From 9694559b1e9560bb64307922dd32d08644041b25 Mon Sep 17 00:00:00 2001
From: Nikhil Gupta <nikhilg22@iitk.ac.in>
Date: Wed, 25 Jun 2025 03:38:25 +0530
Subject: [PATCH 1/3] added new f1_ackermann_harmonic car and
 simple_circuit_harmonic.sdf world in ackermann_cars

---
 .../Renault/Car.lwo                           |   Bin 0 -> 983082 bytes
 .../Renault/Car.mtl                           |    79 +
 .../Renault/Car.obj                           | 88178 ++++++++++++++++
 .../Renault/Wheel.lwo                         |   Bin 0 -> 272084 bytes
 .../Renault/Wheel.mtl                         |   118 +
 .../Renault/Wheel.obj                         | 25765 +++++
 .../Renault/back_left.dae                     |   430 +
 .../Renault/back_right.dae                    |   430 +
 .../Renault/bl_1.stl                          |   Bin 0 -> 80784 bytes
 .../Renault/br_1.stl                          |   Bin 0 -> 80784 bytes
 .../Renault/burger_base.dae                   |   220 +
 .../Renault/chasis.dae                        |  3441 +
 .../Renault/chassis_link.stl                  |   Bin 0 -> 1103784 bytes
 .../Renault/fl_1.stl                          |   Bin 0 -> 80784 bytes
 .../Renault/fr_1.stl                          |   Bin 0 -> 80784 bytes
 .../Renault/front_left.dae                    |   430 +
 .../Renault/front_right.dae                   |   430 +
 .../Renault/generic_main.png                  |   Bin 0 -> 583468 bytes
 .../Renault/generic_main.png.001.png          |   Bin 0 -> 583468 bytes
 .../Renault/generic_main.png.002.png          |   Bin 0 -> 583468 bytes
 .../Renault/glass.png                         |   Bin 0 -> 17867 bytes
 .../Renault/hokuyo.dae                        |   253 +
 .../Renault/lds.dae                           |   188 +
 .../Renault/light_glow.png                    |   Bin 0 -> 4572 bytes
 .../materials/textures/generic_main.png       |   Bin 0 -> 583468 bytes
 .../materials/textures/generic_main_nm.png    |   Bin 0 -> 211101 bytes
 .../textures/generic_main_specocc.png         |   Bin 0 -> 241185 bytes
 .../Renault/materials/textures/glass.png      |   Bin 0 -> 17867 bytes
 .../textures/int_digi_placeholder.png         |   Bin 0 -> 1487 bytes
 .../materials/textures/int_digi_tach.png      |   Bin 0 -> 26234 bytes
 .../materials/textures/int_indicator.png      |   Bin 0 -> 10165 bytes
 .../materials/textures/int_info_pod.png       |   Bin 0 -> 54070 bytes
 .../Renault/materials/textures/int_led.png    |   Bin 0 -> 12062 bytes
 .../materials/textures/int_re0_main.png       |   Bin 0 -> 1363064 bytes
 .../Renault/materials/textures/light_glow.png |   Bin 0 -> 4572 bytes
 .../Renault/materials/textures/re0_main.png   |   Bin 0 -> 2619606 bytes
 .../Renault/materials/textures/re0_wheel.png  |   Bin 0 -> 109508 bytes
 .../materials/textures/tread_slick.png        |   Bin 0 -> 78858 bytes
 .../materials/textures/tread_slick_nm.png     |   Bin 0 -> 219541 bytes
 .../textures/tread_slick_specocc.png          |   Bin 0 -> 76140 bytes
 .../Renault/materials/textures/tyre.png       |   Bin 0 -> 106955 bytes
 .../Renault/materials/textures/tyre_nm.png    |   Bin 0 -> 341873 bytes
 .../materials/textures/tyre_specocc.png       |   Bin 0 -> 75787 bytes
 .../Renault/re0_main.png                      |   Bin 0 -> 2619606 bytes
 .../Renault/re0_wheel.png.002.png             |   Bin 0 -> 109508 bytes
 .../Renault/spoiler.stl                       |   Bin 0 -> 135084 bytes
 .../Renault/steering_wheel.dae                |  1703 +
 .../Renault/tire.dae                          |   142 +
 .../Renault/tread_slick.png.002.png           |   Bin 0 -> 78858 bytes
 .../Renault/tyre.png.002.png                  |   Bin 0 -> 106955 bytes
 .../Renault/wheel.dae                         |   503 +
 .../model.config                              |    16 +
 .../f1_renault_ackermann_harmonic/model.sdf   |   546 +
 .../meshes/Asphalt_New.jpg                    |   Bin 0 -> 8292 bytes
 .../meshes/Grass_Light_Green.jpg              |   Bin 0 -> 78367 bytes
 .../meshes/__Tile_Checker_BW_2.jpg            |   Bin 0 -> 4670 bytes
 .../meshes/simple_line.dae                    |  3531 +
 .../simple_circuit_harmonic/meshes/wall.dae   |  2301 +
 .../simple_circuit_harmonic/model.config      |    21 +
 .../simple_circuit.sdf                        |    43 +
 .../worlds/simple_circuit_harmonic.sdf        |   113 +
 61 files changed, 128881 insertions(+)
 create mode 100755 CustomRobots/ackermann_cars/models/f1_renault_ackermann_harmonic/Renault/Car.lwo
 create mode 100755 CustomRobots/ackermann_cars/models/f1_renault_ackermann_harmonic/Renault/Car.mtl
 create mode 100755 CustomRobots/ackermann_cars/models/f1_renault_ackermann_harmonic/Renault/Car.obj
 create mode 100755 CustomRobots/ackermann_cars/models/f1_renault_ackermann_harmonic/Renault/Wheel.lwo
 create mode 100755 CustomRobots/ackermann_cars/models/f1_renault_ackermann_harmonic/Renault/Wheel.mtl
 create mode 100755 CustomRobots/ackermann_cars/models/f1_renault_ackermann_harmonic/Renault/Wheel.obj
 create mode 100644 CustomRobots/ackermann_cars/models/f1_renault_ackermann_harmonic/Renault/back_left.dae
 create mode 100644 CustomRobots/ackermann_cars/models/f1_renault_ackermann_harmonic/Renault/back_right.dae
 create mode 100755 CustomRobots/ackermann_cars/models/f1_renault_ackermann_harmonic/Renault/bl_1.stl
 create mode 100755 CustomRobots/ackermann_cars/models/f1_renault_ackermann_harmonic/Renault/br_1.stl
 create mode 100755 CustomRobots/ackermann_cars/models/f1_renault_ackermann_harmonic/Renault/burger_base.dae
 create mode 100644 CustomRobots/ackermann_cars/models/f1_renault_ackermann_harmonic/Renault/chasis.dae
 create mode 100755 CustomRobots/ackermann_cars/models/f1_renault_ackermann_harmonic/Renault/chassis_link.stl
 create mode 100755 CustomRobots/ackermann_cars/models/f1_renault_ackermann_harmonic/Renault/fl_1.stl
 create mode 100755 CustomRobots/ackermann_cars/models/f1_renault_ackermann_harmonic/Renault/fr_1.stl
 create mode 100644 CustomRobots/ackermann_cars/models/f1_renault_ackermann_harmonic/Renault/front_left.dae
 create mode 100644 CustomRobots/ackermann_cars/models/f1_renault_ackermann_harmonic/Renault/front_right.dae
 create mode 100755 CustomRobots/ackermann_cars/models/f1_renault_ackermann_harmonic/Renault/generic_main.png
 create mode 100755 CustomRobots/ackermann_cars/models/f1_renault_ackermann_harmonic/Renault/generic_main.png.001.png
 create mode 100755 CustomRobots/ackermann_cars/models/f1_renault_ackermann_harmonic/Renault/generic_main.png.002.png
 create mode 100755 CustomRobots/ackermann_cars/models/f1_renault_ackermann_harmonic/Renault/glass.png
 create mode 100755 CustomRobots/ackermann_cars/models/f1_renault_ackermann_harmonic/Renault/hokuyo.dae
 create mode 100755 CustomRobots/ackermann_cars/models/f1_renault_ackermann_harmonic/Renault/lds.dae
 create mode 100755 CustomRobots/ackermann_cars/models/f1_renault_ackermann_harmonic/Renault/light_glow.png
 create mode 100755 CustomRobots/ackermann_cars/models/f1_renault_ackermann_harmonic/Renault/materials/textures/generic_main.png
 create mode 100755 CustomRobots/ackermann_cars/models/f1_renault_ackermann_harmonic/Renault/materials/textures/generic_main_nm.png
 create mode 100755 CustomRobots/ackermann_cars/models/f1_renault_ackermann_harmonic/Renault/materials/textures/generic_main_specocc.png
 create mode 100755 CustomRobots/ackermann_cars/models/f1_renault_ackermann_harmonic/Renault/materials/textures/glass.png
 create mode 100755 CustomRobots/ackermann_cars/models/f1_renault_ackermann_harmonic/Renault/materials/textures/int_digi_placeholder.png
 create mode 100755 CustomRobots/ackermann_cars/models/f1_renault_ackermann_harmonic/Renault/materials/textures/int_digi_tach.png
 create mode 100755 CustomRobots/ackermann_cars/models/f1_renault_ackermann_harmonic/Renault/materials/textures/int_indicator.png
 create mode 100755 CustomRobots/ackermann_cars/models/f1_renault_ackermann_harmonic/Renault/materials/textures/int_info_pod.png
 create mode 100755 CustomRobots/ackermann_cars/models/f1_renault_ackermann_harmonic/Renault/materials/textures/int_led.png
 create mode 100755 CustomRobots/ackermann_cars/models/f1_renault_ackermann_harmonic/Renault/materials/textures/int_re0_main.png
 create mode 100755 CustomRobots/ackermann_cars/models/f1_renault_ackermann_harmonic/Renault/materials/textures/light_glow.png
 create mode 100755 CustomRobots/ackermann_cars/models/f1_renault_ackermann_harmonic/Renault/materials/textures/re0_main.png
 create mode 100755 CustomRobots/ackermann_cars/models/f1_renault_ackermann_harmonic/Renault/materials/textures/re0_wheel.png
 create mode 100755 CustomRobots/ackermann_cars/models/f1_renault_ackermann_harmonic/Renault/materials/textures/tread_slick.png
 create mode 100755 CustomRobots/ackermann_cars/models/f1_renault_ackermann_harmonic/Renault/materials/textures/tread_slick_nm.png
 create mode 100755 CustomRobots/ackermann_cars/models/f1_renault_ackermann_harmonic/Renault/materials/textures/tread_slick_specocc.png
 create mode 100755 CustomRobots/ackermann_cars/models/f1_renault_ackermann_harmonic/Renault/materials/textures/tyre.png
 create mode 100755 CustomRobots/ackermann_cars/models/f1_renault_ackermann_harmonic/Renault/materials/textures/tyre_nm.png
 create mode 100755 CustomRobots/ackermann_cars/models/f1_renault_ackermann_harmonic/Renault/materials/textures/tyre_specocc.png
 create mode 100755 CustomRobots/ackermann_cars/models/f1_renault_ackermann_harmonic/Renault/re0_main.png
 create mode 100755 CustomRobots/ackermann_cars/models/f1_renault_ackermann_harmonic/Renault/re0_wheel.png.002.png
 create mode 100755 CustomRobots/ackermann_cars/models/f1_renault_ackermann_harmonic/Renault/spoiler.stl
 create mode 100644 CustomRobots/ackermann_cars/models/f1_renault_ackermann_harmonic/Renault/steering_wheel.dae
 create mode 100755 CustomRobots/ackermann_cars/models/f1_renault_ackermann_harmonic/Renault/tire.dae
 create mode 100755 CustomRobots/ackermann_cars/models/f1_renault_ackermann_harmonic/Renault/tread_slick.png.002.png
 create mode 100755 CustomRobots/ackermann_cars/models/f1_renault_ackermann_harmonic/Renault/tyre.png.002.png
 create mode 100755 CustomRobots/ackermann_cars/models/f1_renault_ackermann_harmonic/Renault/wheel.dae
 create mode 100755 CustomRobots/ackermann_cars/models/f1_renault_ackermann_harmonic/model.config
 create mode 100644 CustomRobots/ackermann_cars/models/f1_renault_ackermann_harmonic/model.sdf
 create mode 100755 CustomRobots/ackermann_cars/models/simple_circuit_harmonic/meshes/Asphalt_New.jpg
 create mode 100755 CustomRobots/ackermann_cars/models/simple_circuit_harmonic/meshes/Grass_Light_Green.jpg
 create mode 100755 CustomRobots/ackermann_cars/models/simple_circuit_harmonic/meshes/__Tile_Checker_BW_2.jpg
 create mode 100755 CustomRobots/ackermann_cars/models/simple_circuit_harmonic/meshes/simple_line.dae
 create mode 100755 CustomRobots/ackermann_cars/models/simple_circuit_harmonic/meshes/wall.dae
 create mode 100755 CustomRobots/ackermann_cars/models/simple_circuit_harmonic/model.config
 create mode 100755 CustomRobots/ackermann_cars/models/simple_circuit_harmonic/simple_circuit.sdf
 create mode 100644 CustomRobots/ackermann_cars/worlds/simple_circuit_harmonic.sdf

diff --git a/CustomRobots/ackermann_cars/models/f1_renault_ackermann_harmonic/Renault/Car.lwo b/CustomRobots/ackermann_cars/models/f1_renault_ackermann_harmonic/Renault/Car.lwo
new file mode 100755
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diff --git a/CustomRobots/ackermann_cars/models/f1_renault_ackermann_harmonic/Renault/Car.obj b/CustomRobots/ackermann_cars/models/f1_renault_ackermann_harmonic/Renault/Car.obj
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diff --git a/CustomRobots/ackermann_cars/models/f1_renault_ackermann_harmonic/Renault/Wheel.lwo b/CustomRobots/ackermann_cars/models/f1_renault_ackermann_harmonic/Renault/Wheel.lwo
new file mode 100755
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diff --git a/CustomRobots/ackermann_cars/models/f1_renault_ackermann_harmonic/Renault/Wheel.mtl b/CustomRobots/ackermann_cars/models/f1_renault_ackermann_harmonic/Renault/Wheel.mtl
new file mode 100755
index 000000000..bb59bb2bc
--- /dev/null
+++ b/CustomRobots/ackermann_cars/models/f1_renault_ackermann_harmonic/Renault/Wheel.mtl
@@ -0,0 +1,118 @@
+# 
+# Wavefront material file
+# Converted by the DEEP Exploration  Deep Exploration 6.1 x64 6.1.2.6638
+# Right Hemisphere, LTD
+# http://www.righthemisphere.com/
+# 
+
+newmtl mirrors
+Ka 0 0 0
+Kd 1 1 1
+Ks 0 0 0
+illum 2
+Ns 2
+map_Kd 
+map_bump 
+bump 
+map_opacity 
+map_d 
+refl 
+map_kS 
+map_kA 
+map_Ns 
+
+newmtl flag
+Ka 0 0 0
+Kd 1 1 1
+Ks 0 0 0
+illum 2
+Ns 2
+map_Kd materials/textures/int_indicator.png
+map_bump 
+bump 
+map_opacity 
+map_d 
+refl 
+map_kS 
+map_kA 
+map_Ns 
+
+newmtl digi
+Ka 0 0 0
+Kd 1 1 1
+Ks 0 0 0
+illum 2
+Ns 2
+map_Kd materials/textures/int_digi_tach.png
+map_bump 
+bump 
+map_opacity 
+map_d 
+refl 
+map_kS 
+map_kA 
+map_Ns 
+
+newmtl digi0
+Ka 0 0 0
+Kd 1 1 1
+Ks 0 0 0
+illum 2
+Ns 2
+map_Kd materials/textures/int_digi_placeholder.png
+map_bump 
+bump 
+map_opacity 
+map_d 
+refl 
+map_kS 
+map_kA 
+map_Ns 
+
+newmtl info
+Ka 0 0 0
+Kd 1 1 1
+Ks 0 0 0
+illum 2
+Ns 2
+map_Kd materials/textures/int_info_pod.png
+map_bump 
+bump 
+map_opacity 
+map_d 
+refl 
+map_kS 
+map_kA 
+map_Ns 
+
+newmtl led
+Ka 0 0 0
+Kd 1 1 1
+Ks 0 0 0
+illum 2
+Ns 2
+map_Kd materials/textures/int_led.png
+map_bump 
+bump 
+map_opacity 
+map_d 
+refl 
+map_kS 
+map_kA 
+map_Ns 
+
+newmtl steering
+Ka 0 0 0
+Kd 1 1 1
+Ks 0 0 0
+illum 2
+Ns 2
+map_Kd materials/textures/int_re0_main.png
+map_bump 
+bump 
+map_opacity 
+map_d 
+refl 
+map_kS 
+map_kA 
+map_Ns 
diff --git a/CustomRobots/ackermann_cars/models/f1_renault_ackermann_harmonic/Renault/Wheel.obj b/CustomRobots/ackermann_cars/models/f1_renault_ackermann_harmonic/Renault/Wheel.obj
new file mode 100755
index 000000000..4930de938
--- /dev/null
+++ b/CustomRobots/ackermann_cars/models/f1_renault_ackermann_harmonic/Renault/Wheel.obj
@@ -0,0 +1,25765 @@
+# 
+# Wavefront OBJ file
+# Converted by the DEEP Exploration Deep Exploration 6.1 x64 6.1.2.6638
+# Right Hemisphere, LTD
+# http://www.righthemisphere.com/
+# 
+mtllib Wheel.mtl
+# object object #0
+g object__0
+v -0.26460 -0.38680 0.61310
+v -0.26570 -0.38660 0.60930
+v -0.26910 -0.38590 0.60710
+v -0.27400 -0.38490 0.60620
+v -0.41260 -0.35540 0.60930
+v -0.41380 -0.35520 0.61310
+v -0.41380 -0.35520 0.65010
+v -0.40920 -0.35620 0.60710
+v -0.40470 -0.35720 0.60630
+v -0.41260 -0.35540 0.65390
+v -0.40920 -0.35620 0.65620
+v -0.40470 -0.35720 0.65690
+v -0.27400 -0.38490 0.65710
+v -0.26910 -0.38590 0.65620
+v -0.26570 -0.38660 0.65390
+v -0.26460 -0.38680 0.65010
+# 16 verticies
+vt 0.50000 0.13574
+vt 0.50342 0.06103
+vt 0.51514 0.01758
+vt 0.53125 0.00000
+vt 0.50000 0.86255
+vt 0.50342 0.93713
+vt 0.51514 0.98233
+vt 0.53125 1.00000
+vt 0.96924 0.00195
+vt 0.96924 0.99608
+vt 0.98438 0.98233
+vt 0.99609 0.93713
+vt 1.00000 0.86255
+vt 0.98438 0.01758
+vt 0.99609 0.06103
+vt 1.00000 0.13574
+# 16 texture verticies
+vn 0.19950 0.97990 -0.00143
+vn 0.20686 0.97833 -0.00839
+vn 0.20137 0.97951 -0.00410
+vn 0.20337 0.97910 -0.00049
+vn 0.18793 0.98218 0.00227
+vn 0.19881 0.98004 0.00033
+vn 0.20059 0.97968 -0.00006
+vn 0.20387 0.97900 0.00000
+vn 0.21174 0.97733 0.00014
+vn 0.21188 0.97729 0.00000
+vn 0.22148 0.97516 0.00043
+vn 0.21987 0.97553 -0.00040
+vn 0.18676 0.98239 -0.00598
+vn 0.22135 0.97519 0.00100
+vn 0.22277 0.97487 0.00177
+vn 0.16441 0.98639 0.00000
+# 16 normals
+usemtl mirrors
+f  1/1/1 2/2/2 3/3/3
+f  1/1/1 3/3/3 4/4/4
+f  1/1/1 4/4/4 16/5/5
+f  4/4/4 15/6/6 16/5/5
+f  4/4/4 14/7/7 15/6/6
+f  4/4/4 13/8/8 14/7/7
+f  4/4/4 9/9/9 13/8/8
+f  9/9/9 12/10/10 13/8/8
+f  9/9/9 11/11/11 12/10/10
+f  9/9/9 10/12/12 11/11/11
+f  9/9/9 7/13/13 10/12/12
+f  9/9/9 8/14/14 7/13/13
+f  8/14/14 5/15/15 7/13/13
+f  5/15/15 6/16/16 7/13/13
+# object object #1
+g object__1
+v 0.27400 -0.38490 0.60620
+v 0.26910 -0.38590 0.60710
+v 0.26570 -0.38660 0.60930
+v 0.26460 -0.38680 0.61310
+v 0.26460 -0.38680 0.65010
+v 0.26570 -0.38660 0.65390
+v 0.26910 -0.38590 0.65620
+v 0.27400 -0.38490 0.65710
+v 0.40470 -0.35720 0.65690
+v 0.41380 -0.35520 0.65010
+v 0.41380 -0.35520 0.61310
+v 0.41260 -0.35540 0.60930
+v 0.40920 -0.35620 0.60710
+v 0.40470 -0.35720 0.60630
+v 0.41260 -0.35540 0.65390
+v 0.40920 -0.35620 0.65620
+# 16 verticies
+vt 0.00000 0.86243
+vt 0.00000 0.13525
+vt 0.00403 0.06103
+vt 0.01548 0.01758
+vt 0.03059 0.00195
+vt 0.00403 0.93701
+vt 0.01548 0.98222
+vt 0.03059 0.99599
+vt 0.46851 0.00000
+vt 0.46851 1.00000
+vt 0.48511 0.98232
+vt 0.49634 0.93713
+vt 0.50000 0.86243
+vt 0.50000 0.13574
+vt 0.49634 0.06103
+vt 0.48511 0.01758
+# 16 texture verticies
+vn -0.18676 0.98239 -0.00598
+vn -0.16440 0.98639 0.00000
+vn -0.22277 0.97487 0.00177
+vn -0.22135 0.97519 0.00100
+vn -0.21174 0.97733 0.00014
+vn -0.21987 0.97553 -0.00040
+vn -0.22148 0.97516 0.00043
+vn -0.21189 0.97729 0.00000
+vn -0.20355 0.97906 -0.00042
+vn -0.20387 0.97900 0.00000
+vn -0.20059 0.97968 -0.00006
+vn -0.19881 0.98004 0.00033
+vn -0.18793 0.98218 0.00227
+vn -0.19931 0.97993 -0.00169
+vn -0.20292 0.97917 -0.00633
+vn -0.19929 0.97993 0.00381
+# 16 normals
+f  26/17/17 27/18/18 28/19/19
+f  26/17/17 28/19/19 29/20/20
+f  26/17/17 29/20/20 30/21/21
+f  31/22/22 26/17/17 30/21/21
+f  32/23/23 31/22/22 30/21/21
+f  25/24/24 32/23/23 30/21/21
+f  17/25/25 25/24/24 30/21/21
+f  17/25/25 24/26/26 25/24/24
+f  17/25/25 23/27/27 24/26/26
+f  17/25/25 22/28/28 23/27/27
+f  17/25/25 21/29/29 22/28/28
+f  17/25/25 20/30/30 21/29/29
+f  17/25/25 19/31/31 20/30/30
+f  17/25/25 18/32/32 19/31/31
+# object object #2
+g object__2
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+v -0.05684 -0.49846 0.61634
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+v -0.05534 -0.49841 0.61520
+v -0.05434 -0.49840 0.61515
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+v -0.05274 -0.49844 0.61613
+v -0.05235 -0.49847 0.61695
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+v -0.05260 -0.49854 0.61881
+v -0.05328 -0.49858 0.61956
+v -0.05409 -0.49860 0.61994
+v -0.05510 -0.49860 0.61999
+v -0.05595 -0.49859 0.61969
+v -0.05709 -0.49853 0.61820
+v -0.05670 -0.49857 0.61901
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+# 51 texture verticies
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+# 97 normals
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+# object object #3
+g object__3
+v 0.00000 -0.50210 0.63471
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+v 0.00000 -0.50208 0.63471
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+v 0.00000 -0.50211 0.63471
+v 0.00000 -0.50210 0.63471
+v 0.00000 -0.50210 0.63471
+# 13 verticies
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+# 14 texture verticies
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+vn 0.00012 0.99913 0.04179
+# 13 normals
+usemtl digi
+f  135/84/130 136/85/131 137/86/132
+f  135/84/130 137/86/132 141/87/133
+f  137/86/132 140/88/134 141/87/133
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+f  142/94/139 144/96/141 145/95/140
+f  142/94/139 143/97/142 144/96/141
+# object object #4
+g object__4
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+v -0.01398 -0.50048 0.62655
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+v -0.01399 -0.49991 0.61308
+v -0.04683 -0.49991 0.61305
+v -0.04785 -0.49995 0.61413
+# 8 verticies
+vt 0.99938 0.91345
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+# 8 texture verticies
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+vn 0.00002 0.99912 0.04201
+# 8 normals
+usemtl digi0
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+# object object #5
+g object__5
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+v -0.00538 -0.50061 0.63125
+v 0.00538 -0.50061 0.63125
+# 8 verticies
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+# 8 texture verticies
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+vn -0.00000 0.99912 0.04196
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+vn -0.00001 0.99912 0.04196
+# 6 normals
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+f  159/106/151 161/108/153 162/109/152
+f  158/110/154 159/106/151 162/109/152
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+f  156/112/156 158/110/154 163/111/155
+f  156/112/156 157/113/155 158/110/154
+# object object #6
+g object__6
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+v 0.01297 -0.50043 0.62548
+v 0.01398 -0.50048 0.62655
+v 0.04683 -0.50047 0.62648
+# 8 verticies
+vt 0.00062 0.91483
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+vt 0.97032 0.99950
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+# 8 texture verticies
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+vn -0.00001 0.99912 0.04201
+# 8 normals
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+f  164/114/157 166/116/159 170/117/160
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+f  166/116/159 168/119/162 170/117/160
+f  166/116/159 167/121/164 168/119/162
+# object object #7
+g object__7
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+v -0.10811 -0.49559 0.63798
+v -0.10840 -0.49603 0.63811
+v -0.10658 -0.49524 0.63731
+# 31 verticies
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+usemtl flag
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+# 526 normals
+usemtl info
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+f  246/177/220 236/178/221 239/175/218
+f  238/179/222 239/175/218 236/178/221
+f  236/178/221 237/180/223 238/179/222
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+f  231/183/226 230/184/227 351/185/228
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+f  352/186/229 351/185/228 359/187/230
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+f  358/188/231 359/187/230 356/189/232
+f  356/189/232 357/190/233 358/188/231
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+v 0.09919 -0.53903 0.57742
+# 24 verticies
+vt 0.60854 0.84551
+vt 0.60854 0.79126
+vt 0.61015 0.78832
+vt 0.61015 0.84845
+vt 0.67487 0.78698
+vt 0.70635 0.78698
+vt 0.70635 0.84979
+vt 0.67487 0.84979
+vt 0.64706 0.78696
+vt 0.64704 0.84980
+vt 0.61279 0.84976
+vt 0.61281 0.78699
+vt 0.67169 0.76162
+vt 0.70987 0.76114
+vt 0.70591 0.77288
+vt 0.67439 0.77248
+vt 0.64714 0.77674
+vt 0.61288 0.77827
+vt 0.61014 0.78691
+vt 0.61021 0.77826
+vt 0.61019 0.85849
+vt 0.61012 0.84984
+vt 0.61286 0.85849
+vt 0.64712 0.86002
+vt 0.67437 0.86428
+vt 0.67167 0.87514
+vt 0.70985 0.87562
+vt 0.70589 0.86388
+vt 0.60002 0.78822
+vt 0.60866 0.78832
+vt 0.59996 0.79126
+vt 0.59996 0.84551
+vt 0.60866 0.84845
+vt 0.60002 0.84855
+vt 0.70548 0.84801
+vt 0.70548 0.78875
+vt 0.66947 0.78875
+vt 0.66947 0.84801
+vt 0.64582 0.78875
+vt 0.64582 0.84801
+vt 0.61347 0.84801
+vt 0.60944 0.84397
+vt 0.61095 0.84684
+vt 0.60944 0.79279
+vt 0.61347 0.78875
+vt 0.61095 0.78992
+# 46 texture verticies
+vn 0.07612 0.99710 -0.00020
+vn 0.07611 0.99710 -0.00020
+vn -0.20103 0.97959 -0.00019
+vn 0.04752 0.99887 -0.00020
+vn -0.20696 0.97835 0.00012
+vn -0.20770 0.97819 -0.00019
+vn 0.04674 0.99891 -0.00045
+vn 0.06505 0.99788 -0.00019
+vn 0.03633 0.99927 0.01193
+vn 0.03384 0.99752 0.06176
+vn 0.00000 -0.00020 -1.00000
+vn 0.21482 -0.00534 -0.97664
+vn 0.22972 -0.01016 -0.97320
+vn 0.69020 -0.02605 -0.72315
+vn 0.68487 -0.02358 -0.72828
+vn 0.68833 -0.02574 0.72494
+vn 0.69384 -0.02382 0.71973
+vn 0.22687 -0.00546 0.97391
+vn 0.21157 -0.00899 0.97732
+vn 0.00000 0.00020 1.00000
+vn 0.00000 0.00020 1.00000
+vn 0.00000 0.00019 1.00000
+vn 0.96804 -0.03987 -0.24759
+vn 0.96949 -0.04214 -0.24147
+vn 0.96752 -0.04195 0.24928
+vn 0.96918 -0.03988 0.24310
+vn -0.02226 -0.99975 0.00020
+vn -0.02226 -0.99975 0.00020
+vn 0.24483 -0.96957 0.00019
+vn 0.24483 -0.96957 0.00019
+vn 0.25873 -0.96595 -0.00055
+vn 0.26033 -0.96552 0.00019
+vn -0.00943 -0.99996 0.00082
+vn -0.03619 -0.99934 0.00019
+vn -0.03619 -0.99934 0.00019
+vn 0.00006 -0.99995 -0.00970
+vn 0.00381 -0.99920 -0.03978
+vn -0.03620 -0.99934 0.00021
+# 38 normals
+f  4835/5578/6416 4838/5579/6416 4833/5580/6416
+f  4833/5580/6417 4832/5581/6417 4835/5578/6417
+f  4829/5582/6418 4830/5583/6419 4822/5584/6419
+f  4822/5584/6419 4821/5585/6418 4829/5582/6418
+f  4831/5586/6420 4829/5582/6418 4821/5585/6418
+f  4821/5585/6418 4826/5587/6421 4831/5586/6420
+f  4831/5586/6420 4826/5587/6421 4828/5588/6422
+f  4828/5588/6422 4832/5581/6423 4833/5580/6424
+f  4831/5586/6420 4828/5588/6422 4833/5580/6424
+f  4831/5586/6420 4833/5580/6424 4834/5589/6425
+f  4839/5590/6426 4840/5591/6426 4830/5592/6426
+f  4839/5590/6426 4830/5592/6426 4829/5593/6426
+f  4839/5590/6426 4829/5593/6426 4842/5594/6426
+f  4829/5593/6426 4831/5586/6426 4842/5594/6426
+f  4831/5586/6426 4841/5595/6427 4842/5594/6426
+f  4831/5586/6426 4834/5589/6428 4841/5595/6427
+f  4841/5595/6427 4834/5589/6428 4833/5596/6429
+f  4833/5596/6429 4844/5597/6430 4841/5595/6427
+f  4843/5598/6431 4832/5599/6432 4828/5588/6433
+f  4828/5588/6433 4827/5600/6434 4843/5598/6431
+f  4827/5600/6434 4828/5588/6433 4826/5587/6435
+f  4826/5587/6435 4825/5601/6436 4827/5600/6434
+f  4825/5601/6436 4826/5587/6435 4821/5602/6437
+f  4821/5602/6437 4824/5603/6437 4825/5601/6436
+f  4823/5604/6437 4824/5603/6437 4821/5602/6437
+f  4821/5602/6437 4822/5605/6437 4823/5604/6437
+f  4844/5606/6430 4833/5607/6429 4838/5579/6438
+f  4838/5579/6438 4837/5608/6439 4844/5606/6430
+f  4837/5608/6439 4838/5579/6438 4835/5578/6440
+f  4835/5578/6440 4836/5609/6441 4837/5608/6439
+f  4836/5609/6441 4835/5578/6440 4832/5610/6432
+f  4832/5610/6432 4843/5611/6431 4836/5609/6441
+f  4823/5612/6442 4840/5613/6443 4839/5614/6444
+f  4839/5614/6444 4824/5615/6445 4823/5612/6442
+f  4824/5615/6445 4839/5614/6444 4842/5616/6446
+f  4842/5616/6446 4825/5617/6447 4824/5615/6445
+f  4827/5618/6448 4825/5617/6447 4842/5616/6446
+f  4836/5619/6449 4843/5620/6450 4827/5618/6448
+f  4837/5621/6451 4836/5619/6449 4827/5618/6448
+f  4837/5621/6451 4827/5618/6448 4842/5616/6446
+f  4841/5622/6452 4837/5621/6451 4842/5616/6446
+f  4841/5622/6452 4844/5623/6453 4837/5621/6451
+# object object #16
+g object__16
+v -0.06838 -0.54071 0.60690
+v -0.06949 -0.54596 0.60690
+v -0.05121 -0.54555 0.60690
+v -0.05330 -0.54000 0.60690
+v -0.08170 -0.53424 0.60690
+v -0.08149 -0.53913 0.60690
+v -0.09809 -0.53480 0.60690
+v -0.09791 -0.53897 0.60690
+v -0.05330 -0.54000 0.57682
+v -0.06838 -0.54072 0.57682
+v -0.08170 -0.53425 0.57682
+v -0.09809 -0.53480 0.57682
+v -0.09937 -0.53489 0.57746
+v -0.09937 -0.53488 0.60626
+v -0.10014 -0.53494 0.60485
+v -0.10014 -0.53495 0.57887
+v -0.09996 -0.53905 0.57887
+v -0.09996 -0.53905 0.60485
+v -0.05121 -0.54555 0.57682
+v -0.06949 -0.54596 0.57683
+v -0.09791 -0.53898 0.57682
+v -0.08149 -0.53914 0.57682
+v -0.09919 -0.53902 0.60631
+v -0.09919 -0.53903 0.57742
+# 24 verticies
+vt 0.60854 0.84551
+vt 0.61015 0.84845
+vt 0.61015 0.78832
+vt 0.60854 0.79126
+vt 0.70635 0.84979
+vt 0.70635 0.78698
+vt 0.67487 0.78698
+vt 0.67487 0.84979
+vt 0.64706 0.78696
+vt 0.64704 0.84980
+vt 0.61279 0.84976
+vt 0.61281 0.78699
+vt 0.70591 0.77288
+vt 0.70987 0.76114
+vt 0.67169 0.76162
+vt 0.67439 0.77248
+vt 0.64714 0.77674
+vt 0.61288 0.77827
+vt 0.61014 0.78691
+vt 0.61021 0.77826
+vt 0.61012 0.84984
+vt 0.61019 0.85849
+vt 0.61286 0.85849
+vt 0.64712 0.86002
+vt 0.67437 0.86428
+vt 0.67167 0.87514
+vt 0.70985 0.87562
+vt 0.70589 0.86388
+vt 0.60866 0.78832
+vt 0.60002 0.78822
+vt 0.59996 0.79126
+vt 0.59996 0.84551
+vt 0.60866 0.84845
+vt 0.60002 0.84855
+vt 0.66947 0.78875
+vt 0.70548 0.78875
+vt 0.70548 0.84801
+vt 0.66947 0.84801
+vt 0.64582 0.78875
+vt 0.64582 0.84801
+vt 0.61347 0.84801
+vt 0.61095 0.84684
+vt 0.60944 0.84397
+vt 0.60944 0.79279
+vt 0.61347 0.78875
+vt 0.61095 0.78992
+# 46 texture verticies
+vn -0.07611 0.99710 -0.00020
+vn -0.07612 0.99710 -0.00019
+vn -0.04752 0.99887 -0.00020
+vn 0.20103 0.97959 -0.00019
+vn 0.20696 0.97835 0.00012
+vn 0.20770 0.97819 -0.00019
+vn -0.04674 0.99891 -0.00045
+vn -0.03384 0.99752 0.06176
+vn -0.03633 0.99927 0.01192
+vn -0.06505 0.99788 -0.00019
+vn -0.00000 -0.00020 -1.00000
+vn -0.00000 -0.00019 -1.00000
+vn -0.21482 -0.00534 -0.97664
+vn -0.22972 -0.01016 -0.97320
+vn -0.69020 -0.02605 -0.72315
+vn -0.68487 -0.02358 -0.72829
+vn -0.22687 -0.00546 0.97391
+vn -0.69384 -0.02382 0.71973
+vn -0.68833 -0.02574 0.72494
+vn -0.21157 -0.00899 0.97732
+vn 0.00000 0.00020 1.00000
+vn 0.00000 0.00019 1.00000
+vn -0.96804 -0.03987 -0.24759
+vn -0.96949 -0.04214 -0.24147
+vn -0.96752 -0.04196 0.24928
+vn -0.96918 -0.03988 0.24310
+vn -0.24483 -0.96957 0.00019
+vn 0.02226 -0.99975 0.00020
+vn -0.24483 -0.96957 0.00019
+vn -0.25873 -0.96595 -0.00055
+vn -0.26033 -0.96552 0.00019
+vn 0.00943 -0.99996 0.00082
+vn 0.03620 -0.99934 0.00019
+vn 0.03619 -0.99934 0.00019
+vn -0.00006 -0.99995 -0.00970
+vn -0.00381 -0.99920 -0.03978
+vn 0.03620 -0.99934 0.00021
+# 37 normals
+f  4859/5624/6454 4858/5625/6454 4857/5626/6454
+f  4857/5626/6455 4860/5627/6455 4859/5624/6455
+f  4848/5628/6456 4853/5629/6456 4854/5630/6457
+f  4854/5630/6457 4845/5631/6457 4848/5628/6456
+f  4845/5631/6457 4854/5630/6457 4855/5632/6458
+f  4855/5632/6458 4849/5633/6459 4845/5631/6457
+f  4851/5634/6460 4849/5633/6459 4855/5632/6458
+f  4855/5632/6458 4856/5635/6461 4857/5626/6462
+f  4851/5634/6460 4855/5632/6458 4857/5626/6462
+f  4851/5634/6460 4857/5626/6462 4858/5625/6463
+f  4853/5636/6464 4863/5637/6464 4864/5638/6464
+f  4853/5636/6464 4864/5638/6464 4854/5639/6464
+f  4864/5638/6464 4866/5640/6465 4854/5639/6464
+f  4866/5640/6465 4855/5632/6465 4854/5639/6464
+f  4866/5640/6465 4865/5641/6466 4855/5632/6465
+f  4865/5641/6466 4856/5635/6467 4855/5632/6465
+f  4857/5642/6468 4856/5635/6467 4865/5641/6466
+f  4865/5641/6466 4868/5643/6469 4857/5642/6468
+f  4851/5634/6470 4858/5644/6471 4867/5645/6472
+f  4867/5645/6472 4852/5646/6473 4851/5634/6470
+f  4849/5633/6474 4851/5634/6470 4852/5646/6473
+f  4852/5646/6473 4850/5647/6474 4849/5633/6474
+f  4845/5648/6475 4849/5633/6474 4850/5647/6474
+f  4850/5647/6474 4846/5649/6475 4845/5648/6475
+f  4845/5648/6475 4846/5649/6475 4847/5650/6475
+f  4847/5650/6475 4848/5651/6475 4845/5648/6475
+f  4860/5627/6476 4857/5652/6468 4868/5653/6469
+f  4868/5653/6469 4861/5654/6477 4860/5627/6476
+f  4859/5624/6478 4860/5627/6476 4861/5654/6477
+f  4861/5654/6477 4862/5655/6479 4859/5624/6478
+f  4858/5656/6471 4859/5624/6478 4862/5655/6479
+f  4862/5655/6479 4867/5657/6472 4858/5656/6471
+f  4864/5658/6480 4863/5659/6481 4847/5660/6481
+f  4847/5660/6481 4846/5661/6482 4864/5658/6480
+f  4866/5662/6483 4864/5658/6480 4846/5661/6482
+f  4846/5661/6482 4850/5663/6484 4866/5662/6483
+f  4866/5662/6483 4850/5663/6484 4852/5664/6485
+f  4852/5664/6485 4867/5665/6486 4862/5666/6487
+f  4852/5664/6485 4862/5666/6487 4861/5667/6488
+f  4866/5662/6483 4852/5664/6485 4861/5667/6488
+f  4866/5662/6483 4861/5667/6488 4865/5668/6489
+f  4861/5667/6488 4868/5669/6490 4865/5668/6489
diff --git a/CustomRobots/ackermann_cars/models/f1_renault_ackermann_harmonic/Renault/back_left.dae b/CustomRobots/ackermann_cars/models/f1_renault_ackermann_harmonic/Renault/back_left.dae
new file mode 100644
index 000000000..28eb038a9
--- /dev/null
+++ b/CustomRobots/ackermann_cars/models/f1_renault_ackermann_harmonic/Renault/back_left.dae
@@ -0,0 +1,430 @@
+<?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 3.5.0 commit date:2023-03-29, commit time:02:56, hash:1be25cfff18b</authoring_tool>
+    </contributor>
+    <created>2023-04-21T12:33:24</created>
+    <modified>2023-04-21T12:33:24</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_effects>
+    <effect id="wheel_002-effect">
+      <profile_COMMON>
+        <newparam sid="re0_wheel_png_002_png-surface">
+          <surface type="2D">
+            <init_from>re0_wheel_png_002_png</init_from>
+          </surface>
+        </newparam>
+        <newparam sid="re0_wheel_png_002_png-sampler">
+          <sampler2D>
+            <source>re0_wheel_png_002_png-surface</source>
+          </sampler2D>
+        </newparam>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <texture texture="re0_wheel_png_002_png-sampler" texcoord="object__18_001-mesh-map-0"/>
+            </diffuse>
+            <index_of_refraction>
+              <float sid="ior">1</float>
+            </index_of_refraction>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
+    <effect id="generic_002-effect">
+      <profile_COMMON>
+        <newparam sid="generic_main_png_002_png-surface">
+          <surface type="2D">
+            <init_from>generic_main_png_002_png</init_from>
+          </surface>
+        </newparam>
+        <newparam sid="generic_main_png_002_png-sampler">
+          <sampler2D>
+            <source>generic_main_png_002_png-surface</source>
+          </sampler2D>
+        </newparam>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <texture texture="generic_main_png_002_png-sampler" texcoord="object__28_001-mesh-map-0"/>
+            </diffuse>
+            <index_of_refraction>
+              <float sid="ior">1</float>
+            </index_of_refraction>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
+    <effect id="tyre_002-effect">
+      <profile_COMMON>
+        <newparam sid="tyre_png_002_png-surface">
+          <surface type="2D">
+            <init_from>tyre_png_002_png</init_from>
+          </surface>
+        </newparam>
+        <newparam sid="tyre_png_002_png-sampler">
+          <sampler2D>
+            <source>tyre_png_002_png-surface</source>
+          </sampler2D>
+        </newparam>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <texture texture="tyre_png_002_png-sampler" texcoord="object__49_001-mesh-map-0"/>
+            </diffuse>
+            <index_of_refraction>
+              <float sid="ior">1</float>
+            </index_of_refraction>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
+    <effect id="tread_002-effect">
+      <profile_COMMON>
+        <newparam sid="tread_slick_png_002_png-surface">
+          <surface type="2D">
+            <init_from>tread_slick_png_002_png</init_from>
+          </surface>
+        </newparam>
+        <newparam sid="tread_slick_png_002_png-sampler">
+          <sampler2D>
+            <source>tread_slick_png_002_png-surface</source>
+          </sampler2D>
+        </newparam>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <texture texture="tread_slick_png_002_png-sampler" texcoord="object__50_001-mesh-map-0"/>
+            </diffuse>
+            <index_of_refraction>
+              <float sid="ior">1</float>
+            </index_of_refraction>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
+  <library_images>
+    <image id="generic_main_png_002_png" name="generic_main_png_002_png">
+      <init_from>generic_main.png.002.png</init_from>
+    </image>
+    <image id="re0_wheel_png_002_png" name="re0_wheel_png_002_png">
+      <init_from>re0_wheel.png.002.png</init_from>
+    </image>
+    <image id="tread_slick_png_002_png" name="tread_slick_png_002_png">
+      <init_from>tread_slick.png.002.png</init_from>
+    </image>
+    <image id="tyre_png_002_png" name="tyre_png_002_png">
+      <init_from>tyre.png.002.png</init_from>
+    </image>
+  </library_images>
+  <library_materials>
+    <material id="wheel_002-material" name="wheel.002">
+      <instance_effect url="#wheel_002-effect"/>
+    </material>
+    <material id="generic_002-material" name="generic.002">
+      <instance_effect url="#generic_002-effect"/>
+    </material>
+    <material id="tyre_002-material" name="tyre.002">
+      <instance_effect url="#tyre_002-effect"/>
+    </material>
+    <material id="tread_002-material" name="tread.002">
+      <instance_effect url="#tread_002-effect"/>
+    </material>
+  </library_materials>
+  <library_geometries>
+    <geometry id="object__18_002-mesh" name="object__18.002">
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+          <technique_common>
+            <accessor source="#object__49_002-mesh-map-0-array" count="2160" stride="2">
+              <param name="S" type="float"/>
+              <param name="T" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <vertices id="object__49_002-mesh-vertices">
+          <input semantic="POSITION" source="#object__49_002-mesh-positions"/>
+        </vertices>
+        <triangles material="tyre_002-material" count="720">
+          <input semantic="VERTEX" source="#object__49_002-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#object__49_002-mesh-normals" offset="1"/>
+          <input semantic="TEXCOORD" source="#object__49_002-mesh-map-0" offset="2" set="2"/>
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diff --git a/CustomRobots/ackermann_cars/models/f1_renault_ackermann_harmonic/Renault/back_right.dae b/CustomRobots/ackermann_cars/models/f1_renault_ackermann_harmonic/Renault/back_right.dae
new file mode 100644
index 000000000..bb82e8579
--- /dev/null
+++ b/CustomRobots/ackermann_cars/models/f1_renault_ackermann_harmonic/Renault/back_right.dae
@@ -0,0 +1,430 @@
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diff --git a/CustomRobots/ackermann_cars/models/f1_renault_ackermann_harmonic/Renault/bl_1.stl b/CustomRobots/ackermann_cars/models/f1_renault_ackermann_harmonic/Renault/bl_1.stl
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diff --git a/CustomRobots/ackermann_cars/models/f1_renault_ackermann_harmonic/Renault/br_1.stl b/CustomRobots/ackermann_cars/models/f1_renault_ackermann_harmonic/Renault/br_1.stl
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new file mode 100755
index 000000000..cfc7cdd2b
--- /dev/null
+++ b/CustomRobots/ackermann_cars/models/f1_renault_ackermann_harmonic/Renault/burger_base.dae
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new file mode 100644
index 000000000..506bb6905
--- /dev/null
+++ b/CustomRobots/ackermann_cars/models/f1_renault_ackermann_harmonic/Renault/chasis.dae
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diff --git a/CustomRobots/ackermann_cars/models/f1_renault_ackermann_harmonic/Renault/chassis_link.stl b/CustomRobots/ackermann_cars/models/f1_renault_ackermann_harmonic/Renault/chassis_link.stl
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diff --git a/CustomRobots/ackermann_cars/models/f1_renault_ackermann_harmonic/Renault/fl_1.stl b/CustomRobots/ackermann_cars/models/f1_renault_ackermann_harmonic/Renault/fl_1.stl
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diff --git a/CustomRobots/ackermann_cars/models/f1_renault_ackermann_harmonic/Renault/fr_1.stl b/CustomRobots/ackermann_cars/models/f1_renault_ackermann_harmonic/Renault/fr_1.stl
new file mode 100755
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diff --git a/CustomRobots/ackermann_cars/models/f1_renault_ackermann_harmonic/Renault/front_left.dae b/CustomRobots/ackermann_cars/models/f1_renault_ackermann_harmonic/Renault/front_left.dae
new file mode 100644
index 000000000..cb6770f5e
--- /dev/null
+++ b/CustomRobots/ackermann_cars/models/f1_renault_ackermann_harmonic/Renault/front_left.dae
@@ -0,0 +1,430 @@
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+          <input semantic="TEXCOORD" source="#object__18_003-mesh-map-0" offset="2" set="2"/>
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diff --git a/CustomRobots/ackermann_cars/models/f1_renault_ackermann_harmonic/Renault/front_right.dae b/CustomRobots/ackermann_cars/models/f1_renault_ackermann_harmonic/Renault/front_right.dae
new file mode 100644
index 000000000..bdd179059
--- /dev/null
+++ b/CustomRobots/ackermann_cars/models/f1_renault_ackermann_harmonic/Renault/front_right.dae
@@ -0,0 +1,430 @@
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+          <technique_common>
+            <accessor source="#object__49_006-mesh-map-0-array" count="2160" stride="2">
+              <param name="S" type="float"/>
+              <param name="T" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <vertices id="object__49_006-mesh-vertices">
+          <input semantic="POSITION" source="#object__49_006-mesh-positions"/>
+        </vertices>
+        <triangles material="tyre_006-material" count="720">
+          <input semantic="VERTEX" source="#object__49_006-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#object__49_006-mesh-normals" offset="1"/>
+          <input semantic="TEXCOORD" source="#object__49_006-mesh-map-0" offset="2" set="2"/>
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diff --git a/CustomRobots/ackermann_cars/models/f1_renault_ackermann_harmonic/Renault/generic_main.png.001.png b/CustomRobots/ackermann_cars/models/f1_renault_ackermann_harmonic/Renault/generic_main.png.001.png
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diff --git a/CustomRobots/ackermann_cars/models/f1_renault_ackermann_harmonic/Renault/generic_main.png.002.png b/CustomRobots/ackermann_cars/models/f1_renault_ackermann_harmonic/Renault/generic_main.png.002.png
new file mode 100755
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diff --git a/CustomRobots/ackermann_cars/models/f1_renault_ackermann_harmonic/Renault/glass.png b/CustomRobots/ackermann_cars/models/f1_renault_ackermann_harmonic/Renault/glass.png
new file mode 100755
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diff --git a/CustomRobots/ackermann_cars/models/f1_renault_ackermann_harmonic/Renault/hokuyo.dae b/CustomRobots/ackermann_cars/models/f1_renault_ackermann_harmonic/Renault/hokuyo.dae
new file mode 100755
index 000000000..bc65151bb
--- /dev/null
+++ b/CustomRobots/ackermann_cars/models/f1_renault_ackermann_harmonic/Renault/hokuyo.dae
@@ -0,0 +1,253 @@
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+        </polylist>
+        <polylist material="white_001-material" count="202">
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+          <input semantic="NORMAL" source="#Mesh-mesh-normals" offset="1"/>
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+        </polylist>
+      </mesh>
+      <extra><technique profile="MAYA"><double_sided>1</double_sided></technique></extra>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="Camera" name="Camera" type="NODE">
+        <translate sid="location">7.481132 -6.50764 5.343665</translate>
+        <rotate sid="rotationZ">0 0 1 46.69194</rotate>
+        <rotate sid="rotationY">0 1 0 0.619768</rotate>
+        <rotate sid="rotationX">1 0 0 63.5593</rotate>
+        <scale sid="scale">1 1 1</scale>
+        <instance_camera url="#Camera-camera"/>
+      </node>
+      <node id="Lamp" name="Lamp" type="NODE">
+        <translate sid="location">4.076245 1.005454 5.903862</translate>
+        <rotate sid="rotationZ">0 0 1 106.9363</rotate>
+        <rotate sid="rotationY">0 1 0 3.163707</rotate>
+        <rotate sid="rotationX">1 0 0 37.26105</rotate>
+        <scale sid="scale">1 1 1</scale>
+        <instance_light url="#Lamp-light"/>
+      </node>
+      <node id="Mesh_001" name="Mesh_001" type="NODE">
+        <translate sid="location">0 0 0</translate>
+        <rotate sid="rotationZ">0 0 1 0</rotate>
+        <rotate sid="rotationY">0 1 0 0</rotate>
+        <rotate sid="rotationX">1 0 0 90.00001</rotate>
+        <scale sid="scale">1 1 1</scale>
+        <instance_geometry url="#Mesh-mesh">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="black-material" target="#black-material"/>
+              <instance_material symbol="white_001-material" target="#white_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/ackermann_cars/models/f1_renault_ackermann_harmonic/Renault/lds.dae b/CustomRobots/ackermann_cars/models/f1_renault_ackermann_harmonic/Renault/lds.dae
new file mode 100755
index 000000000..6616d9e92
--- /dev/null
+++ b/CustomRobots/ackermann_cars/models/f1_renault_ackermann_harmonic/Renault/lds.dae
@@ -0,0 +1,188 @@
+<?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 2.83.0 commit date:2020-06-03, commit time:14:38, hash:211b6c29f771</authoring_tool>
+    </contributor>
+    <created>2020-06-29T17:45:14</created>
+    <modified>2020-06-29T17:45:14</modified>
+    <unit name="meter" meter="1"/>
+    <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>
+          <soft sid="soft" type="float">3</soft>
+          <bufsize sid="bufsize" type="int">2880</bufsize>
+          <samp sid="samp" type="int">3</samp>
+          <buffers sid="buffers" type="int">1</buffers>
+          <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_images/>
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+        </vertices>
+        <triangles count="124">
+          <input semantic="VERTEX" source="#Cylinder-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#Cylinder-mesh-normals" offset="1"/>
+          <input semantic="TEXCOORD" source="#Cylinder-mesh-map-0" offset="2" set="0"/>
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+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="Cylinder_001" name="Cylinder.001" type="NODE">
+        <matrix sid="transform">39.20936 0 0 0 0 39.20936 0 0 0 0 12.83393 -19.36317 0 0 0 1</matrix>
+        <instance_geometry url="#Cylinder_001-mesh" name="Cylinder.001"/>
+      </node>
+      <node id="Cylinder" name="Cylinder" type="NODE">
+        <matrix sid="transform">32.70276 0 0 0 0 32.70276 0 0 0 0 9.418456 -0.4915363 0 0 0 1</matrix>
+        <instance_geometry url="#Cylinder-mesh" name="Cylinder"/>
+      </node>
+      <node id="Camera" name="Camera" type="NODE">
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+        <instance_camera url="#Camera-camera"/>
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+        <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/ackermann_cars/models/f1_renault_ackermann_harmonic/Renault/light_glow.png b/CustomRobots/ackermann_cars/models/f1_renault_ackermann_harmonic/Renault/light_glow.png
new file mode 100755
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diff --git a/CustomRobots/ackermann_cars/models/f1_renault_ackermann_harmonic/Renault/materials/textures/generic_main_specocc.png b/CustomRobots/ackermann_cars/models/f1_renault_ackermann_harmonic/Renault/materials/textures/generic_main_specocc.png
new file mode 100755
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new file mode 100755
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diff --git a/CustomRobots/ackermann_cars/models/f1_renault_ackermann_harmonic/Renault/materials/textures/tread_slick_nm.png b/CustomRobots/ackermann_cars/models/f1_renault_ackermann_harmonic/Renault/materials/textures/tread_slick_nm.png
new file mode 100755
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diff --git a/CustomRobots/ackermann_cars/models/f1_renault_ackermann_harmonic/Renault/materials/textures/tread_slick_specocc.png b/CustomRobots/ackermann_cars/models/f1_renault_ackermann_harmonic/Renault/materials/textures/tread_slick_specocc.png
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diff --git a/CustomRobots/ackermann_cars/models/f1_renault_ackermann_harmonic/Renault/materials/textures/tyre_nm.png b/CustomRobots/ackermann_cars/models/f1_renault_ackermann_harmonic/Renault/materials/textures/tyre_nm.png
new file mode 100755
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diff --git a/CustomRobots/ackermann_cars/models/f1_renault_ackermann_harmonic/Renault/re0_main.png b/CustomRobots/ackermann_cars/models/f1_renault_ackermann_harmonic/Renault/re0_main.png
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diff --git a/CustomRobots/ackermann_cars/models/f1_renault_ackermann_harmonic/Renault/spoiler.stl b/CustomRobots/ackermann_cars/models/f1_renault_ackermann_harmonic/Renault/spoiler.stl
new file mode 100755
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diff --git a/CustomRobots/ackermann_cars/models/f1_renault_ackermann_harmonic/Renault/steering_wheel.dae b/CustomRobots/ackermann_cars/models/f1_renault_ackermann_harmonic/Renault/steering_wheel.dae
new file mode 100644
index 000000000..151b875a3
--- /dev/null
+++ b/CustomRobots/ackermann_cars/models/f1_renault_ackermann_harmonic/Renault/steering_wheel.dae
@@ -0,0 +1,1703 @@
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diff --git a/CustomRobots/ackermann_cars/models/f1_renault_ackermann_harmonic/Renault/tire.dae b/CustomRobots/ackermann_cars/models/f1_renault_ackermann_harmonic/Renault/tire.dae
new file mode 100755
index 000000000..92fe01f3f
--- /dev/null
+++ b/CustomRobots/ackermann_cars/models/f1_renault_ackermann_harmonic/Renault/tire.dae
@@ -0,0 +1,142 @@
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diff --git a/CustomRobots/ackermann_cars/models/f1_renault_ackermann_harmonic/Renault/tyre.png.002.png b/CustomRobots/ackermann_cars/models/f1_renault_ackermann_harmonic/Renault/tyre.png.002.png
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diff --git a/CustomRobots/ackermann_cars/models/f1_renault_ackermann_harmonic/Renault/wheel.dae b/CustomRobots/ackermann_cars/models/f1_renault_ackermann_harmonic/Renault/wheel.dae
new file mode 100755
index 000000000..ed9bff314
--- /dev/null
+++ b/CustomRobots/ackermann_cars/models/f1_renault_ackermann_harmonic/Renault/wheel.dae
@@ -0,0 +1,503 @@
+<?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 3.5.0 commit date:2023-03-29, commit time:02:56, hash:1be25cfff18b</authoring_tool>
+    </contributor>
+    <created>2023-04-14T10:06:02</created>
+    <modified>2023-04-14T10:06:02</modified>
+    <unit name="meter" meter="1"/>
+    <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="tread_002-effect">
+      <profile_COMMON>
+        <newparam sid="tread_slick_png_002_png-surface">
+          <surface type="2D">
+            <init_from>tread_slick_png_002_png</init_from>
+          </surface>
+        </newparam>
+        <newparam sid="tread_slick_png_002_png-sampler">
+          <sampler2D>
+            <source>tread_slick_png_002_png-surface</source>
+          </sampler2D>
+        </newparam>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <texture texture="tread_slick_png_002_png-sampler" texcoord="object__50_002-mesh-map-0"/>
+            </diffuse>
+            <index_of_refraction>
+              <float sid="ior">1</float>
+            </index_of_refraction>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
+    <effect id="tyre_002-effect">
+      <profile_COMMON>
+        <newparam sid="tyre_png_002_png-surface">
+          <surface type="2D">
+            <init_from>tyre_png_002_png</init_from>
+          </surface>
+        </newparam>
+        <newparam sid="tyre_png_002_png-sampler">
+          <sampler2D>
+            <source>tyre_png_002_png-surface</source>
+          </sampler2D>
+        </newparam>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <texture texture="tyre_png_002_png-sampler" texcoord="object__49_002-mesh-map-0"/>
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457 726 2079 458 727 2080 373 724 2081 374 728 2082 373 724 2083 458 727 2084 458 727 2085 459 729 2086 374 728 2087 375 730 2088 374 728 2089 459 729 2090 459 729 2091 460 731 2092 375 730 2093 376 732 2094 375 730 2095 460 731 2096 460 731 2097 461 733 2098 376 732 2099 367 734 2100 376 732 2101 461 733 2102 461 733 2103 462 735 2104 367 734 2105 366 736 2106 367 734 2107 462 735 2108 462 735 2109 463 737 2110 366 736 2111 368 738 2112 366 736 2113 463 737 2114 463 737 2115 464 739 2116 368 738 2117 369 740 2118 368 738 2119 464 739 2120 464 739 2121 465 741 2122 369 740 2123 370 742 2124 369 740 2125 465 741 2126 465 741 2127 466 743 2128 370 742 2129 371 744 2130 370 742 2131 466 743 2132 466 743 2133 467 745 2134 371 744 2135 467 745 2136 466 743 2137 465 741 2138 465 741 2139 464 739 2140 467 745 2141 467 745 2142 464 739 2143 463 737 2144 463 737 2145 462 735 2146 467 745 2147 467 745 2148 462 735 2149 461 733 2150 461 733 2151 460 731 2152 467 745 2153 467 745 2154 460 731 2155 459 729 2156 459 729 2157 458 727 2158 467 745 2159 467 745 2160 458 727 2161 457 726 2162 467 745 2163 457 726 2164 372 725 2165 372 725 2166 371 744 2167 467 745 2168 468 746 2169 469 747 2170 470 748 2171 471 749 2172 470 748 2173 469 747 2174 469 747 2175 472 750 2176 471 749 2177 473 751 2178 471 749 2179 472 750 2180 472 750 2181 474 752 2182 473 751 2183 475 753 2184 473 751 2185 474 752 2186 474 752 2187 476 754 2188 475 753 2189 477 755 2190 475 753 2191 476 754 2192 476 754 2193 478 756 2194 477 755 2195 479 757 2196 477 755 2197 478 756 2198 478 756 2199 480 552 2200 479 757 2201 481 758 2202 479 757 2203 480 552 2204 480 552 2205 482 759 2206 481 758 2207 483 760 2208 481 758 2209 482 759 2210 482 759 2211 484 552 2212 483 760 2213 485 761 2214 483 760 2215 484 552 2216 484 552 2217 486 762 2218 485 761 2219 487 763 2220 485 761 2221 486 762 2222 486 762 2223 488 764 2224 487 763 2225 489 765 2226 487 763 2227 488 764 2228 488 764 2229 490 552 2230 489 765 2231 491 766 2232 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517 790 2310 515 788 2311 516 789 2312 516 789 2313 518 552 2314 517 790 2315 519 791 2316 517 790 2317 518 552 2318 518 552 2319 520 552 2320 519 791 2321 521 792 2322 519 791 2323 520 552 2324 520 552 2325 522 793 2326 521 792 2327 523 794 2328 521 792 2329 522 793 2330 522 793 2331 524 795 2332 523 794 2333 525 796 2334 523 794 2335 524 795 2336 524 795 2337 526 797 2338 525 796 2339 527 798 2340 525 796 2341 526 797 2342 526 797 2343 528 799 2344 527 798 2345 529 800 2346 527 798 2347 528 799 2348 528 799 2349 530 552 2350 529 800 2351 531 801 2352 529 800 2353 530 552 2354 530 552 2355 532 802 2356 531 801 2357 533 803 2358 531 801 2359 532 802 2360 532 802 2361 534 804 2362 533 803 2363 535 805 2364 533 803 2365 534 804 2366 534 804 2367 536 552 2368 535 805 2369 537 806 2370 535 805 2371 536 552 2372 536 552 2373 538 807 2374 537 806 2375 539 808 2376 537 806 2377 538 807 2378 538 807 2379 540 809 2380 539 808 2381 541 810 2382 539 808 2383 540 809 2384 540 809 2385 542 811 2386 541 810 2387 543 812 2388 541 810 2389 542 811 2390 542 811 2391 544 813 2392 543 812 2393 545 814 2394 543 812 2395 544 813 2396 544 813 2397 546 815 2398 545 814 2399 547 816 2400 545 814 2401 546 815 2402 546 815 2403 468 746 2404 547 816 2405 470 748 2406 547 816 2407 468 746 2408 547 816 2409 470 748 2410 3 3 2411 79 75 2412 3 3 2413 470 748 2414 470 748 2415 471 749 2416 79 75 2417 81 77 2418 79 75 2419 471 749 2420 471 749 2421 473 751 2422 81 77 2423 83 79 2424 81 77 2425 473 751 2426 473 751 2427 475 753 2428 83 79 2429 85 81 2430 83 79 2431 475 753 2432 475 753 2433 477 755 2434 85 81 2435 87 83 2436 85 81 2437 477 755 2438 477 755 2439 479 757 2440 87 83 2441 89 85 2442 87 83 2443 479 757 2444 479 757 2445 481 758 2446 89 85 2447 91 87 2448 89 85 2449 481 758 2450 481 758 2451 483 760 2452 91 87 2453 93 89 2454 91 87 2455 483 760 2456 483 760 2457 485 761 2458 93 89 2459 95 91 2460 93 89 2461 485 761 2462 485 761 2463 487 763 2464 95 91 2465 97 93 2466 95 91 2467 487 763 2468 487 763 2469 489 765 2470 97 93 2471 99 95 2472 97 93 2473 489 765 2474 489 765 2475 491 766 2476 99 95 2477 101 97 2478 99 95 2479 491 766 2480 491 766 2481 493 767 2482 101 97 2483 103 99 2484 101 97 2485 493 767 2486 493 767 2487 495 769 2488 103 99 2489 105 101 2490 103 99 2491 495 769 2492 495 769 2493 497 771 2494 105 101 2495 107 103 2496 105 101 2497 497 771 2498 497 771 2499 499 772 2500 107 103 2501 109 105 2502 107 103 2503 499 772 2504 499 772 2505 501 774 2506 109 105 2507 111 107 2508 109 105 2509 501 774 2510 501 774 2511 503 776 2512 111 107 2513 113 109 2514 111 107 2515 503 776 2516 503 776 2517 505 778 2518 113 109 2519 115 111 2520 113 109 2521 505 778 2522 505 778 2523 507 780 2524 115 111 2525 117 113 2526 115 111 2527 507 780 2528 507 780 2529 509 782 2530 117 113 2531 119 115 2532 117 113 2533 509 782 2534 509 782 2535 511 784 2536 119 115 2537 121 117 2538 119 115 2539 511 784 2540 511 784 2541 513 786 2542 121 117 2543 123 119 2544 121 117 2545 513 786 2546 513 786 2547 515 788 2548 123 119 2549 125 121 2550 123 119 2551 515 788 2552 515 788 2553 517 790 2554 125 121 2555 127 123 2556 125 121 2557 517 790 2558 517 790 2559 519 791 2560 127 123 2561 129 125 2562 127 123 2563 519 791 2564 519 791 2565 521 792 2566 129 125 2567 131 127 2568 129 125 2569 521 792 2570 521 792 2571 523 794 2572 131 127 2573 133 129 2574 131 127 2575 523 794 2576 523 794 2577 525 796 2578 133 129 2579 135 131 2580 133 129 2581 525 796 2582 525 796 2583 527 798 2584 135 131 2585 137 133 2586 135 131 2587 527 798 2588 527 798 2589 529 800 2590 137 133 2591 139 135 2592 137 133 2593 529 800 2594 529 800 2595 531 801 2596 139 135 2597 141 137 2598 139 135 2599 531 801 2600 531 801 2601 533 803 2602 141 137 2603 143 139 2604 141 137 2605 533 803 2606 533 803 2607 535 805 2608 143 139 2609 145 141 2610 143 139 2611 535 805 2612 535 805 2613 537 806 2614 145 141 2615 147 143 2616 145 141 2617 537 806 2618 537 806 2619 539 808 2620 147 143 2621 149 145 2622 147 143 2623 539 808 2624 539 808 2625 541 810 2626 149 145 2627 151 147 2628 149 145 2629 541 810 2630 541 810 2631 543 812 2632 151 147 2633 153 149 2634 151 147 2635 543 812 2636 543 812 2637 545 814 2638 153 149 2639 2 2 2640 153 149 2641 545 814 2642 545 814 2643 547 816 2644 2 2 2645 3 3 2646 2 2 2647 547 816 2648</p>
+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="object__50" name="object__50" type="NODE">
+        <matrix sid="transform">1 0 0 1.83 0 7.54979e-8 -1 0.32 0 1 7.54979e-8 0.7 0 0 0 1</matrix>
+        <instance_geometry url="#object__50_002-mesh" name="object__50">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="tread_002-material" target="#tread_002-material">
+                <bind_vertex_input semantic="object__50_002-mesh-map-0" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+      <node id="object__49" name="object__49" type="NODE">
+        <matrix sid="transform">1 0 0 1.83 0 7.54979e-8 -1 0.32 0 1 7.54979e-8 0.7 0 0 0 1</matrix>
+        <instance_geometry url="#object__49_002-mesh" name="object__49">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="tyre_002-material" target="#tyre_002-material">
+                <bind_vertex_input semantic="object__49_002-mesh-map-0" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+      <node id="object__38" name="object__38" type="NODE">
+        <matrix sid="transform">1 0 0 1.83 0 7.54979e-8 -1 0.32 0 1 7.54979e-8 0.7 0 0 0 1</matrix>
+        <instance_geometry url="#object__38_002-mesh" name="object__38">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="generic_002-material" target="#generic_002-material">
+                <bind_vertex_input semantic="object__38_002-mesh-map-0" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+      <node id="object__28" name="object__28" type="NODE">
+        <matrix sid="transform">1 0 0 1.83 0 7.54979e-8 -1 0.32 0 1 7.54979e-8 0.7 0 0 0 1</matrix>
+        <instance_geometry url="#object__28_002-mesh" name="object__28">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="generic_002-material" target="#generic_002-material">
+                <bind_vertex_input semantic="object__28_002-mesh-map-0" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+      <node id="object__18" name="object__18" type="NODE">
+        <matrix sid="transform">1 0 0 1.83 0 7.54979e-8 -1 0.32 0 1 7.54979e-8 0.7 0 0 0 1</matrix>
+        <instance_geometry url="#object__18_002-mesh" name="object__18">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="wheel_002-material" target="#wheel_002-material">
+                <bind_vertex_input semantic="object__18_002-mesh-map-0" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_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/ackermann_cars/models/f1_renault_ackermann_harmonic/model.config b/CustomRobots/ackermann_cars/models/f1_renault_ackermann_harmonic/model.config
new file mode 100755
index 000000000..df7d2f080
--- /dev/null
+++ b/CustomRobots/ackermann_cars/models/f1_renault_ackermann_harmonic/model.config
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+
+<model>
+  <name>f1_renault_ackermann</name>
+  <version>1.0</version>
+  <sdf version='1.6'>model.sdf</sdf>
+
+  <author>
+    <name>Blanca Soria</name>
+    <email>blancasoriaru@gmail.com</email>
+  </author>
+
+  <description>
+    F1 robot Model with ackerman dynamics and mobile wheels
+  </description>
+</model>
diff --git a/CustomRobots/ackermann_cars/models/f1_renault_ackermann_harmonic/model.sdf b/CustomRobots/ackermann_cars/models/f1_renault_ackermann_harmonic/model.sdf
new file mode 100644
index 000000000..ef4d49c68
--- /dev/null
+++ b/CustomRobots/ackermann_cars/models/f1_renault_ackermann_harmonic/model.sdf
@@ -0,0 +1,546 @@
+<?xml version="1.0"?>
+<sdf version="1.6">
+
+  <model name="f1_renault_ackermann_harmonic">
+    <pose>0 0 0.0 0 0 0</pose>
+
+    <link name='base_link'>
+      <inertial>
+        <mass>0.1</mass>
+        <inertia>
+          <ixx>0.001</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.001</iyy>
+          <iyz>0</iyz>
+          <izz>0.001</izz>
+        </inertia>
+      </inertial>
+    </link>
+
+    <joint name='chassis_link_joint' type='fixed'>
+      <pose>0.0 0.0 0.0 0 0 0</pose>
+      <parent>base_link</parent>
+      <child>chassis_link</child>
+    </joint>
+
+    <link name='chassis_link'>
+      <inertial>
+        <pose>1e-06 0.07307 0.65096 0 -0 0</pose>
+        <mass>1580</mass>
+        <inertia>
+          <ixx>1997.86</ixx>
+          <ixy>-3e-05</ixy>
+          <ixz>-1e-06</ixz>
+          <iyy>442.769</iyy>
+          <iyz>62.5206</iyz>
+          <izz>2238.05</izz>
+        </inertia>
+      </inertial>
+      <collision name='chassis_link_fixed_joint_lump__chassis_link_collision'>
+        <pose>0 1.51 0 0 -0 1.5708</pose>
+        <geometry>
+          <mesh>
+            <scale>5 5 5</scale>
+            <uri>model://f1_renault_ackermann_harmonic/Renault/chasis.dae</uri>
+          </mesh>
+        </geometry>
+        <surface>
+          <contact>
+            <ode />
+          </contact>
+          <friction>
+            <ode>
+              <mu>0.2</mu>
+              <mu2>0.2</mu2>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <visual name='chassis_link_fixed_joint_lump__chassis_link_visual'>
+        <pose>0 1.51 0 0 -0 1.5708</pose>
+        <geometry>
+          <mesh>
+            <scale>5 5 5</scale>
+            <uri>model://f1_renault_ackermann_harmonic/Renault/chasis.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <self_collide>0</self_collide>
+    </link>
+
+    <!-- Back Left Wheel -->
+    <joint name='bl_axle' type='revolute'>
+      <pose relative_to='chassis_link'>-0.775 -1.83364 0.324997 0 -0 0</pose>
+      <parent>chassis_link</parent>
+      <child>bl_1</child>
+      <axis>
+        <xyz>-1 0 0</xyz>
+        <limit>
+          <effort>1000</effort>
+          <velocity>100</velocity>
+        </limit>
+        <dynamics>
+          <friction>12.031606150200002</friction>
+        </dynamics>
+      </axis>
+    </joint>
+    <link name='bl_1'>
+      <pose relative_to='bl_axle'>0 0 0 0 -0 0</pose>
+      <inertial>
+        <pose>-0.0377 0 -0 0 -0 0</pose>
+        <mass>24.5</mass>
+        <inertia>
+          <ixx>1.84514</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>1.04961</iyy>
+          <iyz>0</iyz>
+          <izz>1.04961</izz>
+        </inertia>
+      </inertial>
+      <collision name='bl_1_collision'>
+        <pose relative_to='bl_axle'>0 0 0 0 1.5708 0</pose>
+        <geometry>
+          <cylinder>
+            <radius>.3425</radius>
+            <length>.22</length>
+          </cylinder>
+        </geometry>
+        <surface>
+          <contact>
+            <ode />
+          </contact>
+          <friction>
+            <ode>
+              <mu>1.7</mu>
+              <mu2>1.7</mu2>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <visual name='bl_1_visual'>
+        <pose>0.875 1.0136 0.1444 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>0.1 0.1 0.1</scale>
+            <uri>model://f1_renault_ackermann_harmonic/Renault/back_left.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <self_collide>0</self_collide>
+    </link>
+
+    <!-- Back Right Wheel -->
+    <joint name='br_axle' type='revolute'>
+      <pose relative_to='chassis_link'>0.775 -1.83364 0.324997 0 -0 0</pose>
+      <parent>chassis_link</parent>
+      <child>br_1</child>
+      <axis>
+        <xyz>-1 0 0</xyz>
+        <limit>
+          <effort>1000</effort>
+          <velocity>100</velocity>
+        </limit>
+        <dynamics>
+          <friction>12.031606150200002</friction>
+        </dynamics>
+      </axis>
+    </joint>
+    <link name='br_1'>
+      <pose relative_to='br_axle'>0 0 0 0 -0 0</pose>
+      <inertial>
+        <pose>-0.0377 0 -0 0 -0 0</pose>
+        <mass>24.5</mass>
+        <inertia>
+          <ixx>1.84514</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>1.04961</iyy>
+          <iyz>0</iyz>
+          <izz>1.04961</izz>
+        </inertia>
+      </inertial>
+      <collision name='br_1_collision'>
+        <pose relative_to='br_axle'>0 0 0 0 1.5708 0</pose>
+        <geometry>
+          <cylinder>
+            <radius>.3425</radius>
+            <length>.22</length>
+          </cylinder>
+        </geometry>
+        <surface>
+          <contact>
+            <ode />
+          </contact>
+          <friction>
+            <ode>
+              <mu>1.7</mu>
+              <mu2>1.7</mu2>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <visual name='br_1_visual'>
+        <pose>-0.875 1.0136 0.1444 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>0.1 0.1 0.1</scale>
+            <uri>model://f1_renault_ackermann_harmonic/Renault/back_right.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <self_collide>0</self_collide>
+    </link> 
+
+
+    <!-- Steering Wheel -->
+    <joint name="steering_joint" type="revolute">
+      <pose relative_to='chassis_link'>-0.01 0.6 0.6 0 0 0</pose>
+      <parent>chassis_link</parent>
+      <child>steering_wheel</child>
+      <axis>
+        <xyz>0.0 -1.0 0.0</xyz>
+        <limit>
+          <lower>-5</lower>
+          <upper>5</upper>
+          <effort>100</effort>
+          <velocity>10</velocity>
+        </limit>
+        <dynamics>
+          <damping>10.0</damping>
+        </dynamics>
+        <use_parent_model_frame>true</use_parent_model_frame>
+      </axis>
+      <physics>
+        <ode>
+          <cfm_damping>1</cfm_damping>
+        </ode>
+      </physics>
+    </joint>
+    <link name='steering_wheel'>
+      <pose relative_to='steering_joint'>0 0.87 -0.54 0 0 1.5708</pose>
+      <inertial>
+        <mass>0.5</mass>
+        <inertia>
+          <ixx>0.01</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.01</iyy>
+          <iyz>0</iyz>
+          <izz>0.01</izz>
+        </inertia>
+      </inertial>
+      <visual name='steering_wheel_visual'>
+        <pose>0 0 0 0 0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>4.7 4.7 4.7</scale>
+            <uri>model://f1_renault_ackermann_harmonic/Renault/steering_wheel.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <self_collide>1</self_collide>
+    </link>
+
+    
+    <!-- Left Steering -->
+    <!-- <joint name='l_steer' type='revolute'>
+      <pose relative_to='chassis_link'>-0.825 1.51736 0.324997 0 -0 0</pose>
+      <parent>chassis_link</parent>
+      <child>l_steer_1</child>
+      <axis>
+        <xyz>0 0 1</xyz>
+        <limit>
+          <lower>-0.95</lower>
+          <upper>0.95</upper>
+        </limit>
+        <dynamics>
+          <friction>18.0474092253</friction>
+        </dynamics>
+      </axis>
+    </joint>
+    <link name='l_steer_1'>
+      <pose relative_to='l_steer'>0 0 0 0 -0 0</pose>
+      <inertial>
+        <pose>0.003381 0 0.02162 0 -0 0</pose>
+        <mass>1</mass>
+        <inertia>
+          <ixx>1</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>1</iyy>
+          <iyz>0</iyz>
+          <izz>1</izz>
+        </inertia>
+      </inertial>
+      <self_collide>0</self_collide>
+    </link> -->
+
+    <!-- Single Steering Joint for both front wheels -->
+    <joint name='front_steering' type='revolute'>
+      <pose relative_to='chassis_link'>0 1.51736 0.324997 0 -0 0</pose>
+      <parent>chassis_link</parent>
+      <child>front_steering_link</child>
+      <axis>
+        <xyz>0 0 1</xyz>
+        <limit>
+          <lower>-0.3</lower>
+          <upper>0.3</upper>
+          <effort>1000</effort>
+          <velocity>2</velocity>
+        </limit>
+        <dynamics>
+          <friction>0.5</friction>
+          <damping>0.1</damping>
+        </dynamics>
+      </axis>
+    </joint>
+    <link name='front_steering_link'>
+      <pose relative_to='front_steering'>0 0 0 0 -0 0</pose>
+      <inertial>
+        <pose>0 0 0 0 -0 0</pose>
+        <mass>2</mass>
+        <inertia>
+          <ixx>0.01</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.01</iyy>
+          <iyz>0</iyz>
+          <izz>0.01</izz>
+        </inertia>
+      </inertial>
+      <self_collide>0</self_collide>
+    </link>
+
+    <!-- Front Left Wheel -->
+    <joint name='fl_axle' type='revolute'>
+      <pose relative_to='front_steering_link'>-0.825 0 0 0 -0 0</pose>
+      <parent>front_steering_link</parent>
+      <child>fl_1</child>
+      <axis>
+        <xyz>-1 0 0</xyz>
+        <limit>
+          <effort>1000</effort>
+          <velocity>100</velocity>
+        </limit>
+        <dynamics>
+          <friction>12.031606150200002</friction>
+        </dynamics>
+      </axis>
+    </joint>
+    <link name='fl_1'>
+      <pose relative_to='fl_axle'>0 0 0 0 -0 0</pose>
+      <inertial>
+        <pose>-0.0377 0 -0 0 -0 0</pose>
+        <mass>24.5</mass>
+        <inertia>
+          <ixx>1.84514</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>1.04961</iyy>
+          <iyz>0</iyz>
+          <izz>1.04961</izz>
+        </inertia>
+      </inertial>
+      <collision name='fl_1_collision'>
+        <pose>0.875 -1.5174 0.1444 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>0.001 0.001 0.001</scale>
+            <uri>model://f1_renault_ackermann_harmonic/Renault/fl_1.stl</uri>
+          </mesh>
+        </geometry>
+        <surface>
+          <contact>
+            <ode />
+          </contact>
+          <friction>
+            <ode>
+              <mu>1.1</mu>
+              <mu2>1.1</mu2>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <visual name='fl_1_visual'>
+        <pose>0.875 -1.5174 0.1444 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>0.1 0.1 0.1</scale>
+            <uri>model://f1_renault_ackermann_harmonic/Renault/front_left.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <self_collide>0</self_collide>
+    </link>
+    
+    <!-- Right Steering -->
+    <!-- <joint name='r_steer' type='revolute'>
+      <pose relative_to='chassis_link'>0.825 1.51736 0.324997 0 -0 0</pose>
+      <parent>chassis_link</parent>
+      <child>r_steer_1</child>
+      <axis>
+        <xyz>0 0 1</xyz>
+        <limit>
+          <lower>-0.95</lower>
+          <upper>0.95</upper>
+        </limit>
+        <dynamics>
+          <damping>0.01</damping>
+          <friction>18.0474092253</friction>
+        </dynamics>
+      </axis>
+    </joint>
+    <link name='r_steer_1'>
+      <pose relative_to='r_steer'>0 0 0 0 -0 0</pose>
+      <inertial>
+        <pose>0.003381 0 0.02162 0 -0 0</pose>
+        <mass>1</mass>
+        <inertia>
+          <ixx>1</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>1</iyy>
+          <iyz>0</iyz>
+          <izz>1</izz>
+        </inertia>
+      </inertial>
+      <self_collide>0</self_collide>
+    </link> -->
+
+    <!-- Front Right Wheel -->
+    <joint name='fr_axle' type='revolute'>
+      <pose relative_to='front_steering_link'>0.825 0 0 0 -0 0</pose>
+      <parent>front_steering_link</parent>
+      <child>fr_1</child>
+      <axis>
+        <xyz>-1 0 0</xyz>
+        <limit>
+          <effort>1000</effort>
+          <velocity>100</velocity>
+        </limit>
+        <dynamics>
+          <friction>12.031606150200002</friction>
+        </dynamics>
+      </axis>
+    </joint>
+    <link name='fr_1'>
+      <pose relative_to='fr_axle'>0 0 0 0 -0 0</pose>
+      <inertial>
+        <pose>-0.0377 0 -0 0 -0 0</pose>
+        <mass>24.5</mass>
+        <inertia>
+          <ixx>1.84514</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>1.04961</iyy>
+          <iyz>0</iyz>
+          <izz>1.04961</izz>
+        </inertia>
+      </inertial>
+      <collision name='fr_1_collision'>
+        <pose>-0.875 -1.5174 0.1444 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>0.001 0.001 0.001</scale>
+            <uri>f1_renault_ackermann_harmonic/Renault/fr_1.stl</uri>
+          </mesh>
+        </geometry>
+        <surface>
+          <contact>
+            <ode />
+          </contact>
+          <friction>
+            <ode>
+              <mu>1.7</mu>
+              <mu2>1.7</mu2>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <visual name='fr_1_visual'>
+        <pose>-0.875 -1.5174 0.1444 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>0.1 0.1 0.1</scale>
+            <uri>model://f1_renault_ackermann_harmonic/Renault/front_right.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <self_collide>0</self_collide>
+    </link>
+
+    <!-- Gazebo Harmonic Plugins -->
+    
+    <!-- Ackermann Steering Plugin -->
+    <plugin filename="gz-sim-ackermann-steering-system" name="gz::sim::systems::AckermannSteering">
+      <left_joint>fl_axle</left_joint>
+      <left_joint>bl_axle</left_joint>
+      <right_joint>fr_axle</right_joint>
+      <right_joint>br_axle</right_joint>
+      <left_steering_joint>front_steering</left_steering_joint>
+      <right_steering_joint>front_steering</right_steering_joint>
+      <kingpin_width>1.65</kingpin_width>
+      <steering_limit>0.3</steering_limit>
+      <wheel_base>3.351</wheel_base>
+      <wheel_separation>1.65</wheel_separation>
+      <wheel_radius>0.3425</wheel_radius>
+      <sub_topic>/model/f1_renault_ackermann_harmonic/steer_angle</sub_topic>
+      <min_velocity>-50</min_velocity>
+      <max_velocity>50</max_velocity>
+      <min_acceleration>-50</min_acceleration>
+      <max_acceleration>50</max_acceleration>
+      <topic>/model/f1_renault_ackermann_harmonic/cmd_vel</topic>
+    </plugin>
+
+    <!-- Velocity Control Plugin for rear wheels -->
+    <!-- <plugin filename="gz-sim-velocity-control-system" name="gz::sim::systems::VelocityControl">
+      <joint_name>bl_axle</joint_name>
+      <joint_name>br_axle</joint_name>
+      <sub_topic>/model/f1_renault_ackermann_harmonic/cmd_vel</sub_topic>
+      <use_actuator_msg>true</use_actuator_msg>
+      <actuator_number>0</actuator_number>
+      <actuator_number>1</actuator_number>
+    </plugin> -->
+
+    <!-- Joint State Publisher -->
+    <plugin filename="gz-sim-joint-state-publisher-system" name="gz::sim::systems::JointStatePublisher">
+      <joint_name>fl_axle</joint_name>
+      <joint_name>fr_axle</joint_name>
+      <joint_name>bl_axle</joint_name>
+      <joint_name>br_axle</joint_name>
+      <joint_name>front_steering</joint_name>
+      <joint_name>steering_joint</joint_name>
+    </plugin>
+
+    <!-- Odometry Publisher -->
+    <plugin filename="gz-sim-odometry-publisher-system" name="gz::sim::systems::OdometryPublisher">
+      <odom_topic>/model/f1_renault_ackermann_harmonic/odom</odom_topic>
+      <robot_base_frame>chassis_link</robot_base_frame>
+      <odom_frame>odom</odom_frame>
+      <odom_publish_frequency>50</odom_publish_frequency>
+      <dimensions>3</dimensions>
+    </plugin>
+
+    <!-- Pose Publisher -->
+    <plugin filename="gz-sim-pose-publisher-system" name="gz::sim::systems::PosePublisher">
+      <publish_link_pose>true</publish_link_pose>
+      <publish_collision_pose>false</publish_collision_pose>
+      <publish_visual_pose>false</publish_visual_pose>
+      <publish_nested_model_pose>true</publish_nested_model_pose>
+      <update_frequency>50</update_frequency>
+    </plugin>
+
+    <!-- Joint Position Controller for steering wheel (optional) -->
+    <plugin filename="gz-sim-joint-position-controller-system" name="gz::sim::systems::JointPositionController">
+      <joint_name>steering_joint</joint_name>
+      <sub_topic>/model/f1_renault_ackermann_harmonic/steering_wheel_cmd</sub_topic>
+      <p_gain>10</p_gain>
+      <i_gain>0.1</i_gain>
+      <d_gain>1</d_gain>
+    </plugin>
+
+  </model>
+
+</sdf>
\ No newline at end of file
diff --git a/CustomRobots/ackermann_cars/models/simple_circuit_harmonic/meshes/Asphalt_New.jpg b/CustomRobots/ackermann_cars/models/simple_circuit_harmonic/meshes/Asphalt_New.jpg
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diff --git a/CustomRobots/ackermann_cars/models/simple_circuit_harmonic/meshes/simple_line.dae b/CustomRobots/ackermann_cars/models/simple_circuit_harmonic/meshes/simple_line.dae
new file mode 100755
index 000000000..6415a9d47
--- /dev/null
+++ b/CustomRobots/ackermann_cars/models/simple_circuit_harmonic/meshes/simple_line.dae
@@ -0,0 +1,3531 @@
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diff --git a/CustomRobots/ackermann_cars/models/simple_circuit_harmonic/meshes/wall.dae b/CustomRobots/ackermann_cars/models/simple_circuit_harmonic/meshes/wall.dae
new file mode 100755
index 000000000..5fdb06dd8
--- /dev/null
+++ b/CustomRobots/ackermann_cars/models/simple_circuit_harmonic/meshes/wall.dae
@@ -0,0 +1,2301 @@
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+              <instance_material symbol="___0-material" target="#___0-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+      <node id="SketchUp_036" name="SketchUp_036" type="NODE">
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+          <bind_material>
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+              <instance_material symbol="material-material" target="#material-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+      <node id="Point" name="Point" type="NODE">
+        <matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
+        <instance_light url="#Point-light"/>
+      </node>
+      <node id="Sun" name="Sun" type="NODE">
+        <matrix sid="transform">1 0 0 58.6692 0 1 0 -1.942438 0 0 1 14.20321 0 0 0 1</matrix>
+        <instance_light url="#Sun-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/ackermann_cars/models/simple_circuit_harmonic/model.config b/CustomRobots/ackermann_cars/models/simple_circuit_harmonic/model.config
new file mode 100755
index 000000000..36474b977
--- /dev/null
+++ b/CustomRobots/ackermann_cars/models/simple_circuit_harmonic/model.config
@@ -0,0 +1,21 @@
+<?xml version="1.0"?>
+
+<model>
+  <name>Simple Circuit</name>
+
+  <version>1.0</version>
+  <sdf version="1.5">simple_circuit.sdf</sdf>
+
+  <author>
+    <name>Pedro Arias-Perez</name>
+    <email>pedro.ariasp@upm.es</email>
+  </author>
+
+  <author>
+    <name>JdeRobot</name>
+  </author>
+
+  <description>
+    A simple circuit with safety walls.
+  </description>
+</model>
diff --git a/CustomRobots/ackermann_cars/models/simple_circuit_harmonic/simple_circuit.sdf b/CustomRobots/ackermann_cars/models/simple_circuit_harmonic/simple_circuit.sdf
new file mode 100755
index 000000000..166a30e0c
--- /dev/null
+++ b/CustomRobots/ackermann_cars/models/simple_circuit_harmonic/simple_circuit.sdf
@@ -0,0 +1,43 @@
+<?xml version="1.0" ?>
+<sdf version="1.3">
+    <model name="simple_circuit_harmonic">
+        <static>true</static>
+        <link name="simple_circuit_harmonic">
+            <pose>0 0 0 0 0 0</pose>
+            <collision name="collision">
+                <geometry>
+                    <plane>
+                        <normal>0 0 1</normal>
+                        <size>1000 1000</size>
+                    </plane>
+                </geometry>
+            </collision>
+            <visual name="visual">
+                <pose>0 0 0 0 0 0</pose>
+                <geometry>
+                    <mesh>
+                        <uri>model://simple_circuit_harmonic/meshes/simple_line.dae</uri>
+                    </mesh>
+                </geometry>
+            </visual>
+        </link>   
+        <link name="wall">
+            <pose>0 0 0 0 0 0</pose>
+            <collision name="collision">
+               <geometry>
+                    <mesh>
+                        <uri>model://simple_circuit_harmonic/meshes/wall.dae</uri>
+                    </mesh>
+                </geometry>
+            </collision>
+            <visual name="visual">
+                <pose>0 0 0 0 0 0</pose>
+                <geometry>
+                    <mesh>
+                        <uri>model://simple_circuit_harmonic/meshes/wall.dae</uri>
+                    </mesh>
+                </geometry>
+            </visual>    
+	    </link>
+    </model>
+</sdf>
diff --git a/CustomRobots/ackermann_cars/worlds/simple_circuit_harmonic.sdf b/CustomRobots/ackermann_cars/worlds/simple_circuit_harmonic.sdf
new file mode 100644
index 000000000..a031009a1
--- /dev/null
+++ b/CustomRobots/ackermann_cars/worlds/simple_circuit_harmonic.sdf
@@ -0,0 +1,113 @@
+<?xml version="1.0"?>
+
+<sdf version="1.9">
+    <world name="simple_circuit_harmonic">
+        <physics name="4ms" type="ignored">
+            <max_step_size>0.004</max_step_size>
+            <real_time_factor>1.0</real_time_factor>
+        </physics>
+        <plugin
+            filename="gz-sim-physics-system"
+            name="gz::sim::systems::Physics">
+        </plugin>
+        <plugin
+            filename="gz-sim-scene-broadcaster-system"
+            name="gz::sim::systems::SceneBroadcaster">
+        </plugin>
+        <plugin
+            filename="gz-sim-user-commands-system"
+            name="gz::sim::systems::UserCommands">
+        </plugin>
+        <plugin
+            filename="gz-sim-sensors-system"
+            name="gz::sim::systems::Sensors">
+            <render_engine>ogre2</render_engine>
+        </plugin>
+
+        <gui fullscreen="0">
+            <!-- 3D scene -->
+            <plugin filename="MinimalScene" name="3D View">
+                <gz-gui>
+                    <title>3D View</title>
+                    <property type="bool" key="showTitleBar">false</property>
+                    <property type="string" key="state">docked</property>
+                </gz-gui>
+        
+                <engine>ogre2</engine>
+                <scene>scene</scene>
+                <ambient_light>1.0 1.0 1.0</ambient_light>
+                <background_color>0.4 0.6 1.0</background_color>
+                <camera_pose>53.5 -8.0 1.5 0 0 -1.57</camera_pose>
+            </plugin>
+
+            <plugin filename="InteractiveViewControl" name="Interactive view control">
+                <gz-gui>
+                <property key="resizable" type="bool">false</property>
+                <property key="width" type="double">5</property>
+                <property key="height" type="double">5</property>
+                <property key="state" type="string">floating</property>
+                <property key="showTitleBar" type="bool">false</property>
+                </gz-gui>
+            </plugin>
+
+            <plugin filename="GzSceneManager" name="Scene Manager">
+                <gz-gui>
+                <property key="resizable" type="bool">false</property>
+                <property key="width" type="double">5</property>
+                <property key="height" type="double">5</property>
+                <property key="state" type="string">floating</property>
+                <property key="showTitleBar" type="bool">false</property>
+                </gz-gui>
+            </plugin>
+
+            <!-- World control -->
+            <plugin filename="WorldControl" name="World control">
+                <gz-gui>
+                <title>World control</title>
+                <property type="bool" key="showTitleBar">false</property>
+                <property type="bool" key="resizable">false</property>
+                <property type="double" key="height">72</property>
+                <property type="double" key="z">1</property>
+
+                <property type="string" key="state">floating</property>
+                <anchors target="3D View">
+                    <line own="left" target="left"/>
+                    <line own="bottom" target="bottom"/>
+                </anchors>
+                </gz-gui>
+
+                <play_pause>true</play_pause>
+                <step>true</step>
+                <start_paused>true</start_paused>
+                <use_event>true</use_event>
+
+            </plugin>
+        </gui>
+
+        <light type="directional"
+            name="sun">
+            <cast_shadows>true</cast_shadows>
+            <pose>0 0 10 0 0 0</pose>
+            <diffuse>0.8 0.8 0.8 1</diffuse>
+            <specular>0.2 0.2 0.2 1</specular>
+            <attenuation>
+                <range>1000</range>
+                <constant>0.9</constant>
+                <linear>0.01</linear>
+                <quadratic>0.001</quadratic>
+            </attenuation>
+            <direction>-0.5 0.1 -0.9</direction>
+        </light> 
+
+        <include>
+            <uri>model://simple_circuit_harmonic</uri>
+            <pose>10 -58.4 0 0 0 0</pose>
+            <!-- <pose>0 0 0 0 0 0</pose>  -->
+        </include>
+        
+        <include>
+            <uri>model://f1_renault_ackermann_harmonic</uri>
+            <pose>53.462 -10 0.004 0 0 -1.57</pose>
+        </include>
+    </world>
+</sdf>
\ No newline at end of file

From 267e1fd8b6e493e8e27d5a110a76138b42aa449b Mon Sep 17 00:00:00 2001
From: Nikhil Gupta <nikhilg22@iitk.ac.in>
Date: Wed, 25 Jun 2025 03:58:04 +0530
Subject: [PATCH 2/3] corrected the sizing issue for ackermann car

---
 .../models/simple_circuit_harmonic/simple_circuit.sdf     | 3 +++
 .../ackermann_cars/worlds/simple_circuit_harmonic.sdf     | 8 +++++---
 2 files changed, 8 insertions(+), 3 deletions(-)

diff --git a/CustomRobots/ackermann_cars/models/simple_circuit_harmonic/simple_circuit.sdf b/CustomRobots/ackermann_cars/models/simple_circuit_harmonic/simple_circuit.sdf
index 166a30e0c..3bbde1bdc 100755
--- a/CustomRobots/ackermann_cars/models/simple_circuit_harmonic/simple_circuit.sdf
+++ b/CustomRobots/ackermann_cars/models/simple_circuit_harmonic/simple_circuit.sdf
@@ -17,6 +17,7 @@
                 <geometry>
                     <mesh>
                         <uri>model://simple_circuit_harmonic/meshes/simple_line.dae</uri>
+                        <scale>5 5 5</scale>
                     </mesh>
                 </geometry>
             </visual>
@@ -27,6 +28,7 @@
                <geometry>
                     <mesh>
                         <uri>model://simple_circuit_harmonic/meshes/wall.dae</uri>
+                        <scale>5 5 5</scale>
                     </mesh>
                 </geometry>
             </collision>
@@ -35,6 +37,7 @@
                 <geometry>
                     <mesh>
                         <uri>model://simple_circuit_harmonic/meshes/wall.dae</uri>
+                        <scale>5 5 5</scale>
                     </mesh>
                 </geometry>
             </visual>    
diff --git a/CustomRobots/ackermann_cars/worlds/simple_circuit_harmonic.sdf b/CustomRobots/ackermann_cars/worlds/simple_circuit_harmonic.sdf
index a031009a1..a939e8204 100644
--- a/CustomRobots/ackermann_cars/worlds/simple_circuit_harmonic.sdf
+++ b/CustomRobots/ackermann_cars/worlds/simple_circuit_harmonic.sdf
@@ -101,13 +101,15 @@
 
         <include>
             <uri>model://simple_circuit_harmonic</uri>
-            <pose>10 -58.4 0 0 0 0</pose>
-            <!-- <pose>0 0 0 0 0 0</pose>  -->
+            <!-- <pose>10 -58.4 0 0 0 0</pose> -->
+            <pose>0 0 0 0 0 0</pose> 
         </include>
         
         <include>
             <uri>model://f1_renault_ackermann_harmonic</uri>
-            <pose>53.462 -10 0.004 0 0 -1.57</pose>
+            <!-- <pose>53.462 -10 0.004 0 0 -1.57</pose> -->
+            <pose>267.5 0 0 0 0 3.14</pose> 
+
         </include>
     </world>
 </sdf>
\ No newline at end of file

From acd7751b52676f5ab1addade673a7f5ddbc2b0d9 Mon Sep 17 00:00:00 2001
From: nikhilg2603 <121499292+nikhilg2603@users.noreply.github.com>
Date: Sat, 28 Jun 2025 13:36:18 +0530
Subject: [PATCH 3/3] Update ackermann model.sdf

Resolving the reviews, corrected the model.sdf in f1_renault_ackermann_harmonic
---
 .../models/f1_renault_ackermann_harmonic/model.sdf            | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/CustomRobots/ackermann_cars/models/f1_renault_ackermann_harmonic/model.sdf b/CustomRobots/ackermann_cars/models/f1_renault_ackermann_harmonic/model.sdf
index ef4d49c68..8032224ae 100644
--- a/CustomRobots/ackermann_cars/models/f1_renault_ackermann_harmonic/model.sdf
+++ b/CustomRobots/ackermann_cars/models/f1_renault_ackermann_harmonic/model.sdf
@@ -444,7 +444,7 @@
         <geometry>
           <mesh>
             <scale>0.001 0.001 0.001</scale>
-            <uri>f1_renault_ackermann_harmonic/Renault/fr_1.stl</uri>
+            <uri>model://f1_renault_ackermann_harmonic/Renault/fr_1.stl</uri>
           </mesh>
         </geometry>
         <surface>
@@ -543,4 +543,4 @@
 
   </model>
 
-</sdf>
\ No newline at end of file
+</sdf>