 24 2763 24 2763 24 2764 24 2685 24 2765 1961 2758 1961 2757 1961 2766 24 2767 24 2768 24 2762 1962 2761 1963 2769 1964 2770 1965 2771 1966 2772 1966 2773 1967 2752 1967 2270 1967 2774 1968 2775 1969 2776 1970 2777 1971 2778 1972 2779 1973 2776 1974 2775 1974 2780 1974 2752 24 2781 24 2782 24 2783 1975 2778 1976 2777 1977 2784 1978 2785 1978 2786 1978 2787 1979 2788 1980 2789 1981 2764 24 2790 24 2791 24 2713 24 2731 24 2792 24 2793 1982 2785 1982 2784 1982 2794 1983 2795 1984 2796 1985 2797 1986 2798 1987 2799 1988 2800 1989 2801 1989 2802 1989 2791 24 2803 24 2781 24 2804 1990 2805 1991 2806 1992 2807 1993 2808 1993 2809 1993 2810 1994 2811 1995 2812 1996 2813 1997 2814 1997 2815 1997 2773 24 2781 24 2752 24 2685 24 2764 24 2791 24 2773 24 2791 24 2781 24 2685 24 2791 24 2773 24 2816 1998 2817 1999 2818 2000 2819 2001 2820 2002 2821 2003 2822 2004 2823 2004 2824 2004 2825 2005 2826 2006 2827 2007 2828 2008 2829 2009 2830 2010 2831 2011 2832 2012 2833 2013 2834 2014 2835 2014 2836 2014 2837 2015 2838 2016 2839 2017 2840 2018 2841 2019 2842 2020 2843 2021 2844 2022 2845 2021 2846 2023 2847 2024 2848 2025 2849 2026 2850 2027 2851 2028</p>
+        </triangles>
+      </mesh>
+    </geometry>
+    <geometry id="ID251-mesh" name="ID251">
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+        </triangles>
+      </mesh>
+    </geometry>
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2295 1270 2296 1271 2095 13 2297 13 2096 13 2298 13 2299 13 2300 13 2301 1272 2302 1273 2303 1274 2304 1275 2305 1276 2306 1277 2307 13 2308 13 2309 13 2310 13 2311 13 2312 13 2313 1278 2314 1279 2315 1280 2316 1281 2317 1281 2318 1281 2319 1282 2320 1282 2321 1283 2322 1284 2323 1284 2324 1284 2325 13 1528 13 2326 13 2327 1285 1523 1285 2328 1285 2325 13 2329 13 1528 13 2330 1286 2331 1287 2332 1288 2333 1289 2334 1290 2335 1291 2336 1292 1956 1292 1887 1292 2337 1293 2338 1294 2339 1295 2340 1296 2341 1297 2342 1298 2343 1299 2344 1300 2345 1301 2346 21 2347 21 2348 21 2349 1302 2350 1303 2351 1304 2352 1305 2353 1305 2354 1305 2355 1306 2356 1306 2357 1306 2358 1307 2359 1307 2360 1307 2361 1308 2362 1308 2363 1308 2364 1309 2365 1310 2366 1311 2367 13 2368 13 2369 13 2370 1312 2371 1313 2372 1314 2373 13 2374 13 2375 13 1674 1315 2376 1315 2292 1315 2377 1316 2378 1317 2379 1318 2293 1319 2380 1319 1687 1319 2372 1320 2371 1321 2381 1313 2382 1322 2383 1322 2384 1322 2385 1323 2386 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1368 2487 1369 2488 1369 2489 1369 2490 1370 2491 1370 2492 1370 2493 1371 2494 1371 2495 1371 2496 1372 2497 1372 2498 1372 2499 1373 2500 1374 2501 1375 2502 1376 2503 1376 2504 1376 2505 1377 2506 1377 2507 1377 2508 1378 2509 1378 2510 1378 2511 1379 2512 1379 2513 1379 2327 1380 2328 1380 2514 1380 2515 1381 2516 1382 2517 1383 2518 1384 2519 1384 2520 1384 2521 1385 2522 1385 2523 1385 2524 1386 2525 1386 2526 1386 2527 1386 2528 1386 2529 1386 2530 1387 2531 1387 2532 1387 2533 1388 2534 1388 2535 1388 2536 1389 2537 1389 2538 1389 2539 1390 2540 1391 2541 1392 2542 13 2329 13 2325 13 2543 1393 2544 1393 2545 1393 2546 1394 2547 1394 2548 1394 2549 1395 2550 1396 2551 1397 2552 1398 2553 1398 2554 1398 2555 1399 2556 1399 2557 1399 2558 1400 2559 1400 2560 1400 1674 13 2561 13 2376 13 2562 13 2561 13 1674 13 2563 1401 2564 1401 2565 1401 1687 13 2380 13 2566 13 1687 13 2566 13 2567 13 2568 1402 2569 1403 2570 1404 2571 1405 2572 1406 2573 1407 2574 1408 2575 1408 2576 1408 2577 1409 2578 1410 2579 1409 2580 1411 2581 1412 2582 1411 2583 1413 2584 1413 2585 1413 2586 1414 2587 1414 2588 1414 2589 1415 2590 1415 2591 1415 2592 1416 2593 1416 2594 1416 2595 1416 2596 1416 2597 1416 2598 1415 2599 1415 2600 1415 2561 1417 2601 1417 2376 1417 2380 1418 2602 1418 2566 1418 2603 1419 2604 1419 2605 1419 2606 1420 2607 1421 2608 1422 2609 1423 2610 1423 2611 1423 2612 1424 2613 1424 2614 1424 2615 1425 2616 1425 2617 1425 2618 1426 2619 1426 2620 1426 2621 1427 2622 1428 2623 1427 2624 1429 2625 1430 2626 1431 2627 1432 2628 1432 2629 1432 2630 1433 2631 1433 2632 1433 2633 1434 2634 1434 2635 1434 2636 1435 2637 1435 2638 1435 2639 1436 2640 1436 2641 1436 2642 1437 2643 1437 2644 1437 2645 1438 2646 1438 2647 1438 2648 1439 2649 1440 2650 1441 2651 1442 2652 1442 2653 1442 2654 1443 2655 1443 2656 1443 2657 1444 2658 1444 2659 1444 2660 1445 2661 1445 2662 1445 2663 1446 2664 1447 2665 1448 2666 1449 2667 1449 2668 1449 2669 1450 2670 1450 2671 1450 2672 1438 2673 1438 2674 1438 2675 1451 2676 1451 2677 1451 2678 1452 2679 1452 2680 1452 2681 1453 2682 1453 2683 1453 2684 1454 2685 1454 2686 1454 2687 1455 2688 1455 2689 1455 2690 1456 2691 1456 2692 1456 2693 1457 2694 1457 2695 1457 2696 1458 2697 1458 2698 1458 2699 1459 2700 1460 2701 1460 2702 1461 2703 1461 2704 1461 2705 1462 2706 1462 2707 1462 2708 1438 2709 1438 2710 1438 2711 1463 2712 1463 2713 1463 2714 1464 2715 1465 2716 1464 2717 1466 2718 1466 2719 1466 2720 1467 2721 1468 2722 1469 2723 1454 2724 1454 2725 1454 2726 1444 2727 1444 2728 1444 2729 1444 2730 1444 2731 1444 2732 1470 2733 1470 2734 1470 2735 1471 2736 1471 2737 1471 2738 1472 2739 1472 2740 1472 2741 1473 2742 1473 2743 1474 2744 1475 2745 1475 2746 1475 2747 1476 2748 1476 2749 1476 2750 1477 2751 1477 2752 1477 2753 1478 2281 1478 2754 1478 2280 21 2281 21 2753 21 2755 1479 2756 1480 2757 1481 2758 1482 2759 1482 2760 1482 2761 13 2762 13 2763 13 2764 1483 2765 1484 2766 1485 2767 13 2768 13 2769 13 2770 1486 2771 1487 2772 1488 2773 1489 2774 1489 2775 1489 2776 1490 2777 1491 2778 1492 2779 1493 2754 1493 2780 1493 2779 21 2780 21 2336 21 2514 13 2328 13 2781 13 2782 1494 2783 1494 2542 1494 2542 13 2783 13 2329 13 2784 1495 2785 1495 2786 1495 2787 1496 2788 1496 2789 1496 2790 1497 2791 1497 2792 1497 2793 1496 2794 1496 2795 1496 2796 1495 2797 1495 2798 1495 2799 1498 2800 1498 2801 1498 2802 1499 2803 1499 2804 1499 2781 13 2783 13 2782 13 2781 1500 2328 1500 2783 1500 2805 21 2806 21 2807 21 2808 21 2754 21 2779 21 2809 1501 2810 1501 2811 1501 2812 13 2813 13 2814 13 2815 1502 2816 1502 2817 1502 2818 1503 2819 1503 2820 1503 2821 1504 2822 1504 2823 1504 2824 1505 2825 1505 2826 1505 2827 1506 2828 1506 2829 1507 2830 1508 2831 1508 2832 1508 2833 1509 2834 1509 2835 1509 2836 13 2831 13 2830 13 2837 1510 2838 1510 2839 1510 2840 1511 2841 1511 2842 1511 2843 1512 2844 1512 2845 1512 2846 1513 2844 1513 2843 1513 2847 1511 2841 1511 2840 1511 2561 13 2848 13 2849 13 2562 13 2848 13 2561 13 2566 13 2850 13 2851 13 2567 13 2566 13 2851 13 2852 1514 2853 1515 2854 1515 2855 1516 2856 1517 2857 1518 2858 1519 2859 1519 2860 1519 2860 1520 2859 1520 2861 1520 2862 1521 2863 1522 2864 1523 2865 1524 2866 1525 2867 1526 2868 1527 2869 1527 2870 1527 2871 1528 2872 1529 2873 1530 2874 13 2875 13 2876 13 2875 13 2877 13 2876 13 2878 1531 2879 1531 2880 1531 2881 1532 2882 1533 2883 1534 2884 1535 2885 1536 2886 1537 2887 1538 2888 1538 2889 1538 2890 1539 2891 1540 2892 1541 2893 1542 2894 1542 2895 1542 2896 1543 2897 1543 2898 1543 2899 1544 2900 1544 2901 1544 2902 1545 2903 1546 2904 1547 2905 1548 2906 1548 2907 1548 2904 1549 2903 1550 2908 1551 2909 1552 2910 1552 2848 1552 2892 1553 2891 1554 2911 1555 2901 1556 2900 1556 2912 1556 2913 1557 2851 1557 2914 1557 2562 13 2909 13 2848 13 2567 13 2851 13 2913 13 2915 1558 2916 1558 2917 1558 2918 1559 2919 1560 2920 1561 2921 1562 2922 1562 2923 1562 2924 1563 2925 1563 2926 1563 2927 1564 2928 1564 2929 1564 2930 1565 2931 1566 2932 1567 2933 57 2934 57 2935 57 2936 1568 2937 1569 2938 1570 2939 1571 2940 1571 2909 1571 2941 1572 2942 1573 2943 1574 2944 1575 2945 1575 2946 1575 2913 13 2947 13 2948 13 2949 1576 2950 1577 2951 1578 2952 1579 2953 1580 2954 1581 2955 1582 2956 1582 2957 1582 2958 1583 2959 1584 2960 1585 2961 13 2939 13 2962 13 2962 1586 2948 1586 2961 1586 2963 1587 2964 1587 2965 1587 2962 1588 2939 1588 2909 1588 2567 13 2913 13 2962 13 2962 1589 2913 1589 2948 1589 2966 1590 2967 1590 2968 1591 2969 1592 2970 1592 2971 1593 2972 1594 2973 1594 2974 1594 2975 1595 2976 1595 2977 1595 2978 1596 2979 1596 2980 1596 2981 1597 2982 1597 2983 1597 2984 1598 2985 1599 2986 1600 2987 1601 2988 1601 2989 1601 2990 1602 2991 1602 2992 1602 2993 1603 2994 1603 2995 1603 2996 1604 2997 1604 2998 1604 2999 1605 3000 1605 3001 1605 3002 1606 3003 1607 3004 1608 3005 1609 3006 1610 3007 1611 3008 1612 3009 1613 3010 1614</p>
+        </triangles>
+      </mesh>
+    </geometry>
+    <geometry id="ID233-mesh" name="ID233">
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1148 1890 1148 1891 1149 1892 1149 1893 1149 1894 1150 1895 1150 1896 1150 1897 1151 1898 1152 1899 1153 1900 1154 1901 1154 1902 1154 1903 1155 1904 1155 1905 1155 1906 1156 1907 1156 1908 1156 1909 1157 1910 1157 1911 1157 1912 1158 1913 1159 1914 1160 1915 1161 1916 1162 1917 1161 1918 1163 1919 1163 1920 1163 1921 1164 1922 1165 1923 1166 1924 1167 1925 1167 1926 1167 1927 1168 1928 1168 1929 1168 1930 1169 1931 1170 1932 1171 1933 1172 1934 1173 1935 1174 1936 1175 1937 1175 1938 1175 1939 1176 1940 1177 1941 1178 1942 1179 1943 1179 1944 1179 1945 1180 1946 1181 1947 1182 1948 1183 1949 1184 1950 1185 1951 1186 1952 1187 1953 1188 1954 1189 1955 1189 1956 1189 1957 1190 1958 1190 1959 1190 1959 1191 1958 1191 1960 1191 1641 15 1961 15 1354 15 1962 1192 1963 1193 1964 1194 1965 14 1532 14 1528 14 1966 1195 1967 1195 1968 1195 1969 1196 1970 1197 1971 1198 1972 1199 1973 1199 1974 1199 1975 1200 1976 1201 1977 1202 1978 1203 1979 1203 1980 1203 1981 1204 1982 1204 1983 1204 1708 15 1984 15 1985 15 1709 1205 1984 1205 1708 1205 1986 1206 1987 1206 1988 1206 1354 1207 1961 1207 1989 1207 1354 15 1989 15 1990 15 1990 15 1991 15 1354 15 1992 1208 1993 1208 1994 1208 1995 1209 1996 1209 1997 1209 1998 1210 1999 1211 2000 1212 2001 1213 2002 1213 2003 1213 2004 1214 2005 1214 2006 1214 2007 1215 2008 1216 2009 1217 2010 1218 2011 1218 2012 1218 2013 1219 2014 1219 2015 1219 2016 1220 2017 1220 2018 1220 2019 1221 2020 1221 2021 1221 2022 1222 2023 1222 2024 1222 2025 1223 2026 1224 2027 1225 2028 1226 2029 1227 2030 1228 2031 1229 2032 1230 2033 1231 2034 1232 2035 1233 2036 1234 1836 15 1353 15 2037 15 2038 1235 2039 1236 2040 1237 2041 1238 2042 1239 2043 1240 2044 1241 2045 1242 2046 1243 2047 1244 2048 1245 2049 1246 2050 1247 2051 1248 2052 1249 2053 1250 2054 1251 2055 1252 2056 1253 2057 1254 2058 1255 2059 1256 2060 1257 2061 1258 2062 1259 2063 1260 2064 1261 2065 1262 2066 1262 2067 1262 2068 1263 2069 1263 2070 1263 2071 15 2072 15 1767 15 2073 1264 2066 1264 2065 1264 2074 1265 2075 1265 2076 1265 1836 1266 2037 1266 2077 1266 1548 1267 1704 1267 2078 1267 2079 1268 2080 1268 2081 1268 2078 14 1704 14 2082 14 2083 1269 2084 1270 2085 1271 2086 1272 2087 1273 2088 1274 2089 1275 2090 1276 2091 1277 2092 1278 2093 1279 2094 1280 2095 1281 2096 1282 2097 1283 2098 1284 2099 1285 2100 1286 2101 1287 2102 1287 2103 1287 2104 1288 2105 1289 2106 1290 2107 1291 2108 1291 2109 1291 2110 1292 2111 1293 2112 1294 2113 1295 2114 1295 2115 1295 2116 1296 2117 1297 2118 1298 2119 1299 2120 1300 2121 1301 2122 1302 2123 1302 2124 1302 2125 1303 2126 1304 2127 1305 2128 1306 2129 1306 2130 1306 2131 1307 2132 1308 2133 1309 2134 1310 2135 1311 2136 1312 2137 1313 2138 1314 2139 1315 2140 1316 2141 1316 2142 1316 2143 1316 2144 1316 2145 1316 2146 1317 2147 1317 2148 1317 2149 1318 2150 1319 2151 1320 2152 1321 2153 1322 2154 1323 2155 1324 2156 1324 2157 1324 2158 1325 2159 1326 2160 1327 2161 1328 2162 1329 2163 1330 2164 1331 2165 1332 2166 1333 2167 1334 2168 1335 2169 1336 1710 15 1887 15 2170 15 2171 1337 2172 1337 2173 1337 2174 1338 2175 1339 2176 1340 2177 1341 2178 1341 2179 1341 2180 1342 2181 1343 2182 1344 2183 1345 2184 1346 2185 1347 2186 1348 2187 1348 2188 1348 2189 1349 2190 1350 2191 1351 2192 1352 2193 1352 2194 1352 2195 1353 2196 1353 2197 1353 2198 1354 2199 1355 2200 1356 2201 1357 2202 1358 2203 1357 2204 1359 2205 1359 2206 1359 2207 1360 2208 1360 2209 1360 2210 1361 2211 1361 2212 1361 2213 1362 2214 1362 2215 1362 2216 1363 2217 1364 2218 1365 2219 1366 2220 1366 2221 1366 1750 1367 2222 1367 2223 1367 1751 15 1750 15 2223 15 2224 1368 2225 1368 2226 1368 2227 1369 2228 1369 2229 1369 2230 1370 2231 1370 2232 1370 2233 1371 2234 1371 2235 1371 2236 1372 2237 1372 2238 1372 2239 1373 2240 1373 2241 1373 2242 15 2071 15 1340 15 2243 1374 2244 1374 2245 1374 2245 1375 2244 1375 2246 1375 1990 1376 1989 1376 2247 1376 2248 1377 2249 1377 2250 1377 2251 1378 2252 1379 2253 1380 2254 1381 2255 1382 2256 1383 2257 1384 2258 1385 2259 1386 2260 1387 2261 1388 2262 1389 2263 1390 2264 1391 2265 1392 2266 1393 2267 1393 2268 1393 2269 1394 2270 1394 2271 1394 2272 1395 2273 1395 2274 1395 2275 1396 2276 1397 2277 1398 2278 1399 2279 1400 2280 1401 2281 1402 2282 1403 2283 1403 2284 1404 2285 1405 2286 1406 2287 1407 2288 1408 2289 1409 2290 1410 2291 1411 2292 1410 2293 1412 2294 1413 2295 1414 2296 1415 2297 1416 2298 1417 2299 1418 2300 1418 2301 1418 2302 1419 2303 1420 2304 1421 2305 1422 2306 1422 2307 1423 2308 1424 2309 1424 2310 1424 2311 1425 2312 1425 2313 1425 2310 1426 2309 1426 2314 1426 2315 14 2316 14 2317 14 2315 1427 2317 1427 1965 1427 2318 1428 2319 1428 2320 1428 2321 1429 2322 1429 2323 1429 2324 1430 2325 1430 2326 1430 2327 1431 2328 1432 2329 1433 2330 1434 2331 1435 2332 1436 2333 1437 2334 1437 2335 1437 2336 1438 2337 1438 2338 1438 2339 1439 2340 1439 2341 1439 2342 1440 2343 1440 2344 1440 2345 1441 2346 1441 2347 1441 2348 1442 2349 1442 2350 1442 2351 1443 2352 1443 2353 1443 2354 15 2312 15 2311 15 2355 15 2356 15 1709 15 2357 1444 2311 1444 2358 1444 2359 1445 2360 1446 2361 1447 2362 1448 2363 1449 2364 1450 2365 1451 2366 1452 2367 1453 2368 1454 2369 1455 2370 1456 2371 1457 2372 1457 2373 1457 2374 1458 2375 1458 2376 1458 2077 15 2037 15 2377 15 2378 1459 2379 1460 2380 1461 2381 1462 2382 1463 2383 1464 2384 1465 2385 1466 2386 1467 2387 1468 2388 1468 2389 1468 2390 1469 2391 1470 2392 1471 2393 1472 2394 1473 2395 1474 2396 1475 2397 1475 2398 1475 2399 1476 2400 1476 2401 1476 2402 1477 2403 1477 2404 1477 2405 1478 2406 1479 2407 1480 2408 1481 2409 1482 2410 1483 2411 1484 2412 1485 2413 1486 2414 1487 2415 1488 2416 1489 2417 1490 2418 1490 2419 1490 2420 1491 2421 1492 2422 1491 2423 1493 2424 1494 2425 1495 2426 1496 2427 1497 2428 1498 2429 1499 2430 1499 2431 1499 2432 1500 2433 1500 2434 1500 2435 1501 2436 1501 2437 1501 2438 1502 2439 1502 2440 1502 2441 1503 2442 1504 2443 1505 2444 1506 2445 1507 2446 1508 2447 1509 2448 1510 2449 1511 2450 1512 2451 1513 2452 1514 2453 1515 2454 1515 2455 1515 2456 1516 2457 1517 2458 1518 2459 1519 2460 1519 2461 1519 2462 1520 2463 1520 2464 1520 2465 1521 2466 1522 2467 1523 2468 1524 2469 1525 2470 1526 2471 1527 2472 1527 2473 1527 2474 1528 2475 1529 2476 1530 2477 1531 2478 1531 2479 1531 2480 1532 2481 1533 2482 1534 2483 1535 2484 1535 2485 1535 2486 1536 2487 1536 2488 1537 2489 1538 2490 1539 2491 1540 2492 1541 2493 1541 2494 1541 2495 1542 2496 1543 2497 1544 2498 15 2170 15 2499 15 2500 1545 2501 1545 2502 1545 2503 15 2504 15 2071 15 2242 15 2503 15 2071 15 2505 1546 2501 1546 2500 1546 2506 1547 2507 1548 2508 1549 2509 1550 2082 1550 2510 1550 2078 1551 2082 1551 2509 1551 2511 1552 2512 1553 2513 1554 2514 1555 2515 1555 2516 1556 2517 1557 2518 1558 2519 1559 2520 1560 2521 1560 2522 1560 2523 1561 2524 1561 2525 1561 2525 1562 2524 1562 2526 1562 1990 1563 2527 1563 1991 1563 2528 15 2527 15 1990 15 2529 1564 2530 1564 2531 1564 2531 1565 2530 1565 2532 1565 2533 1566 2534 1566 2535 1566 1751 15 2223 15 2536 15 2537 1567 2538 1567 2539 1567 2540 1568 2541 1568 2542 1568 2543 1569 2544 1569 2545 1569 2546 1570 2547 1570 2548 1570 2549 1571 2550 1571 2551 1571 2552 1572 2553 1572 2554 1572 2555 1573 2556 1574 2557 1575 2558 1576 2559 1576 2560 1576 2561 1577 2562 1578 2563 1579 2564 1580 2565 1580 2566 1580 2567 1581 2568 1581 2569 1581 2570 1582 2571 1582 2572 1582 2573 1583 2574 1583 2575 1583 2576 1584 2577 1585 2578 1586 2579 1587 2580 1588 2581 1589 2582 1590 2583 1591 2584 1592 2585 1593 2586 1593 2587 1593 2588 1594 2589 1594 2590 1594 2591 1595 2592 1596 2593 1597 2594 1598 2595 1598 2596 1598 2597 1599 2598 1599 2599 1599 2600 1600 2601 1601 2602 1602 2377 15 2037 15 2603 15 2377 1603 2603 1603 2604 1603 2605 1604 2606 1605 2607 1606 2608 1607 2609 1608 2610 1609 2611 1610 2612 1611 2613 1612 2614 1613 2615 1613 2616 1613 2616 1614 2615 1614 2617 1614 2618 15 2354 15 2357 15 2619 1615 2620 1616 2621 1615 2498 1617 2499 1617 2622 1617 2623 14 2510 14 2316 14 2624 14 2625 14 2626 14 2627 1618 2628 1618 2629 1618 2527 15 2630 15 1991 15 2630 1619 2631 1619 1991 1619 2632 1620 2633 1620 2634 1620 2635 1621 2636 1622 2637 1622 2638 1623 2639 1624 2640 1625 2641 1626 2642 1627 2643 1628 2644 1629 2645 1630 2646 1631 2647 1632 2648 1632 2649 1632 2650 1633 2651 1633 2652 1633 2604 15 2603 15 2622 15 2509 1634 2510 1634 2623 1634 2622 15 2603 15 2498 15 2653 1635 2654 1635 2655 1635 1751 15 2536 15 2656 15 2657 1636 2658 1636 2659 1636 2660 1637 2661 1637 2662 1637 2663 1638 2664 1638 2665 1638 2666 15 2503 15 2242 15 2667 1639 2664 1639 2663 1639 2668 1640 2669 1640 2670 1640 2670 1641 2669 1641 2671 1641 2242 1642 2672 1642 2666 1642 2673 15 2630 15 2527 15 2674 1643 2675 1643 2676 1643 2676 1644 2675 1645 2677 1646 2536 15 2678 15 2679 15 2656 1647 2536 1647 2679 1647 2680 15 2355 15 2681 15 2682 1648 2683 1648 2684 1648 2685 15 2681 15 2631 15 2685 1649 2680 1649 2681 1649 2686 1650 2687 1650 2688 1650 2689 15 2355 15 2680 15 2688 1650 2687 1650 2690 1650 2691 1651 2692 1652 2693 1653 2694 1654 2695 1654 2696 1654 2697 1655 2698 1655 2699 1655 2630 1656 2700 1656 2631 1656 2700 1657 2701 1657 2631 1657 2631 15 2702 15 2685 15 2703 15 2704 15 2705 15 2706 1658 2707 1658 2708 1658 2709 1659 2710 1659 2711 1659 2712 1660 2713 1660 2714 1660 2715 1661 2716 1661 2717 1661 2718 1662 2719 1662 2720 1662 2721 1663 2722 1663 2723 1663 2724 1664 2725 1664 2726 1664 2727 1665 2728 1665 2672 1665 2729 15 2700 15 2630 15 2730 1666 2731 1666 2732 1666 2242 1667 2727 1667 2672 1667 2733 1668 2734 1668 2735 1668 2736 1669 2737 1669 2738 1669 2656 15 2679 15 2739 15 2740 1670 2741 1670 2742 1670 2743 1671 2734 1671 2733 1671 2744 15 2680 15 2685 15 2745 1672 2746 1672 2747 1672 2748 1673 2749 1673 2750 1673 2751 1674 2727 1674 2242 1674 2752 1675 2753 1675 2754 1675 2755 1676 2756 1676 2757 1676 2754 1677 2753 1677 2758 1677 2727 1678 2759 1678 2760 1678 2761 1679 2756 1680 2755 1681 2762 1682 2763 1682 2764 1682 2765 1683 2766 1683 2767 1683 2768 15 2769 15 2770 15 2685 15 2702 15 2771 15 2772 1684 2773 1684 2774 1684 2767 1683 2766 1683 2775 1683 2776 1685 2777 1685 2778 1685 2779 1686 2780 1686 2781 1686 2770 15 2782 15 2759 15 2778 1687 2777 1687 2783 1687 2784 1688 2780 1688 2779 1688 2785 1689 2786 1689 2787 1689 2788 1690 2789 1690 2790 1690 2751 1691 2759 1691 2727 1691 2656 15 2768 15 2770 15 2751 15 2770 15 2759 15 2656 15 2770 15 2751 15 2791 1692 2792 1692 2793 1692 2794 1693 2795 1693 2796 1693 2797 1694 2798 1694 2799 1694 2800 1695 2801 1695 2802 1695 2803 1696 2804 1696 2805 1696 2806 1697 2807 1697 2808 1697 2809 1698 2810 1698 2811 1698 2812 1699 2813 1699 2814 1699 2815 1700 2816 1700 2817 1700 2818 1701 2819 1702 2820 1703 2821 1704 2822 1705 2823 1705 2824 1706 2825 1707 2826 1708</p>
+        </triangles>
+      </mesh>
+    </geometry>
+    <geometry id="ID215-mesh" name="ID215">
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+          <technique_common>
+            <accessor source="#ID215-mesh-normals-array" count="1679" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <vertices id="ID215-mesh-vertices">
+          <input semantic="POSITION" source="#ID215-mesh-positions"/>
+        </vertices>
+        <triangles material="ID9_003-material" count="1096">
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+          <input semantic="NORMAL" source="#ID215-mesh-normals" offset="1"/>
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+    </geometry>
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2096 18 2097 18 2098 18 2099 18 2100 1173 2101 1173 2102 1173 2103 1172 2104 1172 2105 1172 2106 1174 2107 1175 2108 1176 2109 1177 2110 1177 2111 1177 2112 1178 2113 1179 2114 1180 2115 1181 2116 1182 2117 1183 2118 1184 2119 1184 2120 1184 2121 1185 2122 1186 2123 1187 2124 1188 2125 1188 2126 1188 2127 1189 2128 1189 2129 1189 2130 1190 2131 1191 2132 1192 2133 1193 2134 1194 2135 1193 2136 1195 2137 1196 2138 1197 2139 1198 2140 1199 2141 1200 2142 1201 2143 1201 2144 1201 2145 1202 2146 1202 2147 1202 2148 1203 2149 1204 2150 1205 2151 1206 2152 1207 2153 1208 2154 1209 2155 1209 2156 1209 2157 1210 2158 1211 2159 1212 2160 1213 2161 1213 2162 1213 2163 1214 2164 1214 2165 1214 2166 1215 2167 1215 2168 1215 2169 1216 2170 1216 2171 1216 2172 1217 2173 1218 2174 1219 2175 1220 2176 1220 2177 1220 2178 1221 2179 1221 2180 1221 2181 1222 2182 1222 2183 1222 2184 1223 2185 1223 2186 1223 2187 1224 2188 1224 2189 1225 2190 1226 2191 1226 2192 1226 2193 1227 2194 1227 2195 1227 2196 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+        </triangles>
+      </mesh>
+    </geometry>
+    <geometry id="ID197-mesh" name="ID197">
+      <mesh>
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+        </triangles>
+      </mesh>
+    </geometry>
+    <geometry id="ID179-mesh" name="ID179">
+      <mesh>
+        <source id="ID179-mesh-positions">
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+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
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+        </vertices>
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+          <technique_common>
+            <accessor source="#ID112-mesh-normals-array" count="2433" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <vertices id="ID112-mesh-vertices">
+          <input semantic="POSITION" source="#ID112-mesh-positions"/>
+        </vertices>
+        <triangles material="ID9_003-material" count="3812">
+          <input semantic="VERTEX" source="#ID112-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#ID112-mesh-normals" offset="1"/>
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+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <vertices id="ID94-mesh-vertices">
+          <input semantic="POSITION" source="#ID94-mesh-positions"/>
+        </vertices>
+        <triangles material="ID9_003-material" count="11072">
+          <input semantic="VERTEX" source="#ID94-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#ID94-mesh-normals" offset="1"/>
+          <p>0 0 1 0 2 0 3 1 4 1 5 1 6 2 7 2 8 2 9 2 10 2 11 2 12 3 13 3 6 3 14 4 15 4 16 4 17 5 18 5 19 5 16 3 15 3 20 3 21 2 22 2 23 2 24 6 25 6 26 6 27 7 28 7 6 7 29 8 30 8 31 8 24 9 32 9 33 9 34 10 35 10 36 10 37 11 38 11 15 11 39 12 40 12 41 12 42 13 43 13 44 13 45 14 15 14 46 14 24 11 47 11 48 11 49 15 50 15 51 15 52 16 53 16 9 16 54 17 55 17 29 17 56 18 57 18 58 18 59 11 60 11 61 11 62 19 63 19 6 19 64 20 65 20 66 20 29 21 55 21 67 21 68 22 69 22 70 22 71 23 72 23 73 23 74 24 75 24 43 24 76 25 77 25 78 25 79 26 80 27 81 28 82 0 83 0 84 0 85 29 86 29 87 29 88 30 89 30 90 30 91 31 92 32 93 33 94 34 95 35 96 36 97 37 98 37 99 37 100 38 101 39 102 40 100 41 103 41 101 41 104 42 105 42 98 42 106 43 107 44 93 45 108 46 109 46 110 46 111 47 112 48 93 49 113 50 114 50 94 50 115 51 101 51 116 51 117 52 94 53 118 54 119 55 120 55 101 55 121 56 122 56 94 56 123 57 124 57 101 57 125 58 126 58 127 58 128 50 129 50 101 50 130 50 131 50 94 50 132 59 93 59 133 59 134 50 101 50 135 50 136 56 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+          <technique_common>
+            <accessor source="#ID82-mesh-normals-array" count="5339" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <vertices id="ID82-mesh-vertices">
+          <input semantic="POSITION" source="#ID82-mesh-positions"/>
+        </vertices>
+        <triangles material="ID9_003-material" count="2196">
+          <input semantic="VERTEX" source="#ID82-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#ID82-mesh-normals" offset="1"/>
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+          <input semantic="NORMAL" source="#ID58-mesh-normals" offset="1"/>
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+          <technique_common>
+            <accessor source="#ID52-mesh-normals-array" count="5556" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <vertices id="ID52-mesh-vertices">
+          <input semantic="POSITION" source="#ID52-mesh-positions"/>
+        </vertices>
+        <triangles material="ID9_003-material" count="2964">
+          <input semantic="VERTEX" source="#ID52-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#ID52-mesh-normals" offset="1"/>
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+          </technique_common>
+        </source>
+        <vertices id="ID46-mesh-vertices">
+          <input semantic="POSITION" source="#ID46-mesh-positions"/>
+        </vertices>
+        <triangles material="ID9_003-material" count="1650">
+          <input semantic="VERTEX" source="#ID46-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#ID46-mesh-normals" offset="1"/>
+          <p>0 0 1 0 2 0 3 1 4 1 5 1 2 2 1 2 6 2 7 3 8 3 9 3 10 4 11 4 12 4 13 5 14 5 15 5 16 6 17 6 18 6 19 7 20 7 21 7 22 8 23 8 24 8 25 9 4 9 3 9 26 10 27 10 28 10 29 11 30 11 31 11 32 12 33 12 34 12 28 13 27 13 35 13 36 14 37 14 38 14 39 15 40 15 41 15 42 16 43 16 44 16 45 17 46 17 47 17 42 18 44 18 48 18 49 19 46 19 45 19 50 20 51 20 52 20 53 21 54 21 55 21 56 22 57 22 52 22 52 23 51 23 58 23 52 22 58 22 56 22 59 24 60 24 61 24 62 16 63 16 64 16 65 25 43 25 42 25 62 16 64 16 66 16 67 26 68 26 50 26 50 22 68 22 51 22 69 27 70 27 71 27 72 28 73 28 74 28 75 29 76 29 77 29 78 30 79 30 80 30 81 27 70 27 69 27 82 16 83 16 84 16 84 31 83 31 85 31 86 22 57 22 56 22 87 32 88 32 89 32 86 33 90 33 57 33 91 34 92 34 93 34 94 35 95 35 96 35 93 34 92 34 97 34 98 36 99 36 100 36 101 37 102 37 103 37 104 38 105 38 106 38 107 39 108 39 109 39 110 40 111 40 112 40 113 41 114 41 115 41 116 42 117 43 118 44 119 45 120 46 121 47 122 48 123 49 124 49 125 50 126 50 127 50 128 51 129 52 130 53 131 54 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+            </technique_common>
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+      </node>
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+        <matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
+        <instance_geometry url="#ID82-mesh" name="Rover_Payload_Rev2_Assembly_Bolted_with_Lid_v1.013">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="ID9_003-material" target="#ID9_003-material"/>
+            </technique_common>
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+        </instance_geometry>
+      </node>
+      <node id="Rover_Payload_Rev2_Assembly_Bolted_with_Lid_v1_012" name="Rover_Payload_Rev2_Assembly_Bolted_with_Lid_v1.012" type="NODE">
+        <matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
+        <instance_geometry url="#ID76-mesh" name="Rover_Payload_Rev2_Assembly_Bolted_with_Lid_v1.012">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="ID9_003-material" target="#ID9_003-material"/>
+            </technique_common>
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+        </instance_geometry>
+      </node>
+      <node id="Rover_Payload_Rev2_Assembly_Bolted_with_Lid_v1_011" name="Rover_Payload_Rev2_Assembly_Bolted_with_Lid_v1.011" type="NODE">
+        <matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
+        <instance_geometry url="#ID70-mesh" name="Rover_Payload_Rev2_Assembly_Bolted_with_Lid_v1.011">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="ID9_003-material" target="#ID9_003-material"/>
+            </technique_common>
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+        </instance_geometry>
+      </node>
+      <node id="Rover_Payload_Rev2_Assembly_Bolted_with_Lid_v1_010" name="Rover_Payload_Rev2_Assembly_Bolted_with_Lid_v1.010" type="NODE">
+        <matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
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+          <bind_material>
+            <technique_common>
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+            </technique_common>
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+        </instance_geometry>
+      </node>
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+        <matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
+        <instance_geometry url="#ID58-mesh" name="Rover_Payload_Rev2_Assembly_Bolted_with_Lid_v1.009">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="ID9_003-material" target="#ID9_003-material"/>
+            </technique_common>
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+        </instance_geometry>
+      </node>
+      <node id="Rover_Payload_Rev2_Assembly_Bolted_with_Lid_v1_008" name="Rover_Payload_Rev2_Assembly_Bolted_with_Lid_v1.008" type="NODE">
+        <matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
+        <instance_geometry url="#ID52-mesh" name="Rover_Payload_Rev2_Assembly_Bolted_with_Lid_v1.008">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="ID9_003-material" target="#ID9_003-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+      <node id="Rover_Payload_Rev2_Assembly_Bolted_with_Lid_v1_007" name="Rover_Payload_Rev2_Assembly_Bolted_with_Lid_v1.007" type="NODE">
+        <matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
+        <instance_geometry url="#ID46-mesh" name="Rover_Payload_Rev2_Assembly_Bolted_with_Lid_v1.007">
+          <bind_material>
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+              <instance_material symbol="ID9_003-material" target="#ID9_003-material"/>
+            </technique_common>
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+        </instance_geometry>
+      </node>
+      <node id="Rover_Payload_Rev2_Assembly_Bolted_with_Lid_v1_006" name="Rover_Payload_Rev2_Assembly_Bolted_with_Lid_v1.006" type="NODE">
+        <matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
+        <instance_geometry url="#ID40-mesh" name="Rover_Payload_Rev2_Assembly_Bolted_with_Lid_v1.006">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="ID9_003-material" target="#ID9_003-material"/>
+            </technique_common>
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+        </instance_geometry>
+      </node>
+      <node id="Rover_Payload_Rev2_Assembly_Bolted_with_Lid_v1_005" name="Rover_Payload_Rev2_Assembly_Bolted_with_Lid_v1.005" type="NODE">
+        <matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
+        <instance_geometry url="#ID34-mesh" name="Rover_Payload_Rev2_Assembly_Bolted_with_Lid_v1.005">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="ID9_003-material" target="#ID9_003-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+      <node id="Rover_Payload_Rev2_Assembly_Bolted_with_Lid_v1_004" name="Rover_Payload_Rev2_Assembly_Bolted_with_Lid_v1.004" type="NODE">
+        <matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
+        <instance_geometry url="#ID28-mesh" name="Rover_Payload_Rev2_Assembly_Bolted_with_Lid_v1.004">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="ID9_003-material" target="#ID9_003-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+      <node id="Rover_Payload_Rev2_Assembly_Bolted_with_Lid_v1_003" name="Rover_Payload_Rev2_Assembly_Bolted_with_Lid_v1.003" type="NODE">
+        <matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
+        <instance_geometry url="#ID22-mesh" name="Rover_Payload_Rev2_Assembly_Bolted_with_Lid_v1.003">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="ID9_003-material" target="#ID9_003-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+      <node id="Rover_Payload_Rev2_Assembly_Bolted_with_Lid_v1_002" name="Rover_Payload_Rev2_Assembly_Bolted_with_Lid_v1.002" type="NODE">
+        <matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
+        <instance_geometry url="#ID16-mesh" name="Rover_Payload_Rev2_Assembly_Bolted_with_Lid_v1.002">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="ID9_003-material" target="#ID9_003-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+      <node id="Rover_Payload_Rev2_Assembly_Bolted_with_Lid_v1_001" name="Rover_Payload_Rev2_Assembly_Bolted_with_Lid_v1.001" type="NODE">
+        <matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
+        <instance_geometry url="#ID10-mesh" name="Rover_Payload_Rev2_Assembly_Bolted_with_Lid_v1.001">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="ID9_003-material" target="#ID9_003-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+      <node id="Rover_Payload_Rev2_Assembly_Bolted_with_Lid_v1" name="Rover_Payload_Rev2_Assembly_Bolted_with_Lid_v1" type="NODE">
+        <matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
+        <instance_geometry url="#ID3_003-mesh" name="Rover_Payload_Rev2_Assembly_Bolted_with_Lid_v1">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="ID9_003-material" target="#ID9_003-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
\ No newline at end of file
diff --git a/CustomRobots/roverrobotics_description/meshes/rplidar_s2.dae b/CustomRobots/roverrobotics_description/meshes/rplidar_s2.dae
new file mode 100644
index 000000000..4b180c52c
--- /dev/null
+++ b/CustomRobots/roverrobotics_description/meshes/rplidar_s2.dae
@@ -0,0 +1,162 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
+  <asset>
+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 3.6.0 commit date:2023-06-27, commit time:08:08, hash:c7fc78b81ecb</authoring_tool>
+    </contributor>
+    <created>2023-07-03T18:39:51</created>
+    <modified>2023-07-03T18:39:51</modified>
+    <unit name="millimeter" meter="0.001"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_cameras>
+    <camera id="Camera-camera" name="Camera">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</xfov>
+            <aspect_ratio>1.777778</aspect_ratio>
+            <znear sid="znear">0.1</znear>
+            <zfar sid="zfar">100</zfar>
+          </perspective>
+        </technique_common>
+      </optics>
+      <extra>
+        <technique profile="blender">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+  </library_cameras>
+  <library_lights>
+    <light id="Light-light" name="Light">
+      <technique_common>
+        <point>
+          <color sid="color">1000 1000 1000</color>
+          <constant_attenuation>1</constant_attenuation>
+          <linear_attenuation>0</linear_attenuation>
+          <quadratic_attenuation>0.00111109</quadratic_attenuation>
+        </point>
+      </technique_common>
+      <extra>
+        <technique profile="blender">
+          <type sid="type" type="int">0</type>
+          <flag sid="flag" type="int">0</flag>
+          <mode sid="mode" type="int">1</mode>
+          <gamma sid="blender_gamma" type="float">1</gamma>
+          <red sid="red" type="float">1</red>
+          <green sid="green" type="float">1</green>
+          <blue sid="blue" type="float">1</blue>
+          <shadow_r sid="blender_shadow_r" type="float">0</shadow_r>
+          <shadow_g sid="blender_shadow_g" type="float">0</shadow_g>
+          <shadow_b sid="blender_shadow_b" type="float">0</shadow_b>
+          <energy sid="blender_energy" type="float">1000</energy>
+          <dist sid="blender_dist" type="float">29.99998</dist>
+          <spotsize sid="spotsize" type="float">75</spotsize>
+          <spotblend sid="spotblend" type="float">0.15</spotblend>
+          <att1 sid="att1" type="float">0</att1>
+          <att2 sid="att2" type="float">1</att2>
+          <falloff_type sid="falloff_type" type="int">2</falloff_type>
+          <clipsta sid="clipsta" type="float">0.04999995</clipsta>
+          <clipend sid="clipend" type="float">30.002</clipend>
+          <bias sid="bias" type="float">1</bias>
+          <bufsize sid="bufsize" type="int">2880</bufsize>
+          <samp sid="samp" type="int">3</samp>
+          <buffers sid="buffers" type="int">1</buffers>
+          <radius sid="radius" type="float">0.1</radius>
+          <area_shape sid="area_shape" type="int">1</area_shape>
+          <area_size sid="area_size" type="float">0.1</area_size>
+          <area_sizey sid="area_sizey" type="float">0.1</area_sizey>
+          <area_sizez sid="area_sizez" type="float">1</area_sizez>
+        </technique>
+      </extra>
+    </light>
+  </library_lights>
+  <library_effects>
+    <effect id="Material_001-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <color sid="diffuse">0 0 0 1</color>
+            </diffuse>
+            <reflectivity>
+              <float sid="specular">0.5</float>
+            </reflectivity>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
+  <library_images/>
+  <library_materials>
+    <material id="Material_001-material" name="Material.001">
+      <instance_effect url="#Material_001-effect"/>
+    </material>
+  </library_materials>
+  <library_geometries>
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17484 10489 17485 10497 17485 10483 17485 10542 17486 10491 17486 10495 17486 10542 17487 10492 17487 10491 17487 10542 17488 10495 17488 10498 17488 10539 17489 10498 17489 10496 17489 10539 17490 10542 17490 10498 17490 10539 17491 10496 17491 10547 17491 10534 17492 10547 17492 10546 17492 10534 17493 10539 17493 10547 17493 10530 17494 10546 17494 10543 17494 10535 17495 10534 17495 10546 17495 10530 17496 10535 17496 10546 17496 10530 17497 10543 17497 10545 17497 10525 17498 10545 17498 10540 17498 10525 17499 10530 17499 10545 17499 10525 17500 10540 17500 10537 17500 10521 17501 10537 17501 10532 17501 10521 17502 10525 17502 10537 17502 10518 17503 10532 17503 10528 17503 10518 17504 10521 17504 10532 17504 10518 17505 10528 17505 10531 17505 10514 17506 10531 17506 10526 17506 10514 17507 10518 17507 10531 17507 10514 17508 10526 17508 10523 17508 10509 17509 10523 17509 10519 17509 10509 17510 10514 17510 10523 17510 10511 17511 10519 17511 10522 17511 10511 17512 10509 17512 10519 17512 10502 17513 10522 17513 10516 17513 10511 17514 10522 17514 10502 17514 10506 17515 10516 17515 10512 17515 10502 17516 10516 17516 10506 17516 10548 17517 10512 17517 10515 17517 10506 17518 10512 17518 10548 17518 10549 17519 10515 17519 10507 17519 10548 17520 10515 17520 10549 17520 10549 17521 10507 17521 10510 17521 10550 17522 10510 17522 10499 17522 10550 17523 10549 17523 10510 17523 10551 17524 10499 17524 10503 17524 10551 17525 10550 17525 10499 17525 10552 17526 10503 17526 10504 17526 10551 17527 10503 17527 10552 17527 10553 17528 10554 17528 10504 17528 10555 17529 10504 17529 10554 17529 10505 17530 10553 17530 10504 17530 10552 17531 10504 17531 10555 17531 10556 17532 10554 17532 10553 17532 10557 17533 10554 17533 10556 17533 10558 17534 10554 17534 10557 17534 10555 17535 10554 17535 10558 17535 10506 17536 10553 17536 10505 17536 10506 17537 10548 17537 10553 17537 10556 17538 10553 17538 10548 17538 10556 17539 10549 17539 10559 17539 10550 17540 10559 17540 10549 17540 10557 17541 10556 17541 10559 17541 10560 17542 10557 17542 10559 17542 10561 17543 10560 17543 10559 17543 10550 17544 10561 17544 10559 17544 10556 17545 10548 17545 10549 17545 10562 17546 10557 17546 10560 17546 10563 17547 10558 17547 10557 17547 10562 17548 10563 17548 10557 17548 10561 17549 10564 17549 10560 17549 10565 17550 10560 17550 10564 17550 10565 17551 10562 17551 10560 17551 10550 17552 10564 17552 10561 17552 10566 17553 10565 17553 10564 17553 10550 17554 10566 17554 10564 17554 10567 17555 10558 17555 10563 17555 10567 17556 10555 17556 10558 17556 10567 17557 10563 17557 10562 17557 10566 17558 10562 17558 10565 17558 10566 17559 10567 17559 10562 17559 10568 17560 10552 17560 10555 17560 10567 17561 10568 17561 10555 17561 10569 17562 10552 17562 10568 17562 10569 17563 10551 17563 10552 17563 10570 516 10568 516 10567 516 10571 17564 10569 17564 10568 17564 10571 17565 10568 17565 10570 17565 10572 17566 10567 17566 10566 17566 10572 17567 10570 17567 10567 17567 10569 17568 10566 17568 10550 17568 10573 516 10566 516 10569 516 10573 17569 10572 17569 10566 17569 10569 17570 10550 17570 10551 17570 10571 17571 10573 17571 10569 17571 10574 17572 10570 17572 10572 17572 10575 17573 10571 17573 10570 17573 10575 17574 10570 17574 10574 17574 10576 17575 10572 17575 10573 17575 10576 17576 10574 17576 10572 17576 10577 17577 10573 17577 10571 17577 10576 17578 10573 17578 10577 17578 10575 17579 10577 17579 10571 17579 10578 17580 10576 17580 10577 17580 10579 516 10577 516 10575 516 10579 17581 10578 17581 10577 17581 10580 516 10574 516 10576 516 10581 17582 10575 17582 10574 17582 10581 17583 10574 17583 10580 17583 10582 516 10580 516 10576 516 10583 516 10582 516 10576 516 10578 17584 10583 17584 10576 17584 10584 516 10579 516 10575 516 10585 516 10584 516 10575 516 10581 17585 10585 17585 10575 17585 10586 17586 10580 17586 10582 17586 10587 17587 10581 17587 10580 17587 10587 17588 10580 17588 10586 17588 10588 17589 10582 17589 10583 17589 10588 17590 10586 17590 10582 17590 10589 17591 10583 17591 10578 17591 10589 17592 10588 17592 10583 17592 10589 17593 10578 17593 10579 17593 10590 17594 10579 17594 10584 17594 10589 17595 10579 17595 10590 17595 10591 17596 10584 17596 10585 17596 10591 17597 10590 17597 10584 17597 10587 17598 10585 17598 10581 17598 10587 17599 10591 17599 10585 17599 10592 17600 10589 17600 10590 17600 10593 17601 10590 17601 10591 17601 10592 17602 10590 17602 10593 17602 10594 17603 10586 17603 10588 17603 10595 17604 10587 17604 10586 17604 10594 17605 10595 17605 10586 17605 10596 17606 10588 17606 10589 17606 10597 17607 10594 17607 10588 17607 10596 17608 10597 17608 10588 17608 10592 17609 10596 17609 10589 17609 10598 17610 10591 17610 10587 17610 10599 17611 10593 17611 10591 17611 10598 17612 10599 17612 10591 17612 10595 17613 10598 17613 10587 17613 10592 17614 10593 17614 10599 17614 10600 17615 10599 17615 10598 17615 10601 17616 10592 17616 10599 17616 10601 2 10599 2 10600 2 10602 17617 10598 17617 10595 17617 10603 17618 10600 17618 10598 17618 10604 2 10603 2 10598 2 10602 2 10604 2 10598 2 10597 17619 10595 17619 10594 17619 10605 17620 10595 17620 10597 17620 10605 2 10602 2 10595 2 10606 17621 10597 17621 10596 17621 10606 2 10605 2 10597 2 10607 17622 10596 17622 10592 17622 10608 17623 10606 17623 10596 17623 10609 2 10608 2 10596 2 10607 2 10609 2 10596 2 10601 2 10607 2 10592 2 10601 17624 10600 17624 10610 17624 10611 17625 10610 17625 10600 17625 10612 17626 10601 17626 10610 17626 10612 17627 10610 17627 10611 17627 10613 17628 10600 17628 10603 17628 10613 17629 10611 17629 10600 17629 10614 17630 10603 17630 10604 17630 10614 17631 10613 17631 10603 17631 10615 17632 10604 17632 10602 17632 10614 17626 10604 17626 10615 17626 10616 17633 10602 17633 10605 17633 10615 17633 10602 17633 10616 17633 10606 17634 10617 17634 10605 17634 10618 17635 10605 17635 10617 17635 10616 17636 10605 17636 10618 17636 10619 17637 10617 17637 10606 17637 10618 17638 10617 17638 10619 17638 10620 17639 10606 17639 10608 17639 10619 17640 10606 17640 10620 17640 10621 17641 10608 17641 10609 17641 10620 17641 10608 17641 10621 17641 10622 17642 10609 17642 10607 17642 10621 17635 10609 17635 10622 17635 10623 17643 10607 17643 10601 17643 10622 17643 10607 17643 10623 17643 10623 17632 10601 17632 10612 17632 10614 17644 10612 17644 10611 17644 10614 2 10611 2 10613 2 10616 17645 10623 17645 10612 17645 10614 17646 10616 17646 10612 17646 10621 17647 10622 17647 10623 17647 10618 17648 10621 17648 10623 17648 10616 2 10618 2 10623 2 10619 2 10620 2 10621 2 10618 17649 10619 17649 10621 17649 10614 17650 10615 17650 10616 17650 3039 17651 10683 17651 10682 17651 3124 516 10679 516 3123 516 3120 516 10680 516 3124 516 3119 516 10678 516 3120 516 3039 17652 10676 17652 10683 17652 3047 17653 10675 17653 3079 17653 3083 17654 10675 17654 3078 17654 3078 2 10673 2 3045 2 3037 17655 10672 17655 10674 17655 3037 17656 10674 17656 10671 17656 3172 17657 10670 17657 10669 17657 3172 17658 10669 17658 10668 17658 3172 17659 10668 17659 10667 17659 3118 17660 10677 17660 10664 17660 10663 516 3181 516 3148 516 3148 516 10666 516 10663 516 10662 17661 3152 17661 3153 17661 3152 516 10660 516 3151 516 3125 516 10679 516 3118 516 3151 516 10659 516 3125 516 3047 2 10685 2 10658 2 3045 2 10658 2 3043 2 3115 17662 10664 17662 10657 17662 3053 17663 10656 17663 10672 17663 3037 17664 10655 17664 3035 17664 3035 17665 10676 17665 3039 17665 3083 2698 10654 2698 10681 2698 10667 17666 3170 17666 3172 17666 3170 2 10654 2 3083 2 3154 2698 10666 2698 3183 2698 3180 17667 10651 17667 3179 17667 3181 17668 10665 17668 10650 17668 3181 17669 10670 17669 3172 17669 10682 17670 3113 17670 3039 17670 3115 17671 10657 17671 10648 17671 3117 17672 10648 17672 10649 17672 3154 17673 10662 17673 10647 17673 3154 17674 10647 17674 10651 17674 3052 2 10685 2 3047 2 3053 17675 10645 17675 10656 17675 10645 17676 3050 17676 3051 17676 3050 2 10643 2 3049 2 3049 2 10646 2 3052 2 10685 2 3048 2 3043 2 10656 17677 10645 17677 3051 17677 3116 17678 3113 17678 10648 17678 3119 17679 3116 17679 10664 17679 10683 17680 3128 17680 3117 17680 10676 17681 3038 17681 3128 17681 3142 17682 3038 17682 10671 17682 10672 17683 10656 17683 10625 17683 10625 17684 3051 17684 10672 17684 10654 2698 3173 2698 3079 2698 10668 17685 3174 17685 3173 17685 10669 17686 3176 17686 3174 17686 10624 2 3174 2 3176 2 3175 2 3174 2 10624 2 3177 17687 3071 17687 3176 17687 10669 17688 10670 17688 3176 17688 10670 17689 3177 17689 10626 17689 3180 17690 3177 17690 10650 17690 3153 17691 3179 17691 10651 17691 3068 17692 3066 17692 10630 17692 3135 17693 3068 17693 10641 17693 3066 17694 3073 17694 10628 17694 10629 17695 3073 17695 3072 17695 10627 17696 3072 17696 3163 17696 10637 17697 3163 17697 3139 17697 3139 17698 3140 17698 10639 17698 3140 17699 3135 17699 10642 17699 3124 17700 10680 17700 10679 17700 3120 17701 10678 17701 10680 17701 3119 17702 10677 17702 10678 17702 3047 17703 10684 17703 10675 17703 3083 2698 10681 2698 10675 2698 3078 2 10684 2 10673 2 3037 17704 3053 17704 10672 17704 10663 516 10665 516 3181 516 3148 516 3183 516 10666 516 10662 17705 10661 17705 3152 17705 3152 17706 10661 17706 10660 17706 3125 17707 10659 17707 10679 17707 3151 17708 10660 17708 10659 17708 3045 17709 10673 17709 10658 17709 3115 17710 3118 17710 10664 17710 3037 17711 10671 17711 10655 17711 3035 17712 10655 17712 10676 17712 10667 17713 10653 17713 3170 17713 3170 17714 10653 17714 10654 17714 3154 2698 10652 2698 10666 2698 3180 17715 10652 17715 10651 17715 3181 17716 10650 17716 10670 17716 10682 17717 10649 17717 3113 17717 3117 17718 3115 17718 10648 17718 3154 17719 3123 17719 10662 17719 3052 17720 10646 17720 10685 17720 3053 17721 3048 17721 10645 17721 10645 17722 10644 17722 3050 17722 3050 17723 10644 17723 10643 17723 3049 2 10643 2 10646 2</p>
+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="rplidar-s2-model-3d-stl" name="rplidar-s2-model-3d-stl" type="NODE">
+        <matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
+        <instance_geometry url="#rplidar-s2-model-3d-stl-mesh" name="rplidar-s2-model-3d-stl">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="Material_001-material" target="#Material_001-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+      <node id="Camera" name="Camera" type="NODE">
+        <matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.358891 0.7276763 0.3054208 -0.6141704 -6.925791 0 0.8953956 0.4452714 4.958309 0 0 0 1</matrix>
+        <instance_camera url="#Camera-camera"/>
+      </node>
+      <node id="Light" name="Light" type="NODE">
+        <matrix sid="transform">-0.2908646 -0.7711008 0.5663932 4.076245 0.9551712 -0.1998834 0.2183912 1.005454 -0.05518906 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
+        <instance_light url="#Light-light"/>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
\ No newline at end of file
diff --git a/CustomRobots/roverrobotics_description/urdf/accessories/imu.urdf b/CustomRobots/roverrobotics_description/urdf/accessories/imu.urdf
new file mode 100644
index 000000000..3152de146
--- /dev/null
+++ b/CustomRobots/roverrobotics_description/urdf/accessories/imu.urdf
@@ -0,0 +1,26 @@
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="imu">
+    
+    <link name="imu_link"/>
+
+    <joint name="imu_to_payload" type="fixed">
+        <parent link="payload_link"/>
+        <child link="imu_link"/>
+        <origin xyz="0 0 0" rpy="0 0 0"/>
+    </joint>
+
+    <gazebo reference="imu_link">
+        <sensor name="imu" type="imu">
+            <always_on>1</always_on>
+            <update_rate>50</update_rate>
+            <visualize>true</visualize>
+            <topic>imu/data</topic>
+            <enable_metrics>true</enable_metrics>
+            <frame_id>imu_link</frame_id>
+        </sensor>
+    </gazebo>
+
+    <gazebo>
+        <plugin filename="gz-sim-imu-system" name="gz::sim::systems::Imu"/>
+    </gazebo>
+
+</robot>
diff --git a/CustomRobots/roverrobotics_description/urdf/accessories/rover_dev_payload.urdf b/CustomRobots/roverrobotics_description/urdf/accessories/rover_dev_payload.urdf
new file mode 100644
index 000000000..157e0b88b
--- /dev/null
+++ b/CustomRobots/roverrobotics_description/urdf/accessories/rover_dev_payload.urdf
@@ -0,0 +1,31 @@
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="rover_miti_payload">
+    
+    <link name="payload_link">
+        <visual>
+            <origin xyz="0 0.0115 0" rpy="1.57 -0 1.57" />
+            <geometry>
+                <mesh filename="file://$(find roverrobotics_description)/meshes/rover_payload.dae"/>
+            </geometry>
+        </visual>
+
+        <collision>
+            <origin xyz="0 0.0115 0" rpy="1.57 -0 1.57" />
+            <geometry>
+                <mesh filename="file://$(find roverrobotics_description)/meshes/rover_payload.dae"/>
+            </geometry>
+        </collision>
+
+        <inertial>
+            <origin xyz="-0.01 0 0" rpy="0 0 0"/>
+            <mass value="2.95" />
+            <inertia ixx="0.018398" ixy="0.0"  ixz="0.0" iyy="0.04064" iyz="0.0" izz="0.05396" />
+        </inertial>
+    </link>
+
+    <joint name="payload_to_chassis" type="fixed">
+        <parent link="chassis_link"/>
+        <child link="payload_link"/>
+        <origin xyz="0 0 ${payload_z_offset}"/>
+    </joint>
+
+</robot>
diff --git a/CustomRobots/roverrobotics_description/urdf/accessories/rplidar_s2.urdf b/CustomRobots/roverrobotics_description/urdf/accessories/rplidar_s2.urdf
new file mode 100644
index 000000000..516500d6a
--- /dev/null
+++ b/CustomRobots/roverrobotics_description/urdf/accessories/rplidar_s2.urdf
@@ -0,0 +1,64 @@
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="rplidar_s2">
+    
+    <link name="lidar_link">
+        <visual>
+            <origin xyz="0 0 0" rpy="-1.57 0 3.1415"/>
+            <geometry>
+                <mesh filename="file://$(find roverrobotics_description)/meshes/rplidar_s2.dae"/>
+            </geometry>
+        </visual>
+
+        <collision>
+            <origin xyz="0 0 0" rpy="-1.57 0 3.1415"/>
+            <geometry>
+                <mesh filename="file://$(find roverrobotics_description)/meshes/rplidar_s2.dae"/>
+            </geometry>
+        </collision>
+
+    </link>
+
+    <joint name="lidar_to_payload" type="fixed">
+        <parent link="payload_link"/>
+        <child link="lidar_link"/>
+        <origin xyz="0.174 0 0.10" rpy="0 0 3.1415"/>
+    </joint>
+
+    <gazebo reference="lidar_link">
+        <sensor name='gpu_lidar' type='gpu_lidar'>
+            <pose>0 0 0 0 0 0</pose>
+            <topic>scan</topic>
+            <frame_id>lidar_link</frame_id>
+            <update_rate>10</update_rate>
+            <lidar>
+                <scan>
+                    <horizontal>
+                        <samples>640</samples>
+                        <resolution>1</resolution>
+                        <min_angle>-3.14159</min_angle>
+                        <max_angle>3.14159</max_angle>
+                    </horizontal>
+                    <vertical>
+                        <samples>1</samples>
+                        <resolution>1</resolution>
+                        <min_angle>0.0</min_angle>
+                        <max_angle>0.0</max_angle>
+                    </vertical>
+                </scan>
+                <range>
+                    <min>0.15</min>
+                    <max>10.0</max>
+                    <resolution>0.01</resolution>
+                </range>
+            </lidar>
+            <visualize>true</visualize>
+            <always_on>1</always_on>
+        </sensor>
+    </gazebo>
+
+    <gazebo>    
+        <plugin filename="gz-sim-sensors-system" name="gz::sim::systems::Sensors">
+            <render_engine>ogre2</render_engine>
+        </plugin>
+    </gazebo>
+
+</robot>
diff --git a/CustomRobots/roverrobotics_description/urdf/rover_4wd.urdf b/CustomRobots/roverrobotics_description/urdf/rover_4wd.urdf
new file mode 100644
index 000000000..60929b17e
--- /dev/null
+++ b/CustomRobots/roverrobotics_description/urdf/rover_4wd.urdf
@@ -0,0 +1,220 @@
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="rover_4wd">
+
+    <xacro:property name="wheel_z_offset" value="0.020" />
+    <xacro:property name="wheel_x_offset" value="0.145" />
+    <xacro:property name="front_flipper_x_offset" value="-0.0035" />
+    <xacro:property name="wheel_y_offset" value="0.18" />
+    <xacro:property name="track_y_offset" value="0.11" />
+    <xacro:property name="wheel_mass" value="1.25" />
+    <xacro:property name="chassis_mass" value="4.53592" />
+
+    <xacro:property name="payload_z_offset" value="0.096" />
+    <xacro:include filename="accessories/rover_dev_payload.urdf" />
+    <xacro:include filename="accessories/rplidar_s2.urdf" />
+    <xacro:include filename="accessories/imu.urdf" />
+
+    <link name="base_link" />
+    <link name="chassis_link">
+        <visual>
+            <origin xyz="0 0 0" rpy="1.57 -0 1.57" />
+            <geometry>
+                <mesh filename="package://roverrobotics_description/meshes/flipper_chassis.dae"/>
+            </geometry>
+        </visual>
+        <visual>
+            <origin xyz="0 ${track_y_offset} 0" rpy="1.57 3.1415 0" />
+            <geometry>
+                <mesh filename="package://roverrobotics_description/meshes/flipper_track.dae"/>
+            </geometry>
+        </visual>
+
+        <collision>
+            <origin xyz="0 ${track_y_offset} 0" rpy="1.57 3.1415 0" />
+            <geometry>
+                <mesh filename="package://roverrobotics_description/meshes/flipper_track.dae"/>
+            </geometry>
+        </collision>
+
+         <visual>
+            <origin xyz="0 ${-track_y_offset} 0" rpy="1.57 3.1415 0" />
+            <geometry>
+                <mesh filename="package://roverrobotics_description/meshes/flipper_track.dae"/>
+            </geometry>
+        </visual>
+
+        <collision>
+            <origin xyz="0 ${-track_y_offset} 0" rpy="1.57 3.1415 0" />
+            <geometry>
+                <mesh filename="package://roverrobotics_description/meshes/flipper_track.dae"/>
+            </geometry>
+        </collision>
+
+        <collision>
+            <origin xyz="0 0 0" rpy="1.57 -0 1.57" />
+            <geometry>
+                <mesh filename="package://roverrobotics_description/meshes/flipper_chassis.dae"/>
+            </geometry>
+        </collision>
+
+        <inertial>
+            <origin xyz="0 0 0" rpy="0 0 0"/>
+            <mass value="${chassis_mass}" />
+            <inertia ixx="0.028064" ixy="0.0"  ixz="0.0" iyy="0.08226" iyz="0.0" izz="0.10258" />
+        </inertial>
+    </link>
+
+    <joint name="base_to_chassis" type="fixed">
+        <parent link="base_link"/>
+        <child link="chassis_link"/>
+        <origin xyz="0 0 0.125"/>
+    </joint>
+
+
+    <link name="fr_wheel_link">
+        <visual>
+            <origin xyz="0 0 0" rpy="-1.57 0 0" />
+            <geometry>
+                <mesh filename="package://roverrobotics_description/meshes/pro_tire.dae"/>
+            </geometry>
+        </visual>
+
+        <collision>
+            <origin xyz="0 0 0" rpy="-1.57 0 0" />
+            <geometry>
+                <mesh filename="package://roverrobotics_description/meshes/pro_tire.dae"/>
+            </geometry>
+        </collision>
+
+        <inertial>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <mass value="${wheel_mass}" />
+            <inertia ixx="0.005645" ixy="0.0"  ixz="0.0" iyy= "0.01008" iyz="0.0" izz="0.005645"/>
+        </inertial>
+        <mu>5.0</mu>
+    </link>
+    <joint name="fr_wheel_to_chassis" type="continuous">
+        <parent link="chassis_link"/> 
+        <child link="fr_wheel_link"/>
+        <axis xyz="0 1 0"/>
+        <origin xyz="${wheel_x_offset + front_flipper_x_offset} ${-wheel_y_offset} 0" rpy="0 0 0"/>
+    </joint>
+
+    <link name="fl_wheel_link">
+        <visual>
+            <origin xyz="0 0 0" rpy="1.57 0 0" />
+            <geometry>
+                <mesh filename="package://roverrobotics_description/meshes/pro_tire.dae"/>
+            </geometry>
+        </visual>
+
+        <collision>
+            <origin xyz="0 0 0" rpy="1.57 0 0" />
+            <geometry>
+                <mesh filename="package://roverrobotics_description/meshes/pro_tire.dae"/>
+            </geometry>
+        </collision>
+
+        <inertial>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <mass value="${wheel_mass}" />
+            <inertia ixx="0.005645" ixy="0.0"  ixz="0.0" iyy= "0.01008" iyz="0.0" izz="0.005645"/>
+        </inertial>
+        <mu>5.0</mu>
+    </link>
+    <joint name="fl_wheel_to_chassis" type="continuous">
+        <parent link="chassis_link"/>
+        <child link="fl_wheel_link"/>
+        <axis xyz="0 1 0"/>
+        <origin xyz="${wheel_x_offset + front_flipper_x_offset} ${wheel_y_offset} 0" rpy="0 0 0"/>
+    </joint>
+
+    <link name="rr_wheel_link">
+        <visual>
+            <origin xyz="0 0 0" rpy="1.57 0 3.1415" />
+            <geometry>
+                <mesh filename="package://roverrobotics_description/meshes/pro_tire.dae"/>
+            </geometry>
+        </visual>
+
+        <collision>
+            <origin xyz="0 0 0" rpy="1.57 0 3.1415" />
+            <geometry>
+                <mesh filename="package://roverrobotics_description/meshes/pro_tire.dae"/>
+            </geometry>
+        </collision>
+
+        <inertial>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <mass value="${wheel_mass}" />
+            <inertia ixx="0.005645" ixy="0.0"  ixz="0.0" iyy= "0.01008" iyz="0.0" izz="0.005645"/>
+        </inertial>
+        <mu>5.0</mu>
+    </link>
+    <joint name="rr_wheel_to_chassis" type="continuous">
+        <parent link="chassis_link"/>
+        <child link="rr_wheel_link"/>
+        <axis xyz="0 1 0"/>
+        <origin xyz="${-wheel_x_offset} ${-wheel_y_offset} 0"/>
+    </joint>
+
+    <link name="rl_wheel_link">
+        <visual>
+            <origin xyz="0 0 0" rpy="-1.57 0 3.1415" />
+            <geometry>
+                <mesh filename="package://roverrobotics_description/meshes/pro_tire.dae"/>
+            </geometry>
+        </visual>
+
+        <collision>
+            <origin xyz="0 0 0" rpy="-1.57 0 3.1415" />
+            <geometry>
+                <mesh filename="package://roverrobotics_description/meshes/pro_tire.dae"/>
+            </geometry>
+        </collision>
+
+        <inertial>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <mass value="${wheel_mass}" />
+            <inertia ixx="0.005645" ixy="0.0"  ixz="0.0" iyy= "0.01008" iyz="0.0" izz="0.005645"/>
+        </inertial>
+        <mu>5.0</mu>
+    </link>
+    <joint name="rl_wheel_to_chassis" type="continuous">
+        <parent link="chassis_link"/>
+        <child link="rl_wheel_link"/>
+        <axis xyz="0 1 0"/>
+        <origin xyz="${-wheel_x_offset} ${wheel_y_offset} 0"/>
+    </joint>
+    
+
+    <gazebo>
+        <plugin name="gz::sim::systems::DiffDrive" filename="gz-sim-diff-drive-system">  
+            <num_wheel_pairs>2</num_wheel_pairs>
+            <left_joint>rl_wheel_to_chassis</left_joint>
+            <left_joint>fl_wheel_to_chassis</left_joint>
+            <right_joint>rr_wheel_to_chassis</right_joint>
+            <right_joint>fr_wheel_to_chassis</right_joint>
+            <wheel_separation>0.24</wheel_separation>
+            <wheel_radius>0.122</wheel_radius>
+
+            <max_linear_acceleration>5</max_linear_acceleration>
+            <min_linear_acceleration>-5</min_linear_acceleration>
+            <max_angular_acceleration>4</max_angular_acceleration>
+            <min_angular_acceleration>-4</min_angular_acceleration>
+
+            
+            <frame_id>odom</frame_id>
+            <child_frame_id>base_link</child_frame_id>
+
+            <topic>/cmd_vel</topic>
+            <odom_topic>/odometry/wheels</odom_topic>
+            <tf_topic>/tf_gazebo</tf_topic>
+
+        </plugin>
+
+        <plugin filename="gz-sim-joint-state-publisher-system" name="gz::sim::systems::JointStatePublisher">
+            <topic>/joint_states</topic>
+        </plugin>
+    </gazebo>
+
+</robot>
\ No newline at end of file