<?xml version="1.0" ?>
<sdf version="1.4">
  <world name="default">
    <physics type="ode">
      <gravity>0.000000 0.000000 -9.810000</gravity>
      <ode>
        <solver>
          <type>quick</type>
          <iters>250</iters>
          <precon_iters>0</precon_iters>
          <sor>1.400000</sor>
        </solver>
        <constraints>
          <cfm>0.000000</cfm>
          <erp>0.200000</erp>
          <contact_max_correcting_vel>0.000000</contact_max_correcting_vel>
          <contact_surface_layer>0.00000</contact_surface_layer>
        </constraints>
      </ode>
      <bullet>
        <solver>
          <type>sequential_impulse</type>
          <iters>250</iters>
          <sor>1.400000</sor>
        </solver>
        <constraints>
          <cfm>0.000000</cfm>
          <erp>0.200000</erp>
          <split_impulse>true</split_impulse>
          <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
          <contact_surface_layer>0.01000</contact_surface_layer>
        </constraints>
      </bullet>
      <simbody>
        <accuracy>0.001</accuracy>
        <max_transient_velocity>0.01</max_transient_velocity>
        <contact>
          <stiffness>1e8</stiffness>
          <dissipation>10</dissipation>
          <static_friction>0.15</static_friction>
          <dynamic_friction>0.1</dynamic_friction>
          <viscous_friction>0.0</viscous_friction>
        </contact>
      </simbody>
      <real_time_update_rate>0.000000</real_time_update_rate>
      <max_step_size>0.001000</max_step_size>
    </physics>

    <include>
      <uri>model://ground_plane</uri>
    </include>
    <include>
      <uri>model://sun</uri>
    </include>

    <model name='trikey'>
      <pose>0 0 0.5 0 -0 0</pose>
      <link name='trikey_base'>
        <pose>0 0 0 0 -0 0</pose>
        <inertial>
          <pose>-0.003048 0.00254 0.41415 0 -0 0</pose>
          <mass>32.7</mass>
          <inertia>
            <ixx>1.747</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>1.747</iyy>
            <iyz>0</iyz>
            <izz>1.192</izz>
          </inertia>
        </inertial>
        <visual name='trikey_base_visual'>
          <pose>0 0 0.426 0 -0 0</pose>
          <geometry>
            <cylinder>
              <length>0.65</length>
              <radius>0.27</radius>
            </cylinder>
          </geometry>
        </visual>
        <collision name='trikey_base_collision'>
          <pose>0 0 0.426 0 -0 0</pose>
          <geometry>
            <cylinder>
              <length>0.65</length>
              <radius>0.27</radius>
            </cylinder>
          </geometry>
        </collision>
        <velocity_decay>
          <linear>0</linear>
          <angular>0</angular>
        </velocity_decay>
      </link>
      <joint name='world_to_base' type='revolute'>
        <child>trikey_base</child>
        <parent>world</parent>
        <axis>
          <limit>
            <lower>0</lower>
            <upper>0</upper>
          </limit>
          <dynamics>
            <damping>0</damping>
          </dynamics>
          <xyz>0 0 1</xyz>
        </axis>
      </joint>
      <link name='ow_transform_0_l'>
        <pose>0 -0.24 0.1 0 -0 0</pose>
        <inertial>
          <pose>0 0 0 0 0 0</pose>
          <mass>0.66725</mass>
          <inertia>
            <ixx>0.00160418</ixx>
            <ixy>-3.598e-06</ixy>
            <ixz>1.6199e-05</ixz>
            <iyy>0.00279814</iyy>
            <iyz>-4.1656e-05</iyz>
            <izz>0.00160339</izz>
          </inertia>
        </inertial>
        <collision name='ow_transform_0_l_collision_omni_wheel_0'>
          <pose>0 -0.05 2.44839e-13 1.5708 -0 0</pose>
          <geometry>
            <cylinder>
              <length>0.025</length>
              <radius>0.101</radius>
            </cylinder>
          </geometry>
          <surface>
            <contact>
              <ode/>
            </contact>
            <friction>
              <ode/>
            </friction>
          </surface>
        </collision>
        <visual name='ow_transform_0_l_visual_omni_wheel_0'>
          <pose>0 -0.05 2.44839e-13 1.5708 -0 0</pose>
          <geometry>
            <cylinder>
              <length>0.025</length>
              <radius>0.101</radius>
            </cylinder>
          </geometry>
          <material>
            <script>
              <name>Gazebo/Red</name>
              <uri>__default__</uri>
            </script>
          </material>
        </visual>
        <gravity>1</gravity>
        <velocity_decay>
          <linear>0</linear>
          <angular>0</angular>
        </velocity_decay>
        <self_collide>0</self_collide>
      </link>
      <joint name='wheel1_joint' type='revolute'>
        <child>ow_transform_0_l</child>
        <parent>trikey_base</parent>
        <axis>
          <xyz>0 -1 0</xyz>
          <limit>
            <lower>-1e+16</lower>
            <upper>1e+16</upper>
          </limit>
          <dynamics/>
        </axis>
      </joint>
      <link name='ow_transform_1_l'>
        <pose>0.207846 0.12 0.1 0 -0 2.0944</pose>
        <inertial>
          <pose>0 0 0 0 0 0</pose>
          <mass>0.66725</mass>
          <inertia>
            <ixx>0.00160418</ixx>
            <ixy>-3.598e-06</ixy>
            <ixz>1.6199e-05</ixz>
            <iyy>0.00279814</iyy>
            <iyz>-4.1656e-05</iyz>
            <izz>0.00160339</izz>
          </inertia>
        </inertial>
        <collision name='ow_transform_1_l_collision_omni_wheel_1'>
          <pose>0 -0.05 2.44839e-13 1.5708 -0 0</pose>
          <geometry>
            <cylinder>
              <length>0.025</length>
              <radius>0.101</radius>
            </cylinder>
          </geometry>
          <surface>
            <contact>
              <ode/>
            </contact>
            <friction>
              <ode/>
            </friction>
          </surface>
        </collision>
        <visual name='ow_transform_1_l_visual_omni_wheel_1'>
          <pose>0 -0.05 2.44839e-13 1.5708 -0 0</pose>
          <geometry>
            <cylinder>
              <length>0.025</length>
              <radius>0.101</radius>
            </cylinder>
          </geometry>
          <material>
            <script>
              <name>Gazebo/Green</name>
              <uri>__default__</uri>
            </script>
          </material>
        </visual>
        <gravity>1</gravity>
        <velocity_decay>
          <linear>0</linear>
          <angular>0</angular>
        </velocity_decay>
        <self_collide>0</self_collide>
      </link>
      <joint name='wheel2_joint' type='revolute'>
        <child>ow_transform_1_l</child>
        <parent>trikey_base</parent>
        <axis>
          <xyz>0.866025 0.5 0</xyz>
          <limit>
            <lower>-1e+16</lower>
            <upper>1e+16</upper>
          </limit>
          <dynamics/>
        </axis>
      </joint>
      <link name='ow_transform_2_l'>
        <pose>-0.207846 0.12 0.1 0 0 -2.0944</pose>
        <inertial>
          <pose>0 0 0 0 0 0</pose>
          <mass>0.66725</mass>
          <inertia>
            <ixx>0.00160418</ixx>
            <ixy>-3.598e-06</ixy>
            <ixz>1.6199e-05</ixz>
            <iyy>0.00279814</iyy>
            <iyz>-4.1656e-05</iyz>
            <izz>0.00160339</izz>
          </inertia>
        </inertial>
        <collision name='ow_transform_2_l_collision_omni_wheel_2'>
          <pose>0 -0.05 2.44839e-13 1.5708 -0 0</pose>
          <geometry>
            <cylinder>
              <length>0.025</length>
              <radius>0.101</radius>
            </cylinder>
          </geometry>
          <surface>
            <contact>
              <ode/>
            </contact>
            <friction>
              <ode/>
            </friction>
          </surface>
        </collision>
        <visual name='ow_transform_2_l_visual_omni_wheel_2'>
          <pose>0 -0.05 2.44839e-13 1.5708 -0 0</pose>
          <geometry>
            <cylinder>
              <length>0.025</length>
              <radius>0.101</radius>
            </cylinder>
          </geometry>
          <material>
            <script>
              <name>Gazebo/Blue</name>
              <uri>__default__</uri>
            </script>
          </material>
        </visual>
        <gravity>1</gravity>
        <velocity_decay>
          <linear>0</linear>
          <angular>0</angular>
        </velocity_decay>
        <self_collide>0</self_collide>
      </link>
      <joint name='wheel3_joint' type='revolute'>
        <child>ow_transform_2_l</child>
        <parent>trikey_base</parent>
        <axis>
          <xyz>-0.866025 0.5 0</xyz>
          <limit>
            <lower>-1e+16</lower>
            <upper>1e+16</upper>
          </limit>
          <dynamics/>
        </axis>
      </joint>
      <static>0</static>
    </model>
  </world>
</sdf>

