diff --git a/GEMstack/onboard/visualization/sr_viz/threeD/legacy/.gitignore b/GEMstack/onboard/visualization/sr_viz/threeD/legacy/.gitignore
deleted file mode 100644
index 4a7f73a2e..000000000
--- a/GEMstack/onboard/visualization/sr_viz/threeD/legacy/.gitignore
+++ /dev/null
@@ -1,24 +0,0 @@
-# Nuxt dev/build outputs
-.output
-.data
-.nuxt
-.nitro
-.cache
-dist
-
-# Node dependencies
-node_modules
-
-# Logs
-logs
-*.log
-
-# Misc
-.DS_Store
-.fleet
-.idea
-
-# Local env files
-.env
-.env.*
-!.env.example
diff --git a/GEMstack/onboard/visualization/sr_viz/threeD/legacy/README.md b/GEMstack/onboard/visualization/sr_viz/threeD/legacy/README.md
deleted file mode 100644
index d77b503f4..000000000
--- a/GEMstack/onboard/visualization/sr_viz/threeD/legacy/README.md
+++ /dev/null
@@ -1,77 +0,0 @@
-# Nuxt Minimal Starter
-
-Look at the [Nuxt documentation](https://nuxt.com/docs/getting-started/introduction) to learn more.
-
-## Setup
-
-You need to have **Node.js** - ```18.x``` or newer. A good way to install different versions of Node.js is using Node Version Manager ([nvm](https://github.com/nvm-sh/nvm)).
-
-Make sure to install dependencies:
-
-```bash
-# npm
-npm install
-
-# pnpm
-pnpm install
-
-# yarn
-yarn install
-
-# bun
-bun install
-```
-
-## Development Server
-
-Start the development server on `http://localhost:3000`:
-
-```bash
-# npm
-npm run dev
-
-# pnpm
-pnpm dev
-
-# yarn
-yarn dev
-
-# bun
-bun run dev
-```
-
-## Production
-
-Build the application for production:
-
-```bash
-# npm
-npm run build
-
-# pnpm
-pnpm build
-
-# yarn
-yarn build
-
-# bun
-bun run build
-```
-
-Locally preview production build:
-
-```bash
-# npm
-npm run preview
-
-# pnpm
-pnpm preview
-
-# yarn
-yarn preview
-
-# bun
-bun run preview
-```
-
-Check out the [deployment documentation](https://nuxt.com/docs/getting-started/deployment) for more information.
\ No newline at end of file
diff --git a/GEMstack/onboard/visualization/sr_viz/threeD/legacy/app.vue b/GEMstack/onboard/visualization/sr_viz/threeD/legacy/app.vue
deleted file mode 100644
index 2b1be0907..000000000
--- a/GEMstack/onboard/visualization/sr_viz/threeD/legacy/app.vue
+++ /dev/null
@@ -1,5 +0,0 @@
-<template>
-  <div>
-    <NuxtPage />
-  </div>
-</template>
diff --git a/GEMstack/onboard/visualization/sr_viz/threeD/legacy/components/AxesReference.vue b/GEMstack/onboard/visualization/sr_viz/threeD/legacy/components/AxesReference.vue
deleted file mode 100644
index 693fc97de..000000000
--- a/GEMstack/onboard/visualization/sr_viz/threeD/legacy/components/AxesReference.vue
+++ /dev/null
@@ -1,88 +0,0 @@
-<template>
-    <div ref="axesContainer"></div>
-</template>
-
-<script setup>
-import * as THREE from "three";
-
-const props = defineProps({
-    camera: Object,
-});
-
-const axesContainer = ref(null);
-let scene, axesCamera, axesRenderer, axesHelper;
-let xLabel, yLabel, zLabel;
-
-onMounted(() => {
-    initAxes();
-    animate();
-    axesContainer.value.addEventListener("contextmenu", handleContextMenu);
-});
-
-function handleContextMenu(event) {
-    event.preventDefault();
-}
-
-function initAxes() {
-    scene = new THREE.Scene();
-
-    axesCamera = new THREE.OrthographicCamera(-50, 50, 50, -50, 1, 500);
-    axesCamera.position.set(5, 5, 5);
-    axesCamera.lookAt(0, 0, 0);
-
-    axesRenderer = new THREE.WebGLRenderer({ alpha: true });
-    axesRenderer.setSize(400, 400);
-    axesContainer.value.appendChild(axesRenderer.domElement);
-
-    axesHelper = new THREE.AxesHelper(20);
-    scene.add(axesHelper);
-
-    xLabel = createLabel("X", 0xff0000, [22, 0, 0]);
-    yLabel = createLabel("Y", 0x00ff00, [0, 22, 0]);
-    zLabel = createLabel("Z", 0x0000ff, [0, 0, 22]);
-
-    scene.add(xLabel, yLabel, zLabel);
-}
-
-function createLabel(text, color, position) {
-    const canvas = document.createElement("canvas");
-    const ctx = canvas.getContext("2d");
-    canvas.width = 128;
-    canvas.height = 128;
-
-    ctx.fillStyle = "#" + color.toString(16).padStart(6, "0");
-    ctx.font = "48px Arial";
-    ctx.textAlign = "center";
-    ctx.textBaseline = "middle";
-    ctx.fillText(text, canvas.width / 2, canvas.height / 2);
-
-    const texture = new THREE.CanvasTexture(canvas);
-    const material = new THREE.SpriteMaterial({
-        map: texture,
-        transparent: true,
-    });
-    const sprite = new THREE.Sprite(material);
-    sprite.scale.set(10, 10, 1);
-    sprite.position.set(...position);
-
-    return sprite;
-}
-
-function animate() {
-    requestAnimationFrame(animate);
-    if (props.camera) {
-        axesCamera.position.copy(props.camera.position);
-        axesCamera.lookAt(
-            props.camera.position
-                .clone()
-                .add(props.camera.getWorldDirection(new THREE.Vector3()))
-        );
-    }
-    axesRenderer.render(scene, axesCamera);
-}
-
-onBeforeUnmount(() => {
-    axesRenderer.dispose();
-    axesContainer.value.removeEventListener("contextmenu", handleContextMenu);
-});
-</script>
diff --git a/GEMstack/onboard/visualization/sr_viz/threeD/legacy/components/Car.js b/GEMstack/onboard/visualization/sr_viz/threeD/legacy/components/Car.js
deleted file mode 100644
index 92496ada6..000000000
--- a/GEMstack/onboard/visualization/sr_viz/threeD/legacy/components/Car.js
+++ /dev/null
@@ -1,149 +0,0 @@
-import * as THREE from "three";
-import { GLTFLoader } from "three/examples/jsm/loaders/GLTFLoader.js";
-import  URDFLoader  from 'urdf-loader';
-const CAR_X = 19651.6005859375;
-const CAR_Y = 14238.344896316528;
-const CAR_Z = 47565.92169100046;
-const SCALE_RATE = 0.0002;
-export const CAR_WIDTH = CAR_X * SCALE_RATE;
-export const CAR_HEIGHT = CAR_Y * SCALE_RATE;
-export const CAR_LENGTH = CAR_Z * SCALE_RATE;
-
-export class Car {
-    constructor(modelPath, position = { x: 0, y: 0, z: 0 }, heading = Math.PI / 2, onLoadCallback) {
-        this.position = new THREE.Vector3(position.x, position.y, position.z);
-        this.heading = heading;
-        this.velocity = 0;
-        this.wheelBase = CAR_LENGTH * 5 / 8;
-        this.maxSpeed = 20;
-        this.acceleration = 0.5;
-        this.friction = 0.98;
-        this.steerAngle = 0;
-        this.maxSteerAngle = Math.PI / 6;
-
-        const loader = new GLTFLoader();
-        loader.load(
-            modelPath,
-            (gltf) => {
-                this.group = gltf.scene;
-                const bodyColor = '#ffffff';
-                this.group.traverse((child) => {
-                if (
-                    child instanceof THREE.Mesh &&
-                    child.material instanceof THREE.MeshStandardMaterial
-                ) {
-                    child.material = child.material.clone();
-                    child.material.color.set(bodyColor);
-                }
-                });
-                this.group.position.set(this.position.x, this.position.y, this.position.z);
-                // this.group.scale.set(SCALE_RATE, SCALE_RATE, SCALE_RATE);
-                this.group.rotation.y = this.heading;
-
-                if (onLoadCallback) onLoadCallback(this);
-            },
-            undefined,
-            (error) => console.error("Error loading car model:", error)
-        );
-        // const loader = new URDFLoader();
-        // loader.load(
-        //     modelPath,
-        //     (car) => {
-        //         this.group = car;
-        //         this.group.position.set(this.position.x, this.position.y, this.position.z);
-        //         // this.group.scale.set(SCALE_RATE, SCALE_RATE, SCALE_RATE);
-        //         this.group.rotation.x = -Math.PI / 2;
-        //         this.group.rotation.z = -this.heading;
-
-        //         if (onLoadCallback) onLoadCallback(this);
-        //     },
-        //     undefined,
-        //     (error) => console.error("Error loading car model:", error)
-        // );
-    }
-
-    update(keys, dt) {
-        if (!this.group) return;
-
-        if (keys.forward) this.velocity = Math.min(this.velocity + this.acceleration, this.maxSpeed);
-        if (keys.backward) this.velocity = Math.max(this.velocity - this.acceleration, -this.maxSpeed);
-        this.velocity *= this.friction;
-
-        if (keys.right) this.steerAngle = Math.max(this.steerAngle - 0.02, -this.maxSteerAngle);
-        if (keys.left) this.steerAngle = Math.min(this.steerAngle + 0.02, this.maxSteerAngle);
-        if (!keys.left && !keys.right) this.steerAngle *= 0.9;
-
-        const frontWheel = this.position.clone().add(new THREE.Vector3(
-            Math.sin(this.heading) * (this.wheelBase / 2) - Math.cos(this.heading) * (CAR_WIDTH / 2),
-            0,
-            Math.cos(this.heading) * (this.wheelBase / 2) + Math.sin(this.heading) * (CAR_WIDTH / 2)
-        ));
-        const backWheel = this.position.clone().add(new THREE.Vector3(
-            -Math.sin(this.heading) * (this.wheelBase / 2) - Math.cos(this.heading) * (CAR_WIDTH / 2),
-            0,
-            -Math.cos(this.heading) * (this.wheelBase / 2) + Math.sin(this.heading) * (CAR_WIDTH / 2)
-        ));
-
-        backWheel.add(new THREE.Vector3(
-            Math.sin(this.heading) * this.velocity * dt,
-            0,
-            Math.cos(this.heading) * this.velocity * dt
-        ));
-        frontWheel.add(new THREE.Vector3(
-            Math.sin(this.heading + this.steerAngle) * this.velocity * dt,
-            0,
-            Math.cos(this.heading + this.steerAngle) * this.velocity * dt
-        ));
-
-        this.position = frontWheel.clone().add(backWheel).multiplyScalar(0.5).add(new THREE.Vector3(
-            Math.cos(this.heading) * (CAR_WIDTH / 2),
-            0,
-            -Math.sin(this.heading) * (CAR_WIDTH / 2)
-        ));
-        this.heading = Math.atan2(frontWheel.x - backWheel.x, frontWheel.z - backWheel.z);
-
-        this.group.position.copy(this.position);
-        this.group.rotation.z = -this.heading;
-    }
-    updateFromLog(logData) {
-        if (!this.group) return;
-        this.velocity = logData.velocity;
-        this.acceleration = logData.acceleration;
-        this.steerAngle = logData.steering_wheel_angle;
-        this.position.set(logData.position[1], logData.position[2], logData.position[0]);
-        this.heading = logData.rotation[1];
-        this.group.position.copy(this.position);
-        this.group.rotation.y = this.heading;
-    }
-
-
-    dispose() {
-        if (!this.group) return;
-
-        this.group.traverse((child) => {
-            if (child.isMesh) {
-                child.geometry.dispose();
-
-                if (child.material) {
-                    if (Array.isArray(child.material)) {
-                        child.material.forEach((material) => {
-                            material.map?.dispose();
-                            material.normalMap?.dispose();
-                            material.roughnessMap?.dispose();
-                            material.dispose();
-                        });
-                    } else {
-                        child.material.map?.dispose();
-                        child.material.normalMap?.dispose();
-                        child.material.roughnessMap?.dispose();
-                        child.material.dispose();
-                    }
-                }
-            }
-        });
-
-        this.group.removeFromParent();
-        this.group = null;
-    }
-}
-
diff --git a/GEMstack/onboard/visualization/sr_viz/threeD/legacy/components/Human.js b/GEMstack/onboard/visualization/sr_viz/threeD/legacy/components/Human.js
deleted file mode 100644
index 9ccc6dbd2..000000000
--- a/GEMstack/onboard/visualization/sr_viz/threeD/legacy/components/Human.js
+++ /dev/null
@@ -1,86 +0,0 @@
-import * as THREE from "three";
-import { CAR_HEIGHT } from "./Car.js";
-import { HUMAN_BODY_RATIOS, HUMAN_TO_CAR_HEIGHT_RATIO } from "../utils/constants.js";
-
-const HUMAN_HEIGHT = CAR_HEIGHT * HUMAN_TO_CAR_HEIGHT_RATIO;
-const HUMAN_BODY_LENGTH = HUMAN_HEIGHT * HUMAN_BODY_RATIOS.body;
-const HUMAN_HEAD_RADIUS = HUMAN_HEIGHT * HUMAN_BODY_RATIOS.head;
-const HUMAN_HEAD_COLOR = 0xffcc99;
-const HUMAN_ARM_LENGTH = HUMAN_HEIGHT * HUMAN_BODY_RATIOS.arm;
-const HUMAN_LEG_LENGTH = HUMAN_HEIGHT * HUMAN_BODY_RATIOS.leg;
-const HUMAN_LEG_COLOR = 0x555555;
-
-export default class Human {
-    constructor(color = 0x00aaff, position = { x: 0, y: 0, z: 0 }, rotation = 0) {
-        this.group = new THREE.Group();
-
-        const bodyGeometry = new THREE.BoxGeometry(HUMAN_BODY_LENGTH / 1.2, HUMAN_BODY_LENGTH, HUMAN_BODY_LENGTH / 1.6);
-        const bodyMaterial = new THREE.MeshStandardMaterial({ color });
-        this.body = new THREE.Mesh(bodyGeometry, bodyMaterial);
-        this.body.position.y = HUMAN_LEG_LENGTH + (HUMAN_BODY_LENGTH / 2);
-        this.group.add(this.body);
-
-        const headGeometry = new THREE.SphereGeometry(HUMAN_HEAD_RADIUS);
-        const headMaterial = new THREE.MeshStandardMaterial({ color: HUMAN_HEAD_COLOR });
-        this.head = new THREE.Mesh(headGeometry, headMaterial);
-        this.head.position.y = HUMAN_LEG_LENGTH + HUMAN_BODY_LENGTH + HUMAN_HEAD_RADIUS;
-        this.group.add(this.head);
-
-        const armGeometry = new THREE.CylinderGeometry(HUMAN_ARM_LENGTH / 6, HUMAN_ARM_LENGTH / 6, HUMAN_ARM_LENGTH);
-        const armMaterial = new THREE.MeshStandardMaterial({ color });
-
-        this.leftShoulderPivot = new THREE.Group();
-        this.leftShoulderPivot.position.set(
-            (HUMAN_BODY_LENGTH / 1.2) / 2 + HUMAN_ARM_LENGTH / 6,
-            HUMAN_LEG_LENGTH + HUMAN_BODY_LENGTH - HUMAN_ARM_LENGTH / 1.7,
-            0
-        );
-        this.group.add(this.leftShoulderPivot);
-
-        this.leftArm = new THREE.Mesh(armGeometry, armMaterial);
-        this.leftShoulderPivot.add(this.leftArm);
-
-        this.rightShoulderPivot = new THREE.Group();
-        this.rightShoulderPivot.position.set(
-            -(HUMAN_BODY_LENGTH / 1.2) / 2 - HUMAN_ARM_LENGTH / 6,
-            HUMAN_LEG_LENGTH + HUMAN_BODY_LENGTH - HUMAN_ARM_LENGTH / 1.7,
-            0
-        );
-        this.group.add(this.rightShoulderPivot);
-
-        this.rightArm = new THREE.Mesh(armGeometry, armMaterial);
-        this.rightShoulderPivot.add(this.rightArm);
-
-        const legGeometry = new THREE.CylinderGeometry(HUMAN_LEG_LENGTH / 6, HUMAN_LEG_LENGTH / 6, HUMAN_LEG_LENGTH);
-        const legMaterial = new THREE.MeshStandardMaterial({ color: HUMAN_LEG_COLOR });
-        this.leftLeg = new THREE.Mesh(legGeometry, legMaterial);
-        this.rightLeg = new THREE.Mesh(legGeometry, legMaterial);
-        this.leftLeg.position.set(-HUMAN_LEG_LENGTH / 6, HUMAN_LEG_LENGTH / 2, 0);
-        this.rightLeg.position.set(HUMAN_LEG_LENGTH / 6, HUMAN_LEG_LENGTH / 2, 0);
-        this.group.add(this.leftLeg, this.rightLeg);
-
-        this.group.position.set(position.x, position.y, position.z);
-        this.group.rotation.y = rotation;
-
-        this.walkingSpeed = 0;
-        this.walkingPhase = 0;
-    }
-    updateFromLog(logData) {
-        if (!this.group) return;
-        this.group.position.set(logData.position[1], logData.position[2], logData.position[0]);
-        this.group.rotation.y = logData.rotation[1];
-        this.walkingSpeed = logData.velocity;
-    }
-
-    walk() {
-        this.walkingPhase += this.walkingSpeed;
-
-        const swingAmount = Math.PI / 6;
-
-        this.leftShoulderPivot.rotation.x = Math.sin(this.walkingPhase) * swingAmount;
-        this.rightShoulderPivot.rotation.x = -Math.sin(this.walkingPhase) * swingAmount;
-
-        this.leftLeg.rotation.x = -Math.sin(this.walkingPhase) * swingAmount;
-        this.rightLeg.rotation.x = Math.sin(this.walkingPhase) * swingAmount;
-    }
-}
diff --git a/GEMstack/onboard/visualization/sr_viz/threeD/legacy/components/LogReader.js b/GEMstack/onboard/visualization/sr_viz/threeD/legacy/components/LogReader.js
deleted file mode 100644
index e9f4eede5..000000000
--- a/GEMstack/onboard/visualization/sr_viz/threeD/legacy/components/LogReader.js
+++ /dev/null
@@ -1,63 +0,0 @@
-export default class LogReader {
-    constructor(logData, scene, createFuncs) {
-        this.framerate = logData.framerate || 60;
-        this.totalFrames = logData.totalFrames || 0;
-        this.frames = logData.data || [];
-        this.scene = scene;
-        this.currentFrame = 0;
-        this.playing = true;
-        this.createFuncs = createFuncs;
-        this.models = {}
-        this.car = null;
-        for (const type of Object.keys(createFuncs)) {
-            this.models[type] = new Map();
-        }
-    }
-
-    update(dt) {
-        if (!this.playing) return;
-
-        const frameData = this.frames[this.currentFrame];
-        if (!frameData) return;
-
-        frameData.objects.forEach(obj => {
-            const id = obj.id;
-            const type = obj.type;
-            const position = obj.position;
-            if (this.models[type].has(id)) {
-                const model = this.models[type].get(id);
-                if ((type === 'vehicle' && obj.frame === 0) || type !== 'vehicle') {
-                    model.updateFromLog(obj);
-                }
-            } else {
-                const createFunc = this.createFuncs[type];
-                if (createFunc) {
-                    const orientation = obj.orientation || obj.misc.orientation;
-                    const model = createFunc(position[1], position[2], position[0], orientation);
-                    if (type === 'vehicle' && id === 0) {
-                        this.car = model;
-                    }
-                    this.models[type].set(id, model);
-                }
-            }
-        });
-
-        this.currentFrame++;
-        if (this.currentFrame >= this.frames.length) {
-            this.playing = false;
-        }
-    }
-
-    reset() {
-        this.currentFrame = 0;
-        this.playing = true;
-    }
-
-    pause() {
-        this.playing = false;
-    }
-
-    play() {
-        this.playing = true;
-    }
-}
diff --git a/GEMstack/onboard/visualization/sr_viz/threeD/legacy/components/RoadVehicleViz.vue b/GEMstack/onboard/visualization/sr_viz/threeD/legacy/components/RoadVehicleViz.vue
deleted file mode 100644
index d30159bc3..000000000
--- a/GEMstack/onboard/visualization/sr_viz/threeD/legacy/components/RoadVehicleViz.vue
+++ /dev/null
@@ -1,328 +0,0 @@
-<template>
-    <div class="w-full h-screen relative">
-        <div ref="container" class="w-full h-full"></div>
-        <AxesReference
-            :camera="camera"
-            class="absolute top-2 left-2 w-24 h-24"
-        />
-    </div>
-</template>
-
-<script setup>
-import * as THREE from "three";
-import { OrbitControls } from "three/addons/controls/OrbitControls.js";
-import { Car, CAR_WIDTH, CAR_HEIGHT, CAR_LENGTH } from "@/components/Car.js";
-import TrafficLight from "@/components/TrafficLight.js";
-import Human from "@/components/Human.js";
-import {
-    CAR_MODEL_PATH,
-    TRAFFIC_LIGHT_MODEL_PATH,
-    ENV_MAP_PATH,
-    ENV_MAP_NAME,
-} from "../utils/constants.js";
-import { RGBELoader } from "three/examples/jsm/loaders/RGBELoader.js";
-import LogReader from "@/components/LogReader.js";
-import logJson1 from "@/logs/final_log_1.json";
-import logJson2 from "@/logs/final_log_2.json";
-import logJson3 from "@/logs/final_log_3.json";
-
-const container = ref(null);
-const camera = ref(null);
-const cameraMode = ref("follow");
-let scene, renderer, controls, logReader;
-
-let car, roadGeometry, roadMaterial;
-let lastTime = performance.now();
-let cars = [];
-let humans = [];
-let trafficLights = [];
-let carIdx = 0;
-
-const keys = { forward: false, backward: false, left: false, right: false };
-const createFuncs = {
-    'vehicle': createCar,
-    'pedestrian': createHuman,
-    'traffic_light': createTrafficLight,
-}
-
-onMounted(() => {
-    window.addEventListener("keydown", handleKeyDown);
-    window.addEventListener("keyup", handleKeyUp);
-    window.addEventListener("keypress", handleKeyPress);
-
-    initScene();
-    // logReader = new LogReader(logJson3, scene, createFuncs);
-    car = createCar(0, 0, 0, Math.PI / 2);
-    // for (let i = 0; i < 4; i++) {
-    //     const offset = (i + 1) * 10;
-    //     createCar(
-    //         offset,
-    //         0,
-    //         (i % 2 === 0 ? -1 : 1) * (Math.random() * 5),
-    //         Math.PI / 2
-    //     );
-    // }
-    // createTrafficLight(0, 0, 5);
-    // createHuman(-3, 0, 4);
-    // createHuman(2, 0, 6);
-    animate();
-});
-
-function createCar(x, y, z, heading) {
-    const newCar = new Car(CAR_MODEL_PATH, { x: x, y: y, z: z }, heading, loadCallBack);
-    cars.push(newCar);
-    return newCar;
-}
-
-function createTrafficLight(x, y, z, rotation) {
-    const newTrafficLight = new TrafficLight(
-        TRAFFIC_LIGHT_MODEL_PATH,
-        { x: x, y: y, z: z },
-        rotation,
-        loadCallBack
-    );
-    trafficLights.push(newTrafficLight);
-    return newTrafficLight;
-}
-
-function createHuman(x, y, z, rotation) {
-    const color = Math.random() * 0xffffff;
-    const newHuman = new Human(color, { x: x, y: y, z: z }, rotation);
-    scene.add(newHuman.group);
-    humans.push(newHuman);
-    return newHuman;
-}
-
-function loadCallBack(object) {
-    scene.add(object.group);
-}
-
-function handleKeyPress(event) {
-    switch (event.key) {
-        case "c":
-        case "C":
-            if (cameraMode.value === "free") {
-                cameraMode.value = "follow";
-            } else {
-                cameraMode.value = "free";
-            }
-            break;
-        case "q":
-            carIdx = (carIdx - 1 + cars.length) % cars.length;
-            car = cars[carIdx];
-            break;
-        case "e":
-            carIdx = (carIdx + 1) % cars.length;
-            car = cars[carIdx];
-            break;
-        default:
-            break;
-    }
-}
-
-function handleKeyDown(event) {
-    switch (event.code) {
-        case "ArrowUp":
-        case "KeyW":
-            keys.forward = true;
-            break;
-        case "ArrowDown":
-        case "KeyS":
-            keys.backward = true;
-            break;
-        case "ArrowLeft":
-        case "KeyA":
-            keys.left = true;
-            break;
-        case "ArrowRight":
-        case "KeyD":
-            keys.right = true;
-            break;
-    }
-}
-
-function handleKeyUp(event) {
-    switch (event.code) {
-        case "ArrowUp":
-        case "KeyW":
-            keys.forward = false;
-            break;
-        case "ArrowDown":
-        case "KeyS":
-            keys.backward = false;
-            break;
-        case "ArrowLeft":
-        case "KeyA":
-            keys.left = false;
-            break;
-        case "ArrowRight":
-        case "KeyD":
-            keys.right = false;
-            break;
-    }
-}
-
-function initScene() {
-    scene = new THREE.Scene();
-    scene.background = new THREE.Color(0xa0a0a0);
-
-    camera.value = new THREE.PerspectiveCamera(
-        75,
-        window.innerWidth / window.innerHeight,
-        0.1,
-        1000
-    );
-    camera.value.position.set(0, 5, 10);
-
-    renderer = new THREE.WebGLRenderer({ antialias: true });
-    renderer.setSize(window.innerWidth, window.innerHeight);
-    container.value.appendChild(renderer.domElement);
-
-    controls = new OrbitControls(camera.value, renderer.domElement);
-    controls.enableDamping = true;
-
-    new RGBELoader()
-        .setPath(ENV_MAP_PATH)
-        .load(ENV_MAP_NAME, (texture) => {
-            texture.mapping = THREE.EquirectangularReflectionMapping;
-            scene.environment = texture;
-        });
-
-    // const light = new THREE.DirectionalLight(0xffffff, 1);
-    // light.position.set(5, 10, 5);
-    // scene.add(light);
-    scene.add(new THREE.HemisphereLight(0xffffbb, 0x080820, 1));
-
-    loadRoad();
-
-    window.addEventListener("resize", onWindowResize, false);
-}
-
-function loadRoad() {
-    const textureLoader = new THREE.TextureLoader();
-
-    const diffuseTexture = textureLoader.load(
-        "/textures/ground_grey_diff_1k.jpg"
-    );
-    const normalTexture = textureLoader.load(
-        "/textures/ground_grey_nor_gl_1k.jpg"
-    );
-    const roughnessTexture = textureLoader.load(
-        "/textures/ground_grey_rough_1k.jpg"
-    );
-
-    roadMaterial = new THREE.MeshStandardMaterial({
-        map: diffuseTexture,
-        normalMap: normalTexture,
-        roughnessMap: roughnessTexture,
-        roughness: 1,
-    });
-    roadMaterial.map.wrapS = THREE.RepeatWrapping;
-    roadMaterial.map.wrapT = THREE.RepeatWrapping;
-    roadMaterial.map.repeat.set(100, 100);
-
-    roadGeometry = new THREE.PlaneGeometry(1000, 1000);
-    const roadMesh = new THREE.Mesh(roadGeometry, roadMaterial);
-    roadMesh.rotation.x = -Math.PI / 2;
-
-    roadMesh.position.set(0, 0, 0);
-
-    scene.add(roadMesh);
-    
-    // createRoadLines();
-}
-
-function createRoadLines() {
-    const lineMaterialSolid = new THREE.LineBasicMaterial({ color: 0xffff00 });
-    const lineMaterialDashed = new THREE.LineDashedMaterial({
-        color: 0xffffff,
-        dashSize: 5,
-        gapSize: 5,
-    });
-
-    const roadWidth = 20;
-    
-    const centerLineGeometry = new THREE.BufferGeometry().setFromPoints([
-        new THREE.Vector3(-500, 0.1, 0),
-        new THREE.Vector3(500, 0.1, 0),
-    ]);
-    const centerLine = new THREE.Line(centerLineGeometry, lineMaterialDashed);
-    centerLine.computeLineDistances();
-    scene.add(centerLine);
-
-    const leftLineGeometry = new THREE.BufferGeometry().setFromPoints([
-        new THREE.Vector3(-500, 0.1, roadWidth / 2),
-        new THREE.Vector3(500, 0.1, roadWidth / 2),
-    ]);
-    const leftLine = new THREE.Line(leftLineGeometry, lineMaterialSolid);
-    scene.add(leftLine);
-
-    const rightLineGeometry = new THREE.BufferGeometry().setFromPoints([
-        new THREE.Vector3(-500, 0.1, -roadWidth / 2),
-        new THREE.Vector3(500, 0.1, -roadWidth / 2),
-    ]);
-    const rightLine = new THREE.Line(rightLineGeometry, lineMaterialSolid);
-    scene.add(rightLine);
-}
-
-function updateCamera() {
-    if (!logReader || !logReader.car || !logReader.car.group) return;
-    if (cameraMode.value === "free") return;
-    const car = logReader.car;
-
-    const carPosition = car.group.position;
-    const carDirection = new THREE.Vector3();
-    car.group.getWorldDirection(carDirection);
-
-    camera.value.position.set(
-        carPosition.x - carDirection.x * 2 * CAR_LENGTH,
-        carPosition.y + 3 * CAR_HEIGHT,
-        carPosition.z - carDirection.z * 2 * CAR_LENGTH
-    );
-
-    controls.target.set(
-        carPosition.x + carDirection.x * 10 * CAR_LENGTH,
-        carPosition.y + CAR_HEIGHT / 2,
-        carPosition.z + carDirection.z * 10 * CAR_LENGTH
-    );
-}
-
-function animate() {
-    requestAnimationFrame(animate);
-    const currentTime = performance.now();
-    const dt = (currentTime - lastTime) / 1000;
-    lastTime = currentTime;
-
-    if (logReader) {
-        logReader.update(dt);
-    }
-    if (car) {
-        car.update(keys, dt);
-    }
-    // for (const h of humans) {
-    //     h.walk();
-    // }
-    updateCamera();
-    controls.update();
-    renderer.render(scene, camera.value);
-}
-
-function onWindowResize() {
-    camera.value.aspect = window.innerWidth / window.innerHeight;
-    camera.value.updateProjectionMatrix();
-    renderer.setSize(window.innerWidth, window.innerHeight);
-}
-onBeforeUnmount(() => {
-    window.removeEventListener("keydown", handleKeyDown);
-    window.removeEventListener("keyup", handleKeyUp);
-    window.removeEventListener("keypress", handleKeyPress);
-    window.removeEventListener("resize", onWindowResize);
-});
-</script>
-
-<style>
-body {
-    margin: 0;
-    overflow: hidden;
-}
-</style>
diff --git a/GEMstack/onboard/visualization/sr_viz/threeD/legacy/components/StreetLight.js b/GEMstack/onboard/visualization/sr_viz/threeD/legacy/components/StreetLight.js
deleted file mode 100644
index 8bd998ba8..000000000
--- a/GEMstack/onboard/visualization/sr_viz/threeD/legacy/components/StreetLight.js
+++ /dev/null
@@ -1,51 +0,0 @@
-import * as THREE from "three";
-import { GLTFLoader } from "three/examples/jsm/loaders/GLTFLoader.js";
-const SCALE_RATE = 1;
-const MODEL_MAPS = {
-    0: "single-arm",
-    1: "double-arm",
-};
-const TEXTURE_MAPS = {
-    "BaseColor": "map",
-    "Metalness": "metalnessMap",
-    "Roughness": "roughnessMap",
-    "Normal": "normalMap",
-    "Transmission": "transmissionMap",
-    "Emission": "emissiveMap",
-};
-
-export default class StreetLight {
-    constructor(modelPath, position = { x: 0, y: 0, z: 0 }, onLoadCallback) {
-        this.position = new THREE.Vector3(position.x, position.y, position.z);
-
-        const loader = new GLTFLoader();
-        loader.load(
-            modelPath,
-            (gltf) => {
-                this.group = gltf.scene;
-                for (let i = 0; i < this.group.children.length; i++) {
-                    const model = MODEL_MAPS[i];
-                    const model_texture_folder_path = `/textures/${model} street light pole/`;
-                    for (const [textureName, textureMap] of Object.entries(TEXTURE_MAPS)) {
-                        const texturePath = model_texture_folder_path + model + '_' + textureName + ".jpg";
-                        const textureLoader = new THREE.TextureLoader();
-                        const texture = textureLoader.load(texturePath);
-                        this.group.children[i].material[textureMap] = texture;
-                    }
-                    this.group.children[i].material.transparent = true;
-                    this.group.children[i].material.emissive = new THREE.Color(0xffffff);
-                    this.group.children[i].material.roughness = 0.5;
-                }
-                this.group.position.set(this.position.x, this.position.y, this.position.z);
-                this.group.scale.set(SCALE_RATE, SCALE_RATE, SCALE_RATE);
-
-                if (onLoadCallback) onLoadCallback(this);
-                console.log(this.group);
-            },
-            (xhr) => {
-                console.log((xhr.loaded / xhr.total * 100) + '% loaded');
-            },
-            (error) => console.error("Error loading street light model:", error)
-        );
-    }
-}
\ No newline at end of file
diff --git a/GEMstack/onboard/visualization/sr_viz/threeD/legacy/components/TrafficLight.js b/GEMstack/onboard/visualization/sr_viz/threeD/legacy/components/TrafficLight.js
deleted file mode 100644
index 4762c2867..000000000
--- a/GEMstack/onboard/visualization/sr_viz/threeD/legacy/components/TrafficLight.js
+++ /dev/null
@@ -1,94 +0,0 @@
-// import * as THREE from "three";
-
-// const POLE_RADIUS = 0.1;
-// const POLE_HEIGHT = 4;
-// const POLE_COLOR = 0x555555;
-// const BOX_WIDTH = 0.5;
-// const BOX_HEIGHT = 1.5;
-// const BOX_DEPTH = 0.4;
-// const BOX_COLOR = 0x222222;
-// const LIGHT_RADIUS = 0.15;
-// const LIGHT_OFFSET = 0.2;
-
-// export default class TrafficLight {
-//     constructor(position, direction = 0) {
-//         this.group = new THREE.Group();
-//         this.createPole();
-//         this.createLightBox();
-//         this.createLights();
-//         this.group.position.set(position.x, 0, position.z);
-//         this.group.rotation.y = direction;
-//     }
-
-//     createPole() {
-//         const poleGeometry = new THREE.CylinderGeometry(POLE_RADIUS, POLE_RADIUS, POLE_HEIGHT, 8);
-//         const poleMaterial = new THREE.MeshStandardMaterial({ color: POLE_COLOR });
-//         this.pole = new THREE.Mesh(poleGeometry, poleMaterial);
-//         this.pole.position.y = POLE_HEIGHT / 2;
-//         this.group.add(this.pole);
-//     }
-
-//     createLightBox() {
-//         const boxGeometry = new THREE.BoxGeometry(BOX_WIDTH, BOX_HEIGHT, BOX_DEPTH);
-//         const boxMaterial = new THREE.MeshStandardMaterial({ color: BOX_COLOR });
-//         this.lightBox = new THREE.Mesh(boxGeometry, boxMaterial);
-//         this.lightBox.position.set(0, POLE_HEIGHT * 7 / 8, 0);
-//         this.group.add(this.lightBox);
-//     }
-
-//     createLights() {
-//         this.lights = {
-//             red: this.createLight(0xff0000, this.lightBox.position.y + 2 * LIGHT_RADIUS),
-//             yellow: this.createLight(0xffff00, this.lightBox.position.y),
-//             green: this.createLight(0x00ff00, this.lightBox.position.y - 2 * LIGHT_RADIUS),
-//         };
-//         Object.values(this.lights).forEach(light => this.group.add(light));
-//         this.setLightState("red"); // Default state
-//     }
-
-//     createLight(color, yPos) {
-//         const lightGeometry = new THREE.SphereGeometry(LIGHT_RADIUS);
-//         const lightMaterial = new THREE.MeshStandardMaterial({ color, emissive: color, emissiveIntensity: 0 });
-//         const light = new THREE.Mesh(lightGeometry, lightMaterial);
-//         light.position.set(0, yPos, LIGHT_OFFSET);
-//         return light;
-//     }
-
-//     setLightState(state) {
-//         Object.keys(this.lights).forEach(key => {
-//             this.lights[key].material.emissiveIntensity = key === state ? 1 : 0;
-//         });
-//     }
-// }
-import * as THREE from "three";
-import { GLTFLoader } from "three/examples/jsm/loaders/GLTFLoader.js";
-const SCALE_RATE = 1;
-
-export default class TrafficLight {
-    constructor(modelPath, position = { x: 0, y: 0, z: 0 }, rotation = 0, onLoadCallback) {
-        this.position = new THREE.Vector3(position.x, position.y, position.z);
-        // this.durations = {
-        //     red: 5,
-        //     yellow: 2,
-        //     green: 5,
-        // };
-        // this.tick = 0;
-
-        const loader = new GLTFLoader();
-        loader.load(
-            modelPath,
-            (gltf) => {
-                this.group = gltf.scene;
-
-                this.group.position.set(this.position.x, this.position.y, this.position.z);
-                this.group.scale.set(SCALE_RATE, SCALE_RATE, SCALE_RATE);
-                this.group.rotation.y = rotation;
-
-                if (onLoadCallback) onLoadCallback(this);
-            },
-            undefined,
-            (error) => console.error("Error loading traffic light model:", error)
-        );
-    }
-    updateFromLog(logData) { } 
-}
\ No newline at end of file
diff --git a/GEMstack/onboard/visualization/sr_viz/threeD/legacy/components/data.json b/GEMstack/onboard/visualization/sr_viz/threeD/legacy/components/data.json
deleted file mode 100644
index 3a2b3178c..000000000
--- a/GEMstack/onboard/visualization/sr_viz/threeD/legacy/components/data.json
+++ /dev/null
@@ -1,41 +0,0 @@
-{
-    "framerate": 60,
-    "totalFrames": 100,
-    "data": [
-        {
-            "frame": 0,
-            "objects": [
-                {
-                    "type": "vehicle",
-                    "id": 0 (current),
-                    "position": [x, y, z],
-                    "steering_wheel_angle": 0,
-                    "velocity": 0,
-                    "acceleration": 0,
-                    "rotation": [pitch, yaw, roll],
-                    "misc": [
-                        ...(rest of the vehicle data)
-                    ]
-                },
-                {
-                    "type": "pedestrian",
-                    "id": 0,
-                    "position": [x, y, z],
-                    "velocity": 0,
-                    "acceleration": 0,
-                    "misc": [
-                        ...(rotation, etc.)
-                    ]
-                },
-                {
-                    "type": "traffic_light",
-                    "id": 0,
-                    "position": [x, y, z],
-                    "misc": [
-                        ...(rest of the traffic_light data)
-                    ]
-                }
-            ]
-        }
-    ]
-}
\ No newline at end of file
diff --git a/GEMstack/onboard/visualization/sr_viz/threeD/legacy/nuxt.config.ts b/GEMstack/onboard/visualization/sr_viz/threeD/legacy/nuxt.config.ts
deleted file mode 100644
index e11336ba3..000000000
--- a/GEMstack/onboard/visualization/sr_viz/threeD/legacy/nuxt.config.ts
+++ /dev/null
@@ -1,6 +0,0 @@
-// https://nuxt.com/docs/api/configuration/nuxt-config
-export default defineNuxtConfig({
-  compatibilityDate: '2024-11-01',
-  devtools: { enabled: true },
-  modules: ['@unocss/nuxt'],
-})
diff --git a/GEMstack/onboard/visualization/sr_viz/threeD/legacy/package-lock.json b/GEMstack/onboard/visualization/sr_viz/threeD/legacy/package-lock.json
deleted file mode 100644
index 92d191e46..000000000
--- a/GEMstack/onboard/visualization/sr_viz/threeD/legacy/package-lock.json
+++ /dev/null
@@ -1,10338 +0,0 @@
-{
-  "name": "nuxt-app",
-  "lockfileVersion": 3,
-  "requires": true,
-  "packages": {
-    "": {
-      "name": "nuxt-app",
-      "hasInstallScript": true,
-      "dependencies": {
-        "nuxt": "^3.16.1",
-        "nuxt-app": "file:",
-        "three": "^0.174.0",
-        "urdf-loader": "^0.12.4",
-        "vue": "^3.5.13",
-        "vue-router": "^4.5.0"
-      },
-      "devDependencies": {
-        "@unocss/nuxt": "^66.1.0-beta.6",
-        "unocss": "^66.1.0-beta.6"
-      }
-    },
-    "node_modules/@ampproject/remapping": {
-      "version": "2.3.0",
-      "resolved": "https://registry.npmjs.org/@ampproject/remapping/-/remapping-2.3.0.tgz",
-      "integrity": "sha512-30iZtAPgz+LTIYoeivqYo853f02jBYSd5uGnGpkFV0M3xOt9aN73erkgYAmZU43x4VfqcnLxW9Kpg3R5LC4YYw==",
-      "license": "Apache-2.0",
-      "dependencies": {
-        "@jridgewell/gen-mapping": "^0.3.5",
-        "@jridgewell/trace-mapping": "^0.3.24"
-      },
-      "engines": {
-        "node": ">=6.0.0"
-      }
-    },
-    "node_modules/@antfu/install-pkg": {
-      "version": "1.0.0",
-      "resolved": "https://registry.npmjs.org/@antfu/install-pkg/-/install-pkg-1.0.0.tgz",
-      "integrity": "sha512-xvX6P/lo1B3ej0OsaErAjqgFYzYVcJpamjLAFLYh9vRJngBrMoUG7aVnrGTeqM7yxbyTD5p3F2+0/QUEh8Vzhw==",
-      "dev": true,
-      "license": "MIT",
-      "dependencies": {
-        "package-manager-detector": "^0.2.8",
-        "tinyexec": "^0.3.2"
-      },
-      "funding": {
-        "url": "https://github.com/sponsors/antfu"
-      }
-    },
-    "node_modules/@antfu/install-pkg/node_modules/package-manager-detector": {
-      "version": "0.2.11",
-      "resolved": "https://registry.npmjs.org/package-manager-detector/-/package-manager-detector-0.2.11.tgz",
-      "integrity": "sha512-BEnLolu+yuz22S56CU1SUKq3XC3PkwD5wv4ikR4MfGvnRVcmzXR9DwSlW2fEamyTPyXHomBJRzgapeuBvRNzJQ==",
-      "dev": true,
-      "license": "MIT",
-      "dependencies": {
-        "quansync": "^0.2.7"
-      }
-    },
-    "node_modules/@antfu/utils": {
-      "version": "8.1.1",
-      "resolved": "https://registry.npmjs.org/@antfu/utils/-/utils-8.1.1.tgz",
-      "integrity": "sha512-Mex9nXf9vR6AhcXmMrlz/HVgYYZpVGJ6YlPgwl7UnaFpnshXs6EK/oa5Gpf3CzENMjkvEx2tQtntGnb7UtSTOQ==",
-      "dev": true,
-      "license": "MIT",
-      "funding": {
-        "url": "https://github.com/sponsors/antfu"
-      }
-    },
-    "node_modules/@babel/code-frame": {
-      "version": "7.26.2",
-      "resolved": "https://registry.npmjs.org/@babel/code-frame/-/code-frame-7.26.2.tgz",
-      "integrity": "sha512-RJlIHRueQgwWitWgF8OdFYGZX328Ax5BCemNGlqHfplnRT9ESi8JkFlvaVYbS+UubVY6dpv87Fs2u5M29iNFVQ==",
-      "license": "MIT",
-      "dependencies": {
-        "@babel/helper-validator-identifier": "^7.25.9",
-        "js-tokens": "^4.0.0",
-        "picocolors": "^1.0.0"
-      },
-      "engines": {
-        "node": ">=6.9.0"
-      }
-    },
-    "node_modules/@babel/compat-data": {
-      "version": "7.26.8",
-      "resolved": "https://registry.npmjs.org/@babel/compat-data/-/compat-data-7.26.8.tgz",
-      "integrity": "sha512-oH5UPLMWR3L2wEFLnFJ1TZXqHufiTKAiLfqw5zkhS4dKXLJ10yVztfil/twG8EDTA4F/tvVNw9nOl4ZMslB8rQ==",
-      "license": "MIT",
-      "engines": {
-        "node": ">=6.9.0"
-      }
-    },
-    "node_modules/@babel/core": {
-      "version": "7.26.10",
-      "resolved": "https://registry.npmjs.org/@babel/core/-/core-7.26.10.tgz",
-      "integrity": "sha512-vMqyb7XCDMPvJFFOaT9kxtiRh42GwlZEg1/uIgtZshS5a/8OaduUfCi7kynKgc3Tw/6Uo2D+db9qBttghhmxwQ==",
-      "license": "MIT",
-      "dependencies": {
-        "@ampproject/remapping": "^2.2.0",
-        "@babel/code-frame": "^7.26.2",
-        "@babel/generator": "^7.26.10",
-        "@babel/helper-compilation-targets": "^7.26.5",
-        "@babel/helper-module-transforms": "^7.26.0",
-        "@babel/helpers": "^7.26.10",
-        "@babel/parser": "^7.26.10",
-        "@babel/template": "^7.26.9",
-        "@babel/traverse": "^7.26.10",
-        "@babel/types": "^7.26.10",
-        "convert-source-map": "^2.0.0",
-        "debug": "^4.1.0",
-        "gensync": "^1.0.0-beta.2",
-        "json5": "^2.2.3",
-        "semver": "^6.3.1"
-      },
-      "engines": {
-        "node": ">=6.9.0"
-      },
-      "funding": {
-        "type": "opencollective",
-        "url": "https://opencollective.com/babel"
-      }
-    },
-    "node_modules/@babel/core/node_modules/semver": {
-      "version": "6.3.1",
-      "resolved": "https://registry.npmjs.org/semver/-/semver-6.3.1.tgz",
-      "integrity": "sha512-BR7VvDCVHO+q2xBEWskxS6DJE1qRnb7DxzUrogb71CWoSficBxYsiAGd+Kl0mmq/MprG9yArRkyrQxTO6XjMzA==",
-      "license": "ISC",
-      "bin": {
-        "semver": "bin/semver.js"
-      }
-    },
-    "node_modules/@babel/generator": {
-      "version": "7.26.10",
-      "resolved": "https://registry.npmjs.org/@babel/generator/-/generator-7.26.10.tgz",
-      "integrity": "sha512-rRHT8siFIXQrAYOYqZQVsAr8vJ+cBNqcVAY6m5V8/4QqzaPl+zDBe6cLEPRDuNOUf3ww8RfJVlOyQMoSI+5Ang==",
-      "license": "MIT",
-      "dependencies": {
-        "@babel/parser": "^7.26.10",
-        "@babel/types": "^7.26.10",
-        "@jridgewell/gen-mapping": "^0.3.5",
-        "@jridgewell/trace-mapping": "^0.3.25",
-        "jsesc": "^3.0.2"
-      },
-      "engines": {
-        "node": ">=6.9.0"
-      }
-    },
-    "node_modules/@babel/helper-annotate-as-pure": {
-      "version": "7.25.9",
-      "resolved": "https://registry.npmjs.org/@babel/helper-annotate-as-pure/-/helper-annotate-as-pure-7.25.9.tgz",
-      "integrity": "sha512-gv7320KBUFJz1RnylIg5WWYPRXKZ884AGkYpgpWW02TH66Dl+HaC1t1CKd0z3R4b6hdYEcmrNZHUmfCP+1u3/g==",
-      "license": "MIT",
-      "dependencies": {
-        "@babel/types": "^7.25.9"
-      },
-      "engines": {
-        "node": ">=6.9.0"
-      }
-    },
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index f0b32f728..000000000
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+++ /dev/null
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-{
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+++ /dev/null
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deleted file mode 100644
index 1989feab6..000000000
--- a/GEMstack/onboard/visualization/sr_viz/threeD/legacy/public/models/model/gem_e2.urdf
+++ /dev/null
@@ -1,1473 +0,0 @@
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-    <kp>1000000</kp>
-    <kd>1e8</kd>
-    <minDepth>0.001</minDepth>
-    <maxVel>100.0</maxVel>
-    <material>Gazebo/Blue</material>
-  </gazebo>
-  <gazebo reference="left_steering_hinge_link">
-    <mu1>10000</mu1>
-    <mu2>100000000</mu2>
-    <kp>1000000</kp>
-    <kd>1e8</kd>
-    <minDepth>0.001</minDepth>
-    <maxVel>100.0</maxVel>
-    <material>Gazebo/Blue</material>
-  </gazebo>
-  <gazebo reference="front_left_wheel_link">
-    <mu1>0.9</mu1>
-    <mu2>1000000</mu2>
-    <minDepth>0.005</minDepth>
-    <kp>1e8</kp>
-    <material>Gazebo/Black</material>
-  </gazebo>
-  <gazebo reference="front_right_wheel_link">
-    <mu1>0.9</mu1>
-    <mu2>1000000</mu2>
-    <minDepth>0.005</minDepth>
-    <kp>1e8</kp>
-    <material>Gazebo/Black</material>
-  </gazebo>
-  <gazebo reference="rear_left_wheel_link">
-    <mu1>0.9</mu1>
-    <mu2>1000000</mu2>
-    <minDepth>0.005</minDepth>
-    <kp>1e8</kp>
-    <material>Gazebo/Black</material>
-  </gazebo>
-  <gazebo reference="rear_right_wheel_link">
-    <mu1>0.9</mu1>
-    <mu2>1000000</mu2>
-    <minDepth>0.005</minDepth>
-    <kp>1e8</kp>
-    <material>Gazebo/Black</material>
-  </gazebo>
-  <!-- ************************************** -->
-  <!-- colors used by Gazebo -->
-  <gazebo reference="base_link">
-    <material>Gazebo/White</material>
-  </gazebo>
-  <gazebo reference="chair_link">
-    <material>Gazebo/Grey</material>
-  </gazebo>
-  <gazebo reference="door_link">
-    <material>Gazebo/White</material>
-  </gazebo>
-  <!--
-  <gazebo reference="front_camera_link">
-    <material>Gazebo/Black</material>
-  </gazebo>
-  -->
-  <gazebo reference="front_rack_link">
-    <material>Gazebo/Black</material>
-  </gazebo>
-  <gazebo reference="rear_rack_link">
-    <material>Gazebo/Black</material>
-  </gazebo>
-  <gazebo reference="top_rack_link">
-    <material>Gazebo/Black</material>
-  </gazebo>
-  <gazebo reference="front_left_emergency_button_link">
-    <material>Gazebo/Red</material>
-  </gazebo>
-  <gazebo reference="front_right_emergency_button_link">
-    <material>Gazebo/Red</material>
-  </gazebo>
-  <gazebo reference="rear_left_emergency_button_link">
-    <material>Gazebo/Red</material>
-  </gazebo>
-  <gazebo reference="rear_right_emergency_button_link">
-    <material>Gazebo/Red</material>
-  </gazebo>
-  <gazebo reference="rear_left_light_link">
-    <material>Gazebo/Red</material>
-  </gazebo>
-  <gazebo reference="rear_right_light_link">
-    <material>Gazebo/Red</material>
-  </gazebo>
-  <gazebo reference="rear_light_bar_link">
-    <material>Gazebo/Red</material>
-  </gazebo>
-  <gazebo reference="front_left_head_light_link">
-    <material>Gazebo/White</material>
-  </gazebo>
-  <gazebo reference="front_left_head_light_link">
-    <material>Gazebo/White</material>
-  </gazebo>
-  <gazebo reference="front_left_turn_light_link">
-    <material>Gazebo/Orange</material>
-  </gazebo>
-  <gazebo reference="front_right_turn_light_link">
-    <material>Gazebo/Orange</material>
-  </gazebo>
-  <gazebo reference="left_I_link">
-    <material>Gazebo/Orange</material>
-  </gazebo>
-  <gazebo reference="right_I_link">
-    <material>Gazebo/Orange</material>
-  </gazebo>
-  <gazebo reference="left_blue_outer_link">
-    <material>Gazebo/Blue</material>
-  </gazebo>
-  <gazebo reference="right_blue_outer_link">
-    <material>Gazebo/Blue</material>
-  </gazebo>
-  <gazebo reference="left_antenna_link">
-    <material>Gazebo/Grey</material>
-  </gazebo>
-  <gazebo reference="right_antenna_link">
-    <material>Gazebo/Grey</material>
-  </gazebo>
-  <gazebo reference="rear_left_stop_light_link">
-    <material>Gazebo/Red</material>
-  </gazebo>
-  <gazebo reference="rear_right_stop_light_link">
-    <material>Gazebo/Red</material>
-  </gazebo>
-  <gazebo reference="front_single_camera_link">
-    <material>Gazebo/Red</material>
-  </gazebo>
-  <gazebo reference="IMU_link">
-    <material>Gazebo/Red</material>
-  </gazebo>
-  <gazebo reference="front_sonar_link">
-    <material>Gazebo/Orange</material>
-  </gazebo>
-  <gazebo reference="rear_sonar_link">
-    <material>Gazebo/Orange</material>
-  </gazebo>
-  <gazebo reference="stereo_camera_link">
-    <material>Gazebo/Red</material>
-  </gazebo>
-  <gazebo>
-    <plugin filename="libgazebo_ros_control.so" name="gazebo_ros_control">
-      <legacyModeNS>true</legacyModeNS>
-      <robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType>
-    </plugin>
-  </gazebo>
-  <!-- ***************************** camera ***************************** -->
-  <gazebo reference="front_single_camera_link">
-    <sensor name="front_single_camera_sensor" type="camera">
-      <update_rate>30.0</update_rate>
-      <camera>
-        <!--
-      <camera name="front_single_camera"> 
-      -->
-        <horizontal_fov>1.5707963</horizontal_fov>
-        <image>
-          <width>640</width>
-          <height>480</height>
-          <!--
-          <width>960</width>
-          <height>540</height>
-          -->
-          <format>R8G8B8</format>
-        </image>
-        <clip>
-          <near>0.02</near>
-          <far>300</far>
-        </clip>
-        <noise>
-          <type>gaussian</type>
-          <mean>0.0</mean>
-          <stddev>0.007</stddev>
-        </noise>
-      </camera>
-      <plugin filename="libgazebo_ros_camera.so" name="front_single_camera_controller">
-        <alwaysOn>true</alwaysOn>
-        <updateRate>0.0</updateRate>
-        <cameraName>front_single_camera</cameraName>
-        <imageTopicName>image_raw</imageTopicName>
-        <cameraInfoTopicName>camera_info</cameraInfoTopicName>
-        <frameName>front_single_camera_link</frameName>
-        <hackBaseline>0.07</hackBaseline>
-        <distortionK1>0.0</distortionK1>
-        <distortionK2>0.0</distortionK2>
-        <distortionK3>0.0</distortionK3>
-        <distortionT1>0.0</distortionT1>
-        <distortionT2>0.0</distortionT2>
-      </plugin>
-    </sensor>
-  </gazebo>
-  <!-- ***************************** IMU ***************************** -->
-  <gazebo>
-    <plugin filename="libgazebo_ros_imu.so" name="imu_plugin">
-      <alwaysOn>true</alwaysOn>
-      <bodyName>IMU_link</bodyName>
-      <frameName>IMU_link</frameName>
-      <topicName>imu</topicName>
-      <serviceName>imu_service</serviceName>
-      <gaussianNoise>0.0</gaussianNoise>
-      <updateRate>50.0</updateRate>
-    </plugin>
-  </gazebo>
-  <!-- ***************************** GPS ***************************** -->
-  <gazebo>
-    <plugin filename="libhector_gazebo_ros_gps.so" name="gazebo_ros_gps">
-      <updateRate>20.0</updateRate>
-      <bodyName>GPS_link</bodyName>
-      <frameId>GPS_link</frameId>
-      <topicName>/gps/fix</topicName>
-      <velocityTopicName>/gps/fix_velocity</velocityTopicName>
-      <referenceLatitude>40.09302494</referenceLatitude>
-      <referenceLongitude>-88.23575484</referenceLongitude>
-      <referenceHeading>90</referenceHeading>
-      <referenceAltitude>220</referenceAltitude>
-      <offset>0 0 0</offset>
-      <drift>0.001 0.001 0.001</drift>
-      <gaussianNoise>0.05 0.05 0.05</gaussianNoise>
-      <velocityDrift>0.001 0.001 0.001</velocityDrift>
-      <velocityGaussianNoise>0.5 0.5 0.5</velocityGaussianNoise>
-      <!-- <drift>0.001 0.001 0.001</drift> -->
-      <!-- <gaussianNoise>0.01 0.01 0.01</gaussianNoise> -->
-      <!-- <velocityDrift>0 0 0</velocityDrift>-->
-      <!-- <velocityGaussianNoise>0.05 0.05 0.05</velocityGaussianNoise> -->
-    </plugin>
-  </gazebo>
-  <!-- ***************************** Front Sonar ***************************** -->
-  <gazebo reference="front_sonar_link">
-    <sensor name="front_sonar_sensor" type="ray">
-      <always_on>true</always_on>
-      <update_rate>20</update_rate>
-      <pose>0 0 0 0 0 0</pose>
-      <visualize>false</visualize>
-      <ray>
-        <scan>
-          <horizontal>
-            <samples>2</samples>
-            <resolution>1</resolution>
-            <min_angle>-28</min_angle>
-            <max_angle>28</max_angle>
-          </horizontal>
-          <vertical>
-            <samples>2</samples>
-            <resolution>1</resolution>
-            <min_angle>-28</min_angle>
-            <max_angle>28</max_angle>
-          </vertical>
-        </scan>
-        <range>
-          <min>0.3</min>
-          <max>5</max>
-          <resolution>0.01</resolution>
-        </range>
-      </ray>
-      <plugin filename="libhector_gazebo_ros_sonar.so" name="gazebo_ros_sonar_controller">
-        <gaussianNoise>0.005</gaussianNoise>
-        <topicName>/front_sonar_distance</topicName>
-        <frameId>front_sonar_link</frameId>
-      </plugin>
-    </sensor>
-  </gazebo>
-  <!-- ***************************** Rear Sonar ***************************** -->
-  <gazebo reference="rear_sonar_link">
-    <sensor name="rear_sonar_sensor" type="ray">
-      <always_on>true</always_on>
-      <update_rate>20</update_rate>
-      <pose>0 0 0 0 0 0</pose>
-      <visualize>false</visualize>
-      <ray>
-        <scan>
-          <horizontal>
-            <samples>2</samples>
-            <resolution>1</resolution>
-            <min_angle>-28</min_angle>
-            <max_angle>28</max_angle>
-          </horizontal>
-          <vertical>
-            <samples>2</samples>
-            <resolution>1</resolution>
-            <min_angle>-28</min_angle>
-            <max_angle>28</max_angle>
-          </vertical>
-        </scan>
-        <range>
-          <min>0.3</min>
-          <max>5</max>
-          <resolution>0.01</resolution>
-        </range>
-      </ray>
-      <plugin filename="libhector_gazebo_ros_sonar.so" name="gazebo_ros_sonar_controller">
-        <gaussianNoise>0.005</gaussianNoise>
-        <topicName>/rear_sonar_distance</topicName>
-        <frameId>rear_sonar_link</frameId>
-      </plugin>
-    </sensor>
-  </gazebo>
-  <!-- ***************************** stereo camera ***************************** -->
-  <gazebo reference="stereo_camera_link">
-    <sensor name="stereo_camera" type="multicamera">
-      <update_rate>30.0</update_rate>
-      <camera name="left">
-        <horizontal_fov>1.5707963</horizontal_fov>
-        <image>
-          <width>800</width>
-          <height>600</height>
-          <format>R8G8B8</format>
-        </image>
-        <clip>
-          <near>0.02</near>
-          <far>300</far>
-        </clip>
-        <noise>
-          <type>gaussian</type>
-          <mean>0.0</mean>
-          <stddev>0.007</stddev>
-        </noise>
-      </camera>
-      <camera name="right">
-        <pose>0 -0.07 0 0 0 0</pose>
-        <horizontal_fov>1.5707963</horizontal_fov>
-        <image>
-          <width>800</width>
-          <height>600</height>
-          <format>R8G8B8</format>
-        </image>
-        <clip>
-          <near>0.02</near>
-          <far>300</far>
-        </clip>
-        <noise>
-          <type>gaussian</type>
-          <mean>0.0</mean>
-          <stddev>0.007</stddev>
-        </noise>
-      </camera>
-      <plugin filename="libgazebo_ros_multicamera.so" name="stereo_camera_controller">
-        <alwaysOn>true</alwaysOn>
-        <updateRate>0.0</updateRate>
-        <cameraName>stereo/camera</cameraName>
-        <imageTopicName>image_raw</imageTopicName>
-        <cameraInfoTopicName>camera_info</cameraInfoTopicName>
-        <frameName>stereo_camera_link</frameName>
-        <!--<rightFrameName>right_camera_optical_frame</rightFrameName>-->
-        <!-- <hackBaseline>0.07</hackBaseline> -->
-        <hackBaseline>0.5</hackBaseline>
-        <distortionK1>0.0</distortionK1>
-        <distortionK2>0.0</distortionK2>
-        <distortionK3>0.0</distortionK3>
-        <distortionT1>0.0</distortionT1>
-        <distortionT2>0.0</distortionT2>
-      </plugin>
-    </sensor>
-  </gazebo>
-  <!-- colors used by Rviz -->
-  <material name="black">
-    <color rgba="0.0 0.0 0.0 1.0"/>
-  </material>
-  <material name="blue">
-    <color rgba="0 0 0.8 1.0"/>
-  </material>
-  <material name="green">
-    <color rgba="0.0 0.8 0.0 1.0"/>
-  </material>
-  <material name="grey">
-    <color rgba="0.2 0.2 0.2 1.0"/>
-  </material>
-  <material name="orange">
-    <color rgba="1.0 0.423529411765 0.0392156862745 1.0"/>
-  </material>
-  <material name="brown">
-    <color rgba="0.870588235294 0.811764705882 0.764705882353 1.0"/>
-  </material>
-  <material name="red">
-    <color rgba="0.8 0.0 0.0 1.0"/>
-  </material>
-  <material name="white">
-    <color rgba="1.0 1.0 1.0 1.0"/>
-  </material>
-  <!-- transmission macros -->
-  <!--
-  <xacro:include filename="$(find velodyne_description)/urdf/VLP-16.urdf.xacro"/>
--->
-  <!-- *************************** Base link below *************************** -->
-  <link name="base_footprint"> 
-  </link>
-  <link name="base_link">
-    <!--
-    <inertial>
-      <origin xyz="0.0410109641324594 0.000349767124208047 0.219524161679779" rpy="0 0 0" />
-      <mass value="686.066668067387" />
-      <inertia
-        ixx="205.702789313137"
-        ixy="-0.20742120719075"
-        ixz="-9.13771633467953"
-        iyy="482.020173559149"
-        iyz="0.0517191981605489"
-        izz="482.316418870047" />
-    </inertial>
-    -->
-    <inertial>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <mass value="686"/>
-      <inertia ixx="325" ixy="0" ixz="0" iyy="597" iyz="0" izz="465"/>
-    </inertial>
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="meshes/base_link.STL"/>
-      </geometry>
-      <material name="white"/>
-    </visual>
-    <collision>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="meshes/base_link.STL"/>
-      </geometry>
-    </collision>
-  </link>
-  <joint name="base_link" type="fixed">
-    <origin rpy="0 0 0" xyz="0 0 0.44"/>
-    <parent link="base_footprint"/>
-    <child link="base_link"/>
-  </joint>
-  <!-- ******************************************* Fixed links below ******************************************* -->
-  <link name="chair_link">
-    <inertial>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <mass value="0"/>
-      <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
-    </inertial>
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="meshes/chair_link.STL"/>
-      </geometry>
-      <material name="grey"/>
-    </visual>
-    <collision>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="meshes/chair_link.STL"/>
-      </geometry>
-    </collision>
-  </link>
-  <joint name="chair_joint" type="fixed">
-    <origin rpy="0 0 0" xyz="0.001 0 -0.02"/>
-    <parent link="base_link"/>
-    <child link="chair_link"/>
-    <axis xyz="0 0 0"/>
-  </joint>
-  <link name="door_link">
-    <inertial>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <mass value="0"/>
-      <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
-    </inertial>
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="meshes/door_link.STL"/>
-      </geometry>
-      <material name="white"/>
-    </visual>
-    <collision>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="meshes/door_link.STL"/>
-      </geometry>
-    </collision>
-  </link>
-  <joint name="door_joint" type="fixed">
-    <origin rpy="0 0 0" xyz="0.001 0 -0.015"/>
-    <parent link="base_link"/>
-    <child link="door_link"/>
-    <axis xyz="0 0 0"/>
-  </joint>
-  <link name="top_rack_link">
-    <inertial>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <mass value="0"/>
-      <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
-    </inertial>
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="meshes/top_rack_link.STL"/>
-      </geometry>
-      <material name="black"/>
-    </visual>
-    <collision>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="meshes/top_rack_link.STL"/>
-      </geometry>
-    </collision>
-  </link>
-  <joint name="top_rack_joint" type="fixed">
-    <origin rpy="1.5708 0 3.1416" xyz="-0.10172 0.6575 1.3921"/>
-    <parent link="base_link"/>
-    <child link="top_rack_link"/>
-    <axis xyz="0 0 0"/>
-  </joint>
-  <link name="front_rack_link">
-    <inertial>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <mass value="0"/>
-      <inertia ixx="0." ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
-    </inertial>
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="meshes/front_rack_link.STL"/>
-      </geometry>
-      <material name="black"/>
-    </visual>
-    <collision>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="meshes/front_rack_link.STL"/>
-      </geometry>
-    </collision>
-  </link>
-  <joint name="front_rack_joint" type="fixed">
-    <origin rpy="1.5708 0 1.5708" xyz="1.352 0 -0.30594"/>
-    <parent link="base_link"/>
-    <child link="front_rack_link"/>
-    <axis xyz="0 0 0"/>
-  </joint>
-  <link name="rear_rack_link">
-    <inertial>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <mass value="0"/>
-      <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
-    </inertial>
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="meshes/rear_rack_link.STL"/>
-      </geometry>
-      <material name="black"/>
-    </visual>
-    <collision>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="meshes/rear_rack_link.STL"/>
-      </geometry>
-    </collision>
-  </link>
-  <joint name="rear_rack_joint" type="fixed">
-    <origin rpy="1.5708 0 -1.5708" xyz="-1.302 0 -0.27168"/>
-    <parent link="base_link"/>
-    <child link="rear_rack_link"/>
-    <axis xyz="0 0 0"/>
-  </joint>
-  <link name="front_right_head_light_link">
-    <inertial>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <mass value="0"/>
-      <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
-    </inertial>
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="meshes/front_right_head_light_link.STL"/>
-      </geometry>
-      <material name="white"/>
-    </visual>
-    <collision>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="meshes/front_right_head_light_link.STL"/>
-      </geometry>
-    </collision>
-  </link>
-  <joint name="front_right_head_light_joint" type="fixed">
-    <origin rpy="0 0 0" xyz="0.755 -0.5 0.58706"/>
-    <parent link="base_link"/>
-    <child link="front_right_head_light_link"/>
-    <axis xyz="1 0 0"/>
-  </joint>
-  <link name="front_left_head_light_link">
-    <inertial>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <mass value="0"/>
-      <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
-    </inertial>
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="meshes/front_left_head_light_link.STL"/>
-      </geometry>
-      <material name="white"/>
-    </visual>
-    <collision>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="meshes/front_left_head_light_link.STL"/>
-      </geometry>
-    </collision>
-  </link>
-  <joint name="front_left_head_light_joint" type="fixed">
-    <origin rpy="0 0 0" xyz="0.755 0.5 0.58706"/>
-    <parent link="base_link"/>
-    <child link="front_left_head_light_link"/>
-    <axis xyz="1 0 0"/>
-  </joint>
-  <link name="front_right_turn_light_link">
-    <inertial>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <mass value="0"/>
-      <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
-    </inertial>
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="meshes/front_right_turn_light_link.STL"/>
-      </geometry>
-      <material name="orange"/>
-    </visual>
-    <collision>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="meshes/front_right_turn_light_link.STL"/>
-      </geometry>
-    </collision>
-  </link>
-  <joint name="front_right_turn_light_joint" type="fixed">
-    <origin rpy="0 0 0" xyz="0.765 -0.345 0.58706"/>
-    <parent link="base_link"/>
-    <child link="front_right_turn_light_link"/>
-    <axis xyz="1 0 0"/>
-  </joint>
-  <link name="front_left_turn_light_link">
-    <inertial>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <mass value="0"/>
-      <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
-    </inertial>
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="meshes/front_left_turn_light_link.STL"/>
-      </geometry>
-      <material name="orange"/>
-    </visual>
-    <collision>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="meshes/front_left_turn_light_link.STL"/>
-      </geometry>
-    </collision>
-  </link>
-  <joint name="front_left_turn_light_joint" type="fixed">
-    <origin rpy="0 0 0" xyz="0.765 0.345 0.58706"/>
-    <parent link="base_link"/>
-    <child link="front_left_turn_light_link"/>
-    <axis xyz="1 0 0"/>
-  </joint>
-  <link name="rear_right_light_link">
-    <inertial>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <mass value="0"/>
-      <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
-    </inertial>
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="meshes/rear_right_light_link.STL"/>
-      </geometry>
-      <material name="red"/>
-    </visual>
-    <collision>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="meshes/rear_right_light_link.STL"/>
-      </geometry>
-    </collision>
-  </link>
-  <joint name="rear_right_light_joint" type="fixed">
-    <origin rpy="0 0 0" xyz="-1.195 -0.32 0.025063"/>
-    <parent link="base_link"/>
-    <child link="rear_right_light_link"/>
-    <axis xyz="1 0 0"/>
-  </joint>
-  <link name="rear_left_light_link">
-    <inertial>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <mass value="0"/>
-      <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
-    </inertial>
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="meshes/rear_left_light_link.STL"/>
-      </geometry>
-      <material name="red"/>
-    </visual>
-    <collision>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="meshes/rear_left_light_link.STL"/>
-      </geometry>
-    </collision>
-  </link>
-  <joint name="rear_left_light_joint" type="fixed">
-    <origin rpy="0 0 0" xyz="-1.195 0.32 0.025063"/>
-    <parent link="base_link"/>
-    <child link="rear_left_light_link"/>
-    <axis xyz="1 0 0"/>
-  </joint>
-  <link name="rear_left_stop_light_link">
-    <inertial>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <mass value="0"/>
-      <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
-    </inertial>
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="meshes/rear_left_stop_light_link.STL"/>
-      </geometry>
-      <material name="red"/>
-    </visual>
-    <collision>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="meshes/rear_left_stop_light_link.STL"/>
-      </geometry>
-    </collision>
-  </link>
-  <joint name="rear_left_stop_light_joint" type="fixed">
-    <origin rpy="0 0 3.1416" xyz="-1.195 0.38 0.24506"/>
-    <parent link="base_link"/>
-    <child link="rear_left_stop_light_link"/>
-    <axis xyz="1 0 0"/>
-  </joint>
-  <link name="rear_right_stop_light_link">
-    <inertial>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <mass value="0"/>
-      <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
-    </inertial>
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="meshes/rear_right_stop_light_link.STL"/>
-      </geometry>
-      <material name="red"/>
-    </visual>
-    <collision>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="meshes/rear_right_stop_light_link.STL"/>
-      </geometry>
-    </collision>
-  </link>
-  <joint name="rear_right_stop_light_joint" type="fixed">
-    <origin rpy="0 0 3.1416" xyz="-1.195 -0.38 0.24506"/>
-    <parent link="base_link"/>
-    <child link="rear_right_stop_light_link"/>
-    <axis xyz="1 0 0"/>
-  </joint>
-  <link name="right_blue_outer_link">
-    <inertial>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <mass value="0"/>
-      <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
-    </inertial>
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="meshes/right_blue_outer_link.STL"/>
-      </geometry>
-      <material name="blue"/>
-    </visual>
-    <collision>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="meshes/right_blue_outer_link.STL"/>
-      </geometry>
-    </collision>
-  </link>
-  <joint name="right_blue_outer_joint" type="fixed">
-    <origin rpy="0 0 0" xyz="0.002 -0.6745 0.23435"/>
-    <parent link="base_link"/>
-    <child link="right_blue_outer_link"/>
-    <axis xyz="0 0 0"/>
-  </joint>
-  <link name="right_I_link">
-    <inertial>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <mass value="0"/>
-      <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
-    </inertial>
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="meshes/right_I_link.STL"/>
-      </geometry>
-      <material name="orange"/>
-    </visual>
-    <collision>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="meshes/right_I_link.STL"/>
-      </geometry>
-    </collision>
-  </link>
-  <joint name="right_I_joint" type="fixed">
-    <origin rpy="0 0 0" xyz="0.002 -0.6745 0.23435"/>
-    <parent link="base_link"/>
-    <child link="right_I_link"/>
-    <axis xyz="0 0 0"/>
-  </joint>
-  <link name="left_blue_outer_link">
-    <inertial>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <mass value="0"/>
-      <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
-    </inertial>
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="meshes/left_blue_outer_link.STL"/>
-      </geometry>
-      <material name="blue"/>
-    </visual>
-    <collision>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="meshes/left_blue_outer_link.STL"/>
-      </geometry>
-    </collision>
-  </link>
-  <joint name="left_blue_outer_joint" type="fixed">
-    <origin rpy="0 0 0" xyz="0.002 0.6645 0.23435"/>
-    <parent link="base_link"/>
-    <child link="left_blue_outer_link"/>
-    <axis xyz="0 0 0"/>
-  </joint>
-  <link name="left_I_link">
-    <inertial>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <mass value="0"/>
-      <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
-    </inertial>
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="meshes/left_I_link.STL"/>
-      </geometry>
-      <material name="orange"/>
-    </visual>
-    <collision>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="meshes/left_I_link.STL"/>
-      </geometry>
-    </collision>
-  </link>
-  <joint name="left_I_joint" type="fixed">
-    <origin rpy="0 0 0" xyz="0.002 0.6645 0.23435"/>
-    <parent link="base_link"/>
-    <child link="left_I_link"/>
-    <axis xyz="0 0 0"/>
-  </joint>
-  <link name="right_antenna_link">
-    <inertial>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <mass value="0"/>
-      <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
-    </inertial>
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="meshes/right_antenna_link.STL"/>
-      </geometry>
-      <material name="grey"/>
-    </visual>
-    <collision>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="meshes/right_antenna_link.STL"/>
-      </geometry>
-    </collision>
-  </link>
-  <joint name="right_antenna_joint" type="fixed">
-    <origin rpy="0 0 0" xyz="-0.23472 -0.6125 1.5071"/>
-    <parent link="base_link"/>
-    <child link="right_antenna_link"/>
-    <axis xyz="0 0 1"/>
-  </joint>
-  <link name="left_antenna_link">
-    <inertial>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <mass value="0"/>
-      <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
-    </inertial>
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="meshes/left_antenna_link.STL"/>
-      </geometry>
-      <material name="grey"/>
-    </visual>
-    <collision>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="meshes/left_antenna_link.STL"/>
-      </geometry>
-    </collision>
-  </link>
-  <joint name="left_antenna_joint" type="fixed">
-    <origin rpy="0 0 0" xyz="-0.23472 0.6125 1.5071"/>
-    <parent link="base_link"/>
-    <child link="left_antenna_link"/>
-    <axis xyz="0 0 1"/>
-  </joint>
-  <link name="rear_left_emergency_button_link">
-    <inertial>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <mass value="0"/>
-      <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
-    </inertial>
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="meshes/rear_left_emergency_button_link.STL"/>
-      </geometry>
-      <material name="red"/>
-    </visual>
-    <collision>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="meshes/rear_left_emergency_button_link.STL"/>
-      </geometry>
-    </collision>
-  </link>
-  <joint name="rear_left_emergency_button_joint" type="fixed">
-    <origin rpy="0 0 0" xyz="-0.72012 0.6645 0.83815"/>
-    <parent link="base_link"/>
-    <child link="rear_left_emergency_button_link"/>
-    <axis xyz="0 1 0"/>
-  </joint>
-  <link name="rear_right_emergency_button_link">
-    <inertial>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <mass value="0"/>
-      <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
-    </inertial>
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="meshes/rear_right_emergency_button_link.STL"/>
-      </geometry>
-      <material name="red"/>
-    </visual>
-    <collision>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="meshes/rear_right_emergency_button_link.STL"/>
-      </geometry>
-    </collision>
-  </link>
-  <joint name="rear_right_emergency_button_joint" type="fixed">
-    <origin rpy="0 0.57871 3.1416" xyz="-0.72012 -0.6645 0.83815"/>
-    <parent link="base_link"/>
-    <child link="rear_right_emergency_button_link"/>
-    <axis xyz="0 1 0"/>
-  </joint>
-  <link name="front_left_emergency_button_link">
-    <inertial>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <mass value="0"/>
-      <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
-    </inertial>
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="meshes/front_left_emergency_button_link.STL"/>
-      </geometry>
-      <material name="red"/>
-    </visual>
-    <collision>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="meshes/front_left_emergency_button_link.STL"/>
-      </geometry>
-    </collision>
-  </link>
-  <joint name="front_left_emergency_button_joint" type="fixed">
-    <origin rpy="0 0 0" xyz="1.1497 0.6645 0.20492"/>
-    <parent link="base_link"/>
-    <child link="front_left_emergency_button_link"/>
-    <axis xyz="0 1 0"/>
-  </joint>
-  <link name="front_right_emergency_button_link">
-    <inertial>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <mass value="0"/>
-      <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
-    </inertial>
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="meshes/front_right_emergency_button_link.STL"/>
-      </geometry>
-      <material name="red"/>
-    </visual>
-    <collision>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="meshes/front_right_emergency_button_link.STL"/>
-      </geometry>
-    </collision>
-  </link>
-  <joint name="front_right_emergency_button_joint" type="fixed">
-    <origin rpy="0 0.57871 3.1416" xyz="1.1497 -0.6645 0.20492"/>
-    <parent link="base_link"/>
-    <child link="front_right_emergency_button_link"/>
-    <axis xyz="0 1 0"/>
-  </joint>
-  <link name="rear_light_bar_link">
-    <inertial>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <mass value="0"/>
-      <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
-    </inertial>
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="meshes/rear_light_bar_link.STL"/>
-      </geometry>
-      <material name="red"/>
-    </visual>
-    <collision>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="meshes/rear_light_bar_link.STL"/>
-      </geometry>
-    </collision>
-  </link>
-  <joint name="rear_light_bar_joint" type="fixed">
-    <origin rpy="-1.9138 0 1.5708" xyz="-0.64921 0 0.76944"/>
-    <parent link="base_link"/>
-    <child link="rear_light_bar_link"/>
-    <axis xyz="0 0 0"/>
-  </joint>
-  <!--
-  <link name="front_camera_link">
-    <inertial>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <mass value="0.07" />
-      <inertia ixx="0.000175820811714078" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.00022282574207345" />
-    </inertial>
-    <visual>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <geometry>
-        <mesh filename="meshes/front_camera_link.STL" />
-      </geometry>
-      <material name="black" />
-    </visual>
-    <collision>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <geometry>
-        <mesh filename="meshes/front_camera_link.STL" />
-      </geometry>
-    </collision>
-  </link>
-
-  <joint name="front_camera_joint" type="fixed">
-    <origin xyz="0.16 -0.11 1.1063" rpy="1.5708 0 -3.1416" />
-    <parent link="base_link" />
-    <child link="front_camera_link" />
-    <axis xyz="0 0 0"/>
-  </joint>
-  -->
-  <!-- ******************************************* Fixed links above ******************************************* -->
-  <!-- ***************************************** Wheel settings below ****************************************** -->
-  <!-- ************************ Front and Rear Wheels ************************ -->
-  <link name="left_steering_hinge_link">
-    <inertial>
-      <mass value="1"/>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <inertia ixx="0.004" ixy="0.0" ixz="0.0" iyy="0.004" iyz="0.0" izz="0.004"/>
-    </inertial>
-  </link>
-  <link name="right_steering_hinge_link">
-    <inertial>
-      <mass value="1"/>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <inertia ixx="0.004" ixy="0.0" ixz="0.0" iyy="0.004" iyz="0.0" izz="0.004"/>
-    </inertial>
-  </link>
-  <link name="front_left_wheel_link">
-    <inertial>
-      <mass value="11"/>
-      <origin xyz="0 0 0"/>
-      <inertia ixx="0.38291" ixy="0.0" ixz="0.0" iyy="0.38291" iyz="0.0" izz="0.38291"/>
-    </inertial>
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="meshes/front_left_wheel_link.STL"/>
-      </geometry>
-      <material name="black"/>
-    </visual>
-    <collision>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <sphere radius="0.295"/>
-      </geometry>
-    </collision>
-  </link>
-  <link name="front_right_wheel_link">
-    <inertial>
-      <mass value="11"/>
-      <origin xyz="0 0 0"/>
-      <inertia ixx="0.38291" ixy="0.0" ixz="0.0" iyy="0.38291" iyz="0.0" izz="0.38291"/>
-    </inertial>
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="meshes/front_right_wheel_link.STL"/>
-      </geometry>
-      <material name="black"/>
-    </visual>
-    <collision>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <sphere radius="0.295"/>
-      </geometry>
-    </collision>
-  </link>
-  <link name="rear_left_wheel_link">
-    <inertial>
-      <mass value="11"/>
-      <origin xyz="0 0 0"/>
-      <inertia ixx="0.38291" ixy="0.0" ixz="0.0" iyy="0.38291" iyz="0.0" izz="0.38291"/>
-    </inertial>
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="meshes/rear_left_wheel_link.STL"/>
-      </geometry>
-      <material name="black"/>
-    </visual>
-    <collision>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <sphere radius="0.295"/>
-      </geometry>
-    </collision>
-  </link>
-  <link name="rear_right_wheel_link">
-    <inertial>
-      <mass value="11"/>
-      <origin xyz="0 0 0"/>
-      <inertia ixx="0.38291" ixy="0.0" ixz="0.0" iyy="0.38291" iyz="0.0" izz="0.38291"/>
-    </inertial>
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="meshes/rear_right_wheel_link.STL"/>
-      </geometry>
-      <material name="black"/>
-    </visual>
-    <collision>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <sphere radius="0.295"/>
-      </geometry>
-    </collision>
-  </link>
-  <joint name="left_steering_hinge_joint" type="revolute">
-    <parent link="base_link"/>
-    <child link="left_steering_hinge_link"/>
-    <origin rpy="0 0 0" xyz="0.88 0.6 -0.151"/>
-    <axis xyz="0 0 1"/>
-    <limit effort="100" lower="-0.61" upper="0.61" velocity="0.5"/>
-  </joint>
-  <joint name="right_steering_hinge_joint" type="revolute">
-    <parent link="base_link"/>
-    <child link="right_steering_hinge_link"/>
-    <origin rpy="0 0 0" xyz="0.88 -0.6 -0.151"/>
-    <axis xyz="0 0 1"/>
-    <limit effort="100" lower="-0.61" upper="0.61" velocity="0.5"/>
-  </joint>
-  <joint name="front_left_wheel_joint" type="continuous">
-    <parent link="left_steering_hinge_link"/>
-    <child link="front_left_wheel_link"/>
-    <origin rpy="0 0 0" xyz="0 0 0"/>
-    <axis xyz="0 1 0"/>
-    <limit effort="1000" velocity="100.0"/>
-    <!--
-    <dynamics damping="0.01"/>
-    <limit effort="10000" velocity="1000"/>
-    <joint_properties damping="10" friction="10.0"/>
-    -->
-  </joint>
-  <joint name="front_right_wheel_joint" type="continuous">
-    <parent link="right_steering_hinge_link"/>
-    <child link="front_right_wheel_link"/>
-    <origin rpy="0 0 0" xyz="0 0 0"/>
-    <axis xyz="0 1 0"/>
-    <limit effort="1000" velocity="100.0"/>
-  </joint>
-  <joint name="rear_left_wheel_joint" type="continuous">
-    <origin rpy="0 0 0" xyz="-0.87 0.6 -0.151"/>
-    <axis xyz="0 1 0"/>
-    <parent link="base_link"/>
-    <child link="rear_left_wheel_link"/>
-    <limit effort="1000" velocity="100.0"/>
-  </joint>
-  <joint name="rear_right_wheel_joint" type="continuous">
-    <origin rpy="0 0 0" xyz="-0.87 -0.6 -0.151"/>
-    <axis xyz="0 1 0"/>
-    <parent link="base_link"/>
-    <child link="rear_right_wheel_link"/>
-    <limit effort="1000" velocity="100.0"/>
-  </joint>
-  <!-- ******************************************** Transmissions ********************************************* -->
-  <transmission name="rear_left_wheel_transmission" type="SimpleTransmission">
-    <type>transmission_interface/SimpleTransmission</type>
-    <joint name="rear_left_wheel_joint">
-      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
-    </joint>
-    <actuator name="rear_left_wheel_motor">
-      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
-      <mechanicalReduction>1</mechanicalReduction>
-    </actuator>
-  </transmission>
-  <transmission name="rear_right_wheel_transmission" type="SimpleTransmission">
-    <type>transmission_interface/SimpleTransmission</type>
-    <joint name="rear_right_wheel_joint">
-      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
-    </joint>
-    <actuator name="rear_right_wheel_motor">
-      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
-      <mechanicalReduction>1</mechanicalReduction>
-    </actuator>
-  </transmission>
-  <transmission name="front_left_wheel_transmission" type="SimpleTransmission">
-    <type>transmission_interface/SimpleTransmission</type>
-    <joint name="front_left_wheel_joint">
-      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
-    </joint>
-    <actuator name="front_left_wheel_motor">
-      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
-      <mechanicalReduction>1</mechanicalReduction>
-    </actuator>
-  </transmission>
-  <transmission name="front_right_wheel_transmission" type="SimpleTransmission">
-    <type>transmission_interface/SimpleTransmission</type>
-    <joint name="front_right_wheel_joint">
-      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
-    </joint>
-    <actuator name="front_right_wheel_motor">
-      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
-      <mechanicalReduction>1</mechanicalReduction>
-    </actuator>
-  </transmission>
-  <transmission name="left_steering_hinge_transmission" type="SimpleTransmission">
-    <type>transmission_interface/SimpleTransmission</type>
-    <joint name="left_steering_hinge_joint">
-      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
-    </joint>
-    <actuator name="left_steering_hinge_motor">
-      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
-      <mechanicalReduction>1</mechanicalReduction>
-    </actuator>
-  </transmission>
-  <transmission name="right_steering_hinge_transmission" type="SimpleTransmission">
-    <type>transmission_interface/SimpleTransmission</type>
-    <joint name="right_steering_hinge_joint">
-      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
-    </joint>
-    <actuator name="right_steering_hinge_motor">
-      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
-      <mechanicalReduction>1</mechanicalReduction>
-    </actuator>
-  </transmission>
-  <!-- *********************************************** Sensors ************************************************ -->
-  <!--
-  <xacro:VLP-16 parent="top_rack_link" name="velodyne" topic="/velodyne_points" hz="10" samples="440" gpu="false">
-    <origin xyz="0.02 0.115 -0.6575" rpy="1.5708 0 3.1416" /> 
-  </xacro:VLP-16>
--->
-  <!-- ************************* Front Camera ************************* -->
-  <link name="front_single_camera_link">
-    <collision>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <box size="0.05 0.05 0.05"/>
-      </geometry>
-    </collision>
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <box size="0.05 0.05 0.05"/>
-      </geometry>
-      <material name="red"/>
-    </visual>
-    <inertial>
-      <mass value="1e-5"/>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6"/>
-    </inertial>
-  </link>
-  <!--
-  <joint name="gem_front_camera_joint" type="fixed">
-    <origin xyz="-0.045 0 0" rpy="-1.5708 3.1416 0"/>
-    <parent link="front_camera_link"/>
-    <child link="front_single_camera_link"/>
-  </joint>
-  -->
-  <joint name="gem_front_camera_joint" type="fixed">
-    <origin rpy="0 0 0" xyz="0.394 0 1.19"/>
-    <parent link="base_link"/>
-    <child link="front_single_camera_link"/>
-  </joint>
-  <!--
-  <link name="stereo_camera_link">
-    <collision>
-      <origin xyz="0 0 0" rpy="0 0 0"/>
-      <geometry>
-        <box size="0.05 0.05 0.05"/>
-      </geometry>
-    </collision>
-    <visual>
-      <origin xyz="0 0 0" rpy="0 0 0"/>
-      <geometry>
-        <box size="0.05 0.05 0.05"/>
-      </geometry>
-      <material name="red"/>
-    </visual>
-    <inertial>
-      <mass value="1e-5" />
-      <origin xyz="0 0 0" rpy="0 0 0"/>
-      <inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6" />
-    </inertial>
-  </link>
-
-
-  <joint name="gem_stereo_camera_joint" type="fixed">
-    <origin xyz="-0.045 0 0" rpy="-1.5708 3.1416 0"/>
-    <parent link="front_camera_link"/>
-    <child link="stereo_camera_link"/>
-  </joint>
-  -->
-  <!-- IMU -->
-  <link name="IMU_link">
-    <collision>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <box size="0.1 0.1 0.1"/>
-      </geometry>
-    </collision>
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <box size="0.1 0.1 0.1"/>
-      </geometry>
-      <material name="red"/>
-    </visual>
-    <inertial>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <mass value="1"/>
-      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
-    </inertial>
-  </link>
-  <joint name="IMU_joint" type="fixed">
-    <origin rpy="0 0 -1.5708" xyz="-0.246 0 0.05"/>
-    <parent link="base_link"/>
-    <child link="IMU_link"/>
-  </joint>
-  <!-- GPS -->
-  <link name="GPS_link">
-    <collision>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <box size="0.1 0.1 0.1"/>
-      </geometry>
-    </collision>
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <box size="0.1 0.1 0.1"/>
-      </geometry>
-      <material name="red"/>
-    </visual>
-    <inertial>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <mass value="1"/>
-      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
-    </inertial>
-  </link>
-  <joint name="GPS_joint" type="fixed">
-    <origin rpy="0 0 0" xyz="-0.246 0 0.05"/>
-    <parent link="base_link"/>
-    <child link="GPS_link"/>
-  </joint>
-  <!-- Front Sonar -->
-  <link name="front_sonar_link">
-    <inertial>
-      <mass value="0.001"/>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <inertia ixx="0.000000017" ixy="0" ixz="0" iyy="0.000000017" iyz="0" izz="0.000000017"/>
-    </inertial>
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <box size="0.05 0.2 0.1"/>
-      </geometry>
-      <material name="orange"/>
-    </visual>
-    <collision>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <box size="0.05 0.2 0.1"/>
-      </geometry>
-    </collision>
-  </link>
-  <joint name="front_sonar_joint" type="fixed">
-    <origin rpy="0 -1.5708 -1.5708" xyz="0 0.38 0.065"/>
-    <parent link="front_rack_link"/>
-    <child link="front_sonar_link"/>
-  </joint>
-  <!-- Rear Sonar -->
-  <link name="rear_sonar_link">
-    <inertial>
-      <mass value="0.001"/>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <inertia ixx="0.000000017" ixy="0" ixz="0" iyy="0.000000017" iyz="0" izz="0.000000017"/>
-    </inertial>
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <box size="0.05 0.2 0.1"/>
-      </geometry>
-      <material name="orange"/>
-    </visual>
-    <collision>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <box size="0.05 0.2 0.1"/>
-      </geometry>
-    </collision>
-  </link>
-  <joint name="rear_sonar_joint" type="fixed">
-    <origin rpy="0 -1.5708 -1.5708" xyz="0 0.38 0.065"/>
-    <parent link="rear_rack_link"/>
-    <child link="rear_sonar_link"/>
-  </joint>
-
-  <klampt use_vis_geom="1" default_acc_max="4" default_vel_max="2" >
-  </klampt>
-
-</robot>
diff --git a/GEMstack/onboard/visualization/sr_viz/threeD/legacy/public/models/model/gem_e4.urdf b/GEMstack/onboard/visualization/sr_viz/threeD/legacy/public/models/model/gem_e4.urdf
deleted file mode 100644
index 5ddb5a0eb..000000000
--- a/GEMstack/onboard/visualization/sr_viz/threeD/legacy/public/models/model/gem_e4.urdf
+++ /dev/null
@@ -1,919 +0,0 @@
-<?xml version="1.0" encoding="utf-8"?>
-
-<robot name="gem_e4">
-  
-  <link name="base_footprint"> 
-  </link>
-  
-  <link name="base_link">
-    <inertial>
-      <origin xyz="-0.01178 0.0012042 0.47962" rpy="0 0 0" />
-      <mass value="1950.5" />
-      <inertia
-        ixx="546.93"
-        ixy="-0.50772"
-        ixz="-13.079"
-        iyy="1803.2"
-        iyz="0.093832"
-        izz="1702.3" />
-    </inertial>
-    <visual>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <geometry>
-        <mesh filename="meshes/e4/base_link.STL" />
-      </geometry>
-      <material name="">
-        <color rgba="0 0 1 1" />
-      </material>
-    </visual>
-    <collision>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <geometry>
-        <mesh filename="meshes/e4/base_link.STL" />
-      </geometry>
-    </collision>
-  </link>
-  
-  <joint name="base_link" type="fixed">
-    <origin xyz="0 0 0.268" rpy="0 0 0"/>
-    <parent link="base_footprint"/>
-    <child link="base_link"/>
-  </joint>
-  
-  <!-- ************************************* Fixed Links ************************************* -->
-  
-  <link name="top_rack_link">
-    <inertial>
-      <!--
-      <origin xyz="-0.207 0 1.6989" rpy="0 0 0" />
-      -->
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <mass value="0" />
-      <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0" />
-    </inertial>
-    <visual>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <geometry>
-        <mesh filename="meshes/e4/top_rack_link.STL" />
-      </geometry>
-      <material name="">
-        <color rgba="0 0 0 1" />
-      </material>
-    </visual>
-    <collision>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <geometry>
-        <mesh filename="meshes/e4/top_rack_link.STL" />
-      </geometry>
-    </collision>
-  </link>
-  
-  <joint name="top_rack_joint" type="fixed">
-    <origin xyz="-0.17 0 1.66" rpy="1.5708 0 0" />
-    <parent link="base_link" />
-    <child link="top_rack_link" />
-    <axis xyz="0 0 0" />
-  </joint>
-
-  <link name="front_rack_link">
-    <inertial>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <mass value="0" />
-      <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0" />
-    </inertial>
-    <visual>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <geometry>
-        <mesh filename="meshes/e4/front_rack_link.STL" />
-      </geometry>
-      <material name="">
-        <color rgba="0 0 0 1" />
-      </material>
-    </visual>
-    <collision>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <geometry>
-        <mesh filename="meshes/e4/front_rack_link.STL" />
-      </geometry>
-    </collision>
-  </link>
-  
-  <joint name="front_rack_joint" type="fixed">
-    <origin xyz="1.7594 0 -0.15" rpy="1.5708 0 1.5708" />
-    <parent link="base_link" />
-    <child link="front_rack_link" />
-    <axis xyz="0 0 0" />
-  </joint>
-
-  <link name="rear_rack_link">
-    <inertial>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <mass value="0" />
-      <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0" />
-    </inertial>
-    <visual>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <geometry>
-        <mesh filename="meshes/e4/rear_rack_link.STL" />
-      </geometry>
-      <material name="">
-        <color rgba="0 0 0 1" />
-      </material>
-    </visual>
-    <collision>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <geometry>
-        <mesh filename="meshes/e4/rear_rack_link.STL" />
-      </geometry>
-    </collision>
-  </link>
-  
-  <joint name="rear_rack_joint" type="fixed">
-    <origin xyz="-1.7372 0 -0.1" rpy="1.5708 0 -1.5708" />
-    <parent link="base_link" />
-    <child link="rear_rack_link" />
-    <axis xyz="0 0 0" />
-  </joint>  
-  
-  <link name="headlight_fr_link">
-    <inertial>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <mass value="0" />
-      <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0" />
-    </inertial>
-    <visual>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <geometry>
-        <mesh filename="meshes/e4/headlight_fr_link.STL" />
-      </geometry>
-      <material name="">
-        <color rgba="1 1 1 1" />
-      </material>
-    </visual>
-    <collision>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <geometry>
-        <mesh filename="meshes/e4/headlight_fr_link.STL" />
-      </geometry>
-    </collision>
-  </link>
-  
-  <joint name="headlight_fr_joint" type="fixed">
-    <origin xyz="1.1677 -0.5 0.765" rpy="0 0 0" />
-    <parent link="base_link" />
-    <child link="headlight_fr_link" />
-    <axis xyz="0 0 0" />
-  </joint>
-  
-  <link name="headlight_fl_link">
-    <inertial>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <mass value="0" />
-      <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0" />
-    </inertial>
-    <visual>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <geometry>
-        <mesh filename="meshes/e4/headlight_fl_link.STL" />
-      </geometry>
-      <material name="">
-        <color rgba="1 1 1 1" />
-      </material>
-    </visual>
-    <collision>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <geometry>
-        <mesh filename="meshes/e4/headlight_fl_link.STL" />
-      </geometry>
-    </collision>
-  </link>
-  
-  <joint name="headlight_fl_joint" type="fixed">
-    <origin xyz="1.1677 0.5 0.765" rpy="0 0 0" />
-    <parent link="base_link" />
-    <child link="headlight_fl_link" />
-    <axis xyz="0 0 0" />
-  </joint>
-  
-  <link name="turnlight_fl_link">
-    <inertial>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <mass value="0" />
-      <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0" />
-    </inertial>
-    <visual>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <geometry>
-        <mesh filename="meshes/e4/turnlight_fl_link.STL" />
-      </geometry>
-      <material name="">
-        <color rgba="1 0.6 0.2 1" />
-      </material>
-    </visual>
-    <collision>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <geometry>
-        <mesh filename="meshes/e4/turnlight_fl_link.STL" />
-      </geometry>
-    </collision>
-  </link>
-  
-  <joint name="turnlight_fl_joint" type="fixed">
-    <origin xyz="1.1731 0.345 0.765" rpy="0 0 0" />
-    <parent link="base_link" />
-    <child link="turnlight_fl_link" />
-    <axis xyz="0 0 0" />
-  </joint>
-  
-  <link name="turnlight_fr_link">
-    <inertial>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <mass value="0" />
-      <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0" />
-    </inertial>
-    <visual>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <geometry>
-        <mesh filename="meshes/e4/turnlight_fr_link.STL" />
-      </geometry>
-      <material name="">
-        <color rgba="1 0.6 0.2 1" />
-      </material>
-    </visual>
-    <collision>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <geometry>
-        <mesh filename="meshes/e4/turnlight_fr_link.STL" />
-      </geometry>
-    </collision>
-  </link>
-  
-  <joint name="turnlight_fr_joint" type="fixed">
-    <origin xyz="1.1731 -0.345 0.765" rpy="0 0 0" />
-    <parent link="base_link" />
-    <child link="turnlight_fr_link" />
-    <axis xyz="0 0 0" />
-  </joint>
-  
-  <link name="lightbar_link">
-    <inertial>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <mass value="0" />
-      <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0" />
-    </inertial>
-    <visual>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <geometry>
-        <mesh filename="meshes/e4/lightbar_link.STL" />
-      </geometry>
-      <material name="">
-        <color rgba="1 0 0 1" />
-      </material>
-    </visual>
-    <collision>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <geometry>
-        <mesh filename="meshes/e4/lightbar_link.STL" />
-      </geometry>
-    </collision>
-  </link>
-  
-  <joint name="lightbar_joint" type="fixed">
-    <origin xyz="-1.07655 0 0.9449" rpy="-1.9138 0 1.5708" />
-    <origin xyz="0 0 0" rpy="0 0 0" />
-    <parent link="base_link" />
-    <child link="lightbar_link" />
-    <axis xyz="0 0 0" />
-  </joint>
-  
-  <link name="rear_left_stop_light_link">
-    <inertial>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <mass value="0" />
-      <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0" />
-    </inertial>
-    <visual>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <geometry>
-        <mesh filename="meshes/e4/stoplight_rl_link.STL" />
-      </geometry>
-      <material name="">
-        <color rgba="1 1 1 1" />
-      </material>
-    </visual>
-    <collision>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <geometry>
-        <mesh filename="meshes/e4/stoplight_rl_link.STL" />
-      </geometry>
-    </collision>
-  </link>
-  
-  <joint name="stoplight_rl_joint" type="fixed">
-    <origin xyz="-1.625 0.38 0.423" rpy="0 0 3.1416" />
-    <parent link="base_link" />
-    <child link="rear_left_stop_light_link" />
-    <axis xyz="0 0 0" />
-  </joint>
-  
-  <link name="rear_right_stop_light_link">
-    <inertial>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <mass value="0" />
-      <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0" />
-    </inertial>
-    <visual>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <geometry>
-        <mesh filename="meshes/e4/stoplight_rr_link.STL" />
-      </geometry>
-      <material name="">
-        <color rgba="1 1 1 1" />
-      </material>
-    </visual>
-    <collision>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <geometry>
-        <mesh filename="meshes/e4/stoplight_rr_link.STL" />
-      </geometry>
-    </collision>
-  </link>
-  
-  <joint name="stoplight_rr_joint" type="fixed">
-    <origin xyz="-1.625 -0.38 0.423" rpy="0 0 3.1416" />
-    <parent link="base_link" />
-    <child link="rear_right_stop_light_link" />
-    <axis xyz="0 0 0" />
-  </joint>
-
-  <link name="taillight_rl_link">
-    <inertial>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <mass value="0" />
-      <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0" />
-    </inertial>
-    <visual>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <geometry>
-        <mesh filename="meshes/e4/taillight_rl_link.STL" />
-      </geometry>
-      <material name="">
-        <color rgba="1 0 0 1" />
-      </material>
-    </visual>
-    <collision>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <geometry>
-        <mesh filename="meshes/e4/taillight_rl_link.STL" />
-      </geometry>
-    </collision>
-  </link>
-  
-  <joint name="taillight_rl_joint" type="fixed">
-    <origin xyz="-1.62 0.32 0.203" rpy="0 0 3.1416" />
-    <parent link="base_link" />
-    <child link="taillight_rl_link" />
-    <axis xyz="0 0 0" />
-  </joint>
-  
-  <link name="taillight_rr_link">
-    <inertial>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <mass value="0" />
-      <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0" />
-    </inertial>
-    <visual>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <geometry>
-        <mesh filename="meshes/e4/taillight_rr_link.STL" />
-      </geometry>
-      <material name="">
-        <color rgba="1 0 0 1" />
-      </material>
-    </visual>
-    <collision>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <geometry>
-        <mesh filename="meshes/e4/taillight_rr_link.STL" />
-      </geometry>
-    </collision>
-  </link>
-  
-  <joint name="taillight_rr_joint" type="fixed">
-    <origin xyz="-1.62 -0.32 0.203" rpy="0 0 3.1416" />
-    <parent link="base_link" />
-    <child link="taillight_rr_link" />
-    <axis xyz="0 0 0" />
-  </joint>  
- 
-  <link name="i_logo_fl_link">
-    <inertial>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <mass value="0" />
-      <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0" />
-    </inertial>
-    <visual>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <geometry>
-        <mesh filename="meshes/e4/i_logo_link.STL" />
-      </geometry>
-      <material name="">
-        <color rgba="1 0.6 0.2 1" />
-      </material>
-    </visual>
-    <collision>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <geometry>
-        <mesh filename="meshes/e4/i_logo_link.STL" />
-      </geometry>
-    </collision>
-  </link>
-  
-  <joint name="i_logo_fl_joint" type="fixed">
-    <origin xyz="0.3966 0.6695 0.4123" rpy="0 0 0" />
-    <parent link="base_link" />
-    <child link="i_logo_fl_link" />
-    <axis xyz="0 0 0" />
-  </joint>
-  
-  <link name="i_logo_rl_link">
-    <inertial>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <mass value="0" />
-      <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0" />
-    </inertial>
-    <visual>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <geometry>
-        <mesh filename="meshes/e4/i_logo_link.STL" />
-      </geometry>
-      <material name="">
-        <color rgba="1 0.6 0.2 1" />
-      </material>
-    </visual>
-    <collision>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <geometry>
-        <mesh filename="meshes/e4/i_logo_link.STL" />
-      </geometry>
-    </collision>
-  </link>
-  
-  <joint name="i_logo_rl_joint" type="fixed">
-    <origin xyz="-0.42344 0.6695 0.4123" rpy="0 0 0" />
-    <parent link="base_link" />
-    <child link="i_logo_rl_link" />
-    <axis xyz="0 0 0" />
-  </joint>  
-  
-  <link name="i_logo_fr_link">
-    <inertial>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <mass value="0" />
-      <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0" />
-    </inertial>
-    <visual>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <geometry>
-        <mesh filename="meshes/e4/i_logo_link.STL" />
-      </geometry>
-      <material name="">
-        <color rgba="1 0.6 0.2 1" />
-      </material>
-    </visual>
-    <collision>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <geometry>
-        <mesh filename="meshes/e4/i_logo_link.STL" />
-      </geometry>
-    </collision>
-  </link>
-  
-  <joint name="i_logo_fr_joint" type="fixed">
-    <origin xyz="0.3966 -0.68 0.4123" rpy="0 0 0" />
-    <parent link="base_link" />
-    <child link="i_logo_fr_link" />
-    <axis xyz="0 0 0" />
-  </joint>   
-  
-  <link name="i_logo_rr_link">
-    <inertial>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <mass value="0" />
-      <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0" />
-    </inertial>
-    <visual>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <geometry>
-        <mesh filename="meshes/e4/i_logo_link.STL" />
-      </geometry>
-      <material name="">
-        <color rgba="1 0.6 0.2 1" />
-      </material>
-    </visual>
-    <collision>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <geometry>
-        <mesh filename="meshes/e4/i_logo_link.STL" />
-      </geometry>
-    </collision>
-  </link>
-  
-  <joint name="i_logo_rr_joint" type="fixed">
-    <origin xyz="-0.42344 -0.68 0.4123" rpy="0 0 0" />
-    <parent link="base_link" />
-    <child link="i_logo_rr_link" />
-    <axis xyz="0 0 0" />
-  </joint>    
-  
-  <!-- ************************************* Sensor Links ************************************* -->
-  
-  <link name="gps_antenna_main_link">
-    <inertial>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <mass value="0" />
-      <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0" />
-    </inertial>
-    <visual>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <geometry>
-        <mesh filename="meshes/e4/gps_antenna_main_link.STL" />
-      </geometry>
-      <material name="">
-        <color rgba="0.9 0.8 0.9 1" />
-      </material>
-    </visual>
-    <collision>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <geometry>
-        <mesh filename="meshes/e4/gps_antenna_main_link.STL" />
-      </geometry>
-    </collision>
-  </link>
-  
-  <joint name="gps_antenna_main_joint" type="fixed">
-    <origin xyz="-0.01144 0.6525 1.7" rpy="0 0 0" />
-    <parent link="base_link" />
-    <child link="gps_antenna_main_link" />
-    <axis xyz="0 0 1" />
-  </joint>
-  
-  <link name="gps_antenna_aux_link">
-    <inertial>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <mass value="0" />
-      <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0" />
-    </inertial>
-    <visual>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <geometry>
-        <mesh filename="meshes/e4/gps_antenna_aux_link.STL" />
-      </geometry>
-      <material name="">
-        <color rgba="0.9 0.8 0.9 1" />
-      </material>
-    </visual>
-    <collision>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <geometry>
-        <mesh filename="meshes/e4/gps_antenna_aux_link.STL" />
-      </geometry>
-    </collision>
-  </link>
-  
-  <joint name="gps_antenna_aux_joint" type="fixed">
-    <origin xyz="-0.01144 -0.6525 1.7" rpy="0 0 0" />
-    <parent link="base_link" />
-    <child link="gps_antenna_aux_link" />
-    <axis xyz="0 0 1" />
-  </joint>  
-  
-  <link name="top_lidar_link">
-    <inertial>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <mass value="0" />
-      <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0" />
-    </inertial>
-    <visual>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <geometry>
-        <mesh filename="meshes/e4/top_lidar_link.STL" />
-      </geometry>
-      <material name="">
-        <color rgba="0.8 0.8 0.9 1" />
-      </material>
-    </visual>
-    <collision>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <geometry>
-        <mesh filename="meshes/e4/top_lidar_link.STL" />
-      </geometry>
-    </collision>
-  </link>
-  
-  <joint name="top_lidar_joint" type="fixed">
-    <origin xyz="-0.15144 0 2.08" rpy="0 0 0" />
-    <parent link="base_link" />
-    <child link="top_lidar_link" />
-    <axis xyz="0 0 0" />
-  </joint>  
-  
-  <link name="front_camera_link">
-    <inertial>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <mass value="0" />
-      <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0" />
-    </inertial>
-    <visual>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <geometry>
-        <mesh filename="meshes/e4/front_camera_link.STL" />
-      </geometry>
-      <material name="">
-        <color rgba="0.8 0.8 0.9 1" />
-      </material>
-    </visual>
-    <collision>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <geometry>
-        <mesh filename="meshes/e4/front_camera_link.STL" />
-      </geometry>
-    </collision>
-  </link>
-  
-  <joint name="front_camera_joint" type="fixed">
-    <origin xyz="0.535 0 1.683" rpy="0 1.5708 0" />
-    <parent link="base_link" />
-    <child link="front_camera_link" />
-    <axis xyz="0 0 0" />
-  </joint>
-  
-  <link name="front_lidar_link">
-    <inertial>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <mass value="0" />
-      <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0" />
-    </inertial>
-    <visual>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <geometry>
-        <mesh filename="meshes/e4/front_lidar_link.STL" />
-      </geometry>
-      <material name="">
-        <color rgba="0.8 0.8 0.9 1" />
-      </material>
-    </visual>
-    <collision>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <geometry>
-        <mesh filename="meshes/e4/front_lidar_link.STL" />
-      </geometry>
-    </collision>
-  </link>
-  
-  <joint name="front_lidar_joint" type="fixed">
-    <origin xyz="0.38206 0 1.71" rpy="0 0 0" />
-    <parent link="base_link" />
-    <child link="front_lidar_link" />
-    <axis xyz="0 0 0" />
-  </joint>  
-  
-  <link name="front_radar_link">
-    <inertial>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <mass value="0" />
-      <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0" />
-    </inertial>
-    <visual>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <geometry>
-        <mesh filename="meshes/e4/front_radar_link.STL" />
-      </geometry>
-      <material name="">
-        <color rgba="0.8 0.8 0.9 1" />
-      </material>
-    </visual>
-    <collision>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <geometry>
-        <mesh filename="meshes/e4/front_radar_link.STL" />
-      </geometry>
-    </collision>
-  </link>
-  
-  <joint name="front_radar_joint" type="fixed">
-    <origin xyz="1.835 0 0.35" rpy="0 0 0" />
-    <parent link="base_link" />
-    <child link="front_radar_link" />
-    <axis xyz="0 0 0" />
-  </joint>    
-  
-  <link name="imu_link">
-    <inertial>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <mass value="0" />
-      <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0" />
-    </inertial>
-    <visual>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <geometry>
-        <mesh filename="meshes/e4/imu_link.STL" />
-      </geometry>
-      <material name="">
-        <color rgba="0.8 0.8 0.9 1" />
-      </material>
-    </visual>
-    <collision>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <geometry>
-        <mesh filename="meshes/e4/imu_link.STL" />
-      </geometry>
-    </collision>
-  </link>
-  
-  <joint name="imu_joint" type="fixed">
-    <origin xyz="-0.0044387 0 0.18294" rpy="0 0 0" />
-    <parent link="base_link" />
-    <child link="imu_link" />
-    <axis xyz="0 0 0" />
-  </joint>  
-  
-  <!-- *********************************** Front Left Wheel *********************************** -->
-  
-  <link name="left_steering_hinge_link">
-    <inertial>
-      <mass value="1"/>
-      <origin xyz="0 0 0" rpy="0 0 0"/>
-      <inertia ixx="0.004" ixy="0.0" ixz="0.0" iyy="0.004" iyz="0.0" izz="0.004"/>
-    </inertial>
-  </link>
-
-  <joint name="left_steering_hinge_joint" type="revolute">
-    <parent link="base_link"/>
-    <child link="left_steering_hinge_link"/>
-    <origin xyz="1.2746 0.6545 0.027" rpy="0 0 0"/>    
-    <axis xyz="0 0 1" />
-    <limit lower="-0.61" upper="0.61" effort="100" velocity="0.5"/>
-  </joint>
-  
-  <link name="wheel_link_fl">
-    <inertial>
-      <mass value="11"/>
-      <origin xyz="0 0 0"/>
-      <inertia ixx="0.58631238" ixy="0.0" ixz="0.0" iyy="0.33552910" iyz="0.0" izz="0.33552910"/>
-    </inertial>
-    <visual>
-      <origin xyz="0 0 0" rpy="0 0 0"/>
-      <geometry>
-        <mesh filename="meshes/e4/wheel_link_fl.STL"/>
-      </geometry>
-      <material name="">
-        <color rgba="0 0 0 1" />
-      </material>
-    </visual>
-    <collision name="front_left_wheel_collision">
-      <geometry>
-        <sphere radius="0.295"/>
-      </geometry>
-    </collision>
-  </link>
-
-  <joint name="wheel_joint_fl" type="continuous">
-    <parent link="left_steering_hinge_link"/>
-    <child link="wheel_link_fl"/>
-    <origin xyz="0 0 0" rpy="0 0 0"/>
-    <axis xyz="0 1 0"/>
-    <limit effort="1000" velocity="100.0"/>
-  </joint>
-  
-  <!-- ********************************** Front Right Wheel ********************************** -->
-  
-  <link name="right_steering_hinge_link">
-    <inertial>
-      <mass value="1"/>
-      <origin xyz="0 0 0" rpy="0 0 0"/>
-      <inertia ixx="0.004" ixy="0.0" ixz="0.0" iyy="0.004" iyz="0.0" izz="0.004"/>
-    </inertial>
-  </link>
-
-  <joint name="right_steering_hinge_joint" type="revolute">
-    <parent link="base_link"/>
-    <child link="right_steering_hinge_link"/>
-    <origin xyz="1.2746 -0.6535 0.027" rpy="0 0 0"/>
-    <axis xyz="0 0 1" />
-    <limit lower="-0.61" upper="0.61" effort="100" velocity="0.5"/>
-  </joint>
-  
-  <link name="wheel_link_fr">
-    <inertial>
-      <mass value="11"/>
-      <origin xyz="0 0 0"/>
-      <inertia ixx="0.58631238" ixy="0.0" ixz="0.0" iyy="0.33552910" iyz="0.0" izz="0.33552910"/>
-    </inertial>
-    <visual>
-      <origin xyz="0 0 0" rpy="0 0 0"/>
-      <geometry>
-        <mesh filename="meshes/e4/wheel_link_fr.STL"/>
-      </geometry>
-      <material name="">
-        <color rgba="0 0 0 1" />
-      </material>
-    </visual>
-    <collision name="front_right_wheel_collision">
-      <geometry>
-        <sphere radius="0.295"/>
-      </geometry>
-    </collision>
-  </link>
-
-  <joint name="wheel_joint_fr" type="continuous">
-    <parent link="right_steering_hinge_link"/>
-    <child link="wheel_link_fr"/>
-    <origin xyz="0 0 0" rpy="0 0 0"/>  
-    <axis xyz="0 1 0"/>
-    <limit effort="1000" velocity="100.0"/>
-  </joint>
-  
-  <!-- ************************************ Rear Left Wheel ************************************ -->
-  
-  <link name="wheel_link_rl">
-    <inertial>
-      <mass value="11"/>
-      <origin xyz="0 0 0"/>
-      <inertia ixx="0.58631238" ixy="0.0" ixz="0.0" iyy="0.33552910" iyz="0.0" izz="0.33552910"/>
-    </inertial>
-    <visual>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <geometry>
-        <mesh filename="meshes/e4/wheel_link_rl.STL"  />
-      </geometry>
-      <material name="">
-        <color rgba="0 0 0 1" />
-      </material>
-    </visual>
-    <collision name="rear_left_wheel_collision">
-      <geometry>
-        <sphere radius="0.295"/>
-      </geometry>
-    </collision>
-  </link>  
-  
-  <joint name="wheel_joint_rl" type="continuous">
-    <origin xyz="-1.2904 0.6545 0.027" rpy="0 0 0" /> 
-    <parent link="base_link" />
-    <child link="wheel_link_rl" />
-    <axis xyz="0 1 0" />
-    <limit effort="1000.0" velocity="100.0"/>
-  </joint>
-  
-  <!-- *********************************** Rear Right Wheel *********************************** -->
-
-  <link name="wheel_link_rr">
-    <inertial>
-      <mass value="11"/>
-      <origin xyz="0 0 0"/>
-      <inertia ixx="0.58631238" ixy="0.0" ixz="0.0" iyy="0.33552910" iyz="0.0" izz="0.33552910"/>
-    </inertial>
-    <visual>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <geometry>
-        <mesh filename="meshes/e4/wheel_link_rr.STL" />
-      </geometry>
-      <material name="">
-        <color rgba="0 0 0 1" />
-      </material>
-    </visual>
-    <collision name="rear_right_wheel_collision">
-      <geometry>
-        <sphere radius="0.295"/>
-      </geometry>
-    </collision>
-  </link>
-
-  <joint name="wheel_joint_rr" type="continuous">
-    <origin xyz="-1.2904 -0.6535 0.027" rpy="0 0 0" />
-    <parent link="base_link" />
-    <child link="wheel_link_rr" />
-    <axis xyz="0 1 0" />
-    <limit effort="1000.0" velocity="100.0"/>
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-  <!-- **************************************************************************************** -->
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diff --git a/GEMstack/onboard/visualization/sr_viz/threeD/legacy/public/models/model/meshes/rear_right_emergency_button_link.STL b/GEMstack/onboard/visualization/sr_viz/threeD/legacy/public/models/model/meshes/rear_right_emergency_button_link.STL
deleted file mode 100755
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diff --git a/GEMstack/onboard/visualization/sr_viz/threeD/legacy/public/models/model/meshes/rear_right_light_link.STL b/GEMstack/onboard/visualization/sr_viz/threeD/legacy/public/models/model/meshes/rear_right_light_link.STL
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diff --git a/GEMstack/onboard/visualization/sr_viz/threeD/legacy/public/models/model/meshes/rear_right_stop_light_link.STL b/GEMstack/onboard/visualization/sr_viz/threeD/legacy/public/models/model/meshes/rear_right_stop_light_link.STL
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diff --git a/GEMstack/onboard/visualization/sr_viz/threeD/legacy/public/models/model/meshes/rear_right_wheel_link.STL b/GEMstack/onboard/visualization/sr_viz/threeD/legacy/public/models/model/meshes/rear_right_wheel_link.STL
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diff --git a/GEMstack/onboard/visualization/sr_viz/threeD/legacy/public/models/model/meshes/right_I_link.STL b/GEMstack/onboard/visualization/sr_viz/threeD/legacy/public/models/model/meshes/right_I_link.STL
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diff --git a/GEMstack/onboard/visualization/sr_viz/threeD/legacy/public/models/model/meshes/right_antenna_link.STL b/GEMstack/onboard/visualization/sr_viz/threeD/legacy/public/models/model/meshes/right_antenna_link.STL
deleted file mode 100755
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diff --git a/GEMstack/onboard/visualization/sr_viz/threeD/legacy/public/models/model/meshes/right_blue_outer_link.STL b/GEMstack/onboard/visualization/sr_viz/threeD/legacy/public/models/model/meshes/right_blue_outer_link.STL
deleted file mode 100755
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diff --git a/GEMstack/onboard/visualization/sr_viz/threeD/legacy/public/models/model/meshes/right_fixed_hinge_link.STL b/GEMstack/onboard/visualization/sr_viz/threeD/legacy/public/models/model/meshes/right_fixed_hinge_link.STL
deleted file mode 100755
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diff --git a/GEMstack/onboard/visualization/sr_viz/threeD/legacy/public/models/model/meshes/right_steering_hinge_link.STL b/GEMstack/onboard/visualization/sr_viz/threeD/legacy/public/models/model/meshes/right_steering_hinge_link.STL
deleted file mode 100755
index 01cb60e1b..000000000
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diff --git a/GEMstack/onboard/visualization/sr_viz/threeD/legacy/public/models/model/meshes/top_rack_link.STL b/GEMstack/onboard/visualization/sr_viz/threeD/legacy/public/models/model/meshes/top_rack_link.STL
deleted file mode 100755
index 33cbd12b1..000000000
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diff --git a/GEMstack/onboard/visualization/sr_viz/threeD/legacy/public/models/model/plane.off b/GEMstack/onboard/visualization/sr_viz/threeD/legacy/public/models/model/plane.off
deleted file mode 100644
index 5ce7162d9..000000000
--- a/GEMstack/onboard/visualization/sr_viz/threeD/legacy/public/models/model/plane.off
+++ /dev/null
@@ -1,8 +0,0 @@
-OFF
-4 2 0
--5.000000 -5.000000 0.000000
--5.000000 5.000000 0.000000
-5.000000 -5.000000 0.000000
-5.000000 5.000000 0.000000
-3 0 2 1
-3 1 2 3
diff --git a/GEMstack/onboard/visualization/sr_viz/threeD/legacy/public/models/roadster.glb b/GEMstack/onboard/visualization/sr_viz/threeD/legacy/public/models/roadster.glb
deleted file mode 100644
index df678011d..000000000
Binary files a/GEMstack/onboard/visualization/sr_viz/threeD/legacy/public/models/roadster.glb and /dev/null differ
diff --git a/GEMstack/onboard/visualization/sr_viz/threeD/legacy/public/robots.txt b/GEMstack/onboard/visualization/sr_viz/threeD/legacy/public/robots.txt
deleted file mode 100644
index 8b1378917..000000000
--- a/GEMstack/onboard/visualization/sr_viz/threeD/legacy/public/robots.txt
+++ /dev/null
@@ -1 +0,0 @@
-
diff --git a/GEMstack/onboard/visualization/sr_viz/threeD/legacy/public/textures/ground_grey_diff_1k.jpg b/GEMstack/onboard/visualization/sr_viz/threeD/legacy/public/textures/ground_grey_diff_1k.jpg
deleted file mode 100644
index 6901ddd40..000000000
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diff --git a/GEMstack/onboard/visualization/sr_viz/threeD/legacy/public/textures/ground_grey_nor_gl_1k.jpg b/GEMstack/onboard/visualization/sr_viz/threeD/legacy/public/textures/ground_grey_nor_gl_1k.jpg
deleted file mode 100644
index 242b35b8a..000000000
Binary files a/GEMstack/onboard/visualization/sr_viz/threeD/legacy/public/textures/ground_grey_nor_gl_1k.jpg and /dev/null differ
diff --git a/GEMstack/onboard/visualization/sr_viz/threeD/legacy/public/textures/ground_grey_rough_1k.jpg b/GEMstack/onboard/visualization/sr_viz/threeD/legacy/public/textures/ground_grey_rough_1k.jpg
deleted file mode 100644
index 318a6f224..000000000
Binary files a/GEMstack/onboard/visualization/sr_viz/threeD/legacy/public/textures/ground_grey_rough_1k.jpg and /dev/null differ
diff --git a/GEMstack/onboard/visualization/sr_viz/threeD/legacy/server/tsconfig.json b/GEMstack/onboard/visualization/sr_viz/threeD/legacy/server/tsconfig.json
deleted file mode 100644
index b9ed69c19..000000000
--- a/GEMstack/onboard/visualization/sr_viz/threeD/legacy/server/tsconfig.json
+++ /dev/null
@@ -1,3 +0,0 @@
-{
-  "extends": "../.nuxt/tsconfig.server.json"
-}
diff --git a/GEMstack/onboard/visualization/sr_viz/threeD/legacy/test.js b/GEMstack/onboard/visualization/sr_viz/threeD/legacy/test.js
deleted file mode 100644
index e69de29bb..000000000
diff --git a/GEMstack/onboard/visualization/sr_viz/threeD/legacy/tsconfig.json b/GEMstack/onboard/visualization/sr_viz/threeD/legacy/tsconfig.json
deleted file mode 100644
index a746f2a70..000000000
--- a/GEMstack/onboard/visualization/sr_viz/threeD/legacy/tsconfig.json
+++ /dev/null
@@ -1,4 +0,0 @@
-{
-  // https://nuxt.com/docs/guide/concepts/typescript
-  "extends": "./.nuxt/tsconfig.json"
-}
diff --git a/GEMstack/onboard/visualization/sr_viz/threeD/legacy/uno.config.ts b/GEMstack/onboard/visualization/sr_viz/threeD/legacy/uno.config.ts
deleted file mode 100644
index 29cf9773a..000000000
--- a/GEMstack/onboard/visualization/sr_viz/threeD/legacy/uno.config.ts
+++ /dev/null
@@ -1,34 +0,0 @@
-// uno.config.ts
-import {
-    defineConfig,
-    presetAttributify,
-    presetIcons,
-    presetTypography,
-    presetUno,
-    presetWebFonts,
-    transformerDirectives,
-    transformerVariantGroup,
-} from "unocss";
-
-export default defineConfig({
-    shortcuts: [
-        // ...
-    ],
-    theme: {
-        colors: {
-            // ...
-        },
-    },
-    presets: [
-        presetUno(),
-        presetAttributify(),
-        presetIcons(),
-        presetTypography(),
-        presetWebFonts({
-            fonts: {
-                // ...
-            },
-        }),
-    ],
-    transformers: [transformerDirectives(), transformerVariantGroup()],
-});
diff --git a/GEMstack/onboard/visualization/sr_viz/threeD/legacy/utils/constants.js b/GEMstack/onboard/visualization/sr_viz/threeD/legacy/utils/constants.js
deleted file mode 100644
index 1665a4c5b..000000000
--- a/GEMstack/onboard/visualization/sr_viz/threeD/legacy/utils/constants.js
+++ /dev/null
@@ -1,14 +0,0 @@
-export const HUMAN_BODY_RATIOS = {
-    head: 1 / 8,
-    body: 3 / 8,
-    arm: 3 / 8,
-    leg: 4 / 8,
-};
-
-export const HUMAN_TO_CAR_HEIGHT_RATIO = 1.2;
-// export const CAR_MODEL_PATH = "/models/model/gem_e4.urdf";
-export const CAR_MODEL_PATH = "/models/roadster.glb";
-export const TRAFFIC_LIGHT_MODEL_PATH = "/models/Traffic Light_01.glb";
-export const STREET_LIGHT_MODEL_PATH = "/models/StreetLightPoles.glb";
-export const ENV_MAP_PATH = "/textures/env/";
-export const ENV_MAP_NAME = "Tropical_Ruins.hdr";
\ No newline at end of file
diff --git a/GEMstack/onboard/visualization/sr_viz/threeD/legacy/utils/converted_for_threejs.json b/GEMstack/onboard/visualization/sr_viz/threeD/legacy/utils/converted_for_threejs.json
deleted file mode 100644
index 445ecac01..000000000
--- a/GEMstack/onboard/visualization/sr_viz/threeD/legacy/utils/converted_for_threejs.json
+++ /dev/null
@@ -1,56143 +0,0 @@
-{
-  "framerate": 60,
-  "totalFrames": 883,
-  "data": [
-    {
-      "render_frame": 0,
-      "timestamp": 1739683968.6830168,
-      "objects": [
-        {
-          "type": "vehicle",
-          "id": 0,
-          "frame": 3,
-          "position": [
-            4.0,
-            5.0,
-            0
-          ],
-          "steering_wheel_angle": 0.0,
-          "velocity": 0.0,
-          "acceleration": 0.0,
-          "rotation": [
-            0,
-            0,
-            0
-          ],
-          "misc": {
-            "accelerator_pedal_position": 0,
-            "brake_pedal_position": 0.0,
-            "front_wheel_angle": 0.0,
-            "heading_rate": 0.0,
-            "gear": -1,
-            "left_turn_indicator": false,
-            "right_turn_indicator": false,
-            "headlights_on": false,
-            "horn_on": false,
-            "wiper_level": 0
-          }
-        }
-      ]
-    },
-    {
-      "render_frame": 1,
-      "timestamp": 1739683968.7130167,
-      "objects": [
-        {
-          "type": "vehicle",
-          "id": 0,
-          "frame": 3,
-          "position": [
-            4.0,
-            5.0,
-            0
-          ],
-          "steering_wheel_angle": 0.0,
-          "velocity": 0.0,
-          "acceleration": 0.0,
-          "rotation": [
-            0,
-            0,
-            0
-          ],
-          "misc": {
-            "accelerator_pedal_position": 0,
-            "brake_pedal_position": 0.0,
-            "front_wheel_angle": 0.0,
-            "heading_rate": 0.0,
-            "gear": -1,
-            "left_turn_indicator": false,
-            "right_turn_indicator": false,
-            "headlights_on": false,
-            "horn_on": false,
-            "wiper_level": 0
-          }
-        }
-      ]
-    },
-    {
-      "render_frame": 2,
-      "timestamp": 1739683968.7330167,
-      "objects": [
-        {
-          "type": "vehicle",
-          "id": 0,
-          "frame": 0,
-          "position": [
-            0.0,
-            0.0,
-            0
-          ],
-          "steering_wheel_angle": 0.0,
-          "velocity": 0.0,
-          "acceleration": 0.0,
-          "rotation": [
-            0,
-            0,
-            0
-          ],
-          "misc": {
-            "accelerator_pedal_position": 0,
-            "brake_pedal_position": 0.0,
-            "front_wheel_angle": 0.0,
-            "heading_rate": 0.0,
-            "gear": -1,
-            "left_turn_indicator": false,
-            "right_turn_indicator": false,
-            "headlights_on": false,
-            "horn_on": false,
-            "wiper_level": 0
-          }
-        }
-      ]
-    },
-    {
-      "render_frame": 3,
-      "timestamp": 1739683968.7530167,
-      "objects": [
-        {
-          "type": "vehicle",
-          "id": 0,
-          "frame": 0,
-          "position": [
-            0.0,
-            0.0,
-            0
-          ],
-          "steering_wheel_angle": 0.0,
-          "velocity": 0.0,
-          "acceleration": 0.0,
-          "rotation": [
-            0,
-            0,
-            0
-          ],
-          "misc": {
-            "accelerator_pedal_position": 0,
-            "brake_pedal_position": 0.0,
-            "front_wheel_angle": 0.0,
-            "heading_rate": 0.0,
-            "gear": -1,
-            "left_turn_indicator": false,
-            "right_turn_indicator": false,
-            "headlights_on": false,
-            "horn_on": false,
-            "wiper_level": 0
-          }
-        }
-      ]
-    },
-    {
-      "render_frame": 4,
-      "timestamp": 1739683968.7730167,
-      "objects": [
-        {
-          "type": "vehicle",
-          "id": 0,
-          "frame": 0,
-          "position": [
-            0.0,
-            0.0,
-            0
-          ],
-          "steering_wheel_angle": 0.0,
-          "velocity": 0.0,
-          "acceleration": 0.0,
-          "rotation": [
-            0,
-            0,
-            0
-          ],
-          "misc": {
-            "accelerator_pedal_position": 0,
-            "brake_pedal_position": 0.0,
-            "front_wheel_angle": 0.0,
-            "heading_rate": 0.0,
-            "gear": -1,
-            "left_turn_indicator": false,
-            "right_turn_indicator": false,
-            "headlights_on": false,
-            "horn_on": false,
-            "wiper_level": 0
-          }
-        }
-      ]
-    },
-    {
-      "render_frame": 5,
-      "timestamp": 1739683968.7930167,
-      "objects": [
-        {
-          "type": "vehicle",
-          "id": 0,
-          "frame": 0,
-          "position": [
-            0.0,
-            0.0,
-            0
-          ],
-          "steering_wheel_angle": 0.0,
-          "velocity": 0.0,
-          "acceleration": 0.0,
-          "rotation": [
-            0,
-            0,
-            0
-          ],
-          "misc": {
-            "accelerator_pedal_position": 0,
-            "brake_pedal_position": 0.0,
-            "front_wheel_angle": 0.0,
-            "heading_rate": 0.0,
-            "gear": -1,
-            "left_turn_indicator": false,
-            "right_turn_indicator": false,
-            "headlights_on": false,
-            "horn_on": false,
-            "wiper_level": 0
-          }
-        }
-      ]
-    },
-    {
-      "render_frame": 6,
-      "timestamp": 1739683968.8130167,
-      "objects": [
-        {
-          "type": "vehicle",
-          "id": 0,
-          "frame": 3,
-          "position": [
-            4.003595169735893,
-            5.0,
-            0
-          ],
-          "steering_wheel_angle": 0.0,
-          "velocity": 0.07981842311360376,
-          "acceleration": 0.7959453690376366,
-          "rotation": [
-            0,
-            0,
-            0
-          ],
-          "misc": {
-            "accelerator_pedal_position": 0.36000000000000004,
-            "brake_pedal_position": 0.0,
-            "front_wheel_angle": 0.0,
-            "heading_rate": 0.0,
-            "gear": 1,
-            "left_turn_indicator": false,
-            "right_turn_indicator": false,
-            "headlights_on": false,
-            "horn_on": false,
-            "wiper_level": 0
-          }
-        }
-      ]
-    },
-    {
-      "render_frame": 7,
-      "timestamp": 1739683968.8330166,
-      "objects": [
-        {
-          "type": "vehicle",
-          "id": 0,
-          "frame": 0,
-          "position": [
-            0.0035951697358926893,
-            0.0,
-            0
-          ],
-          "steering_wheel_angle": 0.0,
-          "velocity": 0.07981842311360376,
-          "acceleration": 0.7959453690376366,
-          "rotation": [
-            0,
-            0,
-            0
-          ],
-          "misc": {
-            "accelerator_pedal_position": 0.36000000000000004,
-            "brake_pedal_position": 0.0,
-            "front_wheel_angle": 0.0,
-            "heading_rate": 0.0,
-            "gear": 1,
-            "left_turn_indicator": false,
-            "right_turn_indicator": false,
-            "headlights_on": false,
-            "horn_on": false,
-            "wiper_level": 0
-          }
-        }
-      ]
-    },
-    {
-      "render_frame": 8,
-      "timestamp": 1739683968.8530166,
-      "objects": [
-        {
-          "type": "vehicle",
-          "id": 0,
-          "frame": 0,
-          "position": [
-            0.0035951697358926893,
-            0.0,
-            0
-          ],
-          "steering_wheel_angle": 0.0,
-          "velocity": 0.07981842311360376,
-          "acceleration": 0.7959453690376366,
-          "rotation": [
-            0,
-            0,
-            0
-          ],
-          "misc": {
-            "accelerator_pedal_position": 0.36000000000000004,
-            "brake_pedal_position": 0.0,
-            "front_wheel_angle": 0.0,
-            "heading_rate": 0.0,
-            "gear": 1,
-            "left_turn_indicator": false,
-            "right_turn_indicator": false,
-            "headlights_on": false,
-            "horn_on": false,
-            "wiper_level": 0
-          }
-        }
-      ]
-    },
-    {
-      "render_frame": 9,
-      "timestamp": 1739683968.8730166,
-      "objects": [
-        {
-          "type": "vehicle",
-          "id": 0,
-          "frame": 0,
-          "position": [
-            0.0035951697358926893,
-            0.0,
-            0
-          ],
-          "steering_wheel_angle": 0.0,
-          "velocity": 0.07981842311360376,
-          "acceleration": 0.7959453690376366,
-          "rotation": [
-            0,
-            0,
-            0
-          ],
-          "misc": {
-            "accelerator_pedal_position": 0.36000000000000004,
-            "brake_pedal_position": 0.0,
-            "front_wheel_angle": 0.0,
-            "heading_rate": 0.0,
-            "gear": 1,
-            "left_turn_indicator": false,
-            "right_turn_indicator": false,
-            "headlights_on": false,
-            "horn_on": false,
-            "wiper_level": 0
-          }
-        }
-      ]
-    },
-    {
-      "render_frame": 10,
-      "timestamp": 1739683968.8930166,
-      "objects": [
-        {
-          "type": "vehicle",
-          "id": 0,
-          "frame": 0,
-          "position": [
-            0.0035951697358926893,
-            0.0,
-            0
-          ],
-          "steering_wheel_angle": 0.0,
-          "velocity": 0.07981842311360376,
-          "acceleration": 0.7959453690376366,
-          "rotation": [
-            0,
-            0,
-            0
-          ],
-          "misc": {
-            "accelerator_pedal_position": 0.36000000000000004,
-            "brake_pedal_position": 0.0,
-            "front_wheel_angle": 0.0,
-            "heading_rate": 0.0,
-            "gear": 1,
-            "left_turn_indicator": false,
-            "right_turn_indicator": false,
-            "headlights_on": false,
-            "horn_on": false,
-            "wiper_level": 0
-          }
-        }
-      ]
-    },
-    {
-      "render_frame": 11,
-      "timestamp": 1739683968.9130166,
-      "objects": [
-        {
-          "type": "vehicle",
-          "id": 0,
-          "frame": 0,
-          "position": [
-            0.0035951697358926893,
-            0.0,
-            0
-          ],
-          "steering_wheel_angle": 0.0,
-          "velocity": 0.07981842311360376,
-          "acceleration": 0.7959453690376366,
-          "rotation": [
-            0,
-            0,
-            0
-          ],
-          "misc": {
-            "accelerator_pedal_position": 0.36000000000000004,
-            "brake_pedal_position": 0.0,
-            "front_wheel_angle": 0.0,
-            "heading_rate": 0.0,
-            "gear": 1,
-            "left_turn_indicator": false,
-            "right_turn_indicator": false,
-            "headlights_on": false,
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-            "yaw_rate": 0
-          }
-        },
-        {
-          "type": "pedestrian",
-          "id": 2,
-          "frame": 1,
-          "position": [
-            9.373502776448303,
-            10.064766339315506,
-            0
-          ],
-          "velocity": [
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-          "rotation": [
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-          "misc": {
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-            "type": 3,
-            "activity": 1,
-            "velocity": [
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-            "yaw_rate": 0
-          }
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-        {
-          "type": "pedestrian",
-          "id": 3,
-          "frame": 1,
-          "position": [
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-            -1.6590276811808466,
-            0
-          ],
-          "velocity": [
-            0,
-            0,
-            0
-          ],
-          "acceleration": 0,
-          "rotation": [
-            0,
-            0,
-            0
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-          "misc": {
-            "dimensions": [
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-            "yaw_rate": 0
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-        {
-          "type": "pedestrian",
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-            "type": 3,
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-            "yaw_rate": 0
-          }
-        },
-        {
-          "type": "pedestrian",
-          "id": 5,
-          "frame": 1,
-          "position": [
-            6.338444660809318,
-            5.041661679146126,
-            0
-          ],
-          "velocity": [
-            0,
-            0,
-            0
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-          "acceleration": 0,
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-            0,
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-            "yaw_rate": 0
-          }
-        },
-        {
-          "type": "traffic_light",
-          "id": 0,
-          "frame": 3,
-          "position": [
-            -2.0730895057655374,
-            -9.366847892625884,
-            0
-          ],
-          "misc": {
-            "frame": 3,
-            "orientation": -1.57,
-            "bounding_box": {
-              "width": 0.4,
-              "height": 1.2
-            },
-            "color": [
-              0,
-              255,
-              0
-            ],
-            "state": "GREEN"
-          }
-        }
-      ]
-    },
-    {
-      "render_frame": 878,
-      "timestamp": 1739683989.0129974,
-      "objects": [
-        {
-          "type": "vehicle",
-          "id": 0,
-          "frame": 0,
-          "position": [
-            15.917121403697998,
-            0.0,
-            0
-          ],
-          "steering_wheel_angle": 0.0,
-          "velocity": 0.029999999999999888,
-          "acceleration": -1.994313,
-          "rotation": [
-            0,
-            0,
-            0
-          ],
-          "misc": {
-            "accelerator_pedal_position": 0,
-            "brake_pedal_position": 0.2241005,
-            "front_wheel_angle": 0.0,
-            "heading_rate": 0.0,
-            "gear": 1,
-            "left_turn_indicator": false,
-            "right_turn_indicator": false,
-            "headlights_on": false,
-            "horn_on": false,
-            "wiper_level": 0
-          }
-        }
-      ]
-    },
-    {
-      "render_frame": 879,
-      "timestamp": 1739683989.0329974,
-      "objects": [
-        {
-          "type": "vehicle",
-          "id": 0,
-          "frame": 0,
-          "position": [
-            15.917121403697998,
-            0.0,
-            0
-          ],
-          "steering_wheel_angle": 0.0,
-          "velocity": 0.029999999999999888,
-          "acceleration": -1.994313,
-          "rotation": [
-            0,
-            0,
-            0
-          ],
-          "misc": {
-            "accelerator_pedal_position": 0,
-            "brake_pedal_position": 0.2241005,
-            "front_wheel_angle": 0.0,
-            "heading_rate": 0.0,
-            "gear": 1,
-            "left_turn_indicator": false,
-            "right_turn_indicator": false,
-            "headlights_on": false,
-            "horn_on": false,
-            "wiper_level": 0
-          }
-        }
-      ]
-    },
-    {
-      "render_frame": 880,
-      "timestamp": 1739683989.0529974,
-      "objects": [
-        {
-          "type": "vehicle",
-          "id": 0,
-          "frame": 3,
-          "position": [
-            19.917721403697996,
-            5.0,
-            0
-          ],
-          "steering_wheel_angle": 0.0,
-          "velocity": 0.0,
-          "acceleration": 0.0,
-          "rotation": [
-            0,
-            0,
-            0
-          ],
-          "misc": {
-            "accelerator_pedal_position": 0,
-            "brake_pedal_position": 0.224811375,
-            "front_wheel_angle": 0.0,
-            "heading_rate": 0.0,
-            "gear": -1,
-            "left_turn_indicator": false,
-            "right_turn_indicator": false,
-            "headlights_on": false,
-            "horn_on": false,
-            "wiper_level": 0
-          }
-        }
-      ]
-    },
-    {
-      "render_frame": 881,
-      "timestamp": 1739683989.0729973,
-      "objects": [
-        {
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-          "id": 0,
-          "frame": 0,
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-            15.917721403697996,
-            0.0,
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-          "steering_wheel_angle": 0.0,
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-          "acceleration": 0.0,
-          "rotation": [
-            0,
-            0,
-            0
-          ],
-          "misc": {
-            "accelerator_pedal_position": 0,
-            "brake_pedal_position": 0.224811375,
-            "front_wheel_angle": 0.0,
-            "heading_rate": 0.0,
-            "gear": -1,
-            "left_turn_indicator": false,
-            "right_turn_indicator": false,
-            "headlights_on": false,
-            "horn_on": false,
-            "wiper_level": 0
-          }
-        }
-      ]
-    },
-    {
-      "render_frame": 882,
-      "timestamp": 1739683989.0929973,
-      "objects": [
-        {
-          "type": "vehicle",
-          "id": 0,
-          "frame": 0,
-          "position": [
-            15.917721403697996,
-            0.0,
-            0
-          ],
-          "steering_wheel_angle": 0.0,
-          "velocity": 0.0,
-          "acceleration": 0.0,
-          "rotation": [
-            0,
-            0,
-            0
-          ],
-          "misc": {
-            "accelerator_pedal_position": 0,
-            "brake_pedal_position": 0.224811375,
-            "front_wheel_angle": 0.0,
-            "heading_rate": 0.0,
-            "gear": -1,
-            "left_turn_indicator": false,
-            "right_turn_indicator": false,
-            "headlights_on": false,
-            "horn_on": false,
-            "wiper_level": 0
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-        },
-        {
-          "type": "pedestrian",
-          "id": 0,
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-            3.1442499088406306,
-            -16.28666754349855,
-            0
-          ],
-          "velocity": [
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-            ],
-            "yaw_rate": 0
-          }
-        },
-        {
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-          "frame": 1,
-          "position": [
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-            -14.20240758208384,
-            0
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-        {
-          "type": "pedestrian",
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-          ],
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-            "yaw_rate": 0
-          }
-        },
-        {
-          "type": "pedestrian",
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-          "frame": 1,
-          "position": [
-            1.7489368334537778,
-            -1.608833064795375,
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-          ],
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-            "yaw_rate": 0
-          }
-        },
-        {
-          "type": "pedestrian",
-          "id": 4,
-          "frame": 1,
-          "position": [
-            7.34625418623524,
-            -4.228558647025068,
-            0
-          ],
-          "velocity": [
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-              0,
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-            "outline": 0,
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-            "activity": 1,
-            "velocity": [
-              0,
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-              0
-            ],
-            "yaw_rate": 0
-          }
-        },
-        {
-          "type": "pedestrian",
-          "id": 5,
-          "frame": 1,
-          "position": [
-            6.265413601685413,
-            5.055121838842281,
-            0
-          ],
-          "velocity": [
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-            "outline": 0,
-            "type": 3,
-            "activity": 1,
-            "velocity": [
-              0,
-              0,
-              0
-            ],
-            "yaw_rate": 0
-          }
-        },
-        {
-          "type": "traffic_light",
-          "id": 0,
-          "frame": 3,
-          "position": [
-            -2.0730895057655374,
-            -9.366847892625884,
-            0
-          ],
-          "misc": {
-            "frame": 3,
-            "orientation": -1.57,
-            "bounding_box": {
-              "width": 0.4,
-              "height": 1.2
-            },
-            "color": [
-              0,
-              255,
-              0
-            ],
-            "state": "GREEN"
-          }
-        }
-      ]
-    }
-  ]
-}
\ No newline at end of file
diff --git a/GEMstack/onboard/visualization/sr_viz/threeD/src/app/page.tsx b/GEMstack/onboard/visualization/sr_viz/threeD/src/app/page.tsx
index a680a011b..1e2d0ad24 100644
--- a/GEMstack/onboard/visualization/sr_viz/threeD/src/app/page.tsx
+++ b/GEMstack/onboard/visualization/sr_viz/threeD/src/app/page.tsx
@@ -1,6 +1,6 @@
 "use client";
 
-import { useSearchParams } from "next/navigation";
+import { useEffect, useState } from "react";
 import ControlPanel from "@/components/ControlPanel";
 import CanvasWrapper from "@/components/CanvasWrapper";
 import Scrubber from "@/components/Scrubber";
@@ -19,12 +19,21 @@ export default function HomePage() {
     duration,
     setDuration,
   } = usePlaybackTime();
-  const searchParams = useSearchParams();
-  const folder = searchParams.get("folder") || undefined;
-  const file = searchParams.get("file") || undefined;
+
+  const [searchParams, setSearchParams] = useState<{ folder?: string; file?: string }>({});
+
+  useEffect(() => {
+    if (typeof window !== "undefined") {
+      const params = new URLSearchParams(window.location.search);
+      const folder = params.get("folder") || undefined;
+      const file = params.get("file") || undefined;
+      setSearchParams({ folder, file });
+    }
+  }, []);
+
   return (
     <main className="relative w-screen h-screen bg-white">
-      <ControlPanel reset={reset} folder={folder} file={file} />
+      <ControlPanel reset={reset} folder={searchParams.folder} file={searchParams.file} />
       <CanvasWrapper time={time} setDuration={setDuration} />
       <Scrubber
         time={time}
diff --git a/GEMstack/onboard/visualization/sr_viz/threeD/src/components/OtherVehicle.tsx b/GEMstack/onboard/visualization/sr_viz/threeD/src/components/OtherVehicle.tsx
index cf9b3658d..b5a35336a 100644
--- a/GEMstack/onboard/visualization/sr_viz/threeD/src/components/OtherVehicle.tsx
+++ b/GEMstack/onboard/visualization/sr_viz/threeD/src/components/OtherVehicle.tsx
@@ -66,9 +66,6 @@ export default function OtherVehicle({ id, timeline, time }: OtherVehicleProps)
     ref.current.quaternion.slerp(targetQuaternion, 0.2);
   });
 
-  const hasSpawned = timeline.length > 0 && timeline[0].time <= time;
-  if (!isLoaded || !hasSpawned) return null;
-
   return (
     <group ref={ref}>
       <group ref={vehicleGroup} />
diff --git a/GEMstack/onboard/visualization/sr_viz/threeD/src/config/agentConfig.ts b/GEMstack/onboard/visualization/sr_viz/threeD/src/config/agentConfig.ts
index 8a95fca53..7d64a400d 100644
--- a/GEMstack/onboard/visualization/sr_viz/threeD/src/config/agentConfig.ts
+++ b/GEMstack/onboard/visualization/sr_viz/threeD/src/config/agentConfig.ts
@@ -6,23 +6,7 @@ const agentConfig = {
         rotation: [0, Math.PI, 0],
         offset: [0, 0, 0],
         bodyColor: "#808080",
-    },
-    cyclist: {
-        name: "Cyclist",
-        modelPath: "/models/cyclist.glb",
-        scale: [1, 1, 1],
-        rotation: [0, Math.PI, 0],
-        offset: [0, 0.1, 0],
-        bodyColor: "#808080",
-    },
-    vehicle: {
-        name: "Vehicle",
-        modelPath: "/models/vehicle.glb",
-        scale: [1, 1, 1],
-        rotation: [0, Math.PI, 0],
-        offset: [0, 0.25, 0],
-        bodyColor: "#808080",
-    },
+    }
 };
 
 const currentAgent = agentConfig.pedestrian;
diff --git a/GEMstack/onboard/visualization/sr_viz/threeD/src/config/otherVehicleConfig.ts b/GEMstack/onboard/visualization/sr_viz/threeD/src/config/otherVehicleConfig.ts
index 91be73319..2296e26d0 100644
--- a/GEMstack/onboard/visualization/sr_viz/threeD/src/config/otherVehicleConfig.ts
+++ b/GEMstack/onboard/visualization/sr_viz/threeD/src/config/otherVehicleConfig.ts
@@ -1,7 +1,7 @@
 const otherVehicleConfig = {
     car: {
         name: "Car",
-        modelPath: "/models/model/gem_e4.urdf",
+        modelPath: "/models/model/gem_e2.urdf",
         scale: [1, 1, 1],
         rotation: [-Math.PI / 2, 0, 0],
         offset: [0, 0, 0],