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        <visual name='wheel_link_br_geom_visual'>
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        <visual name='wheel_link_fl_geom_visual'>
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      <joint name='arm_joint_2' type='revolute'>
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      <joint name='arm_joint_3' type='revolute'>
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      <joint name='arm_joint_4' type='revolute'>
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      <joint name='arm_joint_5' type='revolute'>
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        <parent>arm_link_4</parent>
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        <kinematic>0</kinematic>
      </link>
      <link name='plate_link'>
        <pose frame=''>-0.159 0 0.046 0 -0 0</pose>
        <inertial>
          <pose frame=''>0 0 0 0 -0 0</pose>
          <inertia>
            <ixx>0.01</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>0.01</iyy>
            <iyz>0</iyz>
            <izz>0.01</izz>
          </inertia>
          <mass>1</mass>
        </inertial>
        <collision name='plate_link_geom'>
          <pose frame=''>0 0 0 0 -0 0</pose>
          <geometry>
            <mesh>
              <uri>model://youbot/meshes/plate/plate_convex.stl</uri>
              <scale>1 1 1</scale>
            </mesh>
          </geometry>
          <surface>
            <bounce>
              <restitution_coefficient>0</restitution_coefficient>
              <threshold>0</threshold>
            </bounce>
            <contact>
              <ode>
                <soft_cfm>0</soft_cfm>
                <soft_erp>0.2</soft_erp>
                <kp>1e+13</kp>
                <kd>1e+11</kd>
                <max_vel>-1</max_vel>
                <min_depth>0</min_depth>
              </ode>
            </contact>
            <friction>
              <torsional>
                <ode/>
              </torsional>
              <ode/>
            </friction>
          </surface>
          <laser_retro>0</laser_retro>
          <max_contacts>10</max_contacts>
        </collision>
        <visual name='plate_link_geom_visual'>
          <pose frame=''>0 0 0 0 -0 0</pose>
          <geometry>
            <mesh>
              <uri>model://youbot/meshes/plate/plate.dae</uri>
              <scale>1 1 1</scale>
            </mesh>
          </geometry>
        </visual>
        <gravity>1</gravity>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
      </link>
      <joint name='base_footprint_joint' type='revolute'>
        <pose frame=''>0 0 0 0 -0 0</pose>
        <parent>base_footprint</parent>
        <child>base_link</child>
        <axis>
          <dynamics>
            <damping>0</damping>
            <friction>0</friction>
            <spring_reference>0</spring_reference>
            <spring_stiffness>0</spring_stiffness>
          </dynamics>
          <limit>
            <lower>0</lower>
            <upper>0</upper>
            <effort>0</effort>
            <velocity>0</velocity>
          </limit>
          <xyz>0 0 1</xyz>
          <use_parent_model_frame>1</use_parent_model_frame>
        </axis>
      </joint>
      <joint name='arm_joint_0' type='revolute'>
        <pose frame=''>0 0 0 0 -0 0</pose>
        <parent>base_link</parent>
        <child>arm_link_0</child>
        <axis>
          <dynamics>
            <damping>0</damping>
            <friction>0</friction>
            <spring_reference>0</spring_reference>
            <spring_stiffness>0</spring_stiffness>
          </dynamics>
          <limit>
            <lower>0</lower>
            <upper>0</upper>
            <effort>0</effort>
            <velocity>0</velocity>
          </limit>
          <xyz>0 0 1</xyz>
          <use_parent_model_frame>1</use_parent_model_frame>
        </axis>
      </joint>
      <joint name='arm_joint_1' type='revolute'>
        <pose frame=''>0 0 0 0 -0 0</pose>
        <parent>arm_link_0</parent>
        <child>arm_link_1</child>
        <axis>
          <dynamics>
            <damping>1</damping>
            <friction>0</friction>
            <spring_reference>0</spring_reference>
            <spring_stiffness>0</spring_stiffness>
          </dynamics>
          <limit>
            <lower>0</lower>
            <upper>5.89921</upper>
            <effort>9.5</effort>
          </limit>
          <xyz>0 0 -1</xyz>
          <use_parent_model_frame>1</use_parent_model_frame>
        </axis>
      </joint>
      <joint name='arm_joint_2' type='revolute'>
        <pose frame=''>0 0 0 0 -0 0</pose>
        <parent>arm_link_1</parent>
        <child>arm_link_2</child>
        <axis>
          <dynamics>
            <damping>1</damping>
            <friction>0</friction>
            <spring_reference>0</spring_reference>
            <spring_stiffness>0</spring_stiffness>
          </dynamics>
          <limit>
            <lower>0</lower>
            <upper>2.70526</upper>
            <effort>9.5</effort>
            <velocity>-1</velocity>
          </limit>
          <xyz>-0.173648 -0.984808 0</xyz>
          <use_parent_model_frame>1</use_parent_model_frame>
        </axis>
      </joint>
      <joint name='arm_joint_3' type='revolute'>
        <pose frame=''>0 0 0 0 -0 0</pose>
        <parent>arm_link_2</parent>
        <child>arm_link_3</child>
        <axis>
          <dynamics>
            <damping>1</damping>
            <friction>0</friction>
            <spring_reference>0</spring_reference>
            <spring_stiffness>0</spring_stiffness>
          </dynamics>
          <limit>
            <lower>-5.18363</lower>
            <upper>0</upper>
            <effort>6</effort>
            <velocity>-1</velocity>
          </limit>
          <xyz>-0.173648 -0.984808 0</xyz>
          <use_parent_model_frame>1</use_parent_model_frame>
        </axis>
      </joint>
      <joint name='arm_joint_4' type='revolute'>
        <pose frame=''>0 0 0 0 -0 0</pose>
        <parent>arm_link_3</parent>
        <child>arm_link_4</child>
        <axis>
          <dynamics>
            <damping>1</damping>
            <friction>0</friction>
            <spring_reference>0</spring_reference>
            <spring_stiffness>0</spring_stiffness>
          </dynamics>
          <limit>
            <lower>0</lower>
            <upper>3.57793</upper>
            <effort>2</effort>
            <velocity>-1</velocity>
          </limit>
          <xyz>-0.173648 -0.984808 0</xyz>
          <use_parent_model_frame>1</use_parent_model_frame>
        </axis>
      </joint>
      <joint name='arm_joint_5' type='revolute'>
        <pose frame=''>0 0 0 0 -0 0</pose>
        <parent>arm_link_4</parent>
        <child>arm_link_5</child>
        <axis>
          <dynamics>
            <damping>1</damping>
            <friction>0</friction>
            <spring_reference>0</spring_reference>
            <spring_stiffness>0</spring_stiffness>
          </dynamics>
          <limit>
            <lower>0</lower>
            <upper>5.84685</upper>
            <effort>1</effort>
            <velocity>-1</velocity>
          </limit>
          <xyz>-0.360933 0.063642 -0.930418</xyz>
          <use_parent_model_frame>1</use_parent_model_frame>
        </axis>
      </joint>
      <joint name='gripper_palm_joint' type='revolute'>
        <pose frame=''>0 0 0 0 -0 0</pose>
        <parent>arm_link_5</parent>
        <child>gripper_palm_link</child>
        <axis>
          <dynamics>
            <damping>0</damping>
            <friction>0</friction>
            <spring_reference>0</spring_reference>
            <spring_stiffness>0</spring_stiffness>
          </dynamics>
          <limit>
            <lower>0</lower>
            <upper>0</upper>
            <effort>0</effort>
            <velocity>0</velocity>
          </limit>
          <xyz>0 0 1</xyz>
          <use_parent_model_frame>1</use_parent_model_frame>
        </axis>
      </joint>
      <joint name='gripper_finger_joint_l' type='prismatic'>
        <pose frame=''>0 0 0 0 -0 0</pose>
        <parent>gripper_palm_link</parent>
        <child>gripper_finger_link_l</child>
        <axis>
          <dynamics>
            <damping>1</damping>
            <friction>0</friction>
            <spring_reference>0</spring_reference>
            <spring_stiffness>0</spring_stiffness>
          </dynamics>
          <limit>
            <lower>0</lower>
            <upper>0.0115</upper>
            <effort>1</effort>
            <velocity>-1</velocity>
          </limit>
          <xyz>0.367852 0.926495 -0.079325</xyz>
          <use_parent_model_frame>1</use_parent_model_frame>
        </axis>
      </joint>
      <joint name='gripper_finger_joint_r' type='prismatic'>
        <pose frame=''>0 0 0 0 -0 0</pose>
        <parent>gripper_palm_link</parent>
        <child>gripper_finger_link_r</child>
        <axis>
          <dynamics>
            <damping>1</damping>
            <friction>0</friction>
            <spring_reference>0</spring_reference>
            <spring_stiffness>0</spring_stiffness>
          </dynamics>
          <limit>
            <lower>0</lower>
            <upper>0.0115</upper>
            <effort>1</effort>
            <velocity>-1</velocity>
          </limit>
          <xyz>-0.367852 -0.926495 0.079325</xyz>
          <use_parent_model_frame>1</use_parent_model_frame>
        </axis>
      </joint>
      <joint name='base_laser_front_hokuyo_urg04_laser_joint' type='revolute'>
        <pose frame=''>0 0 0 0 -0 0</pose>
        <parent>base_link</parent>
        <child>base_laser_front_link</child>
        <axis>
          <dynamics>
            <damping>0</damping>
            <friction>0</friction>
            <spring_reference>0</spring_reference>
            <spring_stiffness>0</spring_stiffness>
          </dynamics>
          <limit>
            <lower>0</lower>
            <upper>0</upper>
            <effort>0</effort>
            <velocity>0</velocity>
          </limit>
          <xyz>0 0 1</xyz>
          <use_parent_model_frame>1</use_parent_model_frame>
        </axis>
      </joint>
      <joint name='caster_joint_bl' type='revolute'>
        <pose frame=''>0 0 0 0 -0 0</pose>
        <parent>base_link</parent>
        <child>caster_link_bl</child>
        <axis>
          <dynamics>
            <damping>1</damping>
            <friction>0</friction>
            <spring_reference>0</spring_reference>
            <spring_stiffness>0</spring_stiffness>
          </dynamics>
          <limit>
            <effort>1</effort>
            <lower>-1e+16</lower>
            <upper>1e+16</upper>
          </limit>
          <xyz>0 0 1</xyz>
          <use_parent_model_frame>1</use_parent_model_frame>
        </axis>
      </joint>
      <joint name='wheel_joint_bl' type='revolute'>
        <pose frame=''>0 0 0 0 -0 0</pose>
        <parent>caster_link_bl</parent>
        <child>wheel_link_bl</child>
        <axis>
          <dynamics>
            <damping>1</damping>
            <friction>0</friction>
            <spring_reference>0</spring_reference>
            <spring_stiffness>0</spring_stiffness>
          </dynamics>
          <limit>
            <effort>1</effort>
            <lower>-1e+16</lower>
            <upper>1e+16</upper>
          </limit>
          <xyz>0 1 0</xyz>
          <use_parent_model_frame>1</use_parent_model_frame>
        </axis>
      </joint>
      <joint name='caster_joint_br' type='revolute'>
        <pose frame=''>0 0 0 0 -0 0</pose>
        <parent>base_link</parent>
        <child>caster_link_br</child>
        <axis>
          <dynamics>
            <damping>1</damping>
            <friction>0</friction>
            <spring_reference>0</spring_reference>
            <spring_stiffness>0</spring_stiffness>
          </dynamics>
          <limit>
            <effort>1</effort>
            <lower>-1e+16</lower>
            <upper>1e+16</upper>
          </limit>
          <xyz>0 0 1</xyz>
          <use_parent_model_frame>1</use_parent_model_frame>
        </axis>
      </joint>
      <joint name='wheel_joint_br' type='revolute'>
        <pose frame=''>0 0 0 0 -0 0</pose>
        <parent>caster_link_br</parent>
        <child>wheel_link_br</child>
        <axis>
          <dynamics>
            <damping>1</damping>
            <friction>0</friction>
            <spring_reference>0</spring_reference>
            <spring_stiffness>0</spring_stiffness>
          </dynamics>
          <limit>
            <effort>1</effort>
            <lower>-1e+16</lower>
            <upper>1e+16</upper>
          </limit>
          <xyz>0 1 0</xyz>
          <use_parent_model_frame>1</use_parent_model_frame>
        </axis>
      </joint>
      <joint name='caster_joint_fl' type='revolute'>
        <pose frame=''>0 0 0 0 -0 0</pose>
        <parent>base_link</parent>
        <child>caster_link_fl</child>
        <axis>
          <dynamics>
            <damping>1</damping>
            <friction>0</friction>
            <spring_reference>0</spring_reference>
            <spring_stiffness>0</spring_stiffness>
          </dynamics>
          <limit>
            <effort>1</effort>
            <lower>-1e+16</lower>
            <upper>1e+16</upper>
          </limit>
          <xyz>0 0 1</xyz>
          <use_parent_model_frame>1</use_parent_model_frame>
        </axis>
      </joint>
      <joint name='wheel_joint_fl' type='revolute'>
        <pose frame=''>0 0 0 0 -0 0</pose>
        <parent>caster_link_fl</parent>
        <child>wheel_link_fl</child>
        <axis>
          <dynamics>
            <damping>1</damping>
            <friction>0</friction>
            <spring_reference>0</spring_reference>
            <spring_stiffness>0</spring_stiffness>
          </dynamics>
          <limit>
            <effort>1</effort>
            <lower>-1e+16</lower>
            <upper>1e+16</upper>
          </limit>
          <xyz>0 1 0</xyz>
          <use_parent_model_frame>1</use_parent_model_frame>
        </axis>
      </joint>
      <joint name='caster_joint_fr' type='revolute'>
        <pose frame=''>0 0 0 0 -0 0</pose>
        <parent>base_link</parent>
        <child>caster_link_fr</child>
        <axis>
          <dynamics>
            <damping>1</damping>
            <friction>0</friction>
            <spring_reference>0</spring_reference>
            <spring_stiffness>0</spring_stiffness>
          </dynamics>
          <limit>
            <effort>1</effort>
            <lower>-1e+16</lower>
            <upper>1e+16</upper>
          </limit>
          <xyz>0 0 1</xyz>
          <use_parent_model_frame>1</use_parent_model_frame>
        </axis>
      </joint>
      <joint name='wheel_joint_fr' type='revolute'>
        <pose frame=''>0 0 0 0 -0 0</pose>
        <parent>caster_link_fr</parent>
        <child>wheel_link_fr</child>
        <axis>
          <dynamics>
            <damping>1</damping>
            <friction>0</friction>
            <spring_reference>0</spring_reference>
            <spring_stiffness>0</spring_stiffness>
          </dynamics>
          <limit>
            <effort>1</effort>
            <lower>-1e+16</lower>
            <upper>1e+16</upper>
          </limit>
          <xyz>0 1 0</xyz>
          <use_parent_model_frame>1</use_parent_model_frame>
        </axis>
      </joint>
      <joint name='plate_joint' type='revolute'>
        <parent>base_link</parent>
        <child>plate_link</child>
        <axis>
          <dynamics>
            <damping>0</damping>
            <friction>0</friction>
            <spring_reference>0</spring_reference>
            <spring_stiffness>0</spring_stiffness>
          </dynamics>
          <limit>
            <lower>0</lower>
            <upper>0</upper>
            <effort>0</effort>
            <velocity>0</velocity>
          </limit>
          <xyz>0 0 1</xyz>
          <use_parent_model_frame>1</use_parent_model_frame>
        </axis>
      </joint>
      <static>0</static>
    <plugin name="actuador" filename="libTry_1.so">
      <topic>R2</topic>  
    </plugin>
    </model>
    
    <state world_name='default'>
      <sim_time>32 959000000</sim_time>
      <real_time>34 911900360</real_time>
      <wall_time>1491671314 990232190</wall_time>
      <iterations>32959</iterations>
      <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='youbot'>
        <pose frame=''>0.123447 -0.101904 0.083974 1.6e-05 2.5e-05 4.9e-05</pose>
        <scale>1 1 1</scale>
        <link name='arm_link_0'>
          <pose frame=''>0.266448 -0.101898 0.129968 2.2e-05 2.6e-05 4.9e-05</pose>
          <velocity>7.8e-05 -0.000433 -0.000244 0.004721 0.002081 -0.001225</velocity>
          <acceleration>-0.08745 -0.153205 0.335323 2.37784 -1.2765 -1.92081</acceleration>
          <wrench>-0.073895 -0.129458 0.283348 0 -0 0</wrench>
        </link>
        <link name='arm_link_1'>
          <pose frame=''>0.29045 -0.101898 0.225967 -3.1e-05 -3.5e-05 2.96124</pose>
          <velocity>0.000323 -0.000741 -0.000327 0.007927 0.001799 -0.000699</velocity>
          <acceleration>-0.143575 -0.14175 0.276637 -1.7794 -0.897194 0.006255</acceleration>
          <wrench>-0.346303 -0.341901 0.667248 0 -0 0</wrench>
        </link>
        <link name='arm_link_2'>
          <pose frame=''>0.257986 -0.095979 0.244967 -0.000109 -1.13452 2.96131</pose>
          <velocity>0.000292 -0.000879 -0.000457 0.011093 0.001657 -0.00972</velocity>
          <acceleration>0.110129 -0.644843 0.109771 -1.6986 -1.05975 -1.04854</acceleration>
          <wrench>0.127199 -0.744793 0.126785 0 -0 0</wrench>
        </link>
        <link name='arm_link_3'>
          <pose frame=''>0.396189 -0.12118 0.310447 0.000424 1.4137 2.96164</pose>
          <velocity>0.00041 -0.00178 -0.004081 -0.001054 0.021144 -0.008092</velocity>
          <acceleration>-0.984374 -0.813757 -2.67625 -0.282835 -0.420126 -1.89863</acceleration>
          <wrench>-0.919406 -0.760049 -2.49961 0 -0 0</wrench>
        </link>
        <link name='arm_link_4'>
          <pose frame=''>0.265017 -0.097259 0.331565 0.000101 -0.375299 2.96119</pose>
          <velocity>0.001138 -0.000819 -0.00253 -0.008307 0.004712 -0.008976</velocity>
          <acceleration>1.55158 -0.188121 5.01032 -0.679172 0.660834 2.05318</acceleration>
          <wrench>1.36074 -0.164982 4.39405 0 -0 0</wrench>
        </link>
        <link name='arm_link_5'>
          <pose frame=''>0.313726 -0.106131 0.451784 -0.094576 0.363733 -0.440721</pose>
          <velocity>0.001483 0.000339 -0.002984 0.0059 0.000545 -0.00621</velocity>
          <acceleration>2.22022 3.50829 3.25874 -3.10865 -1.45291 -0.829178</acceleration>
          <wrench>0.557276 0.88058 0.817944 0 -0 0</wrench>
        </link>
        <link name='base_footprint'>
          <pose frame=''>0.123447 -0.101904 0.083974 1.6e-05 2.5e-05 4.9e-05</pose>
          <velocity>-1e-05 -0.000221 0.000306 0.003066 0.002665 -0.000237</velocity>
          <acceleration>-0.000373 -0.120021 0.49902 0.03591 -0.426589 0.114645</acceleration>
          <wrench>-3.7e-05 -0.012002 0.049902 0 -0 0</wrench>
        </link>
        <link name='base_laser_front_link'>
          <pose frame=''>0.423446 -0.101889 0.053967 1.6e-05 2.5e-05 4.9e-05</pose>
          <velocity>-8.8e-05 -0.000197 -0.000483 0.003061 0.00266 -0.000216</velocity>
          <acceleration>-0.006748 -0.082342 0.638122 0.029801 -0.429284 0.151534</acceleration>
          <wrench>-0.00108 -0.013175 0.102099 0 -0 0</wrench>
        </link>
        <link name='base_link'>
          <pose frame=''>0.123447 -0.101904 0.083974 1.6e-05 2.5e-05 4.9e-05</pose>
          <velocity>-9e-06 -0.000221 0.000308 0.003067 0.002668 -0.000237</velocity>
          <acceleration>-0.021409 -0.121432 0.504368 0.03404 -0.427936 0.117625</acceleration>
          <wrench>-0.471 -2.67151 11.0961 0 -0 0</wrench>
        </link>
        <link name='caster_link_bl'>
          <pose frame=''>-0.104562 0.056085 0.050001 1.6e-05 2.5e-05 7e-05</pose>
          <velocity>-3.7e-05 -0.000111 0.000129 0.003016 0.00266 -0.000211</velocity>
          <acceleration>-0.008349 -0.060541 -0.07827 0.048748 -0.428783 -0.016529</acceleration>
          <wrench>-0.000835 -0.006054 -0.007827 0 -0 0</wrench>
        </link>
        <link name='caster_link_br'>
          <pose frame=''>-0.104546 -0.259915 0.049997 1.6e-05 2.5e-05 4.8e-05</pose>
          <velocity>-0.000131 -0.000112 0.000319 0.003043 0.002667 -0.000253</velocity>
          <acceleration>0.008279 -0.061066 -0.060475 0.051734 -0.426153 -0.018945</acceleration>
          <wrench>0.000828 -0.006107 -0.006048 0 -0 0</wrench>
        </link>
        <link name='caster_link_fl'>
          <pose frame=''>0.351438 0.056108 0.049999 1.6e-05 2.5e-05 0.000188</pose>
          <velocity>-3.6e-05 -0.000157 0.000474 0.003082 0.002667 -0.000161</velocity>
          <acceleration>-0.008555 -0.036259 -0.080266 0.029202 -0.423646 -0.01816</acceleration>
          <wrench>-0.000856 -0.003626 -0.008027 0 -0 0</wrench>
        </link>
        <link name='caster_link_fr'>
          <pose frame=''>0.351454 -0.259892 0.049994 1.6e-05 2.5e-05 0.000249</pose>
          <velocity>-0.000113 -0.000159 0.000664 0.003097 0.002669 -0.000233</velocity>
          <acceleration>-8e-06 -0.036605 -0.064142 0.03464 -0.427282 -0.026628</acceleration>
          <wrench>-1e-06 -0.00366 -0.006414 0 -0 0</wrench>
        </link>
        <link name='gripper_finger_link_l'>
          <pose frame=''>0.341383 -0.092913 0.491439 0.094577 -0.363735 2.70087</pose>
          <velocity>0.000321 -0.002999 -0.002632 0.004825 0.002953 -0.002787</velocity>
          <acceleration>0.948879 0.936377 3.58065 1.16447 1.45934 2.46157</acceleration>
          <wrench>0.009489 0.009364 0.035806 0 -0 0</wrench>
        </link>
        <link name='gripper_finger_link_r'>
          <pose frame=''>0.33054 -0.118068 0.493866 -0.094577 0.363735 -0.44072</pose>
          <velocity>0.00026 -0.002982 -0.002709 0.004675 0.003017 -0.002725</velocity>
          <acceleration>1.02234 0.922147 3.75954 0.93984 1.53758 2.5539</acceleration>
          <wrench>0.010223 0.009221 0.037595 0 -0 0</wrench>
        </link>
        <link name='gripper_palm_link'>
          <pose frame=''>0.313727 -0.106131 0.451785 -0.094577 0.363735 -0.44072</pose>
          <velocity>0.001608 0.000627 -0.002966 0.004895 0.002923 -0.002817</velocity>
          <acceleration>2.34625 3.9788 3.31979 1.2689 1.422 2.41866</acceleration>
          <wrench>0.234625 0.39788 0.331979 0 -0 0</wrench>
        </link>
        <link name='plate_link'>
          <pose frame=''>-0.035552 -0.101912 0.129978 1.6e-05 2.5e-05 4.9e-05</pose>
          <velocity>0.000115 -0.000322 0.000738 0.00307 0.002676 -0.000235</velocity>
          <acceleration>-0.039595 -0.141424 0.454347 0.029566 -0.431095 0.126744</acceleration>
          <wrench>-0.039595 -0.141424 0.454347 0 -0 0</wrench>
        </link>
        <link name='wheel_link_bl'>
          <pose frame=''>-0.104562 0.056085 0.05 1.6e-05 -0.002176 7e-05</pose>
          <velocity>-2.4e-05 -0.000144 0.000194 0.002924 -0.000454 -0.000208</velocity>
          <acceleration>-0.001342 -0.008759 -0.051336 0.158718 -0.021334 -0.022798</acceleration>
          <wrench>-0.000537 -0.003503 -0.020534 0 -0 0</wrench>
        </link>
        <link name='wheel_link_br'>
          <pose frame=''>-0.104546 -0.259915 0.049996 1.6e-05 -0.001848 4.8e-05</pose>
          <velocity>-0.000129 -0.000147 0.000322 0.002966 -0.002561 -0.000249</velocity>
          <acceleration>0.001166 -0.009023 -0.033641 0.164109 0.022694 -0.023605</acceleration>
          <wrench>0.000466 -0.003609 -0.013457 0 -0 0</wrench>
        </link>
        <link name='wheel_link_fl'>
          <pose frame=''>0.351438 0.056107 0.049997 1.6e-05 0.001692 0.000188</pose>
          <velocity>-2.3e-05 -0.000154 0.000458 0.003098 -0.000445 -0.000164</velocity>
          <acceleration>-0.001759 -0.005226 -0.042385 0.091989 -0.029774 -0.021801</acceleration>
          <wrench>-0.000703 -0.002091 -0.016954 0 -0 0</wrench>
        </link>
        <link name='wheel_link_fr'>
          <pose frame=''>0.351454 -0.259892 0.049993 1.7e-05 0.002399 0.000249</pose>
          <velocity>-0.000101 -0.000157 0.00058 0.003123 -0.001995 -0.000237</velocity>
          <acceleration>-0.01216 -0.005646 -0.024646 0.100572 -0.244477 -0.028048</acceleration>
          <wrench>-0.004864 -0.002258 -0.009858 0 -0 0</wrench>
        </link>
      </model>
      <light name='sun'>
        <pose frame=''>0 0 10 0 -0 0</pose>
      </light>
    </state>
    <gui fullscreen='0'>
      <camera name='user_camera'>
        <pose frame=''>5 -5 2 0 0.275643 2.35619</pose>
        <view_controller>orbit</view_controller>
        <projection_type>perspective</projection_type>
      </camera>
    </gui>
  </world>
</sdf>
