diff --git a/CustomRobots/autoparking/models/prius_autoparking_3laser_harmonic/meshes/Hybrid.png b/CustomRobots/autoparking/models/prius_autoparking_3laser_harmonic/meshes/Hybrid.png
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diff --git a/CustomRobots/autoparking/models/prius_autoparking_3laser_harmonic/meshes/Hybrid_Interior.png b/CustomRobots/autoparking/models/prius_autoparking_3laser_harmonic/meshes/Hybrid_Interior.png
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diff --git a/CustomRobots/autoparking/models/prius_autoparking_3laser_harmonic/meshes/Hybrid_black.png b/CustomRobots/autoparking/models/prius_autoparking_3laser_harmonic/meshes/Hybrid_black.png
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diff --git a/CustomRobots/autoparking/models/prius_autoparking_3laser_harmonic/meshes/Hybrid_blue.png b/CustomRobots/autoparking/models/prius_autoparking_3laser_harmonic/meshes/Hybrid_blue.png
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diff --git a/CustomRobots/autoparking/models/prius_autoparking_3laser_harmonic/meshes/Wheels3.png b/CustomRobots/autoparking/models/prius_autoparking_3laser_harmonic/meshes/Wheels3.png
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diff --git a/CustomRobots/autoparking/models/prius_autoparking_3laser_harmonic/meshes/Wheels4.png b/CustomRobots/autoparking/models/prius_autoparking_3laser_harmonic/meshes/Wheels4.png
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diff --git a/CustomRobots/autoparking/models/prius_autoparking_3laser_harmonic/meshes/hybrid_body.mtl b/CustomRobots/autoparking/models/prius_autoparking_3laser_harmonic/meshes/hybrid_body.mtl
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index 000000000..a5578234a
--- /dev/null
+++ b/CustomRobots/autoparking/models/prius_autoparking_3laser_harmonic/meshes/hybrid_body.mtl
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+# Blender MTL File: 'None'
+# Material Count: 3
+
+newmtl Hybrid
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+Ka 0.588200 0.588200 0.588200
+Kd 0.588200 0.588200 0.588200
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+illum 2
+map_Kd Hybrid.png
+map_Ka Hybrid.png
+
+newmtl Hybrid_Interior
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+Kd 0.588200 0.588200 0.588200
+Ks 0.000000 0.000000 0.000000
+Ke 0.000000 0.000000 0.000000
+Ni 1.500000
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+illum 2
+map_Kd Hybrid_Interior.png
+map_Ka Hybrid_Interior.png
+
+newmtl Windows
+Ns 0.000000
+Ka 0.262700 0.262700 0.262700
+Kd 0.262700 0.262700 0.262700
+Ks 0.000000 0.000000 0.000000
+Ke 0.000000 0.000000 0.000000
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diff --git a/CustomRobots/autoparking/models/prius_autoparking_3laser_harmonic/meshes/hybrid_body.obj b/CustomRobots/autoparking/models/prius_autoparking_3laser_harmonic/meshes/hybrid_body.obj
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--- /dev/null
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diff --git a/CustomRobots/autoparking/models/prius_autoparking_3laser_harmonic/meshes/steering_wheel.mtl b/CustomRobots/autoparking/models/prius_autoparking_3laser_harmonic/meshes/steering_wheel.mtl
new file mode 100644
index 000000000..adab655af
--- /dev/null
+++ b/CustomRobots/autoparking/models/prius_autoparking_3laser_harmonic/meshes/steering_wheel.mtl
@@ -0,0 +1,14 @@
+# Blender MTL File: 'None'
+# Material Count: 1
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+illum 2
+map_Kd Hybrid_Interior.png
+map_Ka Hybrid_Interior.png
diff --git a/CustomRobots/autoparking/models/prius_autoparking_3laser_harmonic/meshes/steering_wheel.obj b/CustomRobots/autoparking/models/prius_autoparking_3laser_harmonic/meshes/steering_wheel.obj
new file mode 100644
index 000000000..54e33b344
--- /dev/null
+++ b/CustomRobots/autoparking/models/prius_autoparking_3laser_harmonic/meshes/steering_wheel.obj
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+# Blender v2.78 (sub 0) OBJ File: ''
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diff --git a/CustomRobots/autoparking/models/prius_autoparking_3laser_harmonic/meshes/wheel.mtl b/CustomRobots/autoparking/models/prius_autoparking_3laser_harmonic/meshes/wheel.mtl
new file mode 100644
index 000000000..4898bda2c
--- /dev/null
+++ b/CustomRobots/autoparking/models/prius_autoparking_3laser_harmonic/meshes/wheel.mtl
@@ -0,0 +1,14 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl Wheels3
+Ns 9.803922
+Ka 0.588200 0.588200 0.588200
+Kd 0.588200 0.588200 0.588200
+Ks 0.000000 0.000000 0.000000
+Ke 0.000000 0.000000 0.000000
+Ni 1.500000
+d 1.000000
+illum 2
+map_Kd Wheels3.png
+map_Ka Wheels3.png
diff --git a/CustomRobots/autoparking/models/prius_autoparking_3laser_harmonic/meshes/wheel.obj b/CustomRobots/autoparking/models/prius_autoparking_3laser_harmonic/meshes/wheel.obj
new file mode 100644
index 000000000..c05223218
--- /dev/null
+++ b/CustomRobots/autoparking/models/prius_autoparking_3laser_harmonic/meshes/wheel.obj
@@ -0,0 +1,247 @@
+# Blender v2.78 (sub 0) OBJ File: ''
+# www.blender.org
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+vn 1.0000 0.0000 -0.0001
+usemtl Wheels3
+s 1
+f 1/1/1 2/2/1 3/3/1
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diff --git a/CustomRobots/autoparking/models/prius_autoparking_3laser_harmonic/model.config b/CustomRobots/autoparking/models/prius_autoparking_3laser_harmonic/model.config
new file mode 100644
index 000000000..f96285e01
--- /dev/null
+++ b/CustomRobots/autoparking/models/prius_autoparking_3laser_harmonic/model.config
@@ -0,0 +1,23 @@
+<?xml version="1.0"?>
+<model>
+  <name>prius_autoparking_3laser_harmonic</name>
+  <version>1.0</version>
+  <sdf version="1.9">model.sdf</sdf>
+
+  <author>
+    <name>Your Name</name>
+    <email>your.email@example.com</email>
+  </author>
+
+  <description>
+    Prius vehicle model with Ackermann steering and 3 laser sensors for autonomous parking simulation.
+  </description>
+
+  <dependencies>
+    <depend>
+      <model>
+        <uri>model://ground_plane</uri>
+      </model>
+    </depend>
+  </dependencies>
+</model>
\ No newline at end of file
diff --git a/CustomRobots/autoparking/models/prius_autoparking_3laser_harmonic/model.sdf b/CustomRobots/autoparking/models/prius_autoparking_3laser_harmonic/model.sdf
new file mode 100644
index 000000000..f1748cb7f
--- /dev/null
+++ b/CustomRobots/autoparking/models/prius_autoparking_3laser_harmonic/model.sdf
@@ -0,0 +1,504 @@
+<?xml version="1.0"?>
+<sdf version="1.8">
+
+  <model name='prius_autoparking_3laser_harmonic'>
+  <pose>0 0 0.0 0 0 0</pose>
+
+    <link name='base_link' />
+
+    <joint name='chassis_link_joint' type='fixed'>
+      <pose>0.0 0.0 0.0 0 0 0</pose>
+      <parent>base_link</parent>
+      <child>chassis_link</child>
+    </joint>
+
+    <link name='chassis_link'>
+      <inertial>
+        <pose>1e-06 0.07307 0.65096 0 -0 0</pose>
+        <mass>1580</mass>
+        <inertia>
+          <ixx>1997.86</ixx>
+          <ixy>-3e-05</ixy>
+          <ixz>-1e-06</ixz>
+          <iyy>442.769</iyy>
+          <iyz>62.5206</iyz>
+          <izz>2238.05</izz>
+        </inertia>
+      </inertial>
+      <collision name='chassis_link_fixed_joint_lump__chassis_link_collision'>
+        <pose>0 -0.0801 0 0 0 -3.1416</pose>
+        <geometry>
+          <mesh>
+            <scale>0.01 0.01 0.01</scale>
+            <uri>model://prius_autoparking_3laser/meshes/hybrid_body.obj</uri>
+          </mesh>
+        </geometry>
+        <surface>
+          <contact>
+            <collide_bitmask>0x01</collide_bitmask>
+          </contact>
+          <friction>
+            <ode>
+              <mu>0.2</mu>
+              <mu2>0.2</mu2>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+
+    <visual name='chassis_visual'>
+        <pose relative_to='chassis_link'>0 -0.08 0 0 0 -3.1416</pose>
+        <geometry>
+          <mesh>
+            <scale>0.01 0.0109 0.01</scale>
+            <uri>model://prius_autoparking_3laser_harmonic/meshes/hybrid_body.obj</uri>
+          </mesh>
+        </geometry>
+      </visual>           
+
+      <sensor name="front_hokuyo_sensor" type="gpu_ray">
+      <pose relative_to='chassis_link'>-0.024000 2.3900000 0.500000 0.000000 0.000000 1.5708</pose>
+        <always_on>true</always_on>
+        <visualize>true</visualize>        
+        <update_rate>40</update_rate>
+        <topic>/prius_autoparking/scan_front</topic>
+        <ray>
+          <scan>
+            <horizontal>
+              <samples>180</samples>
+              <resolution>1.000000</resolution>
+              <min_angle>-1.570796</min_angle>
+              <max_angle>1.570796</max_angle>
+            </horizontal>
+          </scan>
+          <range>
+            <min>0.120000</min>
+            <max>30.0</max>
+            <resolution>0.010</resolution>
+          </range>
+          <noise>
+            <type>gaussian</type>
+            <mean>0.0</mean>
+            <stddev>0.01</stddev>
+          </noise>
+        </ray>
+      </sensor>
+
+      <sensor name="back_hokuyo_sensor" type="gpu_ray">
+      <pose relative_to='base_link'>-0.024000 -2.60000 0.500000 0.000000 0.000000 -1.57080</pose>
+        <always_on>true</always_on>
+        <visualize>true</visualize>        
+        <update_rate>40</update_rate>
+        <topic>/prius_autoparking/scan_back</topic>
+        <ray>
+          <scan>
+            <horizontal>
+              <samples>180</samples>
+              <resolution>1.000000</resolution>
+              <min_angle>-1.570796</min_angle>
+              <max_angle>1.570796</max_angle>
+            </horizontal>
+          </scan>
+          <range>
+            <min>0.120000</min>
+            <max>30.0</max>
+            <resolution>0.010</resolution>
+          </range>
+          <noise>
+            <type>gaussian</type>
+            <mean>0.0</mean>
+            <stddev>0.01</stddev>
+          </noise>
+        </ray>
+      </sensor>
+    
+    <sensor name="side_hokuyo_sensor" type="gpu_ray">
+    <pose relative_to='base_link'>1.100000 0.000000 0.500000 0.000000 0.000000 0.000000</pose>
+        <always_on>true</always_on>
+        <visualize>true</visualize>        
+        <update_rate>40</update_rate>
+        <topic>/prius_autoparking/scan_side</topic>
+        <ray>
+          <scan>
+            <horizontal>
+              <samples>180</samples>
+              <resolution>1.000000</resolution>
+              <min_angle>-1.570796</min_angle>
+              <max_angle>1.570796</max_angle>
+            </horizontal>
+          </scan>
+          <range>
+            <min>0.120000</min>
+            <max>30.0</max>
+            <resolution>0.010</resolution>
+          </range>
+          <noise>
+            <type>gaussian</type>
+            <mean>0.0</mean>
+            <stddev>0.01</stddev>
+          </noise>
+        </ray>
+      </sensor>
+    </link>
+
+    <joint name='bl_axle' type='revolute'>
+      <pose relative_to='chassis_link'>-0.775 -1.83364 0.324997 0 -0 0</pose>
+      <parent>chassis_link</parent>
+      <child>bl_1</child>
+      <axis>
+        <xyz>-1 0 0</xyz>
+        <dynamics>
+          <friction>12.031606150200002</friction>
+        </dynamics>
+      </axis>
+    </joint>
+    <link name='bl_1'>
+      <pose relative_to='bl_axle'>0 0 0 0 -0 0</pose>
+      <inertial>
+        <pose>-0.0377 0 -0 0 -0 0</pose>
+        <mass>24.5</mass>
+        <inertia>
+          <ixx>1.84514</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>1.04961</iyy>
+          <iyz>0</iyz>
+          <izz>1.04961</izz>
+        </inertia>
+      </inertial>
+      <collision name='bl_1_collision'>
+        <pose relative_to='bl_axle'>0 0 0 0 1.5708 0</pose>
+        <geometry>
+          <cylinder>
+            <radius>.3425</radius>
+            <length>.22</length>
+          </cylinder>
+        </geometry>
+        <surface>
+          <contact>
+            <collide_bitmask>0x01</collide_bitmask>
+          </contact>
+          <friction>
+            <ode>
+              <mu>1.7</mu>
+              <mu2>1.7</mu2>
+            </ode>
+          </friction>
+        </surface>
+      </collision>  
+      <visual name='back_left_wheel_visual'>
+        <pose>0 0 0 0 0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>0.01 0.01 0.01</scale>
+            <uri>model://prius_autoparking_3laser_harmonic/meshes/wheel.obj</uri>
+          </mesh>
+        </geometry>   
+        </visual>
+    </link>
+
+    <joint name='br_axle' type='revolute'>
+      <pose relative_to='chassis_link'>0.775 -1.83364 0.324997 0 -0 0</pose>
+      <parent>chassis_link</parent>
+      <child>br_1</child>
+      <axis>
+        <xyz>-1 0 0</xyz>
+        <dynamics>
+          <friction>12.031606150200002</friction>
+        </dynamics>
+      </axis>
+    </joint>
+    <link name='br_1'>
+      <pose relative_to='br_axle'>0 0 0 0 -0 0</pose>
+      <inertial>
+        <pose>-0.0377 0 -0 0 -0 0</pose>
+        <mass>24.5</mass>
+        <inertia>
+          <ixx>1.84514</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>1.04961</iyy>
+          <iyz>0</iyz>
+          <izz>1.04961</izz>
+        </inertia>
+      </inertial>
+      <collision name='br_1_collision'>
+        <pose relative_to='br_axle'>0 0 0 0 1.5708 0</pose>
+        <geometry>
+          <cylinder>
+            <radius>.3425</radius>
+            <length>.22</length>
+          </cylinder>
+        </geometry>
+        <surface>
+          <contact>
+            <collide_bitmask>0x01</collide_bitmask>
+          </contact>
+          <friction>
+            <ode>
+              <mu>1.7</mu>
+              <mu2>1.7</mu2>
+            </ode>
+          </friction>
+        </surface>
+      </collision>   
+      <visual name='back_right_wheel_visual'>
+        <pose>0 0 0 0 0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>0.01 0.01 0.01</scale>
+            <uri>model://prius_autoparking_3laser_harmonic/meshes/wheel.obj</uri>
+          </mesh>
+        </geometry>                  
+      </visual>     
+    </link>
+
+    <joint name='l_steer' type='revolute'>
+      <pose relative_to='chassis_link'>-0.825 1.51736 0.324997 0 -0 0</pose>
+      <parent>chassis_link</parent>
+      <child>l_steer_1</child>
+      <axis>
+        <xyz>0 0 1</xyz>
+        <limit>
+          <lower>-0.95</lower>
+          <upper>0.95</upper>
+          <effort>1e6</effort>
+          <velocity>1e6</velocity>
+        </limit>
+        <dynamics>
+          <friction>18.0474092253</friction>
+        </dynamics>
+      </axis>
+    </joint>
+    <link name='l_steer_1'>
+      <pose relative_to='l_steer'>0 0 0 0 -0 0</pose>
+      <inertial>
+        <pose>0.003381 0 0.02162 0 -0 0</pose>
+        <mass>1</mass>
+        <inertia>
+          <ixx>1</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>1</iyy>
+          <iyz>0</iyz>
+          <izz>1</izz>
+        </inertia>
+      </inertial>
+    </link>
+
+    <joint name='fl_axle' type='revolute'>
+      <pose relative_to='l_steer_1'>-0.05 0 0 0 -0 0</pose>
+      <parent>l_steer_1</parent>
+      <child>fl_1</child>
+      <axis>
+        <xyz>-1 0 0</xyz>
+        <dynamics>
+          <friction>12.031606150200002</friction>
+        </dynamics>
+      </axis>
+    </joint>
+    <link name='fl_1'>
+      <pose relative_to='fl_axle'>0 0 0 0 -0 0</pose>
+      <inertial>
+        <pose>-0.0377 0 -0 0 -0 0</pose>
+        <mass>24.5</mass>
+        <inertia>
+          <ixx>1.84514</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>1.04961</iyy>
+          <iyz>0</iyz>
+          <izz>1.04961</izz>
+        </inertia>
+      </inertial>
+      <collision name='fl_1_collision'>
+        <pose>0.875 -1.5174 0.1444 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>0.001 0.001 0.001</scale>
+            <uri>model://autocar/meshes/fl_1.stl</uri>
+          </mesh>
+        </geometry>
+        <surface>
+          <contact>
+            <collide_bitmask>0x01</collide_bitmask>
+          </contact>
+          <friction>
+            <ode>
+              <mu>1.1</mu>
+              <mu2>1.1</mu2>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <visual name='front_left_wheel_visual'>
+        <pose>0.13 0 0 0 0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>0.01 0.01 0.01</scale>
+            <uri>model://prius_autoparking_3laser_harmonic/meshes/wheel.obj</uri>
+          </mesh>
+        </geometry>
+      </visual>
+    </link>
+    
+    <joint name='r_steer' type='revolute'>
+      <pose relative_to='chassis_link'>0.825 1.51736 0.324997 0 -0 0</pose>
+      <parent>chassis_link</parent>
+      <child>r_steer_1</child>
+      <axis>
+        <xyz>0 0 1</xyz>
+        <limit>
+          <lower>-0.95</lower>
+          <upper>0.95</upper>
+          <effort>1e6</effort>
+          <velocity>1e6</velocity>
+        </limit>
+        <dynamics>
+          <damping>0.01</damping>
+          <friction>18.0474092253</friction>
+        </dynamics>
+      </axis>
+    </joint>
+    <link name='r_steer_1'>
+      <pose relative_to='r_steer'>0 0 0 0 -0 0</pose>
+      <inertial>
+        <pose>0.003381 0 0.02162 0 -0 0</pose>
+        <mass>1</mass>
+        <inertia>
+          <ixx>1</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>1</iyy>
+          <iyz>0</iyz>
+          <izz>1</izz>
+        </inertia>
+      </inertial>
+    </link>
+    <joint name='fr_axle' type='revolute'>
+      <pose relative_to='r_steer_1'>0.05 0 0 0 -0 0</pose>
+      <parent>r_steer_1</parent>
+      <child>fr_1</child>
+      <axis>
+        <xyz>-1 0 0</xyz>
+        <dynamics>
+          <friction>12.031606150200002</friction>
+        </dynamics>
+      </axis>
+    </joint>
+    <link name='fr_1'>
+      <pose relative_to='fr_axle'>0 0 0 0 -0 0</pose>
+      <inertial>
+        <pose>-0.0377 0 -0 0 -0 0</pose>
+        <mass>24.5</mass>
+        <inertia>
+          <ixx>1.84514</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>1.04961</iyy>
+          <iyz>0</iyz>
+          <izz>1.04961</izz>
+        </inertia>
+      </inertial>
+      <collision name='fr_1_collision'>
+        <pose>-0.875 -1.5174 0.1444 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>0.001 0.001 0.001</scale>
+            <uri>model://autocar/meshes/fr_1.stl</uri>
+          </mesh>
+        </geometry>
+        <surface>
+          <contact>
+            <collide_bitmask>0x01</collide_bitmask>
+          </contact>
+          <friction>
+            <ode>
+              <mu>1.7</mu>
+              <mu2>1.7</mu2>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <visual name='front_right_wheel_visual'>
+        <pose>-0.13 0 0 0 0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>0.01 0.01 0.01</scale>
+            <uri>model://prius_autoparking_3laser_harmonic/meshes/wheel.obj</uri>
+          </mesh>
+        </geometry>
+      </visual>
+    </link>
+
+    <!--STEERING WHEEL-->
+    <joint name="steering_joint" type="revolute">
+      <pose relative_to='chassis_link'>-0.01 0.6 0.6 0 0 0</pose>
+      <parent>chassis_link</parent>
+      <child>steering_wheel</child>
+      <axis>
+        <xyz>0.0 -1.0 0.0</xyz>
+        <limit>
+          <lower>-100</lower>
+          <upper>100</upper>
+        </limit>
+        <dynamics>
+          <damping>10.0</damping>
+        </dynamics>
+      </axis>
+    </joint>
+    <link name='steering_wheel'>
+      <pose relative_to='steering_joint'>0 0.87 -0.54 0 0 1.5708</pose>
+    </link>
+
+    <!-- Gazebo Harmonic Ackermann Steering Plugin -->
+    <plugin filename="gz-sim-ackermann-steering-system" name="gz::sim::systems::AckermannSteering">
+      <left_joint>fl_axle</left_joint>
+      <left_joint>bl_axle</left_joint>
+      <right_joint>fr_axle</right_joint>
+      <right_joint>br_axle</right_joint>
+      <left_steering_joint>l_steer</left_steering_joint>
+      <right_steering_joint>r_steer</right_steering_joint>
+      <kingpin_width>1.65</kingpin_width>
+      <steering_limit>0.52</steering_limit>
+      <wheel_base>3.351</wheel_base>
+      <wheel_separation>1.65</wheel_separation>
+      <wheel_radius>0.3425</wheel_radius>
+      <min_velocity>-50</min_velocity>
+      <max_velocity>50</max_velocity>
+      <min_acceleration>-50</min_acceleration>
+      <max_acceleration>50</max_acceleration>
+      <topic>/prius_autoparking/cmd_vel</topic>
+    </plugin>
+
+    <!-- Joint State Publisher -->
+    <plugin filename="gz-sim-joint-state-publisher-system" name="gz::sim::systems::JointStatePublisher">
+      <joint_name>fl_axle</joint_name>
+      <joint_name>fr_axle</joint_name>
+      <joint_name>bl_axle</joint_name>
+      <joint_name>br_axle</joint_name>
+      <joint_name>l_steer</joint_name>
+      <joint_name>r_steer</joint_name>
+      <joint_name>steering_joint</joint_name>
+    </plugin>
+
+    <!-- Odometry Publisher -->
+    <plugin filename="gz-sim-odometry-publisher-system" name="gz::sim::systems::OdometryPublisher">
+      <odom_topic>/prius_autoparking/odom</odom_topic>
+      <robot_base_frame>chassis_link</robot_base_frame>
+      <odom_frame>odom</odom_frame>
+      <odom_publish_frequency>50</odom_publish_frequency>
+      <dimensions>3</dimensions>
+    </plugin>
+    
+    <!-- Pose Publisher -->
+    <plugin filename="gz-sim-pose-publisher-system" name="gz::sim::systems::PosePublisher">
+      <publish_link_pose>true</publish_link_pose>
+      <publish_collision_pose>false</publish_collision_pose>
+      <publish_visual_pose>false</publish_visual_pose>
+      <publish_nested_model_pose>true</publish_nested_model_pose>
+      <update_frequency>50</update_frequency>
+    </plugin>
+    
+  </model>
+</sdf>
\ No newline at end of file
diff --git a/CustomRobots/autoparking/worlds/batteria_prius_3laser_harmonic.sdf b/CustomRobots/autoparking/worlds/batteria_prius_3laser_harmonic.sdf
index 5ac9f5885..9f8612f75 100755
--- a/CustomRobots/autoparking/worlds/batteria_prius_3laser_harmonic.sdf
+++ b/CustomRobots/autoparking/worlds/batteria_prius_3laser_harmonic.sdf
@@ -119,10 +119,10 @@
     </scene> -->
 
     <!-- Autocar -->
-    <!-- <include>
-      <uri>model://prius</uri>
+    <include>
+      <uri>model://prius_autoparking_3laser_harmonic</uri>
       <pose>-7 2.5 0.02 0 0 -1.54</pose> 
-    </include> -->
+    </include>
     
     <!-- Cars -->
     <model name="car1">
@@ -131,9 +131,10 @@
         <link name="car1">
             <gravity>true</gravity>
             <collision name="collision">
+                <pose>0 0.075 0.75 0 0 0</pose>
                 <geometry>
                     <box>
-                        <size>4.5 1.8 1</size>
+                        <size>2 4.9 1.5</size>
                     </box>
                 </geometry>
             </collision>
@@ -153,9 +154,10 @@
         <link name="car2">
             <gravity>true</gravity>
             <collision name="collision">
+                <pose>0 0.075 0.75 0 0 0</pose>
                 <geometry>
                     <box>
-                        <size>4.5 1.8 1</size>
+                        <size>2 4.9 1.5</size>
                     </box>
                 </geometry>
             </collision>
@@ -175,9 +177,10 @@
         <link name="car3">
             <gravity>true</gravity>
             <collision name="collision">
+                <pose>0 0.075 0.75 0 0 0</pose>
                 <geometry>
                     <box>
-                        <size>4.5 1.8 1</size>
+                        <size>2 4.9 1.5</size>
                     </box>
                 </geometry>
             </collision>
@@ -197,9 +200,10 @@
         <link name="car4">
             <gravity>true</gravity>
             <collision name="collision">
+                <pose>0 0.075 0.75 0 0 0</pose>
                 <geometry>
                     <box>
-                        <size>4.5 1.8 1</size>
+                        <size>2 4.9 1.5</size>
                     </box>
                 </geometry>
             </collision>
@@ -219,9 +223,10 @@
         <link name="car5">
             <gravity>true</gravity>
             <collision name="collision">
+                <pose>0 0.075 0.75 0 0 0</pose>
                 <geometry>
                     <box>
-                        <size>4.5 1.8 1</size>
+                        <size>2 4.9 1.5</size>
                     </box>
                 </geometry>
             </collision>
@@ -241,9 +246,10 @@
         <link name="car6">
             <gravity>true</gravity>
             <collision name="collision">
+                <pose>0 0.075 0.75 0 0 0</pose>
                 <geometry>
                     <box>
-                        <size>4.5 1.8 1</size>
+                        <size>2 4.9 1.5</size>
                     </box>
                 </geometry>
             </collision>
@@ -263,9 +269,10 @@
         <link name="car7">
             <gravity>true</gravity>
             <collision name="collision">
+                <pose>0 0.075 0.75 0 0 0</pose>
                 <geometry>
                     <box>
-                        <size>4.5 1.8 1</size>
+                        <size>2 4.9 1.5</size>
                     </box>
                 </geometry>
             </collision>
@@ -285,9 +292,10 @@
         <link name="car8">
             <gravity>true</gravity>
             <collision name="collision">
+                <pose>0 0.075 0.75 0 0 0</pose>
                 <geometry>
                     <box>
-                        <size>4.5 1.8 1</size>
+                        <size>2 4.9 1.5</size>
                     </box>
                 </geometry>
             </collision>
@@ -307,9 +315,10 @@
         <link name="car9">
             <gravity>true</gravity>
             <collision name="collision">
+                <pose>0 0.075 0.75 0 0 0</pose>
                 <geometry>
                     <box>
-                        <size>4.5 1.8 1</size>
+                        <size>2 4.9 1.5</size>
                     </box>
                 </geometry>
             </collision>
@@ -329,9 +338,10 @@
         <link name="car10">
             <gravity>true</gravity>
             <collision name="collision">
+                <pose>0 0.075 0.75 0 0 0</pose>
                 <geometry>
                     <box>
-                        <size>4.5 1.8 1</size>
+                        <size>2 4.9 1.5</size>
                     </box>
                 </geometry>
             </collision>
@@ -351,9 +361,10 @@
         <link name="car11">
             <gravity>true</gravity>
             <collision name="collision">
+                <pose>0 0.075 0.75 0 0 0</pose>
                 <geometry>
                     <box>
-                        <size>4.5 1.8 1</size>
+                        <size>2 4.9 1.5</size>
                     </box>
                 </geometry>
             </collision>
@@ -373,9 +384,10 @@
         <link name="car12">
             <gravity>true</gravity>
             <collision name="collision">
+                <pose>0 0.075 0.75 0 0 0</pose>
                 <geometry>
                     <box>
-                        <size>4.5 1.8 1</size>
+                        <size>2 4.9 1.5</size>
                     </box>
                 </geometry>
             </collision>