<?xml version="1.0"?><sdf version="1.12"><model name="wolf_e"><pose>0 0 .02 0 0 0</pose><link name="base_link"><inertial><mass>12</mass><inertia><ixx>0.29</ixx><iyy>0.71</iyy><izz>0.92</izz></inertia></inertial><visual name="cad"><pose>0 0 0 0 0 1.57079632679</pose><geometry><mesh><uri>wolf-e.stl</uri><scale>0.0023160025184420685 0.0023160025184420685 0.0023160025184420685</scale></mesh></geometry><material><ambient>0.23 0.32 0.13 1</ambient><diffuse>0.23 0.32 0.13 1</diffuse></material></visual><collision name="body"><pose>0 0 .28 0 0 0</pose><geometry><box><size>.70 .50 .18</size></box></geometry></collision>
<sensor name="imu" type="imu"><pose>0 0 .35 0 0 0</pose><always_on>true</always_on><update_rate>100</update_rate><topic>/wolf_e/imu</topic><imu><angular_velocity><z><noise type="gaussian"><mean>.004</mean><stddev>.01</stddev></noise></z></angular_velocity></imu></sensor>
<sensor name="camera" type="camera"><pose>.32 0 .62 0 0 0</pose><always_on>true</always_on><update_rate>15</update_rate><topic>/wolf_e/camera</topic><camera><horizontal_fov>1.74532925199</horizontal_fov><image><width>640</width><height>360</height><format>R8G8B8</format></image><clip><near>.05</near><far>180</far></clip></camera></sensor>
<sensor name="lrf" type="gpu_lidar"><pose>.41 0 .58 0 0 0</pose><always_on>true</always_on><update_rate>10</update_rate><topic>/wolf_e/lrf</topic><lidar><scan><horizontal><samples>1</samples><resolution>1</resolution><min_angle>0</min_angle><max_angle>0</max_angle></horizontal></scan><range><min>.20</min><max>180</max><resolution>.01</resolution></range><noise><type>gaussian</type><mean>0</mean><stddev>.03</stddev></noise></lidar></sensor></link><link name="front_left"><pose>0.27 0.26 0.13 0 0 0</pose><inertial><mass>2</mass><inertia><ixx>0.009</ixx><iyy>0.017</iyy><izz>0.009</izz></inertia></inertial><collision name="tire"><pose>0 0 0 1.57079632679 0 0</pose><geometry><cylinder><radius>0.13</radius><length>.08</length></cylinder></geometry><surface><friction><ode><mu>.8</mu><mu2>.8</mu2></ode></friction></surface></collision></link><joint name="front_left_joint" type="revolute"><parent>base_link</parent><child>front_left</child><axis><xyz>0 1 0</xyz><limit><lower>-1e16</lower><upper>1e16</upper><effort>20</effort><velocity>8</velocity></limit><dynamics><damping>.03</damping></dynamics></axis></joint><link name="rear_left"><pose>-0.27 0.26 0.13 0 0 0</pose><inertial><mass>2</mass><inertia><ixx>0.009</ixx><iyy>0.017</iyy><izz>0.009</izz></inertia></inertial><collision name="tire"><pose>0 0 0 1.57079632679 0 0</pose><geometry><cylinder><radius>0.13</radius><length>.08</length></cylinder></geometry><surface><friction><ode><mu>.8</mu><mu2>.8</mu2></ode></friction></surface></collision></link><joint name="rear_left_joint" type="revolute"><parent>base_link</parent><child>rear_left</child><axis><xyz>0 1 0</xyz><limit><lower>-1e16</lower><upper>1e16</upper><effort>20</effort><velocity>8</velocity></limit><dynamics><damping>.03</damping></dynamics></axis></joint><link name="front_right"><pose>0.27 -0.26 0.13 0 0 0</pose><inertial><mass>2</mass><inertia><ixx>0.009</ixx><iyy>0.017</iyy><izz>0.009</izz></inertia></inertial><collision name="tire"><pose>0 0 0 1.57079632679 0 0</pose><geometry><cylinder><radius>0.13</radius><length>.08</length></cylinder></geometry><surface><friction><ode><mu>.8</mu><mu2>.8</mu2></ode></friction></surface></collision></link><joint name="front_right_joint" type="revolute"><parent>base_link</parent><child>front_right</child><axis><xyz>0 1 0</xyz><limit><lower>-1e16</lower><upper>1e16</upper><effort>20</effort><velocity>8</velocity></limit><dynamics><damping>.03</damping></dynamics></axis></joint><link name="rear_right"><pose>-0.27 -0.26 0.13 0 0 0</pose><inertial><mass>2</mass><inertia><ixx>0.009</ixx><iyy>0.017</iyy><izz>0.009</izz></inertia></inertial><collision name="tire"><pose>0 0 0 1.57079632679 0 0</pose><geometry><cylinder><radius>0.13</radius><length>.08</length></cylinder></geometry><surface><friction><ode><mu>.8</mu><mu2>.8</mu2></ode></friction></surface></collision></link><joint name="rear_right_joint" type="revolute"><parent>base_link</parent><child>rear_right</child><axis><xyz>0 1 0</xyz><limit><lower>-1e16</lower><upper>1e16</upper><effort>20</effort><velocity>8</velocity></limit><dynamics><damping>.03</damping></dynamics></axis></joint><plugin filename="gz-sim-diff-drive-system" name="gz::sim::systems::DiffDrive"><left_joint>front_left_joint</left_joint><left_joint>rear_left_joint</left_joint><right_joint>front_right_joint</right_joint><right_joint>rear_right_joint</right_joint><wheel_separation>0.52</wheel_separation><wheel_radius>0.13</wheel_radius><topic>/wolf_e/cmd_vel</topic><odom_topic>/wolf_e/odometry</odom_topic><frame_id>odom</frame_id><child_frame_id>base_link</child_frame_id><max_linear_velocity>.6</max_linear_velocity><max_angular_velocity>.65</max_angular_velocity><max_linear_acceleration>.5</max_linear_acceleration></plugin><plugin filename="gz-sim-joint-state-publisher-system" name="gz::sim::systems::JointStatePublisher"><topic>/wolf_e/joint_states</topic></plugin></model></sdf>
