<?xml version="1.0" ?>
<sdf version="1.4">
  <model name="create">

    <link name="base">
      <inertial>
        <pose>0.001453 -0.000453 0.029787 0 0 0</pose>
        <inertia>
          <ixx>0.058640</ixx>
          <ixy>0.000124</ixy>
          <ixz>0.000615</ixz>
          <iyy>0.058786</iyy>
          <iyz>0.000014</iyz>
          <izz>1.532440</izz>
        </inertia>
        <mass>2.234000</mass>
      </inertial>

      <collision name="base_collision">
        <pose>0 0 0.047800 0 0 0</pose>
        <geometry>
          <cylinder>
            <radius>0.016495</radius>
            <length>0.061163</length>
          </cylinder>
        </geometry>
      </collision>
      <visual name="base_visual">
        <pose>0 0 0.047800 0 0 0</pose>
        <geometry>
          <mesh>
            <uri>model://create/meshes/create_body.dae</uri>
          </mesh>
        </geometry>
      </visual>

      <collision name="front_wheel_collision">
        <pose>0.130000 0 0.017000 0 1.570700 1.570700</pose>
        <geometry>
          <sphere>
            <radius>0.018000</radius>
          </sphere>
        </geometry>
        <surface>
          <friction>
            <ode>
              <mu>0</mu>
              <mu2>0</mu2>
              <fdir1>0 0 0</fdir1>
              <slip1>0</slip1>
              <slip2>0</slip2>
            </ode>
          </friction>
        </surface>
      </collision>
      <visual name="front_wheel_visual">
        <pose>0.130000 0 0.017000 0 1.570700 1.570700</pose>
        <geometry>
          <sphere>
            <radius>0.009000</radius>
          </sphere>
        </geometry>
      </visual>

      <collision name="rear_wheel_collision">
        <pose>-0.13 0 0.017 0 1.5707 1.5707</pose>
        <geometry>
          <sphere>
            <radius>0.015000</radius>
          </sphere>
        </geometry>
        <surface>
          <friction>
            <ode>
              <mu>0</mu>
              <mu2>0</mu2>
              <fdir1>0 0 0</fdir1>
              <slip1>0</slip1>
              <slip2>0</slip2>
            </ode>
          </friction>
        </surface>
      </collision>
      <visual name="rear_wheel_visual">
        <pose>-0.130000 0 0.017000 0 1.570700 1.570700</pose>
        <geometry>
          <sphere>
            <radius>0.007500</radius>
          </sphere>
        </geometry>
      </visual>


      <sensor name="left_cliff_sensor" type="ray">
        <pose>0.070000 0.140000 0.027000 0 1.570790 0</pose>
        <ray>
          <scan>
            <horizontal>
              <samples>1</samples>
              <resolution>1.000000</resolution>
              <min_angle>0</min_angle>
              <max_angle>0</max_angle>
            </horizontal>
          </scan>
          <range>
            <min>0.010000</min>
            <max>0.040000</max>
            <resolution>0.100000</resolution>
          </range>
        </ray>
      </sensor>

      <sensor name="leftfront_cliff_sensor" type="ray">
        <pose>0.150000 0.040000 0.027000 0 1.570790 0</pose>
        <ray>
          <scan>
            <horizontal>
              <samples>1</samples>
              <resolution>1.000000</resolution>
              <min_angle>0</min_angle>
              <max_angle>0</max_angle>
            </horizontal>
          </scan>
          <range>
            <min>0.010000</min>
            <max>0.040000</max>
            <resolution>0.100000</resolution>
          </range>
        </ray>
      </sensor>

      <sensor name="right_cliff_sensor" type="ray">
        <pose>0.070000 -0.140000 0.027000 0 1.570790 0</pose>
        <ray>
          <scan>
            <horizontal>
              <samples>1</samples>
              <resolution>1.000000</resolution>
              <min_angle>0</min_angle>
              <max_angle>0</max_angle>
            </horizontal>
          </scan>
          <range>
            <min>0.010000</min>
            <max>0.040000</max>
            <resolution>0.100000</resolution>
          </range>
        </ray>
      </sensor>

      <sensor name="rightfront_cliff_sensor" type="ray">
        <pose>0.150000 -0.040000 0.027000 0 1.570790 0</pose>
        <ray>
          <scan>
            <horizontal>
              <samples>1</samples>
              <resolution>1.000000</resolution>
              <min_angle>0</min_angle>
              <max_angle>0</max_angle>
            </horizontal>
          </scan>
          <range>
            <min>0.010000</min>
            <max>0.040000</max>
            <resolution>0.100000</resolution>
          </range>
        </ray>
      </sensor>

      <sensor name="wall_sensor" type="ray">
        <pose>0.090000 -0.120000 0.059000 0 0 -1.000000</pose>
        <ray>
          <scan>
            <horizontal>
              <samples>1</samples>
              <resolution>1.000000</resolution>
              <min_angle>0</min_angle>
              <max_angle>0</max_angle>
            </horizontal>
          </scan>
          <range>
            <min>0.016000</min>
            <max>0.040000</max>
            <resolution>0.100000</resolution>
          </range>
        </ray>
      </sensor>
    </link>


    <link name="left_wheel">
      <pose>0 0.130000 0.032000 0 0 0</pose>
      <inertial>
        <inertia>
          <ixx>0.001000</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>0.001000</iyy>
          <iyz>0</iyz>
          <izz>0.001000</izz>
        </inertia>
        <mass>0.010000</mass>
      </inertial>
      <collision name="collision">
        <pose>0 0 0 0 1.570700 1.570700</pose>
        <geometry>
          <cylinder>
            <radius>0.033000</radius>
            <length>0.023000</length>
          </cylinder>
        </geometry>
        <surface>
          <friction>
            <ode>
              <mu>10</mu>
              <mu2>10</mu2>
              <fdir1>0 0 0</fdir1>
              <slip1>0</slip1>
              <slip2>0</slip2>
            </ode>
          </friction>
        </surface>
      </collision>
      <visual name="visual">
        <pose>0 0 0 0 1.570700 1.570700</pose>
        <geometry>
          <cylinder>
            <radius>0.033000</radius>
            <length>0.023000</length>
          </cylinder>
        </geometry>
      </visual>
    </link>

    <link name="right_wheel">
      <pose>0 -0.130000 0.032000 0 0 0</pose>
      <inertial>
        <inertia>
          <ixx>0.001000</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>0.001000</iyy>
          <iyz>0</iyz>
          <izz>0.001000</izz>
        </inertia>
        <mass>0.010000</mass>
      </inertial>
      <collision name="collision">
        <pose>0 0 0 0 1.570700 1.570700</pose>
        <geometry>
          <cylinder>
            <radius>0.033000</radius>
            <length>0.023000</length>
          </cylinder>
        </geometry>
        <surface>
          <friction>
            <ode>
              <mu>10</mu>
              <mu2>10</mu2>
              <fdir1>0 0 0</fdir1>
              <slip1>0</slip1>
              <slip2>0</slip2>
            </ode>
          </friction>
        </surface>
      </collision>
      <visual name="visual">
        <pose>0 0 0 0 1.570700 1.570700</pose>
        <geometry>
          <cylinder>
            <radius>0.033000</radius>
            <length>0.023000</length>
          </cylinder>
        </geometry>
      </visual>
    </link>

    <joint name="left_wheel" type="revolute">
      <parent>base</parent>
      <child>left_wheel</child>
      <axis>
        <xyz>0 1 0</xyz>
      </axis>
    </joint>

    <joint name="right_wheel" type="revolute">
      <parent>base</parent>
      <child>right_wheel</child>
      <axis>
        <xyz>0 1 0</xyz>
      </axis>
    </joint>

  </model>
</sdf>