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yosoufe/follower.world

Created September 10, 2018 23:17
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The world file
Raw
follower.world
<sdf version='1.6'>
<world name='default'>
<light name='sun' type='directional'>
<cast_shadows>1</cast_shadows>
<pose frame=''>0 0 10 0 -0 0</pose>
<diffuse>0.8 0.8 0.8 1</diffuse>
<specular>0.2 0.2 0.2 1</specular>
<attenuation>
<range>1000</range>
<constant>0.9</constant>
<linear>0.01</linear>
<quadratic>0.001</quadratic>
</attenuation>
<direction>-0.5 0.1 -0.9</direction>
</light>
<model name='ground_plane'>
<static>1</static>
<link name='link'>
<collision name='collision'>
<geometry>
<plane>
<normal>0 0 1</normal>
<size>100 100</size>
</plane>
</geometry>
<surface>
<friction>
<ode>
<mu>100</mu>
<mu2>50</mu2>
</ode>
<torsional>
<ode/>
</torsional>
</friction>
<contact>
<ode/>
</contact>
<bounce/>
</surface>
<max_contacts>10</max_contacts>
</collision>
<visual name='visual'>
<cast_shadows>0</cast_shadows>
<geometry>
<plane>
<normal>0 0 1</normal>
<size>100 100</size>
</plane>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Grey</name>
</script>
</material>
</visual>
<self_collide>0</self_collide>
<enable_wind>0</enable_wind>
<kinematic>0</kinematic>
</link>
</model>
<gravity>0 0 -9.8</gravity>
<magnetic_field>6e-06 2.3e-05 -4.2e-05</magnetic_field>
<atmosphere type='adiabatic'/>
<physics name='default_physics' default='0' type='ode'>
<max_step_size>0.001</max_step_size>
<real_time_factor>1</real_time_factor>
<real_time_update_rate>1000</real_time_update_rate>
</physics>
<scene>
<ambient>0.4 0.4 0.4 1</ambient>
<background>0.7 0.7 0.7 1</background>
<shadows>1</shadows>
</scene>
<audio>
<device>default</device>
</audio>
<wind/>
<spherical_coordinates>
<surface_model>EARTH_WGS84</surface_model>
<latitude_deg>0</latitude_deg>
<longitude_deg>0</longitude_deg>
<elevation>0</elevation>
<heading_deg>0</heading_deg>
</spherical_coordinates>
<state world_name='default'>
<sim_time>10 710000000</sim_time>
<real_time>11 428222475</real_time>
<wall_time>1536567601 725408199</wall_time>
<iterations>10710</iterations>
<model name='ground_plane'>
<pose frame=''>0 0 0 0 -0 0</pose>
<scale>1 1 1</scale>
<link name='link'>
<pose frame=''>0 0 0 0 -0 0</pose>
<velocity>0 0 0 0 -0 0</velocity>
<acceleration>0 0 0 0 -0 0</acceleration>
<wrench>0 0 0 0 -0 0</wrench>
</link>
</model>
<model name='turtlebot'>
<pose frame=''>0.029317 -0.084713 0 0 -0 0</pose>
<scale>1 1 1</scale>
<link name='create::base'>
<pose frame=''>0.029317 -0.084713 0 0 -0 0</pose>
<velocity>0 0 0 0 -0 0</velocity>
<acceleration>0 0 0 0 -0 0</acceleration>
<wrench>0 0 0 0 -0 0</wrench>
</link>
<link name='create::left_wheel'>
<pose frame=''>0.029317 0.045287 0.032 0 -0 0</pose>
<velocity>0 0 0 0 -0 0</velocity>
<acceleration>0 0 0 0 -0 0</acceleration>
<wrench>0 0 0 0 -0 0</wrench>
</link>
<link name='create::right_wheel'>
<pose frame=''>0.029317 -0.214713 0.032 0 -0 0</pose>
<velocity>0 0 0 0 -0 0</velocity>
<acceleration>0 0 0 0 -0 0</acceleration>
<wrench>0 0 0 0 -0 0</wrench>
</link>
<link name='kinect::link'>
<pose frame=''>-0.057781 -0.084713 0.303857 0 -0 0</pose>
<velocity>0 0 0 0 -0 0</velocity>
<acceleration>0 0 0 0 -0 0</acceleration>
<wrench>0 0 0 0 -0 0</wrench>
</link>
<link name='rack'>
<pose frame=''>0.029317 -0.084713 0 0 -0 0</pose>
<velocity>0 0 0 0 -0 0</velocity>
<acceleration>0 0 0 0 -0 0</acceleration>
<wrench>0 0 0 0 -0 0</wrench>
</link>
</model>
<model name='turtlebot_0'>
<pose frame=''>0.550936 1.01809 0 0 -0 0</pose>
<scale>1 1 1</scale>
<link name='create::base'>
<pose frame=''>0.550936 1.01809 0 0 -0 0</pose>
<velocity>0 0 0 0 -0 0</velocity>
<acceleration>0 0 0 0 -0 0</acceleration>
<wrench>0 0 0 0 -0 0</wrench>
</link>
<link name='create::left_wheel'>
<pose frame=''>0.550936 1.14809 0.032 0 -0 0</pose>
<velocity>0 0 0 0 -0 0</velocity>
<acceleration>0 0 0 0 -0 0</acceleration>
<wrench>0 0 0 0 -0 0</wrench>
</link>
<link name='create::right_wheel'>
<pose frame=''>0.550936 0.88809 0.032 0 -0 0</pose>
<velocity>0 0 0 0 -0 0</velocity>
<acceleration>0 0 0 0 -0 0</acceleration>
<wrench>0 0 0 0 -0 0</wrench>
</link>
<link name='kinect::link'>
<pose frame=''>0.463838 1.01809 0.303857 0 -0 0</pose>
<velocity>0 0 0 0 -0 0</velocity>
<acceleration>0 0 0 0 -0 0</acceleration>
<wrench>0 0 0 0 -0 0</wrench>
</link>
<link name='rack'>
<pose frame=''>0.550936 1.01809 0 0 -0 0</pose>
<velocity>0 0 0 0 -0 0</velocity>
<acceleration>0 0 0 0 -0 0</acceleration>
<wrench>0 0 0 0 -0 0</wrench>
</link>
</model>
<light name='sun'>
<pose frame=''>0 0 10 0 -0 0</pose>
</light>
</state>
<model name='turtlebot'>
<link name='rack'>
<inertial>
<pose frame=''>0.001453 -0.000453 0.029787 0 -0 0</pose>
<inertia>
<ixx>0.05864</ixx>
<ixy>0.000124</ixy>
<ixz>0.000615</ixz>
<iyy>0.058786</iyy>
<iyz>1.4e-05</iyz>
<izz>1.53244</izz>
</inertia>
<mass>2.234</mass>
</inertial>
<collision name='plate_0_collision'>
<pose frame=''>-0.04334 0 0.084757 0 -0 0</pose>
<geometry>
<box>
<size>0.233502 0.314845 0.006401</size>
</box>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</surface>
</collision>
<visual name='plate_0_visual'>
<pose frame=''>-0.04334 0 0.084757 0 -0 0</pose>
<geometry>
<mesh>
<uri>model://turtlebot/meshes/plate_0_logo.dae</uri>
</mesh>
</geometry>
</visual>
<collision name='plate_1_collision'>
<pose frame=''>-0.00266 0 0.141907 0 -0 0</pose>
<geometry>
<box>
<size>0.314856 0.314856 0.006401</size>
</box>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</surface>
</collision>
<visual name='plate_1_visual'>
<pose frame=''>-0.00266 0 0.141907 0 -0 0</pose>
<geometry>
<mesh>
<uri>model://turtlebot/meshes/plate_1_logo.dae</uri>
</mesh>
</geometry>
</visual>
<collision name='plate_2_collision'>
<pose frame=''>-0.00266 0 0.199108 0 -0 0</pose>
<geometry>
<box>
<size>0.314856 0.314856 0.006401</size>
</box>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</surface>
</collision>
<visual name='plate_2_visual'>
<pose frame=''>-0.00266 0 0.199108 0 -0 0</pose>
<geometry>
<mesh>
<uri>model://turtlebot/meshes/plate_1_logo.dae</uri>
</mesh>
</geometry>
</visual>
<collision name='plate_3_collision'>
<pose frame=''>-0.01582 0 0.405457 0 -0 0</pose>
<geometry>
<box>
<size>0.288 0.315 0.006401</size>
</box>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</surface>
</collision>
<visual name='plate_3_visual'>
<pose frame=''>-0.01582 0 0.405457 0 -0 0</pose>
<geometry>
<mesh>
<uri>model://turtlebot/meshes/plate_2_logo.dae</uri>
</mesh>
</geometry>
</visual>
<collision name='spacer_0_collision'>
<pose frame=''>-0.00254 0.111468 0.079992 0 -0 0</pose>
<geometry>
<cylinder>
<radius>0.0127</radius>
<length>0.003175</length>
</cylinder>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</surface>
</collision>
<visual name='spacer_0_visual'>
<pose frame=''>-0.00254 0.111468 0.079992 0 -0 0</pose>
<geometry>
<mesh>
<uri>model://turtlebot/meshes/68-02403-125_Spacer.dae</uri>
</mesh>
</geometry>
</visual>
<collision name='spacer_1_collision'>
<pose frame=''>-0.00254 -0.111468 0.079992 0 -0 0</pose>
<geometry>
<cylinder>
<radius>0.0127</radius>
<length>0.003175</length>
</cylinder>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</surface>
</collision>
<visual name='spacer_1_visual'>
<pose frame=''>-0.00254 -0.111468 0.079992 0 -0 0</pose>
<geometry>
<mesh>
<uri>model://turtlebot/meshes/68-02403-125_Spacer.dae</uri>
</mesh>
</geometry>
</visual>
<collision name='spacer_2_collision'>
<pose frame=''>-0.07239 -0.111468 0.079992 0 -0 0</pose>
<geometry>
<cylinder>
<radius>0.0127</radius>
<length>0.003175</length>
</cylinder>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</surface>
</collision>
<visual name='spacer_2_visual'>
<pose frame=''>-0.07239 -0.111468 0.079992 0 -0 0</pose>
<geometry>
<mesh>
<uri>model://turtlebot/meshes/68-02403-125_Spacer.dae</uri>
</mesh>
</geometry>
</visual>
<collision name='spacer_3_collision'>
<pose frame=''>-0.07239 0.111468 0.079992 0 -0 0</pose>
<geometry>
<cylinder>
<radius>0.0127</radius>
<length>0.003175</length>
</cylinder>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</surface>
</collision>
<visual name='spacer_3_visual'>
<pose frame=''>-0.07239 0.111468 0.079992 0 -0 0</pose>
<geometry>
<mesh>
<uri>model://turtlebot/meshes/68-02403-125_Spacer.dae</uri>
</mesh>
</geometry>
</visual>
<collision name='standoff_2in_0_collision'>
<pose frame=''>0.06764 0.13142 0.08798 0 -0 0</pose>
<geometry>
<cylinder>
<radius>0.0381</radius>
<length>0.0635</length>
</cylinder>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</surface>
</collision>
<visual name='standoff_2in_0_visual'>
<pose frame=''>0.06764 0.13142 0.08798 0 -0 0</pose>
<geometry>
<mesh>
<uri>model://turtlebot/meshes/68-04552-2000-RA_Turtlebot_M-F_Standoff.dae</uri>
</mesh>
</geometry>
</visual>
<collision name='standoff_2in_1_collision'>
<pose frame=''>0.06764 -0.13142 0.08798 0 -0 0</pose>
<geometry>
<cylinder>
<radius>0.0381</radius>
<length>0.0635</length>
</cylinder>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</surface>
</collision>
<visual name='standoff_2in_1_visual'>
<pose frame=''>0.06764 -0.13142 0.08798 0 -0 0</pose>
<geometry>
<mesh>
<uri>model://turtlebot/meshes/68-04552-2000-RA_Turtlebot_M-F_Standoff.dae</uri>
</mesh>
</geometry>
</visual>
<collision name='standoff_2in_2_collision'>
<pose frame=''>-0.052832 -0.13142 0.08798 0 -0 0</pose>
<geometry>
<cylinder>
<radius>0.0381</radius>
<length>0.0635</length>
</cylinder>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</surface>
</collision>
<visual name='standoff_2in_2_visual'>
<pose frame=''>-0.052832 -0.13142 0.08798 0 -0 0</pose>
<geometry>
<mesh>
<uri>model://turtlebot/meshes/68-04552-2000-RA_Turtlebot_M-F_Standoff.dae</uri>
</mesh>
</geometry>
</visual>
<collision name='standoff_2in_3_collision'>
<pose frame=''>-0.052832 0.13142 0.08798 0 -0 0</pose>
<geometry>
<cylinder>
<radius>0.0381</radius>
<length>0.0635</length>
</cylinder>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</surface>
</collision>
<visual name='standoff_2in_3_visual'>
<pose frame=''>-0.052832 0.13142 0.08798 0 -0 0</pose>
<geometry>
<mesh>
<uri>model://turtlebot/meshes/68-04552-2000-RA_Turtlebot_M-F_Standoff.dae</uri>
</mesh>
</geometry>
</visual>
<collision name='standoff_2in_4_collision'>
<pose frame=''>0.06764 0.13142 0.14513 0 -0 0</pose>
<geometry>
<cylinder>
<radius>0.0381</radius>
<length>0.0635</length>
</cylinder>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</surface>
</collision>
<visual name='standoff_2in_4_visual'>
<pose frame=''>0.06764 0.13142 0.14513 0 -0 0</pose>
<geometry>
<mesh>
<uri>model://turtlebot/meshes/68-04552-2000-RA_Turtlebot_M-F_Standoff.dae</uri>
</mesh>
</geometry>
</visual>
<collision name='standoff_2in_5_collision'>
<pose frame=''>0.06764 -0.13142 0.14513 0 -0 0</pose>
<geometry>
<cylinder>
<radius>0.0381</radius>
<length>0.0635</length>
</cylinder>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</surface>
</collision>
<visual name='standoff_2in_5_visual'>
<pose frame=''>0.06764 -0.13142 0.14513 0 -0 0</pose>
<geometry>
<mesh>
<uri>model://turtlebot/meshes/68-04552-2000-RA_Turtlebot_M-F_Standoff.dae</uri>
</mesh>
</geometry>
</visual>
<collision name='standoff_2in_6_collision'>
<pose frame=''>-0.052832 -0.13142 0.14513 0 -0 0</pose>
<geometry>
<cylinder>
<radius>0.0381</radius>
<length>0.0635</length>
</cylinder>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</surface>
</collision>
<visual name='standoff_2in_6_visual'>
<pose frame=''>-0.052832 -0.13142 0.14513 0 -0 0</pose>
<geometry>
<mesh>
<uri>model://turtlebot/meshes/68-04552-2000-RA_Turtlebot_M-F_Standoff.dae</uri>
</mesh>
</geometry>
</visual>
<collision name='standoff_2in_7_collision'>
<pose frame=''>-0.052832 0.13142 0.14513 0 -0 0</pose>
<geometry>
<cylinder>
<radius>0.0381</radius>
<length>0.0635</length>
</cylinder>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</surface>
</collision>
<visual name='standoff_2in_7_visual'>
<pose frame=''>-0.052832 0.13142 0.14513 0 -0 0</pose>
<geometry>
<mesh>
<uri>model://turtlebot/meshes/68-04552-2000-RA_Turtlebot_M-F_Standoff.dae</uri>
</mesh>
</geometry>
</visual>
<collision name='standoff_8in_0_collision'>
<pose frame=''>0.06764 0.13142 0.20228 0 -0 0</pose>
<geometry>
<cylinder>
<radius>0.011113</radius>
<length>0.2032</length>
</cylinder>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</surface>
</collision>
<visual name='standoff_8in_0_visual'>
<pose frame=''>0.06764 0.13142 0.20228 0 -0 0</pose>
<geometry>
<mesh>
<uri>model://turtlebot/meshes/68-02421-8000-RA_Turtlebot_F-F_Standoff.dae</uri>
</mesh>
</geometry>
</visual>
<collision name='standoff_8in_1_collision'>
<pose frame=''>0.06764 -0.13142 0.20228 0 -0 0</pose>
<geometry>
<cylinder>
<radius>0.011113</radius>
<length>0.2032</length>
</cylinder>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</surface>
</collision>
<visual name='standoff_8in_1_visual'>
<pose frame=''>0.06764 -0.13142 0.20228 0 -0 0</pose>
<geometry>
<mesh>
<uri>model://turtlebot/meshes/68-02421-8000-RA_Turtlebot_F-F_Standoff.dae</uri>
</mesh>
</geometry>
</visual>
<collision name='standoff_8in_2_collision'>
<pose frame=''>-0.052832 -0.13142 0.20228 0 -0 0</pose>
<geometry>
<cylinder>
<radius>0.011113</radius>
<length>0.2032</length>
</cylinder>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</surface>
</collision>
<visual name='standoff_8in_2_visual'>
<pose frame=''>-0.052832 -0.13142 0.20228 0 -0 0</pose>
<geometry>
<mesh>
<uri>model://turtlebot/meshes/68-02421-8000-RA_Turtlebot_F-F_Standoff.dae</uri>
</mesh>
</geometry>
</visual>
<collision name='standoff_8in_3_collision'>
<pose frame=''>-0.052832 0.13142 0.20228 0 -0 0</pose>
<geometry>
<cylinder>
<radius>0.011113</radius>
<length>0.2032</length>
</cylinder>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</surface>
</collision>
<visual name='standoff_8in_3_visual'>
<pose frame=''>-0.052832 0.13142 0.20228 0 -0 0</pose>
<geometry>
<mesh>
<uri>model://turtlebot/meshes/68-02421-8000-RA_Turtlebot_F-F_Standoff.dae</uri>
</mesh>
</geometry>
</visual>
<collision name='standoff_kinect_0_collision'>
<pose frame=''>-0.105098 0.098 0.202308 0 -0 0</pose>
<geometry>
<cylinder>
<radius>0.001111</radius>
<length>0.008585</length>
</cylinder>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</surface>
</collision>
<visual name='standoff_kinect_0_visual'>
<pose frame=''>-0.105098 0.098 0.202308 0 -0 0</pose>
<geometry>
<mesh>
<uri>model://turtlebot/meshes/68-04556-RA_Kinect_Standoff_Assy.dae</uri>
</mesh>
</geometry>
</visual>
<collision name='standoff_kinect_1_collision'>
<pose frame=''>-0.105098 -0.098 0.202308 0 -0 0</pose>
<geometry>
<cylinder>
<radius>0.001111</radius>
<length>0.008585</length>
</cylinder>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</surface>
</collision>
<visual name='standoff_kinect_1_visual'>
<pose frame=''>-0.105098 -0.098 0.202308 0 -0 0</pose>
<geometry>
<mesh>
<uri>model://turtlebot/meshes/68-04556-RA_Kinect_Standoff_Assy.dae</uri>
</mesh>
</geometry>
</visual>
<sensor name='laser' type='ray'>
<pose frame=''>-0.065 0 0.092 0 -0 0</pose>
<ray>
<scan>
<horizontal>
<samples>180</samples>
<resolution>1</resolution>
<min_angle>-2.26893</min_angle>
<max_angle>2.26893</max_angle>
</horizontal>
<vertical>
<samples>1</samples>
<min_angle>0</min_angle>
<max_angle>0</max_angle>
</vertical>
</scan>
<range>
<min>0.08</min>
<max>10</max>
<resolution>0.01</resolution>
</range>
</ray>
<update_rate>20</update_rate>
</sensor>
<self_collide>0</self_collide>
<enable_wind>0</enable_wind>
<kinematic>0</kinematic>
</link>
<link name='create::base'>
<inertial>
<pose frame=''>0.001453 -0.000453 0.029787 0 -0 0</pose>
<inertia>
<ixx>0.05864</ixx>
<ixy>0.000124</ixy>
<ixz>0.000615</ixz>
<iyy>0.058786</iyy>
<iyz>1.4e-05</iyz>
<izz>1.53244</izz>
</inertia>
<mass>2.234</mass>
</inertial>
<collision name='base_collision'>
<pose frame=''>0 0 0.0478 0 -0 0</pose>
<geometry>
<cylinder>
<radius>0.016495</radius>
<length>0.061163</length>
</cylinder>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</surface>
</collision>
<visual name='base_visual'>
<pose frame=''>0 0 0.0478 0 -0 0</pose>
<geometry>
<mesh>
<uri>model://create/meshes/create_body.dae</uri>
</mesh>
</geometry>
</visual>
<collision name='front_wheel_collision'>
<pose frame=''>0.13 0 0.017 -0 1.5707 1.5707</pose>
<geometry>
<sphere>
<radius>0.018</radius>
</sphere>
</geometry>
<surface>
<friction>
<ode>
<mu>0</mu>
<mu2>0</mu2>
<fdir1>0 0 0</fdir1>
<slip1>0</slip1>
<slip2>0</slip2>
</ode>
<torsional>
<ode/>
</torsional>
</friction>
<contact>
<ode/>
</contact>
<bounce/>
</surface>
<max_contacts>10</max_contacts>
</collision>
<visual name='front_wheel_visual'>
<pose frame=''>0.13 0 0.017 -0 1.5707 1.5707</pose>
<geometry>
<sphere>
<radius>0.009</radius>
</sphere>
</geometry>
</visual>
<collision name='rear_wheel_collision'>
<pose frame=''>-0.13 0 0.017 -0 1.5707 1.5707</pose>
<geometry>
<sphere>
<radius>0.015</radius>
</sphere>
</geometry>
<surface>
<friction>
<ode>
<mu>0</mu>
<mu2>0</mu2>
<fdir1>0 0 0</fdir1>
<slip1>0</slip1>
<slip2>0</slip2>
</ode>
<torsional>
<ode/>
</torsional>
</friction>
<contact>
<ode/>
</contact>
<bounce/>
</surface>
<max_contacts>10</max_contacts>
</collision>
<visual name='rear_wheel_visual'>
<pose frame=''>-0.13 0 0.017 -0 1.5707 1.5707</pose>
<geometry>
<sphere>
<radius>0.0075</radius>
</sphere>
</geometry>
</visual>
<sensor name='left_cliff_sensor' type='ray'>
<pose frame=''>0.07 0.14 0.027 0 1.57079 0</pose>
<ray>
<scan>
<horizontal>
<samples>1</samples>
<resolution>1</resolution>
<min_angle>0</min_angle>
<max_angle>0</max_angle>
</horizontal>
<vertical>
<samples>1</samples>
<min_angle>0</min_angle>
<max_angle>0</max_angle>
</vertical>
</scan>
<range>
<min>0.01</min>
<max>0.04</max>
<resolution>0.1</resolution>
</range>
</ray>
</sensor>
<sensor name='leftfront_cliff_sensor' type='ray'>
<pose frame=''>0.15 0.04 0.027 0 1.57079 0</pose>
<ray>
<scan>
<horizontal>
<samples>1</samples>
<resolution>1</resolution>
<min_angle>0</min_angle>
<max_angle>0</max_angle>
</horizontal>
<vertical>
<samples>1</samples>
<min_angle>0</min_angle>
<max_angle>0</max_angle>
</vertical>
</scan>
<range>
<min>0.01</min>
<max>0.04</max>
<resolution>0.1</resolution>
</range>
</ray>
</sensor>
<sensor name='right_cliff_sensor' type='ray'>
<pose frame=''>0.07 -0.14 0.027 0 1.57079 0</pose>
<ray>
<scan>
<horizontal>
<samples>1</samples>
<resolution>1</resolution>
<min_angle>0</min_angle>
<max_angle>0</max_angle>
</horizontal>
<vertical>
<samples>1</samples>
<min_angle>0</min_angle>
<max_angle>0</max_angle>
</vertical>
</scan>
<range>
<min>0.01</min>
<max>0.04</max>
<resolution>0.1</resolution>
</range>
</ray>
</sensor>
<sensor name='rightfront_cliff_sensor' type='ray'>
<pose frame=''>0.15 -0.04 0.027 0 1.57079 0</pose>
<ray>
<scan>
<horizontal>
<samples>1</samples>
<resolution>1</resolution>
<min_angle>0</min_angle>
<max_angle>0</max_angle>
</horizontal>
<vertical>
<samples>1</samples>
<min_angle>0</min_angle>
<max_angle>0</max_angle>
</vertical>
</scan>
<range>
<min>0.01</min>
<max>0.04</max>
<resolution>0.1</resolution>
</range>
</ray>
</sensor>
<sensor name='wall_sensor' type='ray'>
<pose frame=''>0.09 -0.12 0.059 0 0 -1</pose>
<ray>
<scan>
<horizontal>
<samples>1</samples>
<resolution>1</resolution>
<min_angle>0</min_angle>
<max_angle>0</max_angle>
</horizontal>
<vertical>
<samples>1</samples>
<min_angle>0</min_angle>
<max_angle>0</max_angle>
</vertical>
</scan>
<range>
<min>0.016</min>
<max>0.04</max>
<resolution>0.1</resolution>
</range>
</ray>
</sensor>
<pose frame=''>0 0 0 0 -0 0</pose>
<self_collide>0</self_collide>
<enable_wind>0</enable_wind>
<kinematic>0</kinematic>
</link>
<link name='create::left_wheel'>
<pose frame=''>0 0.13 0.032 0 -0 0</pose>
<inertial>
<inertia>
<ixx>0.001</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.001</iyy>
<iyz>0</iyz>
<izz>0.001</izz>
</inertia>
<mass>0.01</mass>
</inertial>
<collision name='collision'>
<pose frame=''>0 0 0 -0 1.5707 1.5707</pose>
<geometry>
<cylinder>
<radius>0.033</radius>
<length>0.023</length>
</cylinder>
</geometry>
<surface>
<friction>
<ode>
<mu>10</mu>
<mu2>10</mu2>
<fdir1>0 0 0</fdir1>
<slip1>0</slip1>
<slip2>0</slip2>
</ode>
<torsional>
<ode/>
</torsional>
</friction>
<contact>
<ode/>
</contact>
<bounce/>
</surface>
<max_contacts>10</max_contacts>
</collision>
<visual name='visual'>
<pose frame=''>0 0 0 -0 1.5707 1.5707</pose>
<geometry>
<cylinder>
<radius>0.033</radius>
<length>0.023</length>
</cylinder>
</geometry>
</visual>
<self_collide>0</self_collide>
<enable_wind>0</enable_wind>
<kinematic>0</kinematic>
</link>
<link name='create::right_wheel'>
<pose frame=''>0 -0.13 0.032 0 -0 0</pose>
<inertial>
<inertia>
<ixx>0.001</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.001</iyy>
<iyz>0</iyz>
<izz>0.001</izz>
</inertia>
<mass>0.01</mass>
</inertial>
<collision name='collision'>
<pose frame=''>0 0 0 -0 1.5707 1.5707</pose>
<geometry>
<cylinder>
<radius>0.033</radius>
<length>0.023</length>
</cylinder>
</geometry>
<surface>
<friction>
<ode>
<mu>10</mu>
<mu2>10</mu2>
<fdir1>0 0 0</fdir1>
<slip1>0</slip1>
<slip2>0</slip2>
</ode>
<torsional>
<ode/>
</torsional>
</friction>
<contact>
<ode/>
</contact>
<bounce/>
</surface>
<max_contacts>10</max_contacts>
</collision>
<visual name='visual'>
<pose frame=''>0 0 0 -0 1.5707 1.5707</pose>
<geometry>
<cylinder>
<radius>0.033</radius>
<length>0.023</length>
</cylinder>
</geometry>
</visual>
<self_collide>0</self_collide>
<enable_wind>0</enable_wind>
<kinematic>0</kinematic>
</link>
<joint name='create::left_wheel' type='revolute'>
<parent>create::base</parent>
<child>create::left_wheel</child>
<axis>
<xyz>0 1 0</xyz>
<use_parent_model_frame>1</use_parent_model_frame>
<limit>
<lower>-1e+16</lower>
<upper>1e+16</upper>
</limit>
<dynamics>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
</axis>
</joint>
<joint name='create::right_wheel' type='revolute'>
<parent>create::base</parent>
<child>create::right_wheel</child>
<axis>
<xyz>0 1 0</xyz>
<use_parent_model_frame>1</use_parent_model_frame>
<limit>
<lower>-1e+16</lower>
<upper>1e+16</upper>
</limit>
<dynamics>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
</axis>
</joint>
<link name='kinect::link'>
<inertial>
<mass>0.1</mass>
<inertia>
<ixx>1</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>1</iyy>
<iyz>0</iyz>
<izz>1</izz>
</inertia>
</inertial>
<collision name='collision'>
<geometry>
<box>
<size>0.073 0.276 0.072</size>
</box>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</surface>
</collision>
<visual name='visual'>
<geometry>
<mesh>
<uri>model://kinect/meshes/kinect.dae</uri>
</mesh>
</geometry>
</visual>
<sensor name='camera' type='depth'>
<update_rate>20</update_rate>
<camera name='__default__'>
<horizontal_fov>1.0472</horizontal_fov>
<image>
<width>640</width>
<height>480</height>
<format>R8G8B8</format>
</image>
<clip>
<near>0.05</near>
<far>3</far>
</clip>
</camera>
</sensor>
<pose frame=''>-0.087098 0 0.303857 0 -0 0</pose>
<self_collide>0</self_collide>
<enable_wind>0</enable_wind>
<kinematic>0</kinematic>
</link>
<joint name='create_rack' type='revolute'>
<parent>create::base</parent>
<child>rack</child>
<axis>
<xyz>0 0 1</xyz>
<limit>
<lower>0</lower>
<upper>0</upper>
</limit>
<use_parent_model_frame>1</use_parent_model_frame>
<dynamics>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
</axis>
</joint>
<joint name='kinect_rack' type='revolute'>
<parent>kinect::link</parent>
<child>rack</child>
<axis>
<xyz>0 0 1</xyz>
<limit>
<lower>0</lower>
<upper>0</upper>
</limit>
<use_parent_model_frame>1</use_parent_model_frame>
<dynamics>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
</axis>
</joint>
<pose frame=''>0.029317 -0.084713 0 0 -0 0</pose>
</model>
<model name='turtlebot_0'>
<link name='rack'>
<inertial>
<pose frame=''>0.001453 -0.000453 0.029787 0 -0 0</pose>
<inertia>
<ixx>0.05864</ixx>
<ixy>0.000124</ixy>
<ixz>0.000615</ixz>
<iyy>0.058786</iyy>
<iyz>1.4e-05</iyz>
<izz>1.53244</izz>
</inertia>
<mass>2.234</mass>
</inertial>
<collision name='plate_0_collision'>
<pose frame=''>-0.04334 0 0.084757 0 -0 0</pose>
<geometry>
<box>
<size>0.233502 0.314845 0.006401</size>
</box>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</surface>
</collision>
<visual name='plate_0_visual'>
<pose frame=''>-0.04334 0 0.084757 0 -0 0</pose>
<geometry>
<mesh>
<uri>model://turtlebot/meshes/plate_0_logo.dae</uri>
</mesh>
</geometry>
</visual>
<collision name='plate_1_collision'>
<pose frame=''>-0.00266 0 0.141907 0 -0 0</pose>
<geometry>
<box>
<size>0.314856 0.314856 0.006401</size>
</box>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</surface>
</collision>
<visual name='plate_1_visual'>
<pose frame=''>-0.00266 0 0.141907 0 -0 0</pose>
<geometry>
<mesh>
<uri>model://turtlebot/meshes/plate_1_logo.dae</uri>
</mesh>
</geometry>
</visual>
<collision name='plate_2_collision'>
<pose frame=''>-0.00266 0 0.199108 0 -0 0</pose>
<geometry>
<box>
<size>0.314856 0.314856 0.006401</size>
</box>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</surface>
</collision>
<visual name='plate_2_visual'>
<pose frame=''>-0.00266 0 0.199108 0 -0 0</pose>
<geometry>
<mesh>
<uri>model://turtlebot/meshes/plate_1_logo.dae</uri>
</mesh>
</geometry>
</visual>
<collision name='plate_3_collision'>
<pose frame=''>-0.01582 0 0.405457 0 -0 0</pose>
<geometry>
<box>
<size>0.288 0.315 0.006401</size>
</box>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</surface>
</collision>
<visual name='plate_3_visual'>
<pose frame=''>-0.01582 0 0.405457 0 -0 0</pose>
<geometry>
<mesh>
<uri>model://turtlebot/meshes/plate_2_logo.dae</uri>
</mesh>
</geometry>
</visual>
<collision name='spacer_0_collision'>
<pose frame=''>-0.00254 0.111468 0.079992 0 -0 0</pose>
<geometry>
<cylinder>
<radius>0.0127</radius>
<length>0.003175</length>
</cylinder>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</surface>
</collision>
<visual name='spacer_0_visual'>
<pose frame=''>-0.00254 0.111468 0.079992 0 -0 0</pose>
<geometry>
<mesh>
<uri>model://turtlebot/meshes/68-02403-125_Spacer.dae</uri>
</mesh>
</geometry>
</visual>
<collision name='spacer_1_collision'>
<pose frame=''>-0.00254 -0.111468 0.079992 0 -0 0</pose>
<geometry>
<cylinder>
<radius>0.0127</radius>
<length>0.003175</length>
</cylinder>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</surface>
</collision>
<visual name='spacer_1_visual'>
<pose frame=''>-0.00254 -0.111468 0.079992 0 -0 0</pose>
<geometry>
<mesh>
<uri>model://turtlebot/meshes/68-02403-125_Spacer.dae</uri>
</mesh>
</geometry>
</visual>
<collision name='spacer_2_collision'>
<pose frame=''>-0.07239 -0.111468 0.079992 0 -0 0</pose>
<geometry>
<cylinder>
<radius>0.0127</radius>
<length>0.003175</length>
</cylinder>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</surface>
</collision>
<visual name='spacer_2_visual'>
<pose frame=''>-0.07239 -0.111468 0.079992 0 -0 0</pose>
<geometry>
<mesh>
<uri>model://turtlebot/meshes/68-02403-125_Spacer.dae</uri>
</mesh>
</geometry>
</visual>
<collision name='spacer_3_collision'>
<pose frame=''>-0.07239 0.111468 0.079992 0 -0 0</pose>
<geometry>
<cylinder>
<radius>0.0127</radius>
<length>0.003175</length>
</cylinder>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</surface>
</collision>
<visual name='spacer_3_visual'>
<pose frame=''>-0.07239 0.111468 0.079992 0 -0 0</pose>
<geometry>
<mesh>
<uri>model://turtlebot/meshes/68-02403-125_Spacer.dae</uri>
</mesh>
</geometry>
</visual>
<collision name='standoff_2in_0_collision'>
<pose frame=''>0.06764 0.13142 0.08798 0 -0 0</pose>
<geometry>
<cylinder>
<radius>0.0381</radius>
<length>0.0635</length>
</cylinder>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</surface>
</collision>
<visual name='standoff_2in_0_visual'>
<pose frame=''>0.06764 0.13142 0.08798 0 -0 0</pose>
<geometry>
<mesh>
<uri>model://turtlebot/meshes/68-04552-2000-RA_Turtlebot_M-F_Standoff.dae</uri>
</mesh>
</geometry>
</visual>
<collision name='standoff_2in_1_collision'>
<pose frame=''>0.06764 -0.13142 0.08798 0 -0 0</pose>
<geometry>
<cylinder>
<radius>0.0381</radius>
<length>0.0635</length>
</cylinder>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</surface>
</collision>
<visual name='standoff_2in_1_visual'>
<pose frame=''>0.06764 -0.13142 0.08798 0 -0 0</pose>
<geometry>
<mesh>
<uri>model://turtlebot/meshes/68-04552-2000-RA_Turtlebot_M-F_Standoff.dae</uri>
</mesh>
</geometry>
</visual>
<collision name='standoff_2in_2_collision'>
<pose frame=''>-0.052832 -0.13142 0.08798 0 -0 0</pose>
<geometry>
<cylinder>
<radius>0.0381</radius>
<length>0.0635</length>
</cylinder>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</surface>
</collision>
<visual name='standoff_2in_2_visual'>
<pose frame=''>-0.052832 -0.13142 0.08798 0 -0 0</pose>
<geometry>
<mesh>
<uri>model://turtlebot/meshes/68-04552-2000-RA_Turtlebot_M-F_Standoff.dae</uri>
</mesh>
</geometry>
</visual>
<collision name='standoff_2in_3_collision'>
<pose frame=''>-0.052832 0.13142 0.08798 0 -0 0</pose>
<geometry>
<cylinder>
<radius>0.0381</radius>
<length>0.0635</length>
</cylinder>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</surface>
</collision>
<visual name='standoff_2in_3_visual'>
<pose frame=''>-0.052832 0.13142 0.08798 0 -0 0</pose>
<geometry>
<mesh>
<uri>model://turtlebot/meshes/68-04552-2000-RA_Turtlebot_M-F_Standoff.dae</uri>
</mesh>
</geometry>
</visual>
<collision name='standoff_2in_4_collision'>
<pose frame=''>0.06764 0.13142 0.14513 0 -0 0</pose>
<geometry>
<cylinder>
<radius>0.0381</radius>
<length>0.0635</length>
</cylinder>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</surface>
</collision>
<visual name='standoff_2in_4_visual'>
<pose frame=''>0.06764 0.13142 0.14513 0 -0 0</pose>
<geometry>
<mesh>
<uri>model://turtlebot/meshes/68-04552-2000-RA_Turtlebot_M-F_Standoff.dae</uri>
</mesh>
</geometry>
</visual>
<collision name='standoff_2in_5_collision'>
<pose frame=''>0.06764 -0.13142 0.14513 0 -0 0</pose>
<geometry>
<cylinder>
<radius>0.0381</radius>
<length>0.0635</length>
</cylinder>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</surface>
</collision>
<visual name='standoff_2in_5_visual'>
<pose frame=''>0.06764 -0.13142 0.14513 0 -0 0</pose>
<geometry>
<mesh>
<uri>model://turtlebot/meshes/68-04552-2000-RA_Turtlebot_M-F_Standoff.dae</uri>
</mesh>
</geometry>
</visual>
<collision name='standoff_2in_6_collision'>
<pose frame=''>-0.052832 -0.13142 0.14513 0 -0 0</pose>
<geometry>
<cylinder>
<radius>0.0381</radius>
<length>0.0635</length>
</cylinder>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</surface>
</collision>
<visual name='standoff_2in_6_visual'>
<pose frame=''>-0.052832 -0.13142 0.14513 0 -0 0</pose>
<geometry>
<mesh>
<uri>model://turtlebot/meshes/68-04552-2000-RA_Turtlebot_M-F_Standoff.dae</uri>
</mesh>
</geometry>
</visual>
<collision name='standoff_2in_7_collision'>
<pose frame=''>-0.052832 0.13142 0.14513 0 -0 0</pose>
<geometry>
<cylinder>
<radius>0.0381</radius>
<length>0.0635</length>
</cylinder>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</surface>
</collision>
<visual name='standoff_2in_7_visual'>
<pose frame=''>-0.052832 0.13142 0.14513 0 -0 0</pose>
<geometry>
<mesh>
<uri>model://turtlebot/meshes/68-04552-2000-RA_Turtlebot_M-F_Standoff.dae</uri>
</mesh>
</geometry>
</visual>
<collision name='standoff_8in_0_collision'>
<pose frame=''>0.06764 0.13142 0.20228 0 -0 0</pose>
<geometry>
<cylinder>
<radius>0.011113</radius>
<length>0.2032</length>
</cylinder>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</surface>
</collision>
<visual name='standoff_8in_0_visual'>
<pose frame=''>0.06764 0.13142 0.20228 0 -0 0</pose>
<geometry>
<mesh>
<uri>model://turtlebot/meshes/68-02421-8000-RA_Turtlebot_F-F_Standoff.dae</uri>
</mesh>
</geometry>
</visual>
<collision name='standoff_8in_1_collision'>
<pose frame=''>0.06764 -0.13142 0.20228 0 -0 0</pose>
<geometry>
<cylinder>
<radius>0.011113</radius>
<length>0.2032</length>
</cylinder>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</surface>
</collision>
<visual name='standoff_8in_1_visual'>
<pose frame=''>0.06764 -0.13142 0.20228 0 -0 0</pose>
<geometry>
<mesh>
<uri>model://turtlebot/meshes/68-02421-8000-RA_Turtlebot_F-F_Standoff.dae</uri>
</mesh>
</geometry>
</visual>
<collision name='standoff_8in_2_collision'>
<pose frame=''>-0.052832 -0.13142 0.20228 0 -0 0</pose>
<geometry>
<cylinder>
<radius>0.011113</radius>
<length>0.2032</length>
</cylinder>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</surface>
</collision>
<visual name='standoff_8in_2_visual'>
<pose frame=''>-0.052832 -0.13142 0.20228 0 -0 0</pose>
<geometry>
<mesh>
<uri>model://turtlebot/meshes/68-02421-8000-RA_Turtlebot_F-F_Standoff.dae</uri>
</mesh>
</geometry>
</visual>
<collision name='standoff_8in_3_collision'>
<pose frame=''>-0.052832 0.13142 0.20228 0 -0 0</pose>
<geometry>
<cylinder>
<radius>0.011113</radius>
<length>0.2032</length>
</cylinder>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</surface>
</collision>
<visual name='standoff_8in_3_visual'>
<pose frame=''>-0.052832 0.13142 0.20228 0 -0 0</pose>
<geometry>
<mesh>
<uri>model://turtlebot/meshes/68-02421-8000-RA_Turtlebot_F-F_Standoff.dae</uri>
</mesh>
</geometry>
</visual>
<collision name='standoff_kinect_0_collision'>
<pose frame=''>-0.105098 0.098 0.202308 0 -0 0</pose>
<geometry>
<cylinder>
<radius>0.001111</radius>
<length>0.008585</length>
</cylinder>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</surface>
</collision>
<visual name='standoff_kinect_0_visual'>
<pose frame=''>-0.105098 0.098 0.202308 0 -0 0</pose>
<geometry>
<mesh>
<uri>model://turtlebot/meshes/68-04556-RA_Kinect_Standoff_Assy.dae</uri>
</mesh>
</geometry>
</visual>
<collision name='standoff_kinect_1_collision'>
<pose frame=''>-0.105098 -0.098 0.202308 0 -0 0</pose>
<geometry>
<cylinder>
<radius>0.001111</radius>
<length>0.008585</length>
</cylinder>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</surface>
</collision>
<visual name='standoff_kinect_1_visual'>
<pose frame=''>-0.105098 -0.098 0.202308 0 -0 0</pose>
<geometry>
<mesh>
<uri>model://turtlebot/meshes/68-04556-RA_Kinect_Standoff_Assy.dae</uri>
</mesh>
</geometry>
</visual>
<sensor name='laser' type='ray'>
<pose frame=''>-0.065 0 0.092 0 -0 0</pose>
<ray>
<scan>
<horizontal>
<samples>180</samples>
<resolution>1</resolution>
<min_angle>-2.26893</min_angle>
<max_angle>2.26893</max_angle>
</horizontal>
<vertical>
<samples>1</samples>
<min_angle>0</min_angle>
<max_angle>0</max_angle>
</vertical>
</scan>
<range>
<min>0.08</min>
<max>10</max>
<resolution>0.01</resolution>
</range>
</ray>
<update_rate>20</update_rate>
</sensor>
<self_collide>0</self_collide>
<enable_wind>0</enable_wind>
<kinematic>0</kinematic>
</link>
<link name='create::base'>
<inertial>
<pose frame=''>0.001453 -0.000453 0.029787 0 -0 0</pose>
<inertia>
<ixx>0.05864</ixx>
<ixy>0.000124</ixy>
<ixz>0.000615</ixz>
<iyy>0.058786</iyy>
<iyz>1.4e-05</iyz>
<izz>1.53244</izz>
</inertia>
<mass>2.234</mass>
</inertial>
<collision name='base_collision'>
<pose frame=''>0 0 0.0478 0 -0 0</pose>
<geometry>
<cylinder>
<radius>0.016495</radius>
<length>0.061163</length>
</cylinder>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</surface>
</collision>
<visual name='base_visual'>
<pose frame=''>0 0 0.0478 0 -0 0</pose>
<geometry>
<mesh>
<uri>model://create/meshes/create_body.dae</uri>
</mesh>
</geometry>
</visual>
<collision name='front_wheel_collision'>
<pose frame=''>0.13 0 0.017 -0 1.5707 1.5707</pose>
<geometry>
<sphere>
<radius>0.018</radius>
</sphere>
</geometry>
<surface>
<friction>
<ode>
<mu>0</mu>
<mu2>0</mu2>
<fdir1>0 0 0</fdir1>
<slip1>0</slip1>
<slip2>0</slip2>
</ode>
<torsional>
<ode/>
</torsional>
</friction>
<contact>
<ode/>
</contact>
<bounce/>
</surface>
<max_contacts>10</max_contacts>
</collision>
<visual name='front_wheel_visual'>
<pose frame=''>0.13 0 0.017 -0 1.5707 1.5707</pose>
<geometry>
<sphere>
<radius>0.009</radius>
</sphere>
</geometry>
</visual>
<collision name='rear_wheel_collision'>
<pose frame=''>-0.13 0 0.017 -0 1.5707 1.5707</pose>
<geometry>
<sphere>
<radius>0.015</radius>
</sphere>
</geometry>
<surface>
<friction>
<ode>
<mu>0</mu>
<mu2>0</mu2>
<fdir1>0 0 0</fdir1>
<slip1>0</slip1>
<slip2>0</slip2>
</ode>
<torsional>
<ode/>
</torsional>
</friction>
<contact>
<ode/>
</contact>
<bounce/>
</surface>
<max_contacts>10</max_contacts>
</collision>
<visual name='rear_wheel_visual'>
<pose frame=''>-0.13 0 0.017 -0 1.5707 1.5707</pose>
<geometry>
<sphere>
<radius>0.0075</radius>
</sphere>
</geometry>
</visual>
<sensor name='left_cliff_sensor' type='ray'>
<pose frame=''>0.07 0.14 0.027 0 1.57079 0</pose>
<ray>
<scan>
<horizontal>
<samples>1</samples>
<resolution>1</resolution>
<min_angle>0</min_angle>
<max_angle>0</max_angle>
</horizontal>
<vertical>
<samples>1</samples>
<min_angle>0</min_angle>
<max_angle>0</max_angle>
</vertical>
</scan>
<range>
<min>0.01</min>
<max>0.04</max>
<resolution>0.1</resolution>
</range>
</ray>
</sensor>
<sensor name='leftfront_cliff_sensor' type='ray'>
<pose frame=''>0.15 0.04 0.027 0 1.57079 0</pose>
<ray>
<scan>
<horizontal>
<samples>1</samples>
<resolution>1</resolution>
<min_angle>0</min_angle>
<max_angle>0</max_angle>
</horizontal>
<vertical>
<samples>1</samples>
<min_angle>0</min_angle>
<max_angle>0</max_angle>
</vertical>
</scan>
<range>
<min>0.01</min>
<max>0.04</max>
<resolution>0.1</resolution>
</range>
</ray>
</sensor>
<sensor name='right_cliff_sensor' type='ray'>
<pose frame=''>0.07 -0.14 0.027 0 1.57079 0</pose>
<ray>
<scan>
<horizontal>
<samples>1</samples>
<resolution>1</resolution>
<min_angle>0</min_angle>
<max_angle>0</max_angle>
</horizontal>
<vertical>
<samples>1</samples>
<min_angle>0</min_angle>
<max_angle>0</max_angle>
</vertical>
</scan>
<range>
<min>0.01</min>
<max>0.04</max>
<resolution>0.1</resolution>
</range>
</ray>
</sensor>
<sensor name='rightfront_cliff_sensor' type='ray'>
<pose frame=''>0.15 -0.04 0.027 0 1.57079 0</pose>
<ray>
<scan>
<horizontal>
<samples>1</samples>
<resolution>1</resolution>
<min_angle>0</min_angle>
<max_angle>0</max_angle>
</horizontal>
<vertical>
<samples>1</samples>
<min_angle>0</min_angle>
<max_angle>0</max_angle>
</vertical>
</scan>
<range>
<min>0.01</min>
<max>0.04</max>
<resolution>0.1</resolution>
</range>
</ray>
</sensor>
<sensor name='wall_sensor' type='ray'>
<pose frame=''>0.09 -0.12 0.059 0 0 -1</pose>
<ray>
<scan>
<horizontal>
<samples>1</samples>
<resolution>1</resolution>
<min_angle>0</min_angle>
<max_angle>0</max_angle>
</horizontal>
<vertical>
<samples>1</samples>
<min_angle>0</min_angle>
<max_angle>0</max_angle>
</vertical>
</scan>
<range>
<min>0.016</min>
<max>0.04</max>
<resolution>0.1</resolution>
</range>
</ray>
</sensor>
<pose frame=''>0 0 0 0 -0 0</pose>
<self_collide>0</self_collide>
<enable_wind>0</enable_wind>
<kinematic>0</kinematic>
</link>
<link name='create::left_wheel'>
<pose frame=''>0 0.13 0.032 0 -0 0</pose>
<inertial>
<inertia>
<ixx>0.001</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.001</iyy>
<iyz>0</iyz>
<izz>0.001</izz>
</inertia>
<mass>0.01</mass>
</inertial>
<collision name='collision'>
<pose frame=''>0 0 0 -0 1.5707 1.5707</pose>
<geometry>
<cylinder>
<radius>0.033</radius>
<length>0.023</length>
</cylinder>
</geometry>
<surface>
<friction>
<ode>
<mu>10</mu>
<mu2>10</mu2>
<fdir1>0 0 0</fdir1>
<slip1>0</slip1>
<slip2>0</slip2>
</ode>
<torsional>
<ode/>
</torsional>
</friction>
<contact>
<ode/>
</contact>
<bounce/>
</surface>
<max_contacts>10</max_contacts>
</collision>
<visual name='visual'>
<pose frame=''>0 0 0 -0 1.5707 1.5707</pose>
<geometry>
<cylinder>
<radius>0.033</radius>
<length>0.023</length>
</cylinder>
</geometry>
</visual>
<self_collide>0</self_collide>
<enable_wind>0</enable_wind>
<kinematic>0</kinematic>
</link>
<link name='create::right_wheel'>
<pose frame=''>0 -0.13 0.032 0 -0 0</pose>
<inertial>
<inertia>
<ixx>0.001</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.001</iyy>
<iyz>0</iyz>
<izz>0.001</izz>
</inertia>
<mass>0.01</mass>
</inertial>
<collision name='collision'>
<pose frame=''>0 0 0 -0 1.5707 1.5707</pose>
<geometry>
<cylinder>
<radius>0.033</radius>
<length>0.023</length>
</cylinder>
</geometry>
<surface>
<friction>
<ode>
<mu>10</mu>
<mu2>10</mu2>
<fdir1>0 0 0</fdir1>
<slip1>0</slip1>
<slip2>0</slip2>
</ode>
<torsional>
<ode/>
</torsional>
</friction>
<contact>
<ode/>
</contact>
<bounce/>
</surface>
<max_contacts>10</max_contacts>
</collision>
<visual name='visual'>
<pose frame=''>0 0 0 -0 1.5707 1.5707</pose>
<geometry>
<cylinder>
<radius>0.033</radius>
<length>0.023</length>
</cylinder>
</geometry>
</visual>
<self_collide>0</self_collide>
<enable_wind>0</enable_wind>
<kinematic>0</kinematic>
</link>
<joint name='create::left_wheel' type='revolute'>
<parent>create::base</parent>
<child>create::left_wheel</child>
<axis>
<xyz>0 1 0</xyz>
<use_parent_model_frame>1</use_parent_model_frame>
<limit>
<lower>-1e+16</lower>
<upper>1e+16</upper>
</limit>
<dynamics>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
</axis>
</joint>
<joint name='create::right_wheel' type='revolute'>
<parent>create::base</parent>
<child>create::right_wheel</child>
<axis>
<xyz>0 1 0</xyz>
<use_parent_model_frame>1</use_parent_model_frame>
<limit>
<lower>-1e+16</lower>
<upper>1e+16</upper>
</limit>
<dynamics>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
</axis>
</joint>
<link name='kinect::link'>
<inertial>
<mass>0.1</mass>
<inertia>
<ixx>1</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>1</iyy>
<iyz>0</iyz>
<izz>1</izz>
</inertia>
</inertial>
<collision name='collision'>
<geometry>
<box>
<size>0.073 0.276 0.072</size>
</box>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</surface>
</collision>
<visual name='visual'>
<geometry>
<mesh>
<uri>model://kinect/meshes/kinect.dae</uri>
</mesh>
</geometry>
</visual>
<sensor name='camera' type='depth'>
<update_rate>20</update_rate>
<camera name='__default__'>
<horizontal_fov>1.0472</horizontal_fov>
<image>
<width>640</width>
<height>480</height>
<format>R8G8B8</format>
</image>
<clip>
<near>0.05</near>
<far>3</far>
</clip>
</camera>
</sensor>
<pose frame=''>-0.087098 0 0.303857 0 -0 0</pose>
<self_collide>0</self_collide>
<enable_wind>0</enable_wind>
<kinematic>0</kinematic>
</link>
<joint name='create_rack' type='revolute'>
<parent>create::base</parent>
<child>rack</child>
<axis>
<xyz>0 0 1</xyz>
<limit>
<lower>0</lower>
<upper>0</upper>
</limit>
<use_parent_model_frame>1</use_parent_model_frame>
<dynamics>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
</axis>
</joint>
<joint name='kinect_rack' type='revolute'>
<parent>kinect::link</parent>
<child>rack</child>
<axis>
<xyz>0 0 1</xyz>
<limit>
<lower>0</lower>
<upper>0</upper>
</limit>
<use_parent_model_frame>1</use_parent_model_frame>
<dynamics>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
</axis>
</joint>
<pose frame=''>0.550936 1.01809 0 0 -0 0</pose>
</model>
<gui fullscreen='0'>
<camera name='user_camera'>
<pose frame=''>-3.0656 -0.640344 6.38205 0 1.0938 0.685239</pose>
<view_controller>orbit</view_controller>
<projection_type>perspective</projection_type>
</camera>
</gui>
</world>
</sdf>
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