<?xml version='1.0'?>
<sdf version='1.5'>
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      <inertial>
        <pose frame=''>-0 -0.018119 0.15 0 -0 0</pose>
        <mass>60</mass>
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        </inertia>
      </inertial>
      <self_collide>0</self_collide>
      <kinematic>0</kinematic>
      <velocity_decay/>
      <sensor name='elevatorUltrasonic' type='sonar'>
        <always_on>1</always_on>
        <visualize>1</visualize>
        <pose frame=''>0 0 0.05 1.5707 -0 0</pose>
        <sonar>
          <min>0</min>
          <max>2</max>
          <radius>0.1</radius>
        </sonar>
      </sensor>
      <sensor name='robotCamera' type='camera'>
        <visualize>1</visualize>
        <camera name='__default__'>
          <horizontal_fov>1.5</horizontal_fov>
          <image>
            <width>320</width>
            <height>240</height>
          </image>
          <clip>
            <near>0.1</near>
            <far>100</far>
          </clip>
        </camera>
        <pose frame=''>0 -0.12 1.8 0 1 1.5707</pose>
      </sensor>
      <visual name='base_visual'>
        <pose frame=''>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://TheKraken/meshes/base.STL</uri>
          </mesh>
        </geometry>
        <material>
          <script>
            <uri>__default__</uri>
            <name>__default__</name>
          </script>
          <shader type='pixel'/>
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        <cast_shadows>1</cast_shadows>
        <transparency>0</transparency>
      </visual>
      <visual name='base_lump::Camera_visual_1'>
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        <geometry>
          <box>
            <size>0.05 0.05 0.1</size>
          </box>
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          <script>
            <name>Gazebo/Red</name>
            <uri>file://media/materials/scripts/gazebo.material</uri>
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        </material>
        <cast_shadows>1</cast_shadows>
        <transparency>0</transparency>
      </visual>
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        <laser_retro>0</laser_retro>
        <max_contacts>10</max_contacts>
        <pose frame=''>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <uri>model://TheKraken/meshes/base.STL</uri>
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              <mu>1</mu>
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          </friction>
          <bounce>
            <restitution_coefficient>0</restitution_coefficient>
            <threshold>1e+06</threshold>
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            <collide_without_contact>0</collide_without_contact>
            <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
            <collide_bitmask>1</collide_bitmask>
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              <kp>1e+13</kp>
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    </link>
    <link name='elevator'>
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      <self_collide>0</self_collide>
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      <visual name='elevator_visual'>
        <pose frame=''>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://TheKraken/meshes/elevator.STL</uri>
          </mesh>
        </geometry>
        <material>
          <shader type='pixel'/>
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        <transparency>0</transparency>
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        <pose frame=''>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <uri>model://TheKraken/meshes/elevator.STL</uri>
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            <restitution_coefficient>0</restitution_coefficient>
            <threshold>1e+06</threshold>
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          <contact>
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              <kp>1e+13</kp>
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            </bullet>
          </contact>
        </surface>
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    </link>
    <link name='front_left_wheel'>
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        <pose frame=''>0 0 0 0 -0 0</pose>
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      </inertial>
      <self_collide>0</self_collide>
      <kinematic>0</kinematic>
      <velocity_decay/>
      <visual name='front_left_wheel_visual'>
        <pose frame=''>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://TheKraken/meshes/front_left_wheel.STL</uri>
          </mesh>
        </geometry>
        <material>
          <script>
            <name>Gazebo/Black</name>
            <uri>file://media/materials/scripts/gazebo.material</uri>
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          <diffuse>0 0 0 1</diffuse>
          <specular>0.1 0.1 0.1 1</specular>
          <emissive>0 0 0 1</emissive>
        </material>
        <cast_shadows>1</cast_shadows>
        <transparency>0</transparency>
      </visual>
      <collision name='front_left_wheel_collision'>
        <laser_retro>0</laser_retro>
        <max_contacts>10</max_contacts>
        <pose frame=''>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <uri>model://TheKraken/meshes/front_left_wheel.STL</uri>
          </mesh>
        </geometry>
        <surface>
          <friction>
            <ode>
              <mu>1</mu>
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          <bounce>
            <restitution_coefficient>0</restitution_coefficient>
            <threshold>1e+06</threshold>
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          <contact>
            <collide_without_contact>0</collide_without_contact>
            <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
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              <kp>1e+13</kp>
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        </surface>
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    </link>
    <link name='front_right_wheel'>
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      <velocity_decay/>
      <visual name='front_right_wheel_visual'>
        <pose frame=''>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
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          </mesh>
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        <cast_shadows>1</cast_shadows>
        <transparency>0</transparency>
      </visual>
      <collision name='front_right_wheel_collision'>
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        <pose frame=''>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <uri>model://TheKraken/meshes/front_right_wheel.STL</uri>
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        <surface>
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            <threshold>1e+06</threshold>
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              <kp>1e+13</kp>
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        </surface>
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      <self_collide>0</self_collide>
      <kinematic>0</kinematic>
      <velocity_decay/>
      <sensor name='leftClawContact' type='contact'>
        <always_on>1</always_on>
        <contact>
          <collision>leftClaw_collision</collision>
          <topic>__default_topic__</topic>
        </contact>
      </sensor>
      <visual name='left_claw_visual'>
        <pose frame=''>0 0 0 0 -0 0</pose>
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            <scale>1 1 1</scale>
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            <name>Gazebo/Green</name>
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        <pose frame=''>0 0 0 0 -0 0</pose>
        <geometry>
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      <velocity_decay/>
      <visual name='rear_left_wheel_visual'>
        <pose frame=''>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
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            <uri>model://TheKraken/meshes/rear_left_wheel.STL</uri>
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          <diffuse>0 0 0 1</diffuse>
          <specular>0.1 0.1 0.1 1</specular>
          <emissive>0 0 0 1</emissive>
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        <pose frame=''>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <uri>model://TheKraken/meshes/rear_left_wheel.STL</uri>
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            <threshold>1e+06</threshold>
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      <velocity_decay/>
      <visual name='rear_right_wheel_visual'>
        <pose frame=''>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
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            <uri>model://TheKraken/meshes/rear_right_wheel.STL</uri>
          </mesh>
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        <pose frame=''>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <uri>model://TheKraken/meshes/rear_right_wheel.STL</uri>
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          <bounce>
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            <threshold>1e+06</threshold>
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              <kp>1e+13</kp>
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        </surface>
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    <link name='right_claw'>
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          <ixy>-1.07334e-18</ixy>
          <ixz>-2.75539e-21</ixz>
          <iyy>4.01162e-05</iyy>
          <iyz>-2.4894e-19</iyz>
          <izz>0.0102725</izz>
        </inertia>
      </inertial>
      <self_collide>0</self_collide>
      <kinematic>0</kinematic>
      <velocity_decay/>
      <visual name='right_claw_visual'>
        <pose frame=''>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://TheKraken/meshes/right_claw.STL</uri>
          </mesh>
        </geometry>
        <material>
          <script>
            <name>Gazebo/Green</name>
            <uri>file://media/materials/scripts/gazebo.material</uri>
          </script>
          <shader type='pixel'/>
          <ambient>0 1 0 1</ambient>
          <diffuse>0 1 0 1</diffuse>
          <specular>0.1 0.1 0.1 1</specular>
          <emissive>0 0 0 1</emissive>
        </material>
        <cast_shadows>1</cast_shadows>
        <transparency>0</transparency>
      </visual>
      <collision name='right_claw_collision'>
        <laser_retro>0</laser_retro>
        <max_contacts>10</max_contacts>
        <pose frame=''>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <uri>model://TheKraken/meshes/right_claw.STL</uri>
          </mesh>
        </geometry>
        <surface>
          <friction>
            <ode>
              <mu>1</mu>
              <mu2>1</mu2>
              <fdir1>0 0 0</fdir1>
              <slip1>0</slip1>
              <slip2>0</slip2>
            </ode>
          </friction>
          <bounce>
            <restitution_coefficient>0</restitution_coefficient>
            <threshold>1e+06</threshold>
          </bounce>
          <contact>
            <collide_without_contact>0</collide_without_contact>
            <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
            <collide_bitmask>1</collide_bitmask>
            <ode>
              <soft_cfm>0</soft_cfm>
              <soft_erp>0.2</soft_erp>
              <kp>1e+13</kp>
              <kd>1</kd>
              <max_vel>0.01</max_vel>
              <min_depth>0</min_depth>
            </ode>
            <bullet>
              <split_impulse>1</split_impulse>
              <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
              <soft_cfm>0</soft_cfm>
              <soft_erp>0.2</soft_erp>
              <kp>1e+13</kp>
              <kd>1</kd>
            </bullet>
          </contact>
        </surface>
      </collision>
    </link>
    <joint name='elevator_axel' type='prismatic'>
      <parent>base</parent>
      <child>elevator</child>
      <axis>
        <xyz>0 0 1</xyz>
        <use_parent_model_frame>1</use_parent_model_frame>
        <limit>
          <lower>0</lower>
          <upper>1.66</upper>
          <effort>300</effort>
          <velocity>5</velocity>
        </limit>
        <dynamics>
          <spring_reference>0</spring_reference>
          <spring_stiffness>0</spring_stiffness>
          <damping>100</damping>
          <friction>0</friction>
        </dynamics>
      </axis>
      <physics>
        <ode>
          <limit>
            <cfm>0</cfm>
            <erp>0.2</erp>
          </limit>
          <suspension>
            <cfm>0</cfm>
            <erp>0.2</erp>
          </suspension>
        </ode>
      </physics>
    </joint>
    <joint name='front_left_axel' type='revolute'>
      <parent>base</parent>
      <child>front_left_wheel</child>
      <axis>
        <xyz>-1 1e-06 0</xyz>
        <use_parent_model_frame>1</use_parent_model_frame>
        <limit>
          <lower>-1e+16</lower>
          <upper>1e+16</upper>
          <effort>-1</effort>
          <velocity>-1</velocity>
        </limit>
        <dynamics>
          <spring_reference>0</spring_reference>
          <spring_stiffness>0</spring_stiffness>
          <damping>2</damping>
          <friction>0.4</friction>
        </dynamics>
      </axis>
      <physics>
        <ode>
          <limit>
            <cfm>0</cfm>
            <erp>0.2</erp>
          </limit>
          <suspension>
            <cfm>0</cfm>
            <erp>0.2</erp>
          </suspension>
        </ode>
      </physics>
    </joint>
    <joint name='front_right_axel' type='revolute'>
      <parent>base</parent>
      <child>front_right_wheel</child>
      <axis>
        <xyz>1 0 0</xyz>
        <use_parent_model_frame>1</use_parent_model_frame>
        <limit>
          <lower>-1e+16</lower>
          <upper>1e+16</upper>
          <effort>-1</effort>
          <velocity>-1</velocity>
        </limit>
        <dynamics>
          <spring_reference>0</spring_reference>
          <spring_stiffness>0</spring_stiffness>
          <damping>1</damping>
          <friction>0.4</friction>
        </dynamics>
      </axis>
      <physics>
        <ode>
          <limit>
            <cfm>0</cfm>
            <erp>0.2</erp>
          </limit>
          <suspension>
            <cfm>0</cfm>
            <erp>0.2</erp>
          </suspension>
        </ode>
      </physics>
    </joint>
    <joint name='left_claw_axel' type='prismatic'>
      <parent>elevator</parent>
      <child>left_claw</child>
      <axis>
        <xyz>1 0 -0</xyz>
        <use_parent_model_frame>1</use_parent_model_frame>
        <limit>
          <lower>-0.02</lower>
          <upper>0.21</upper>
          <effort>100</effort>
          <velocity>5</velocity>
        </limit>
        <dynamics>
          <spring_reference>0</spring_reference>
          <spring_stiffness>0</spring_stiffness>
          <damping>0.4</damping>
          <friction>1</friction>
        </dynamics>
      </axis>
      <physics>
        <ode>
          <limit>
            <cfm>0</cfm>
            <erp>0.2</erp>
          </limit>
          <suspension>
            <cfm>0</cfm>
            <erp>0.2</erp>
          </suspension>
        </ode>
      </physics>
    </joint>
    <joint name='rear_left_axel' type='revolute'>
      <parent>base</parent>
      <child>rear_left_wheel</child>
      <axis>
        <xyz>-1 0 0</xyz>
        <use_parent_model_frame>1</use_parent_model_frame>
        <limit>
          <lower>-1e+16</lower>
          <upper>1e+16</upper>
          <effort>-1</effort>
          <velocity>-1</velocity>
        </limit>
        <dynamics>
          <spring_reference>0</spring_reference>
          <spring_stiffness>0</spring_stiffness>
          <damping>0.9</damping>
          <friction>0.4</friction>
        </dynamics>
      </axis>
      <physics>
        <ode>
          <limit>
            <cfm>0</cfm>
            <erp>0.2</erp>
          </limit>
          <suspension>
            <cfm>0</cfm>
            <erp>0.2</erp>
          </suspension>
        </ode>
      </physics>
    </joint>
    <joint name='rear_right_axel' type='revolute'>
      <parent>base</parent>
      <child>rear_right_wheel</child>
      <axis>
        <xyz>1 0 0</xyz>
        <use_parent_model_frame>1</use_parent_model_frame>
        <limit>
          <lower>-1e+16</lower>
          <upper>1e+16</upper>
          <effort>-1</effort>
          <velocity>-1</velocity>
        </limit>
        <dynamics>
          <spring_reference>0</spring_reference>
          <spring_stiffness>0</spring_stiffness>
          <damping>1</damping>
          <friction>0.4</friction>
        </dynamics>
      </axis>
      <physics>
        <ode>
          <limit>
            <cfm>0</cfm>
            <erp>0.2</erp>
          </limit>
          <suspension>
            <cfm>0</cfm>
            <erp>0.2</erp>
          </suspension>
        </ode>
      </physics>
    </joint>
    <joint name='right_claw_axel' type='prismatic'>
      <parent>elevator</parent>
      <child>right_claw</child>
      <axis>
        <xyz>1 0 0</xyz>
        <use_parent_model_frame>1</use_parent_model_frame>
        <limit>
          <lower>-0.2</lower>
          <upper>0.02</upper>
          <effort>100</effort>
          <velocity>5</velocity>
        </limit>
        <dynamics>
          <spring_reference>0</spring_reference>
          <spring_stiffness>0</spring_stiffness>
          <damping>1</damping>
          <friction>1</friction>
        </dynamics>
      </axis>
      <physics>
        <ode>
          <limit>
            <cfm>0</cfm>
            <erp>0.2</erp>
          </limit>
          <suspension>
            <cfm>0</cfm>
            <erp>0.2</erp>
          </suspension>
        </ode>
      </physics>
    </joint>
    <static>0</static>
    <allow_auto_disable>1</allow_auto_disable>
    <plugin name='clock' filename='libclock.so'>
      <topic>/gazebo/frc/time</topic>
    </plugin>
    <plugin name='chassis_gyro' filename='libgyro.so'>
      <link>base</link>
      <topic>/gazebo/frc/simulator/analog/1</topic>
      <axis>yaw</axis>
      <units>degrees</units>
    </plugin>
    <plugin name='front_left_drive' filename='libdc_motor.so'>
      <joint>front_left_axel</joint>
      <topic>/gazebo/frc/simulator/pwm/1</topic>
      <multiplier>-16</multiplier>
    </plugin>
    <plugin name='front_left_encoder' filename='libencoder.so'>
      <joint>front_left_axel</joint>
      <topic>/gazebo/frc/simulator/dio/2/3</topic>
      <units>degrees</units>
    </plugin>
    <plugin name='front_right_drive' filename='libdc_motor.so'>
      <joint>front_right_axel</joint>
      <topic>/gazebo/frc/simulator/pwm/2</topic>
      <multiplier>-16</multiplier>
    </plugin>
    <plugin name='front_right_encoder' filename='libencoder.so'>
      <joint>front_right_axel</joint>
      <topic>/gazebo/frc/simulator/dio/4/5</topic>
      <units>degrees</units>
    </plugin>
    <plugin name='rear_left_drive' filename='libdc_motor.so'>
      <joint>rear_left_axel</joint>
      <topic>/gazebo/frc/simulator/pwm/3</topic>
      <multiplier>-16</multiplier>
    </plugin>
    <plugin name='rear_right_drive' filename='libdc_motor.so'>
      <joint>rear_right_axel</joint>
      <topic>/gazebo/frc/simulator/pwm/4</topic>
      <multiplier>-16</multiplier>
    </plugin>
    <plugin name='elavator_motor' filename='libdc_motor.so'>
      <joint>elevator_axel</joint>
      <topic>/gazebo/frc/simulator/pwm/6</topic>
      <multiplier>175.0</multiplier>
    </plugin>
    <plugin name='left_claw_motor' filename='libdc_motor.so'>
      <joint>left_claw_axel</joint>
      <topic>/gazebo/frc/simulator/pwm/5</topic>
      <multiplier>60.0</multiplier>
    </plugin>
    <plugin name='right_claw_motor' filename='libdc_motor.so'>
      <joint>right_claw_axel</joint>
      <topic>/gazebo/frc/simulator/pwm/5</topic>
      <multiplier>-60.0</multiplier>
    </plugin>
    <plugin name='elevator_encoder' filename='libencoder.so'>
      <joint>elevator_axel</joint>
      <topic>/gazebo/frc/simulator/dio/0/1</topic>
      <units>degrees</units>
    </plugin>
    <plugin name='claw_encoder' filename='libencoder.so'>
      <joint>left_claw_axel</joint>
      <topic>/gazebo/frc/simulator/dio/6/7</topic>
      <units>degrees</units>
    </plugin>
    <plugin name='leftClawContact_limit' filename='liblimit_switch.so'>
      <topic>/gazebo/frc/simulator/dio/8</topic>
      <type>external</type>
      <sensor>leftClawContact</sensor>
    </plugin>
    <plugin name='elevatorUltrasonic_rangefinder' filename='librangefinder.so'>
      <sensor>elevatorUltrasonic</sensor>
      <topic>/gazebo/frc/simulator/analog/2</topic>
    </plugin>
  </model>
</sdf>
