<?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>