<?xml version="1.0" ?>
<sdf version="1.6">
  <model name="car_wheel">
    <link name="link">
      <pose>0 0 0.21682 0 1.5707 0</pose>
      <inertial>
        <mass>12</mass>
        <inertia>
          <ixx>0.167005283</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>0.167005283</iyy>
          <iyz>0</iyz>
          <izz>0.282065474</izz>
        </inertia>
      </inertial>
      <collision name="collision">
        <geometry>
          <cylinder>
            <radius>0.21682</radius>
            <length>0.16116</length>
          </cylinder>
        </geometry>
        <surface>
          <friction>
            <ode>
              <mu>1.0</mu>
              <mu2>1.0</mu2>
              <fdir1>0 0 1</fdir1>
              <slip1>0.0</slip1>
              <slip2>0.0</slip2>
            </ode>
          </friction>
          <contact>
            <ode>
              <min_depth>0.005</min_depth>
              <kp>1e8</kp>
            </ode>
          </contact>
        </surface>
      </collision>
      <visual name="visual">
        <pose>0 0 -0.08058 0 0 0</pose>
        <geometry>
          <mesh>
            <uri>model://car_wheel/meshes/car_wheel.dae</uri>
          </mesh>
        </geometry>
      </visual>
    </link>
  </model>
</sdf>