diff --git a/NaviGator/simulation/navigator_gazebo/worlds/pathfinding/left_L_path_test.world b/NaviGator/simulation/navigator_gazebo/worlds/pathfinding/left_L_path_test.world
index a579bb590..a22dbb490 100644
--- a/NaviGator/simulation/navigator_gazebo/worlds/pathfinding/left_L_path_test.world
+++ b/NaviGator/simulation/navigator_gazebo/worlds/pathfinding/left_L_path_test.world
@@ -1222,2132 +1222,6 @@
       <real_time_update_rate>1000</real_time_update_rate>
     </physics>
     <wind/>
-    <model name='wamv'>
-      <link name='wamv/base_link'>
-        <inertial>
-          <pose>0.012722 0 0.026171 0 -0 0</pose>
-          <mass>182.806</mass>
-          <inertia>
-            <ixx>128.232</ixx>
-            <ixy>-2.4178e-21</ixy>
-            <ixz>-3.85993</ixz>
-            <iyy>403.15</iyy>
-            <iyz>-9.28107e-22</iyz>
-            <izz>447.942</izz>
-          </inertia>
-        </inertial>
-        <collision name='wamv/base_link_fixed_joint_lump__front_left_cam_post_collision_collision'>
-          <pose>0.92 0.1 1.38475 0 -0 0</pose>
-          <geometry>
-            <cylinder>
-              <length>0.1765</length>
-              <radius>0.0076</radius>
-            </cylinder>
-          </geometry>
-          <max_contacts>10</max_contacts>
-          <surface>
-            <contact>
-              <ode/>
-            </contact>
-            <bounce/>
-            <friction>
-              <torsional>
-                <ode/>
-              </torsional>
-              <ode/>
-            </friction>
-          </surface>
-        </collision>
-        <collision name='wamv/base_link_fixed_joint_lump__front_left_cam_post_arm_collision_collision_1'>
-          <pose>0.95 0.1 1.473 -1.20428 -0 -1.5708</pose>
-          <geometry>
-            <cylinder>
-              <length>0.065</length>
-              <radius>0.008</radius>
-            </cylinder>
-          </geometry>
-          <max_contacts>10</max_contacts>
-          <surface>
-            <contact>
-              <ode/>
-            </contact>
-            <bounce/>
-            <friction>
-              <torsional>
-                <ode/>
-              </torsional>
-              <ode/>
-            </friction>
-          </surface>
-        </collision>
-        <collision name='wamv/base_link_fixed_joint_lump__front_left_cam_lens_collision_collision_2'>
-          <pose>0.987607 0.1 1.49626 3.14159 1.36136 3.14159</pose>
-          <geometry>
-            <cylinder>
-              <length>0.042</length>
-              <radius>0.015</radius>
-            </cylinder>
-          </geometry>
-          <max_contacts>10</max_contacts>
-          <surface>
-            <contact>
-              <ode/>
-            </contact>
-            <bounce/>
-            <friction>
-              <torsional>
-                <ode/>
-              </torsional>
-              <ode/>
-            </friction>
-          </surface>
-        </collision>
-        <collision name='wamv/base_link_fixed_joint_lump__front_left_cam_box_collision_collision_3'>
-          <pose>0.949948 0.1 1.50426 0 0.20944 0</pose>
-          <geometry>
-            <box>
-              <size>0.036 0.03 0.03</size>
-            </box>
-          </geometry>
-          <max_contacts>10</max_contacts>
-          <surface>
-            <contact>
-              <ode/>
-            </contact>
-            <bounce/>
-            <friction>
-              <torsional>
-                <ode/>
-              </torsional>
-              <ode/>
-            </friction>
-          </surface>
-        </collision>
-        <collision name='wamv/base_link_fixed_joint_lump__front_right_cam_post_collision_collision_4'>
-          <pose>0.92 -0.1 1.38475 0 -0 0</pose>
-          <geometry>
-            <cylinder>
-              <length>0.1765</length>
-              <radius>0.0076</radius>
-            </cylinder>
-          </geometry>
-          <max_contacts>10</max_contacts>
-          <surface>
-            <contact>
-              <ode/>
-            </contact>
-            <bounce/>
-            <friction>
-              <torsional>
-                <ode/>
-              </torsional>
-              <ode/>
-            </friction>
-          </surface>
-        </collision>
-        <collision name='wamv/base_link_fixed_joint_lump__front_right_cam_post_arm_collision_collision_5'>
-          <pose>0.95 -0.1 1.473 -1.20428 -0 -1.5708</pose>
-          <geometry>
-            <cylinder>
-              <length>0.065</length>
-              <radius>0.008</radius>
-            </cylinder>
-          </geometry>
-          <max_contacts>10</max_contacts>
-          <surface>
-            <contact>
-              <ode/>
-            </contact>
-            <bounce/>
-            <friction>
-              <torsional>
-                <ode/>
-              </torsional>
-              <ode/>
-            </friction>
-          </surface>
-        </collision>
-        <collision name='wamv/base_link_fixed_joint_lump__front_right_cam_lens_collision_collision_6'>
-          <pose>0.987607 -0.1 1.49626 3.14159 1.36136 3.14159</pose>
-          <geometry>
-            <cylinder>
-              <length>0.042</length>
-              <radius>0.015</radius>
-            </cylinder>
-          </geometry>
-          <max_contacts>10</max_contacts>
-          <surface>
-            <contact>
-              <ode/>
-            </contact>
-            <bounce/>
-            <friction>
-              <torsional>
-                <ode/>
-              </torsional>
-              <ode/>
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-          </surface>
-        </collision>
-        <collision name='wamv/base_link_fixed_joint_lump__front_right_cam_box_collision_collision_7'>
-          <pose>0.949948 -0.1 1.50426 0 0.20944 0</pose>
-          <geometry>
-            <box>
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-            </box>
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-            <bounce/>
-            <friction>
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-                <ode/>
-              </torsional>
-              <ode/>
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-          </surface>
-        </collision>
-        <collision name='wamv/base_link_fixed_joint_lump__velodyne_post_collision_collision_8'>
-          <pose>0.704 0 1.62325 0 -0 0</pose>
-          <geometry>
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-              <ode/>
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-            <bounce/>
-            <friction>
-              <torsional>
-                <ode/>
-              </torsional>
-              <ode/>
-            </friction>
-          </surface>
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-        <collision name='wamv/base_link_fixed_joint_lump__velodyne_collision_collision_10'>
-          <pose>0.774 0 2 0 0.261799 0</pose>
-          <geometry>
-            <cylinder>
-              <length>0.075</length>
-              <radius>0.055</radius>
-            </cylinder>
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-            </contact>
-            <friction>
-              <ode/>
-              <torsional>
-                <ode/>
-              </torsional>
-            </friction>
-            <bounce/>
-          </surface>
-          <max_contacts>10</max_contacts>
-        </collision>
-        <collision name='wamv/base_link_fixed_joint_lump__left_float_collision_11'>
-          <pose>-0.4 1.03 0.2 3.14159 1.57079 3.14159</pose>
-          <geometry>
-            <cylinder>
-              <length>4</length>
-              <radius>0.2</radius>
-            </cylinder>
-          </geometry>
-          <max_contacts>10</max_contacts>
-          <surface>
-            <contact>
-              <ode/>
-            </contact>
-            <bounce/>
-            <friction>
-              <torsional>
-                <ode/>
-              </torsional>
-              <ode/>
-            </friction>
-          </surface>
-        </collision>
-        <collision name='wamv/base_link_fixed_joint_lump__left_mid_float_collision_12'>
-          <pose>1.85 1.03 0.3 0 1.38 0</pose>
-          <geometry>
-            <cylinder>
-              <length>0.5</length>
-              <radius>0.17</radius>
-            </cylinder>
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-            <bounce/>
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-              <torsional>
-                <ode/>
-              </torsional>
-              <ode/>
-            </friction>
-          </surface>
-        </collision>
-        <collision name='wamv/base_link_fixed_joint_lump__left_front_float_collision_13'>
-          <pose>2.3 1.03 0.4 0 1.3 0</pose>
-          <geometry>
-            <cylinder>
-              <length>0.45</length>
-              <radius>0.12</radius>
-            </cylinder>
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-                <ode/>
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-              <ode/>
-            </friction>
-          </surface>
-        </collision>
-        <collision name='wamv/base_link_fixed_joint_lump__front_left_beam_lower_collision_14'>
-          <pose>0.9 0.85 1 0.78 -0 0</pose>
-          <geometry>
-            <cylinder>
-              <length>0.5</length>
-              <radius>0.04</radius>
-            </cylinder>
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-            <friction>
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-              <ode/>
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-          </surface>
-        </collision>
-        <collision name='wamv/base_link_fixed_joint_lump__front_left_beam_upper_collision_15'>
-          <pose>0.9 0.6 1.18 1.35 -0 0</pose>
-          <geometry>
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-              <radius>0.04</radius>
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-              <ode/>
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-        <collision name='wamv/base_link_fixed_joint_lump__mid_left_beam_lower_collision_16'>
-          <pose>-0.65 0.99 0.7 0.1 0.25 0</pose>
-          <geometry>
-            <cylinder>
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-              <radius>0.03</radius>
-            </cylinder>
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-              <ode/>
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-        <collision name='wamv/base_link_fixed_joint_lump__mid_left_beam_medium_collision_17'>
-          <pose>-0.57 0.87 1.05 0.75 0.25 0</pose>
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-              <radius>0.03</radius>
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-        </collision>
-        <collision name='wamv/base_link_fixed_joint_lump__mid_left_beam_upper_collision_18'>
-          <pose>-0.55 0.65 1.17 1.35 0.25 0</pose>
-          <geometry>
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-              <radius>0.03</radius>
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-        <collision name='wamv/base_link_fixed_joint_lump__rear_left_beam_lower_collision_19'>
-          <pose>-0.74 1.03 0.7 0 -0.15 0</pose>
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-              <ode/>
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-        <collision name='wamv/base_link_fixed_joint_lump__rear_left_beam_upper_collision_21'>
-          <pose>-0.81 0.67 1.18 1.45 -0.15 0</pose>
-          <geometry>
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-              <radius>0.03</radius>
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-        <collision name='wamv/base_link_fixed_joint_lump__left_joint_collision_22'>
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-        <robotNamespace>/</robotNamespace>
-      </plugin>
-      <plugin name='ball_shooter_plugin' filename='libball_shooter_plugin.so'>
-        <projectile>
-          <model_name>blue_projectile</model_name>
-          <link_name>link</link_name>
-          <frame>wamv/ball_shooter_launcher_link</frame>
-          <pose>0.14 0 0 0 0 0</pose>
-        </projectile>
-        <num_shots>4</num_shots>
-        <shot_force>300</shot_force>
-        <topic>wamv/shooters/ball_shooter/fire</topic>
-        <robotNamespace>/</robotNamespace>
-      </plugin>
-      <plugin name='pinger_plugin' filename='libusv_gazebo_acoustic_pinger_plugin.so'>
-        <frameId>wamv/pinger</frameId>
-        <topicName>wamv/sensors/pingers/hydrophones/range_bearing</topicName>
-        <setPositionTopicName>wamv/sensors/pingers/hydrophones/set_pinger_position</setPositionTopicName>
-        <rangeNoise>
-          <noise>
-            <type>gaussian</type>
-            <mean>0.0</mean>
-            <stddev>3.0</stddev>
-          </noise>
-        </rangeNoise>
-        <bearingNoise>
-          <noise>
-            <type>gaussian</type>
-            <mean>0.0</mean>
-            <stddev>0.01</stddev>
-          </noise>
-        </bearingNoise>
-        <elevationNoise>
-          <noise>
-            <type>gaussian</type>
-            <mean>0.0</mean>
-            <stddev>0.01</stddev>
-          </noise>
-        </elevationNoise>
-        <robotNamespace>/</robotNamespace>
-      </plugin>
-      <plugin name='wamv_gazebo_thrust' filename='libusv_gazebo_thrust_plugin.so'>
-        <cmdTimeout>1.0</cmdTimeout>
-        <robotNamespace>wamv</robotNamespace>
-        <thruster>
-          <linkName>BL_propeller_link</linkName>
-          <propJointName>BL_engine_propeller_joint</propJointName>
-          <engineJointName>BL_chasis_engine_joint</engineJointName>
-          <cmdTopic>thrusters/BL_thrust_cmd</cmdTopic>
-          <angleTopic>thrusters/BL_thrust_angle</angleTopic>
-          <enableAngle>1</enableAngle>
-          <mappingType>1</mappingType>
-          <maxCmd>1.0</maxCmd>
-          <maxForceFwd>250.0</maxForceFwd>
-          <maxForceRev>-100.0</maxForceRev>
-          <maxAngle>1.5707963267948966</maxAngle>
-        </thruster>
-        <thruster>
-          <linkName>BR_propeller_link</linkName>
-          <propJointName>BR_engine_propeller_joint</propJointName>
-          <engineJointName>BR_chasis_engine_joint</engineJointName>
-          <cmdTopic>thrusters/BR_thrust_cmd</cmdTopic>
-          <angleTopic>thrusters/BR_thrust_angle</angleTopic>
-          <enableAngle>1</enableAngle>
-          <mappingType>1</mappingType>
-          <maxCmd>1.0</maxCmd>
-          <maxForceFwd>250.0</maxForceFwd>
-          <maxForceRev>-100.0</maxForceRev>
-          <maxAngle>1.5707963267948966</maxAngle>
-        </thruster>
-        <thruster>
-          <linkName>FL_propeller_link</linkName>
-          <propJointName>FL_engine_propeller_joint</propJointName>
-          <engineJointName>FL_chasis_engine_joint</engineJointName>
-          <cmdTopic>thrusters/FL_thrust_cmd</cmdTopic>
-          <angleTopic>thrusters/FL_thrust_angle</angleTopic>
-          <enableAngle>1</enableAngle>
-          <mappingType>1</mappingType>
-          <maxCmd>1.0</maxCmd>
-          <maxForceFwd>250.0</maxForceFwd>
-          <maxForceRev>-100.0</maxForceRev>
-          <maxAngle>1.5707963267948966</maxAngle>
-        </thruster>
-        <thruster>
-          <linkName>FR_propeller_link</linkName>
-          <propJointName>FR_engine_propeller_joint</propJointName>
-          <engineJointName>FR_chasis_engine_joint</engineJointName>
-          <cmdTopic>thrusters/FR_thrust_cmd</cmdTopic>
-          <angleTopic>thrusters/FR_thrust_angle</angleTopic>
-          <enableAngle>1</enableAngle>
-          <mappingType>1</mappingType>
-          <maxCmd>1.0</maxCmd>
-          <maxForceFwd>250.0</maxForceFwd>
-          <maxForceRev>-100.0</maxForceRev>
-          <maxAngle>1.5707963267948966</maxAngle>
-        </thruster>
-      </plugin>
-      <plugin name='usv_dynamics_wamv_dynamics_plugin' filename='libusv_gazebo_dynamics_plugin.so'>
-        <bodyName>wamv/base_link</bodyName>
-        <waterLevel>0</waterLevel>
-        <waterDensity>997.8</waterDensity>
-        <xDotU>0.0</xDotU>
-        <yDotV>0.0</yDotV>
-        <nDotR>0.0</nDotR>
-        <xU>51.3</xU>
-        <xUU>72.4</xUU>
-        <yV>40.0</yV>
-        <yVV>0.0</yVV>
-        <zW>500.0</zW>
-        <kP>50.0</kP>
-        <mQ>50.0</mQ>
-        <nR>400.0</nR>
-        <nRR>0.0</nRR>
-        <hullRadius>0.213</hullRadius>
-        <boatWidth>2.4</boatWidth>
-        <boatLength>4.9</boatLength>
-        <length_n>2</length_n>
-        <wave_model>ocean_waves</wave_model>
-        <robotNamespace>/</robotNamespace>
-      </plugin>
-      <frame name='wamv/front_left_cam_to_front_left_cam_link_optical_joint' attached_to='wamv/front_left_cam_link'>
-        <pose>0 0 0 -1.5708 -0 -1.5708</pose>
-      </frame>
-      <frame name='wamv/front_left_cam_link_optical' attached_to='wamv/front_left_cam_to_front_left_cam_link_optical_joint'/>
-      <frame name='wamv/front_left_cam_post_arm_to_front_left_cam_joint' attached_to='wamv/front_left_cam_post_arm_link'>
-        <pose>0.02 0 0.027 0 0.20944 0</pose>
-      </frame>
-      <frame name='wamv/front_left_cam_link' attached_to='wamv/front_left_cam_post_arm_to_front_left_cam_joint'/>
-      <frame name='wamv/front_left_cam_post_to_front_left_cam_post_arm_joint' attached_to='wamv/front_left_cam_post_link'>
-        <pose>0.03 0 0.08825 0 -0 0</pose>
-      </frame>
-      <frame name='wamv/front_left_cam_post_arm_link' attached_to='wamv/front_left_cam_post_to_front_left_cam_post_arm_joint'/>
-      <frame name='wamv/base_to_front_left_cam_post_joint' attached_to='wamv/base_link'>
-        <pose>0.92 0.1 1.38475 0 -0 0</pose>
-      </frame>
-      <frame name='wamv/front_left_cam_post_link' attached_to='wamv/base_to_front_left_cam_post_joint'/>
-      <frame name='wamv/front_right_cam_to_front_right_cam_link_optical_joint' attached_to='wamv/front_right_cam_link'>
-        <pose>0 0 0 -1.5708 -0 -1.5708</pose>
-      </frame>
-      <frame name='wamv/front_right_cam_link_optical' attached_to='wamv/front_right_cam_to_front_right_cam_link_optical_joint'/>
-      <frame name='wamv/front_right_cam_post_arm_to_front_right_cam_joint' attached_to='wamv/front_right_cam_post_arm_link'>
-        <pose>0.02 0 0.027 0 0.20944 0</pose>
-      </frame>
-      <frame name='wamv/front_right_cam_link' attached_to='wamv/front_right_cam_post_arm_to_front_right_cam_joint'/>
-      <frame name='wamv/front_right_cam_post_to_front_right_cam_post_arm_joint' attached_to='wamv/front_right_cam_post_link'>
-        <pose>0.03 0 0.08825 0 -0 0</pose>
-      </frame>
-      <frame name='wamv/front_right_cam_post_arm_link' attached_to='wamv/front_right_cam_post_to_front_right_cam_post_arm_joint'/>
-      <frame name='wamv/base_to_front_right_cam_post_joint' attached_to='wamv/base_link'>
-        <pose>0.92 -0.1 1.38475 0 -0 0</pose>
-      </frame>
-      <frame name='wamv/front_right_cam_post_link' attached_to='wamv/base_to_front_right_cam_post_joint'/>
-      <frame name='wamv/velodyne_post_arm_to_velodyne_joint' attached_to='velodyne_post_arm_link'>
-        <pose>0.04 0 0.05 0 0.261799 0</pose>
-      </frame>
-      <frame name='velodyne' attached_to='wamv/velodyne_post_arm_to_velodyne_joint'/>
-      <frame name='wamv/velodyne_post_to_velodyne_post_arm_joint' attached_to='velodyne_post_link'>
-        <pose>0.03 0 0.32675 0 -0 0</pose>
-      </frame>
-      <frame name='velodyne_post_arm_link' attached_to='wamv/velodyne_post_to_velodyne_post_arm_joint'/>
-      <frame name='wamv/base_to_velodyne_post_joint' attached_to='wamv/base_link'>
-        <pose>0.704 0 1.62325 0 -0 0</pose>
-      </frame>
-      <frame name='velodyne_post_link' attached_to='wamv/base_to_velodyne_post_joint'/>
-      <frame name='wamv/dummy_joint' attached_to='wamv/base_link'>
-        <pose>0 0 0 0 -0 0</pose>
-      </frame>
-      <frame name='wamv/dummy_link' attached_to='wamv/dummy_joint'/>
-      <frame name='wamv/hydrophones_pinger_joint' attached_to='wamv/base_link'>
-        <pose>1 0 -1 0 -0 0</pose>
-      </frame>
-      <frame name='wamv/hydrophones' attached_to='wamv/hydrophones_pinger_joint'/>
-      <pose>-527 167 0.1 0 -0 1</pose>
-    </model>
     <model name='mb_marker_buoy_white'>
       <link name='link'>
         <inertial>
diff --git a/NaviGator/simulation/navigator_gazebo/worlds/pathfinding/opposite_u_shaped_test.world b/NaviGator/simulation/navigator_gazebo/worlds/pathfinding/opposite_u_shaped_test.world
index 0cabea739..3ec1ce8e9 100644
--- a/NaviGator/simulation/navigator_gazebo/worlds/pathfinding/opposite_u_shaped_test.world
+++ b/NaviGator/simulation/navigator_gazebo/worlds/pathfinding/opposite_u_shaped_test.world
@@ -1222,2132 +1222,6 @@
       <real_time_update_rate>1000</real_time_update_rate>
     </physics>
     <wind/>
-    <model name='wamv'>
-      <link name='wamv/base_link'>
-        <inertial>
-          <pose>0.012722 0 0.026171 0 -0 0</pose>
-          <mass>182.806</mass>
-          <inertia>
-            <ixx>128.232</ixx>
-            <ixy>-2.4178e-21</ixy>
-            <ixz>-3.85993</ixz>
-            <iyy>403.15</iyy>
-            <iyz>-9.28107e-22</iyz>
-            <izz>447.942</izz>
-          </inertia>
-        </inertial>
-        <collision name='wamv/base_link_fixed_joint_lump__front_left_cam_post_collision_collision'>
-          <pose>0.92 0.1 1.38475 0 -0 0</pose>
-          <geometry>
-            <cylinder>
-              <length>0.1765</length>
-              <radius>0.0076</radius>
-            </cylinder>
-          </geometry>
-          <max_contacts>10</max_contacts>
-          <surface>
-            <contact>
-              <ode/>
-            </contact>
-            <bounce/>
-            <friction>
-              <torsional>
-                <ode/>
-              </torsional>
-              <ode/>
-            </friction>
-          </surface>
-        </collision>
-        <collision name='wamv/base_link_fixed_joint_lump__front_left_cam_post_arm_collision_collision_1'>
-          <pose>0.95 0.1 1.473 -1.20428 -0 -1.5708</pose>
-          <geometry>
-            <cylinder>
-              <length>0.065</length>
-              <radius>0.008</radius>
-            </cylinder>
-          </geometry>
-          <max_contacts>10</max_contacts>
-          <surface>
-            <contact>
-              <ode/>
-            </contact>
-            <bounce/>
-            <friction>
-              <torsional>
-                <ode/>
-              </torsional>
-              <ode/>
-            </friction>
-          </surface>
-        </collision>
-        <collision name='wamv/base_link_fixed_joint_lump__front_left_cam_lens_collision_collision_2'>
-          <pose>0.987607 0.1 1.49626 3.14159 1.36136 3.14159</pose>
-          <geometry>
-            <cylinder>
-              <length>0.042</length>
-              <radius>0.015</radius>
-            </cylinder>
-          </geometry>
-          <max_contacts>10</max_contacts>
-          <surface>
-            <contact>
-              <ode/>
-            </contact>
-            <bounce/>
-            <friction>
-              <torsional>
-                <ode/>
-              </torsional>
-              <ode/>
-            </friction>
-          </surface>
-        </collision>
-        <collision name='wamv/base_link_fixed_joint_lump__front_left_cam_box_collision_collision_3'>
-          <pose>0.949948 0.1 1.50426 0 0.20944 0</pose>
-          <geometry>
-            <box>
-              <size>0.036 0.03 0.03</size>
-            </box>
-          </geometry>
-          <max_contacts>10</max_contacts>
-          <surface>
-            <contact>
-              <ode/>
-            </contact>
-            <bounce/>
-            <friction>
-              <torsional>
-                <ode/>
-              </torsional>
-              <ode/>
-            </friction>
-          </surface>
-        </collision>
-        <collision name='wamv/base_link_fixed_joint_lump__front_right_cam_post_collision_collision_4'>
-          <pose>0.92 -0.1 1.38475 0 -0 0</pose>
-          <geometry>
-            <cylinder>
-              <length>0.1765</length>
-              <radius>0.0076</radius>
-            </cylinder>
-          </geometry>
-          <max_contacts>10</max_contacts>
-          <surface>
-            <contact>
-              <ode/>
-            </contact>
-            <bounce/>
-            <friction>
-              <torsional>
-                <ode/>
-              </torsional>
-              <ode/>
-            </friction>
-          </surface>
-        </collision>
-        <collision name='wamv/base_link_fixed_joint_lump__front_right_cam_post_arm_collision_collision_5'>
-          <pose>0.95 -0.1 1.473 -1.20428 -0 -1.5708</pose>
-          <geometry>
-            <cylinder>
-              <length>0.065</length>
-              <radius>0.008</radius>
-            </cylinder>
-          </geometry>
-          <max_contacts>10</max_contacts>
-          <surface>
-            <contact>
-              <ode/>
-            </contact>
-            <bounce/>
-            <friction>
-              <torsional>
-                <ode/>
-              </torsional>
-              <ode/>
-            </friction>
-          </surface>
-        </collision>
-        <collision name='wamv/base_link_fixed_joint_lump__front_right_cam_lens_collision_collision_6'>
-          <pose>0.987607 -0.1 1.49626 3.14159 1.36136 3.14159</pose>
-          <geometry>
-            <cylinder>
-              <length>0.042</length>
-              <radius>0.015</radius>
-            </cylinder>
-          </geometry>
-          <max_contacts>10</max_contacts>
-          <surface>
-            <contact>
-              <ode/>
-            </contact>
-            <bounce/>
-            <friction>
-              <torsional>
-                <ode/>
-              </torsional>
-              <ode/>
-            </friction>
-          </surface>
-        </collision>
-        <collision name='wamv/base_link_fixed_joint_lump__front_right_cam_box_collision_collision_7'>
-          <pose>0.949948 -0.1 1.50426 0 0.20944 0</pose>
-          <geometry>
-            <box>
-              <size>0.036 0.03 0.03</size>
-            </box>
-          </geometry>
-          <max_contacts>10</max_contacts>
-          <surface>
-            <contact>
-              <ode/>
-            </contact>
-            <bounce/>
-            <friction>
-              <torsional>
-                <ode/>
-              </torsional>
-              <ode/>
-            </friction>
-          </surface>
-        </collision>
-        <collision name='wamv/base_link_fixed_joint_lump__velodyne_post_collision_collision_8'>
-          <pose>0.704 0 1.62325 0 -0 0</pose>
-          <geometry>
-            <cylinder>
-              <length>0.6535</length>
-              <radius>0.0076</radius>
-            </cylinder>
-          </geometry>
-          <max_contacts>10</max_contacts>
-          <surface>
-            <contact>
-              <ode/>
-            </contact>
-            <bounce/>
-            <friction>
-              <torsional>
-                <ode/>
-              </torsional>
-              <ode/>
-            </friction>
-          </surface>
-        </collision>
-        <collision name='wamv/base_link_fixed_joint_lump__velodyne_post_arm_collision_collision_9'>
-          <pose>0.734 0 1.95 -1.20428 -0 -1.5708</pose>
-          <geometry>
-            <cylinder>
-              <length>0.065</length>
-              <radius>0.008</radius>
-            </cylinder>
-          </geometry>
-          <max_contacts>10</max_contacts>
-          <surface>
-            <contact>
-              <ode/>
-            </contact>
-            <bounce/>
-            <friction>
-              <torsional>
-                <ode/>
-              </torsional>
-              <ode/>
-            </friction>
-          </surface>
-        </collision>
-        <collision name='wamv/base_link_fixed_joint_lump__velodyne_collision_collision_10'>
-          <pose>0.774 0 2 0 0.261799 0</pose>
-          <geometry>
-            <cylinder>
-              <length>0.075</length>
-              <radius>0.055</radius>
-            </cylinder>
-          </geometry>
-          <surface>
-            <contact>
-              <ode/>
-            </contact>
-            <friction>
-              <ode/>
-              <torsional>
-                <ode/>
-              </torsional>
-            </friction>
-            <bounce/>
-          </surface>
-          <max_contacts>10</max_contacts>
-        </collision>
-        <collision name='wamv/base_link_fixed_joint_lump__left_float_collision_11'>
-          <pose>-0.4 1.03 0.2 3.14159 1.57079 3.14159</pose>
-          <geometry>
-            <cylinder>
-              <length>4</length>
-              <radius>0.2</radius>
-            </cylinder>
-          </geometry>
-          <max_contacts>10</max_contacts>
-          <surface>
-            <contact>
-              <ode/>
-            </contact>
-            <bounce/>
-            <friction>
-              <torsional>
-                <ode/>
-              </torsional>
-              <ode/>
-            </friction>
-          </surface>
-        </collision>
-        <collision name='wamv/base_link_fixed_joint_lump__left_mid_float_collision_12'>
-          <pose>1.85 1.03 0.3 0 1.38 0</pose>
-          <geometry>
-            <cylinder>
-              <length>0.5</length>
-              <radius>0.17</radius>
-            </cylinder>
-          </geometry>
-          <max_contacts>10</max_contacts>
-          <surface>
-            <contact>
-              <ode/>
-            </contact>
-            <bounce/>
-            <friction>
-              <torsional>
-                <ode/>
-              </torsional>
-              <ode/>
-            </friction>
-          </surface>
-        </collision>
-        <collision name='wamv/base_link_fixed_joint_lump__left_front_float_collision_13'>
-          <pose>2.3 1.03 0.4 0 1.3 0</pose>
-          <geometry>
-            <cylinder>
-              <length>0.45</length>
-              <radius>0.12</radius>
-            </cylinder>
-          </geometry>
-          <max_contacts>10</max_contacts>
-          <surface>
-            <contact>
-              <ode/>
-            </contact>
-            <bounce/>
-            <friction>
-              <torsional>
-                <ode/>
-              </torsional>
-              <ode/>
-            </friction>
-          </surface>
-        </collision>
-        <collision name='wamv/base_link_fixed_joint_lump__front_left_beam_lower_collision_14'>
-          <pose>0.9 0.85 1 0.78 -0 0</pose>
-          <geometry>
-            <cylinder>
-              <length>0.5</length>
-              <radius>0.04</radius>
-            </cylinder>
-          </geometry>
-          <max_contacts>10</max_contacts>
-          <surface>
-            <contact>
-              <ode/>
-            </contact>
-            <bounce/>
-            <friction>
-              <torsional>
-                <ode/>
-              </torsional>
-              <ode/>
-            </friction>
-          </surface>
-        </collision>
-        <collision name='wamv/base_link_fixed_joint_lump__front_left_beam_upper_collision_15'>
-          <pose>0.9 0.6 1.18 1.35 -0 0</pose>
-          <geometry>
-            <cylinder>
-              <length>0.2</length>
-              <radius>0.04</radius>
-            </cylinder>
-          </geometry>
-          <max_contacts>10</max_contacts>
-          <surface>
-            <contact>
-              <ode/>
-            </contact>
-            <bounce/>
-            <friction>
-              <torsional>
-                <ode/>
-              </torsional>
-              <ode/>
-            </friction>
-          </surface>
-        </collision>
-        <collision name='wamv/base_link_fixed_joint_lump__mid_left_beam_lower_collision_16'>
-          <pose>-0.65 0.99 0.7 0.1 0.25 0</pose>
-          <geometry>
-            <cylinder>
-              <length>0.45</length>
-              <radius>0.03</radius>
-            </cylinder>
-          </geometry>
-          <max_contacts>10</max_contacts>
-          <surface>
-            <contact>
-              <ode/>
-            </contact>
-            <bounce/>
-            <friction>
-              <torsional>
-                <ode/>
-              </torsional>
-              <ode/>
-            </friction>
-          </surface>
-        </collision>
-        <collision name='wamv/base_link_fixed_joint_lump__mid_left_beam_medium_collision_17'>
-          <pose>-0.57 0.87 1.05 0.75 0.25 0</pose>
-          <geometry>
-            <cylinder>
-              <length>0.32</length>
-              <radius>0.03</radius>
-            </cylinder>
-          </geometry>
-          <max_contacts>10</max_contacts>
-          <surface>
-            <contact>
-              <ode/>
-            </contact>
-            <bounce/>
-            <friction>
-              <torsional>
-                <ode/>
-              </torsional>
-              <ode/>
-            </friction>
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-        </visual>
-        <self_collide>0</self_collide>
-        <enable_wind>0</enable_wind>
-        <kinematic>0</kinematic>
-      </link>
-      <joint name='wamv/ball_shooter_launcher_joint' type='revolute'>
-        <pose relative_to='wamv/ball_shooter_base_link'>-0.0204 0 0.107877 0 -0.8 0</pose>
-        <parent>wamv/ball_shooter_base_link</parent>
-        <child>wamv/ball_shooter_launcher_link</child>
-        <axis>
-          <xyz>0 0 1</xyz>
-          <limit>
-            <lower>0</lower>
-            <upper>0</upper>
-            <effort>1000</effort>
-            <velocity>0</velocity>
-          </limit>
-          <dynamics>
-            <spring_reference>0</spring_reference>
-            <spring_stiffness>0</spring_stiffness>
-          </dynamics>
-        </axis>
-      </joint>
-      <link name='wamv/ball_shooter_launcher_link'>
-        <pose relative_to='wamv/ball_shooter_launcher_joint'>0 0 0 0 -0 0</pose>
-        <inertial>
-          <pose>0 0 0 3.14159 -1.57079 3.14159</pose>
-          <mass>0.5</mass>
-          <inertia>
-            <ixx>0.00177917</ixx>
-            <ixy>0</ixy>
-            <ixz>0</ixz>
-            <iyy>0.00177917</iyy>
-            <iyz>0</iyz>
-            <izz>0.000225</izz>
-          </inertia>
-        </inertial>
-        <collision name='wamv/ball_shooter_launcher_link_fixed_joint_lump__ball_shooter_collision_collision'>
-          <pose>0 0 0 0 0.261799 0</pose>
-          <geometry>
-            <box>
-              <size>0.3 0.3 0.2</size>
-            </box>
-          </geometry>
-          <max_contacts>10</max_contacts>
-          <surface>
-            <contact>
-              <ode/>
-            </contact>
-            <bounce/>
-            <friction>
-              <torsional>
-                <ode/>
-              </torsional>
-              <ode/>
-            </friction>
-          </surface>
-        </collision>
-        <visual name='wamv/ball_shooter_launcher_link_fixed_joint_lump__ball_shooter_launcher_visual_visual'>
-          <pose>0 0 0 0 0.261799 0</pose>
-          <geometry>
-            <mesh>
-              <scale>1 1 1</scale>
-              <uri>/home/user/catkin_ws/src/mil/NaviGator/simulation/VRX/vrx/vrx_gazebo/models/ball_shooter/meshes/ball_shooter_launcher.dae</uri>
-            </mesh>
-          </geometry>
-        </visual>
-        <self_collide>0</self_collide>
-        <enable_wind>0</enable_wind>
-        <kinematic>0</kinematic>
-      </link>
-      <joint name='wamv/imu_wamv_joint' type='revolute'>
-        <pose relative_to='wamv/base_link'>0.24 0.17 1.5 0 -0 0</pose>
-        <parent>wamv/base_link</parent>
-        <child>wamv/imu_wamv_link</child>
-        <axis>
-          <xyz>0 0 1</xyz>
-          <limit>
-            <lower>0</lower>
-            <upper>0</upper>
-            <effort>1000</effort>
-            <velocity>0</velocity>
-          </limit>
-          <dynamics>
-            <spring_reference>0</spring_reference>
-            <spring_stiffness>0</spring_stiffness>
-          </dynamics>
-        </axis>
-      </joint>
-      <link name='wamv/imu_wamv_link'>
-        <pose relative_to='wamv/imu_wamv_joint'>0 0 0 0 -0 0</pose>
-        <inertial>
-          <pose>0 0 0 0 -0 0</pose>
-          <mass>0.1</mass>
-          <inertia>
-            <ixx>8.3e-05</ixx>
-            <ixy>0</ixy>
-            <ixz>0</ixz>
-            <iyy>8.3e-05</iyy>
-            <iyz>0</iyz>
-            <izz>0.0125</izz>
-          </inertia>
-        </inertial>
-        <visual name='wamv/imu_wamv_link_fixed_joint_lump__imu_wamv_visual_visual'>
-          <pose>0 0 0 0 -0 0</pose>
-          <geometry>
-            <box>
-              <size>0.05 0.025 0.005</size>
-            </box>
-          </geometry>
-        </visual>
-        <self_collide>0</self_collide>
-        <enable_wind>0</enable_wind>
-        <kinematic>0</kinematic>
-      </link>
-      <joint name='wamv/ins_joint' type='revolute'>
-        <pose relative_to='wamv/base_link'>0.24 0.17 1.5 0 -0 0</pose>
-        <parent>wamv/base_link</parent>
-        <child>wamv/ins_link</child>
-        <axis>
-          <xyz>0 0 1</xyz>
-          <limit>
-            <lower>0</lower>
-            <upper>0</upper>
-            <effort>1000</effort>
-            <velocity>0</velocity>
-          </limit>
-          <dynamics>
-            <spring_reference>0</spring_reference>
-            <spring_stiffness>0</spring_stiffness>
-          </dynamics>
-        </axis>
-      </joint>
-      <link name='wamv/ins_link'>
-        <pose relative_to='wamv/ins_joint'>0 0 0 0 -0 0</pose>
-        <inertial>
-          <pose>0 0 0 0 -0 0</pose>
-          <mass>1</mass>
-          <inertia>
-            <ixx>0.006458</ixx>
-            <ixy>0</ixy>
-            <ixz>0</ixz>
-            <iyy>0.006458</iyy>
-            <iyz>0</iyz>
-            <izz>0.01125</izz>
-          </inertia>
-        </inertial>
-        <collision name='wamv/ins_link_fixed_joint_lump__ins_collision_base_collision'>
-          <pose>0 0 0.025 0 -0 0</pose>
-          <geometry>
-            <cylinder>
-              <length>0.05</length>
-              <radius>0.015</radius>
-            </cylinder>
-          </geometry>
-          <max_contacts>10</max_contacts>
-          <surface>
-            <contact>
-              <ode/>
-            </contact>
-            <bounce/>
-            <friction>
-              <torsional>
-                <ode/>
-              </torsional>
-              <ode/>
-            </friction>
-          </surface>
-        </collision>
-        <collision name='wamv/ins_link_fixed_joint_lump__ins_collision_antenna_collision_1'>
-          <pose>0 0 0.11 0 -0 0</pose>
-          <geometry>
-            <cylinder>
-              <length>0.1</length>
-              <radius>0.15</radius>
-            </cylinder>
-          </geometry>
-          <max_contacts>10</max_contacts>
-          <surface>
-            <contact>
-              <ode/>
-            </contact>
-            <bounce/>
-            <friction>
-              <torsional>
-                <ode/>
-              </torsional>
-              <ode/>
-            </friction>
-          </surface>
-        </collision>
-        <visual name='wamv/ins_link_fixed_joint_lump__ins_visual_visual'>
-          <pose>0 0 0 0 -0 0</pose>
-          <geometry>
-            <mesh>
-              <scale>1 1 1</scale>
-              <uri>/home/user/catkin_ws/src/mil/NaviGator/simulation/VRX/vrx/wamv_gazebo/models/gps/mesh/gps.dae</uri>
-            </mesh>
-          </geometry>
-        </visual>
-        <self_collide>0</self_collide>
-        <enable_wind>0</enable_wind>
-        <kinematic>0</kinematic>
-      </link>
-      <plugin name='gps_plugin_ins' filename='libhector_gazebo_ros_gps.so'>
-        <updateRate>15</updateRate>
-        <alwaysOn>1</alwaysOn>
-        <bodyName>wamv/ins_link</bodyName>
-        <frameId>wamv/ins_link</frameId>
-        <topicName>wamv/sensors/gps/gps/fix</topicName>
-        <velocityTopicName>wamv/sensors/gps/gps/fix_velocity</velocityTopicName>
-        <useWorldSphericalCoordinates>1</useWorldSphericalCoordinates>
-        <offset>0.0 0.0 0.0</offset>
-        <drift>0.0 0.0 0.0</drift>
-        <gaussianNoise>0 0 0</gaussianNoise>
-        <velocityOffset>0.0 0.0 0.0</velocityOffset>
-        <velocityDrift>0.0 0.0 0.0</velocityDrift>
-        <velocityGaussianNoise>0.0 0.0 0.0</velocityGaussianNoise>
-        <robotNamespace>/</robotNamespace>
-      </plugin>
-      <plugin name='imu_plugin_imu_wamv' filename='libhector_gazebo_ros_imu.so'>
-        <updateRate>15</updateRate>
-        <bodyName>wamv/imu_wamv_link</bodyName>
-        <topicName>wamv/sensors/imu/imu/data</topicName>
-        <serviceName>wamv/sensors/imu_service</serviceName>
-        <frameId>wamv/imu_wamv_link</frameId>
-        <alwaysOn>1</alwaysOn>
-        <accelOffset>0.0 0.0 0.0</accelOffset>
-        <accelDrift>0.0 0.0 0.0</accelDrift>
-        <accelDriftFrequency>0.00027 0.00027 0.000027</accelDriftFrequency>
-        <accelGaussianNoise>0.0 0.0 0.0</accelGaussianNoise>
-        <rateOffset>0.0 0.0 0.0</rateOffset>
-        <rateDrift>0.0 0.0 0.0</rateDrift>
-        <rateDriftFrequency>0.00027 0.00027 0.000027</rateDriftFrequency>
-        <rateGaussianNoise>0.0 0.0 0.0</rateGaussianNoise>
-        <yawOffset>0.0</yawOffset>
-        <yawDrift>0.0</yawDrift>
-        <yawDriftFrequency>0.00027</yawDriftFrequency>
-        <yawGaussianNoise>0.0</yawGaussianNoise>
-        <robotNamespace>/</robotNamespace>
-      </plugin>
-      <plugin name='ball_shooter_plugin' filename='libball_shooter_plugin.so'>
-        <projectile>
-          <model_name>blue_projectile</model_name>
-          <link_name>link</link_name>
-          <frame>wamv/ball_shooter_launcher_link</frame>
-          <pose>0.14 0 0 0 0 0</pose>
-        </projectile>
-        <num_shots>4</num_shots>
-        <shot_force>300</shot_force>
-        <topic>wamv/shooters/ball_shooter/fire</topic>
-        <robotNamespace>/</robotNamespace>
-      </plugin>
-      <plugin name='pinger_plugin' filename='libusv_gazebo_acoustic_pinger_plugin.so'>
-        <frameId>wamv/pinger</frameId>
-        <topicName>wamv/sensors/pingers/hydrophones/range_bearing</topicName>
-        <setPositionTopicName>wamv/sensors/pingers/hydrophones/set_pinger_position</setPositionTopicName>
-        <rangeNoise>
-          <noise>
-            <type>gaussian</type>
-            <mean>0.0</mean>
-            <stddev>3.0</stddev>
-          </noise>
-        </rangeNoise>
-        <bearingNoise>
-          <noise>
-            <type>gaussian</type>
-            <mean>0.0</mean>
-            <stddev>0.01</stddev>
-          </noise>
-        </bearingNoise>
-        <elevationNoise>
-          <noise>
-            <type>gaussian</type>
-            <mean>0.0</mean>
-            <stddev>0.01</stddev>
-          </noise>
-        </elevationNoise>
-        <robotNamespace>/</robotNamespace>
-      </plugin>
-      <plugin name='wamv_gazebo_thrust' filename='libusv_gazebo_thrust_plugin.so'>
-        <cmdTimeout>1.0</cmdTimeout>
-        <robotNamespace>wamv</robotNamespace>
-        <thruster>
-          <linkName>BL_propeller_link</linkName>
-          <propJointName>BL_engine_propeller_joint</propJointName>
-          <engineJointName>BL_chasis_engine_joint</engineJointName>
-          <cmdTopic>thrusters/BL_thrust_cmd</cmdTopic>
-          <angleTopic>thrusters/BL_thrust_angle</angleTopic>
-          <enableAngle>1</enableAngle>
-          <mappingType>1</mappingType>
-          <maxCmd>1.0</maxCmd>
-          <maxForceFwd>250.0</maxForceFwd>
-          <maxForceRev>-100.0</maxForceRev>
-          <maxAngle>1.5707963267948966</maxAngle>
-        </thruster>
-        <thruster>
-          <linkName>BR_propeller_link</linkName>
-          <propJointName>BR_engine_propeller_joint</propJointName>
-          <engineJointName>BR_chasis_engine_joint</engineJointName>
-          <cmdTopic>thrusters/BR_thrust_cmd</cmdTopic>
-          <angleTopic>thrusters/BR_thrust_angle</angleTopic>
-          <enableAngle>1</enableAngle>
-          <mappingType>1</mappingType>
-          <maxCmd>1.0</maxCmd>
-          <maxForceFwd>250.0</maxForceFwd>
-          <maxForceRev>-100.0</maxForceRev>
-          <maxAngle>1.5707963267948966</maxAngle>
-        </thruster>
-        <thruster>
-          <linkName>FL_propeller_link</linkName>
-          <propJointName>FL_engine_propeller_joint</propJointName>
-          <engineJointName>FL_chasis_engine_joint</engineJointName>
-          <cmdTopic>thrusters/FL_thrust_cmd</cmdTopic>
-          <angleTopic>thrusters/FL_thrust_angle</angleTopic>
-          <enableAngle>1</enableAngle>
-          <mappingType>1</mappingType>
-          <maxCmd>1.0</maxCmd>
-          <maxForceFwd>250.0</maxForceFwd>
-          <maxForceRev>-100.0</maxForceRev>
-          <maxAngle>1.5707963267948966</maxAngle>
-        </thruster>
-        <thruster>
-          <linkName>FR_propeller_link</linkName>
-          <propJointName>FR_engine_propeller_joint</propJointName>
-          <engineJointName>FR_chasis_engine_joint</engineJointName>
-          <cmdTopic>thrusters/FR_thrust_cmd</cmdTopic>
-          <angleTopic>thrusters/FR_thrust_angle</angleTopic>
-          <enableAngle>1</enableAngle>
-          <mappingType>1</mappingType>
-          <maxCmd>1.0</maxCmd>
-          <maxForceFwd>250.0</maxForceFwd>
-          <maxForceRev>-100.0</maxForceRev>
-          <maxAngle>1.5707963267948966</maxAngle>
-        </thruster>
-      </plugin>
-      <plugin name='usv_dynamics_wamv_dynamics_plugin' filename='libusv_gazebo_dynamics_plugin.so'>
-        <bodyName>wamv/base_link</bodyName>
-        <waterLevel>0</waterLevel>
-        <waterDensity>997.8</waterDensity>
-        <xDotU>0.0</xDotU>
-        <yDotV>0.0</yDotV>
-        <nDotR>0.0</nDotR>
-        <xU>51.3</xU>
-        <xUU>72.4</xUU>
-        <yV>40.0</yV>
-        <yVV>0.0</yVV>
-        <zW>500.0</zW>
-        <kP>50.0</kP>
-        <mQ>50.0</mQ>
-        <nR>400.0</nR>
-        <nRR>0.0</nRR>
-        <hullRadius>0.213</hullRadius>
-        <boatWidth>2.4</boatWidth>
-        <boatLength>4.9</boatLength>
-        <length_n>2</length_n>
-        <wave_model>ocean_waves</wave_model>
-        <robotNamespace>/</robotNamespace>
-      </plugin>
-      <frame name='wamv/front_left_cam_to_front_left_cam_link_optical_joint' attached_to='wamv/front_left_cam_link'>
-        <pose>0 0 0 -1.5708 -0 -1.5708</pose>
-      </frame>
-      <frame name='wamv/front_left_cam_link_optical' attached_to='wamv/front_left_cam_to_front_left_cam_link_optical_joint'/>
-      <frame name='wamv/front_left_cam_post_arm_to_front_left_cam_joint' attached_to='wamv/front_left_cam_post_arm_link'>
-        <pose>0.02 0 0.027 0 0.20944 0</pose>
-      </frame>
-      <frame name='wamv/front_left_cam_link' attached_to='wamv/front_left_cam_post_arm_to_front_left_cam_joint'/>
-      <frame name='wamv/front_left_cam_post_to_front_left_cam_post_arm_joint' attached_to='wamv/front_left_cam_post_link'>
-        <pose>0.03 0 0.08825 0 -0 0</pose>
-      </frame>
-      <frame name='wamv/front_left_cam_post_arm_link' attached_to='wamv/front_left_cam_post_to_front_left_cam_post_arm_joint'/>
-      <frame name='wamv/base_to_front_left_cam_post_joint' attached_to='wamv/base_link'>
-        <pose>0.92 0.1 1.38475 0 -0 0</pose>
-      </frame>
-      <frame name='wamv/front_left_cam_post_link' attached_to='wamv/base_to_front_left_cam_post_joint'/>
-      <frame name='wamv/front_right_cam_to_front_right_cam_link_optical_joint' attached_to='wamv/front_right_cam_link'>
-        <pose>0 0 0 -1.5708 -0 -1.5708</pose>
-      </frame>
-      <frame name='wamv/front_right_cam_link_optical' attached_to='wamv/front_right_cam_to_front_right_cam_link_optical_joint'/>
-      <frame name='wamv/front_right_cam_post_arm_to_front_right_cam_joint' attached_to='wamv/front_right_cam_post_arm_link'>
-        <pose>0.02 0 0.027 0 0.20944 0</pose>
-      </frame>
-      <frame name='wamv/front_right_cam_link' attached_to='wamv/front_right_cam_post_arm_to_front_right_cam_joint'/>
-      <frame name='wamv/front_right_cam_post_to_front_right_cam_post_arm_joint' attached_to='wamv/front_right_cam_post_link'>
-        <pose>0.03 0 0.08825 0 -0 0</pose>
-      </frame>
-      <frame name='wamv/front_right_cam_post_arm_link' attached_to='wamv/front_right_cam_post_to_front_right_cam_post_arm_joint'/>
-      <frame name='wamv/base_to_front_right_cam_post_joint' attached_to='wamv/base_link'>
-        <pose>0.92 -0.1 1.38475 0 -0 0</pose>
-      </frame>
-      <frame name='wamv/front_right_cam_post_link' attached_to='wamv/base_to_front_right_cam_post_joint'/>
-      <frame name='wamv/velodyne_post_arm_to_velodyne_joint' attached_to='velodyne_post_arm_link'>
-        <pose>0.04 0 0.05 0 0.261799 0</pose>
-      </frame>
-      <frame name='velodyne' attached_to='wamv/velodyne_post_arm_to_velodyne_joint'/>
-      <frame name='wamv/velodyne_post_to_velodyne_post_arm_joint' attached_to='velodyne_post_link'>
-        <pose>0.03 0 0.32675 0 -0 0</pose>
-      </frame>
-      <frame name='velodyne_post_arm_link' attached_to='wamv/velodyne_post_to_velodyne_post_arm_joint'/>
-      <frame name='wamv/base_to_velodyne_post_joint' attached_to='wamv/base_link'>
-        <pose>0.704 0 1.62325 0 -0 0</pose>
-      </frame>
-      <frame name='velodyne_post_link' attached_to='wamv/base_to_velodyne_post_joint'/>
-      <frame name='wamv/dummy_joint' attached_to='wamv/base_link'>
-        <pose>0 0 0 0 -0 0</pose>
-      </frame>
-      <frame name='wamv/dummy_link' attached_to='wamv/dummy_joint'/>
-      <frame name='wamv/hydrophones_pinger_joint' attached_to='wamv/base_link'>
-        <pose>1 0 -1 0 -0 0</pose>
-      </frame>
-      <frame name='wamv/hydrophones' attached_to='wamv/hydrophones_pinger_joint'/>
-      <pose>-527 167 0.1 0 -0 1</pose>
-    </model>
     <model name='mb_marker_buoy_white'>
       <link name='link'>
         <inertial>
diff --git a/NaviGator/simulation/navigator_gazebo/worlds/pathfinding/right_L_path_test.world b/NaviGator/simulation/navigator_gazebo/worlds/pathfinding/right_L_path_test.world
index f20e3a729..30811290f 100644
--- a/NaviGator/simulation/navigator_gazebo/worlds/pathfinding/right_L_path_test.world
+++ b/NaviGator/simulation/navigator_gazebo/worlds/pathfinding/right_L_path_test.world
@@ -1222,2132 +1222,6 @@
       <real_time_update_rate>1000</real_time_update_rate>
     </physics>
     <wind/>
-    <model name='wamv'>
-      <link name='wamv/base_link'>
-        <inertial>
-          <pose>0.012722 0 0.026171 0 -0 0</pose>
-          <mass>182.806</mass>
-          <inertia>
-            <ixx>128.232</ixx>
-            <ixy>-2.4178e-21</ixy>
-            <ixz>-3.85993</ixz>
-            <iyy>403.15</iyy>
-            <iyz>-9.28107e-22</iyz>
-            <izz>447.942</izz>
-          </inertia>
-        </inertial>
-        <collision name='wamv/base_link_fixed_joint_lump__front_left_cam_post_collision_collision'>
-          <pose>0.92 0.1 1.38475 0 -0 0</pose>
-          <geometry>
-            <cylinder>
-              <length>0.1765</length>
-              <radius>0.0076</radius>
-            </cylinder>
-          </geometry>
-          <max_contacts>10</max_contacts>
-          <surface>
-            <contact>
-              <ode/>
-            </contact>
-            <bounce/>
-            <friction>
-              <torsional>
-                <ode/>
-              </torsional>
-              <ode/>
-            </friction>
-          </surface>
-        </collision>
-        <collision name='wamv/base_link_fixed_joint_lump__front_left_cam_post_arm_collision_collision_1'>
-          <pose>0.95 0.1 1.473 -1.20428 -0 -1.5708</pose>
-          <geometry>
-            <cylinder>
-              <length>0.065</length>
-              <radius>0.008</radius>
-            </cylinder>
-          </geometry>
-          <max_contacts>10</max_contacts>
-          <surface>
-            <contact>
-              <ode/>
-            </contact>
-            <bounce/>
-            <friction>
-              <torsional>
-                <ode/>
-              </torsional>
-              <ode/>
-            </friction>
-          </surface>
-        </collision>
-        <collision name='wamv/base_link_fixed_joint_lump__front_left_cam_lens_collision_collision_2'>
-          <pose>0.987607 0.1 1.49626 3.14159 1.36136 3.14159</pose>
-          <geometry>
-            <cylinder>
-              <length>0.042</length>
-              <radius>0.015</radius>
-            </cylinder>
-          </geometry>
-          <max_contacts>10</max_contacts>
-          <surface>
-            <contact>
-              <ode/>
-            </contact>
-            <bounce/>
-            <friction>
-              <torsional>
-                <ode/>
-              </torsional>
-              <ode/>
-            </friction>
-          </surface>
-        </collision>
-        <collision name='wamv/base_link_fixed_joint_lump__front_left_cam_box_collision_collision_3'>
-          <pose>0.949948 0.1 1.50426 0 0.20944 0</pose>
-          <geometry>
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-            <lower>-1e+16</lower>
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-                <ode/>
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-              <ode/>
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-        <visual name='FR_propeller_link_visual'>
-          <pose>0 0 0 0 -0 0</pose>
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-              <uri>/home/user/catkin_ws/src/mil/NaviGator/simulation/VRX/vrx/wamv_description/models/propeller/mesh/propeller.dae</uri>
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-        <parent>wamv/base_link</parent>
-        <child>wamv/ball_shooter_base_link</child>
-        <axis>
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-            <lower>0</lower>
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-            <effort>1000</effort>
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-        <pose relative_to='wamv/ball_shooter_base_joint'>0 0 0 0 -0 0</pose>
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-            <ixx>0.00083</ixx>
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-          <pose>0 0 0 0 -0 0</pose>
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-              <uri>/home/user/catkin_ws/src/mil/NaviGator/simulation/VRX/vrx/vrx_gazebo/models/ball_shooter/meshes/ball_shooter_base.dae</uri>
-            </mesh>
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-      <joint name='wamv/ball_shooter_launcher_joint' type='revolute'>
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-        <axis>
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-            <effort>1000</effort>
-            <velocity>0</velocity>
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-            <spring_reference>0</spring_reference>
-            <spring_stiffness>0</spring_stiffness>
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-      <link name='wamv/ball_shooter_launcher_link'>
-        <pose relative_to='wamv/ball_shooter_launcher_joint'>0 0 0 0 -0 0</pose>
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-          <pose>0 0 0 0 0.261799 0</pose>
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-            <box>
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-          <pose>0 0 0 0 0.261799 0</pose>
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-              <uri>/home/user/catkin_ws/src/mil/NaviGator/simulation/VRX/vrx/vrx_gazebo/models/ball_shooter/meshes/ball_shooter_launcher.dae</uri>
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-      <joint name='wamv/imu_wamv_joint' type='revolute'>
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-        <parent>wamv/base_link</parent>
-        <child>wamv/imu_wamv_link</child>
-        <axis>
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-            <upper>0</upper>
-            <effort>1000</effort>
-            <velocity>0</velocity>
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-      <link name='wamv/imu_wamv_link'>
-        <pose relative_to='wamv/imu_wamv_joint'>0 0 0 0 -0 0</pose>
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-          <mass>0.1</mass>
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-            <ixx>8.3e-05</ixx>
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-            <ixz>0</ixz>
-            <iyy>8.3e-05</iyy>
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-          <pose>0 0 0 0 -0 0</pose>
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-      <joint name='wamv/ins_joint' type='revolute'>
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-        <parent>wamv/base_link</parent>
-        <child>wamv/ins_link</child>
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-        <pose relative_to='wamv/ins_joint'>0 0 0 0 -0 0</pose>
-        <inertial>
-          <pose>0 0 0 0 -0 0</pose>
-          <mass>1</mass>
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-          <pose>0 0 0.025 0 -0 0</pose>
-          <geometry>
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-              <radius>0.015</radius>
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-        <collision name='wamv/ins_link_fixed_joint_lump__ins_collision_antenna_collision_1'>
-          <pose>0 0 0.11 0 -0 0</pose>
-          <geometry>
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-              <radius>0.15</radius>
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-        <visual name='wamv/ins_link_fixed_joint_lump__ins_visual_visual'>
-          <pose>0 0 0 0 -0 0</pose>
-          <geometry>
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-              <scale>1 1 1</scale>
-              <uri>/home/user/catkin_ws/src/mil/NaviGator/simulation/VRX/vrx/wamv_gazebo/models/gps/mesh/gps.dae</uri>
-            </mesh>
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-      <plugin name='gps_plugin_ins' filename='libhector_gazebo_ros_gps.so'>
-        <updateRate>15</updateRate>
-        <alwaysOn>1</alwaysOn>
-        <bodyName>wamv/ins_link</bodyName>
-        <frameId>wamv/ins_link</frameId>
-        <topicName>wamv/sensors/gps/gps/fix</topicName>
-        <velocityTopicName>wamv/sensors/gps/gps/fix_velocity</velocityTopicName>
-        <useWorldSphericalCoordinates>1</useWorldSphericalCoordinates>
-        <offset>0.0 0.0 0.0</offset>
-        <drift>0.0 0.0 0.0</drift>
-        <gaussianNoise>0 0 0</gaussianNoise>
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-        <velocityDrift>0.0 0.0 0.0</velocityDrift>
-        <velocityGaussianNoise>0.0 0.0 0.0</velocityGaussianNoise>
-        <robotNamespace>/</robotNamespace>
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-      <plugin name='imu_plugin_imu_wamv' filename='libhector_gazebo_ros_imu.so'>
-        <updateRate>15</updateRate>
-        <bodyName>wamv/imu_wamv_link</bodyName>
-        <topicName>wamv/sensors/imu/imu/data</topicName>
-        <serviceName>wamv/sensors/imu_service</serviceName>
-        <frameId>wamv/imu_wamv_link</frameId>
-        <alwaysOn>1</alwaysOn>
-        <accelOffset>0.0 0.0 0.0</accelOffset>
-        <accelDrift>0.0 0.0 0.0</accelDrift>
-        <accelDriftFrequency>0.00027 0.00027 0.000027</accelDriftFrequency>
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-        <rateOffset>0.0 0.0 0.0</rateOffset>
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-        <rateDriftFrequency>0.00027 0.00027 0.000027</rateDriftFrequency>
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-        <yawOffset>0.0</yawOffset>
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-        <yawGaussianNoise>0.0</yawGaussianNoise>
-        <robotNamespace>/</robotNamespace>
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-      <plugin name='ball_shooter_plugin' filename='libball_shooter_plugin.so'>
-        <projectile>
-          <model_name>blue_projectile</model_name>
-          <link_name>link</link_name>
-          <frame>wamv/ball_shooter_launcher_link</frame>
-          <pose>0.14 0 0 0 0 0</pose>
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-        <num_shots>4</num_shots>
-        <shot_force>300</shot_force>
-        <topic>wamv/shooters/ball_shooter/fire</topic>
-        <robotNamespace>/</robotNamespace>
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-      <plugin name='pinger_plugin' filename='libusv_gazebo_acoustic_pinger_plugin.so'>
-        <frameId>wamv/pinger</frameId>
-        <topicName>wamv/sensors/pingers/hydrophones/range_bearing</topicName>
-        <setPositionTopicName>wamv/sensors/pingers/hydrophones/set_pinger_position</setPositionTopicName>
-        <rangeNoise>
-          <noise>
-            <type>gaussian</type>
-            <mean>0.0</mean>
-            <stddev>3.0</stddev>
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-        <bearingNoise>
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-            <mean>0.0</mean>
-            <stddev>0.01</stddev>
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-          <noise>
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-            <mean>0.0</mean>
-            <stddev>0.01</stddev>
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-        <robotNamespace>/</robotNamespace>
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-      <plugin name='wamv_gazebo_thrust' filename='libusv_gazebo_thrust_plugin.so'>
-        <cmdTimeout>1.0</cmdTimeout>
-        <robotNamespace>wamv</robotNamespace>
-        <thruster>
-          <linkName>BL_propeller_link</linkName>
-          <propJointName>BL_engine_propeller_joint</propJointName>
-          <engineJointName>BL_chasis_engine_joint</engineJointName>
-          <cmdTopic>thrusters/BL_thrust_cmd</cmdTopic>
-          <angleTopic>thrusters/BL_thrust_angle</angleTopic>
-          <enableAngle>1</enableAngle>
-          <mappingType>1</mappingType>
-          <maxCmd>1.0</maxCmd>
-          <maxForceFwd>250.0</maxForceFwd>
-          <maxForceRev>-100.0</maxForceRev>
-          <maxAngle>1.5707963267948966</maxAngle>
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-        <thruster>
-          <linkName>BR_propeller_link</linkName>
-          <propJointName>BR_engine_propeller_joint</propJointName>
-          <engineJointName>BR_chasis_engine_joint</engineJointName>
-          <cmdTopic>thrusters/BR_thrust_cmd</cmdTopic>
-          <angleTopic>thrusters/BR_thrust_angle</angleTopic>
-          <enableAngle>1</enableAngle>
-          <mappingType>1</mappingType>
-          <maxCmd>1.0</maxCmd>
-          <maxForceFwd>250.0</maxForceFwd>
-          <maxForceRev>-100.0</maxForceRev>
-          <maxAngle>1.5707963267948966</maxAngle>
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-        <thruster>
-          <linkName>FL_propeller_link</linkName>
-          <propJointName>FL_engine_propeller_joint</propJointName>
-          <engineJointName>FL_chasis_engine_joint</engineJointName>
-          <cmdTopic>thrusters/FL_thrust_cmd</cmdTopic>
-          <angleTopic>thrusters/FL_thrust_angle</angleTopic>
-          <enableAngle>1</enableAngle>
-          <mappingType>1</mappingType>
-          <maxCmd>1.0</maxCmd>
-          <maxForceFwd>250.0</maxForceFwd>
-          <maxForceRev>-100.0</maxForceRev>
-          <maxAngle>1.5707963267948966</maxAngle>
-        </thruster>
-        <thruster>
-          <linkName>FR_propeller_link</linkName>
-          <propJointName>FR_engine_propeller_joint</propJointName>
-          <engineJointName>FR_chasis_engine_joint</engineJointName>
-          <cmdTopic>thrusters/FR_thrust_cmd</cmdTopic>
-          <angleTopic>thrusters/FR_thrust_angle</angleTopic>
-          <enableAngle>1</enableAngle>
-          <mappingType>1</mappingType>
-          <maxCmd>1.0</maxCmd>
-          <maxForceFwd>250.0</maxForceFwd>
-          <maxForceRev>-100.0</maxForceRev>
-          <maxAngle>1.5707963267948966</maxAngle>
-        </thruster>
-      </plugin>
-      <plugin name='usv_dynamics_wamv_dynamics_plugin' filename='libusv_gazebo_dynamics_plugin.so'>
-        <bodyName>wamv/base_link</bodyName>
-        <waterLevel>0</waterLevel>
-        <waterDensity>997.8</waterDensity>
-        <xDotU>0.0</xDotU>
-        <yDotV>0.0</yDotV>
-        <nDotR>0.0</nDotR>
-        <xU>51.3</xU>
-        <xUU>72.4</xUU>
-        <yV>40.0</yV>
-        <yVV>0.0</yVV>
-        <zW>500.0</zW>
-        <kP>50.0</kP>
-        <mQ>50.0</mQ>
-        <nR>400.0</nR>
-        <nRR>0.0</nRR>
-        <hullRadius>0.213</hullRadius>
-        <boatWidth>2.4</boatWidth>
-        <boatLength>4.9</boatLength>
-        <length_n>2</length_n>
-        <wave_model>ocean_waves</wave_model>
-        <robotNamespace>/</robotNamespace>
-      </plugin>
-      <frame name='wamv/front_left_cam_to_front_left_cam_link_optical_joint' attached_to='wamv/front_left_cam_link'>
-        <pose>0 0 0 -1.5708 -0 -1.5708</pose>
-      </frame>
-      <frame name='wamv/front_left_cam_link_optical' attached_to='wamv/front_left_cam_to_front_left_cam_link_optical_joint'/>
-      <frame name='wamv/front_left_cam_post_arm_to_front_left_cam_joint' attached_to='wamv/front_left_cam_post_arm_link'>
-        <pose>0.02 0 0.027 0 0.20944 0</pose>
-      </frame>
-      <frame name='wamv/front_left_cam_link' attached_to='wamv/front_left_cam_post_arm_to_front_left_cam_joint'/>
-      <frame name='wamv/front_left_cam_post_to_front_left_cam_post_arm_joint' attached_to='wamv/front_left_cam_post_link'>
-        <pose>0.03 0 0.08825 0 -0 0</pose>
-      </frame>
-      <frame name='wamv/front_left_cam_post_arm_link' attached_to='wamv/front_left_cam_post_to_front_left_cam_post_arm_joint'/>
-      <frame name='wamv/base_to_front_left_cam_post_joint' attached_to='wamv/base_link'>
-        <pose>0.92 0.1 1.38475 0 -0 0</pose>
-      </frame>
-      <frame name='wamv/front_left_cam_post_link' attached_to='wamv/base_to_front_left_cam_post_joint'/>
-      <frame name='wamv/front_right_cam_to_front_right_cam_link_optical_joint' attached_to='wamv/front_right_cam_link'>
-        <pose>0 0 0 -1.5708 -0 -1.5708</pose>
-      </frame>
-      <frame name='wamv/front_right_cam_link_optical' attached_to='wamv/front_right_cam_to_front_right_cam_link_optical_joint'/>
-      <frame name='wamv/front_right_cam_post_arm_to_front_right_cam_joint' attached_to='wamv/front_right_cam_post_arm_link'>
-        <pose>0.02 0 0.027 0 0.20944 0</pose>
-      </frame>
-      <frame name='wamv/front_right_cam_link' attached_to='wamv/front_right_cam_post_arm_to_front_right_cam_joint'/>
-      <frame name='wamv/front_right_cam_post_to_front_right_cam_post_arm_joint' attached_to='wamv/front_right_cam_post_link'>
-        <pose>0.03 0 0.08825 0 -0 0</pose>
-      </frame>
-      <frame name='wamv/front_right_cam_post_arm_link' attached_to='wamv/front_right_cam_post_to_front_right_cam_post_arm_joint'/>
-      <frame name='wamv/base_to_front_right_cam_post_joint' attached_to='wamv/base_link'>
-        <pose>0.92 -0.1 1.38475 0 -0 0</pose>
-      </frame>
-      <frame name='wamv/front_right_cam_post_link' attached_to='wamv/base_to_front_right_cam_post_joint'/>
-      <frame name='wamv/velodyne_post_arm_to_velodyne_joint' attached_to='velodyne_post_arm_link'>
-        <pose>0.04 0 0.05 0 0.261799 0</pose>
-      </frame>
-      <frame name='velodyne' attached_to='wamv/velodyne_post_arm_to_velodyne_joint'/>
-      <frame name='wamv/velodyne_post_to_velodyne_post_arm_joint' attached_to='velodyne_post_link'>
-        <pose>0.03 0 0.32675 0 -0 0</pose>
-      </frame>
-      <frame name='velodyne_post_arm_link' attached_to='wamv/velodyne_post_to_velodyne_post_arm_joint'/>
-      <frame name='wamv/base_to_velodyne_post_joint' attached_to='wamv/base_link'>
-        <pose>0.704 0 1.62325 0 -0 0</pose>
-      </frame>
-      <frame name='velodyne_post_link' attached_to='wamv/base_to_velodyne_post_joint'/>
-      <frame name='wamv/dummy_joint' attached_to='wamv/base_link'>
-        <pose>0 0 0 0 -0 0</pose>
-      </frame>
-      <frame name='wamv/dummy_link' attached_to='wamv/dummy_joint'/>
-      <frame name='wamv/hydrophones_pinger_joint' attached_to='wamv/base_link'>
-        <pose>1 0 -1 0 -0 0</pose>
-      </frame>
-      <frame name='wamv/hydrophones' attached_to='wamv/hydrophones_pinger_joint'/>
-      <pose>-527 167 0.1 0 -0 1</pose>
-    </model>
     <model name='mb_marker_buoy_white'>
       <link name='link'>
         <inertial>
diff --git a/NaviGator/simulation/navigator_gazebo/worlds/pathfinding/sharp_left_test.world b/NaviGator/simulation/navigator_gazebo/worlds/pathfinding/sharp_left_test.world
index 0d01ccb62..4cff8ea79 100644
--- a/NaviGator/simulation/navigator_gazebo/worlds/pathfinding/sharp_left_test.world
+++ b/NaviGator/simulation/navigator_gazebo/worlds/pathfinding/sharp_left_test.world
@@ -1222,2132 +1222,6 @@
       <real_time_update_rate>1000</real_time_update_rate>
     </physics>
     <wind/>
-    <model name='wamv'>
-      <link name='wamv/base_link'>
-        <inertial>
-          <pose>0.012722 0 0.026171 0 -0 0</pose>
-          <mass>182.806</mass>
-          <inertia>
-            <ixx>128.232</ixx>
-            <ixy>-2.4178e-21</ixy>
-            <ixz>-3.85993</ixz>
-            <iyy>403.15</iyy>
-            <iyz>-9.28107e-22</iyz>
-            <izz>447.942</izz>
-          </inertia>
-        </inertial>
-        <collision name='wamv/base_link_fixed_joint_lump__front_left_cam_post_collision_collision'>
-          <pose>0.92 0.1 1.38475 0 -0 0</pose>
-          <geometry>
-            <cylinder>
-              <length>0.1765</length>
-              <radius>0.0076</radius>
-            </cylinder>
-          </geometry>
-          <max_contacts>10</max_contacts>
-          <surface>
-            <contact>
-              <ode/>
-            </contact>
-            <bounce/>
-            <friction>
-              <torsional>
-                <ode/>
-              </torsional>
-              <ode/>
-            </friction>
-          </surface>
-        </collision>
-        <collision name='wamv/base_link_fixed_joint_lump__front_left_cam_post_arm_collision_collision_1'>
-          <pose>0.95 0.1 1.473 -1.20428 -0 -1.5708</pose>
-          <geometry>
-            <cylinder>
-              <length>0.065</length>
-              <radius>0.008</radius>
-            </cylinder>
-          </geometry>
-          <max_contacts>10</max_contacts>
-          <surface>
-            <contact>
-              <ode/>
-            </contact>
-            <bounce/>
-            <friction>
-              <torsional>
-                <ode/>
-              </torsional>
-              <ode/>
-            </friction>
-          </surface>
-        </collision>
-        <collision name='wamv/base_link_fixed_joint_lump__front_left_cam_lens_collision_collision_2'>
-          <pose>0.987607 0.1 1.49626 3.14159 1.36136 3.14159</pose>
-          <geometry>
-            <cylinder>
-              <length>0.042</length>
-              <radius>0.015</radius>
-            </cylinder>
-          </geometry>
-          <max_contacts>10</max_contacts>
-          <surface>
-            <contact>
-              <ode/>
-            </contact>
-            <bounce/>
-            <friction>
-              <torsional>
-                <ode/>
-              </torsional>
-              <ode/>
-            </friction>
-          </surface>
-        </collision>
-        <collision name='wamv/base_link_fixed_joint_lump__front_left_cam_box_collision_collision_3'>
-          <pose>0.949948 0.1 1.50426 0 0.20944 0</pose>
-          <geometry>
-            <box>
-              <size>0.036 0.03 0.03</size>
-            </box>
-          </geometry>
-          <max_contacts>10</max_contacts>
-          <surface>
-            <contact>
-              <ode/>
-            </contact>
-            <bounce/>
-            <friction>
-              <torsional>
-                <ode/>
-              </torsional>
-              <ode/>
-            </friction>
-          </surface>
-        </collision>
-        <collision name='wamv/base_link_fixed_joint_lump__front_right_cam_post_collision_collision_4'>
-          <pose>0.92 -0.1 1.38475 0 -0 0</pose>
-          <geometry>
-            <cylinder>
-              <length>0.1765</length>
-              <radius>0.0076</radius>
-            </cylinder>
-          </geometry>
-          <max_contacts>10</max_contacts>
-          <surface>
-            <contact>
-              <ode/>
-            </contact>
-            <bounce/>
-            <friction>
-              <torsional>
-                <ode/>
-              </torsional>
-              <ode/>
-            </friction>
-          </surface>
-        </collision>
-        <collision name='wamv/base_link_fixed_joint_lump__front_right_cam_post_arm_collision_collision_5'>
-          <pose>0.95 -0.1 1.473 -1.20428 -0 -1.5708</pose>
-          <geometry>
-            <cylinder>
-              <length>0.065</length>
-              <radius>0.008</radius>
-            </cylinder>
-          </geometry>
-          <max_contacts>10</max_contacts>
-          <surface>
-            <contact>
-              <ode/>
-            </contact>
-            <bounce/>
-            <friction>
-              <torsional>
-                <ode/>
-              </torsional>
-              <ode/>
-            </friction>
-          </surface>
-        </collision>
-        <collision name='wamv/base_link_fixed_joint_lump__front_right_cam_lens_collision_collision_6'>
-          <pose>0.987607 -0.1 1.49626 3.14159 1.36136 3.14159</pose>
-          <geometry>
-            <cylinder>
-              <length>0.042</length>
-              <radius>0.015</radius>
-            </cylinder>
-          </geometry>
-          <max_contacts>10</max_contacts>
-          <surface>
-            <contact>
-              <ode/>
-            </contact>
-            <bounce/>
-            <friction>
-              <torsional>
-                <ode/>
-              </torsional>
-              <ode/>
-            </friction>
-          </surface>
-        </collision>
-        <collision name='wamv/base_link_fixed_joint_lump__front_right_cam_box_collision_collision_7'>
-          <pose>0.949948 -0.1 1.50426 0 0.20944 0</pose>
-          <geometry>
-            <box>
-              <size>0.036 0.03 0.03</size>
-            </box>
-          </geometry>
-          <max_contacts>10</max_contacts>
-          <surface>
-            <contact>
-              <ode/>
-            </contact>
-            <bounce/>
-            <friction>
-              <torsional>
-                <ode/>
-              </torsional>
-              <ode/>
-            </friction>
-          </surface>
-        </collision>
-        <collision name='wamv/base_link_fixed_joint_lump__velodyne_post_collision_collision_8'>
-          <pose>0.704 0 1.62325 0 -0 0</pose>
-          <geometry>
-            <cylinder>
-              <length>0.6535</length>
-              <radius>0.0076</radius>
-            </cylinder>
-          </geometry>
-          <max_contacts>10</max_contacts>
-          <surface>
-            <contact>
-              <ode/>
-            </contact>
-            <bounce/>
-            <friction>
-              <torsional>
-                <ode/>
-              </torsional>
-              <ode/>
-            </friction>
-          </surface>
-        </collision>
-        <collision name='wamv/base_link_fixed_joint_lump__velodyne_post_arm_collision_collision_9'>
-          <pose>0.734 0 1.95 -1.20428 -0 -1.5708</pose>
-          <geometry>
-            <cylinder>
-              <length>0.065</length>
-              <radius>0.008</radius>
-            </cylinder>
-          </geometry>
-          <max_contacts>10</max_contacts>
-          <surface>
-            <contact>
-              <ode/>
-            </contact>
-            <bounce/>
-            <friction>
-              <torsional>
-                <ode/>
-              </torsional>
-              <ode/>
-            </friction>
-          </surface>
-        </collision>
-        <collision name='wamv/base_link_fixed_joint_lump__velodyne_collision_collision_10'>
-          <pose>0.774 0 2 0 0.261799 0</pose>
-          <geometry>
-            <cylinder>
-              <length>0.075</length>
-              <radius>0.055</radius>
-            </cylinder>
-          </geometry>
-          <surface>
-            <contact>
-              <ode/>
-            </contact>
-            <friction>
-              <ode/>
-              <torsional>
-                <ode/>
-              </torsional>
-            </friction>
-            <bounce/>
-          </surface>
-          <max_contacts>10</max_contacts>
-        </collision>
-        <collision name='wamv/base_link_fixed_joint_lump__left_float_collision_11'>
-          <pose>-0.4 1.03 0.2 3.14159 1.57079 3.14159</pose>
-          <geometry>
-            <cylinder>
-              <length>4</length>
-              <radius>0.2</radius>
-            </cylinder>
-          </geometry>
-          <max_contacts>10</max_contacts>
-          <surface>
-            <contact>
-              <ode/>
-            </contact>
-            <bounce/>
-            <friction>
-              <torsional>
-                <ode/>
-              </torsional>
-              <ode/>
-            </friction>
-          </surface>
-        </collision>
-        <collision name='wamv/base_link_fixed_joint_lump__left_mid_float_collision_12'>
-          <pose>1.85 1.03 0.3 0 1.38 0</pose>
-          <geometry>
-            <cylinder>
-              <length>0.5</length>
-              <radius>0.17</radius>
-            </cylinder>
-          </geometry>
-          <max_contacts>10</max_contacts>
-          <surface>
-            <contact>
-              <ode/>
-            </contact>
-            <bounce/>
-            <friction>
-              <torsional>
-                <ode/>
-              </torsional>
-              <ode/>
-            </friction>
-          </surface>
-        </collision>
-        <collision name='wamv/base_link_fixed_joint_lump__left_front_float_collision_13'>
-          <pose>2.3 1.03 0.4 0 1.3 0</pose>
-          <geometry>
-            <cylinder>
-              <length>0.45</length>
-              <radius>0.12</radius>
-            </cylinder>
-          </geometry>
-          <max_contacts>10</max_contacts>
-          <surface>
-            <contact>
-              <ode/>
-            </contact>
-            <bounce/>
-            <friction>
-              <torsional>
-                <ode/>
-              </torsional>
-              <ode/>
-            </friction>
-          </surface>
-        </collision>
-        <collision name='wamv/base_link_fixed_joint_lump__front_left_beam_lower_collision_14'>
-          <pose>0.9 0.85 1 0.78 -0 0</pose>
-          <geometry>
-            <cylinder>
-              <length>0.5</length>
-              <radius>0.04</radius>
-            </cylinder>
-          </geometry>
-          <max_contacts>10</max_contacts>
-          <surface>
-            <contact>
-              <ode/>
-            </contact>
-            <bounce/>
-            <friction>
-              <torsional>
-                <ode/>
-              </torsional>
-              <ode/>
-            </friction>
-          </surface>
-        </collision>
-        <collision name='wamv/base_link_fixed_joint_lump__front_left_beam_upper_collision_15'>
-          <pose>0.9 0.6 1.18 1.35 -0 0</pose>
-          <geometry>
-            <cylinder>
-              <length>0.2</length>
-              <radius>0.04</radius>
-            </cylinder>
-          </geometry>
-          <max_contacts>10</max_contacts>
-          <surface>
-            <contact>
-              <ode/>
-            </contact>
-            <bounce/>
-            <friction>
-              <torsional>
-                <ode/>
-              </torsional>
-              <ode/>
-            </friction>
-          </surface>
-        </collision>
-        <collision name='wamv/base_link_fixed_joint_lump__mid_left_beam_lower_collision_16'>
-          <pose>-0.65 0.99 0.7 0.1 0.25 0</pose>
-          <geometry>
-            <cylinder>
-              <length>0.45</length>
-              <radius>0.03</radius>
-            </cylinder>
-          </geometry>
-          <max_contacts>10</max_contacts>
-          <surface>
-            <contact>
-              <ode/>
-            </contact>
-            <bounce/>
-            <friction>
-              <torsional>
-                <ode/>
-              </torsional>
-              <ode/>
-            </friction>
-          </surface>
-        </collision>
-        <collision name='wamv/base_link_fixed_joint_lump__mid_left_beam_medium_collision_17'>
-          <pose>-0.57 0.87 1.05 0.75 0.25 0</pose>
-          <geometry>
-            <cylinder>
-              <length>0.32</length>
-              <radius>0.03</radius>
-            </cylinder>
-          </geometry>
-          <max_contacts>10</max_contacts>
-          <surface>
-            <contact>
-              <ode/>
-            </contact>
-            <bounce/>
-            <friction>
-              <torsional>
-                <ode/>
-              </torsional>
-              <ode/>
-            </friction>
-          </surface>
-        </collision>
-        <collision name='wamv/base_link_fixed_joint_lump__mid_left_beam_upper_collision_18'>
-          <pose>-0.55 0.65 1.17 1.35 0.25 0</pose>
-          <geometry>
-            <cylinder>
-              <length>0.3</length>
-              <radius>0.03</radius>
-            </cylinder>
-          </geometry>
-          <max_contacts>10</max_contacts>
-          <surface>
-            <contact>
-              <ode/>
-            </contact>
-            <bounce/>
-            <friction>
-              <torsional>
-                <ode/>
-              </torsional>
-              <ode/>
-            </friction>
-          </surface>
-        </collision>
-        <collision name='wamv/base_link_fixed_joint_lump__rear_left_beam_lower_collision_19'>
-          <pose>-0.74 1.03 0.7 0 -0.15 0</pose>
-          <geometry>
-            <cylinder>
-              <length>0.45</length>
-              <radius>0.03</radius>
-            </cylinder>
-          </geometry>
-          <max_contacts>10</max_contacts>
-          <surface>
-            <contact>
-              <ode/>
-            </contact>
-            <bounce/>
-            <friction>
-              <torsional>
-                <ode/>
-              </torsional>
-              <ode/>
-            </friction>
-          </surface>
-        </collision>
-        <collision name='wamv/base_link_fixed_joint_lump__rear_left_beam_medium_collision_20'>
-          <pose>-0.79 0.91 1.05 0.75 -0.15 -0</pose>
-          <geometry>
-            <cylinder>
-              <length>0.32</length>
-              <radius>0.03</radius>
-            </cylinder>
-          </geometry>
-          <max_contacts>10</max_contacts>
-          <surface>
-            <contact>
-              <ode/>
-            </contact>
-            <bounce/>
-            <friction>
-              <torsional>
-                <ode/>
-              </torsional>
-              <ode/>
-            </friction>
-          </surface>
-        </collision>
-        <collision name='wamv/base_link_fixed_joint_lump__rear_left_beam_upper_collision_21'>
-          <pose>-0.81 0.67 1.18 1.45 -0.15 0</pose>
-          <geometry>
-            <cylinder>
-              <length>0.3</length>
-              <radius>0.03</radius>
-            </cylinder>
-          </geometry>
-          <max_contacts>10</max_contacts>
-          <surface>
-            <contact>
-              <ode/>
-            </contact>
-            <bounce/>
-            <friction>
-              <torsional>
-                <ode/>
-              </torsional>
-              <ode/>
-            </friction>
-          </surface>
-        </collision>
-        <collision name='wamv/base_link_fixed_joint_lump__left_joint_collision_22'>
-          <pose>0.58 1.03 0.6 0 -0.6 0</pose>
-          <geometry>
-            <box>
-              <size>0.65 0.2 0.1</size>
-            </box>
-          </geometry>
-          <max_contacts>10</max_contacts>
-          <surface>
-            <contact>
-              <ode/>
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-          <xyz>0 0 1</xyz>
-          <limit>
-            <lower>0</lower>
-            <upper>0</upper>
-            <effort>1000</effort>
-            <velocity>0</velocity>
-          </limit>
-          <dynamics>
-            <spring_reference>0</spring_reference>
-            <spring_stiffness>0</spring_stiffness>
-          </dynamics>
-        </axis>
-      </joint>
-      <link name='wamv/imu_wamv_link'>
-        <pose relative_to='wamv/imu_wamv_joint'>0 0 0 0 -0 0</pose>
-        <inertial>
-          <pose>0 0 0 0 -0 0</pose>
-          <mass>0.1</mass>
-          <inertia>
-            <ixx>8.3e-05</ixx>
-            <ixy>0</ixy>
-            <ixz>0</ixz>
-            <iyy>8.3e-05</iyy>
-            <iyz>0</iyz>
-            <izz>0.0125</izz>
-          </inertia>
-        </inertial>
-        <visual name='wamv/imu_wamv_link_fixed_joint_lump__imu_wamv_visual_visual'>
-          <pose>0 0 0 0 -0 0</pose>
-          <geometry>
-            <box>
-              <size>0.05 0.025 0.005</size>
-            </box>
-          </geometry>
-        </visual>
-        <self_collide>0</self_collide>
-        <enable_wind>0</enable_wind>
-        <kinematic>0</kinematic>
-      </link>
-      <joint name='wamv/ins_joint' type='revolute'>
-        <pose relative_to='wamv/base_link'>0.24 0.17 1.5 0 -0 0</pose>
-        <parent>wamv/base_link</parent>
-        <child>wamv/ins_link</child>
-        <axis>
-          <xyz>0 0 1</xyz>
-          <limit>
-            <lower>0</lower>
-            <upper>0</upper>
-            <effort>1000</effort>
-            <velocity>0</velocity>
-          </limit>
-          <dynamics>
-            <spring_reference>0</spring_reference>
-            <spring_stiffness>0</spring_stiffness>
-          </dynamics>
-        </axis>
-      </joint>
-      <link name='wamv/ins_link'>
-        <pose relative_to='wamv/ins_joint'>0 0 0 0 -0 0</pose>
-        <inertial>
-          <pose>0 0 0 0 -0 0</pose>
-          <mass>1</mass>
-          <inertia>
-            <ixx>0.006458</ixx>
-            <ixy>0</ixy>
-            <ixz>0</ixz>
-            <iyy>0.006458</iyy>
-            <iyz>0</iyz>
-            <izz>0.01125</izz>
-          </inertia>
-        </inertial>
-        <collision name='wamv/ins_link_fixed_joint_lump__ins_collision_base_collision'>
-          <pose>0 0 0.025 0 -0 0</pose>
-          <geometry>
-            <cylinder>
-              <length>0.05</length>
-              <radius>0.015</radius>
-            </cylinder>
-          </geometry>
-          <max_contacts>10</max_contacts>
-          <surface>
-            <contact>
-              <ode/>
-            </contact>
-            <bounce/>
-            <friction>
-              <torsional>
-                <ode/>
-              </torsional>
-              <ode/>
-            </friction>
-          </surface>
-        </collision>
-        <collision name='wamv/ins_link_fixed_joint_lump__ins_collision_antenna_collision_1'>
-          <pose>0 0 0.11 0 -0 0</pose>
-          <geometry>
-            <cylinder>
-              <length>0.1</length>
-              <radius>0.15</radius>
-            </cylinder>
-          </geometry>
-          <max_contacts>10</max_contacts>
-          <surface>
-            <contact>
-              <ode/>
-            </contact>
-            <bounce/>
-            <friction>
-              <torsional>
-                <ode/>
-              </torsional>
-              <ode/>
-            </friction>
-          </surface>
-        </collision>
-        <visual name='wamv/ins_link_fixed_joint_lump__ins_visual_visual'>
-          <pose>0 0 0 0 -0 0</pose>
-          <geometry>
-            <mesh>
-              <scale>1 1 1</scale>
-              <uri>/home/user/catkin_ws/src/mil/NaviGator/simulation/VRX/vrx/wamv_gazebo/models/gps/mesh/gps.dae</uri>
-            </mesh>
-          </geometry>
-        </visual>
-        <self_collide>0</self_collide>
-        <enable_wind>0</enable_wind>
-        <kinematic>0</kinematic>
-      </link>
-      <plugin name='gps_plugin_ins' filename='libhector_gazebo_ros_gps.so'>
-        <updateRate>15</updateRate>
-        <alwaysOn>1</alwaysOn>
-        <bodyName>wamv/ins_link</bodyName>
-        <frameId>wamv/ins_link</frameId>
-        <topicName>wamv/sensors/gps/gps/fix</topicName>
-        <velocityTopicName>wamv/sensors/gps/gps/fix_velocity</velocityTopicName>
-        <useWorldSphericalCoordinates>1</useWorldSphericalCoordinates>
-        <offset>0.0 0.0 0.0</offset>
-        <drift>0.0 0.0 0.0</drift>
-        <gaussianNoise>0 0 0</gaussianNoise>
-        <velocityOffset>0.0 0.0 0.0</velocityOffset>
-        <velocityDrift>0.0 0.0 0.0</velocityDrift>
-        <velocityGaussianNoise>0.0 0.0 0.0</velocityGaussianNoise>
-        <robotNamespace>/</robotNamespace>
-      </plugin>
-      <plugin name='imu_plugin_imu_wamv' filename='libhector_gazebo_ros_imu.so'>
-        <updateRate>15</updateRate>
-        <bodyName>wamv/imu_wamv_link</bodyName>
-        <topicName>wamv/sensors/imu/imu/data</topicName>
-        <serviceName>wamv/sensors/imu_service</serviceName>
-        <frameId>wamv/imu_wamv_link</frameId>
-        <alwaysOn>1</alwaysOn>
-        <accelOffset>0.0 0.0 0.0</accelOffset>
-        <accelDrift>0.0 0.0 0.0</accelDrift>
-        <accelDriftFrequency>0.00027 0.00027 0.000027</accelDriftFrequency>
-        <accelGaussianNoise>0.0 0.0 0.0</accelGaussianNoise>
-        <rateOffset>0.0 0.0 0.0</rateOffset>
-        <rateDrift>0.0 0.0 0.0</rateDrift>
-        <rateDriftFrequency>0.00027 0.00027 0.000027</rateDriftFrequency>
-        <rateGaussianNoise>0.0 0.0 0.0</rateGaussianNoise>
-        <yawOffset>0.0</yawOffset>
-        <yawDrift>0.0</yawDrift>
-        <yawDriftFrequency>0.00027</yawDriftFrequency>
-        <yawGaussianNoise>0.0</yawGaussianNoise>
-        <robotNamespace>/</robotNamespace>
-      </plugin>
-      <plugin name='ball_shooter_plugin' filename='libball_shooter_plugin.so'>
-        <projectile>
-          <model_name>blue_projectile</model_name>
-          <link_name>link</link_name>
-          <frame>wamv/ball_shooter_launcher_link</frame>
-          <pose>0.14 0 0 0 0 0</pose>
-        </projectile>
-        <num_shots>4</num_shots>
-        <shot_force>300</shot_force>
-        <topic>wamv/shooters/ball_shooter/fire</topic>
-        <robotNamespace>/</robotNamespace>
-      </plugin>
-      <plugin name='pinger_plugin' filename='libusv_gazebo_acoustic_pinger_plugin.so'>
-        <frameId>wamv/pinger</frameId>
-        <topicName>wamv/sensors/pingers/hydrophones/range_bearing</topicName>
-        <setPositionTopicName>wamv/sensors/pingers/hydrophones/set_pinger_position</setPositionTopicName>
-        <rangeNoise>
-          <noise>
-            <type>gaussian</type>
-            <mean>0.0</mean>
-            <stddev>3.0</stddev>
-          </noise>
-        </rangeNoise>
-        <bearingNoise>
-          <noise>
-            <type>gaussian</type>
-            <mean>0.0</mean>
-            <stddev>0.01</stddev>
-          </noise>
-        </bearingNoise>
-        <elevationNoise>
-          <noise>
-            <type>gaussian</type>
-            <mean>0.0</mean>
-            <stddev>0.01</stddev>
-          </noise>
-        </elevationNoise>
-        <robotNamespace>/</robotNamespace>
-      </plugin>
-      <plugin name='wamv_gazebo_thrust' filename='libusv_gazebo_thrust_plugin.so'>
-        <cmdTimeout>1.0</cmdTimeout>
-        <robotNamespace>wamv</robotNamespace>
-        <thruster>
-          <linkName>BL_propeller_link</linkName>
-          <propJointName>BL_engine_propeller_joint</propJointName>
-          <engineJointName>BL_chasis_engine_joint</engineJointName>
-          <cmdTopic>thrusters/BL_thrust_cmd</cmdTopic>
-          <angleTopic>thrusters/BL_thrust_angle</angleTopic>
-          <enableAngle>1</enableAngle>
-          <mappingType>1</mappingType>
-          <maxCmd>1.0</maxCmd>
-          <maxForceFwd>250.0</maxForceFwd>
-          <maxForceRev>-100.0</maxForceRev>
-          <maxAngle>1.5707963267948966</maxAngle>
-        </thruster>
-        <thruster>
-          <linkName>BR_propeller_link</linkName>
-          <propJointName>BR_engine_propeller_joint</propJointName>
-          <engineJointName>BR_chasis_engine_joint</engineJointName>
-          <cmdTopic>thrusters/BR_thrust_cmd</cmdTopic>
-          <angleTopic>thrusters/BR_thrust_angle</angleTopic>
-          <enableAngle>1</enableAngle>
-          <mappingType>1</mappingType>
-          <maxCmd>1.0</maxCmd>
-          <maxForceFwd>250.0</maxForceFwd>
-          <maxForceRev>-100.0</maxForceRev>
-          <maxAngle>1.5707963267948966</maxAngle>
-        </thruster>
-        <thruster>
-          <linkName>FL_propeller_link</linkName>
-          <propJointName>FL_engine_propeller_joint</propJointName>
-          <engineJointName>FL_chasis_engine_joint</engineJointName>
-          <cmdTopic>thrusters/FL_thrust_cmd</cmdTopic>
-          <angleTopic>thrusters/FL_thrust_angle</angleTopic>
-          <enableAngle>1</enableAngle>
-          <mappingType>1</mappingType>
-          <maxCmd>1.0</maxCmd>
-          <maxForceFwd>250.0</maxForceFwd>
-          <maxForceRev>-100.0</maxForceRev>
-          <maxAngle>1.5707963267948966</maxAngle>
-        </thruster>
-        <thruster>
-          <linkName>FR_propeller_link</linkName>
-          <propJointName>FR_engine_propeller_joint</propJointName>
-          <engineJointName>FR_chasis_engine_joint</engineJointName>
-          <cmdTopic>thrusters/FR_thrust_cmd</cmdTopic>
-          <angleTopic>thrusters/FR_thrust_angle</angleTopic>
-          <enableAngle>1</enableAngle>
-          <mappingType>1</mappingType>
-          <maxCmd>1.0</maxCmd>
-          <maxForceFwd>250.0</maxForceFwd>
-          <maxForceRev>-100.0</maxForceRev>
-          <maxAngle>1.5707963267948966</maxAngle>
-        </thruster>
-      </plugin>
-      <plugin name='usv_dynamics_wamv_dynamics_plugin' filename='libusv_gazebo_dynamics_plugin.so'>
-        <bodyName>wamv/base_link</bodyName>
-        <waterLevel>0</waterLevel>
-        <waterDensity>997.8</waterDensity>
-        <xDotU>0.0</xDotU>
-        <yDotV>0.0</yDotV>
-        <nDotR>0.0</nDotR>
-        <xU>51.3</xU>
-        <xUU>72.4</xUU>
-        <yV>40.0</yV>
-        <yVV>0.0</yVV>
-        <zW>500.0</zW>
-        <kP>50.0</kP>
-        <mQ>50.0</mQ>
-        <nR>400.0</nR>
-        <nRR>0.0</nRR>
-        <hullRadius>0.213</hullRadius>
-        <boatWidth>2.4</boatWidth>
-        <boatLength>4.9</boatLength>
-        <length_n>2</length_n>
-        <wave_model>ocean_waves</wave_model>
-        <robotNamespace>/</robotNamespace>
-      </plugin>
-      <frame name='wamv/front_left_cam_to_front_left_cam_link_optical_joint' attached_to='wamv/front_left_cam_link'>
-        <pose>0 0 0 -1.5708 -0 -1.5708</pose>
-      </frame>
-      <frame name='wamv/front_left_cam_link_optical' attached_to='wamv/front_left_cam_to_front_left_cam_link_optical_joint'/>
-      <frame name='wamv/front_left_cam_post_arm_to_front_left_cam_joint' attached_to='wamv/front_left_cam_post_arm_link'>
-        <pose>0.02 0 0.027 0 0.20944 0</pose>
-      </frame>
-      <frame name='wamv/front_left_cam_link' attached_to='wamv/front_left_cam_post_arm_to_front_left_cam_joint'/>
-      <frame name='wamv/front_left_cam_post_to_front_left_cam_post_arm_joint' attached_to='wamv/front_left_cam_post_link'>
-        <pose>0.03 0 0.08825 0 -0 0</pose>
-      </frame>
-      <frame name='wamv/front_left_cam_post_arm_link' attached_to='wamv/front_left_cam_post_to_front_left_cam_post_arm_joint'/>
-      <frame name='wamv/base_to_front_left_cam_post_joint' attached_to='wamv/base_link'>
-        <pose>0.92 0.1 1.38475 0 -0 0</pose>
-      </frame>
-      <frame name='wamv/front_left_cam_post_link' attached_to='wamv/base_to_front_left_cam_post_joint'/>
-      <frame name='wamv/front_right_cam_to_front_right_cam_link_optical_joint' attached_to='wamv/front_right_cam_link'>
-        <pose>0 0 0 -1.5708 -0 -1.5708</pose>
-      </frame>
-      <frame name='wamv/front_right_cam_link_optical' attached_to='wamv/front_right_cam_to_front_right_cam_link_optical_joint'/>
-      <frame name='wamv/front_right_cam_post_arm_to_front_right_cam_joint' attached_to='wamv/front_right_cam_post_arm_link'>
-        <pose>0.02 0 0.027 0 0.20944 0</pose>
-      </frame>
-      <frame name='wamv/front_right_cam_link' attached_to='wamv/front_right_cam_post_arm_to_front_right_cam_joint'/>
-      <frame name='wamv/front_right_cam_post_to_front_right_cam_post_arm_joint' attached_to='wamv/front_right_cam_post_link'>
-        <pose>0.03 0 0.08825 0 -0 0</pose>
-      </frame>
-      <frame name='wamv/front_right_cam_post_arm_link' attached_to='wamv/front_right_cam_post_to_front_right_cam_post_arm_joint'/>
-      <frame name='wamv/base_to_front_right_cam_post_joint' attached_to='wamv/base_link'>
-        <pose>0.92 -0.1 1.38475 0 -0 0</pose>
-      </frame>
-      <frame name='wamv/front_right_cam_post_link' attached_to='wamv/base_to_front_right_cam_post_joint'/>
-      <frame name='wamv/velodyne_post_arm_to_velodyne_joint' attached_to='velodyne_post_arm_link'>
-        <pose>0.04 0 0.05 0 0.261799 0</pose>
-      </frame>
-      <frame name='velodyne' attached_to='wamv/velodyne_post_arm_to_velodyne_joint'/>
-      <frame name='wamv/velodyne_post_to_velodyne_post_arm_joint' attached_to='velodyne_post_link'>
-        <pose>0.03 0 0.32675 0 -0 0</pose>
-      </frame>
-      <frame name='velodyne_post_arm_link' attached_to='wamv/velodyne_post_to_velodyne_post_arm_joint'/>
-      <frame name='wamv/base_to_velodyne_post_joint' attached_to='wamv/base_link'>
-        <pose>0.704 0 1.62325 0 -0 0</pose>
-      </frame>
-      <frame name='velodyne_post_link' attached_to='wamv/base_to_velodyne_post_joint'/>
-      <frame name='wamv/dummy_joint' attached_to='wamv/base_link'>
-        <pose>0 0 0 0 -0 0</pose>
-      </frame>
-      <frame name='wamv/dummy_link' attached_to='wamv/dummy_joint'/>
-      <frame name='wamv/hydrophones_pinger_joint' attached_to='wamv/base_link'>
-        <pose>1 0 -1 0 -0 0</pose>
-      </frame>
-      <frame name='wamv/hydrophones' attached_to='wamv/hydrophones_pinger_joint'/>
-      <pose>-527 167 0.1 0 -0 1</pose>
-    </model>
     <model name='mb_marker_buoy_white'>
       <link name='link'>
         <inertial>
diff --git a/NaviGator/simulation/navigator_gazebo/worlds/pathfinding/sharp_right_test.world b/NaviGator/simulation/navigator_gazebo/worlds/pathfinding/sharp_right_test.world
index dc3622d9a..564b16f42 100644
--- a/NaviGator/simulation/navigator_gazebo/worlds/pathfinding/sharp_right_test.world
+++ b/NaviGator/simulation/navigator_gazebo/worlds/pathfinding/sharp_right_test.world
@@ -1222,2132 +1222,6 @@
       <real_time_update_rate>1000</real_time_update_rate>
     </physics>
     <wind/>
-    <model name='wamv'>
-      <link name='wamv/base_link'>
-        <inertial>
-          <pose>0.012722 0 0.026171 0 -0 0</pose>
-          <mass>182.806</mass>
-          <inertia>
-            <ixx>128.232</ixx>
-            <ixy>-2.4178e-21</ixy>
-            <ixz>-3.85993</ixz>
-            <iyy>403.15</iyy>
-            <iyz>-9.28107e-22</iyz>
-            <izz>447.942</izz>
-          </inertia>
-        </inertial>
-        <collision name='wamv/base_link_fixed_joint_lump__front_left_cam_post_collision_collision'>
-          <pose>0.92 0.1 1.38475 0 -0 0</pose>
-          <geometry>
-            <cylinder>
-              <length>0.1765</length>
-              <radius>0.0076</radius>
-            </cylinder>
-          </geometry>
-          <max_contacts>10</max_contacts>
-          <surface>
-            <contact>
-              <ode/>
-            </contact>
-            <bounce/>
-            <friction>
-              <torsional>
-                <ode/>
-              </torsional>
-              <ode/>
-            </friction>
-          </surface>
-        </collision>
-        <collision name='wamv/base_link_fixed_joint_lump__front_left_cam_post_arm_collision_collision_1'>
-          <pose>0.95 0.1 1.473 -1.20428 -0 -1.5708</pose>
-          <geometry>
-            <cylinder>
-              <length>0.065</length>
-              <radius>0.008</radius>
-            </cylinder>
-          </geometry>
-          <max_contacts>10</max_contacts>
-          <surface>
-            <contact>
-              <ode/>
-            </contact>
-            <bounce/>
-            <friction>
-              <torsional>
-                <ode/>
-              </torsional>
-              <ode/>
-            </friction>
-          </surface>
-        </collision>
-        <collision name='wamv/base_link_fixed_joint_lump__front_left_cam_lens_collision_collision_2'>
-          <pose>0.987607 0.1 1.49626 3.14159 1.36136 3.14159</pose>
-          <geometry>
-            <cylinder>
-              <length>0.042</length>
-              <radius>0.015</radius>
-            </cylinder>
-          </geometry>
-          <max_contacts>10</max_contacts>
-          <surface>
-            <contact>
-              <ode/>
-            </contact>
-            <bounce/>
-            <friction>
-              <torsional>
-                <ode/>
-              </torsional>
-              <ode/>
-            </friction>
-          </surface>
-        </collision>
-        <collision name='wamv/base_link_fixed_joint_lump__front_left_cam_box_collision_collision_3'>
-          <pose>0.949948 0.1 1.50426 0 0.20944 0</pose>
-          <geometry>
-            <box>
-              <size>0.036 0.03 0.03</size>
-            </box>
-          </geometry>
-          <max_contacts>10</max_contacts>
-          <surface>
-            <contact>
-              <ode/>
-            </contact>
-            <bounce/>
-            <friction>
-              <torsional>
-                <ode/>
-              </torsional>
-              <ode/>
-            </friction>
-          </surface>
-        </collision>
-        <collision name='wamv/base_link_fixed_joint_lump__front_right_cam_post_collision_collision_4'>
-          <pose>0.92 -0.1 1.38475 0 -0 0</pose>
-          <geometry>
-            <cylinder>
-              <length>0.1765</length>
-              <radius>0.0076</radius>
-            </cylinder>
-          </geometry>
-          <max_contacts>10</max_contacts>
-          <surface>
-            <contact>
-              <ode/>
-            </contact>
-            <bounce/>
-            <friction>
-              <torsional>
-                <ode/>
-              </torsional>
-              <ode/>
-            </friction>
-          </surface>
-        </collision>
-        <collision name='wamv/base_link_fixed_joint_lump__front_right_cam_post_arm_collision_collision_5'>
-          <pose>0.95 -0.1 1.473 -1.20428 -0 -1.5708</pose>
-          <geometry>
-            <cylinder>
-              <length>0.065</length>
-              <radius>0.008</radius>
-            </cylinder>
-          </geometry>
-          <max_contacts>10</max_contacts>
-          <surface>
-            <contact>
-              <ode/>
-            </contact>
-            <bounce/>
-            <friction>
-              <torsional>
-                <ode/>
-              </torsional>
-              <ode/>
-            </friction>
-          </surface>
-        </collision>
-        <collision name='wamv/base_link_fixed_joint_lump__front_right_cam_lens_collision_collision_6'>
-          <pose>0.987607 -0.1 1.49626 3.14159 1.36136 3.14159</pose>
-          <geometry>
-            <cylinder>
-              <length>0.042</length>
-              <radius>0.015</radius>
-            </cylinder>
-          </geometry>
-          <max_contacts>10</max_contacts>
-          <surface>
-            <contact>
-              <ode/>
-            </contact>
-            <bounce/>
-            <friction>
-              <torsional>
-                <ode/>
-              </torsional>
-              <ode/>
-            </friction>
-          </surface>
-        </collision>
-        <collision name='wamv/base_link_fixed_joint_lump__front_right_cam_box_collision_collision_7'>
-          <pose>0.949948 -0.1 1.50426 0 0.20944 0</pose>
-          <geometry>
-            <box>
-              <size>0.036 0.03 0.03</size>
-            </box>
-          </geometry>
-          <max_contacts>10</max_contacts>
-          <surface>
-            <contact>
-              <ode/>
-            </contact>
-            <bounce/>
-            <friction>
-              <torsional>
-                <ode/>
-              </torsional>
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-        <collision name='FR_engine_link_fixed_joint_lump__FR_engine_rear_end_collision_collision_1'>
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-          <geometry>
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-        <visual name='FR_engine_link_visual'>
-          <pose>0 0 0 0 -0 0</pose>
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-        <enable_wind>0</enable_wind>
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-      <joint name='FR_engine_propeller_joint' type='revolute'>
-        <pose relative_to='FR_engine_link'>-0.278156 0 -0.509371 0 -0 0</pose>
-        <parent>FR_engine_link</parent>
-        <child>FR_propeller_link</child>
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-          <xyz>1 0 0</xyz>
-          <limit>
-            <effort>400</effort>
-            <velocity>100</velocity>
-            <lower>-1e+16</lower>
-            <upper>1e+16</upper>
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-          <dynamics>
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-            <friction>0.05</friction>
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-          </dynamics>
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-      <link name='FR_propeller_link'>
-        <pose relative_to='FR_engine_propeller_joint'>0 0 0 0 -0 0</pose>
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-          <pose>0 0 0 0 -0 0</pose>
-          <mass>0.5</mass>
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-          <pose>-0.08 0 0 3.14159 1.57079 3.14159</pose>
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-              <length>0.18</length>
-              <radius>0.24</radius>
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-          <surface>
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-              <ode/>
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-            <bounce/>
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-                <ode/>
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-              <ode/>
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-        <visual name='FR_propeller_link_visual'>
-          <pose>0 0 0 0 -0 0</pose>
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-              <scale>1 1 1</scale>
-              <uri>/home/user/catkin_ws/src/mil/NaviGator/simulation/VRX/vrx/wamv_description/models/propeller/mesh/propeller.dae</uri>
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-        <enable_wind>0</enable_wind>
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-      <joint name='wamv/ball_shooter_base_joint' type='revolute'>
-        <pose relative_to='wamv/base_link'>0.54 0.3 1.3 0 -0 0.1</pose>
-        <parent>wamv/base_link</parent>
-        <child>wamv/ball_shooter_base_link</child>
-        <axis>
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-            <upper>0</upper>
-            <effort>1000</effort>
-            <velocity>0</velocity>
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-          <dynamics>
-            <spring_reference>0</spring_reference>
-            <spring_stiffness>0</spring_stiffness>
-          </dynamics>
-        </axis>
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-      <link name='wamv/ball_shooter_base_link'>
-        <pose relative_to='wamv/ball_shooter_base_joint'>0 0 0 0 -0 0</pose>
-        <inertial>
-          <pose>-0.02 0 0.05 0 -0 0</pose>
-          <mass>0.5</mass>
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-            <ixx>0.00083</ixx>
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-            <ixz>0</ixz>
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-            <izz>0.00052083</izz>
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-        <visual name='wamv/ball_shooter_base_link_fixed_joint_lump__ball_shooter_base_visual_visual'>
-          <pose>0 0 0 0 -0 0</pose>
-          <geometry>
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-              <scale>1 1 1</scale>
-              <uri>/home/user/catkin_ws/src/mil/NaviGator/simulation/VRX/vrx/vrx_gazebo/models/ball_shooter/meshes/ball_shooter_base.dae</uri>
-            </mesh>
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-        <enable_wind>0</enable_wind>
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-      <joint name='wamv/ball_shooter_launcher_joint' type='revolute'>
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-        <parent>wamv/ball_shooter_base_link</parent>
-        <child>wamv/ball_shooter_launcher_link</child>
-        <axis>
-          <xyz>0 0 1</xyz>
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-            <lower>0</lower>
-            <upper>0</upper>
-            <effort>1000</effort>
-            <velocity>0</velocity>
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-          <dynamics>
-            <spring_reference>0</spring_reference>
-            <spring_stiffness>0</spring_stiffness>
-          </dynamics>
-        </axis>
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-      <link name='wamv/ball_shooter_launcher_link'>
-        <pose relative_to='wamv/ball_shooter_launcher_joint'>0 0 0 0 -0 0</pose>
-        <inertial>
-          <pose>0 0 0 3.14159 -1.57079 3.14159</pose>
-          <mass>0.5</mass>
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-            <ixx>0.00177917</ixx>
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-            <ixz>0</ixz>
-            <iyy>0.00177917</iyy>
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-            <izz>0.000225</izz>
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-        <collision name='wamv/ball_shooter_launcher_link_fixed_joint_lump__ball_shooter_collision_collision'>
-          <pose>0 0 0 0 0.261799 0</pose>
-          <geometry>
-            <box>
-              <size>0.3 0.3 0.2</size>
-            </box>
-          </geometry>
-          <max_contacts>10</max_contacts>
-          <surface>
-            <contact>
-              <ode/>
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-            <bounce/>
-            <friction>
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-                <ode/>
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-              <ode/>
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-        <visual name='wamv/ball_shooter_launcher_link_fixed_joint_lump__ball_shooter_launcher_visual_visual'>
-          <pose>0 0 0 0 0.261799 0</pose>
-          <geometry>
-            <mesh>
-              <scale>1 1 1</scale>
-              <uri>/home/user/catkin_ws/src/mil/NaviGator/simulation/VRX/vrx/vrx_gazebo/models/ball_shooter/meshes/ball_shooter_launcher.dae</uri>
-            </mesh>
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-        <self_collide>0</self_collide>
-        <enable_wind>0</enable_wind>
-        <kinematic>0</kinematic>
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-      <joint name='wamv/imu_wamv_joint' type='revolute'>
-        <pose relative_to='wamv/base_link'>0.24 0.17 1.5 0 -0 0</pose>
-        <parent>wamv/base_link</parent>
-        <child>wamv/imu_wamv_link</child>
-        <axis>
-          <xyz>0 0 1</xyz>
-          <limit>
-            <lower>0</lower>
-            <upper>0</upper>
-            <effort>1000</effort>
-            <velocity>0</velocity>
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-          <dynamics>
-            <spring_reference>0</spring_reference>
-            <spring_stiffness>0</spring_stiffness>
-          </dynamics>
-        </axis>
-      </joint>
-      <link name='wamv/imu_wamv_link'>
-        <pose relative_to='wamv/imu_wamv_joint'>0 0 0 0 -0 0</pose>
-        <inertial>
-          <pose>0 0 0 0 -0 0</pose>
-          <mass>0.1</mass>
-          <inertia>
-            <ixx>8.3e-05</ixx>
-            <ixy>0</ixy>
-            <ixz>0</ixz>
-            <iyy>8.3e-05</iyy>
-            <iyz>0</iyz>
-            <izz>0.0125</izz>
-          </inertia>
-        </inertial>
-        <visual name='wamv/imu_wamv_link_fixed_joint_lump__imu_wamv_visual_visual'>
-          <pose>0 0 0 0 -0 0</pose>
-          <geometry>
-            <box>
-              <size>0.05 0.025 0.005</size>
-            </box>
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-        <self_collide>0</self_collide>
-        <enable_wind>0</enable_wind>
-        <kinematic>0</kinematic>
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-      <joint name='wamv/ins_joint' type='revolute'>
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-        <parent>wamv/base_link</parent>
-        <child>wamv/ins_link</child>
-        <axis>
-          <xyz>0 0 1</xyz>
-          <limit>
-            <lower>0</lower>
-            <upper>0</upper>
-            <effort>1000</effort>
-            <velocity>0</velocity>
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-          <dynamics>
-            <spring_reference>0</spring_reference>
-            <spring_stiffness>0</spring_stiffness>
-          </dynamics>
-        </axis>
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-      <link name='wamv/ins_link'>
-        <pose relative_to='wamv/ins_joint'>0 0 0 0 -0 0</pose>
-        <inertial>
-          <pose>0 0 0 0 -0 0</pose>
-          <mass>1</mass>
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-            <ixx>0.006458</ixx>
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-            <ixz>0</ixz>
-            <iyy>0.006458</iyy>
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-            <izz>0.01125</izz>
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-        <collision name='wamv/ins_link_fixed_joint_lump__ins_collision_base_collision'>
-          <pose>0 0 0.025 0 -0 0</pose>
-          <geometry>
-            <cylinder>
-              <length>0.05</length>
-              <radius>0.015</radius>
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-          <max_contacts>10</max_contacts>
-          <surface>
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-              <ode/>
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-            <bounce/>
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-                <ode/>
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-        <collision name='wamv/ins_link_fixed_joint_lump__ins_collision_antenna_collision_1'>
-          <pose>0 0 0.11 0 -0 0</pose>
-          <geometry>
-            <cylinder>
-              <length>0.1</length>
-              <radius>0.15</radius>
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-          </geometry>
-          <max_contacts>10</max_contacts>
-          <surface>
-            <contact>
-              <ode/>
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-            <bounce/>
-            <friction>
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-                <ode/>
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-        <visual name='wamv/ins_link_fixed_joint_lump__ins_visual_visual'>
-          <pose>0 0 0 0 -0 0</pose>
-          <geometry>
-            <mesh>
-              <scale>1 1 1</scale>
-              <uri>/home/user/catkin_ws/src/mil/NaviGator/simulation/VRX/vrx/wamv_gazebo/models/gps/mesh/gps.dae</uri>
-            </mesh>
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-        </visual>
-        <self_collide>0</self_collide>
-        <enable_wind>0</enable_wind>
-        <kinematic>0</kinematic>
-      </link>
-      <plugin name='gps_plugin_ins' filename='libhector_gazebo_ros_gps.so'>
-        <updateRate>15</updateRate>
-        <alwaysOn>1</alwaysOn>
-        <bodyName>wamv/ins_link</bodyName>
-        <frameId>wamv/ins_link</frameId>
-        <topicName>wamv/sensors/gps/gps/fix</topicName>
-        <velocityTopicName>wamv/sensors/gps/gps/fix_velocity</velocityTopicName>
-        <useWorldSphericalCoordinates>1</useWorldSphericalCoordinates>
-        <offset>0.0 0.0 0.0</offset>
-        <drift>0.0 0.0 0.0</drift>
-        <gaussianNoise>0 0 0</gaussianNoise>
-        <velocityOffset>0.0 0.0 0.0</velocityOffset>
-        <velocityDrift>0.0 0.0 0.0</velocityDrift>
-        <velocityGaussianNoise>0.0 0.0 0.0</velocityGaussianNoise>
-        <robotNamespace>/</robotNamespace>
-      </plugin>
-      <plugin name='imu_plugin_imu_wamv' filename='libhector_gazebo_ros_imu.so'>
-        <updateRate>15</updateRate>
-        <bodyName>wamv/imu_wamv_link</bodyName>
-        <topicName>wamv/sensors/imu/imu/data</topicName>
-        <serviceName>wamv/sensors/imu_service</serviceName>
-        <frameId>wamv/imu_wamv_link</frameId>
-        <alwaysOn>1</alwaysOn>
-        <accelOffset>0.0 0.0 0.0</accelOffset>
-        <accelDrift>0.0 0.0 0.0</accelDrift>
-        <accelDriftFrequency>0.00027 0.00027 0.000027</accelDriftFrequency>
-        <accelGaussianNoise>0.0 0.0 0.0</accelGaussianNoise>
-        <rateOffset>0.0 0.0 0.0</rateOffset>
-        <rateDrift>0.0 0.0 0.0</rateDrift>
-        <rateDriftFrequency>0.00027 0.00027 0.000027</rateDriftFrequency>
-        <rateGaussianNoise>0.0 0.0 0.0</rateGaussianNoise>
-        <yawOffset>0.0</yawOffset>
-        <yawDrift>0.0</yawDrift>
-        <yawDriftFrequency>0.00027</yawDriftFrequency>
-        <yawGaussianNoise>0.0</yawGaussianNoise>
-        <robotNamespace>/</robotNamespace>
-      </plugin>
-      <plugin name='ball_shooter_plugin' filename='libball_shooter_plugin.so'>
-        <projectile>
-          <model_name>blue_projectile</model_name>
-          <link_name>link</link_name>
-          <frame>wamv/ball_shooter_launcher_link</frame>
-          <pose>0.14 0 0 0 0 0</pose>
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-        <num_shots>4</num_shots>
-        <shot_force>300</shot_force>
-        <topic>wamv/shooters/ball_shooter/fire</topic>
-        <robotNamespace>/</robotNamespace>
-      </plugin>
-      <plugin name='pinger_plugin' filename='libusv_gazebo_acoustic_pinger_plugin.so'>
-        <frameId>wamv/pinger</frameId>
-        <topicName>wamv/sensors/pingers/hydrophones/range_bearing</topicName>
-        <setPositionTopicName>wamv/sensors/pingers/hydrophones/set_pinger_position</setPositionTopicName>
-        <rangeNoise>
-          <noise>
-            <type>gaussian</type>
-            <mean>0.0</mean>
-            <stddev>3.0</stddev>
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-        </rangeNoise>
-        <bearingNoise>
-          <noise>
-            <type>gaussian</type>
-            <mean>0.0</mean>
-            <stddev>0.01</stddev>
-          </noise>
-        </bearingNoise>
-        <elevationNoise>
-          <noise>
-            <type>gaussian</type>
-            <mean>0.0</mean>
-            <stddev>0.01</stddev>
-          </noise>
-        </elevationNoise>
-        <robotNamespace>/</robotNamespace>
-      </plugin>
-      <plugin name='wamv_gazebo_thrust' filename='libusv_gazebo_thrust_plugin.so'>
-        <cmdTimeout>1.0</cmdTimeout>
-        <robotNamespace>wamv</robotNamespace>
-        <thruster>
-          <linkName>BL_propeller_link</linkName>
-          <propJointName>BL_engine_propeller_joint</propJointName>
-          <engineJointName>BL_chasis_engine_joint</engineJointName>
-          <cmdTopic>thrusters/BL_thrust_cmd</cmdTopic>
-          <angleTopic>thrusters/BL_thrust_angle</angleTopic>
-          <enableAngle>1</enableAngle>
-          <mappingType>1</mappingType>
-          <maxCmd>1.0</maxCmd>
-          <maxForceFwd>250.0</maxForceFwd>
-          <maxForceRev>-100.0</maxForceRev>
-          <maxAngle>1.5707963267948966</maxAngle>
-        </thruster>
-        <thruster>
-          <linkName>BR_propeller_link</linkName>
-          <propJointName>BR_engine_propeller_joint</propJointName>
-          <engineJointName>BR_chasis_engine_joint</engineJointName>
-          <cmdTopic>thrusters/BR_thrust_cmd</cmdTopic>
-          <angleTopic>thrusters/BR_thrust_angle</angleTopic>
-          <enableAngle>1</enableAngle>
-          <mappingType>1</mappingType>
-          <maxCmd>1.0</maxCmd>
-          <maxForceFwd>250.0</maxForceFwd>
-          <maxForceRev>-100.0</maxForceRev>
-          <maxAngle>1.5707963267948966</maxAngle>
-        </thruster>
-        <thruster>
-          <linkName>FL_propeller_link</linkName>
-          <propJointName>FL_engine_propeller_joint</propJointName>
-          <engineJointName>FL_chasis_engine_joint</engineJointName>
-          <cmdTopic>thrusters/FL_thrust_cmd</cmdTopic>
-          <angleTopic>thrusters/FL_thrust_angle</angleTopic>
-          <enableAngle>1</enableAngle>
-          <mappingType>1</mappingType>
-          <maxCmd>1.0</maxCmd>
-          <maxForceFwd>250.0</maxForceFwd>
-          <maxForceRev>-100.0</maxForceRev>
-          <maxAngle>1.5707963267948966</maxAngle>
-        </thruster>
-        <thruster>
-          <linkName>FR_propeller_link</linkName>
-          <propJointName>FR_engine_propeller_joint</propJointName>
-          <engineJointName>FR_chasis_engine_joint</engineJointName>
-          <cmdTopic>thrusters/FR_thrust_cmd</cmdTopic>
-          <angleTopic>thrusters/FR_thrust_angle</angleTopic>
-          <enableAngle>1</enableAngle>
-          <mappingType>1</mappingType>
-          <maxCmd>1.0</maxCmd>
-          <maxForceFwd>250.0</maxForceFwd>
-          <maxForceRev>-100.0</maxForceRev>
-          <maxAngle>1.5707963267948966</maxAngle>
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-      </plugin>
-      <plugin name='usv_dynamics_wamv_dynamics_plugin' filename='libusv_gazebo_dynamics_plugin.so'>
-        <bodyName>wamv/base_link</bodyName>
-        <waterLevel>0</waterLevel>
-        <waterDensity>997.8</waterDensity>
-        <xDotU>0.0</xDotU>
-        <yDotV>0.0</yDotV>
-        <nDotR>0.0</nDotR>
-        <xU>51.3</xU>
-        <xUU>72.4</xUU>
-        <yV>40.0</yV>
-        <yVV>0.0</yVV>
-        <zW>500.0</zW>
-        <kP>50.0</kP>
-        <mQ>50.0</mQ>
-        <nR>400.0</nR>
-        <nRR>0.0</nRR>
-        <hullRadius>0.213</hullRadius>
-        <boatWidth>2.4</boatWidth>
-        <boatLength>4.9</boatLength>
-        <length_n>2</length_n>
-        <wave_model>ocean_waves</wave_model>
-        <robotNamespace>/</robotNamespace>
-      </plugin>
-      <frame name='wamv/front_left_cam_to_front_left_cam_link_optical_joint' attached_to='wamv/front_left_cam_link'>
-        <pose>0 0 0 -1.5708 -0 -1.5708</pose>
-      </frame>
-      <frame name='wamv/front_left_cam_link_optical' attached_to='wamv/front_left_cam_to_front_left_cam_link_optical_joint'/>
-      <frame name='wamv/front_left_cam_post_arm_to_front_left_cam_joint' attached_to='wamv/front_left_cam_post_arm_link'>
-        <pose>0.02 0 0.027 0 0.20944 0</pose>
-      </frame>
-      <frame name='wamv/front_left_cam_link' attached_to='wamv/front_left_cam_post_arm_to_front_left_cam_joint'/>
-      <frame name='wamv/front_left_cam_post_to_front_left_cam_post_arm_joint' attached_to='wamv/front_left_cam_post_link'>
-        <pose>0.03 0 0.08825 0 -0 0</pose>
-      </frame>
-      <frame name='wamv/front_left_cam_post_arm_link' attached_to='wamv/front_left_cam_post_to_front_left_cam_post_arm_joint'/>
-      <frame name='wamv/base_to_front_left_cam_post_joint' attached_to='wamv/base_link'>
-        <pose>0.92 0.1 1.38475 0 -0 0</pose>
-      </frame>
-      <frame name='wamv/front_left_cam_post_link' attached_to='wamv/base_to_front_left_cam_post_joint'/>
-      <frame name='wamv/front_right_cam_to_front_right_cam_link_optical_joint' attached_to='wamv/front_right_cam_link'>
-        <pose>0 0 0 -1.5708 -0 -1.5708</pose>
-      </frame>
-      <frame name='wamv/front_right_cam_link_optical' attached_to='wamv/front_right_cam_to_front_right_cam_link_optical_joint'/>
-      <frame name='wamv/front_right_cam_post_arm_to_front_right_cam_joint' attached_to='wamv/front_right_cam_post_arm_link'>
-        <pose>0.02 0 0.027 0 0.20944 0</pose>
-      </frame>
-      <frame name='wamv/front_right_cam_link' attached_to='wamv/front_right_cam_post_arm_to_front_right_cam_joint'/>
-      <frame name='wamv/front_right_cam_post_to_front_right_cam_post_arm_joint' attached_to='wamv/front_right_cam_post_link'>
-        <pose>0.03 0 0.08825 0 -0 0</pose>
-      </frame>
-      <frame name='wamv/front_right_cam_post_arm_link' attached_to='wamv/front_right_cam_post_to_front_right_cam_post_arm_joint'/>
-      <frame name='wamv/base_to_front_right_cam_post_joint' attached_to='wamv/base_link'>
-        <pose>0.92 -0.1 1.38475 0 -0 0</pose>
-      </frame>
-      <frame name='wamv/front_right_cam_post_link' attached_to='wamv/base_to_front_right_cam_post_joint'/>
-      <frame name='wamv/velodyne_post_arm_to_velodyne_joint' attached_to='velodyne_post_arm_link'>
-        <pose>0.04 0 0.05 0 0.261799 0</pose>
-      </frame>
-      <frame name='velodyne' attached_to='wamv/velodyne_post_arm_to_velodyne_joint'/>
-      <frame name='wamv/velodyne_post_to_velodyne_post_arm_joint' attached_to='velodyne_post_link'>
-        <pose>0.03 0 0.32675 0 -0 0</pose>
-      </frame>
-      <frame name='velodyne_post_arm_link' attached_to='wamv/velodyne_post_to_velodyne_post_arm_joint'/>
-      <frame name='wamv/base_to_velodyne_post_joint' attached_to='wamv/base_link'>
-        <pose>0.704 0 1.62325 0 -0 0</pose>
-      </frame>
-      <frame name='velodyne_post_link' attached_to='wamv/base_to_velodyne_post_joint'/>
-      <frame name='wamv/dummy_joint' attached_to='wamv/base_link'>
-        <pose>0 0 0 0 -0 0</pose>
-      </frame>
-      <frame name='wamv/dummy_link' attached_to='wamv/dummy_joint'/>
-      <frame name='wamv/hydrophones_pinger_joint' attached_to='wamv/base_link'>
-        <pose>1 0 -1 0 -0 0</pose>
-      </frame>
-      <frame name='wamv/hydrophones' attached_to='wamv/hydrophones_pinger_joint'/>
-      <pose>-527 167 0.1 0 -0 1</pose>
-    </model>
     <model name='mb_marker_buoy_white'>
       <link name='link'>
         <inertial>
diff --git a/NaviGator/simulation/navigator_gazebo/worlds/pathfinding/straight_test.world b/NaviGator/simulation/navigator_gazebo/worlds/pathfinding/straight_test.world
index a50f7e995..8aa1802df 100644
--- a/NaviGator/simulation/navigator_gazebo/worlds/pathfinding/straight_test.world
+++ b/NaviGator/simulation/navigator_gazebo/worlds/pathfinding/straight_test.world
@@ -1222,2132 +1222,6 @@
       <real_time_update_rate>1000</real_time_update_rate>
     </physics>
     <wind/>
-    <model name='wamv'>
-      <link name='wamv/base_link'>
-        <inertial>
-          <pose>0.012722 0 0.026171 0 -0 0</pose>
-          <mass>182.806</mass>
-          <inertia>
-            <ixx>128.232</ixx>
-            <ixy>-2.4178e-21</ixy>
-            <ixz>-3.85993</ixz>
-            <iyy>403.15</iyy>
-            <iyz>-9.28107e-22</iyz>
-            <izz>447.942</izz>
-          </inertia>
-        </inertial>
-        <collision name='wamv/base_link_fixed_joint_lump__front_left_cam_post_collision_collision'>
-          <pose>0.92 0.1 1.38475 0 -0 0</pose>
-          <geometry>
-            <cylinder>
-              <length>0.1765</length>
-              <radius>0.0076</radius>
-            </cylinder>
-          </geometry>
-          <max_contacts>10</max_contacts>
-          <surface>
-            <contact>
-              <ode/>
-            </contact>
-            <bounce/>
-            <friction>
-              <torsional>
-                <ode/>
-              </torsional>
-              <ode/>
-            </friction>
-          </surface>
-        </collision>
-        <collision name='wamv/base_link_fixed_joint_lump__front_left_cam_post_arm_collision_collision_1'>
-          <pose>0.95 0.1 1.473 -1.20428 -0 -1.5708</pose>
-          <geometry>
-            <cylinder>
-              <length>0.065</length>
-              <radius>0.008</radius>
-            </cylinder>
-          </geometry>
-          <max_contacts>10</max_contacts>
-          <surface>
-            <contact>
-              <ode/>
-            </contact>
-            <bounce/>
-            <friction>
-              <torsional>
-                <ode/>
-              </torsional>
-              <ode/>
-            </friction>
-          </surface>
-        </collision>
-        <collision name='wamv/base_link_fixed_joint_lump__front_left_cam_lens_collision_collision_2'>
-          <pose>0.987607 0.1 1.49626 3.14159 1.36136 3.14159</pose>
-          <geometry>
-            <cylinder>
-              <length>0.042</length>
-              <radius>0.015</radius>
-            </cylinder>
-          </geometry>
-          <max_contacts>10</max_contacts>
-          <surface>
-            <contact>
-              <ode/>
-            </contact>
-            <bounce/>
-            <friction>
-              <torsional>
-                <ode/>
-              </torsional>
-              <ode/>
-            </friction>
-          </surface>
-        </collision>
-        <collision name='wamv/base_link_fixed_joint_lump__front_left_cam_box_collision_collision_3'>
-          <pose>0.949948 0.1 1.50426 0 0.20944 0</pose>
-          <geometry>
-            <box>
-              <size>0.036 0.03 0.03</size>
-            </box>
-          </geometry>
-          <max_contacts>10</max_contacts>
-          <surface>
-            <contact>
-              <ode/>
-            </contact>
-            <bounce/>
-            <friction>
-              <torsional>
-                <ode/>
-              </torsional>
-              <ode/>
-            </friction>
-          </surface>
-        </collision>
-        <collision name='wamv/base_link_fixed_joint_lump__front_right_cam_post_collision_collision_4'>
-          <pose>0.92 -0.1 1.38475 0 -0 0</pose>
-          <geometry>
-            <cylinder>
-              <length>0.1765</length>
-              <radius>0.0076</radius>
-            </cylinder>
-          </geometry>
-          <max_contacts>10</max_contacts>
-          <surface>
-            <contact>
-              <ode/>
-            </contact>
-            <bounce/>
-            <friction>
-              <torsional>
-                <ode/>
-              </torsional>
-              <ode/>
-            </friction>
-          </surface>
-        </collision>
-        <collision name='wamv/base_link_fixed_joint_lump__front_right_cam_post_arm_collision_collision_5'>
-          <pose>0.95 -0.1 1.473 -1.20428 -0 -1.5708</pose>
-          <geometry>
-            <cylinder>
-              <length>0.065</length>
-              <radius>0.008</radius>
-            </cylinder>
-          </geometry>
-          <max_contacts>10</max_contacts>
-          <surface>
-            <contact>
-              <ode/>
-            </contact>
-            <bounce/>
-            <friction>
-              <torsional>
-                <ode/>
-              </torsional>
-              <ode/>
-            </friction>
-          </surface>
-        </collision>
-        <collision name='wamv/base_link_fixed_joint_lump__front_right_cam_lens_collision_collision_6'>
-          <pose>0.987607 -0.1 1.49626 3.14159 1.36136 3.14159</pose>
-          <geometry>
-            <cylinder>
-              <length>0.042</length>
-              <radius>0.015</radius>
-            </cylinder>
-          </geometry>
-          <max_contacts>10</max_contacts>
-          <surface>
-            <contact>
-              <ode/>
-            </contact>
-            <bounce/>
-            <friction>
-              <torsional>
-                <ode/>
-              </torsional>
-              <ode/>
-            </friction>
-          </surface>
-        </collision>
-        <collision name='wamv/base_link_fixed_joint_lump__front_right_cam_box_collision_collision_7'>
-          <pose>0.949948 -0.1 1.50426 0 0.20944 0</pose>
-          <geometry>
-            <box>
-              <size>0.036 0.03 0.03</size>
-            </box>
-          </geometry>
-          <max_contacts>10</max_contacts>
-          <surface>
-            <contact>
-              <ode/>
-            </contact>
-            <bounce/>
-            <friction>
-              <torsional>
-                <ode/>
-              </torsional>
-              <ode/>
-            </friction>
-          </surface>
-        </collision>
-        <collision name='wamv/base_link_fixed_joint_lump__velodyne_post_collision_collision_8'>
-          <pose>0.704 0 1.62325 0 -0 0</pose>
-          <geometry>
-            <cylinder>
-              <length>0.6535</length>
-              <radius>0.0076</radius>
-            </cylinder>
-          </geometry>
-          <max_contacts>10</max_contacts>
-          <surface>
-            <contact>
-              <ode/>
-            </contact>
-            <bounce/>
-            <friction>
-              <torsional>
-                <ode/>
-              </torsional>
-              <ode/>
-            </friction>
-          </surface>
-        </collision>
-        <collision name='wamv/base_link_fixed_joint_lump__velodyne_post_arm_collision_collision_9'>
-          <pose>0.734 0 1.95 -1.20428 -0 -1.5708</pose>
-          <geometry>
-            <cylinder>
-              <length>0.065</length>
-              <radius>0.008</radius>
-            </cylinder>
-          </geometry>
-          <max_contacts>10</max_contacts>
-          <surface>
-            <contact>
-              <ode/>
-            </contact>
-            <bounce/>
-            <friction>
-              <torsional>
-                <ode/>
-              </torsional>
-              <ode/>
-            </friction>
-          </surface>
-        </collision>
-        <collision name='wamv/base_link_fixed_joint_lump__velodyne_collision_collision_10'>
-          <pose>0.774 0 2 0 0.261799 0</pose>
-          <geometry>
-            <cylinder>
-              <length>0.075</length>
-              <radius>0.055</radius>
-            </cylinder>
-          </geometry>
-          <surface>
-            <contact>
-              <ode/>
-            </contact>
-            <friction>
-              <ode/>
-              <torsional>
-                <ode/>
-              </torsional>
-            </friction>
-            <bounce/>
-          </surface>
-          <max_contacts>10</max_contacts>
-        </collision>
-        <collision name='wamv/base_link_fixed_joint_lump__left_float_collision_11'>
-          <pose>-0.4 1.03 0.2 3.14159 1.57079 3.14159</pose>
-          <geometry>
-            <cylinder>
-              <length>4</length>
-              <radius>0.2</radius>
-            </cylinder>
-          </geometry>
-          <max_contacts>10</max_contacts>
-          <surface>
-            <contact>
-              <ode/>
-            </contact>
-            <bounce/>
-            <friction>
-              <torsional>
-                <ode/>
-              </torsional>
-              <ode/>
-            </friction>
-          </surface>
-        </collision>
-        <collision name='wamv/base_link_fixed_joint_lump__left_mid_float_collision_12'>
-          <pose>1.85 1.03 0.3 0 1.38 0</pose>
-          <geometry>
-            <cylinder>
-              <length>0.5</length>
-              <radius>0.17</radius>
-            </cylinder>
-          </geometry>
-          <max_contacts>10</max_contacts>
-          <surface>
-            <contact>
-              <ode/>
-            </contact>
-            <bounce/>
-            <friction>
-              <torsional>
-                <ode/>
-              </torsional>
-              <ode/>
-            </friction>
-          </surface>
-        </collision>
-        <collision name='wamv/base_link_fixed_joint_lump__left_front_float_collision_13'>
-          <pose>2.3 1.03 0.4 0 1.3 0</pose>
-          <geometry>
-            <cylinder>
-              <length>0.45</length>
-              <radius>0.12</radius>
-            </cylinder>
-          </geometry>
-          <max_contacts>10</max_contacts>
-          <surface>
-            <contact>
-              <ode/>
-            </contact>
-            <bounce/>
-            <friction>
-              <torsional>
-                <ode/>
-              </torsional>
-              <ode/>
-            </friction>
-          </surface>
-        </collision>
-        <collision name='wamv/base_link_fixed_joint_lump__front_left_beam_lower_collision_14'>
-          <pose>0.9 0.85 1 0.78 -0 0</pose>
-          <geometry>
-            <cylinder>
-              <length>0.5</length>
-              <radius>0.04</radius>
-            </cylinder>
-          </geometry>
-          <max_contacts>10</max_contacts>
-          <surface>
-            <contact>
-              <ode/>
-            </contact>
-            <bounce/>
-            <friction>
-              <torsional>
-                <ode/>
-              </torsional>
-              <ode/>
-            </friction>
-          </surface>
-        </collision>
-        <collision name='wamv/base_link_fixed_joint_lump__front_left_beam_upper_collision_15'>
-          <pose>0.9 0.6 1.18 1.35 -0 0</pose>
-          <geometry>
-            <cylinder>
-              <length>0.2</length>
-              <radius>0.04</radius>
-            </cylinder>
-          </geometry>
-          <max_contacts>10</max_contacts>
-          <surface>
-            <contact>
-              <ode/>
-            </contact>
-            <bounce/>
-            <friction>
-              <torsional>
-                <ode/>
-              </torsional>
-              <ode/>
-            </friction>
-          </surface>
-        </collision>
-        <collision name='wamv/base_link_fixed_joint_lump__mid_left_beam_lower_collision_16'>
-          <pose>-0.65 0.99 0.7 0.1 0.25 0</pose>
-          <geometry>
-            <cylinder>
-              <length>0.45</length>
-              <radius>0.03</radius>
-            </cylinder>
-          </geometry>
-          <max_contacts>10</max_contacts>
-          <surface>
-            <contact>
-              <ode/>
-            </contact>
-            <bounce/>
-            <friction>
-              <torsional>
-                <ode/>
-              </torsional>
-              <ode/>
-            </friction>
-          </surface>
-        </collision>
-        <collision name='wamv/base_link_fixed_joint_lump__mid_left_beam_medium_collision_17'>
-          <pose>-0.57 0.87 1.05 0.75 0.25 0</pose>
-          <geometry>
-            <cylinder>
-              <length>0.32</length>
-              <radius>0.03</radius>
-            </cylinder>
-          </geometry>
-          <max_contacts>10</max_contacts>
-          <surface>
-            <contact>
-              <ode/>
-            </contact>
-            <bounce/>
-            <friction>
-              <torsional>
-                <ode/>
-              </torsional>
-              <ode/>
-            </friction>
-          </surface>
-        </collision>
-        <collision name='wamv/base_link_fixed_joint_lump__mid_left_beam_upper_collision_18'>
-          <pose>-0.55 0.65 1.17 1.35 0.25 0</pose>
-          <geometry>
-            <cylinder>
-              <length>0.3</length>
-              <radius>0.03</radius>
-            </cylinder>
-          </geometry>
-          <max_contacts>10</max_contacts>
-          <surface>
-            <contact>
-              <ode/>
-            </contact>
-            <bounce/>
-            <friction>
-              <torsional>
-                <ode/>
-              </torsional>
-              <ode/>
-            </friction>
-          </surface>
-        </collision>
-        <collision name='wamv/base_link_fixed_joint_lump__rear_left_beam_lower_collision_19'>
-          <pose>-0.74 1.03 0.7 0 -0.15 0</pose>
-          <geometry>
-            <cylinder>
-              <length>0.45</length>
-              <radius>0.03</radius>
-            </cylinder>
-          </geometry>
-          <max_contacts>10</max_contacts>
-          <surface>
-            <contact>
-              <ode/>
-            </contact>
-            <bounce/>
-            <friction>
-              <torsional>
-                <ode/>
-              </torsional>
-              <ode/>
-            </friction>
-          </surface>
-        </collision>
-        <collision name='wamv/base_link_fixed_joint_lump__rear_left_beam_medium_collision_20'>
-          <pose>-0.79 0.91 1.05 0.75 -0.15 -0</pose>
-          <geometry>
-            <cylinder>
-              <length>0.32</length>
-              <radius>0.03</radius>
-            </cylinder>
-          </geometry>
-          <max_contacts>10</max_contacts>
-          <surface>
-            <contact>
-              <ode/>
-            </contact>
-            <bounce/>
-            <friction>
-              <torsional>
-                <ode/>
-              </torsional>
-              <ode/>
-            </friction>
-          </surface>
-        </collision>
-        <collision name='wamv/base_link_fixed_joint_lump__rear_left_beam_upper_collision_21'>
-          <pose>-0.81 0.67 1.18 1.45 -0.15 0</pose>
-          <geometry>
-            <cylinder>
-              <length>0.3</length>
-              <radius>0.03</radius>
-            </cylinder>
-          </geometry>
-          <max_contacts>10</max_contacts>
-          <surface>
-            <contact>
-              <ode/>
-            </contact>
-            <bounce/>
-            <friction>
-              <torsional>
-                <ode/>
-              </torsional>
-              <ode/>
-            </friction>
-          </surface>
-        </collision>
-        <collision name='wamv/base_link_fixed_joint_lump__left_joint_collision_22'>
-          <pose>0.58 1.03 0.6 0 -0.6 0</pose>
-          <geometry>
-            <box>
-              <size>0.65 0.2 0.1</size>
-            </box>
-          </geometry>
-          <max_contacts>10</max_contacts>
-          <surface>
-            <contact>
-              <ode/>
-            </contact>
-            <bounce/>
-            <friction>
-              <torsional>
-                <ode/>
-              </torsional>
-              <ode/>
-            </friction>
-          </surface>
-        </collision>
-        <collision name='wamv/base_link_fixed_joint_lump__right_float_collision_23'>
-          <pose>-0.4 -1.03 0.2 3.14159 1.57079 3.14159</pose>
-          <geometry>
-            <cylinder>
-              <length>4</length>
-              <radius>0.2</radius>
-            </cylinder>
-          </geometry>
-          <max_contacts>10</max_contacts>
-          <surface>
-            <contact>
-              <ode/>
-            </contact>
-            <bounce/>
-            <friction>
-              <torsional>
-                <ode/>
-              </torsional>
-              <ode/>
-            </friction>
-          </surface>
-        </collision>
-        <collision name='wamv/base_link_fixed_joint_lump__right_mid_float_collision_24'>
-          <pose>1.85 -1.03 0.3 0 1.38 0</pose>
-          <geometry>
-            <cylinder>
-              <length>0.5</length>
-              <radius>0.17</radius>
-            </cylinder>
-          </geometry>
-          <max_contacts>10</max_contacts>
-          <surface>
-            <contact>
-              <ode/>
-            </contact>
-            <bounce/>
-            <friction>
-              <torsional>
-                <ode/>
-              </torsional>
-              <ode/>
-            </friction>
-          </surface>
-        </collision>
-        <collision name='wamv/base_link_fixed_joint_lump__right_front_float_collision_25'>
-          <pose>2.3 -1.03 0.4 0 1.3 0</pose>
-          <geometry>
-            <cylinder>
-              <length>0.45</length>
-              <radius>0.12</radius>
-            </cylinder>
-          </geometry>
-          <max_contacts>10</max_contacts>
-          <surface>
-            <contact>
-              <ode/>
-            </contact>
-            <bounce/>
-            <friction>
-              <torsional>
-                <ode/>
-              </torsional>
-              <ode/>
-            </friction>
-          </surface>
-        </collision>
-        <collision name='wamv/base_link_fixed_joint_lump__front_right_beam_lower_collision_26'>
-          <pose>0.9 -0.85 1 -0.78 0 0</pose>
-          <geometry>
-            <cylinder>
-              <length>0.5</length>
-              <radius>0.04</radius>
-            </cylinder>
-          </geometry>
-          <max_contacts>10</max_contacts>
-          <surface>
-            <contact>
-              <ode/>
-            </contact>
-            <bounce/>
-            <friction>
-              <torsional>
-                <ode/>
-              </torsional>
-              <ode/>
-            </friction>
-          </surface>
-        </collision>
-        <collision name='wamv/base_link_fixed_joint_lump__front_right_beam_upper_collision_27'>
-          <pose>0.9 -0.6 1.18 -1.35 0 0</pose>
-          <geometry>
-            <cylinder>
-              <length>0.2</length>
-              <radius>0.04</radius>
-            </cylinder>
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-        </collision>
-        <collision name='wamv/ins_link_fixed_joint_lump__ins_collision_antenna_collision_1'>
-          <pose>0 0 0.11 0 -0 0</pose>
-          <geometry>
-            <cylinder>
-              <length>0.1</length>
-              <radius>0.15</radius>
-            </cylinder>
-          </geometry>
-          <max_contacts>10</max_contacts>
-          <surface>
-            <contact>
-              <ode/>
-            </contact>
-            <bounce/>
-            <friction>
-              <torsional>
-                <ode/>
-              </torsional>
-              <ode/>
-            </friction>
-          </surface>
-        </collision>
-        <visual name='wamv/ins_link_fixed_joint_lump__ins_visual_visual'>
-          <pose>0 0 0 0 -0 0</pose>
-          <geometry>
-            <mesh>
-              <scale>1 1 1</scale>
-              <uri>/home/user/catkin_ws/src/mil/NaviGator/simulation/VRX/vrx/wamv_gazebo/models/gps/mesh/gps.dae</uri>
-            </mesh>
-          </geometry>
-        </visual>
-        <self_collide>0</self_collide>
-        <enable_wind>0</enable_wind>
-        <kinematic>0</kinematic>
-      </link>
-      <plugin name='gps_plugin_ins' filename='libhector_gazebo_ros_gps.so'>
-        <updateRate>15</updateRate>
-        <alwaysOn>1</alwaysOn>
-        <bodyName>wamv/ins_link</bodyName>
-        <frameId>wamv/ins_link</frameId>
-        <topicName>wamv/sensors/gps/gps/fix</topicName>
-        <velocityTopicName>wamv/sensors/gps/gps/fix_velocity</velocityTopicName>
-        <useWorldSphericalCoordinates>1</useWorldSphericalCoordinates>
-        <offset>0.0 0.0 0.0</offset>
-        <drift>0.0 0.0 0.0</drift>
-        <gaussianNoise>0 0 0</gaussianNoise>
-        <velocityOffset>0.0 0.0 0.0</velocityOffset>
-        <velocityDrift>0.0 0.0 0.0</velocityDrift>
-        <velocityGaussianNoise>0.0 0.0 0.0</velocityGaussianNoise>
-        <robotNamespace>/</robotNamespace>
-      </plugin>
-      <plugin name='imu_plugin_imu_wamv' filename='libhector_gazebo_ros_imu.so'>
-        <updateRate>15</updateRate>
-        <bodyName>wamv/imu_wamv_link</bodyName>
-        <topicName>wamv/sensors/imu/imu/data</topicName>
-        <serviceName>wamv/sensors/imu_service</serviceName>
-        <frameId>wamv/imu_wamv_link</frameId>
-        <alwaysOn>1</alwaysOn>
-        <accelOffset>0.0 0.0 0.0</accelOffset>
-        <accelDrift>0.0 0.0 0.0</accelDrift>
-        <accelDriftFrequency>0.00027 0.00027 0.000027</accelDriftFrequency>
-        <accelGaussianNoise>0.0 0.0 0.0</accelGaussianNoise>
-        <rateOffset>0.0 0.0 0.0</rateOffset>
-        <rateDrift>0.0 0.0 0.0</rateDrift>
-        <rateDriftFrequency>0.00027 0.00027 0.000027</rateDriftFrequency>
-        <rateGaussianNoise>0.0 0.0 0.0</rateGaussianNoise>
-        <yawOffset>0.0</yawOffset>
-        <yawDrift>0.0</yawDrift>
-        <yawDriftFrequency>0.00027</yawDriftFrequency>
-        <yawGaussianNoise>0.0</yawGaussianNoise>
-        <robotNamespace>/</robotNamespace>
-      </plugin>
-      <plugin name='ball_shooter_plugin' filename='libball_shooter_plugin.so'>
-        <projectile>
-          <model_name>blue_projectile</model_name>
-          <link_name>link</link_name>
-          <frame>wamv/ball_shooter_launcher_link</frame>
-          <pose>0.14 0 0 0 0 0</pose>
-        </projectile>
-        <num_shots>4</num_shots>
-        <shot_force>300</shot_force>
-        <topic>wamv/shooters/ball_shooter/fire</topic>
-        <robotNamespace>/</robotNamespace>
-      </plugin>
-      <plugin name='pinger_plugin' filename='libusv_gazebo_acoustic_pinger_plugin.so'>
-        <frameId>wamv/pinger</frameId>
-        <topicName>wamv/sensors/pingers/hydrophones/range_bearing</topicName>
-        <setPositionTopicName>wamv/sensors/pingers/hydrophones/set_pinger_position</setPositionTopicName>
-        <rangeNoise>
-          <noise>
-            <type>gaussian</type>
-            <mean>0.0</mean>
-            <stddev>3.0</stddev>
-          </noise>
-        </rangeNoise>
-        <bearingNoise>
-          <noise>
-            <type>gaussian</type>
-            <mean>0.0</mean>
-            <stddev>0.01</stddev>
-          </noise>
-        </bearingNoise>
-        <elevationNoise>
-          <noise>
-            <type>gaussian</type>
-            <mean>0.0</mean>
-            <stddev>0.01</stddev>
-          </noise>
-        </elevationNoise>
-        <robotNamespace>/</robotNamespace>
-      </plugin>
-      <plugin name='wamv_gazebo_thrust' filename='libusv_gazebo_thrust_plugin.so'>
-        <cmdTimeout>1.0</cmdTimeout>
-        <robotNamespace>wamv</robotNamespace>
-        <thruster>
-          <linkName>BL_propeller_link</linkName>
-          <propJointName>BL_engine_propeller_joint</propJointName>
-          <engineJointName>BL_chasis_engine_joint</engineJointName>
-          <cmdTopic>thrusters/BL_thrust_cmd</cmdTopic>
-          <angleTopic>thrusters/BL_thrust_angle</angleTopic>
-          <enableAngle>1</enableAngle>
-          <mappingType>1</mappingType>
-          <maxCmd>1.0</maxCmd>
-          <maxForceFwd>250.0</maxForceFwd>
-          <maxForceRev>-100.0</maxForceRev>
-          <maxAngle>1.5707963267948966</maxAngle>
-        </thruster>
-        <thruster>
-          <linkName>BR_propeller_link</linkName>
-          <propJointName>BR_engine_propeller_joint</propJointName>
-          <engineJointName>BR_chasis_engine_joint</engineJointName>
-          <cmdTopic>thrusters/BR_thrust_cmd</cmdTopic>
-          <angleTopic>thrusters/BR_thrust_angle</angleTopic>
-          <enableAngle>1</enableAngle>
-          <mappingType>1</mappingType>
-          <maxCmd>1.0</maxCmd>
-          <maxForceFwd>250.0</maxForceFwd>
-          <maxForceRev>-100.0</maxForceRev>
-          <maxAngle>1.5707963267948966</maxAngle>
-        </thruster>
-        <thruster>
-          <linkName>FL_propeller_link</linkName>
-          <propJointName>FL_engine_propeller_joint</propJointName>
-          <engineJointName>FL_chasis_engine_joint</engineJointName>
-          <cmdTopic>thrusters/FL_thrust_cmd</cmdTopic>
-          <angleTopic>thrusters/FL_thrust_angle</angleTopic>
-          <enableAngle>1</enableAngle>
-          <mappingType>1</mappingType>
-          <maxCmd>1.0</maxCmd>
-          <maxForceFwd>250.0</maxForceFwd>
-          <maxForceRev>-100.0</maxForceRev>
-          <maxAngle>1.5707963267948966</maxAngle>
-        </thruster>
-        <thruster>
-          <linkName>FR_propeller_link</linkName>
-          <propJointName>FR_engine_propeller_joint</propJointName>
-          <engineJointName>FR_chasis_engine_joint</engineJointName>
-          <cmdTopic>thrusters/FR_thrust_cmd</cmdTopic>
-          <angleTopic>thrusters/FR_thrust_angle</angleTopic>
-          <enableAngle>1</enableAngle>
-          <mappingType>1</mappingType>
-          <maxCmd>1.0</maxCmd>
-          <maxForceFwd>250.0</maxForceFwd>
-          <maxForceRev>-100.0</maxForceRev>
-          <maxAngle>1.5707963267948966</maxAngle>
-        </thruster>
-      </plugin>
-      <plugin name='usv_dynamics_wamv_dynamics_plugin' filename='libusv_gazebo_dynamics_plugin.so'>
-        <bodyName>wamv/base_link</bodyName>
-        <waterLevel>0</waterLevel>
-        <waterDensity>997.8</waterDensity>
-        <xDotU>0.0</xDotU>
-        <yDotV>0.0</yDotV>
-        <nDotR>0.0</nDotR>
-        <xU>51.3</xU>
-        <xUU>72.4</xUU>
-        <yV>40.0</yV>
-        <yVV>0.0</yVV>
-        <zW>500.0</zW>
-        <kP>50.0</kP>
-        <mQ>50.0</mQ>
-        <nR>400.0</nR>
-        <nRR>0.0</nRR>
-        <hullRadius>0.213</hullRadius>
-        <boatWidth>2.4</boatWidth>
-        <boatLength>4.9</boatLength>
-        <length_n>2</length_n>
-        <wave_model>ocean_waves</wave_model>
-        <robotNamespace>/</robotNamespace>
-      </plugin>
-      <frame name='wamv/front_left_cam_to_front_left_cam_link_optical_joint' attached_to='wamv/front_left_cam_link'>
-        <pose>0 0 0 -1.5708 -0 -1.5708</pose>
-      </frame>
-      <frame name='wamv/front_left_cam_link_optical' attached_to='wamv/front_left_cam_to_front_left_cam_link_optical_joint'/>
-      <frame name='wamv/front_left_cam_post_arm_to_front_left_cam_joint' attached_to='wamv/front_left_cam_post_arm_link'>
-        <pose>0.02 0 0.027 0 0.20944 0</pose>
-      </frame>
-      <frame name='wamv/front_left_cam_link' attached_to='wamv/front_left_cam_post_arm_to_front_left_cam_joint'/>
-      <frame name='wamv/front_left_cam_post_to_front_left_cam_post_arm_joint' attached_to='wamv/front_left_cam_post_link'>
-        <pose>0.03 0 0.08825 0 -0 0</pose>
-      </frame>
-      <frame name='wamv/front_left_cam_post_arm_link' attached_to='wamv/front_left_cam_post_to_front_left_cam_post_arm_joint'/>
-      <frame name='wamv/base_to_front_left_cam_post_joint' attached_to='wamv/base_link'>
-        <pose>0.92 0.1 1.38475 0 -0 0</pose>
-      </frame>
-      <frame name='wamv/front_left_cam_post_link' attached_to='wamv/base_to_front_left_cam_post_joint'/>
-      <frame name='wamv/front_right_cam_to_front_right_cam_link_optical_joint' attached_to='wamv/front_right_cam_link'>
-        <pose>0 0 0 -1.5708 -0 -1.5708</pose>
-      </frame>
-      <frame name='wamv/front_right_cam_link_optical' attached_to='wamv/front_right_cam_to_front_right_cam_link_optical_joint'/>
-      <frame name='wamv/front_right_cam_post_arm_to_front_right_cam_joint' attached_to='wamv/front_right_cam_post_arm_link'>
-        <pose>0.02 0 0.027 0 0.20944 0</pose>
-      </frame>
-      <frame name='wamv/front_right_cam_link' attached_to='wamv/front_right_cam_post_arm_to_front_right_cam_joint'/>
-      <frame name='wamv/front_right_cam_post_to_front_right_cam_post_arm_joint' attached_to='wamv/front_right_cam_post_link'>
-        <pose>0.03 0 0.08825 0 -0 0</pose>
-      </frame>
-      <frame name='wamv/front_right_cam_post_arm_link' attached_to='wamv/front_right_cam_post_to_front_right_cam_post_arm_joint'/>
-      <frame name='wamv/base_to_front_right_cam_post_joint' attached_to='wamv/base_link'>
-        <pose>0.92 -0.1 1.38475 0 -0 0</pose>
-      </frame>
-      <frame name='wamv/front_right_cam_post_link' attached_to='wamv/base_to_front_right_cam_post_joint'/>
-      <frame name='wamv/velodyne_post_arm_to_velodyne_joint' attached_to='velodyne_post_arm_link'>
-        <pose>0.04 0 0.05 0 0.261799 0</pose>
-      </frame>
-      <frame name='velodyne' attached_to='wamv/velodyne_post_arm_to_velodyne_joint'/>
-      <frame name='wamv/velodyne_post_to_velodyne_post_arm_joint' attached_to='velodyne_post_link'>
-        <pose>0.03 0 0.32675 0 -0 0</pose>
-      </frame>
-      <frame name='velodyne_post_arm_link' attached_to='wamv/velodyne_post_to_velodyne_post_arm_joint'/>
-      <frame name='wamv/base_to_velodyne_post_joint' attached_to='wamv/base_link'>
-        <pose>0.704 0 1.62325 0 -0 0</pose>
-      </frame>
-      <frame name='velodyne_post_link' attached_to='wamv/base_to_velodyne_post_joint'/>
-      <frame name='wamv/dummy_joint' attached_to='wamv/base_link'>
-        <pose>0 0 0 0 -0 0</pose>
-      </frame>
-      <frame name='wamv/dummy_link' attached_to='wamv/dummy_joint'/>
-      <frame name='wamv/hydrophones_pinger_joint' attached_to='wamv/base_link'>
-        <pose>1 0 -1 0 -0 0</pose>
-      </frame>
-      <frame name='wamv/hydrophones' attached_to='wamv/hydrophones_pinger_joint'/>
-      <pose>-527 167 0.1 0 -0 1</pose>
-    </model>
     <model name='mb_marker_buoy_white'>
       <link name='link'>
         <inertial>
diff --git a/NaviGator/simulation/navigator_gazebo/worlds/pathfinding/u_shaped_test.world b/NaviGator/simulation/navigator_gazebo/worlds/pathfinding/u_shaped_test.world
index 8745d85b5..dc0ae73bb 100644
--- a/NaviGator/simulation/navigator_gazebo/worlds/pathfinding/u_shaped_test.world
+++ b/NaviGator/simulation/navigator_gazebo/worlds/pathfinding/u_shaped_test.world
@@ -1222,2132 +1222,6 @@
       <real_time_update_rate>1000</real_time_update_rate>
     </physics>
     <wind/>
-    <model name='wamv'>
-      <link name='wamv/base_link'>
-        <inertial>
-          <pose>0.012722 0 0.026171 0 -0 0</pose>
-          <mass>182.806</mass>
-          <inertia>
-            <ixx>128.232</ixx>
-            <ixy>-2.4178e-21</ixy>
-            <ixz>-3.85993</ixz>
-            <iyy>403.15</iyy>
-            <iyz>-9.28107e-22</iyz>
-            <izz>447.942</izz>
-          </inertia>
-        </inertial>
-        <collision name='wamv/base_link_fixed_joint_lump__front_left_cam_post_collision_collision'>
-          <pose>0.92 0.1 1.38475 0 -0 0</pose>
-          <geometry>
-            <cylinder>
-              <length>0.1765</length>
-              <radius>0.0076</radius>
-            </cylinder>
-          </geometry>
-          <max_contacts>10</max_contacts>
-          <surface>
-            <contact>
-              <ode/>
-            </contact>
-            <bounce/>
-            <friction>
-              <torsional>
-                <ode/>
-              </torsional>
-              <ode/>
-            </friction>
-          </surface>
-        </collision>
-        <collision name='wamv/base_link_fixed_joint_lump__front_left_cam_post_arm_collision_collision_1'>
-          <pose>0.95 0.1 1.473 -1.20428 -0 -1.5708</pose>
-          <geometry>
-            <cylinder>
-              <length>0.065</length>
-              <radius>0.008</radius>
-            </cylinder>
-          </geometry>
-          <max_contacts>10</max_contacts>
-          <surface>
-            <contact>
-              <ode/>
-            </contact>
-            <bounce/>
-            <friction>
-              <torsional>
-                <ode/>
-              </torsional>
-              <ode/>
-            </friction>
-          </surface>
-        </collision>
-        <collision name='wamv/base_link_fixed_joint_lump__front_left_cam_lens_collision_collision_2'>
-          <pose>0.987607 0.1 1.49626 3.14159 1.36136 3.14159</pose>
-          <geometry>
-            <cylinder>
-              <length>0.042</length>
-              <radius>0.015</radius>
-            </cylinder>
-          </geometry>
-          <max_contacts>10</max_contacts>
-          <surface>
-            <contact>
-              <ode/>
-            </contact>
-            <bounce/>
-            <friction>
-              <torsional>
-                <ode/>
-              </torsional>
-              <ode/>
-            </friction>
-          </surface>
-        </collision>
-        <collision name='wamv/base_link_fixed_joint_lump__front_left_cam_box_collision_collision_3'>
-          <pose>0.949948 0.1 1.50426 0 0.20944 0</pose>
-          <geometry>
-            <box>
-              <size>0.036 0.03 0.03</size>
-            </box>
-          </geometry>
-          <max_contacts>10</max_contacts>
-          <surface>
-            <contact>
-              <ode/>
-            </contact>
-            <bounce/>
-            <friction>
-              <torsional>
-                <ode/>
-              </torsional>
-              <ode/>
-            </friction>
-          </surface>
-        </collision>
-        <collision name='wamv/base_link_fixed_joint_lump__front_right_cam_post_collision_collision_4'>
-          <pose>0.92 -0.1 1.38475 0 -0 0</pose>
-          <geometry>
-            <cylinder>
-              <length>0.1765</length>
-              <radius>0.0076</radius>
-            </cylinder>
-          </geometry>
-          <max_contacts>10</max_contacts>
-          <surface>
-            <contact>
-              <ode/>
-            </contact>
-            <bounce/>
-            <friction>
-              <torsional>
-                <ode/>
-              </torsional>
-              <ode/>
-            </friction>
-          </surface>
-        </collision>
-        <collision name='wamv/base_link_fixed_joint_lump__front_right_cam_post_arm_collision_collision_5'>
-          <pose>0.95 -0.1 1.473 -1.20428 -0 -1.5708</pose>
-          <geometry>
-            <cylinder>
-              <length>0.065</length>
-              <radius>0.008</radius>
-            </cylinder>
-          </geometry>
-          <max_contacts>10</max_contacts>
-          <surface>
-            <contact>
-              <ode/>
-            </contact>
-            <bounce/>
-            <friction>
-              <torsional>
-                <ode/>
-              </torsional>
-              <ode/>
-            </friction>
-          </surface>
-        </collision>
-        <collision name='wamv/base_link_fixed_joint_lump__front_right_cam_lens_collision_collision_6'>
-          <pose>0.987607 -0.1 1.49626 3.14159 1.36136 3.14159</pose>
-          <geometry>
-            <cylinder>
-              <length>0.042</length>
-              <radius>0.015</radius>
-            </cylinder>
-          </geometry>
-          <max_contacts>10</max_contacts>
-          <surface>
-            <contact>
-              <ode/>
-            </contact>
-            <bounce/>
-            <friction>
-              <torsional>
-                <ode/>
-              </torsional>
-              <ode/>
-            </friction>
-          </surface>
-        </collision>
-        <collision name='wamv/base_link_fixed_joint_lump__front_right_cam_box_collision_collision_7'>
-          <pose>0.949948 -0.1 1.50426 0 0.20944 0</pose>
-          <geometry>
-            <box>
-              <size>0.036 0.03 0.03</size>
-            </box>
-          </geometry>
-          <max_contacts>10</max_contacts>
-          <surface>
-            <contact>
-              <ode/>
-            </contact>
-            <bounce/>
-            <friction>
-              <torsional>
-                <ode/>
-              </torsional>
-              <ode/>
-            </friction>
-          </surface>
-        </collision>
-        <collision name='wamv/base_link_fixed_joint_lump__velodyne_post_collision_collision_8'>
-          <pose>0.704 0 1.62325 0 -0 0</pose>
-          <geometry>
-            <cylinder>
-              <length>0.6535</length>
-              <radius>0.0076</radius>
-            </cylinder>
-          </geometry>
-          <max_contacts>10</max_contacts>
-          <surface>
-            <contact>
-              <ode/>
-            </contact>
-            <bounce/>
-            <friction>
-              <torsional>
-                <ode/>
-              </torsional>
-              <ode/>
-            </friction>
-          </surface>
-        </collision>
-        <collision name='wamv/base_link_fixed_joint_lump__velodyne_post_arm_collision_collision_9'>
-          <pose>0.734 0 1.95 -1.20428 -0 -1.5708</pose>
-          <geometry>
-            <cylinder>
-              <length>0.065</length>
-              <radius>0.008</radius>
-            </cylinder>
-          </geometry>
-          <max_contacts>10</max_contacts>
-          <surface>
-            <contact>
-              <ode/>
-            </contact>
-            <bounce/>
-            <friction>
-              <torsional>
-                <ode/>
-              </torsional>
-              <ode/>
-            </friction>
-          </surface>
-        </collision>
-        <collision name='wamv/base_link_fixed_joint_lump__velodyne_collision_collision_10'>
-          <pose>0.774 0 2 0 0.261799 0</pose>
-          <geometry>
-            <cylinder>
-              <length>0.075</length>
-              <radius>0.055</radius>
-            </cylinder>
-          </geometry>
-          <surface>
-            <contact>
-              <ode/>
-            </contact>
-            <friction>
-              <ode/>
-              <torsional>
-                <ode/>
-              </torsional>
-            </friction>
-            <bounce/>
-          </surface>
-          <max_contacts>10</max_contacts>
-        </collision>
-        <collision name='wamv/base_link_fixed_joint_lump__left_float_collision_11'>
-          <pose>-0.4 1.03 0.2 3.14159 1.57079 3.14159</pose>
-          <geometry>
-            <cylinder>
-              <length>4</length>
-              <radius>0.2</radius>
-            </cylinder>
-          </geometry>
-          <max_contacts>10</max_contacts>
-          <surface>
-            <contact>
-              <ode/>
-            </contact>
-            <bounce/>
-            <friction>
-              <torsional>
-                <ode/>
-              </torsional>
-              <ode/>
-            </friction>
-          </surface>
-        </collision>
-        <collision name='wamv/base_link_fixed_joint_lump__left_mid_float_collision_12'>
-          <pose>1.85 1.03 0.3 0 1.38 0</pose>
-          <geometry>
-            <cylinder>
-              <length>0.5</length>
-              <radius>0.17</radius>
-            </cylinder>
-          </geometry>
-          <max_contacts>10</max_contacts>
-          <surface>
-            <contact>
-              <ode/>
-            </contact>
-            <bounce/>
-            <friction>
-              <torsional>
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-        <pose relative_to='FR_engine_propeller_joint'>0 0 0 0 -0 0</pose>
-        <inertial>
-          <pose>0 0 0 0 -0 0</pose>
-          <mass>0.5</mass>
-          <inertia>
-            <ixx>0.008545</ixx>
-            <ixy>0</ixy>
-            <ixz>0</ixz>
-            <iyy>0.008545</iyy>
-            <iyz>0</iyz>
-            <izz>0.0144</izz>
-          </inertia>
-        </inertial>
-        <collision name='FR_propeller_link_fixed_joint_lump__FR_propeller_collision_collision'>
-          <pose>-0.08 0 0 3.14159 1.57079 3.14159</pose>
-          <geometry>
-            <cylinder>
-              <length>0.18</length>
-              <radius>0.24</radius>
-            </cylinder>
-          </geometry>
-          <max_contacts>10</max_contacts>
-          <surface>
-            <contact>
-              <ode/>
-            </contact>
-            <bounce/>
-            <friction>
-              <torsional>
-                <ode/>
-              </torsional>
-              <ode/>
-            </friction>
-          </surface>
-        </collision>
-        <visual name='FR_propeller_link_visual'>
-          <pose>0 0 0 0 -0 0</pose>
-          <geometry>
-            <mesh>
-              <scale>1 1 1</scale>
-              <uri>/home/user/catkin_ws/src/mil/NaviGator/simulation/VRX/vrx/wamv_description/models/propeller/mesh/propeller.dae</uri>
-            </mesh>
-          </geometry>
-        </visual>
-        <self_collide>0</self_collide>
-        <enable_wind>0</enable_wind>
-        <kinematic>0</kinematic>
-      </link>
-      <joint name='wamv/ball_shooter_base_joint' type='revolute'>
-        <pose relative_to='wamv/base_link'>0.54 0.3 1.3 0 -0 0.1</pose>
-        <parent>wamv/base_link</parent>
-        <child>wamv/ball_shooter_base_link</child>
-        <axis>
-          <xyz>0 0 1</xyz>
-          <limit>
-            <lower>0</lower>
-            <upper>0</upper>
-            <effort>1000</effort>
-            <velocity>0</velocity>
-          </limit>
-          <dynamics>
-            <spring_reference>0</spring_reference>
-            <spring_stiffness>0</spring_stiffness>
-          </dynamics>
-        </axis>
-      </joint>
-      <link name='wamv/ball_shooter_base_link'>
-        <pose relative_to='wamv/ball_shooter_base_joint'>0 0 0 0 -0 0</pose>
-        <inertial>
-          <pose>-0.02 0 0.05 0 -0 0</pose>
-          <mass>0.5</mass>
-          <inertia>
-            <ixx>0.00083</ixx>
-            <ixy>0</ixy>
-            <ixz>0</ixz>
-            <iyy>0.00052083</iyy>
-            <iyz>0</iyz>
-            <izz>0.00052083</izz>
-          </inertia>
-        </inertial>
-        <visual name='wamv/ball_shooter_base_link_fixed_joint_lump__ball_shooter_base_visual_visual'>
-          <pose>0 0 0 0 -0 0</pose>
-          <geometry>
-            <mesh>
-              <scale>1 1 1</scale>
-              <uri>/home/user/catkin_ws/src/mil/NaviGator/simulation/VRX/vrx/vrx_gazebo/models/ball_shooter/meshes/ball_shooter_base.dae</uri>
-            </mesh>
-          </geometry>
-        </visual>
-        <self_collide>0</self_collide>
-        <enable_wind>0</enable_wind>
-        <kinematic>0</kinematic>
-      </link>
-      <joint name='wamv/ball_shooter_launcher_joint' type='revolute'>
-        <pose relative_to='wamv/ball_shooter_base_link'>-0.0204 0 0.107877 0 -0.8 0</pose>
-        <parent>wamv/ball_shooter_base_link</parent>
-        <child>wamv/ball_shooter_launcher_link</child>
-        <axis>
-          <xyz>0 0 1</xyz>
-          <limit>
-            <lower>0</lower>
-            <upper>0</upper>
-            <effort>1000</effort>
-            <velocity>0</velocity>
-          </limit>
-          <dynamics>
-            <spring_reference>0</spring_reference>
-            <spring_stiffness>0</spring_stiffness>
-          </dynamics>
-        </axis>
-      </joint>
-      <link name='wamv/ball_shooter_launcher_link'>
-        <pose relative_to='wamv/ball_shooter_launcher_joint'>0 0 0 0 -0 0</pose>
-        <inertial>
-          <pose>0 0 0 3.14159 -1.57079 3.14159</pose>
-          <mass>0.5</mass>
-          <inertia>
-            <ixx>0.00177917</ixx>
-            <ixy>0</ixy>
-            <ixz>0</ixz>
-            <iyy>0.00177917</iyy>
-            <iyz>0</iyz>
-            <izz>0.000225</izz>
-          </inertia>
-        </inertial>
-        <collision name='wamv/ball_shooter_launcher_link_fixed_joint_lump__ball_shooter_collision_collision'>
-          <pose>0 0 0 0 0.261799 0</pose>
-          <geometry>
-            <box>
-              <size>0.3 0.3 0.2</size>
-            </box>
-          </geometry>
-          <max_contacts>10</max_contacts>
-          <surface>
-            <contact>
-              <ode/>
-            </contact>
-            <bounce/>
-            <friction>
-              <torsional>
-                <ode/>
-              </torsional>
-              <ode/>
-            </friction>
-          </surface>
-        </collision>
-        <visual name='wamv/ball_shooter_launcher_link_fixed_joint_lump__ball_shooter_launcher_visual_visual'>
-          <pose>0 0 0 0 0.261799 0</pose>
-          <geometry>
-            <mesh>
-              <scale>1 1 1</scale>
-              <uri>/home/user/catkin_ws/src/mil/NaviGator/simulation/VRX/vrx/vrx_gazebo/models/ball_shooter/meshes/ball_shooter_launcher.dae</uri>
-            </mesh>
-          </geometry>
-        </visual>
-        <self_collide>0</self_collide>
-        <enable_wind>0</enable_wind>
-        <kinematic>0</kinematic>
-      </link>
-      <joint name='wamv/imu_wamv_joint' type='revolute'>
-        <pose relative_to='wamv/base_link'>0.24 0.17 1.5 0 -0 0</pose>
-        <parent>wamv/base_link</parent>
-        <child>wamv/imu_wamv_link</child>
-        <axis>
-          <xyz>0 0 1</xyz>
-          <limit>
-            <lower>0</lower>
-            <upper>0</upper>
-            <effort>1000</effort>
-            <velocity>0</velocity>
-          </limit>
-          <dynamics>
-            <spring_reference>0</spring_reference>
-            <spring_stiffness>0</spring_stiffness>
-          </dynamics>
-        </axis>
-      </joint>
-      <link name='wamv/imu_wamv_link'>
-        <pose relative_to='wamv/imu_wamv_joint'>0 0 0 0 -0 0</pose>
-        <inertial>
-          <pose>0 0 0 0 -0 0</pose>
-          <mass>0.1</mass>
-          <inertia>
-            <ixx>8.3e-05</ixx>
-            <ixy>0</ixy>
-            <ixz>0</ixz>
-            <iyy>8.3e-05</iyy>
-            <iyz>0</iyz>
-            <izz>0.0125</izz>
-          </inertia>
-        </inertial>
-        <visual name='wamv/imu_wamv_link_fixed_joint_lump__imu_wamv_visual_visual'>
-          <pose>0 0 0 0 -0 0</pose>
-          <geometry>
-            <box>
-              <size>0.05 0.025 0.005</size>
-            </box>
-          </geometry>
-        </visual>
-        <self_collide>0</self_collide>
-        <enable_wind>0</enable_wind>
-        <kinematic>0</kinematic>
-      </link>
-      <joint name='wamv/ins_joint' type='revolute'>
-        <pose relative_to='wamv/base_link'>0.24 0.17 1.5 0 -0 0</pose>
-        <parent>wamv/base_link</parent>
-        <child>wamv/ins_link</child>
-        <axis>
-          <xyz>0 0 1</xyz>
-          <limit>
-            <lower>0</lower>
-            <upper>0</upper>
-            <effort>1000</effort>
-            <velocity>0</velocity>
-          </limit>
-          <dynamics>
-            <spring_reference>0</spring_reference>
-            <spring_stiffness>0</spring_stiffness>
-          </dynamics>
-        </axis>
-      </joint>
-      <link name='wamv/ins_link'>
-        <pose relative_to='wamv/ins_joint'>0 0 0 0 -0 0</pose>
-        <inertial>
-          <pose>0 0 0 0 -0 0</pose>
-          <mass>1</mass>
-          <inertia>
-            <ixx>0.006458</ixx>
-            <ixy>0</ixy>
-            <ixz>0</ixz>
-            <iyy>0.006458</iyy>
-            <iyz>0</iyz>
-            <izz>0.01125</izz>
-          </inertia>
-        </inertial>
-        <collision name='wamv/ins_link_fixed_joint_lump__ins_collision_base_collision'>
-          <pose>0 0 0.025 0 -0 0</pose>
-          <geometry>
-            <cylinder>
-              <length>0.05</length>
-              <radius>0.015</radius>
-            </cylinder>
-          </geometry>
-          <max_contacts>10</max_contacts>
-          <surface>
-            <contact>
-              <ode/>
-            </contact>
-            <bounce/>
-            <friction>
-              <torsional>
-                <ode/>
-              </torsional>
-              <ode/>
-            </friction>
-          </surface>
-        </collision>
-        <collision name='wamv/ins_link_fixed_joint_lump__ins_collision_antenna_collision_1'>
-          <pose>0 0 0.11 0 -0 0</pose>
-          <geometry>
-            <cylinder>
-              <length>0.1</length>
-              <radius>0.15</radius>
-            </cylinder>
-          </geometry>
-          <max_contacts>10</max_contacts>
-          <surface>
-            <contact>
-              <ode/>
-            </contact>
-            <bounce/>
-            <friction>
-              <torsional>
-                <ode/>
-              </torsional>
-              <ode/>
-            </friction>
-          </surface>
-        </collision>
-        <visual name='wamv/ins_link_fixed_joint_lump__ins_visual_visual'>
-          <pose>0 0 0 0 -0 0</pose>
-          <geometry>
-            <mesh>
-              <scale>1 1 1</scale>
-              <uri>/home/user/catkin_ws/src/mil/NaviGator/simulation/VRX/vrx/wamv_gazebo/models/gps/mesh/gps.dae</uri>
-            </mesh>
-          </geometry>
-        </visual>
-        <self_collide>0</self_collide>
-        <enable_wind>0</enable_wind>
-        <kinematic>0</kinematic>
-      </link>
-      <plugin name='gps_plugin_ins' filename='libhector_gazebo_ros_gps.so'>
-        <updateRate>15</updateRate>
-        <alwaysOn>1</alwaysOn>
-        <bodyName>wamv/ins_link</bodyName>
-        <frameId>wamv/ins_link</frameId>
-        <topicName>wamv/sensors/gps/gps/fix</topicName>
-        <velocityTopicName>wamv/sensors/gps/gps/fix_velocity</velocityTopicName>
-        <useWorldSphericalCoordinates>1</useWorldSphericalCoordinates>
-        <offset>0.0 0.0 0.0</offset>
-        <drift>0.0 0.0 0.0</drift>
-        <gaussianNoise>0 0 0</gaussianNoise>
-        <velocityOffset>0.0 0.0 0.0</velocityOffset>
-        <velocityDrift>0.0 0.0 0.0</velocityDrift>
-        <velocityGaussianNoise>0.0 0.0 0.0</velocityGaussianNoise>
-        <robotNamespace>/</robotNamespace>
-      </plugin>
-      <plugin name='imu_plugin_imu_wamv' filename='libhector_gazebo_ros_imu.so'>
-        <updateRate>15</updateRate>
-        <bodyName>wamv/imu_wamv_link</bodyName>
-        <topicName>wamv/sensors/imu/imu/data</topicName>
-        <serviceName>wamv/sensors/imu_service</serviceName>
-        <frameId>wamv/imu_wamv_link</frameId>
-        <alwaysOn>1</alwaysOn>
-        <accelOffset>0.0 0.0 0.0</accelOffset>
-        <accelDrift>0.0 0.0 0.0</accelDrift>
-        <accelDriftFrequency>0.00027 0.00027 0.000027</accelDriftFrequency>
-        <accelGaussianNoise>0.0 0.0 0.0</accelGaussianNoise>
-        <rateOffset>0.0 0.0 0.0</rateOffset>
-        <rateDrift>0.0 0.0 0.0</rateDrift>
-        <rateDriftFrequency>0.00027 0.00027 0.000027</rateDriftFrequency>
-        <rateGaussianNoise>0.0 0.0 0.0</rateGaussianNoise>
-        <yawOffset>0.0</yawOffset>
-        <yawDrift>0.0</yawDrift>
-        <yawDriftFrequency>0.00027</yawDriftFrequency>
-        <yawGaussianNoise>0.0</yawGaussianNoise>
-        <robotNamespace>/</robotNamespace>
-      </plugin>
-      <plugin name='ball_shooter_plugin' filename='libball_shooter_plugin.so'>
-        <projectile>
-          <model_name>blue_projectile</model_name>
-          <link_name>link</link_name>
-          <frame>wamv/ball_shooter_launcher_link</frame>
-          <pose>0.14 0 0 0 0 0</pose>
-        </projectile>
-        <num_shots>4</num_shots>
-        <shot_force>300</shot_force>
-        <topic>wamv/shooters/ball_shooter/fire</topic>
-        <robotNamespace>/</robotNamespace>
-      </plugin>
-      <plugin name='pinger_plugin' filename='libusv_gazebo_acoustic_pinger_plugin.so'>
-        <frameId>wamv/pinger</frameId>
-        <topicName>wamv/sensors/pingers/hydrophones/range_bearing</topicName>
-        <setPositionTopicName>wamv/sensors/pingers/hydrophones/set_pinger_position</setPositionTopicName>
-        <rangeNoise>
-          <noise>
-            <type>gaussian</type>
-            <mean>0.0</mean>
-            <stddev>3.0</stddev>
-          </noise>
-        </rangeNoise>
-        <bearingNoise>
-          <noise>
-            <type>gaussian</type>
-            <mean>0.0</mean>
-            <stddev>0.01</stddev>
-          </noise>
-        </bearingNoise>
-        <elevationNoise>
-          <noise>
-            <type>gaussian</type>
-            <mean>0.0</mean>
-            <stddev>0.01</stddev>
-          </noise>
-        </elevationNoise>
-        <robotNamespace>/</robotNamespace>
-      </plugin>
-      <plugin name='wamv_gazebo_thrust' filename='libusv_gazebo_thrust_plugin.so'>
-        <cmdTimeout>1.0</cmdTimeout>
-        <robotNamespace>wamv</robotNamespace>
-        <thruster>
-          <linkName>BL_propeller_link</linkName>
-          <propJointName>BL_engine_propeller_joint</propJointName>
-          <engineJointName>BL_chasis_engine_joint</engineJointName>
-          <cmdTopic>thrusters/BL_thrust_cmd</cmdTopic>
-          <angleTopic>thrusters/BL_thrust_angle</angleTopic>
-          <enableAngle>1</enableAngle>
-          <mappingType>1</mappingType>
-          <maxCmd>1.0</maxCmd>
-          <maxForceFwd>250.0</maxForceFwd>
-          <maxForceRev>-100.0</maxForceRev>
-          <maxAngle>1.5707963267948966</maxAngle>
-        </thruster>
-        <thruster>
-          <linkName>BR_propeller_link</linkName>
-          <propJointName>BR_engine_propeller_joint</propJointName>
-          <engineJointName>BR_chasis_engine_joint</engineJointName>
-          <cmdTopic>thrusters/BR_thrust_cmd</cmdTopic>
-          <angleTopic>thrusters/BR_thrust_angle</angleTopic>
-          <enableAngle>1</enableAngle>
-          <mappingType>1</mappingType>
-          <maxCmd>1.0</maxCmd>
-          <maxForceFwd>250.0</maxForceFwd>
-          <maxForceRev>-100.0</maxForceRev>
-          <maxAngle>1.5707963267948966</maxAngle>
-        </thruster>
-        <thruster>
-          <linkName>FL_propeller_link</linkName>
-          <propJointName>FL_engine_propeller_joint</propJointName>
-          <engineJointName>FL_chasis_engine_joint</engineJointName>
-          <cmdTopic>thrusters/FL_thrust_cmd</cmdTopic>
-          <angleTopic>thrusters/FL_thrust_angle</angleTopic>
-          <enableAngle>1</enableAngle>
-          <mappingType>1</mappingType>
-          <maxCmd>1.0</maxCmd>
-          <maxForceFwd>250.0</maxForceFwd>
-          <maxForceRev>-100.0</maxForceRev>
-          <maxAngle>1.5707963267948966</maxAngle>
-        </thruster>
-        <thruster>
-          <linkName>FR_propeller_link</linkName>
-          <propJointName>FR_engine_propeller_joint</propJointName>
-          <engineJointName>FR_chasis_engine_joint</engineJointName>
-          <cmdTopic>thrusters/FR_thrust_cmd</cmdTopic>
-          <angleTopic>thrusters/FR_thrust_angle</angleTopic>
-          <enableAngle>1</enableAngle>
-          <mappingType>1</mappingType>
-          <maxCmd>1.0</maxCmd>
-          <maxForceFwd>250.0</maxForceFwd>
-          <maxForceRev>-100.0</maxForceRev>
-          <maxAngle>1.5707963267948966</maxAngle>
-        </thruster>
-      </plugin>
-      <plugin name='usv_dynamics_wamv_dynamics_plugin' filename='libusv_gazebo_dynamics_plugin.so'>
-        <bodyName>wamv/base_link</bodyName>
-        <waterLevel>0</waterLevel>
-        <waterDensity>997.8</waterDensity>
-        <xDotU>0.0</xDotU>
-        <yDotV>0.0</yDotV>
-        <nDotR>0.0</nDotR>
-        <xU>51.3</xU>
-        <xUU>72.4</xUU>
-        <yV>40.0</yV>
-        <yVV>0.0</yVV>
-        <zW>500.0</zW>
-        <kP>50.0</kP>
-        <mQ>50.0</mQ>
-        <nR>400.0</nR>
-        <nRR>0.0</nRR>
-        <hullRadius>0.213</hullRadius>
-        <boatWidth>2.4</boatWidth>
-        <boatLength>4.9</boatLength>
-        <length_n>2</length_n>
-        <wave_model>ocean_waves</wave_model>
-        <robotNamespace>/</robotNamespace>
-      </plugin>
-      <frame name='wamv/front_left_cam_to_front_left_cam_link_optical_joint' attached_to='wamv/front_left_cam_link'>
-        <pose>0 0 0 -1.5708 -0 -1.5708</pose>
-      </frame>
-      <frame name='wamv/front_left_cam_link_optical' attached_to='wamv/front_left_cam_to_front_left_cam_link_optical_joint'/>
-      <frame name='wamv/front_left_cam_post_arm_to_front_left_cam_joint' attached_to='wamv/front_left_cam_post_arm_link'>
-        <pose>0.02 0 0.027 0 0.20944 0</pose>
-      </frame>
-      <frame name='wamv/front_left_cam_link' attached_to='wamv/front_left_cam_post_arm_to_front_left_cam_joint'/>
-      <frame name='wamv/front_left_cam_post_to_front_left_cam_post_arm_joint' attached_to='wamv/front_left_cam_post_link'>
-        <pose>0.03 0 0.08825 0 -0 0</pose>
-      </frame>
-      <frame name='wamv/front_left_cam_post_arm_link' attached_to='wamv/front_left_cam_post_to_front_left_cam_post_arm_joint'/>
-      <frame name='wamv/base_to_front_left_cam_post_joint' attached_to='wamv/base_link'>
-        <pose>0.92 0.1 1.38475 0 -0 0</pose>
-      </frame>
-      <frame name='wamv/front_left_cam_post_link' attached_to='wamv/base_to_front_left_cam_post_joint'/>
-      <frame name='wamv/front_right_cam_to_front_right_cam_link_optical_joint' attached_to='wamv/front_right_cam_link'>
-        <pose>0 0 0 -1.5708 -0 -1.5708</pose>
-      </frame>
-      <frame name='wamv/front_right_cam_link_optical' attached_to='wamv/front_right_cam_to_front_right_cam_link_optical_joint'/>
-      <frame name='wamv/front_right_cam_post_arm_to_front_right_cam_joint' attached_to='wamv/front_right_cam_post_arm_link'>
-        <pose>0.02 0 0.027 0 0.20944 0</pose>
-      </frame>
-      <frame name='wamv/front_right_cam_link' attached_to='wamv/front_right_cam_post_arm_to_front_right_cam_joint'/>
-      <frame name='wamv/front_right_cam_post_to_front_right_cam_post_arm_joint' attached_to='wamv/front_right_cam_post_link'>
-        <pose>0.03 0 0.08825 0 -0 0</pose>
-      </frame>
-      <frame name='wamv/front_right_cam_post_arm_link' attached_to='wamv/front_right_cam_post_to_front_right_cam_post_arm_joint'/>
-      <frame name='wamv/base_to_front_right_cam_post_joint' attached_to='wamv/base_link'>
-        <pose>0.92 -0.1 1.38475 0 -0 0</pose>
-      </frame>
-      <frame name='wamv/front_right_cam_post_link' attached_to='wamv/base_to_front_right_cam_post_joint'/>
-      <frame name='wamv/velodyne_post_arm_to_velodyne_joint' attached_to='velodyne_post_arm_link'>
-        <pose>0.04 0 0.05 0 0.261799 0</pose>
-      </frame>
-      <frame name='velodyne' attached_to='wamv/velodyne_post_arm_to_velodyne_joint'/>
-      <frame name='wamv/velodyne_post_to_velodyne_post_arm_joint' attached_to='velodyne_post_link'>
-        <pose>0.03 0 0.32675 0 -0 0</pose>
-      </frame>
-      <frame name='velodyne_post_arm_link' attached_to='wamv/velodyne_post_to_velodyne_post_arm_joint'/>
-      <frame name='wamv/base_to_velodyne_post_joint' attached_to='wamv/base_link'>
-        <pose>0.704 0 1.62325 0 -0 0</pose>
-      </frame>
-      <frame name='velodyne_post_link' attached_to='wamv/base_to_velodyne_post_joint'/>
-      <frame name='wamv/dummy_joint' attached_to='wamv/base_link'>
-        <pose>0 0 0 0 -0 0</pose>
-      </frame>
-      <frame name='wamv/dummy_link' attached_to='wamv/dummy_joint'/>
-      <frame name='wamv/hydrophones_pinger_joint' attached_to='wamv/base_link'>
-        <pose>1 0 -1 0 -0 0</pose>
-      </frame>
-      <frame name='wamv/hydrophones' attached_to='wamv/hydrophones_pinger_joint'/>
-      <pose>-527 167 0.1 0 -0 1</pose>
-    </model>
     <model name='mb_marker_buoy_white'>
       <link name='link'>
         <inertial>
diff --git a/NaviGator/simulation/navigator_gazebo/worlds/pathfinding/zig_zag_test.world b/NaviGator/simulation/navigator_gazebo/worlds/pathfinding/zig_zag_test.world
index 8e6627ef7..497d53c9e 100644
--- a/NaviGator/simulation/navigator_gazebo/worlds/pathfinding/zig_zag_test.world
+++ b/NaviGator/simulation/navigator_gazebo/worlds/pathfinding/zig_zag_test.world
@@ -1222,2132 +1222,6 @@
       <real_time_update_rate>1000</real_time_update_rate>
     </physics>
     <wind/>
-    <model name='wamv'>
-      <link name='wamv/base_link'>
-        <inertial>
-          <pose>0.012722 0 0.026171 0 -0 0</pose>
-          <mass>182.806</mass>
-          <inertia>
-            <ixx>128.232</ixx>
-            <ixy>-2.4178e-21</ixy>
-            <ixz>-3.85993</ixz>
-            <iyy>403.15</iyy>
-            <iyz>-9.28107e-22</iyz>
-            <izz>447.942</izz>
-          </inertia>
-        </inertial>
-        <collision name='wamv/base_link_fixed_joint_lump__front_left_cam_post_collision_collision'>
-          <pose>0.92 0.1 1.38475 0 -0 0</pose>
-          <geometry>
-            <cylinder>
-              <length>0.1765</length>
-              <radius>0.0076</radius>
-            </cylinder>
-          </geometry>
-          <max_contacts>10</max_contacts>
-          <surface>
-            <contact>
-              <ode/>
-            </contact>
-            <bounce/>
-            <friction>
-              <torsional>
-                <ode/>
-              </torsional>
-              <ode/>
-            </friction>
-          </surface>
-        </collision>
-        <collision name='wamv/base_link_fixed_joint_lump__front_left_cam_post_arm_collision_collision_1'>
-          <pose>0.95 0.1 1.473 -1.20428 -0 -1.5708</pose>
-          <geometry>
-            <cylinder>
-              <length>0.065</length>
-              <radius>0.008</radius>
-            </cylinder>
-          </geometry>
-          <max_contacts>10</max_contacts>
-          <surface>
-            <contact>
-              <ode/>
-            </contact>
-            <bounce/>
-            <friction>
-              <torsional>
-                <ode/>
-              </torsional>
-              <ode/>
-            </friction>
-          </surface>
-        </collision>
-        <collision name='wamv/base_link_fixed_joint_lump__front_left_cam_lens_collision_collision_2'>
-          <pose>0.987607 0.1 1.49626 3.14159 1.36136 3.14159</pose>
-          <geometry>
-            <cylinder>
-              <length>0.042</length>
-              <radius>0.015</radius>
-            </cylinder>
-          </geometry>
-          <max_contacts>10</max_contacts>
-          <surface>
-            <contact>
-              <ode/>
-            </contact>
-            <bounce/>
-            <friction>
-              <torsional>
-                <ode/>
-              </torsional>
-              <ode/>
-            </friction>
-          </surface>
-        </collision>
-        <collision name='wamv/base_link_fixed_joint_lump__front_left_cam_box_collision_collision_3'>
-          <pose>0.949948 0.1 1.50426 0 0.20944 0</pose>
-          <geometry>
-            <box>
-              <size>0.036 0.03 0.03</size>
-            </box>
-          </geometry>
-          <max_contacts>10</max_contacts>
-          <surface>
-            <contact>
-              <ode/>
-            </contact>
-            <bounce/>
-            <friction>
-              <torsional>
-                <ode/>
-              </torsional>
-              <ode/>
-            </friction>
-          </surface>
-        </collision>
-        <collision name='wamv/base_link_fixed_joint_lump__front_right_cam_post_collision_collision_4'>
-          <pose>0.92 -0.1 1.38475 0 -0 0</pose>
-          <geometry>
-            <cylinder>
-              <length>0.1765</length>
-              <radius>0.0076</radius>
-            </cylinder>
-          </geometry>
-          <max_contacts>10</max_contacts>
-          <surface>
-            <contact>
-              <ode/>
-            </contact>
-            <bounce/>
-            <friction>
-              <torsional>
-                <ode/>
-              </torsional>
-              <ode/>
-            </friction>
-          </surface>
-        </collision>
-        <collision name='wamv/base_link_fixed_joint_lump__front_right_cam_post_arm_collision_collision_5'>
-          <pose>0.95 -0.1 1.473 -1.20428 -0 -1.5708</pose>
-          <geometry>
-            <cylinder>
-              <length>0.065</length>
-              <radius>0.008</radius>
-            </cylinder>
-          </geometry>
-          <max_contacts>10</max_contacts>
-          <surface>
-            <contact>
-              <ode/>
-            </contact>
-            <bounce/>
-            <friction>
-              <torsional>
-                <ode/>
-              </torsional>
-              <ode/>
-            </friction>
-          </surface>
-        </collision>
-        <collision name='wamv/base_link_fixed_joint_lump__front_right_cam_lens_collision_collision_6'>
-          <pose>0.987607 -0.1 1.49626 3.14159 1.36136 3.14159</pose>
-          <geometry>
-            <cylinder>
-              <length>0.042</length>
-              <radius>0.015</radius>
-            </cylinder>
-          </geometry>
-          <max_contacts>10</max_contacts>
-          <surface>
-            <contact>
-              <ode/>
-            </contact>
-            <bounce/>
-            <friction>
-              <torsional>
-                <ode/>
-              </torsional>
-              <ode/>
-            </friction>
-          </surface>
-        </collision>
-        <collision name='wamv/base_link_fixed_joint_lump__front_right_cam_box_collision_collision_7'>
-          <pose>0.949948 -0.1 1.50426 0 0.20944 0</pose>
-          <geometry>
-            <box>
-              <size>0.036 0.03 0.03</size>
-            </box>
-          </geometry>
-          <max_contacts>10</max_contacts>
-          <surface>
-            <contact>
-              <ode/>
-            </contact>
-            <bounce/>
-            <friction>
-              <torsional>
-                <ode/>
-              </torsional>
-              <ode/>
-            </friction>
-          </surface>
-        </collision>
-        <collision name='wamv/base_link_fixed_joint_lump__velodyne_post_collision_collision_8'>
-          <pose>0.704 0 1.62325 0 -0 0</pose>
-          <geometry>
-            <cylinder>
-              <length>0.6535</length>
-              <radius>0.0076</radius>
-            </cylinder>
-          </geometry>
-          <max_contacts>10</max_contacts>
-          <surface>
-            <contact>
-              <ode/>
-            </contact>
-            <bounce/>
-            <friction>
-              <torsional>
-                <ode/>
-              </torsional>
-              <ode/>
-            </friction>
-          </surface>
-        </collision>
-        <collision name='wamv/base_link_fixed_joint_lump__velodyne_post_arm_collision_collision_9'>
-          <pose>0.734 0 1.95 -1.20428 -0 -1.5708</pose>
-          <geometry>
-            <cylinder>
-              <length>0.065</length>
-              <radius>0.008</radius>
-            </cylinder>
-          </geometry>
-          <max_contacts>10</max_contacts>
-          <surface>
-            <contact>
-              <ode/>
-            </contact>
-            <bounce/>
-            <friction>
-              <torsional>
-                <ode/>
-              </torsional>
-              <ode/>
-            </friction>
-          </surface>
-        </collision>
-        <collision name='wamv/base_link_fixed_joint_lump__velodyne_collision_collision_10'>
-          <pose>0.774 0 2 0 0.261799 0</pose>
-          <geometry>
-            <cylinder>
-              <length>0.075</length>
-              <radius>0.055</radius>
-            </cylinder>
-          </geometry>
-          <surface>
-            <contact>
-              <ode/>
-            </contact>
-            <friction>
-              <ode/>
-              <torsional>
-                <ode/>
-              </torsional>
-            </friction>
-            <bounce/>
-          </surface>
-          <max_contacts>10</max_contacts>
-        </collision>
-        <collision name='wamv/base_link_fixed_joint_lump__left_float_collision_11'>
-          <pose>-0.4 1.03 0.2 3.14159 1.57079 3.14159</pose>
-          <geometry>
-            <cylinder>
-              <length>4</length>
-              <radius>0.2</radius>
-            </cylinder>
-          </geometry>
-          <max_contacts>10</max_contacts>
-          <surface>
-            <contact>
-              <ode/>
-            </contact>
-            <bounce/>
-            <friction>
-              <torsional>
-                <ode/>
-              </torsional>
-              <ode/>
-            </friction>
-          </surface>
-        </collision>
-        <collision name='wamv/base_link_fixed_joint_lump__left_mid_float_collision_12'>
-          <pose>1.85 1.03 0.3 0 1.38 0</pose>
-          <geometry>
-            <cylinder>
-              <length>0.5</length>
-              <radius>0.17</radius>
-            </cylinder>
-          </geometry>
-          <max_contacts>10</max_contacts>
-          <surface>
-            <contact>
-              <ode/>
-            </contact>
-            <bounce/>
-            <friction>
-              <torsional>
-                <ode/>
-              </torsional>
-              <ode/>
-            </friction>
-          </surface>
-        </collision>
-        <collision name='wamv/base_link_fixed_joint_lump__left_front_float_collision_13'>
-          <pose>2.3 1.03 0.4 0 1.3 0</pose>
-          <geometry>
-            <cylinder>
-              <length>0.45</length>
-              <radius>0.12</radius>
-            </cylinder>
-          </geometry>
-          <max_contacts>10</max_contacts>
-          <surface>
-            <contact>
-              <ode/>
-            </contact>
-            <bounce/>
-            <friction>
-              <torsional>
-                <ode/>
-              </torsional>
-              <ode/>
-            </friction>
-          </surface>
-        </collision>
-        <collision name='wamv/base_link_fixed_joint_lump__front_left_beam_lower_collision_14'>
-          <pose>0.9 0.85 1 0.78 -0 0</pose>
-          <geometry>
-            <cylinder>
-              <length>0.5</length>
-              <radius>0.04</radius>
-            </cylinder>
-          </geometry>
-          <max_contacts>10</max_contacts>
-          <surface>
-            <contact>
-              <ode/>
-            </contact>
-            <bounce/>
-            <friction>
-              <torsional>
-                <ode/>
-              </torsional>
-              <ode/>
-            </friction>
-          </surface>
-        </collision>
-        <collision name='wamv/base_link_fixed_joint_lump__front_left_beam_upper_collision_15'>
-          <pose>0.9 0.6 1.18 1.35 -0 0</pose>
-          <geometry>
-            <cylinder>
-              <length>0.2</length>
-              <radius>0.04</radius>
-            </cylinder>
-          </geometry>
-          <max_contacts>10</max_contacts>
-          <surface>
-            <contact>
-              <ode/>
-            </contact>
-            <bounce/>
-            <friction>
-              <torsional>
-                <ode/>
-              </torsional>
-              <ode/>
-            </friction>
-          </surface>
-        </collision>
-        <collision name='wamv/base_link_fixed_joint_lump__mid_left_beam_lower_collision_16'>
-          <pose>-0.65 0.99 0.7 0.1 0.25 0</pose>
-          <geometry>
-            <cylinder>
-              <length>0.45</length>
-              <radius>0.03</radius>
-            </cylinder>
-          </geometry>
-          <max_contacts>10</max_contacts>
-          <surface>
-            <contact>
-              <ode/>
-            </contact>
-            <bounce/>
-            <friction>
-              <torsional>
-                <ode/>
-              </torsional>
-              <ode/>
-            </friction>
-          </surface>
-        </collision>
-        <collision name='wamv/base_link_fixed_joint_lump__mid_left_beam_medium_collision_17'>
-          <pose>-0.57 0.87 1.05 0.75 0.25 0</pose>
-          <geometry>
-            <cylinder>
-              <length>0.32</length>
-              <radius>0.03</radius>
-            </cylinder>
-          </geometry>
-          <max_contacts>10</max_contacts>
-          <surface>
-            <contact>
-              <ode/>
-            </contact>
-            <bounce/>
-            <friction>
-              <torsional>
-                <ode/>
-              </torsional>
-              <ode/>
-            </friction>
-          </surface>
-        </collision>
-        <collision name='wamv/base_link_fixed_joint_lump__mid_left_beam_upper_collision_18'>
-          <pose>-0.55 0.65 1.17 1.35 0.25 0</pose>
-          <geometry>
-            <cylinder>
-              <length>0.3</length>
-              <radius>0.03</radius>
-            </cylinder>
-          </geometry>
-          <max_contacts>10</max_contacts>
-          <surface>
-            <contact>
-              <ode/>
-            </contact>
-            <bounce/>
-            <friction>
-              <torsional>
-                <ode/>
-              </torsional>
-              <ode/>
-            </friction>
-          </surface>
-        </collision>
-        <collision name='wamv/base_link_fixed_joint_lump__rear_left_beam_lower_collision_19'>
-          <pose>-0.74 1.03 0.7 0 -0.15 0</pose>
-          <geometry>
-            <cylinder>
-              <length>0.45</length>
-              <radius>0.03</radius>
-            </cylinder>
-          </geometry>
-          <max_contacts>10</max_contacts>
-          <surface>
-            <contact>
-              <ode/>
-            </contact>
-            <bounce/>
-            <friction>
-              <torsional>
-                <ode/>
-              </torsional>
-              <ode/>
-            </friction>
-          </surface>
-        </collision>
-        <collision name='wamv/base_link_fixed_joint_lump__rear_left_beam_medium_collision_20'>
-          <pose>-0.79 0.91 1.05 0.75 -0.15 -0</pose>
-          <geometry>
-            <cylinder>
-              <length>0.32</length>
-              <radius>0.03</radius>
-            </cylinder>
-          </geometry>
-          <max_contacts>10</max_contacts>
-          <surface>
-            <contact>
-              <ode/>
-            </contact>
-            <bounce/>
-            <friction>
-              <torsional>
-                <ode/>
-              </torsional>
-              <ode/>
-            </friction>
-          </surface>
-        </collision>
-        <collision name='wamv/base_link_fixed_joint_lump__rear_left_beam_upper_collision_21'>
-          <pose>-0.81 0.67 1.18 1.45 -0.15 0</pose>
-          <geometry>
-            <cylinder>
-              <length>0.3</length>
-              <radius>0.03</radius>
-            </cylinder>
-          </geometry>
-          <max_contacts>10</max_contacts>
-          <surface>
-            <contact>
-              <ode/>
-            </contact>
-            <bounce/>
-            <friction>
-              <torsional>
-                <ode/>
-              </torsional>
-              <ode/>
-            </friction>
-          </surface>
-        </collision>
-        <collision name='wamv/base_link_fixed_joint_lump__left_joint_collision_22'>
-          <pose>0.58 1.03 0.6 0 -0.6 0</pose>
-          <geometry>
-            <box>
-              <size>0.65 0.2 0.1</size>
-            </box>
-          </geometry>
-          <max_contacts>10</max_contacts>
-          <surface>
-            <contact>
-              <ode/>
-            </contact>
-            <bounce/>
-            <friction>
-              <torsional>
-                <ode/>
-              </torsional>
-              <ode/>
-            </friction>
-          </surface>
-        </collision>
-        <collision name='wamv/base_link_fixed_joint_lump__right_float_collision_23'>
-          <pose>-0.4 -1.03 0.2 3.14159 1.57079 3.14159</pose>
-          <geometry>
-            <cylinder>
-              <length>4</length>
-              <radius>0.2</radius>
-            </cylinder>
-          </geometry>
-          <max_contacts>10</max_contacts>
-          <surface>
-            <contact>
-              <ode/>
-            </contact>
-            <bounce/>
-            <friction>
-              <torsional>
-                <ode/>
-              </torsional>
-              <ode/>
-            </friction>
-          </surface>
-        </collision>
-        <collision name='wamv/base_link_fixed_joint_lump__right_mid_float_collision_24'>
-          <pose>1.85 -1.03 0.3 0 1.38 0</pose>
-          <geometry>
-            <cylinder>
-              <length>0.5</length>
-              <radius>0.17</radius>
-            </cylinder>
-          </geometry>
-          <max_contacts>10</max_contacts>
-          <surface>
-            <contact>
-              <ode/>
-            </contact>
-            <bounce/>
-            <friction>
-              <torsional>
-                <ode/>
-              </torsional>
-              <ode/>
-            </friction>
-          </surface>
-        </collision>
-        <collision name='wamv/base_link_fixed_joint_lump__right_front_float_collision_25'>
-          <pose>2.3 -1.03 0.4 0 1.3 0</pose>
-          <geometry>
-            <cylinder>
-              <length>0.45</length>
-              <radius>0.12</radius>
-            </cylinder>
-          </geometry>
-          <max_contacts>10</max_contacts>
-          <surface>
-            <contact>
-              <ode/>
-            </contact>
-            <bounce/>
-            <friction>
-              <torsional>
-                <ode/>
-              </torsional>
-              <ode/>
-            </friction>
-          </surface>
-        </collision>
-        <collision name='wamv/base_link_fixed_joint_lump__front_right_beam_lower_collision_26'>
-          <pose>0.9 -0.85 1 -0.78 0 0</pose>
-          <geometry>
-            <cylinder>
-              <length>0.5</length>
-              <radius>0.04</radius>
-            </cylinder>
-          </geometry>
-          <max_contacts>10</max_contacts>
-          <surface>
-            <contact>
-              <ode/>
-            </contact>
-            <bounce/>
-            <friction>
-              <torsional>
-                <ode/>
-              </torsional>
-              <ode/>
-            </friction>
-          </surface>
-        </collision>
-        <collision name='wamv/base_link_fixed_joint_lump__front_right_beam_upper_collision_27'>
-          <pose>0.9 -0.6 1.18 -1.35 0 0</pose>
-          <geometry>
-            <cylinder>
-              <length>0.2</length>
-              <radius>0.04</radius>
-            </cylinder>
-          </geometry>
-          <max_contacts>10</max_contacts>
-          <surface>
-            <contact>
-              <ode/>
-            </contact>
-            <bounce/>
-            <friction>
-              <torsional>
-                <ode/>
-              </torsional>
-              <ode/>
-            </friction>
-          </surface>
-        </collision>
-        <collision name='wamv/base_link_fixed_joint_lump__mid_right_beam_lower_collision_28'>
-          <pose>-0.65 -0.99 0.7 -0.1 0.25 0</pose>
-          <geometry>
-            <cylinder>
-              <length>0.45</length>
-              <radius>0.03</radius>
-            </cylinder>
-          </geometry>
-          <max_contacts>10</max_contacts>
-          <surface>
-            <contact>
-              <ode/>
-            </contact>
-            <bounce/>
-            <friction>
-              <torsional>
-                <ode/>
-              </torsional>
-              <ode/>
-            </friction>
-          </surface>
-        </collision>
-        <collision name='wamv/base_link_fixed_joint_lump__mid_right_beam_medium_collision_29'>
-          <pose>-0.57 -0.87 1.05 -0.75 0.25 0</pose>
-          <geometry>
-            <cylinder>
-              <length>0.32</length>
-              <radius>0.03</radius>
-            </cylinder>
-          </geometry>
-          <max_contacts>10</max_contacts>
-          <surface>
-            <contact>
-              <ode/>
-            </contact>
-            <bounce/>
-            <friction>
-              <torsional>
-                <ode/>
-              </torsional>
-              <ode/>
-            </friction>
-          </surface>
-        </collision>
-        <collision name='wamv/base_link_fixed_joint_lump__mid_right_beam_upper_collision_30'>
-          <pose>-0.55 -0.65 1.17 -1.35 0.25 0</pose>
-          <geometry>
-            <cylinder>
-              <length>0.3</length>
-              <radius>0.03</radius>
-            </cylinder>
-          </geometry>
-          <max_contacts>10</max_contacts>
-          <surface>
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-              <ode/>
-            </contact>
-            <bounce/>
-            <friction>
-              <torsional>
-                <ode/>
-              </torsional>
-              <ode/>
-            </friction>
-          </surface>
-        </collision>
-        <collision name='wamv/base_link_fixed_joint_lump__rear_right_beam_lower_collision_31'>
-          <pose>-0.74 -1.03 0.7 0 -0.15 0</pose>
-          <geometry>
-            <cylinder>
-              <length>0.45</length>
-              <radius>0.03</radius>
-            </cylinder>
-          </geometry>
-          <max_contacts>10</max_contacts>
-          <surface>
-            <contact>
-              <ode/>
-            </contact>
-            <bounce/>
-            <friction>
-              <torsional>
-                <ode/>
-              </torsional>
-              <ode/>
-            </friction>
-          </surface>
-        </collision>
-        <collision name='wamv/base_link_fixed_joint_lump__rear_right_beam_medium_collision_32'>
-          <pose>-0.79 -0.91 1.05 -0.75 -0.15 0</pose>
-          <geometry>
-            <cylinder>
-              <length>0.32</length>
-              <radius>0.03</radius>
-            </cylinder>
-          </geometry>
-          <max_contacts>10</max_contacts>
-          <surface>
-            <contact>
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-        <robotNamespace>/</robotNamespace>
-      </plugin>
-      <plugin name='ball_shooter_plugin' filename='libball_shooter_plugin.so'>
-        <projectile>
-          <model_name>blue_projectile</model_name>
-          <link_name>link</link_name>
-          <frame>wamv/ball_shooter_launcher_link</frame>
-          <pose>0.14 0 0 0 0 0</pose>
-        </projectile>
-        <num_shots>4</num_shots>
-        <shot_force>300</shot_force>
-        <topic>wamv/shooters/ball_shooter/fire</topic>
-        <robotNamespace>/</robotNamespace>
-      </plugin>
-      <plugin name='pinger_plugin' filename='libusv_gazebo_acoustic_pinger_plugin.so'>
-        <frameId>wamv/pinger</frameId>
-        <topicName>wamv/sensors/pingers/hydrophones/range_bearing</topicName>
-        <setPositionTopicName>wamv/sensors/pingers/hydrophones/set_pinger_position</setPositionTopicName>
-        <rangeNoise>
-          <noise>
-            <type>gaussian</type>
-            <mean>0.0</mean>
-            <stddev>3.0</stddev>
-          </noise>
-        </rangeNoise>
-        <bearingNoise>
-          <noise>
-            <type>gaussian</type>
-            <mean>0.0</mean>
-            <stddev>0.01</stddev>
-          </noise>
-        </bearingNoise>
-        <elevationNoise>
-          <noise>
-            <type>gaussian</type>
-            <mean>0.0</mean>
-            <stddev>0.01</stddev>
-          </noise>
-        </elevationNoise>
-        <robotNamespace>/</robotNamespace>
-      </plugin>
-      <plugin name='wamv_gazebo_thrust' filename='libusv_gazebo_thrust_plugin.so'>
-        <cmdTimeout>1.0</cmdTimeout>
-        <robotNamespace>wamv</robotNamespace>
-        <thruster>
-          <linkName>BL_propeller_link</linkName>
-          <propJointName>BL_engine_propeller_joint</propJointName>
-          <engineJointName>BL_chasis_engine_joint</engineJointName>
-          <cmdTopic>thrusters/BL_thrust_cmd</cmdTopic>
-          <angleTopic>thrusters/BL_thrust_angle</angleTopic>
-          <enableAngle>1</enableAngle>
-          <mappingType>1</mappingType>
-          <maxCmd>1.0</maxCmd>
-          <maxForceFwd>250.0</maxForceFwd>
-          <maxForceRev>-100.0</maxForceRev>
-          <maxAngle>1.5707963267948966</maxAngle>
-        </thruster>
-        <thruster>
-          <linkName>BR_propeller_link</linkName>
-          <propJointName>BR_engine_propeller_joint</propJointName>
-          <engineJointName>BR_chasis_engine_joint</engineJointName>
-          <cmdTopic>thrusters/BR_thrust_cmd</cmdTopic>
-          <angleTopic>thrusters/BR_thrust_angle</angleTopic>
-          <enableAngle>1</enableAngle>
-          <mappingType>1</mappingType>
-          <maxCmd>1.0</maxCmd>
-          <maxForceFwd>250.0</maxForceFwd>
-          <maxForceRev>-100.0</maxForceRev>
-          <maxAngle>1.5707963267948966</maxAngle>
-        </thruster>
-        <thruster>
-          <linkName>FL_propeller_link</linkName>
-          <propJointName>FL_engine_propeller_joint</propJointName>
-          <engineJointName>FL_chasis_engine_joint</engineJointName>
-          <cmdTopic>thrusters/FL_thrust_cmd</cmdTopic>
-          <angleTopic>thrusters/FL_thrust_angle</angleTopic>
-          <enableAngle>1</enableAngle>
-          <mappingType>1</mappingType>
-          <maxCmd>1.0</maxCmd>
-          <maxForceFwd>250.0</maxForceFwd>
-          <maxForceRev>-100.0</maxForceRev>
-          <maxAngle>1.5707963267948966</maxAngle>
-        </thruster>
-        <thruster>
-          <linkName>FR_propeller_link</linkName>
-          <propJointName>FR_engine_propeller_joint</propJointName>
-          <engineJointName>FR_chasis_engine_joint</engineJointName>
-          <cmdTopic>thrusters/FR_thrust_cmd</cmdTopic>
-          <angleTopic>thrusters/FR_thrust_angle</angleTopic>
-          <enableAngle>1</enableAngle>
-          <mappingType>1</mappingType>
-          <maxCmd>1.0</maxCmd>
-          <maxForceFwd>250.0</maxForceFwd>
-          <maxForceRev>-100.0</maxForceRev>
-          <maxAngle>1.5707963267948966</maxAngle>
-        </thruster>
-      </plugin>
-      <plugin name='usv_dynamics_wamv_dynamics_plugin' filename='libusv_gazebo_dynamics_plugin.so'>
-        <bodyName>wamv/base_link</bodyName>
-        <waterLevel>0</waterLevel>
-        <waterDensity>997.8</waterDensity>
-        <xDotU>0.0</xDotU>
-        <yDotV>0.0</yDotV>
-        <nDotR>0.0</nDotR>
-        <xU>51.3</xU>
-        <xUU>72.4</xUU>
-        <yV>40.0</yV>
-        <yVV>0.0</yVV>
-        <zW>500.0</zW>
-        <kP>50.0</kP>
-        <mQ>50.0</mQ>
-        <nR>400.0</nR>
-        <nRR>0.0</nRR>
-        <hullRadius>0.213</hullRadius>
-        <boatWidth>2.4</boatWidth>
-        <boatLength>4.9</boatLength>
-        <length_n>2</length_n>
-        <wave_model>ocean_waves</wave_model>
-        <robotNamespace>/</robotNamespace>
-      </plugin>
-      <frame name='wamv/front_left_cam_to_front_left_cam_link_optical_joint' attached_to='wamv/front_left_cam_link'>
-        <pose>0 0 0 -1.5708 -0 -1.5708</pose>
-      </frame>
-      <frame name='wamv/front_left_cam_link_optical' attached_to='wamv/front_left_cam_to_front_left_cam_link_optical_joint'/>
-      <frame name='wamv/front_left_cam_post_arm_to_front_left_cam_joint' attached_to='wamv/front_left_cam_post_arm_link'>
-        <pose>0.02 0 0.027 0 0.20944 0</pose>
-      </frame>
-      <frame name='wamv/front_left_cam_link' attached_to='wamv/front_left_cam_post_arm_to_front_left_cam_joint'/>
-      <frame name='wamv/front_left_cam_post_to_front_left_cam_post_arm_joint' attached_to='wamv/front_left_cam_post_link'>
-        <pose>0.03 0 0.08825 0 -0 0</pose>
-      </frame>
-      <frame name='wamv/front_left_cam_post_arm_link' attached_to='wamv/front_left_cam_post_to_front_left_cam_post_arm_joint'/>
-      <frame name='wamv/base_to_front_left_cam_post_joint' attached_to='wamv/base_link'>
-        <pose>0.92 0.1 1.38475 0 -0 0</pose>
-      </frame>
-      <frame name='wamv/front_left_cam_post_link' attached_to='wamv/base_to_front_left_cam_post_joint'/>
-      <frame name='wamv/front_right_cam_to_front_right_cam_link_optical_joint' attached_to='wamv/front_right_cam_link'>
-        <pose>0 0 0 -1.5708 -0 -1.5708</pose>
-      </frame>
-      <frame name='wamv/front_right_cam_link_optical' attached_to='wamv/front_right_cam_to_front_right_cam_link_optical_joint'/>
-      <frame name='wamv/front_right_cam_post_arm_to_front_right_cam_joint' attached_to='wamv/front_right_cam_post_arm_link'>
-        <pose>0.02 0 0.027 0 0.20944 0</pose>
-      </frame>
-      <frame name='wamv/front_right_cam_link' attached_to='wamv/front_right_cam_post_arm_to_front_right_cam_joint'/>
-      <frame name='wamv/front_right_cam_post_to_front_right_cam_post_arm_joint' attached_to='wamv/front_right_cam_post_link'>
-        <pose>0.03 0 0.08825 0 -0 0</pose>
-      </frame>
-      <frame name='wamv/front_right_cam_post_arm_link' attached_to='wamv/front_right_cam_post_to_front_right_cam_post_arm_joint'/>
-      <frame name='wamv/base_to_front_right_cam_post_joint' attached_to='wamv/base_link'>
-        <pose>0.92 -0.1 1.38475 0 -0 0</pose>
-      </frame>
-      <frame name='wamv/front_right_cam_post_link' attached_to='wamv/base_to_front_right_cam_post_joint'/>
-      <frame name='wamv/velodyne_post_arm_to_velodyne_joint' attached_to='velodyne_post_arm_link'>
-        <pose>0.04 0 0.05 0 0.261799 0</pose>
-      </frame>
-      <frame name='velodyne' attached_to='wamv/velodyne_post_arm_to_velodyne_joint'/>
-      <frame name='wamv/velodyne_post_to_velodyne_post_arm_joint' attached_to='velodyne_post_link'>
-        <pose>0.03 0 0.32675 0 -0 0</pose>
-      </frame>
-      <frame name='velodyne_post_arm_link' attached_to='wamv/velodyne_post_to_velodyne_post_arm_joint'/>
-      <frame name='wamv/base_to_velodyne_post_joint' attached_to='wamv/base_link'>
-        <pose>0.704 0 1.62325 0 -0 0</pose>
-      </frame>
-      <frame name='velodyne_post_link' attached_to='wamv/base_to_velodyne_post_joint'/>
-      <frame name='wamv/dummy_joint' attached_to='wamv/base_link'>
-        <pose>0 0 0 0 -0 0</pose>
-      </frame>
-      <frame name='wamv/dummy_link' attached_to='wamv/dummy_joint'/>
-      <frame name='wamv/hydrophones_pinger_joint' attached_to='wamv/base_link'>
-        <pose>1 0 -1 0 -0 0</pose>
-      </frame>
-      <frame name='wamv/hydrophones' attached_to='wamv/hydrophones_pinger_joint'/>
-      <pose>-527 167 0.1 0 -0 1</pose>
-    </model>
     <model name='mb_marker_buoy_white'>
       <link name='link'>
         <inertial>