From 292712518f99d288864d31280c4537d7237bcaad Mon Sep 17 00:00:00 2001
From: Nate Koenig <natekoenig@gmail.com>
Date: Thu, 28 Mar 2013 17:20:41 -0700
Subject: [PATCH] Added new polaris mesh. Need to update materials

---
 polaris_ranger_ev/meshes/polaris.dae | 223 +++++++++++++++++++--------
 polaris_ranger_ev/model-1_3.sdf      | 164 ++++++++++----------
 2 files changed, 243 insertions(+), 144 deletions(-)

diff --git a/polaris_ranger_ev/meshes/polaris.dae b/polaris_ranger_ev/meshes/polaris.dae
index 4d8403c..0330f68 100644
--- a/polaris_ranger_ev/meshes/polaris.dae
+++ b/polaris_ranger_ev/meshes/polaris.dae
@@ -5,12 +5,92 @@
       <author>Cole</author>
       <authoring_tool>OpenCOLLADA for 3ds Max;  Version: 1.3.1;  Revision: 847M;  Platform: x64;  Configuration: Release_Max2012_static</authoring_tool>
     </contributor>
-    <created>2013-01-18T18:45:13</created>
-    <modified>2013-01-18T18:45:13</modified>
+    <created>2013-03-21T21:33:32</created>
+    <modified>2013-03-21T21:33:32</modified>
     <unit name="inch" meter="0.0254"/>
     <up_axis>Z_UP</up_axis>
   </asset>
   <library_effects>
+    <effect id="Ranger">
+      <profile_COMMON>
+        <newparam sid="Ranger_Diffuse_tga-surface">
+          <surface type="2D">
+            <init_from>Ranger_Diffuse_tga</init_from>
+          </surface>
+        </newparam>
+        <newparam sid="Ranger_Diffuse_tga-sampler">
+          <sampler2D>
+            <source>Ranger_Diffuse_tga-surface</source>
+          </sampler2D>
+        </newparam>
+        <newparam sid="Ranger_Spec_tga-surface">
+          <surface type="2D">
+            <init_from>Ranger_Spec_tga</init_from>
+          </surface>
+        </newparam>
+        <newparam sid="Ranger_Spec_tga-sampler">
+          <sampler2D>
+            <source>Ranger_Spec_tga-surface</source>
+          </sampler2D>
+        </newparam>
+        <technique sid="common">
+          <phong>
+            <emission>
+              <color>0 0 0 1</color>
+            </emission>
+            <ambient>
+              <color>0.5882353 0.5882353 0.5882353 1</color>
+            </ambient>
+            <diffuse>
+              <texture texture="Ranger_Diffuse_tga-sampler" texcoord="CHANNEL1"/>
+            </diffuse>
+            <specular>
+              <color>0.9 0.9 0.9 1</color>
+            </specular>
+            <shininess>
+              <float>9.999999</float>
+            </shininess>
+            <reflective>
+              <color>0 0 0 1</color>
+            </reflective>
+            <transparent opaque="A_ONE">
+              <color>1 1 1 1</color>
+            </transparent>
+            <transparency>
+              <float>1</float>
+            </transparency>
+          </phong>
+          <extra>
+            <technique profile="OpenCOLLADA3dsMax">
+              <specularLevel>
+                <texture texture="Ranger_Spec_tga-sampler" texcoord="CHANNEL1"/>
+              </specularLevel>
+            </technique>
+          </extra>
+        </technique>
+      </profile_COMMON>
+      <extra>
+        <technique profile="OpenCOLLADA3dsMax">
+          <extended_shader>
+            <apply_reflection_dimming>0</apply_reflection_dimming>
+            <dim_level>0</dim_level>
+            <falloff_type>0</falloff_type>
+            <index_of_refraction>1.5</index_of_refraction>
+            <opacity_type>0</opacity_type>
+            <reflection_level>3</reflection_level>
+            <wire_size>1</wire_size>
+            <wire_units>0</wire_units>
+          </extended_shader>
+          <shader>
+            <ambient_diffuse_lock>1</ambient_diffuse_lock>
+            <ambient_diffuse_texture_lock>1</ambient_diffuse_texture_lock>
+            <diffuse_specular_lock>0</diffuse_specular_lock>
+            <soften>0.1</soften>
+            <use_self_illum_color>0</use_self_illum_color>
+          </shader>
+        </technique>
+      </extra>
+    </effect>
     <effect id="_23">
       <profile_COMMON>
         <newparam sid="Ranger_UV_Diffuse_psd-surface">
@@ -54,7 +134,7 @@
           </sampler2D>
         </newparam>
         <technique sid="common">
-          <blinn>
+          <phong>
             <emission>
               <color>0 0 0 1</color>
             </emission>
@@ -68,7 +148,7 @@
               <color>0.9 0.9 0.9 1</color>
             </specular>
             <shininess>
-              <float>0</float>
+              <float>1</float>
             </shininess>
             <reflective>
               <color>0 0 0 1</color>
@@ -79,7 +159,7 @@
             <transparency>
               <float>1</float>
             </transparency>
-          </blinn>
+          </phong>
           <extra>
             <technique profile="OpenCOLLADA3dsMax">
               <specularLevel>
@@ -116,6 +196,9 @@
     </effect>
   </library_effects>
   <library_materials>
+    <material id="Ranger-material" name="Ranger">
+      <instance_effect url="#Ranger"/>
+    </material>
     <material id="_23-material" name="_23">
       <instance_effect url="#_23"/>
     </material>
@@ -124,9 +207,9 @@
     <geometry id="geom-Ranger" name="Ranger">
       <mesh>
         <source id="geom-Ranger-positions">
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@@ -134,9 +217,9 @@
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@@ -144,7 +227,7 @@
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           <technique_common>
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               <param name="S" type="float"/>
@@ -156,15 +239,15 @@
         <vertices id="geom-Ranger-vertices">
           <input semantic="POSITION" source="#geom-Ranger-positions"/>
         </vertices>
-        <triangles material="_23_1" count="5644">
+        <triangles material="Ranger" count="5644">
           <input semantic="VERTEX" source="#geom-Ranger-vertices" offset="0"/>
           <input semantic="NORMAL" source="#geom-Ranger-normals" offset="1"/>
           <input semantic="TEXCOORD" source="#geom-Ranger-map1" offset="2" set="0"/>
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-    <!--geometry id="geom-Steering_Wheel" name="Steering_Wheel">
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@@ -177,9 +260,9 @@
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@@ -187,7 +270,7 @@
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           <technique_common>
             <accessor source="#geom-Steering_Wheel-map1-array" count="228" stride="3">
               <param name="S" type="float"/>
@@ -199,11 +282,11 @@
         <vertices id="geom-Steering_Wheel-vertices">
           <input semantic="POSITION" source="#geom-Steering_Wheel-positions"/>
         </vertices>
-        <triangles material="_23" count="250">
+        <triangles material="_23_1" count="250">
           <input semantic="VERTEX" source="#geom-Steering_Wheel-vertices" offset="0"/>
           <input semantic="NORMAL" source="#geom-Steering_Wheel-normals" offset="1"/>
           <input semantic="TEXCOORD" source="#geom-Steering_Wheel-map1" offset="2" set="0"/>
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         </triangles>
       </mesh>
     </geometry>
@@ -220,9 +303,9 @@
           </technique_common>
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+            <accessor source="#geom-Front_Wheel_Left-normals-array" count="1542" stride="3">
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@@ -316,7 +399,7 @@
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@@ -328,11 +411,11 @@
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           <input semantic="POSITION" source="#geom-Front_Wheel_Left-positions"/>
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           <input semantic="NORMAL" source="#geom-Front_Wheel_Left-normals" offset="1"/>
           <input semantic="TEXCOORD" source="#geom-Front_Wheel_Left-map1" offset="2" set="0"/>
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@@ -349,9 +432,9 @@
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-            <accessor source="#geom-Front_Wheel_Right-normals-array" count="426" stride="3">
+            <accessor source="#geom-Front_Wheel_Right-normals-array" count="1542" stride="3">
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               <param name="Y" type="float"/>
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@@ -359,7 +442,7 @@
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0.478123 0 0.2515887 0.4630935 0 0.2492211 0.448067 0 0.2423029 0.43453 0 0.231537 0.423808 0</float_array>
           <technique_common>
             <accessor source="#geom-Front_Wheel_Right-map1-array" count="412" stride="3">
               <param name="S" type="float"/>
@@ -371,11 +454,11 @@
         <vertices id="geom-Front_Wheel_Right-vertices">
           <input semantic="POSITION" source="#geom-Front_Wheel_Right-positions"/>
         </vertices>
-        <triangles material="_23" count="514">
+        <triangles material="Ranger" count="514">
           <input semantic="VERTEX" source="#geom-Front_Wheel_Right-vertices" offset="0"/>
           <input semantic="NORMAL" source="#geom-Front_Wheel_Right-normals" offset="1"/>
           <input semantic="TEXCOORD" source="#geom-Front_Wheel_Right-map1" offset="2" set="0"/>
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         </triangles>
       </mesh>
     </geometry>
@@ -392,9 +475,9 @@
           </technique_common>
         </source>
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           <technique_common>
-            <accessor source="#geom-Rear_Wheel_Left-normals-array" count="228" stride="3">
+            <accessor source="#geom-Rear_Wheel_Left-normals-array" count="1326" stride="3">
               <param name="X" type="float"/>
               <param name="Y" type="float"/>
               <param name="Z" type="float"/>
@@ -402,7 +485,7 @@
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         </source>
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@@ -414,11 +497,11 @@
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           <input semantic="POSITION" source="#geom-Rear_Wheel_Left-positions"/>
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           <input semantic="NORMAL" source="#geom-Rear_Wheel_Left-normals" offset="1"/>
           <input semantic="TEXCOORD" source="#geom-Rear_Wheel_Left-map1" offset="2" set="0"/>
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228 155 1164 226 122 1165 185 121 1166 184 121 1167 184 156 1168 228 155 1169 226 154 1170 224 123 1171 186 122 1172 185 122 1173 185 155 1174 226 154 1175 224 153 1176 222 124 1177 187 123 1178 186 123 1179 186 154 1180 224 153 1181 222 152 1182 220 125 1183 188 124 1184 187 124 1185 187 153 1186 222 152 1187 220 151 1188 218 126 1189 189 125 1190 188 125 1191 188 152 1192 220 151 1193 218 150 1194 216 127 1195 190 126 1196 189 126 1197 189 151 1198 218 150 1199 216 149 1200 192 9 1201 172 127 1202 190 127 1203 190 150 1204 216 149 1205 192 189 1206 253 188 1207 254 208 1208 292 208 1209 292 209 1210 291 189 1211 253 190 1212 256 189 1213 253 209 1214 291 209 1215 291 210 1216 293 190 1217 256 191 1218 258 190 1219 256 210 1220 293 210 1221 293 211 1222 294 191 1223 258 192 1224 260 191 1225 258 211 1226 294 211 1227 294 212 1228 295 192 1229 260 193 1230 262 192 1231 260 212 1232 295 212 1233 295 213 1234 296 193 1235 262 194 1236 264 193 1237 262 213 1238 296 213 1239 296 214 1240 297 194 1241 264 195 1242 266 194 1243 264 214 1244 297 214 1245 297 215 1246 298 195 1247 266 196 1248 268 195 1249 266 215 1250 298 215 1251 298 216 1252 299 196 1253 268 197 1254 270 196 1255 268 216 1256 299 216 1257 299 217 1258 300 197 1259 270 198 1260 272 197 1261 270 217 1262 300 217 1263 300 218 1264 301 198 1265 272 199 1266 274 198 1267 272 218 1268 301 218 1269 301 219 1270 302 199 1271 274 200 1272 276 199 1273 274 219 1274 302 219 1275 302 220 1276 303 200 1277 276 201 1278 278 200 1279 276 220 1280 303 220 1281 303 221 1282 304 201 1283 278 202 1284 280 201 1285 278 221 1286 304 221 1287 304 222 1288 305 202 1289 280 203 1290 282 202 1291 280 222 1292 305 222 1293 305 223 1294 306 203 1295 282 204 1296 284 203 1297 282 223 1298 306 223 1299 306 224 1300 307 204 1301 284 205 1302 286 204 1303 284 224 1304 307 224 1305 307 225 1306 308 205 1307 286 206 1308 288 205 1309 286 225 1310 308 225 1311 308 226 1312 309 206 1313 288 207 1314 290 206 1315 288 226 1316 309 226 1317 309 227 1318 310 207 1319 290 188 1320 254 207 1321 290 227 1322 310 227 1323 310 208 1324 292 188 1325 254</p>
         </triangles>
       </mesh>
     </geometry>
@@ -435,9 +518,9 @@
           </technique_common>
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+            <accessor source="#geom-Rear_Wheel_Right-normals-array" count="1326" stride="3">
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@@ -445,7 +528,7 @@
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           <input semantic="NORMAL" source="#geom-Rear_Wheel_Right-normals" offset="1"/>
           <input semantic="TEXCOORD" source="#geom-Rear_Wheel_Right-map1" offset="2" set="0"/>
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182 183 225 222 223 331 220 221 330 220 221 330 180 181 223 182 183 225 184 185 227 224 225 332 222 223 331 222 223 331 182 183 225 184 185 227 186 187 229 226 227 333 224 225 332 224 225 332 184 185 227 186 187 229 149 150 192 189 190 314 226 227 333 226 227 333 186 187 229 149 150 192</p>
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191 1087 254 109 1088 294 109 1089 294 108 1090 293 190 1091 253 227 1092 290 190 1093 292 108 1094 296 108 1095 296 110 1096 295 227 1097 290 225 1098 288 227 1099 290 110 1100 295 110 1101 295 111 1102 297 225 1103 288 223 1104 286 225 1105 288 111 1106 297 111 1107 297 112 1108 298 223 1109 286 221 1110 284 223 1111 286 112 1112 298 112 1113 298 113 1114 299 221 1115 284 219 1116 282 221 1117 284 113 1118 299 113 1119 299 114 1120 300 219 1121 282 217 1122 280 219 1123 282 114 1124 300 114 1125 300 115 1126 301 217 1127 280 215 1128 278 217 1129 280 115 1130 301 115 1131 301 116 1132 302 215 1133 278 213 1134 276 215 1135 278 116 1136 302 116 1137 302 117 1138 303 213 1139 276 211 1140 274 213 1141 276 117 1142 303 117 1143 303 118 1144 304 211 1145 274 209 1146 272 211 1147 274 118 1148 304 118 1149 304 119 1150 305 209 1151 272 207 1152 270 209 1153 272 119 1154 305 119 1155 305 120 1156 306 207 1157 270 205 1158 268 207 1159 270 120 1160 306 120 1161 306 121 1162 307 205 1163 268 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160 1241 203 162 1242 205 202 1243 321 200 1244 320 200 1245 320 160 1246 203 162 1247 205 164 1248 207 204 1249 322 202 1250 321 202 1251 321 162 1252 205 164 1253 207 166 1254 209 206 1255 323 204 1256 322 204 1257 322 164 1258 207 166 1259 209 168 1260 211 208 1261 324 206 1262 323 206 1263 323 166 1264 209 168 1265 211 170 1266 213 210 1267 325 208 1268 324 208 1269 324 168 1270 211 170 1271 213 172 1272 215 212 1273 326 210 1274 325 210 1275 325 170 1276 213 172 1277 215 174 1278 217 214 1279 327 212 1280 326 212 1281 326 172 1282 215 174 1283 217 176 1284 219 216 1285 328 214 1286 327 214 1287 327 174 1288 217 176 1289 219 178 1290 221 218 1291 329 216 1292 328 216 1293 328 176 1294 219 178 1295 221 180 1296 223 220 1297 330 218 1298 329 218 1299 329 178 1300 221 180 1301 223 182 1302 225 222 1303 331 220 1304 330 220 1305 330 180 1306 223 182 1307 225 184 1308 227 224 1309 332 222 1310 331 222 1311 331 182 1312 225 184 1313 227 186 1314 229 226 1315 333 224 1316 332 224 1317 332 184 1318 227 186 1319 229 149 1320 192 189 1321 314 226 1322 333 226 1323 333 186 1324 229 149 1325 192</p>
         </triangles>
       </mesh>
     </geometry>
@@ -475,6 +558,26 @@
       </technique_common>
     </light>
   </library_lights>
+  <library_images>
+    <image id="Gloss_psd">
+      <init_from>file:///C:/Users/Cole/Desktop/Temp/images/Gloss.psd</init_from>
+    </image>
+    <image id="Ranger_UV_Diffuse_psd">
+      <init_from>file:///C:/Users/Cole/Desktop/Temp/images/Ranger_UV_Diffuse.psd</init_from>
+    </image>
+    <image id="Ranger_UV_Opac_psd">
+      <init_from>file:///C:/Users/Cole/Desktop/Temp/images/Ranger_UV_Opac.psd</init_from>
+    </image>
+    <image id="Spec_psd">
+      <init_from>file:///C:/Users/Cole/Desktop/Temp/images/Spec.psd</init_from>
+    </image>
+    <image id="Ranger_Diffuse_tga">
+      <init_from>file:///C:/Users/Cole/Desktop/Temp/images/Ranger_Diffuse.tga</init_from>
+    </image>
+    <image id="Ranger_Spec_tga">
+      <init_from>file:///C:/Users/Cole/Desktop/Temp/images/Ranger_Spec.tga</init_from>
+    </image>
+  </library_images>
   <library_visual_scenes>
     <visual_scene id="MaxScene">
       <node name="EnvironmentAmbientLight">
@@ -486,9 +589,7 @@
         <instance_geometry url="#geom-Ranger">
           <bind_material>
             <technique_common>
-              <instance_material symbol="_23_1" target="#_23-material">
-                <bind_vertex_input semantic="CHANNEL1" input_semantic="TEXCOORD" input_set="0"/>
-                <bind_vertex_input semantic="CHANNEL1" input_semantic="TEXCOORD" input_set="0"/>
+              <instance_material symbol="Ranger" target="#Ranger-material">
                 <bind_vertex_input semantic="CHANNEL1" input_semantic="TEXCOORD" input_set="0"/>
                 <bind_vertex_input semantic="CHANNEL1" input_semantic="TEXCOORD" input_set="0"/>
               </instance_material>
@@ -496,8 +597,8 @@
           </bind_material>
         </instance_geometry>
       </node>
-      <!--node id="node-Steering_Wheel" name="Steering_Wheel">
-        <translate>-11.79289 16.5079 44.40922</translate>
+      <node id="node-Steering_Wheel" name="Steering_Wheel">
+        <translate>-11.79289 16.5079 48.34606</translate>
         <rotate>-1 0 0 -40</rotate>
         <scale>1.004074 1.004074 1.004074</scale>
         <node>
@@ -505,7 +606,7 @@
           <instance_geometry url="#geom-Steering_Wheel">
             <bind_material>
               <technique_common>
-                <instance_material symbol="_23" target="#_23-material">
+                <instance_material symbol="_23_1" target="#_23-material">
                   <bind_vertex_input semantic="CHANNEL1" input_semantic="TEXCOORD" input_set="0"/>
                   <bind_vertex_input semantic="CHANNEL1" input_semantic="TEXCOORD" input_set="0"/>
                   <bind_vertex_input semantic="CHANNEL1" input_semantic="TEXCOORD" input_set="0"/>
@@ -553,7 +654,7 @@
             </bind_material>
           </instance_geometry>
         </node>
-      </node-->
+      </node>
       <node id="node-Front_Wheel_Left" name="Front_Wheel_Left">
         <translate>-18.7471 38.85256 13.44365</translate>
         <scale>1.004074 1.004074 1.004074</scale>
@@ -562,9 +663,7 @@
           <instance_geometry url="#geom-Front_Wheel_Left">
             <bind_material>
               <technique_common>
-                <instance_material symbol="_23" target="#_23-material">
-                  <bind_vertex_input semantic="CHANNEL1" input_semantic="TEXCOORD" input_set="0"/>
-                  <bind_vertex_input semantic="CHANNEL1" input_semantic="TEXCOORD" input_set="0"/>
+                <instance_material symbol="Ranger" target="#Ranger-material">
                   <bind_vertex_input semantic="CHANNEL1" input_semantic="TEXCOORD" input_set="0"/>
                   <bind_vertex_input semantic="CHANNEL1" input_semantic="TEXCOORD" input_set="0"/>
                 </instance_material>
@@ -581,9 +680,7 @@
           <instance_geometry url="#geom-Front_Wheel_Right">
             <bind_material>
               <technique_common>
-                <instance_material symbol="_23" target="#_23-material">
-                  <bind_vertex_input semantic="CHANNEL1" input_semantic="TEXCOORD" input_set="0"/>
-                  <bind_vertex_input semantic="CHANNEL1" input_semantic="TEXCOORD" input_set="0"/>
+                <instance_material symbol="Ranger" target="#Ranger-material">
                   <bind_vertex_input semantic="CHANNEL1" input_semantic="TEXCOORD" input_set="0"/>
                   <bind_vertex_input semantic="CHANNEL1" input_semantic="TEXCOORD" input_set="0"/>
                 </instance_material>
@@ -600,9 +697,7 @@
           <instance_geometry url="#geom-Rear_Wheel_Left">
             <bind_material>
               <technique_common>
-                <instance_material symbol="_23" target="#_23-material">
-                  <bind_vertex_input semantic="CHANNEL1" input_semantic="TEXCOORD" input_set="0"/>
-                  <bind_vertex_input semantic="CHANNEL1" input_semantic="TEXCOORD" input_set="0"/>
+                <instance_material symbol="Ranger" target="#Ranger-material">
                   <bind_vertex_input semantic="CHANNEL1" input_semantic="TEXCOORD" input_set="0"/>
                   <bind_vertex_input semantic="CHANNEL1" input_semantic="TEXCOORD" input_set="0"/>
                 </instance_material>
@@ -619,9 +714,7 @@
           <instance_geometry url="#geom-Rear_Wheel_Right">
             <bind_material>
               <technique_common>
-                <instance_material symbol="_23" target="#_23-material">
-                  <bind_vertex_input semantic="CHANNEL1" input_semantic="TEXCOORD" input_set="0"/>
-                  <bind_vertex_input semantic="CHANNEL1" input_semantic="TEXCOORD" input_set="0"/>
+                <instance_material symbol="Ranger" target="#Ranger-material">
                   <bind_vertex_input semantic="CHANNEL1" input_semantic="TEXCOORD" input_set="0"/>
                   <bind_vertex_input semantic="CHANNEL1" input_semantic="TEXCOORD" input_set="0"/>
                 </instance_material>
@@ -635,4 +728,4 @@
   <scene>
     <instance_visual_scene url="#MaxScene"/>
   </scene>
-</COLLADA>
+</COLLADA>
\ No newline at end of file
diff --git a/polaris_ranger_ev/model-1_3.sdf b/polaris_ranger_ev/model-1_3.sdf
index 63c2994..6374340 100644
--- a/polaris_ranger_ev/model-1_3.sdf
+++ b/polaris_ranger_ev/model-1_3.sdf
@@ -81,7 +81,7 @@
         </geometry>
       </collision>
       <collision name="seat">
-        <pose>-0.1 0.0 0.625 0.0 0.0 0.0</pose> 
+        <pose>-0.1 0.0 0.585 0.0 0.0 0.0</pose> 
         <geometry>
           <box>
             <size>0.6 1.0 0.55</size>
@@ -363,18 +363,6 @@
         </material>
       </visual>
     </link>
-    <joint type="revolute" name="rear_right_wheel_joint">
-      <pose>0.0 0.0 -0.1 0 0 0</pose>
-      <child>rear_right_wheel</child>
-      <parent>chassis</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-      </axis>
-      <physics><ode><limit>
-        <cfm>0.000000</cfm>
-        <erp>0.900000</erp>
-      </limit></ode></physics>
-    </joint>
     <link name="rear_left_wheel">
       <pose>-0.85 0.6 0.32 1.570796 0.0 0.0</pose>
       <inertial>
@@ -426,18 +414,6 @@
       </visual>
     </link>
 
-    <joint type="revolute" name="rear_left_wheel_joint">
-      <child>rear_left_wheel</child>
-      <parent>chassis</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-      </axis>
-      <physics><ode><limit>
-        <cfm>0.000000</cfm>
-        <erp>0.900000</erp>
-      </limit></ode></physics>
-    </joint>
-
     <link name="front_right_wheel">
       <pose>1.03 -0.6 0.32 1.570796 0.0 0.0</pose>
       <inertial>
@@ -507,34 +483,6 @@
         </geometry>
       </collision>
     </link>
-    <joint type="revolute" name="front_right_steering_joint">
-      <child>front_right_wheel_steering_block</child>
-      <parent>chassis</parent>
-      <axis>
-        <xyz>0 0 1</xyz>
-        <limit>
-          <lower>-1.0</lower>
-          <upper>1.0</upper>
-        </limit>
-      </axis>
-      <physics><ode><limit>
-        <cfm>0.000000</cfm>
-        <erp>0.900000</erp>
-      </limit></ode></physics>
-    </joint>
-
-    <joint type="revolute" name="front_right_wheel_joint">
-      <child>front_right_wheel</child>
-      <parent>front_right_wheel_steering_block</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-      </axis>
-      <physics><ode><limit>
-        <cfm>0.000000</cfm>
-        <erp>0.900000</erp>
-      </limit></ode></physics>
-    </joint>
-
     <link name="front_left_wheel">
       <pose>1.03 0.6 0.32 1.570796 0.0 0.0</pose>
       <inertial>
@@ -602,32 +550,6 @@
         </geometry>
       </collision>
     </link>
-    <joint type="revolute" name="front_left_steering_joint">
-      <child>front_left_wheel_steering_block</child>
-      <parent>chassis</parent>
-      <axis>
-        <xyz>0 0 1</xyz>
-        <limit>
-          <lower>-1.0</lower>
-          <upper>1.0</upper>
-        </limit>
-      </axis>
-      <physics><ode><limit>
-        <cfm>0.000000</cfm>
-        <erp>0.900000</erp>
-      </limit></ode></physics>
-    </joint>
-    <joint type="revolute" name="front_left_wheel_joint">
-      <child>front_left_wheel</child>
-      <parent>front_left_wheel_steering_block</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-      </axis>
-      <physics><ode><limit>
-        <cfm>0.000000</cfm>
-        <erp>0.900000</erp>
-      </limit></ode></physics>
-    </joint>
     <!-- gas/brake pedals, steering wheel and hand brake -->
     <link name='gas_pedal'>
       <pose>0.53 0.14 0.56 0 0 0</pose>
@@ -811,6 +733,76 @@
         </material>
       </visual>
     </link>
+
+    <joint type="revolute" name="front_left_steering_joint">
+      <child>front_left_wheel_steering_block</child>
+      <parent>chassis</parent>
+      <axis>
+        <xyz>0 0 1</xyz>
+        <limit>
+          <lower>-1.0</lower>
+          <upper>1.0</upper>
+        </limit>
+      </axis>
+      <physics><ode><limit>
+        <cfm>0.000000</cfm>
+        <erp>0.900000</erp>
+      </limit></ode></physics>
+    </joint>
+    <joint type="revolute" name="front_left_wheel_joint">
+      <child>front_left_wheel</child>
+      <parent>front_left_wheel_steering_block</parent>
+      <axis>
+        <xyz>0 1 0</xyz>
+      </axis>
+      <physics><ode><limit>
+        <cfm>0.000000</cfm>
+        <erp>0.900000</erp>
+      </limit></ode></physics>
+    </joint>
+
+    <joint type="revolute" name="front_right_steering_joint">
+      <child>front_right_wheel_steering_block</child>
+      <parent>chassis</parent>
+      <axis>
+        <xyz>0 0 1</xyz>
+        <limit>
+          <lower>-1.0</lower>
+          <upper>1.0</upper>
+        </limit>
+      </axis>
+      <physics><ode><limit>
+        <cfm>0.000000</cfm>
+        <erp>0.900000</erp>
+      </limit></ode></physics>
+    </joint>
+
+    <joint type="revolute" name="front_right_wheel_joint">
+      <child>front_right_wheel</child>
+      <parent>front_right_wheel_steering_block</parent>
+      <axis>
+        <xyz>0 1 0</xyz>
+      </axis>
+      <physics><ode><limit>
+        <cfm>0.000000</cfm>
+        <erp>0.900000</erp>
+      </limit></ode></physics>
+    </joint>
+
+
+    <joint type="revolute" name="rear_left_wheel_joint">
+      <child>rear_left_wheel</child>
+      <parent>chassis</parent>
+      <axis>
+        <xyz>0 1 0</xyz>
+      </axis>
+      <physics><ode><limit>
+        <cfm>0.000000</cfm>
+        <erp>0.900000</erp>
+      </limit></ode></physics>
+    </joint>
+
+
     <joint name='gas_joint' type='prismatic'>
       <parent>chassis</parent>
       <child>gas_pedal</child>
@@ -856,5 +848,19 @@
         </limit>
       </axis>
     </joint>
+
+    <joint type="revolute" name="rear_right_wheel_joint">
+      <pose>0.0 0.0 -0.1 0 0 0</pose>
+      <child>rear_right_wheel</child>
+      <parent>chassis</parent>
+      <axis>
+        <xyz>0 1 0</xyz>
+      </axis>
+      <physics><ode><limit>
+        <cfm>0.000000</cfm>
+        <erp>0.900000</erp>
+      </limit></ode></physics>
+    </joint>
+
   </model>
 </sdf>