<?xml version="1.0" ?>
<sdf version="1.6">
    <world name="default">
        <!--
            A demo world for tracked vehicles.

            Drive the vehicle by keyboard using arrows, or by publishing the
            desired velocity to ~/<vehicle name>/cmd_vel
            (x and yaw command the motion).
        -->
        <gui>
            <plugin name="keyboard" filename="libKeyboardGUIPlugin.so"/>
        </gui>

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

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

        <model name="wheel_tracked">
            <pose frame=''>0 4 0.1 0 0 -1.5708</pose>
            <link name='base_link'>
                <pose frame=''>0 0 0 0 -0 0</pose>
                <inertial>
                    <pose frame=''>-0.122 0 0.118 1.5708 -0 0</pose>
                    <mass>13.14</mass>
                    <inertia>
                        <ixx>0.10019</ixx>
                        <ixy>0</ixy>
                        <ixz>0</ixz>
                        <iyy>0.345043</iyy>
                        <iyz>0</iyz>
                        <izz>0.302044</izz>
                    </inertia>
                </inertial>
                <collision name='base_link_collision'>
                    <pose frame=''>-0.122 0 0.118 0 -0 0</pose>
                    <geometry>
                        <box>
                            <size>0.50017 0.24093 0.139</size>
                        </box>
                    </geometry>
                </collision>
                <visual name='base_link_visual'>
                    <pose frame=''>-0.122 0 0.118 0 -0 0</pose>
                    <geometry>
                        <box>
                            <size>0.50017 0.24093 0.139</size>
                        </box>
                    </geometry>
                </visual>
                <self_collide>0</self_collide>
                <gravity>1</gravity>
                <kinematic>0</kinematic>
            </link>

            <link name='left_track'>
                <pose frame=''>0 0.1985 0 0 -0 0</pose>
                <inertial>
                    <mass>2.06</mass>
                    <inertia>
                        <ixx>0.002731</ixx>
                        <ixy>0</ixy>
                        <ixz>0</ixz>
                        <iyy>0.032554</iyy>
                        <iyz>0</iyz>
                        <izz>0.031391</izz>
                    </inertia>
                </inertial>
                <collision name='left_track_collision'>
                    <pose frame=''>0 0 0.01855 1.5708 -0 1.5708</pose>
                    <geometry>
                        <box>
                            <size>0.009728 0.018094 0.05</size>
                        </box>
                    </geometry>
                    <surface>
                        <friction>
                            <ode>
                                <mu>0.5</mu>
                                <mu2>3.19858</mu2>
                            </ode>
                        </friction>
                        <contact>
                            <collide_bitmask>0</collide_bitmask>
                        </contact>
                    </surface>
                </collision>
            </link>
            <joint name='left_track_j' type='revolute'>
                <child>left_track</child>
                <parent>base_link</parent>
                <axis>
                    <xyz>0 1 0</xyz>
                    <limit>
                        <lower>0</lower>
                        <upper>0</upper>
                        <effort>0</effort>
                        <velocity>4</velocity>
                    </limit>
                    <use_parent_model_frame>1</use_parent_model_frame>
                </axis>
            </joint>
            <link name='left_track_wheel1'>
                <pose frame=''>0.25 0.1985 0.01855 0 -0 0</pose>
                <inertial>
                    <mass>0.5</mass>
                    <inertia>
                        <ixx>0.001</ixx>
                        <ixy>0</ixy>
                        <ixz>0</ixz>
                        <iyy>0.001</iyy>
                        <iyz>0</iyz>
                        <izz>0.001</izz>
                    </inertia>
                </inertial>
                <collision name='left_track_wheel1_collision'>
                    <pose frame=''>0 0 0 1.5708 -0 0</pose>
                    <geometry>
                        <cylinder>
                            <length>0.09728</length>
                            <radius>0.09047</radius>
                        </cylinder>
                    </geometry>
                    <surface>
                        <friction>
                            <ode>
                                <mu>0.5</mu>
                                <mu2>3.19858</mu2>
                            </ode>
                        </friction>
                    </surface>
                </collision>
                <visual name='left_track_wheel1_visual'>
                    <pose frame=''>0 0 0 1.5708 -0 0</pose>
                    <geometry>
                        <cylinder>
                            <length>0.09728</length>
                            <radius>0.09047</radius>
                        </cylinder>
                    </geometry>
                </visual>
            </link>
            <joint name='left_track_wheel1_j' type='revolute'>
                <child>left_track_wheel1</child>
                <parent>left_track</parent>
                <axis>
                    <xyz>0 1 0</xyz>
                    <limit>
                        <lower>-1e+16</lower>
                        <upper>1e+16</upper>
                    </limit>
                    <use_parent_model_frame>1</use_parent_model_frame>
                </axis>
            </joint>
            <link name='left_track_wheel2'>
                <pose frame=''>0.1786 0.1985 0.01855 0 -0 0</pose>
                <inertial>
                    <mass>0.5</mass>
                    <inertia>
                        <ixx>0.001</ixx>
                        <ixy>0</ixy>
                        <ixz>0</ixz>
                        <iyy>0.001</iyy>
                        <iyz>0</iyz>
                        <izz>0.001</izz>
                    </inertia>
                </inertial>
                <collision name='left_track_wheel2_collision'>
                    <pose frame=''>0 0 0 1.5708 -0 0</pose>
                    <geometry>
                        <cylinder>
                            <length>0.09728</length>
                            <radius>0.09047</radius>
                        </cylinder>
                    </geometry>
                    <surface>
                        <friction>
                            <ode>
                                <mu>0.5</mu>
                                <mu2>3.19858</mu2>
                            </ode>
                        </friction>
                    </surface>
                </collision>
                <visual name='left_track_wheel2_visual'>
                    <pose frame=''>0 0 0 1.5708 -0 0</pose>
                    <geometry>
                        <cylinder>
                            <length>0.09728</length>
                            <radius>0.09047</radius>
                        </cylinder>
                    </geometry>
                </visual>
            </link>
            <joint name='left_track_wheel2_j' type='revolute'>
                <child>left_track_wheel2</child>
                <parent>left_track</parent>
                <axis>
                    <xyz>0 1 0</xyz>
                    <limit>
                        <lower>-1e+16</lower>
                        <upper>1e+16</upper>
                    </limit>
                    <use_parent_model_frame>1</use_parent_model_frame>
                </axis>
            </joint>
            <link name='left_track_wheel3'>
                <pose frame=''>0.1072 0.1985 0.01855 0 -0 0</pose>
                <inertial>
                    <mass>0.5</mass>
                    <inertia>
                        <ixx>0.001</ixx>
                        <ixy>0</ixy>
                        <ixz>0</ixz>
                        <iyy>0.001</iyy>
                        <iyz>0</iyz>
                        <izz>0.001</izz>
                    </inertia>
                </inertial>
                <collision name='left_track_wheel3_collision'>
                    <pose frame=''>0 0 0 1.5708 -0 0</pose>
                    <geometry>
                        <cylinder>
                            <length>0.09728</length>
                            <radius>0.09047</radius>
                        </cylinder>
                    </geometry>
                    <surface>
                        <friction>
                            <ode>
                                <mu>0.5</mu>
                                <mu2>3.19858</mu2>
                            </ode>
                        </friction>
                    </surface>
                </collision>
                <visual name='left_track_wheel3_visual'>
                    <pose frame=''>0 0 0 1.5708 -0 0</pose>
                    <geometry>
                        <cylinder>
                            <length>0.09728</length>
                            <radius>0.09047</radius>
                        </cylinder>
                    </geometry>
                </visual>
            </link>
            <joint name='left_track_wheel3_j' type='revolute'>
                <child>left_track_wheel3</child>
                <parent>left_track</parent>
                <axis>
                    <xyz>0 1 0</xyz>
                    <limit>
                        <lower>-1e+16</lower>
                        <upper>1e+16</upper>
                    </limit>
                    <use_parent_model_frame>1</use_parent_model_frame>
                </axis>
            </joint>
            <link name='left_track_wheel4'>
                <pose frame=''>-0.25 0.1985 0.01855 0 -0 0</pose>
                <inertial>
                    <mass>0.5</mass>
                    <inertia>
                        <ixx>0.001</ixx>
                        <ixy>0</ixy>
                        <ixz>0</ixz>
                        <iyy>0.001</iyy>
                        <iyz>0</iyz>
                        <izz>0.001</izz>
                    </inertia>
                </inertial>
                <collision name='left_track_wheel4_collision'>
                    <pose frame=''>0 0 0 1.5708 -0 0</pose>
                    <geometry>
                        <cylinder>
                            <length>0.09728</length>
                            <radius>0.09047</radius>
                        </cylinder>
                    </geometry>
                    <surface>
                        <friction>
                            <ode>
                                <mu>0.5</mu>
                                <mu2>3.19858</mu2>
                            </ode>
                        </friction>
                    </surface>
                </collision>
                <visual name='left_track_wheel4_visual'>
                    <pose frame=''>0 0 0 1.5708 -0 0</pose>
                    <geometry>
                        <cylinder>
                            <length>0.09728</length>
                            <radius>0.09047</radius>
                        </cylinder>
                    </geometry>
                </visual>
            </link>
            <joint name='left_track_wheel4_j' type='revolute'>
                <child>left_track_wheel4</child>
                <parent>left_track</parent>
                <axis>
                    <xyz>0 1 0</xyz>
                    <limit>
                        <lower>-1e+16</lower>
                        <upper>1e+16</upper>
                    </limit>
                    <use_parent_model_frame>1</use_parent_model_frame>
                </axis>
            </joint>
            <link name='left_track_wheel5'>
                <pose frame=''>-0.0358 0.1985 0.01855 0 -0 0</pose>
                <inertial>
                    <mass>0.5</mass>
                    <inertia>
                        <ixx>0.001</ixx>
                        <ixy>0</ixy>
                        <ixz>0</ixz>
                        <iyy>0.001</iyy>
                        <iyz>0</iyz>
                        <izz>0.001</izz>
                    </inertia>
                </inertial>
                <collision name='left_track_wheel5_collision'>
                    <pose frame=''>0 0 0 1.5708 -0 0</pose>
                    <geometry>
                        <cylinder>
                            <length>0.09728</length>
                            <radius>0.09047</radius>
                        </cylinder>
                    </geometry>
                    <surface>
                        <friction>
                            <ode>
                                <mu>0.5</mu>
                                <mu2>3.19858</mu2>
                            </ode>
                        </friction>
                    </surface>
                </collision>
                <visual name='left_track_wheel5_visual'>
                    <pose frame=''>0 0 0 1.5708 -0 0</pose>
                    <geometry>
                        <cylinder>
                            <length>0.09728</length>
                            <radius>0.09047</radius>
                        </cylinder>
                    </geometry>
                </visual>
            </link>
            <joint name='left_track_wheel5_j' type='revolute'>
                <child>left_track_wheel5</child>
                <parent>left_track</parent>
                <axis>
                    <xyz>0 1 0</xyz>
                    <limit>
                        <lower>-1e+16</lower>
                        <upper>1e+16</upper>
                    </limit>
                    <use_parent_model_frame>1</use_parent_model_frame>
                </axis>
            </joint>
            <link name='left_track_wheel6'>
                <pose frame=''>-0.1072 0.1985 0.01855 0 -0 0</pose>
                <inertial>
                    <mass>0.5</mass>
                    <inertia>
                        <ixx>0.001</ixx>
                        <ixy>0</ixy>
                        <ixz>0</ixz>
                        <iyy>0.001</iyy>
                        <iyz>0</iyz>
                        <izz>0.001</izz>
                    </inertia>
                </inertial>
                <collision name='left_track_wheel6_collision'>
                    <pose frame=''>0 0 0 1.5708 -0 0</pose>
                    <geometry>
                        <cylinder>
                            <length>0.09728</length>
                            <radius>0.09047</radius>
                        </cylinder>
                    </geometry>
                    <surface>
                        <friction>
                            <ode>
                                <mu>0.5</mu>
                                <mu2>3.19858</mu2>
                            </ode>
                        </friction>
                    </surface>
                </collision>
                <visual name='left_track_wheel6_visual'>
                    <pose frame=''>0 0 0 1.5708 -0 0</pose>
                    <geometry>
                        <cylinder>
                            <length>0.09728</length>
                            <radius>0.09047</radius>
                        </cylinder>
                    </geometry>
                </visual>
                <gravity>1</gravity>
                <velocity_decay/>
                <kinematic>0</kinematic>
            </link>
            <joint name='left_track_wheel6_j' type='revolute'>
                <child>left_track_wheel6</child>
                <parent>left_track</parent>
                <axis>
                    <xyz>0 1 0</xyz>
                    <limit>
                        <lower>-1e+16</lower>
                        <upper>1e+16</upper>
                    </limit>
                    <use_parent_model_frame>1</use_parent_model_frame>
                </axis>
            </joint>
            <link name='left_track_wheel7'>
                <pose frame=''>-0.1786 0.1985 0.01855 0 -0 0</pose>
                <inertial>
                    <mass>0.5</mass>
                    <inertia>
                        <ixx>0.001</ixx>
                        <ixy>0</ixy>
                        <ixz>0</ixz>
                        <iyy>0.001</iyy>
                        <iyz>0</iyz>
                        <izz>0.001</izz>
                    </inertia>
                </inertial>
                <collision name='left_track_wheel7_collision'>
                    <pose frame=''>0 0 0 1.5708 -0 0</pose>
                    <geometry>
                        <cylinder>
                            <length>0.09728</length>
                            <radius>0.09047</radius>
                        </cylinder>
                    </geometry>
                    <surface>
                        <friction>
                            <ode>
                                <mu>0.5</mu>
                                <mu2>3.19858</mu2>
                            </ode>
                        </friction>
                    </surface>
                </collision>
                <visual name='left_track_wheel7_visual'>
                    <pose frame=''>0 0 0 1.5708 -0 0</pose>
                    <geometry>
                        <cylinder>
                            <length>0.09728</length>
                            <radius>0.09047</radius>
                        </cylinder>
                    </geometry>
                </visual>
            </link>
            <joint name='left_track_wheel7_j' type='revolute'>
                <child>left_track_wheel7</child>
                <parent>left_track</parent>
                <axis>
                    <xyz>0 1 0</xyz>
                    <limit>
                        <lower>-1e+16</lower>
                        <upper>1e+16</upper>
                    </limit>
                    <use_parent_model_frame>1</use_parent_model_frame>
                </axis>
            </joint>
            <link name='left_track_wheel8'>
                <pose frame=''>0.0358 0.1985 0.01855 0 -0 0</pose>
                <inertial>
                    <mass>0.5</mass>
                    <inertia>
                        <ixx>0.001</ixx>
                        <ixy>0</ixy>
                        <ixz>0</ixz>
                        <iyy>0.001</iyy>
                        <iyz>0</iyz>
                        <izz>0.001</izz>
                    </inertia>
                </inertial>
                <collision name='left_track_wheel8_collision'>
                    <pose frame=''>0 0 0 1.5708 -0 0</pose>
                    <geometry>
                        <cylinder>
                            <length>0.09728</length>
                            <radius>0.09047</radius>
                        </cylinder>
                    </geometry>
                    <surface>
                        <friction>
                            <ode>
                                <mu>0.5</mu>
                                <mu2>3.19858</mu2>
                            </ode>
                        </friction>
                    </surface>
                </collision>
                <visual name='left_track_wheel8_visual'>
                    <pose frame=''>0 0 0 1.5708 -0 0</pose>
                    <geometry>
                        <cylinder>
                            <length>0.09728</length>
                            <radius>0.09047</radius>
                        </cylinder>
                    </geometry>
                </visual>
            </link>
            <joint name='left_track_wheel8_j' type='revolute'>
                <child>left_track_wheel8</child>
                <parent>left_track</parent>
                <axis>
                    <xyz>0 1 0</xyz>
                    <limit>
                        <lower>-1e+16</lower>
                        <upper>1e+16</upper>
                    </limit>
                    <use_parent_model_frame>1</use_parent_model_frame>
                </axis>
            </joint>

            <link name='right_track'>
                <pose frame=''>0 -0.1985 0 0 -0 0</pose>
                <inertial>
                    <mass>2.06</mass>
                    <inertia>
                        <ixx>0.002731</ixx>
                        <ixy>0</ixy>
                        <ixz>0</ixz>
                        <iyy>0.032554</iyy>
                        <iyz>0</iyz>
                        <izz>0.031391</izz>
                    </inertia>
                </inertial>
                <collision name='right_track_collision'>
                    <pose frame=''>0 0 0.01855 1.5708 -0 1.5708</pose>
                    <geometry>
                        <box>
                            <size>0.009728 0.018094 0.05</size>
                        </box>
                    </geometry>
                    <surface>
                        <friction>
                            <ode>
                                <mu>0.5</mu>
                                <mu2>3.19858</mu2>
                            </ode>
                        </friction>
                        <contact>
                            <collide_bitmask>0</collide_bitmask>
                        </contact>
                    </surface>
                </collision>
            </link>
            <joint name='right_track_j' type='revolute'>
                <child>right_track</child>
                <parent>base_link</parent>
                <axis>
                    <xyz>0 1 0</xyz>
                    <limit>
                        <lower>0</lower>
                        <upper>0</upper>
                        <effort>0</effort>
                        <velocity>4</velocity>
                    </limit>
                    <use_parent_model_frame>1</use_parent_model_frame>
                </axis>
            </joint>

            <link name='right_track_wheel1'>
                <pose frame=''>0.25 -0.1985 0.01855 0 -0 0</pose>
                <inertial>
                    <mass>0.5</mass>
                    <inertia>
                        <ixx>0.001</ixx>
                        <ixy>0</ixy>
                        <ixz>0</ixz>
                        <iyy>0.001</iyy>
                        <iyz>0</iyz>
                        <izz>0.001</izz>
                    </inertia>
                </inertial>
                <collision name='right_track_wheel1_collision'>
                    <pose frame=''>0 0 0 1.5708 -0 0</pose>
                    <geometry>
                        <cylinder>
                            <length>0.09728</length>
                            <radius>0.09047</radius>
                        </cylinder>
                    </geometry>
                    <surface>
                        <friction>
                            <ode>
                                <mu>0.5</mu>
                                <mu2>3.19858</mu2>
                            </ode>
                        </friction>
                    </surface>
                </collision>
                <visual name='right_track_wheel1_visual'>
                    <pose frame=''>0 0 0 1.5708 -0 0</pose>
                    <geometry>
                        <cylinder>
                            <length>0.09728</length>
                            <radius>0.09047</radius>
                        </cylinder>
                    </geometry>
                </visual>
            </link>
            <joint name='right_track_wheel1_j' type='revolute'>
                <child>right_track_wheel1</child>
                <parent>right_track</parent>
                <axis>
                    <xyz>0 1 0</xyz>
                    <limit>
                        <lower>-1e+16</lower>
                        <upper>1e+16</upper>
                    </limit>
                    <use_parent_model_frame>1</use_parent_model_frame>
                </axis>
            </joint>
            <link name='right_track_wheel2'>
                <pose frame=''>0.1786 -0.1985 0.01855 0 -0 0</pose>
                <inertial>
                    <mass>0.5</mass>
                    <inertia>
                        <ixx>0.001</ixx>
                        <ixy>0</ixy>
                        <ixz>0</ixz>
                        <iyy>0.001</iyy>
                        <iyz>0</iyz>
                        <izz>0.001</izz>
                    </inertia>
                </inertial>
                <collision name='right_track_wheel2_collision'>
                    <pose frame=''>0 0 0 1.5708 -0 0</pose>
                    <geometry>
                        <cylinder>
                            <length>0.09728</length>
                            <radius>0.09047</radius>
                        </cylinder>
                    </geometry>
                    <surface>
                        <friction>
                            <ode>
                                <mu>0.5</mu>
                                <mu2>3.19858</mu2>
                            </ode>
                        </friction>
                    </surface>
                </collision>
                <visual name='right_track_wheel2_visual'>
                    <pose frame=''>0 0 0 1.5708 -0 0</pose>
                    <geometry>
                        <cylinder>
                            <length>0.09728</length>
                            <radius>0.09047</radius>
                        </cylinder>
                    </geometry>
                </visual>
            </link>
            <joint name='right_track_wheel2_j' type='revolute'>
                <child>right_track_wheel2</child>
                <parent>right_track</parent>
                <axis>
                    <xyz>0 1 0</xyz>
                    <limit>
                        <lower>-1e+16</lower>
                        <upper>1e+16</upper>
                    </limit>
                    <use_parent_model_frame>1</use_parent_model_frame>
                </axis>
            </joint>
            <link name='right_track_wheel3'>
                <pose frame=''>0.1072 -0.1985 0.01855 0 -0 0</pose>
                <inertial>
                    <mass>0.5</mass>
                    <inertia>
                        <ixx>0.001</ixx>
                        <ixy>0</ixy>
                        <ixz>0</ixz>
                        <iyy>0.001</iyy>
                        <iyz>0</iyz>
                        <izz>0.001</izz>
                    </inertia>
                </inertial>
                <collision name='right_track_wheel3_collision'>
                    <pose frame=''>0 0 0 1.5708 -0 0</pose>
                    <geometry>
                        <cylinder>
                            <length>0.09728</length>
                            <radius>0.09047</radius>
                        </cylinder>
                    </geometry>
                    <surface>
                        <friction>
                            <ode>
                                <mu>0.5</mu>
                                <mu2>3.19858</mu2>
                            </ode>
                        </friction>
                    </surface>
                </collision>
                <visual name='right_track_wheel3_visual'>
                    <pose frame=''>0 0 0 1.5708 -0 0</pose>
                    <geometry>
                        <cylinder>
                            <length>0.09728</length>
                            <radius>0.09047</radius>
                        </cylinder>
                    </geometry>
                </visual>
            </link>
            <joint name='right_track_wheel3_j' type='revolute'>
                <child>right_track_wheel3</child>
                <parent>right_track</parent>
                <axis>
                    <xyz>0 1 0</xyz>
                    <limit>
                        <lower>-1e+16</lower>
                        <upper>1e+16</upper>
                    </limit>
                    <use_parent_model_frame>1</use_parent_model_frame>
                </axis>
            </joint>
            <link name='right_track_wheel4'>
                <pose frame=''>-0.25 -0.1985 0.01855 0 -0 0</pose>
                <inertial>
                    <mass>0.5</mass>
                    <inertia>
                        <ixx>0.001</ixx>
                        <ixy>0</ixy>
                        <ixz>0</ixz>
                        <iyy>0.001</iyy>
                        <iyz>0</iyz>
                        <izz>0.001</izz>
                    </inertia>
                </inertial>
                <collision name='right_track_wheel4_collision'>
                    <pose frame=''>0 0 0 1.5708 -0 0</pose>
                    <geometry>
                        <cylinder>
                            <length>0.09728</length>
                            <radius>0.09047</radius>
                        </cylinder>
                    </geometry>
                    <surface>
                        <friction>
                            <ode>
                                <mu>0.5</mu>
                                <mu2>3.19858</mu2>
                            </ode>
                        </friction>
                    </surface>
                </collision>
                <visual name='right_track_wheel4_visual'>
                    <pose frame=''>0 0 0 1.5708 -0 0</pose>
                    <geometry>
                        <cylinder>
                            <length>0.09728</length>
                            <radius>0.09047</radius>
                        </cylinder>
                    </geometry>
                </visual>
            </link>
            <joint name='right_track_wheel4_j' type='revolute'>
                <child>right_track_wheel4</child>
                <parent>right_track</parent>
                <axis>
                    <xyz>0 1 0</xyz>
                    <limit>
                        <lower>-1e+16</lower>
                        <upper>1e+16</upper>
                    </limit>
                    <use_parent_model_frame>1</use_parent_model_frame>
                </axis>
            </joint>
            <link name='right_track_wheel5'>
                <pose frame=''>-0.0358 -0.1985 0.01855 0 -0 0</pose>
                <inertial>
                    <mass>0.5</mass>
                    <inertia>
                        <ixx>0.001</ixx>
                        <ixy>0</ixy>
                        <ixz>0</ixz>
                        <iyy>0.001</iyy>
                        <iyz>0</iyz>
                        <izz>0.001</izz>
                    </inertia>
                </inertial>
                <collision name='right_track_wheel5_collision'>
                    <pose frame=''>0 0 0 1.5708 -0 0</pose>
                    <geometry>
                        <cylinder>
                            <length>0.09728</length>
                            <radius>0.09047</radius>
                        </cylinder>
                    </geometry>
                    <surface>
                        <friction>
                            <ode>
                                <mu>0.5</mu>
                                <mu2>3.19858</mu2>
                            </ode>
                        </friction>
                    </surface>
                </collision>
                <visual name='right_track_wheel5_visual'>
                    <pose frame=''>0 0 0 1.5708 -0 0</pose>
                    <geometry>
                        <cylinder>
                            <length>0.09728</length>
                            <radius>0.09047</radius>
                        </cylinder>
                    </geometry>
                </visual>
            </link>
            <joint name='right_track_wheel5_j' type='revolute'>
                <child>right_track_wheel5</child>
                <parent>right_track</parent>
                <axis>
                    <xyz>0 1 0</xyz>
                    <limit>
                        <lower>-1e+16</lower>
                        <upper>1e+16</upper>
                    </limit>
                    <use_parent_model_frame>1</use_parent_model_frame>
                </axis>
            </joint>
            <link name='right_track_wheel6'>
                <pose frame=''>-0.1072 -0.1985 0.01855 0 -0 0</pose>
                <inertial>
                    <mass>0.5</mass>
                    <inertia>
                        <ixx>0.001</ixx>
                        <ixy>0</ixy>
                        <ixz>0</ixz>
                        <iyy>0.001</iyy>
                        <iyz>0</iyz>
                        <izz>0.001</izz>
                    </inertia>
                </inertial>
                <collision name='right_track_wheel6_collision'>
                    <pose frame=''>0 0 0 1.5708 -0 0</pose>
                    <geometry>
                        <cylinder>
                            <length>0.09728</length>
                            <radius>0.09047</radius>
                        </cylinder>
                    </geometry>
                    <surface>
                        <friction>
                            <ode>
                                <mu>0.5</mu>
                                <mu2>3.19858</mu2>
                            </ode>
                        </friction>
                    </surface>
                </collision>
                <visual name='right_track_wheel6_visual'>
                    <pose frame=''>0 0 0 1.5708 -0 0</pose>
                    <geometry>
                        <cylinder>
                            <length>0.09728</length>
                            <radius>0.09047</radius>
                        </cylinder>
                    </geometry>
                </visual>
            </link>
            <joint name='right_track_wheel6_j' type='revolute'>
                <child>right_track_wheel6</child>
                <parent>right_track</parent>
                <axis>
                    <xyz>0 1 0</xyz>
                    <limit>
                        <lower>-1e+16</lower>
                        <upper>1e+16</upper>
                    </limit>
                    <use_parent_model_frame>1</use_parent_model_frame>
                </axis>
            </joint>
            <link name='right_track_wheel7'>
                <pose frame=''>-0.1786 -0.1985 0.01855 0 -0 0</pose>
                <inertial>
                    <mass>0.5</mass>
                    <inertia>
                        <ixx>0.001</ixx>
                        <ixy>0</ixy>
                        <ixz>0</ixz>
                        <iyy>0.001</iyy>
                        <iyz>0</iyz>
                        <izz>0.001</izz>
                    </inertia>
                </inertial>
                <collision name='right_track_wheel7_collision'>
                    <pose frame=''>0 0 0 1.5708 -0 0</pose>
                    <geometry>
                        <cylinder>
                            <length>0.09728</length>
                            <radius>0.09047</radius>
                        </cylinder>
                    </geometry>
                    <surface>
                        <friction>
                            <ode>
                                <mu>0.5</mu>
                                <mu2>3.19858</mu2>
                            </ode>
                        </friction>
                    </surface>
                </collision>
                <visual name='right_track_wheel7_visual'>
                    <pose frame=''>0 0 0 1.5708 -0 0</pose>
                    <geometry>
                        <cylinder>
                            <length>0.09728</length>
                            <radius>0.09047</radius>
                        </cylinder>
                    </geometry>
                </visual>
            </link>
            <joint name='right_track_wheel7_j' type='revolute'>
                <child>right_track_wheel7</child>
                <parent>right_track</parent>
                <axis>
                    <xyz>0 1 0</xyz>
                    <limit>
                        <lower>-1e+16</lower>
                        <upper>1e+16</upper>
                    </limit>
                    <use_parent_model_frame>1</use_parent_model_frame>
                </axis>
            </joint>
            <link name='right_track_wheel8'>
                <pose frame=''>0.0358 -0.1985 0.01855 0 -0 0</pose>
                <inertial>
                    <mass>0.5</mass>
                    <inertia>
                        <ixx>0.001</ixx>
                        <ixy>0</ixy>
                        <ixz>0</ixz>
                        <iyy>0.001</iyy>
                        <iyz>0</iyz>
                        <izz>0.001</izz>
                    </inertia>
                </inertial>
                <collision name='right_track_wheel8_collision'>
                    <pose frame=''>0 0 0 1.5708 -0 0</pose>
                    <geometry>
                        <cylinder>
                            <length>0.09728</length>
                            <radius>0.09047</radius>
                        </cylinder>
                    </geometry>
                    <surface>
                        <friction>
                            <ode>
                                <mu>0.5</mu>
                                <mu2>3.19858</mu2>
                            </ode>
                        </friction>
                    </surface>
                </collision>
                <visual name='right_track_wheel8_visual'>
                    <pose frame=''>0 0 0 1.5708 -0 0</pose>
                    <geometry>
                        <cylinder>
                            <length>0.09728</length>
                            <radius>0.09047</radius>
                        </cylinder>
                    </geometry>
                </visual>
            </link>
            <joint name='right_track_wheel8_j' type='revolute'>
                <child>right_track_wheel8</child>
                <parent>right_track</parent>
                <axis>
                    <xyz>0 1 0</xyz>
                    <limit>
                        <lower>-1e+16</lower>
                        <upper>1e+16</upper>
                    </limit>
                    <use_parent_model_frame>1</use_parent_model_frame>
                </axis>
            </joint>

            <plugin name='wheel_tracked_vehicle_controller' filename='libWheelTrackedVehiclePlugin.so'>
                <left_joint>left_track_wheel1_j</left_joint>
                <right_joint>right_track_wheel1_j</right_joint>
                <left_joint>left_track_wheel2_j</left_joint>
                <right_joint>right_track_wheel2_j</right_joint>
                <left_joint>left_track_wheel3_j</left_joint>
                <right_joint>right_track_wheel3_j</right_joint>
                <left_joint>left_track_wheel4_j</left_joint>
                <right_joint>right_track_wheel4_j</right_joint>
                <left_joint>left_track_wheel5_j</left_joint>
                <right_joint>right_track_wheel5_j</right_joint>
                <left_joint>left_track_wheel6_j</left_joint>
                <right_joint>right_track_wheel6_j</right_joint>
                <left_joint>left_track_wheel7_j</left_joint>
                <right_joint>right_track_wheel7_j</right_joint>
                <left_joint>left_track_wheel8_j</left_joint>
                <right_joint>right_track_wheel8_j</right_joint>
                <!-- It'd be nicer to have a higher value here, but there's bug
                 https://github.com/osrf/gazebo/issues/2068
                 TODO The bug was already fixed but it is still broken. -->
                <track_mu>1.0</track_mu>
                <track_mu2>0.5</track_mu2>
            </plugin>

            <plugin filename="libKeysToCmdVelPlugin.so" name="keyboard_control">
                <cmd_vel_topic>~/wheel_tracked/cmd_vel</cmd_vel_topic>
                <key_controls>
                    <!-- WSAD controls + space/Enter for stop -->
                    <stop>13</stop>
                    <stop>32</stop>
                    <accelerate>119</accelerate>
                    <decelerate>115</decelerate>
                    <left>97</left>
                    <right>100</right>
                </key_controls>
            </plugin>
        </model>

        <model name='stairs_very_simple'>
            <pose frame=''>0 0 0 0 0 0</pose>
            <link name='Stairs_3'>
                <visual name='Stairs_3_Visual_0'>
                    <pose frame=''>0 1.6625 0.0375 0 -0 0</pose>
                    <geometry>
                        <box>
                            <size>1 0.175 0.075</size>
                        </box>
                    </geometry>
                    <material>
                        <script>
                            <uri>file://media/materials/scripts/gazebo.material</uri>
                            <name>Gazebo/Grey</name>
                        </script>
                        <ambient>1 1 1 1</ambient>
                    </material>
                    <meta>
                        <layer>0</layer>
                    </meta>
                </visual>
                <collision name='Stairs_3_Collision_0'>
                    <geometry>
                        <box>
                            <size>1 0.175 0.075</size>
                        </box>
                    </geometry>
                    <pose frame=''>0 1.6625 0.0375 0 -0 0</pose>
                </collision>
                <visual name='Stairs_3_Visual_1'>
                    <pose frame=''>0 1.4875 0.1125 0 -0 0</pose>
                    <geometry>
                        <box>
                            <size>1 0.175 0.075</size>
                        </box>
                    </geometry>
                    <material>
                        <script>
                            <uri>file://media/materials/scripts/gazebo.material</uri>
                            <name>Gazebo/Grey</name>
                        </script>
                        <ambient>1 1 1 1</ambient>
                    </material>
                    <meta>
                        <layer>0</layer>
                    </meta>
                </visual>
                <collision name='Stairs_3_Collision_1'>
                    <geometry>
                        <box>
                            <size>1 0.175 0.075</size>
                        </box>
                    </geometry>
                    <pose frame=''>0 1.4875 0.1125 0 -0 0</pose>
                </collision>
                <visual name='Stairs_3_Visual_2'>
                    <pose frame=''>0 1.3125 0.1875 0 -0 0</pose>
                    <geometry>
                        <box>
                            <size>1 0.175 0.075</size>
                        </box>
                    </geometry>
                    <material>
                        <script>
                            <uri>file://media/materials/scripts/gazebo.material</uri>
                            <name>Gazebo/Grey</name>
                        </script>
                        <ambient>1 1 1 1</ambient>
                    </material>
                    <meta>
                        <layer>0</layer>
                    </meta>
                </visual>
                <collision name='Stairs_3_Collision_2'>
                    <geometry>
                        <box>
                            <size>1 0.175 0.075</size>
                        </box>
                    </geometry>
                    <pose frame=''>0 1.3125 0.1875 0 -0 0</pose>
                </collision>
                <visual name='Stairs_3_Visual_3'>
                    <pose frame=''>0 1.1375 0.2625 0 -0 0</pose>
                    <geometry>
                        <box>
                            <size>1 0.175 0.075</size>
                        </box>
                    </geometry>
                    <material>
                        <script>
                            <uri>file://media/materials/scripts/gazebo.material</uri>
                            <name>Gazebo/Grey</name>
                        </script>
                        <ambient>1 1 1 1</ambient>
                    </material>
                    <meta>
                        <layer>0</layer>
                    </meta>
                </visual>
                <collision name='Stairs_3_Collision_3'>
                    <geometry>
                        <box>
                            <size>1 0.175 0.075</size>
                        </box>
                    </geometry>
                    <pose frame=''>0 1.1375 0.2625 0 -0 0</pose>
                </collision>
                <visual name='Stairs_3_Visual_4'>
                    <pose frame=''>0 0.9625 0.3375 0 -0 0</pose>
                    <geometry>
                        <box>
                            <size>1 0.175 0.075</size>
                        </box>
                    </geometry>
                    <material>
                        <script>
                            <uri>file://media/materials/scripts/gazebo.material</uri>
                            <name>Gazebo/Grey</name>
                        </script>
                        <ambient>1 1 1 1</ambient>
                    </material>
                    <meta>
                        <layer>0</layer>
                    </meta>
                </visual>
                <collision name='Stairs_3_Collision_4'>
                    <geometry>
                        <box>
                            <size>1 0.175 0.075</size>
                        </box>
                    </geometry>
                    <pose frame=''>0 0.9625 0.3375 0 -0 0</pose>
                </collision>
                <visual name='Stairs_3_Visual_5'>
                    <pose frame=''>0 0.7875 0.4125 0 -0 0</pose>
                    <geometry>
                        <box>
                            <size>1 0.175 0.075</size>
                        </box>
                    </geometry>
                    <material>
                        <script>
                            <uri>file://media/materials/scripts/gazebo.material</uri>
                            <name>Gazebo/Grey</name>
                        </script>
                        <ambient>1 1 1 1</ambient>
                    </material>
                    <meta>
                        <layer>0</layer>
                    </meta>
                </visual>
                <collision name='Stairs_3_Collision_5'>
                    <geometry>
                        <box>
                            <size>1 0.175 0.075</size>
                        </box>
                    </geometry>
                    <pose frame=''>0 0.7875 0.4125 0 -0 0</pose>
                </collision>
                <visual name='Stairs_3_Visual_6'>
                    <pose frame=''>0 0.6125 0.4875 0 -0 0</pose>
                    <geometry>
                        <box>
                            <size>1 0.175 0.075</size>
                        </box>
                    </geometry>
                    <material>
                        <script>
                            <uri>file://media/materials/scripts/gazebo.material</uri>
                            <name>Gazebo/Grey</name>
                        </script>
                        <ambient>1 1 1 1</ambient>
                    </material>
                    <meta>
                        <layer>0</layer>
                    </meta>
                </visual>
                <collision name='Stairs_3_Collision_6'>
                    <geometry>
                        <box>
                            <size>1 0.175 0.075</size>
                        </box>
                    </geometry>
                    <pose frame=''>0 0.6125 0.4875 0 -0 0</pose>
                </collision>
                <visual name='Stairs_3_Visual_7'>
                    <pose frame=''>0 0.4375 0.5625 0 -0 0</pose>
                    <geometry>
                        <box>
                            <size>1 0.175 0.075</size>
                        </box>
                    </geometry>
                    <material>
                        <script>
                            <uri>file://media/materials/scripts/gazebo.material</uri>
                            <name>Gazebo/Grey</name>
                        </script>
                        <ambient>1 1 1 1</ambient>
                    </material>
                    <meta>
                        <layer>0</layer>
                    </meta>
                </visual>
                <collision name='Stairs_3_Collision_7'>
                    <geometry>
                        <box>
                            <size>1 0.175 0.075</size>
                        </box>
                    </geometry>
                    <pose frame=''>0 0.4375 0.5625 0 -0 0</pose>
                </collision>
                <visual name='Stairs_3_Visual_8'>
                    <pose frame=''>0 0.2625 0.6375 0 -0 0</pose>
                    <geometry>
                        <box>
                            <size>1 0.175 0.075</size>
                        </box>
                    </geometry>
                    <material>
                        <script>
                            <uri>file://media/materials/scripts/gazebo.material</uri>
                            <name>Gazebo/Grey</name>
                        </script>
                        <ambient>1 1 1 1</ambient>
                    </material>
                    <meta>
                        <layer>0</layer>
                    </meta>
                </visual>
                <collision name='Stairs_3_Collision_8'>
                    <geometry>
                        <box>
                            <size>1 0.175 0.075</size>
                        </box>
                    </geometry>
                    <pose frame=''>0 0.2625 0.6375 0 -0 0</pose>
                </collision>
                <visual name='Stairs_3_Visual_9'>
                    <pose frame=''>0 0.0875 0.7125 0 -0 0</pose>
                    <geometry>
                        <box>
                            <size>1 0.175 0.075</size>
                        </box>
                    </geometry>
                    <material>
                        <script>
                            <uri>file://media/materials/scripts/gazebo.material</uri>
                            <name>Gazebo/Grey</name>
                        </script>
                        <ambient>1 1 1 1</ambient>
                    </material>
                    <meta>
                        <layer>0</layer>
                    </meta>
                </visual>
                <collision name='Stairs_3_Collision_9'>
                    <geometry>
                        <box>
                            <size>1 0.175 0.075</size>
                        </box>
                    </geometry>
                    <pose frame=''>0 0.0875 0.7125 0 -0 0</pose>
                </collision>
                <visual name='Stairs_3_Visual_10'>
                    <pose frame=''>0 -0.0875 0.7875 0 -0 0</pose>
                    <geometry>
                        <box>
                            <size>1 0.175 0.075</size>
                        </box>
                    </geometry>
                    <material>
                        <script>
                            <uri>file://media/materials/scripts/gazebo.material</uri>
                            <name>Gazebo/Grey</name>
                        </script>
                        <ambient>1 1 1 1</ambient>
                    </material>
                    <meta>
                        <layer>0</layer>
                    </meta>
                </visual>
                <collision name='Stairs_3_Collision_10'>
                    <geometry>
                        <box>
                            <size>1 0.175 0.075</size>
                        </box>
                    </geometry>
                    <pose frame=''>0 -0.0875 0.7875 0 -0 0</pose>
                </collision>
                <visual name='Stairs_3_Visual_11'>
                    <pose frame=''>0 -0.2625 0.8625 0 -0 0</pose>
                    <geometry>
                        <box>
                            <size>1 0.175 0.075</size>
                        </box>
                    </geometry>
                    <material>
                        <script>
                            <uri>file://media/materials/scripts/gazebo.material</uri>
                            <name>Gazebo/Grey</name>
                        </script>
                        <ambient>1 1 1 1</ambient>
                    </material>
                    <meta>
                        <layer>0</layer>
                    </meta>
                </visual>
                <collision name='Stairs_3_Collision_11'>
                    <geometry>
                        <box>
                            <size>1 0.175 0.075</size>
                        </box>
                    </geometry>
                    <pose frame=''>0 -0.2625 0.8625 0 -0 0</pose>
                </collision>
                <visual name='Stairs_3_Visual_12'>
                    <pose frame=''>0 -0.4375 0.9375 0 -0 0</pose>
                    <geometry>
                        <box>
                            <size>1 0.175 0.075</size>
                        </box>
                    </geometry>
                    <material>
                        <script>
                            <uri>file://media/materials/scripts/gazebo.material</uri>
                            <name>Gazebo/Grey</name>
                        </script>
                        <ambient>1 1 1 1</ambient>
                    </material>
                    <meta>
                        <layer>0</layer>
                    </meta>
                </visual>
                <collision name='Stairs_3_Collision_12'>
                    <geometry>
                        <box>
                            <size>1 0.175 0.075</size>
                        </box>
                    </geometry>
                    <pose frame=''>0 -0.4375 0.9375 0 -0 0</pose>
                </collision>
                <visual name='Stairs_3_Visual_13'>
                    <pose frame=''>0 -0.6125 1.0125 0 -0 0</pose>
                    <geometry>
                        <box>
                            <size>1 0.175 0.075</size>
                        </box>
                    </geometry>
                    <material>
                        <script>
                            <uri>file://media/materials/scripts/gazebo.material</uri>
                            <name>Gazebo/Grey</name>
                        </script>
                        <ambient>1 1 1 1</ambient>
                    </material>
                    <meta>
                        <layer>0</layer>
                    </meta>
                </visual>
                <collision name='Stairs_3_Collision_13'>
                    <geometry>
                        <box>
                            <size>1 0.175 0.075</size>
                        </box>
                    </geometry>
                    <pose frame=''>0 -0.6125 1.0125 0 -0 0</pose>
                </collision>
                <visual name='Stairs_3_Visual_14'>
                    <pose frame=''>0 -0.7875 1.0875 0 -0 0</pose>
                    <geometry>
                        <box>
                            <size>1 0.175 0.075</size>
                        </box>
                    </geometry>
                    <material>
                        <script>
                            <uri>file://media/materials/scripts/gazebo.material</uri>
                            <name>Gazebo/Grey</name>
                        </script>
                        <ambient>1 1 1 1</ambient>
                    </material>
                    <meta>
                        <layer>0</layer>
                    </meta>
                </visual>
                <collision name='Stairs_3_Collision_14'>
                    <geometry>
                        <box>
                            <size>1 0.175 0.075</size>
                        </box>
                    </geometry>
                    <pose frame=''>0 -0.7875 1.0875 0 -0 0</pose>
                </collision>
                <visual name='Stairs_3_Visual_15'>
                    <pose frame=''>0 -0.9625 1.1625 0 -0 0</pose>
                    <geometry>
                        <box>
                            <size>1 0.175 0.075</size>
                        </box>
                    </geometry>
                    <material>
                        <script>
                            <uri>file://media/materials/scripts/gazebo.material</uri>
                            <name>Gazebo/Grey</name>
                        </script>
                        <ambient>1 1 1 1</ambient>
                    </material>
                    <meta>
                        <layer>0</layer>
                    </meta>
                </visual>
                <collision name='Stairs_3_Collision_15'>
                    <geometry>
                        <box>
                            <size>1 0.175 0.075</size>
                        </box>
                    </geometry>
                    <pose frame=''>0 -0.9625 1.1625 0 -0 0</pose>
                </collision>
                <visual name='Stairs_3_Visual_16'>
                    <pose frame=''>0 -1.1375 1.2375 0 -0 0</pose>
                    <geometry>
                        <box>
                            <size>1 0.175 0.075</size>
                        </box>
                    </geometry>
                    <material>
                        <script>
                            <uri>file://media/materials/scripts/gazebo.material</uri>
                            <name>Gazebo/Grey</name>
                        </script>
                        <ambient>1 1 1 1</ambient>
                    </material>
                    <meta>
                        <layer>0</layer>
                    </meta>
                </visual>
                <collision name='Stairs_3_Collision_16'>
                    <geometry>
                        <box>
                            <size>1 0.175 0.075</size>
                        </box>
                    </geometry>
                    <pose frame=''>0 -1.1375 1.2375 0 -0 0</pose>
                </collision>
                <visual name='Stairs_3_Visual_17'>
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