<sdf version='1.4'>
  <model name='PacGoat'>
    <plugin name="clock" filename="libclock.so">
      <topic>/gazebo/frc/time</topic>
    </plugin>
    
    <!-- Drive Train -->
    <plugin name="Wheel_A_motor" filename="libdc_motor.so">
      <joint>Wheel_A_cont</joint>
      <topic>/gazebo/frc/simulator/pwm/2</topic>
      <multiplier>0.0</multiplier>
    </plugin>
    <plugin name="Wheel_B_motor" filename="libdc_motor.so">
      <joint>Wheel_B_cont</joint>
      <topic>/gazebo/frc/simulator/pwm/2</topic>
      <multiplier>-5.0</multiplier>
    </plugin>
    <plugin name="Wheel_C_motor" filename="libdc_motor.so">
      <joint>Wheel_C_cont</joint>
      <topic>/gazebo/frc/simulator/pwm/2</topic>
      <multiplier>-5.0</multiplier>
    </plugin>
    <plugin name="Wheel_D_motor" filename="libdc_motor.so">
      <joint>Wheel_D_cont</joint>
      <topic>/gazebo/frc/simulator/pwm/1</topic>
      <multiplier>5.0</multiplier>
    </plugin>
    <plugin name="Wheel_E_motor" filename="libdc_motor.so">
      <joint>Wheel_E_cont</joint>
      <topic>/gazebo/frc/simulator/pwm/1</topic>
      <multiplier>5.0</multiplier>
    </plugin>
    <plugin name="Wheel_F_motor" filename="libdc_motor.so">
      <joint>Wheel_F_cont</joint>
      <topic>/gazebo/frc/simulator/pwm/1</topic>
      <multiplier>0.0</multiplier>
    </plugin>
    
    <plugin name="Wheel_A_encoder" filename="libencoder.so">
      <joint>Wheel_A_cont</joint>
      <topic>/gazebo/frc/simulator/dio/1/2</topic>
      <units>degrees</units>
    </plugin>
    <plugin name="Wheel_F_encoder" filename="libencoder.so">
      <joint>Wheel_A_cont</joint>
      <topic>/gazebo/frc/simulator/dio/3/4</topic>
      <units>degrees</units>
    </plugin>
    
    <plugin name="gyro" filename="libgyro.so">
      <link>Chassis</link>
      <topic>/gazebo/frc/simulator/analog/2</topic>
      <axis>yaw</axis>
      <units>degrees</units>
    </plugin>
    
    <!-- Pivot -->
    <plugin name="DBOS_motor" filename="libdc_motor.so">
      <joint>DBOS_rev</joint>
      <topic>/gazebo/frc/simulator/pwm/5</topic>
      <multiplier>50.0</multiplier>
    </plugin>
    <plugin name="DBOS_pot" filename="libpotentiometer.so">
      <joint>DBOS_rev</joint>
      <topic>/gazebo/frc/simulator/analog/1</topic>
      <units>degrees</units>
    </plugin>
    <plugin name="DBOS_upper_limit" filename="liblimit_switch.so">
      <topic>/gazebo/frc/simulator/dio/12</topic>
      <type>internal</type>
      <joint>DBOS_rev</joint>
      <units>degrees</units>
      <min>105</min>
      <max>120</max> <!-- Actual: ~114 -->
    </plugin>
    <plugin name="DBOS_lower_limit" filename="liblimit_switch.so">
      <topic>/gazebo/frc/simulator/dio/13</topic>
      <type>internal</type>
      <joint>DBOS_rev</joint>
      <units>degrees</units>
      <min>-20</min> <!-- Actual: ~-14 -->
      <max>-5</max>
    </plugin>

    <!-- Collector -->
    <plugin name="Left_roller_motor" filename="libdc_motor.so">
      <joint>Left_roller_cont</joint>
      <topic>/gazebo/frc/simulator/pwm/6</topic>
      <multiplier>-7.5</multiplier>
    </plugin>
    <plugin name="Center_roller_motor" filename="libdc_motor.so">
      <joint>Center_roller_cont</joint>
      <topic>/gazebo/frc/simulator/pwm/6</topic>
      <multiplier>-7.5</multiplier>
    </plugin>
    <plugin name="Right_roller_motor" filename="libdc_motor.so">
      <joint>Right_roller_cont</joint>
      <topic>/gazebo/frc/simulator/pwm/6</topic>
      <multiplier>-7.5</multiplier>
    </plugin>
    <plugin name="Top_jaw_pot" filename="libpotentiometer.so">
      <joint>Top_jaw_rev</joint>
      <topic>/gazebo/frc/simulator/analog/3</topic>
      <units>degrees</units>
    </plugin>
    <plugin name="Center_roller_encoder" filename="libencoder.so">
      <joint>Center_roller_cont</joint>
      <topic>/gazebo/frc/simulator/dio/5/6</topic>
      <units>degrees</units>
    </plugin>

    <plugin name="Top_jaw_piston" filename="libpneumatic_piston.so">
      <joint>Top_jaw_rev</joint>
      <topic>/gazebo/frc/simulator/pneumatic/1/1</topic>
      <forward-force>25</forward-force>
      <reverse-force>50</reverse-force>
    </plugin>
                                           
    <plugin name="Top_jaw_limit" filename="liblimit_switch.so">
      <topic>/gazebo/frc/simulator/dio/6</topic>
      <type>internal</type>
      <joint>Top_jaw_rev</joint>
      <units>degrees</units>
      <min>26</min> <!-- Actual: ~28 -->
      <max>40</max>
    </plugin>
    <plugin name="Ball_sense_limit" filename="liblimit_switch.so">
      <topic>/gazebo/frc/simulator/dio/10</topic>
      <type>external</type>
      <sensor>ballContact</sensor>
    </plugin>

    <!-- Shooter -->
    <plugin name="Shooter_piston" filename="libpneumatic_piston.so">
      <joint>Shooter_pris</joint>
      <topic>/gazebo/frc/simulator/pneumatic/1/3/1/4</topic>
      <direction>forward</direction>
      <forward-force>1000</forward-force>
      <reverse-force>1000</reverse-force>
    </plugin>
    <plugin name="Latch_motor" filename="libdc_motor.so">
      <joint>Latch_rev</joint>
      <topic>/gazebo/frc/simulator/pwm/16</topic>
      <multiplier>1.0</multiplier>
    </plugin>
    <plugin name="Latch_pot" filename="libpotentiometer.so">
      <joint>Latch_rev</joint>
      <topic>/gazebo/frc/simulator/analog/2</topic>
      <units>degrees</units>
    </plugin>
    
    <link name='Chassis'>
      <pose>0 0 0 0 -0 0</pose>
      <inertial>
        <pose>0.293995 0.000311384 0.0583569 0 -0 0</pose>
        <mass>36.672</mass>
        <inertia>
          <ixx>2.36322</ixx>
          <ixy>0.0350859</ixy>
          <ixz>-0.0148172</ixz>
          <iyy>3.15412</iyy>
          <iyz>-0.120636</iyz>
          <izz>1.46638</izz>
        </inertia>
      </inertial>
      <collision name='Chassis_collision'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://PacGoat/meshes/Chassis_col.STL</uri>
          </mesh>
        </geometry>
      </collision>
      <collision name='Chassis_collision_Bumpers'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://PacGoat/meshes/Bumpers_col.STL</uri>
          </mesh>
        </geometry>
        <surface>
          <contact>
            <ode/>
          </contact>
          <friction>
            <ode/>
          </friction>
        </surface>
      </collision>
      <collision name='Chassis_collision_Chassis_black'>
        <pose>0 0.05 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://PacGoat/meshes/Chassis_black_col.STL</uri>
          </mesh>
        </geometry>
        <surface>
          <contact>
            <ode/>
          </contact>
          <friction>
            <ode/>
          </friction>
        </surface>
      </collision>
      <collision name='Chassis_collision_Chassis_blue'>
        <pose>0 0.05 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://PacGoat/meshes/Chassis_blue_col.STL</uri>
          </mesh>
        </geometry>
        <surface>
          <contact>
            <ode/>
          </contact>
          <friction>
            <ode/>
          </friction>
        </surface>
      </collision>
      <collision name='Chassis_collision_Chassis_red'>
        <pose>0 0.05 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://PacGoat/meshes/Chassis_red_col.STL</uri>
          </mesh>
        </geometry>
        <surface>
          <contact>
            <ode/>
          </contact>
          <friction>
            <ode/>
          </friction>
        </surface>
      </collision>
      <collision name='Chassis_collision_Clear_plastic'>
        <pose>0 0.05 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://PacGoat/meshes/Clear_plastic_col.STL</uri>
          </mesh>
        </geometry>
        <surface>
          <contact>
            <ode/>
          </contact>
          <friction>
            <ode/>
          </friction>
        </surface>
      </collision>
      <collision name='Chassis_collision_Comm_light'>
        <pose>0 0.05 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://PacGoat/meshes/Comm_light_col.STL</uri>
          </mesh>
        </geometry>
        <surface>
          <contact>
            <ode/>
          </contact>
          <friction>
            <ode/>
          </friction>
        </surface>
      </collision>
      <collision name='Chassis_collision_Radio'>
        <pose>0 0.05 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://PacGoat/meshes/Radio_col.STL</uri>
          </mesh>
        </geometry>
        <surface>
          <contact>
            <ode/>
          </contact>
          <friction>
            <ode/>
          </friction>
        </surface>
      </collision>
      <visual name='Chassis_visual'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://PacGoat/meshes/Chassis.STL</uri>
          </mesh>
        </geometry>
      </visual>
      <visual name='Chassis_visual_Bumpers'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://PacGoat/meshes/Bumpers.STL</uri>
          </mesh>
        </geometry>
        <material>
          <script>
            <name>Gazebo/Red</name>
            <uri>__default__</uri>
          </script>
        </material>
      </visual>
      <visual name='Chassis_visual_Chassis_black'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://PacGoat/meshes/Chassis_black.STL</uri>
          </mesh>
        </geometry>
        <material>
          <script>
            <name>Gazebo/Black</name>
            <uri>__default__</uri>
          </script>
        </material>
      </visual>
      <visual name='Chassis_visual_Chassis_blue'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://PacGoat/meshes/Chassis_blue.STL</uri>
          </mesh>
        </geometry>
        <material>
          <script>
            <name>Gazebo/Blue</name>
            <uri>__default__</uri>
          </script>
        </material>
      </visual>
      <visual name='Chassis_visual_Chassis_red'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://PacGoat/meshes/Chassis_red.STL</uri>
          </mesh>
        </geometry>
        <material>
          <script>
            <name>Gazebo/Red</name>
            <uri>__default__</uri>
          </script>
        </material>
      </visual>
      <visual name='Chassis_visual_Clear_plastic'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://PacGoat/meshes/Clear_plastic.STL</uri>
          </mesh>
        </geometry>
        <material>
          <script>
            <name>Gazebo/White</name>
            <uri>__default__</uri>
          </script>
        </material>
      </visual>
      <visual name='Chassis_visual_Comm_light'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://PacGoat/meshes/Comm_light.STL</uri>
          </mesh>
        </geometry>
        <material>
          <script>
            <name>Gazebo/OrangeTransparent</name>
            <uri>__default__</uri>
          </script>
        </material>
      </visual>
      <visual name='Chassis_visual_Radio'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://PacGoat/meshes/Radio.STL</uri>
          </mesh>
        </geometry>
        <material>
          <script>
            <name>Gazebo/White</name>
            <uri>__default__</uri>
          </script>
        </material>
      </visual>
      <velocity_decay>
        <linear>0</linear>
        <angular>0</angular>
      </velocity_decay>
      <velocity_decay>
        <linear>0</linear>
        <angular>0</angular>
      </velocity_decay>
      <velocity_decay>
        <linear>0</linear>
        <angular>0</angular>
      </velocity_decay>
      <velocity_decay>
        <linear>0</linear>
        <angular>0</angular>
      </velocity_decay>
      <velocity_decay>
        <linear>0</linear>
        <angular>0</angular>
      </velocity_decay>
      <velocity_decay>
        <linear>0</linear>
        <angular>0</angular>
      </velocity_decay>
      <gravity>1</gravity>
      <velocity_decay>
        <linear>0</linear>
        <angular>0</angular>
      </velocity_decay>
      <self_collide>0</self_collide>
    </link>
    <link name='DBOS'>
      <pose>0.3937 0.54561 0.015364 0 -0 0</pose>
      <inertial>
        <pose>-0.106213 -0.0512344 0.00937354 0 -0 0</pose>
        <mass>3.21743</mass>
        <inertia>
          <ixx>0.179788</ixx>
          <ixy>-0.0018888</ixy>
          <ixz>-4.43753e-05</ixz>
          <iyy>0.0472273</iyy>
          <iyz>0.0101109</iyz>
          <izz>0.187977</izz>
        </inertia>
      </inertial>
      <collision name='DBOS_collision'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://PacGoat/meshes/DBOS_col.STL</uri>
          </mesh>
        </geometry>
        <surface>
          <contact>
            <ode/>
          </contact>
          <friction>
            <ode/>
          </friction>
        </surface>
      </collision>
      <collision name='DBOS_collision_Bottom_jaw'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://PacGoat/meshes/Bottom_jaw_col.STL</uri>
          </mesh>
        </geometry>
        <surface>
          <contact>
            <ode/>
          </contact>
          <friction>
            <ode/>
          </friction>
        </surface>
        <surface>
          <contact>
            <ode>
              <max_vel>0.001</max_vel>
              <min_depth>0.01</min_depth>
            </ode>
          </contact>
          <friction>
            <ode/>
          </friction>
        </surface>
      </collision>
      <visual name='DBOS_visual'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://PacGoat/meshes/DBOS.STL</uri>
          </mesh>
        </geometry>
        <material>
          <script>
            <name>Gazebo/Grey</name>
            <uri>__default__</uri>
          </script>
        </material>
      </visual>
      <visual name='DBOS_visual_Bottom_jaw'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://PacGoat/meshes/Bottom_jaw.STL</uri>
          </mesh>
        </geometry>
        <material>
          <script>
            <name>Gazebo/Yellow</name>
            <uri>__default__</uri>
          </script>
        </material>
      </visual>
      <velocity_decay>
        <linear>0</linear>
        <angular>0</angular>
      </velocity_decay>
      <gravity>1</gravity>
      <velocity_decay>
        <linear>0</linear>
        <angular>0</angular>
      </velocity_decay>
      <self_collide>0</self_collide>
      <sensor name="ballContact" type="contact">
        <always_on>true</always_on>
        <contact>
          <collision>DBOS_collision_Bottom_jaw</collision>
        </contact>
      </sensor>
    </link>
    <joint name='DBOS_rev' type='revolute'>
      <child>DBOS</child>
      <parent>Chassis</parent>
      <axis>
        <xyz>1 0 0</xyz>
        <limit>
          <lower>-0.25</lower>
          <upper>2</upper>
          <effort>100</effort>
          <velocity>5</velocity>
        </limit>
        <dynamics>
          <damping>10</damping>
          <friction>1</friction>
        </dynamics>
      </axis>
    </joint>
    <link name='Latch'>
      <pose>0.29131 0.512273 -0.007655 0 -0 0</pose>
      <inertial>
        <pose>-0.00238125 0.0808243 0.00722433 0 -0 0</pose>
        <mass>0.0191841</mass>
        <inertia>
          <ixx>5.32426e-05</ixx>
          <ixy>-1.50327e-20</ixy>
          <ixz>-1.1682e-21</ixz>
          <iyy>1.02605e-06</iyy>
          <iyz>2.32239e-06</iyz>
          <izz>5.22891e-05</izz>
        </inertia>
      </inertial>
      <collision name='Latch_collision'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://PacGoat/meshes/Latch.STL</uri>
          </mesh>
        </geometry>
        <surface>
          <contact>
            <ode/>
          </contact>
          <friction>
            <ode/>
          </friction>
        </surface>
      </collision>
      <visual name='Latch_visual'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://PacGoat/meshes/Latch.STL</uri>
          </mesh>
        </geometry>
        <material>
          <script>
            <name>Gazebo/Black</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='Latch_rev' type='revolute'>
      <child>Latch</child>
      <parent>DBOS</parent>
      <axis>
        <xyz>-1 0 0</xyz>
        <limit>
          <lower>0</lower>
          <upper>0.125</upper>
          <effort>100</effort>
          <velocity>10</velocity>
        </limit>
        <dynamics/>
      </axis>
    </joint>
    <link name='Shooter'>
      <pose>0.29131 0.512273 -0.007655 0 -0 0</pose>
      <inertial>
        <pose>-0.00329589 -0.0356931 0.0231459 0 -0 0</pose>
        <mass>1.69199</mass>
        <inertia>
          <ixx>0.0384033</ixx>
          <ixy>-0.000299614</ixy>
          <ixz>3.41753e-07</ixz>
          <iyy>0.00152541</iyy>
          <iyz>4.50576e-05</iyz>
          <izz>0.0395363</izz>
        </inertia>
      </inertial>
      <collision name='Shooter_collision'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://PacGoat/meshes/Shooter_col.STL</uri>
          </mesh>
        </geometry>
        <surface>
          <contact>
            <ode/>
          </contact>
          <friction>
            <ode/>
          </friction>
        </surface>
      </collision>
      <visual name='Shooter_visual'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://PacGoat/meshes/Shooter.STL</uri>
          </mesh>
        </geometry>
        <material>
          <script>
            <name>Gazebo/Grey</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='Shooter_pris' type='prismatic'>
      <child>Shooter</child>
      <parent>DBOS</parent>
      <axis>
        <xyz>0 1 0</xyz>
        <limit>
          <lower>-0.05</lower>
          <upper>0.15</upper>
          <effort>1e3</effort>
          <velocity>1e3</velocity>
        </limit>
        <dynamics/>
      </axis>
    </joint>
    <link name='Top_jaw'>
      <pose>0.457825 0.68019 -0.159466 0 -0 0</pose>
      <inertial>
        <pose>-0.167483 0.132321 -0.0917199 0 -0 0</pose>
        <mass>2.60699</mass>
        <inertia>
          <ixx>0.110442</ixx>
          <ixy>0.000429378</ixy>
          <ixz>-0.000515604</ixz>
          <iyy>0.0662822</iyy>
          <iyz>0.0186387</iyz>
          <izz>0.13182</izz>
        </inertia>
      </inertial>
      <collision name='Top_jaw_collision'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://PacGoat/meshes/Top_jaw_col.STL</uri>
          </mesh>
        </geometry>
        <surface>
          <contact>
            <ode/>
          </contact>
          <friction>
            <ode/>
          </friction>
        </surface>
      </collision>
      <collision name='Top_jaw_collision_shaft'>
        <pose>-0.064125 -0.13458 0.174827 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://PacGoat/meshes/shaft_col.STL</uri>
          </mesh>
        </geometry>
        <surface>
          <contact>
            <ode/>
          </contact>
          <friction>
            <ode/>
          </friction>
        </surface>
      </collision>
      <visual name='Top_jaw_visual'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://PacGoat/meshes/Top_jaw.STL</uri>
          </mesh>
        </geometry>
        <material>
          <script>
            <name>Gazebo/Yellow</name>
            <uri>__default__</uri>
          </script>
        </material>
      </visual>
      <visual name='Top_jaw_visual_shaft'>
        <pose>-0.064125 -0.13458 0.174827 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://PacGoat/meshes/shaft.STL</uri>
          </mesh>
        </geometry>
      </visual>
      <gravity>1</gravity>
      <velocity_decay>
        <linear>0</linear>
        <angular>0</angular>
      </velocity_decay>
      <self_collide>0</self_collide>
    </link>
    <joint name='Top_jaw_rev' type='revolute'>
      <child>Top_jaw</child>
      <parent>DBOS</parent>
      <axis>
        <xyz>-1 0 0</xyz>
        <limit>
          <lower>-0.125</lower>
          <upper>0.5</upper>
          <effort>50</effort>
          <velocity>10</velocity>
        </limit>
        <dynamics/>
      </axis>
    </joint>
    <link name='Center_roller'>
      <pose>0.392215 1.29039 -0.224522 0 -0 0</pose>
      <inertial>
        <pose>-0.10329 1.39436e-07 -6.03361e-08 0 -0 0</pose>
        <mass>1.48009</mass>
        <inertia>
          <ixx>0.000837034</ixx>
          <ixy>-2.19131e-08</ixy>
          <ixz>-5.06408e-08</ixz>
          <iyy>0.00565254</iyy>
          <iyz>-1.30949e-08</iyz>
          <izz>0.00565256</izz>
        </inertia>
      </inertial>
      <collision name='Center_roller_collision'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://PacGoat/meshes/Center_roller_col.STL</uri>
          </mesh>
        </geometry>
        <surface>
          <contact>
            <ode/>
          </contact>
          <friction>
            <ode>
              <mu>5</mu>
              <mu2>5</mu2>
            </ode>
          </friction>
        </surface>
      </collision>
      <visual name='Center_roller_visual'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://PacGoat/meshes/Center_roller.STL</uri>
          </mesh>
        </geometry>
        <material>
          <script>
            <name>Gazebo/Black</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='Center_roller_cont' type='revolute'>
      <child>Center_roller</child>
      <parent>Top_jaw</parent>
      <axis>
        <xyz>-1 0 0</xyz>
        <limit>
          <lower>-1e+16</lower>
          <upper>1e+16</upper>
        </limit>
        <dynamics>
          <damping>0.03</damping>
        </dynamics>
      </axis>
    </joint>
    <link name='Left_roller'>
      <pose>0.576535 1.145 -0.158588 0.25996 -0.29637 -0.73871</pose>
      <inertial>
        <pose>-0.104966 -1.09528e-07 -1.39881e-07 0 -0 0</pose>
        <mass>1.50607</mass>
        <inertia>
          <ixx>0.000842387</ixx>
          <ixy>-1.9023e-08</ixy>
          <ixz>-2.42958e-08</ixz>
          <iyy>0.00589762</iyy>
          <iyz>-1.59704e-08</iyz>
          <izz>0.00589755</izz>
        </inertia>
      </inertial>
      <collision name='Left_roller_collision'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://PacGoat/meshes/Left_roller_col.STL</uri>
          </mesh>
        </geometry>
        <surface>
          <contact>
            <ode/>
          </contact>
          <friction>
            <ode>
              <mu>5</mu>
              <mu2>5</mu2>
            </ode>
          </friction>
        </surface>
      </collision>
      <visual name='Left_roller_visual'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://PacGoat/meshes/Left_roller.STL</uri>
          </mesh>
        </geometry>
        <material>
          <script>
            <name>Gazebo/Black</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='Left_roller_cont' type='revolute'>
      <child>Left_roller</child>
      <parent>Top_jaw</parent>
      <axis>
        <xyz>0.707105 -0.643979 0.29205</xyz>
        <limit>
          <lower>-1e+16</lower>
          <upper>1e+16</upper>
        </limit>
        <dynamics>
          <damping>0.25</damping>
        </dynamics>
      </axis>
    </joint>
    <link name='Right_roller_col'>
      <pose>0.147385 1.27804 -0.218919 0.25996 0.29637 0.73871</pose>
      <inertial>
        <pose>-0.101614 -1.01257e-07 -1.45986e-07 0 -0 0</pose>
        <mass>1.50607</mass>
        <inertia>
          <ixx>0.000842387</ixx>
          <ixy>1.7587e-08</ixy>
          <ixz>2.5354e-08</ixz>
          <iyy>0.00589755</iyy>
          <iyz>6.28488e-09</iyz>
          <izz>0.00589762</izz>
        </inertia>
      </inertial>
      <collision name='Right_roller_col_collision'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://PacGoat/meshes/Right_roller_col.STL</uri>
          </mesh>
        </geometry>
      </collision>
      <visual name='Right_roller_col_visual'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://PacGoat/meshes/Right_roller.STL</uri>
          </mesh>
        </geometry>
        <material>
          <script>
            <name>Gazebo/FlatBlack</name>
            <uri>__default__</uri>
          </script>
        </material>
      </visual>
      <velocity_decay>
        <linear>0</linear>
        <angular>0</angular>
      </velocity_decay>
    </link>
    <joint name='Right_roller_cont' type='revolute'>
      <child>Right_roller_col</child>
      <parent>Top_jaw</parent>
      <axis>
        <xyz>-0.707105 -0.643979 0.29205</xyz>
        <limit>
          <lower>-1e+16</lower>
          <upper>1e+16</upper>
        </limit>
        <dynamics>
          <damping>0.03</damping>
        </dynamics>
      </axis>
    </joint>
    <link name='Wheel_A'>
      <pose>0.039929 -0.0381 -0.33338 0 -0 0</pose>
      <inertial>
        <pose>0.000919627 1.64475e-06 2.4091e-05 0 -0 0</pose>
        <mass>0.2329</mass>
        <inertia>
          <ixx>0.000199326</ixx>
          <ixy>-7.90867e-09</ixy>
          <ixz>-1.16745e-07</ixz>
          <iyy>0.000182445</iyy>
          <iyz>3.57717e-08</iyz>
          <izz>0.000182503</izz>
        </inertia>
      </inertial>
      <collision name='Wheel_A_collision'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://PacGoat/meshes/Wheel_A_col.STL</uri>
          </mesh>
        </geometry>
        <surface>
          <contact>
            <ode/>
          </contact>
          <friction>
            <ode>
              <mu>1</mu>
              <mu2>1</mu2>
            </ode>
          </friction>
        </surface>
      </collision>
      <collision name='Wheel_A_collision_Wheel_A_hardware'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://PacGoat/meshes/Wheel_A_hardware_col.STL</uri>
          </mesh>
        </geometry>
        <surface>
          <contact>
            <ode/>
          </contact>
          <friction>
            <ode>
              <mu>1</mu>
              <mu2>1</mu2>
            </ode>
          </friction>
        </surface>
        <surface>
          <contact>
            <ode/>
          </contact>
          <friction>
            <ode/>
          </friction>
        </surface>
      </collision>
      <visual name='Wheel_A_visual'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://PacGoat/meshes/Wheel_A.STL</uri>
          </mesh>
        </geometry>
        <material>
          <script>
            <name>Gazebo/Black</name>
            <uri>__default__</uri>
          </script>
        </material>
      </visual>
      <visual name='Wheel_A_visual_Wheel_A_hardware'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://PacGoat/meshes/Wheel_A_hardware.STL</uri>
          </mesh>
        </geometry>
        <material>
          <script>
            <name>Gazebo/Black</name>
            <uri>__default__</uri>
          </script>
        </material>
        <material>
          <script>
            <name>Gazebo/Grey</name>
            <uri>__default__</uri>
          </script>
        </material>
      </visual>
      <velocity_decay>
        <linear>0</linear>
        <angular>0</angular>
      </velocity_decay>
      <gravity>1</gravity>
      <velocity_decay>
        <linear>0</linear>
        <angular>0</angular>
      </velocity_decay>
      <self_collide>0</self_collide>
    </link>
    <joint name='Wheel_A_cont' type='revolute'>
      <child>Wheel_A</child>
      <parent>Chassis</parent>
      <axis>
        <xyz>-1 0 0</xyz>
        <limit>
          <lower>-1e+16</lower>
          <upper>1e+16</upper>
        </limit>
        <dynamics>
          <damping>0.03</damping>
        </dynamics>
      </axis>
    </joint>
    <link name='Wheel_B'>
      <pose>0.044755 -0.0381 0 0 -0 0</pose>
      <inertial>
        <pose>0.00111058 3.73397e-08 1.21102e-08 0 -0 0</pose>
        <mass>0.305042</mass>
        <inertia>
          <ixx>0.000205209</ixx>
          <ixy>-5.20227e-11</ixy>
          <ixz>1.84046e-12</ixz>
          <iyy>0.000302702</iyy>
          <iyz>-3.45202e-12</iyz>
          <izz>0.000302702</izz>
        </inertia>
      </inertial>
      <collision name='Wheel_B_collision'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://PacGoat/meshes/Wheel_B_col.STL</uri>
          </mesh>
        </geometry>
        <surface>
          <contact>
            <ode/>
          </contact>
          <friction>
            <ode>
              <mu>5</mu>
              <mu2>5</mu2>
            </ode>
          </friction>
        </surface>
      </collision>
      <collision name='Wheel_B_collision_Wheel_B_hardware'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://PacGoat/meshes/Wheel_B_hardware_col.STL</uri>
          </mesh>
        </geometry>
        <surface>
          <contact>
            <ode/>
          </contact>
          <friction>
            <ode>
              <mu>5</mu>
              <mu2>5</mu2>
            </ode>
          </friction>
        </surface>
        <surface>
          <contact>
            <ode/>
          </contact>
          <friction>
            <ode/>
          </friction>
        </surface>
      </collision>
      <collision name='Wheel_B_collision_Wheel_B_tread'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://PacGoat/meshes/Wheel_B_tread_col.STL</uri>
          </mesh>
        </geometry>
        <surface>
          <contact>
            <ode/>
          </contact>
          <friction>
            <ode>
              <mu>5</mu>
              <mu2>5</mu2>
            </ode>
          </friction>
        </surface>
        <surface>
          <contact>
            <ode/>
          </contact>
          <friction>
            <ode/>
          </friction>
        </surface>
      </collision>
      <visual name='Wheel_B_visual'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://PacGoat/meshes/Wheel_B.STL</uri>
          </mesh>
        </geometry>
      </visual>
      <visual name='Wheel_B_visual_Wheel_B_hardware'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://PacGoat/meshes/Wheel_B_hardware.STL</uri>
          </mesh>
        </geometry>
        <material>
          <script>
            <name>Gazebo/Grey</name>
            <uri>__default__</uri>
          </script>
        </material>
      </visual>
      <visual name='Wheel_B_visual_Wheel_B_tread'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://PacGoat/meshes/Wheel_B_tread.STL</uri>
          </mesh>
        </geometry>
        <material>
          <script>
            <name>Gazebo/White</name>
            <uri>__default__</uri>
          </script>
        </material>
      </visual>
      <velocity_decay>
        <linear>0</linear>
        <angular>0</angular>
      </velocity_decay>
      <velocity_decay>
        <linear>0</linear>
        <angular>0</angular>
      </velocity_decay>
      <gravity>1</gravity>
      <velocity_decay>
        <linear>0</linear>
        <angular>0</angular>
      </velocity_decay>
      <self_collide>0</self_collide>
    </link>
    <joint name='Wheel_B_cont' type='revolute'>
      <child>Wheel_B</child>
      <parent>Chassis</parent>
      <axis>
        <xyz>1 0 0</xyz>
        <limit>
          <lower>-1e+16</lower>
          <upper>1e+16</upper>
        </limit>
        <dynamics>
          <damping>0.03</damping>
        </dynamics>
      </axis>
    </joint>
    <link name='Wheel_C'>
      <pose>0.015748 -0.0381 0.32703 0 -0 0</pose>
      <inertial>
        <pose>0.0179298 -3.28602e-09 -1.54561e-08 0 -0 0</pose>
        <mass>0.193106</mass>
        <inertia>
          <ixx>0.000191307</ixx>
          <ixy>-3.44744e-12</ixy>
          <ixz>-1.66547e-11</ixz>
          <iyy>0.000141659</iyy>
          <iyz>4.90545e-12</iyz>
          <izz>0.000141659</izz>
        </inertia>
      </inertial>
      <collision name='Wheel_C_collision'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://PacGoat/meshes/Wheel_C_col.STL</uri>
          </mesh>
        </geometry>
        <surface>
          <contact>
            <ode/>
          </contact>
          <friction>
            <ode>
              <mu>5</mu>
              <mu2>5</mu2>
            </ode>
          </friction>
        </surface>
      </collision>
      <collision name='Wheel_C_collision_Wheel_C_hardware'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://PacGoat/meshes/Wheel_C_hardware_col.STL</uri>
          </mesh>
        </geometry>
        <surface>
          <contact>
            <ode/>
          </contact>
          <friction>
            <ode>
              <mu>5</mu>
              <mu2>5</mu2>
            </ode>
          </friction>
        </surface>
        <surface>
          <contact>
            <ode/>
          </contact>
          <friction>
            <ode/>
          </friction>
        </surface>
      </collision>
      <collision name='Wheel_C_collision_Wheel_C_tread'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://PacGoat/meshes/Wheel_C_tread_col.STL</uri>
          </mesh>
        </geometry>
        <surface>
          <contact>
            <ode/>
          </contact>
          <friction>
            <ode>
              <mu>5</mu>
              <mu2>5</mu2>
            </ode>
          </friction>
        </surface>
        <surface>
          <contact>
            <ode/>
          </contact>
          <friction>
            <ode/>
          </friction>
        </surface>
      </collision>
      <visual name='Wheel_C_visual'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://PacGoat/meshes/Wheel_C.STL</uri>
          </mesh>
        </geometry>
      </visual>
      <visual name='Wheel_C_visual_Wheel_C_hardware'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://PacGoat/meshes/Wheel_C_hardware.STL</uri>
          </mesh>
        </geometry>
        <material>
          <script>
            <name>Gazebo/Grey</name>
            <uri>__default__</uri>
          </script>
        </material>
      </visual>
      <visual name='Wheel_C_visual_Wheel_C_tread'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://PacGoat/meshes/Wheel_C_tread.STL</uri>
          </mesh>
        </geometry>
        <material>
          <script>
            <name>Gazebo/White</name>
            <uri>__default__</uri>
          </script>
        </material>
      </visual>
      <velocity_decay>
        <linear>0</linear>
        <angular>0</angular>
      </velocity_decay>
      <velocity_decay>
        <linear>0</linear>
        <angular>0</angular>
      </velocity_decay>
      <gravity>1</gravity>
      <velocity_decay>
        <linear>0</linear>
        <angular>0</angular>
      </velocity_decay>
      <self_collide>0</self_collide>
    </link>
    <joint name='Wheel_C_cont' type='revolute'>
      <child>Wheel_C</child>
      <parent>Chassis</parent>
      <axis>
        <xyz>1 0 0</xyz>
        <limit>
          <lower>-1e+16</lower>
          <upper>1e+16</upper>
        </limit>
        <dynamics>
          <damping>0.03</damping>
        </dynamics>
      </axis>
    </joint>
    <link name='Wheel_D'>
      <pose>0.56255 -0.0381 0.32703 0 -0 0</pose>
      <inertial>
        <pose>-0.0179298 -5.80134e-09 -1.46923e-08 0 -0 0</pose>
        <mass>0.193106</mass>
        <inertia>
          <ixx>0.000191307</ixx>
          <ixy>6.34023e-12</ixy>
          <ixz>1.57963e-11</ixz>
          <iyy>0.000141659</iyy>
          <iyz>1.27067e-12</iyz>
          <izz>0.000141659</izz>
        </inertia>
      </inertial>
      <collision name='Wheel_D_collision'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://PacGoat/meshes/Wheel_D_col.STL</uri>
          </mesh>
        </geometry>
      </collision>
      <collision name='Wheel_D_collision_Wheel_D_hardware'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://PacGoat/meshes/Wheel_D_hardware_col.STL</uri>
          </mesh>
        </geometry>
        <surface>
          <contact>
            <ode/>
          </contact>
          <friction>
            <ode/>
          </friction>
        </surface>
      </collision>
      <collision name='Wheel_D_collision_Wheel_D_tread'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://PacGoat/meshes/Wheel_D_tread_col.STL</uri>
          </mesh>
        </geometry>
        <surface>
          <contact>
            <ode/>
          </contact>
          <friction>
            <ode/>
          </friction>
        </surface>
      </collision>
      <visual name='Wheel_D_visual'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://PacGoat/meshes/Wheel_D.STL</uri>
          </mesh>
        </geometry>
      </visual>
      <visual name='Wheel_D_visual_Wheel_D_hardware'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://PacGoat/meshes/Wheel_D_hardware.STL</uri>
          </mesh>
        </geometry>
        <material>
          <script>
            <name>Gazebo/Grey</name>
            <uri>__default__</uri>
          </script>
        </material>
      </visual>
      <visual name='Wheel_D_visual_Wheel_D_tread'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://PacGoat/meshes/Wheel_D_tread.STL</uri>
          </mesh>
        </geometry>
        <material>
          <script>
            <name>Gazebo/White</name>
            <uri>__default__</uri>
          </script>
        </material>
      </visual>
      <velocity_decay>
        <linear>0</linear>
        <angular>0</angular>
      </velocity_decay>
      <gravity>1</gravity>
      <velocity_decay>
        <linear>0</linear>
        <angular>0</angular>
      </velocity_decay>
      <self_collide>0</self_collide>
    </link>
    <joint name='Wheel_D_cont' type='revolute'>
      <child>Wheel_D</child>
      <parent>Chassis</parent>
      <axis>
        <xyz>1 0 0</xyz>
        <limit>
          <lower>-1e+16</lower>
          <upper>1e+16</upper>
        </limit>
        <dynamics>
          <damping>0.03</damping>
        </dynamics>
      </axis>
    </joint>
    <link name='Wheel_E'>
      <pose>0.55849 -0.0381 0 0 -0 0</pose>
      <inertial>
        <pose>-0.0149055 1.01506e-08 -8.6511e-09 0 -0 0</pose>
        <mass>0.22878</mass>
        <inertia>
          <ixx>0.000188318</ixx>
          <ixy>-1.52736e-11</ixy>
          <ixz>1.3156e-11</ixz>
          <iyy>0.000182772</iyy>
          <iyz>-4.61142e-12</iyz>
          <izz>0.000182772</izz>
        </inertia>
      </inertial>
      <collision name='Wheel_E_collision'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://PacGoat/meshes/Wheel_E_col.STL</uri>
          </mesh>
        </geometry>
      </collision>
      <collision name='Wheel_E_collision_Wheel_E_hardware'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://PacGoat/meshes/Wheel_E_hardware_col.STL</uri>
          </mesh>
        </geometry>
        <surface>
          <contact>
            <ode/>
          </contact>
          <friction>
            <ode/>
          </friction>
        </surface>
      </collision>
      <collision name='Wheel_E_collision_Wheel_E_tread'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://PacGoat/meshes/Wheel_E_tread_col.STL</uri>
          </mesh>
        </geometry>
        <surface>
          <contact>
            <ode/>
          </contact>
          <friction>
            <ode/>
          </friction>
        </surface>
      </collision>
      <visual name='Wheel_E_visual'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://PacGoat/meshes/Wheel_E.STL</uri>
          </mesh>
        </geometry>
      </visual>
      <visual name='Wheel_E_visual_Wheel_E_hardware'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://PacGoat/meshes/Wheel_E_hardware.STL</uri>
          </mesh>
        </geometry>
        <material>
          <script>
            <name>Gazebo/Grey</name>
            <uri>__default__</uri>
          </script>
        </material>
      </visual>
      <visual name='Wheel_E_visual_Wheel_E_tread'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://PacGoat/meshes/Wheel_E_tread.STL</uri>
          </mesh>
        </geometry>
        <material>
          <script>
            <name>Gazebo/White</name>
            <uri>__default__</uri>
          </script>
        </material>
      </visual>
      <velocity_decay>
        <linear>0</linear>
        <angular>0</angular>
      </velocity_decay>
      <gravity>1</gravity>
      <velocity_decay>
        <linear>0</linear>
        <angular>0</angular>
      </velocity_decay>
      <self_collide>0</self_collide>
    </link>
    <joint name='Wheel_E_cont' type='revolute'>
      <child>Wheel_E</child>
      <parent>Chassis</parent>
      <axis>
        <xyz>1 0 0</xyz>
        <limit>
          <lower>-1e+16</lower>
          <upper>1e+16</upper>
        </limit>
        <dynamics>
          <damping>0.03</damping>
        </dynamics>
      </axis>
    </joint>
    <link name='Wheel_F'>
      <pose>0.55849 -0.0381 -0.33338 0 -0 0</pose>
      <inertial>
        <pose>-0.0227844 -1.13254e-05 2.29097e-05 0 -0 0</pose>
        <mass>0.262835</mass>
        <inertia>
          <ixx>0.0002137</ixx>
          <ixy>-3.6784e-08</ixy>
          <ixz>1.17594e-07</ixz>
          <iyy>0.000196487</iyy>
          <iyz>4.97303e-08</iyz>
          <izz>0.000196765</izz>
        </inertia>
      </inertial>
      <collision name='Wheel_F_collision'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://PacGoat/meshes/Wheel_F_col.STL</uri>
          </mesh>
        </geometry>
        <surface>
          <contact>
            <ode/>
          </contact>
          <friction>
            <ode>
              <mu>1</mu>
              <mu2>1</mu2>
            </ode>
          </friction>
        </surface>
      </collision>
      <collision name='Wheel_F_collision_Wheel_F_hardware'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://PacGoat/meshes/Wheel_F_hardware_col.STL</uri>
          </mesh>
        </geometry>
        <surface>
          <contact>
            <ode/>
          </contact>
          <friction>
            <ode>
              <mu>1</mu>
              <mu2>1</mu2>
            </ode>
          </friction>
        </surface>
        <surface>
          <contact>
            <ode/>
          </contact>
          <friction>
            <ode/>
          </friction>
        </surface>
      </collision>
      <visual name='Wheel_F_visual'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://PacGoat/meshes/Wheel_F.STL</uri>
          </mesh>
        </geometry>
        <material>
          <script>
            <name>Gazebo/Black</name>
            <uri>__default__</uri>
          </script>
        </material>
      </visual>
      <visual name='Wheel_F_visual_Wheel_F_hardware'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://PacGoat/meshes/Wheel_F_hardware.STL</uri>
          </mesh>
        </geometry>
        <material>
          <script>
            <name>Gazebo/Black</name>
            <uri>__default__</uri>
          </script>
        </material>
        <material>
          <script>
            <name>Gazebo/Grey</name>
            <uri>__default__</uri>
          </script>
        </material>
      </visual>
      <velocity_decay>
        <linear>0</linear>
        <angular>0</angular>
      </velocity_decay>
      <gravity>1</gravity>
      <velocity_decay>
        <linear>0</linear>
        <angular>0</angular>
      </velocity_decay>
      <self_collide>0</self_collide>
    </link>
    <joint name='Wheel_F_cont' type='revolute'>
      <child>Wheel_F</child>
      <parent>Chassis</parent>
      <axis>
        <xyz>-1 0 0</xyz>
        <limit>
          <lower>-1e+16</lower>
          <upper>1e+16</upper>
        </limit>
        <dynamics>
          <damping>0.03</damping>
        </dynamics>
      </axis>
    </joint>
    <static>0</static>
  </model>
</sdf>
