<?xml version="1.0"?> <model> <name>Cart: front steering</name> <version>1.0</version> <sdf version="1.5">model.sdf</sdf> <author> <name>Steve Peters</name> <email>scpeters@osrfoundation.org</email> </author> <description> A 4-wheel cart with rigid suspension and front-wheel steering. </description> </model>