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        </visual>
        <sensor name='laser' type='ray'>
          <pose frame=''>-0.065 0 0.092 0 -0 0</pose>
          <ray>
            <scan>
              <horizontal>
                <samples>180</samples>
                <resolution>1</resolution>
                <min_angle>-2.26893</min_angle>
                <max_angle>2.26893</max_angle>
              </horizontal>
              <vertical>
                <samples>1</samples>
                <min_angle>0</min_angle>
                <max_angle>0</max_angle>
              </vertical>
            </scan>
            <range>
              <min>0.08</min>
              <max>10</max>
              <resolution>0.01</resolution>
            </range>
          </ray>
          <update_rate>20</update_rate>
        </sensor>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
        <gravity>1</gravity>
      </link>
      <link name='create::base'>
        <inertial>
          <pose frame=''>0.001453 -0.000453 0.029787 0 -0 0</pose>
          <inertia>
            <ixx>0.05864</ixx>
            <ixy>0.000124</ixy>
            <ixz>0.000615</ixz>
            <iyy>0.058786</iyy>
            <iyz>1.4e-05</iyz>
            <izz>1.53244</izz>
          </inertia>
          <mass>2.234</mass>
        </inertial>
        <collision name='base_collision'>
          <pose frame=''>0 0 0.0478 0 -0 0</pose>
          <geometry>
            <cylinder>
              <radius>0.016495</radius>
              <length>0.061163</length>
            </cylinder>
          </geometry>
          <max_contacts>10</max_contacts>
          <surface>
            <contact>
              <ode/>
            </contact>
            <bounce/>
            <friction>
              <torsional>
                <ode/>
              </torsional>
              <ode/>
            </friction>
          </surface>
        </collision>
        <visual name='base_visual'>
          <pose frame=''>0 0 0.0478 0 -0 0</pose>
          <geometry>
            <mesh>
              <uri>model://create/meshes/create_body.dae</uri>
              <scale>1 1 1</scale>
            </mesh>
          </geometry>
        </visual>
        <collision name='front_wheel_collision'>
          <pose frame=''>0.13 0 0.017 -0 1.5707 1.5707</pose>
          <geometry>
            <sphere>
              <radius>0.018</radius>
            </sphere>
          </geometry>
          <surface>
            <friction>
              <ode>
                <mu>0</mu>
                <mu2>0</mu2>
                <fdir1>0 0 0</fdir1>
                <slip1>0</slip1>
                <slip2>0</slip2>
              </ode>
              <torsional>
                <ode/>
              </torsional>
            </friction>
            <contact>
              <ode/>
            </contact>
            <bounce/>
          </surface>
          <max_contacts>10</max_contacts>
        </collision>
        <visual name='front_wheel_visual'>
          <pose frame=''>0.13 0 0.017 -0 1.5707 1.5707</pose>
          <geometry>
            <sphere>
              <radius>0.009</radius>
            </sphere>
          </geometry>
        </visual>
        <collision name='rear_wheel_collision'>
          <pose frame=''>-0.13 0 0.017 -0 1.5707 1.5707</pose>
          <geometry>
            <sphere>
              <radius>0.015</radius>
            </sphere>
          </geometry>
          <surface>
            <friction>
              <ode>
                <mu>0</mu>
                <mu2>0</mu2>
                <fdir1>0 0 0</fdir1>
                <slip1>0</slip1>
                <slip2>0</slip2>
              </ode>
              <torsional>
                <ode/>
              </torsional>
            </friction>
            <contact>
              <ode/>
            </contact>
            <bounce/>
          </surface>
          <max_contacts>10</max_contacts>
        </collision>
        <visual name='rear_wheel_visual'>
          <pose frame=''>-0.13 0 0.017 -0 1.5707 1.5707</pose>
          <geometry>
            <sphere>
              <radius>0.0075</radius>
            </sphere>
          </geometry>
        </visual>
        <sensor name='left_cliff_sensor' type='ray'>
          <pose frame=''>0.07 0.14 0.027 0 1.57079 0</pose>
          <ray>
            <scan>
              <horizontal>
                <samples>1</samples>
                <resolution>1</resolution>
                <min_angle>0</min_angle>
                <max_angle>0</max_angle>
              </horizontal>
              <vertical>
                <samples>1</samples>
                <min_angle>0</min_angle>
                <max_angle>0</max_angle>
              </vertical>
            </scan>
            <range>
              <min>0.01</min>
              <max>0.04</max>
              <resolution>0.1</resolution>
            </range>
          </ray>
        </sensor>
        <sensor name='leftfront_cliff_sensor' type='ray'>
          <pose frame=''>0.15 0.04 0.027 0 1.57079 0</pose>
          <ray>
            <scan>
              <horizontal>
                <samples>1</samples>
                <resolution>1</resolution>
                <min_angle>0</min_angle>
                <max_angle>0</max_angle>
              </horizontal>
              <vertical>
                <samples>1</samples>
                <min_angle>0</min_angle>
                <max_angle>0</max_angle>
              </vertical>
            </scan>
            <range>
              <min>0.01</min>
              <max>0.04</max>
              <resolution>0.1</resolution>
            </range>
          </ray>
        </sensor>
        <sensor name='right_cliff_sensor' type='ray'>
          <pose frame=''>0.07 -0.14 0.027 0 1.57079 0</pose>
          <ray>
            <scan>
              <horizontal>
                <samples>1</samples>
                <resolution>1</resolution>
                <min_angle>0</min_angle>
                <max_angle>0</max_angle>
              </horizontal>
              <vertical>
                <samples>1</samples>
                <min_angle>0</min_angle>
                <max_angle>0</max_angle>
              </vertical>
            </scan>
            <range>
              <min>0.01</min>
              <max>0.04</max>
              <resolution>0.1</resolution>
            </range>
          </ray>
        </sensor>
        <sensor name='rightfront_cliff_sensor' type='ray'>
          <pose frame=''>0.15 -0.04 0.027 0 1.57079 0</pose>
          <ray>
            <scan>
              <horizontal>
                <samples>1</samples>
                <resolution>1</resolution>
                <min_angle>0</min_angle>
                <max_angle>0</max_angle>
              </horizontal>
              <vertical>
                <samples>1</samples>
                <min_angle>0</min_angle>
                <max_angle>0</max_angle>
              </vertical>
            </scan>
            <range>
              <min>0.01</min>
              <max>0.04</max>
              <resolution>0.1</resolution>
            </range>
          </ray>
        </sensor>
        <sensor name='wall_sensor' type='ray'>
          <pose frame=''>0.09 -0.12 0.059 0 0 -1</pose>
          <ray>
            <scan>
              <horizontal>
                <samples>1</samples>
                <resolution>1</resolution>
                <min_angle>0</min_angle>
                <max_angle>0</max_angle>
              </horizontal>
              <vertical>
                <samples>1</samples>
                <min_angle>0</min_angle>
                <max_angle>0</max_angle>
              </vertical>
            </scan>
            <range>
              <min>0.016</min>
              <max>0.04</max>
              <resolution>0.1</resolution>
            </range>
          </ray>
        </sensor>
        <pose frame=''>0 0 0 0 -0 0</pose>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
        <gravity>1</gravity>
      </link>
      <link name='create::left_wheel'>
        <pose frame=''>0 0.13 0.032 0 -0 0</pose>
        <inertial>
          <inertia>
            <ixx>0.001</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>0.001</iyy>
            <iyz>0</iyz>
            <izz>0.001</izz>
          </inertia>
          <mass>0.01</mass>
        </inertial>
        <collision name='collision'>
          <pose frame=''>0 0 0 -0 1.5707 1.5707</pose>
          <geometry>
            <cylinder>
              <radius>0.033</radius>
              <length>0.023</length>
            </cylinder>
          </geometry>
          <surface>
            <friction>
              <ode>
                <mu>10</mu>
                <mu2>10</mu2>
                <fdir1>0 0 0</fdir1>
                <slip1>0</slip1>
                <slip2>0</slip2>
              </ode>
              <torsional>
                <ode/>
              </torsional>
            </friction>
            <contact>
              <ode/>
            </contact>
            <bounce/>
          </surface>
          <max_contacts>10</max_contacts>
        </collision>
        <visual name='visual'>
          <pose frame=''>0 0 0 -0 1.5707 1.5707</pose>
          <geometry>
            <cylinder>
              <radius>0.033</radius>
              <length>0.023</length>
            </cylinder>
          </geometry>
        </visual>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
        <gravity>1</gravity>
      </link>
      <link name='create::right_wheel'>
        <pose frame=''>0 -0.13 0.032 0 -0 0</pose>
        <inertial>
          <inertia>
            <ixx>0.001</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>0.001</iyy>
            <iyz>0</iyz>
            <izz>0.001</izz>
          </inertia>
          <mass>0.01</mass>
        </inertial>
        <collision name='collision'>
          <pose frame=''>0 0 0 -0 1.5707 1.5707</pose>
          <geometry>
            <cylinder>
              <radius>0.033</radius>
              <length>0.023</length>
            </cylinder>
          </geometry>
          <surface>
            <friction>
              <ode>
                <mu>10</mu>
                <mu2>10</mu2>
                <fdir1>0 0 0</fdir1>
                <slip1>0</slip1>
                <slip2>0</slip2>
              </ode>
              <torsional>
                <ode/>
              </torsional>
            </friction>
            <contact>
              <ode/>
            </contact>
            <bounce/>
          </surface>
          <max_contacts>10</max_contacts>
        </collision>
        <visual name='visual'>
          <pose frame=''>0 0 0 -0 1.5707 1.5707</pose>
          <geometry>
            <cylinder>
              <radius>0.033</radius>
              <length>0.023</length>
            </cylinder>
          </geometry>
        </visual>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
        <gravity>1</gravity>
      </link>
      <joint name='create::left_wheel' type='revolute'>
        <parent>create::base</parent>
        <child>create::left_wheel</child>
        <axis>
          <xyz>0 1 0</xyz>
          <use_parent_model_frame>1</use_parent_model_frame>
          <limit>
            <lower>-1e+16</lower>
            <upper>1e+16</upper>
          </limit>
          <dynamics>
            <spring_reference>0</spring_reference>
            <spring_stiffness>0</spring_stiffness>
          </dynamics>
        </axis>
      </joint>
      <joint name='create::right_wheel' type='revolute'>
        <parent>create::base</parent>
        <child>create::right_wheel</child>
        <axis>
          <xyz>0 1 0</xyz>
          <use_parent_model_frame>1</use_parent_model_frame>
          <limit>
            <lower>-1e+16</lower>
            <upper>1e+16</upper>
          </limit>
          <dynamics>
            <spring_reference>0</spring_reference>
            <spring_stiffness>0</spring_stiffness>
          </dynamics>
        </axis>
      </joint>
      <link name='kinect::link'>
        <inertial>
          <mass>0.1</mass>
          <inertia>
            <ixx>1</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>1</iyy>
            <iyz>0</iyz>
            <izz>1</izz>
          </inertia>
        </inertial>
        <collision name='collision'>
          <geometry>
            <box>
              <size>0.073 0.276 0.072</size>
            </box>
          </geometry>
          <max_contacts>10</max_contacts>
          <surface>
            <contact>
              <ode/>
            </contact>
            <bounce/>
            <friction>
              <torsional>
                <ode/>
              </torsional>
              <ode/>
            </friction>
          </surface>
        </collision>
        <visual name='visual'>
          <geometry>
            <mesh>
              <uri>model://kinect/meshes/kinect.dae</uri>
              <scale>1 1 1</scale>
            </mesh>
          </geometry>
        </visual>
        <sensor name='camera' type='depth'>
          <update_rate>20</update_rate>
          <camera name='__default__'>
            <horizontal_fov>1.0472</horizontal_fov>
            <image>
              <width>640</width>
              <height>480</height>
              <format>R8G8B8</format>
            </image>
            <clip>
              <near>0.05</near>
              <far>3</far>
            </clip>
          </camera>
        </sensor>
        <pose frame=''>-0.087098 0 0.303857 0 -0 0</pose>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
        <gravity>1</gravity>
      </link>
      <joint name='create_rack' type='revolute'>
        <parent>create::base</parent>
        <child>rack</child>
        <axis>
          <xyz>0 0 1</xyz>
          <limit>
            <lower>0</lower>
            <upper>0</upper>
          </limit>
          <use_parent_model_frame>1</use_parent_model_frame>
          <dynamics>
            <spring_reference>0</spring_reference>
            <spring_stiffness>0</spring_stiffness>
          </dynamics>
        </axis>
      </joint>
      <joint name='kinect_rack' type='revolute'>
        <parent>kinect::link</parent>
        <child>rack</child>
        <axis>
          <xyz>0 0 1</xyz>
          <limit>
            <lower>0</lower>
            <upper>0</upper>
          </limit>
          <use_parent_model_frame>1</use_parent_model_frame>
          <dynamics>
            <spring_reference>0</spring_reference>
            <spring_stiffness>0</spring_stiffness>
          </dynamics>
        </axis>
      </joint>
      <pose frame=''>-0.006801 0.006802 0 0 -0 0</pose>
      <plugin name="actuador" filename="libTry_1.so">
    
    </plugin>
    </model>
    <model name='REA'>
      <link name='chassis'>
        <pose frame=''>0 0 0.16 0 -0 0</pose>
        <inertial>
          <mass>5</mass>
          <inertia>
            <ixx>1</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>1</iyy>
            <iyz>0</iyz>
            <izz>1</izz>
          </inertia>
        </inertial>
        <collision name='collision'>
          <geometry>
            <box>
              <size>0.445 0.277 0.17</size>
            </box>
          </geometry>
          <max_contacts>10</max_contacts>
          <surface>
            <contact>
              <ode/>
            </contact>
            <bounce/>
            <friction>
              <torsional>
                <ode/>
              </torsional>
              <ode/>
            </friction>
          </surface>
        </collision>
        <collision name='castor_collision'>
          <pose frame=''>-0.2 0 -0.12 0 -0 0</pose>
          <geometry>
            <sphere>
              <radius>0.04</radius>
            </sphere>
          </geometry>
          <surface>
            <friction>
              <ode>
                <mu>0</mu>
                <mu2>0</mu2>
                <slip1>1</slip1>
                <slip2>1</slip2>
              </ode>
              <torsional>
                <ode/>
              </torsional>
            </friction>
            <contact>
              <ode/>
            </contact>
            <bounce/>
          </surface>
          <max_contacts>10</max_contacts>
        </collision>
        <visual name='visual'>
          <pose frame=''>0 0 0.04 0 -0 0</pose>
          <geometry>
            <mesh>
              <uri>model://pioneer2dx/meshes/chassis.dae</uri>
              <scale>1 1 1</scale>
            </mesh>
          </geometry>
        </visual>
        <visual name='castor_visual'>
          <pose frame=''>-0.2 0 -0.12 0 -0 0</pose>
          <geometry>
            <sphere>
              <radius>0.04</radius>
            </sphere>
          </geometry>
          <material>
            <script>
              <uri>file://media/materials/scripts/gazebo.material</uri>
              <name>Gazebo/FlatBlack</name>
            </script>
          </material>
        </visual>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
        <gravity>1</gravity>
      </link>
      <link name='right_wheel'>
        <pose frame=''>0.1 -0.17 0.11 -0 1.5707 1.5707</pose>
        <inertial>
          <mass>0.1</mass>
          <inertia>
            <ixx>1</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>1</iyy>
            <iyz>0</iyz>
            <izz>1</izz>
          </inertia>
        </inertial>
        <collision name='collision'>
          <geometry>
            <cylinder>
              <radius>0.11</radius>
              <length>0.05</length>
            </cylinder>
          </geometry>
          <surface>
            <friction>
              <ode>
                <mu>100000</mu>
                <mu2>100000</mu2>
                <slip1>0</slip1>
                <slip2>0</slip2>
              </ode>
              <torsional>
                <ode/>
              </torsional>
            </friction>
            <contact>
              <ode/>
            </contact>
            <bounce/>
          </surface>
          <max_contacts>10</max_contacts>
        </collision>
        <visual name='visual'>
          <geometry>
            <cylinder>
              <radius>0.11</radius>
              <length>0.05</length>
            </cylinder>
          </geometry>
          <material>
            <script>
              <uri>file://media/materials/scripts/gazebo.material</uri>
              <name>Gazebo/FlatBlack</name>
            </script>
          </material>
        </visual>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
        <gravity>1</gravity>
      </link>
      <link name='left_wheel'>
        <pose frame=''>0.1 0.17 0.11 -0 1.5707 1.5707</pose>
        <inertial>
          <mass>0.5</mass>
          <inertia>
            <ixx>1</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>1</iyy>
            <iyz>0</iyz>
            <izz>1</izz>
          </inertia>
        </inertial>
        <collision name='collision'>
          <geometry>
            <cylinder>
              <radius>0.11</radius>
              <length>0.05</length>
            </cylinder>
          </geometry>
          <surface>
            <friction>
              <ode>
                <mu>100000</mu>
                <mu2>100000</mu2>
                <slip1>0</slip1>
                <slip2>0</slip2>
              </ode>
              <torsional>
                <ode/>
              </torsional>
            </friction>
            <contact>
              <ode/>
            </contact>
            <bounce/>
          </surface>
          <max_contacts>10</max_contacts>
        </collision>
        <visual name='visual'>
          <geometry>
            <cylinder>
              <radius>0.11</radius>
              <length>0.05</length>
            </cylinder>
          </geometry>
          <material>
            <script>
              <uri>file://media/materials/scripts/gazebo.material</uri>
              <name>Gazebo/FlatBlack</name>
            </script>
          </material>
        </visual>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
        <gravity>1</gravity>
      </link>
      <joint name='left_wheel_hinge' type='revolute'>
        <pose frame=''>0 0 -0.03 0 -0 0</pose>
        <child>left_wheel</child>
        <parent>chassis</parent>
        <axis>
          <xyz>0 1 0</xyz>
          <use_parent_model_frame>1</use_parent_model_frame>
          <limit>
            <lower>-1e+16</lower>
            <upper>1e+16</upper>
          </limit>
          <dynamics>
            <spring_reference>0</spring_reference>
            <spring_stiffness>0</spring_stiffness>
          </dynamics>
        </axis>
      </joint>
      <joint name='right_wheel_hinge' type='revolute'>
        <pose frame=''>0 0 0.03 0 -0 0</pose>
        <child>right_wheel</child>
        <parent>chassis</parent>
        <axis>
          <xyz>0 1 0</xyz>
          <use_parent_model_frame>1</use_parent_model_frame>
          <limit>
            <lower>-1e+16</lower>
            <upper>1e+16</upper>
          </limit>
          <dynamics>
            <spring_reference>0</spring_reference>
            <spring_stiffness>0</spring_stiffness>
          </dynamics>
        </axis>
      </joint>
      <plugin name='diff_drive' filename='libDiffDrivePlugin.so'>
        <left_joint>left_wheel_hinge</left_joint>
        <right_joint>right_wheel_hinge</right_joint>
        <torque>5</torque>
      </plugin>
      <pose frame=''>1.51553 -0.111351 0 0 -0 0</pose>
      <plugin name="actuador" filename="libTry_1.so">
    
    </plugin>
    </model>
    <model name='RRA1'>
      <link name='base'>
        <inertial>
          <pose frame=''>0.001453 -0.000453 0.029787 0 -0 0</pose>
          <inertia>
            <ixx>0.05864</ixx>
            <ixy>0.000124</ixy>
            <ixz>0.000615</ixz>
            <iyy>0.058786</iyy>
            <iyz>1.4e-05</iyz>
            <izz>1.53244</izz>
          </inertia>
          <mass>2.234</mass>
        </inertial>
        <collision name='base_collision'>
          <pose frame=''>0 0 0.0478 0 -0 0</pose>
          <geometry>
            <cylinder>
              <radius>0.016495</radius>
              <length>0.061163</length>
            </cylinder>
          </geometry>
          <max_contacts>10</max_contacts>
          <surface>
            <contact>
              <ode/>
            </contact>
            <bounce/>
            <friction>
              <torsional>
                <ode/>
              </torsional>
              <ode/>
            </friction>
          </surface>
        </collision>
        <visual name='base_visual'>
          <pose frame=''>0 0 0.0478 0 -0 0</pose>
          <geometry>
            <mesh>
              <uri>model://create/meshes/create_body.dae</uri>
              <scale>1 1 1</scale>
            </mesh>
          </geometry>
        </visual>
        <collision name='front_wheel_collision'>
          <pose frame=''>0.13 0 0.017 -0 1.5707 1.5707</pose>
          <geometry>
            <sphere>
              <radius>0.018</radius>
            </sphere>
          </geometry>
          <surface>
            <friction>
              <ode>
                <mu>0</mu>
                <mu2>0</mu2>
                <fdir1>0 0 0</fdir1>
                <slip1>0</slip1>
                <slip2>0</slip2>
              </ode>
              <torsional>
                <ode/>
              </torsional>
            </friction>
            <contact>
              <ode/>
            </contact>
            <bounce/>
          </surface>
          <max_contacts>10</max_contacts>
        </collision>
        <visual name='front_wheel_visual'>
          <pose frame=''>0.13 0 0.017 -0 1.5707 1.5707</pose>
          <geometry>
            <sphere>
              <radius>0.009</radius>
            </sphere>
          </geometry>
        </visual>
        <collision name='rear_wheel_collision'>
          <pose frame=''>-0.13 0 0.017 -0 1.5707 1.5707</pose>
          <geometry>
            <sphere>
              <radius>0.015</radius>
            </sphere>
          </geometry>
          <surface>
            <friction>
              <ode>
                <mu>0</mu>
                <mu2>0</mu2>
                <fdir1>0 0 0</fdir1>
                <slip1>0</slip1>
                <slip2>0</slip2>
              </ode>
              <torsional>
                <ode/>
              </torsional>
            </friction>
            <contact>
              <ode/>
            </contact>
            <bounce/>
          </surface>
          <max_contacts>10</max_contacts>
        </collision>
        <visual name='rear_wheel_visual'>
          <pose frame=''>-0.13 0 0.017 -0 1.5707 1.5707</pose>
          <geometry>
            <sphere>
              <radius>0.0075</radius>
            </sphere>
          </geometry>
        </visual>
        <sensor name='left_cliff_sensor' type='ray'>
          <pose frame=''>0.07 0.14 0.027 0 1.57079 0</pose>
          <ray>
            <scan>
              <horizontal>
                <samples>1</samples>
                <resolution>1</resolution>
                <min_angle>0</min_angle>
                <max_angle>0</max_angle>
              </horizontal>
              <vertical>
                <samples>1</samples>
                <min_angle>0</min_angle>
                <max_angle>0</max_angle>
              </vertical>
            </scan>
            <range>
              <min>0.01</min>
              <max>0.04</max>
              <resolution>0.1</resolution>
            </range>
          </ray>
        </sensor>
        <sensor name='leftfront_cliff_sensor' type='ray'>
          <pose frame=''>0.15 0.04 0.027 0 1.57079 0</pose>
          <ray>
            <scan>
              <horizontal>
                <samples>1</samples>
                <resolution>1</resolution>
                <min_angle>0</min_angle>
                <max_angle>0</max_angle>
              </horizontal>
              <vertical>
                <samples>1</samples>
                <min_angle>0</min_angle>
                <max_angle>0</max_angle>
              </vertical>
            </scan>
            <range>
              <min>0.01</min>
              <max>0.04</max>
              <resolution>0.1</resolution>
            </range>
          </ray>
        </sensor>
        <sensor name='right_cliff_sensor' type='ray'>
          <pose frame=''>0.07 -0.14 0.027 0 1.57079 0</pose>
          <ray>
            <scan>
              <horizontal>
                <samples>1</samples>
                <resolution>1</resolution>
                <min_angle>0</min_angle>
                <max_angle>0</max_angle>
              </horizontal>
              <vertical>
                <samples>1</samples>
                <min_angle>0</min_angle>
                <max_angle>0</max_angle>
              </vertical>
            </scan>
            <range>
              <min>0.01</min>
              <max>0.04</max>
              <resolution>0.1</resolution>
            </range>
          </ray>
        </sensor>
        <sensor name='rightfront_cliff_sensor' type='ray'>
          <pose frame=''>0.15 -0.04 0.027 0 1.57079 0</pose>
          <ray>
            <scan>
              <horizontal>
                <samples>1</samples>
                <resolution>1</resolution>
                <min_angle>0</min_angle>
                <max_angle>0</max_angle>
              </horizontal>
              <vertical>
                <samples>1</samples>
                <min_angle>0</min_angle>
                <max_angle>0</max_angle>
              </vertical>
            </scan>
            <range>
              <min>0.01</min>
              <max>0.04</max>
              <resolution>0.1</resolution>
            </range>
          </ray>
        </sensor>
        <sensor name='wall_sensor' type='ray'>
          <pose frame=''>0.09 -0.12 0.059 0 0 -1</pose>
          <ray>
            <scan>
              <horizontal>
                <samples>1</samples>
                <resolution>1</resolution>
                <min_angle>0</min_angle>
                <max_angle>0</max_angle>
              </horizontal>
              <vertical>
                <samples>1</samples>
                <min_angle>0</min_angle>
                <max_angle>0</max_angle>
              </vertical>
            </scan>
            <range>
              <min>0.016</min>
              <max>0.04</max>
              <resolution>0.1</resolution>
            </range>
          </ray>
        </sensor>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
        <gravity>1</gravity>
      </link>
      <link name='left_wheel'>
        <pose frame=''>0 0.13 0.032 0 -0 0</pose>
        <inertial>
          <inertia>
            <ixx>0.001</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>0.001</iyy>
            <iyz>0</iyz>
            <izz>0.001</izz>
          </inertia>
          <mass>0.01</mass>
        </inertial>
        <collision name='collision'>
          <pose frame=''>0 0 0 -0 1.5707 1.5707</pose>
          <geometry>
            <cylinder>
              <radius>0.033</radius>
              <length>0.023</length>
            </cylinder>
          </geometry>
          <surface>
            <friction>
              <ode>
                <mu>10</mu>
                <mu2>10</mu2>
                <fdir1>0 0 0</fdir1>
                <slip1>0</slip1>
                <slip2>0</slip2>
              </ode>
              <torsional>
                <ode/>
              </torsional>
            </friction>
            <contact>
              <ode/>
            </contact>
            <bounce/>
          </surface>
          <max_contacts>10</max_contacts>
        </collision>
        <visual name='visual'>
          <pose frame=''>0 0 0 -0 1.5707 1.5707</pose>
          <geometry>
            <cylinder>
              <radius>0.033</radius>
              <length>0.023</length>
            </cylinder>
          </geometry>
        </visual>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
        <gravity>1</gravity>
      </link>
      <link name='right_wheel'>
        <pose frame=''>0 -0.13 0.032 0 -0 0</pose>
        <inertial>
          <inertia>
            <ixx>0.001</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>0.001</iyy>
            <iyz>0</iyz>
            <izz>0.001</izz>
          </inertia>
          <mass>0.01</mass>
        </inertial>
        <collision name='collision'>
          <pose frame=''>0 0 0 -0 1.5707 1.5707</pose>
          <geometry>
            <cylinder>
              <radius>0.033</radius>
              <length>0.023</length>
            </cylinder>
          </geometry>
          <surface>
            <friction>
              <ode>
                <mu>10</mu>
                <mu2>10</mu2>
                <fdir1>0 0 0</fdir1>
                <slip1>0</slip1>
                <slip2>0</slip2>
              </ode>
              <torsional>
                <ode/>
              </torsional>
            </friction>
            <contact>
              <ode/>
            </contact>
            <bounce/>
          </surface>
          <max_contacts>10</max_contacts>
        </collision>
        <visual name='visual'>
          <pose frame=''>0 0 0 -0 1.5707 1.5707</pose>
          <geometry>
            <cylinder>
              <radius>0.033</radius>
              <length>0.023</length>
            </cylinder>
          </geometry>
        </visual>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
        <gravity>1</gravity>
      </link>
      <joint name='left_wheel' type='revolute'>
        <parent>base</parent>
        <child>left_wheel</child>
        <axis>
          <xyz>0 1 0</xyz>
          <use_parent_model_frame>1</use_parent_model_frame>
          <limit>
            <lower>-1e+16</lower>
            <upper>1e+16</upper>
          </limit>
          <dynamics>
            <spring_reference>0</spring_reference>
            <spring_stiffness>0</spring_stiffness>
          </dynamics>
        </axis>
      </joint>
      <joint name='right_wheel' type='revolute'>
        <parent>base</parent>
        <child>right_wheel</child>
        <axis>
          <xyz>0 1 0</xyz>
          <use_parent_model_frame>1</use_parent_model_frame>
          <limit>
            <lower>-1e+16</lower>
            <upper>1e+16</upper>
          </limit>
          <dynamics>
            <spring_reference>0</spring_reference>
            <spring_stiffness>0</spring_stiffness>
          </dynamics>
        </axis>
      </joint>
      <pose frame=''>0.448165 0.008859 0 0 -0 0</pose>
      <plugin name="actuador" filename="libTry_1.so">
    
    </plugin>
    </model>
    <state world_name='default'>
      <sim_time>0 1000000</sim_time>
      <real_time>0 0</real_time>
      <wall_time>1548431417 395923715</wall_time>
      <iterations>1</iterations>
      <model name='RRA1'>
        <pose frame=''>0.448165 0.008859 0 0 -0 0</pose>
        <scale>1 1 1</scale>
        <link name='base'>
          <pose frame=''>0.448165 0.008859 0 0 -0 0</pose>
          <velocity>0 0 0 0 -0 0</velocity>
          <acceleration>0 0 0 0 -0 0</acceleration>
          <wrench>0 0 0 0 -0 0</wrench>
        </link>
        <link name='left_wheel'>
          <pose frame=''>0.448165 0.138859 0.032 0 -0 0</pose>
          <velocity>0 0 0 0 -0 0</velocity>
          <acceleration>0 0 0 0 -0 0</acceleration>
          <wrench>0 0 0 0 -0 0</wrench>
        </link>
        <link name='right_wheel'>
          <pose frame=''>0.448165 -0.121141 0.032 0 -0 0</pose>
          <velocity>0 0 0 0 -0 0</velocity>
          <acceleration>0 0 0 0 -0 0</acceleration>
          <wrench>0 0 0 0 -0 0</wrench>
        </link>
      </model>
      <model name='RRA2'>
        <pose frame=''>0.074173 0.428176 0 0 -0 0</pose>
        <scale>1 1 1</scale>
        <link name='base'>
          <pose frame=''>0.074173 0.428176 0 0 -0 0</pose>
          <velocity>0 0 0 0 -0 0</velocity>
          <acceleration>0 0 0 0 -0 0</acceleration>
          <wrench>0 0 0 0 -0 0</wrench>
        </link>
        <link name='left_wheel'>
          <pose frame=''>0.074173 0.558176 0.032 0 -0 0</pose>
          <velocity>0 0 0 0 -0 0</velocity>
          <acceleration>0 0 0 0 -0 0</acceleration>
          <wrench>0 0 0 0 -0 0</wrench>
        </link>
        <link name='right_wheel'>
          <pose frame=''>0.074173 0.298176 0.032 0 -0 0</pose>
          <velocity>0 0 0 0 -0 0</velocity>
          <acceleration>0 0 0 0 -0 0</acceleration>
          <wrench>0 0 0 0 -0 0</wrench>
        </link>
      </model>
      <model name='RRA3'>
        <pose frame=''>-0.013947 -0.405733 0 0 -0 0</pose>
        <scale>1 1 1</scale>
        <link name='base'>
          <pose frame=''>-0.013947 -0.405733 0 0 -0 0</pose>
          <velocity>0 0 0 0 -0 0</velocity>
          <acceleration>0 0 0 0 -0 0</acceleration>
          <wrench>0 0 0 0 -0 0</wrench>
        </link>
        <link name='left_wheel'>
          <pose frame=''>-0.013947 -0.275733 0.032 0 -0 0</pose>
          <velocity>0 0 0 0 -0 0</velocity>
          <acceleration>0 0 0 0 -0 0</acceleration>
          <wrench>0 0 0 0 -0 0</wrench>
        </link>
        <link name='right_wheel'>
          <pose frame=''>-0.013947 -0.535733 0.032 0 -0 0</pose>
          <velocity>0 0 0 0 -0 0</velocity>
          <acceleration>0 0 0 0 -0 0</acceleration>
          <wrench>0 0 0 0 -0 0</wrench>
        </link>
      </model>
      <model name='ground_plane'>
        <pose frame=''>0 0 0 0 -0 0</pose>
        <scale>1 1 1</scale>
        <link name='link'>
          <pose frame=''>0 0 0 0 -0 0</pose>
          <velocity>0 0 0 0 -0 0</velocity>
          <acceleration>0 0 0 0 -0 0</acceleration>
          <wrench>0 0 0 0 -0 0</wrench>
        </link>
      </model>
      <model name='REA'>
        <pose frame=''>1.51553 -0.111351 0 0 -0 0</pose>
        <scale>1 1 1</scale>
        <link name='chassis'>
          <pose frame=''>1.51553 -0.111351 0.16 0 -0 0</pose>
          <velocity>0 0 0 0 -0 0</velocity>
          <acceleration>0 0 0 0 -0 0</acceleration>
          <wrench>0 0 0 0 -0 0</wrench>
        </link>
        <link name='left_wheel'>
          <pose frame=''>1.61553 0.058649 0.11 -0 1.5707 1.5707</pose>
          <velocity>0 0 0 0 -0 0</velocity>
          <acceleration>0 0 0 0 -0 0</acceleration>
          <wrench>0 0 0 0 -0 0</wrench>
        </link>
        <link name='right_wheel'>
          <pose frame=''>1.61553 -0.281351 0.11 -0 1.5707 1.5707</pose>
          <velocity>0 0 0 0 -0 0</velocity>
          <acceleration>0 0 0 0 -0 0</acceleration>
          <wrench>0 0 0 0 -0 0</wrench>
        </link>
      </model>
      <model name='REB'>
        <pose frame=''>-0.006783 0.006802 0.000936 1e-06 -0.000498 -0</pose>
        <scale>1 1 1</scale>
        <link name='create::base'>
          <pose frame=''>-0.006783 0.006802 0.000936 1e-06 -0.000496 -1e-06</pose>
          <velocity>0.000176 -2e-06 0.009199 -0.000386 -0.005323 -0.000513</velocity>
          <acceleration>0.016768 0.008722 9.20669 -0.392319 0.960391 -0.513661</acceleration>
          <wrench>0.037459 0.019485 20.5677 0 -0 0</wrench>
        </link>
        <link name='create::left_wheel'>
          <pose frame=''>-0.006803 0.136802 0.032999 -6e-06 0.000471 -1e-06</pose>
          <velocity>9.7e-05 4.4e-05 0.01801 -0.001377 0.002578 -0.000511</velocity>
          <acceleration>0.097345 0.044089 18.0102 1.76418 0.563394 2.63106</acceleration>
          <wrench>0.000973 0.000441 0.180102 0 -0 0</wrench>
        </link>
        <link name='create::right_wheel'>
          <pose frame=''>-0.006803 -0.123198 0.032999 -8e-06 0.00047 -1e-06</pose>
          <velocity>7.2e-05 5.1e-05 0.017979 -0.001595 0.001855 -0.000498</velocity>
          <acceleration>0.071759 0.050907 17.9786 1.54688 1.2867 2.64334</acceleration>
          <wrench>0.000718 0.000509 0.179786 0 -0 0</wrench>
        </link>
        <link name='kinect::link'>
          <pose frame=''>-0.094033 0.006802 0.304749 2e-06 -0.0005 1e-06</pose>
          <velocity>-0.001642 3.2e-05 0.008667 -0.000331 -0.00593 0.00074</velocity>
          <acceleration>-1.64245 0.032265 8.66718 -0.330761 0.353149 0.74026</acceleration>
          <wrench>-0.164245 0.003227 0.866718 0 -0 0</wrench>
        </link>
        <link name='rack'>
          <pose frame=''>-0.006783 0.006802 0.000936 1e-06 -0.000498 -0</pose>
          <velocity>0.000163 -3e-06 0.009194 -0.000362 -0.005587 3.2e-05</velocity>
          <acceleration>-0.003583 0.007579 9.20268 -0.361382 0.696106 0.032314</acceleration>
          <wrench>-0.008004 0.016932 20.5588 0 -0 0</wrench>
        </link>
      </model>
      <light name='sun'>
        <pose frame=''>0 0 10 0 -0 0</pose>
      </light>
    </state>
    <model name='RRA2'>
      <link name='base'>
        <inertial>
          <pose frame=''>0.001453 -0.000453 0.029787 0 -0 0</pose>
          <inertia>
            <ixx>0.05864</ixx>
            <ixy>0.000124</ixy>
            <ixz>0.000615</ixz>
            <iyy>0.058786</iyy>
            <iyz>1.4e-05</iyz>
            <izz>1.53244</izz>
          </inertia>
          <mass>2.234</mass>
        </inertial>
        <collision name='base_collision'>
          <pose frame=''>0 0 0.0478 0 -0 0</pose>
          <geometry>
            <cylinder>
              <radius>0.016495</radius>
              <length>0.061163</length>
            </cylinder>
          </geometry>
          <max_contacts>10</max_contacts>
          <surface>
            <contact>
              <ode/>
            </contact>
            <bounce/>
            <friction>
              <torsional>
                <ode/>
              </torsional>
              <ode/>
            </friction>
          </surface>
        </collision>
        <visual name='base_visual'>
          <pose frame=''>0 0 0.0478 0 -0 0</pose>
          <geometry>
            <mesh>
              <uri>model://create/meshes/create_body.dae</uri>
              <scale>1 1 1</scale>
            </mesh>
          </geometry>
        </visual>
        <collision name='front_wheel_collision'>
          <pose frame=''>0.13 0 0.017 -0 1.5707 1.5707</pose>
          <geometry>
            <sphere>
              <radius>0.018</radius>
            </sphere>
          </geometry>
          <surface>
            <friction>
              <ode>
                <mu>0</mu>
                <mu2>0</mu2>
                <fdir1>0 0 0</fdir1>
                <slip1>0</slip1>
                <slip2>0</slip2>
              </ode>
              <torsional>
                <ode/>
              </torsional>
            </friction>
            <contact>
              <ode/>
            </contact>
            <bounce/>
          </surface>
          <max_contacts>10</max_contacts>
        </collision>
        <visual name='front_wheel_visual'>
          <pose frame=''>0.13 0 0.017 -0 1.5707 1.5707</pose>
          <geometry>
            <sphere>
              <radius>0.009</radius>
            </sphere>
          </geometry>
        </visual>
        <collision name='rear_wheel_collision'>
          <pose frame=''>-0.13 0 0.017 -0 1.5707 1.5707</pose>
          <geometry>
            <sphere>
              <radius>0.015</radius>
            </sphere>
          </geometry>
          <surface>
            <friction>
              <ode>
                <mu>0</mu>
                <mu2>0</mu2>
                <fdir1>0 0 0</fdir1>
                <slip1>0</slip1>
                <slip2>0</slip2>
              </ode>
              <torsional>
                <ode/>
              </torsional>
            </friction>
            <contact>
              <ode/>
            </contact>
            <bounce/>
          </surface>
          <max_contacts>10</max_contacts>
        </collision>
        <visual name='rear_wheel_visual'>
          <pose frame=''>-0.13 0 0.017 -0 1.5707 1.5707</pose>
          <geometry>
            <sphere>
              <radius>0.0075</radius>
            </sphere>
          </geometry>
        </visual>
        <sensor name='left_cliff_sensor' type='ray'>
          <pose frame=''>0.07 0.14 0.027 0 1.57079 0</pose>
          <ray>
            <scan>
              <horizontal>
                <samples>1</samples>
                <resolution>1</resolution>
                <min_angle>0</min_angle>
                <max_angle>0</max_angle>
              </horizontal>
              <vertical>
                <samples>1</samples>
                <min_angle>0</min_angle>
                <max_angle>0</max_angle>
              </vertical>
            </scan>
            <range>
              <min>0.01</min>
              <max>0.04</max>
              <resolution>0.1</resolution>
            </range>
          </ray>
        </sensor>
        <sensor name='leftfront_cliff_sensor' type='ray'>
          <pose frame=''>0.15 0.04 0.027 0 1.57079 0</pose>
          <ray>
            <scan>
              <horizontal>
                <samples>1</samples>
                <resolution>1</resolution>
                <min_angle>0</min_angle>
                <max_angle>0</max_angle>
              </horizontal>
              <vertical>
                <samples>1</samples>
                <min_angle>0</min_angle>
                <max_angle>0</max_angle>
              </vertical>
            </scan>
            <range>
              <min>0.01</min>
              <max>0.04</max>
              <resolution>0.1</resolution>
            </range>
          </ray>
        </sensor>
        <sensor name='right_cliff_sensor' type='ray'>
          <pose frame=''>0.07 -0.14 0.027 0 1.57079 0</pose>
          <ray>
            <scan>
              <horizontal>
                <samples>1</samples>
                <resolution>1</resolution>
                <min_angle>0</min_angle>
                <max_angle>0</max_angle>
              </horizontal>
              <vertical>
                <samples>1</samples>
                <min_angle>0</min_angle>
                <max_angle>0</max_angle>
              </vertical>
            </scan>
            <range>
              <min>0.01</min>
              <max>0.04</max>
              <resolution>0.1</resolution>
            </range>
          </ray>
        </sensor>
        <sensor name='rightfront_cliff_sensor' type='ray'>
          <pose frame=''>0.15 -0.04 0.027 0 1.57079 0</pose>
          <ray>
            <scan>
              <horizontal>
                <samples>1</samples>
                <resolution>1</resolution>
                <min_angle>0</min_angle>
                <max_angle>0</max_angle>
              </horizontal>
              <vertical>
                <samples>1</samples>
                <min_angle>0</min_angle>
                <max_angle>0</max_angle>
              </vertical>
            </scan>
            <range>
              <min>0.01</min>
              <max>0.04</max>
              <resolution>0.1</resolution>
            </range>
          </ray>
        </sensor>
        <sensor name='wall_sensor' type='ray'>
          <pose frame=''>0.09 -0.12 0.059 0 0 -1</pose>
          <ray>
            <scan>
              <horizontal>
                <samples>1</samples>
                <resolution>1</resolution>
                <min_angle>0</min_angle>
                <max_angle>0</max_angle>
              </horizontal>
              <vertical>
                <samples>1</samples>
                <min_angle>0</min_angle>
                <max_angle>0</max_angle>
              </vertical>
            </scan>
            <range>
              <min>0.016</min>
              <max>0.04</max>
              <resolution>0.1</resolution>
            </range>
          </ray>
        </sensor>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
        <gravity>1</gravity>
      </link>
      <link name='left_wheel'>
        <pose frame=''>0 0.13 0.032 0 -0 0</pose>
        <inertial>
          <inertia>
            <ixx>0.001</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>0.001</iyy>
            <iyz>0</iyz>
            <izz>0.001</izz>
          </inertia>
          <mass>0.01</mass>
        </inertial>
        <collision name='collision'>
          <pose frame=''>0 0 0 -0 1.5707 1.5707</pose>
          <geometry>
            <cylinder>
              <radius>0.033</radius>
              <length>0.023</length>
            </cylinder>
          </geometry>
          <surface>
            <friction>
              <ode>
                <mu>10</mu>
                <mu2>10</mu2>
                <fdir1>0 0 0</fdir1>
                <slip1>0</slip1>
                <slip2>0</slip2>
              </ode>
              <torsional>
                <ode/>
              </torsional>
            </friction>
            <contact>
              <ode/>
            </contact>
            <bounce/>
          </surface>
          <max_contacts>10</max_contacts>
        </collision>
        <visual name='visual'>
          <pose frame=''>0 0 0 -0 1.5707 1.5707</pose>
          <geometry>
            <cylinder>
              <radius>0.033</radius>
              <length>0.023</length>
            </cylinder>
          </geometry>
        </visual>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
        <gravity>1</gravity>
      </link>
      <link name='right_wheel'>
        <pose frame=''>0 -0.13 0.032 0 -0 0</pose>
        <inertial>
          <inertia>
            <ixx>0.001</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>0.001</iyy>
            <iyz>0</iyz>
            <izz>0.001</izz>
          </inertia>
          <mass>0.01</mass>
        </inertial>
        <collision name='collision'>
          <pose frame=''>0 0 0 -0 1.5707 1.5707</pose>
          <geometry>
            <cylinder>
              <radius>0.033</radius>
              <length>0.023</length>
            </cylinder>
          </geometry>
          <surface>
            <friction>
              <ode>
                <mu>10</mu>
                <mu2>10</mu2>
                <fdir1>0 0 0</fdir1>
                <slip1>0</slip1>
                <slip2>0</slip2>
              </ode>
              <torsional>
                <ode/>
              </torsional>
            </friction>
            <contact>
              <ode/>
            </contact>
            <bounce/>
          </surface>
          <max_contacts>10</max_contacts>
        </collision>
        <visual name='visual'>
          <pose frame=''>0 0 0 -0 1.5707 1.5707</pose>
          <geometry>
            <cylinder>
              <radius>0.033</radius>
              <length>0.023</length>
            </cylinder>
          </geometry>
        </visual>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
        <gravity>1</gravity>
      </link>
      <joint name='left_wheel' type='revolute'>
        <parent>base</parent>
        <child>left_wheel</child>
        <axis>
          <xyz>0 1 0</xyz>
          <use_parent_model_frame>1</use_parent_model_frame>
          <limit>
            <lower>-1e+16</lower>
            <upper>1e+16</upper>
          </limit>
          <dynamics>
            <spring_reference>0</spring_reference>
            <spring_stiffness>0</spring_stiffness>
          </dynamics>
        </axis>
      </joint>
      <joint name='right_wheel' type='revolute'>
        <parent>base</parent>
        <child>right_wheel</child>
        <axis>
          <xyz>0 1 0</xyz>
          <use_parent_model_frame>1</use_parent_model_frame>
          <limit>
            <lower>-1e+16</lower>
            <upper>1e+16</upper>
          </limit>
          <dynamics>
            <spring_reference>0</spring_reference>
            <spring_stiffness>0</spring_stiffness>
          </dynamics>
        </axis>
      </joint>
      <pose frame=''>0.074173 0.428176 0 0 -0 0</pose>
      <plugin name="actuador" filename="libTry_1.so">
    
    </plugin>
    </model>
    <model name='RRA3'>
      <link name='base'>
        <inertial>
          <pose frame=''>0.001453 -0.000453 0.029787 0 -0 0</pose>
          <inertia>
            <ixx>0.05864</ixx>
            <ixy>0.000124</ixy>
            <ixz>0.000615</ixz>
            <iyy>0.058786</iyy>
            <iyz>1.4e-05</iyz>
            <izz>1.53244</izz>
          </inertia>
          <mass>2.234</mass>
        </inertial>
        <collision name='base_collision'>
          <pose frame=''>0 0 0.0478 0 -0 0</pose>
          <geometry>
            <cylinder>
              <radius>0.016495</radius>
              <length>0.061163</length>
            </cylinder>
          </geometry>
          <max_contacts>10</max_contacts>
          <surface>
            <contact>
              <ode/>
            </contact>
            <bounce/>
            <friction>
              <torsional>
                <ode/>
              </torsional>
              <ode/>
            </friction>
          </surface>
        </collision>
        <visual name='base_visual'>
          <pose frame=''>0 0 0.0478 0 -0 0</pose>
          <geometry>
            <mesh>
              <uri>model://create/meshes/create_body.dae</uri>
              <scale>1 1 1</scale>
            </mesh>
          </geometry>
        </visual>
        <collision name='front_wheel_collision'>
          <pose frame=''>0.13 0 0.017 -0 1.5707 1.5707</pose>
          <geometry>
            <sphere>
              <radius>0.018</radius>
            </sphere>
          </geometry>
          <surface>
            <friction>
              <ode>
                <mu>0</mu>
                <mu2>0</mu2>
                <fdir1>0 0 0</fdir1>
                <slip1>0</slip1>
                <slip2>0</slip2>
              </ode>
              <torsional>
                <ode/>
              </torsional>
            </friction>
            <contact>
              <ode/>
            </contact>
            <bounce/>
          </surface>
          <max_contacts>10</max_contacts>
        </collision>
        <visual name='front_wheel_visual'>
          <pose frame=''>0.13 0 0.017 -0 1.5707 1.5707</pose>
          <geometry>
            <sphere>
              <radius>0.009</radius>
            </sphere>
          </geometry>
        </visual>
        <collision name='rear_wheel_collision'>
          <pose frame=''>-0.13 0 0.017 -0 1.5707 1.5707</pose>
          <geometry>
            <sphere>
              <radius>0.015</radius>
            </sphere>
          </geometry>
          <surface>
            <friction>
              <ode>
                <mu>0</mu>
                <mu2>0</mu2>
                <fdir1>0 0 0</fdir1>
                <slip1>0</slip1>
                <slip2>0</slip2>
              </ode>
              <torsional>
                <ode/>
              </torsional>
            </friction>
            <contact>
              <ode/>
            </contact>
            <bounce/>
          </surface>
          <max_contacts>10</max_contacts>
        </collision>
        <visual name='rear_wheel_visual'>
          <pose frame=''>-0.13 0 0.017 -0 1.5707 1.5707</pose>
          <geometry>
            <sphere>
              <radius>0.0075</radius>
            </sphere>
          </geometry>
        </visual>
        <sensor name='left_cliff_sensor' type='ray'>
          <pose frame=''>0.07 0.14 0.027 0 1.57079 0</pose>
          <ray>
            <scan>
              <horizontal>
                <samples>1</samples>
                <resolution>1</resolution>
                <min_angle>0</min_angle>
                <max_angle>0</max_angle>
              </horizontal>
              <vertical>
                <samples>1</samples>
                <min_angle>0</min_angle>
                <max_angle>0</max_angle>
              </vertical>
            </scan>
            <range>
              <min>0.01</min>
              <max>0.04</max>
              <resolution>0.1</resolution>
            </range>
          </ray>
        </sensor>
        <sensor name='leftfront_cliff_sensor' type='ray'>
          <pose frame=''>0.15 0.04 0.027 0 1.57079 0</pose>
          <ray>
            <scan>
              <horizontal>
                <samples>1</samples>
                <resolution>1</resolution>
                <min_angle>0</min_angle>
                <max_angle>0</max_angle>
              </horizontal>
              <vertical>
                <samples>1</samples>
                <min_angle>0</min_angle>
                <max_angle>0</max_angle>
              </vertical>
            </scan>
            <range>
              <min>0.01</min>
              <max>0.04</max>
              <resolution>0.1</resolution>
            </range>
          </ray>
        </sensor>
        <sensor name='right_cliff_sensor' type='ray'>
          <pose frame=''>0.07 -0.14 0.027 0 1.57079 0</pose>
          <ray>
            <scan>
              <horizontal>
                <samples>1</samples>
                <resolution>1</resolution>
                <min_angle>0</min_angle>
                <max_angle>0</max_angle>
              </horizontal>
              <vertical>
                <samples>1</samples>
                <min_angle>0</min_angle>
                <max_angle>0</max_angle>
              </vertical>
            </scan>
            <range>
              <min>0.01</min>
              <max>0.04</max>
              <resolution>0.1</resolution>
            </range>
          </ray>
        </sensor>
        <sensor name='rightfront_cliff_sensor' type='ray'>
          <pose frame=''>0.15 -0.04 0.027 0 1.57079 0</pose>
          <ray>
            <scan>
              <horizontal>
                <samples>1</samples>
                <resolution>1</resolution>
                <min_angle>0</min_angle>
                <max_angle>0</max_angle>
              </horizontal>
              <vertical>
                <samples>1</samples>
                <min_angle>0</min_angle>
                <max_angle>0</max_angle>
              </vertical>
            </scan>
            <range>
              <min>0.01</min>
              <max>0.04</max>
              <resolution>0.1</resolution>
            </range>
          </ray>
        </sensor>
        <sensor name='wall_sensor' type='ray'>
          <pose frame=''>0.09 -0.12 0.059 0 0 -1</pose>
          <ray>
            <scan>
              <horizontal>
                <samples>1</samples>
                <resolution>1</resolution>
                <min_angle>0</min_angle>
                <max_angle>0</max_angle>
              </horizontal>
              <vertical>
                <samples>1</samples>
                <min_angle>0</min_angle>
                <max_angle>0</max_angle>
              </vertical>
            </scan>
            <range>
              <min>0.016</min>
              <max>0.04</max>
              <resolution>0.1</resolution>
            </range>
          </ray>
        </sensor>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
        <gravity>1</gravity>
      </link>
      <link name='left_wheel'>
        <pose frame=''>0 0.13 0.032 0 -0 0</pose>
        <inertial>
          <inertia>
            <ixx>0.001</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>0.001</iyy>
            <iyz>0</iyz>
            <izz>0.001</izz>
          </inertia>
          <mass>0.01</mass>
        </inertial>
        <collision name='collision'>
          <pose frame=''>0 0 0 -0 1.5707 1.5707</pose>
          <geometry>
            <cylinder>
              <radius>0.033</radius>
              <length>0.023</length>
            </cylinder>
          </geometry>
          <surface>
            <friction>
              <ode>
                <mu>10</mu>
                <mu2>10</mu2>
                <fdir1>0 0 0</fdir1>
                <slip1>0</slip1>
                <slip2>0</slip2>
              </ode>
              <torsional>
                <ode/>
              </torsional>
            </friction>
            <contact>
              <ode/>
            </contact>
            <bounce/>
          </surface>
          <max_contacts>10</max_contacts>
        </collision>
        <visual name='visual'>
          <pose frame=''>0 0 0 -0 1.5707 1.5707</pose>
          <geometry>
            <cylinder>
              <radius>0.033</radius>
              <length>0.023</length>
            </cylinder>
          </geometry>
        </visual>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
        <gravity>1</gravity>
      </link>
      <link name='right_wheel'>
        <pose frame=''>0 -0.13 0.032 0 -0 0</pose>
        <inertial>
          <inertia>
            <ixx>0.001</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>0.001</iyy>
            <iyz>0</iyz>
            <izz>0.001</izz>
          </inertia>
          <mass>0.01</mass>
        </inertial>
        <collision name='collision'>
          <pose frame=''>0 0 0 -0 1.5707 1.5707</pose>
          <geometry>
            <cylinder>
              <radius>0.033</radius>
              <length>0.023</length>
            </cylinder>
          </geometry>
          <surface>
            <friction>
              <ode>
                <mu>10</mu>
                <mu2>10</mu2>
                <fdir1>0 0 0</fdir1>
                <slip1>0</slip1>
                <slip2>0</slip2>
              </ode>
              <torsional>
                <ode/>
              </torsional>
            </friction>
            <contact>
              <ode/>
            </contact>
            <bounce/>
          </surface>
          <max_contacts>10</max_contacts>
        </collision>
        <visual name='visual'>
          <pose frame=''>0 0 0 -0 1.5707 1.5707</pose>
          <geometry>
            <cylinder>
              <radius>0.033</radius>
              <length>0.023</length>
            </cylinder>
          </geometry>
        </visual>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
        <gravity>1</gravity>
      </link>
      <joint name='left_wheel' type='revolute'>
        <parent>base</parent>
        <child>left_wheel</child>
        <axis>
          <xyz>0 1 0</xyz>
          <use_parent_model_frame>1</use_parent_model_frame>
          <limit>
            <lower>-1e+16</lower>
            <upper>1e+16</upper>
          </limit>
          <dynamics>
            <spring_reference>0</spring_reference>
            <spring_stiffness>0</spring_stiffness>
          </dynamics>
        </axis>
      </joint>
      <joint name='right_wheel' type='revolute'>
        <parent>base</parent>
        <child>right_wheel</child>
        <axis>
          <xyz>0 1 0</xyz>
          <use_parent_model_frame>1</use_parent_model_frame>
          <limit>
            <lower>-1e+16</lower>
            <upper>1e+16</upper>
          </limit>
          <dynamics>
            <spring_reference>0</spring_reference>
            <spring_stiffness>0</spring_stiffness>
          </dynamics>
        </axis>
      </joint>
      <pose frame=''>-0.013947 -0.405733 0 0 -0 0</pose>
      <plugin name="actuador" filename="libTry_1.so">
    
    </plugin>
    </model>
    <gui fullscreen='0'>
      <camera name='user_camera'>
        <pose frame=''>4.48234 -3.45769 2.04031 0 0.275643 2.35619</pose>
        <view_controller>orbit</view_controller>
        <projection_type>perspective</projection_type>
      </camera>
    </gui>
  </world>
</sdf>
