+ <world name='cart_world'>
+ <physics name='default_physics' default='0' type='ode'>
+ <max_step_size>0.001</max_step_size>
+ <real_time_factor>1</real_time_factor>
+ <real_time_update_rate>1000</real_time_update_rate>
+ <gravity>0 0 -9.8</gravity>
+ <model name='ground_plane'>
+ <collision name='collision'>
+ <max_contacts>10</max_contacts>
+ <uri>file://media/materials/scripts/gazebo.material</uri>
+ <name>Gazebo/Grey</name>
+ <self_collide>0</self_collide>
+ <enable_wind>0</enable_wind>
+ <kinematic>0</kinematic>
+ <light name='sun' type='directional'>
+ <pose frame=''>0 0 10 0 -0 0</pose>
+ <diffuse>0.8 0.8 0.8 1</diffuse>
+ <specular>0.1 0.1 0.1 1</specular>
+ <constant>0.8</constant>
+ <quadratic>0</quadratic>
+ <direction>0 0.5 -0.5</direction>
+ <cast_shadows>1</cast_shadows>
+ <gravity>0 0 -9.8</gravity>
+ <magnetic_field>6e-06 2.3e-05 -4.2e-05</magnetic_field>
+ <pose frame=''>0 0 0 0 -0 -1.5707</pose>
+ <pose frame=''>0 0 0.65 0 0.3 0</pose>
+ <pose frame=''>0 0 0 0 -0 0</pose>
+ <pose frame=''>0 0 0 0 -0 0</pose>
+ <uri>file://media/materials/scripts/gazebo.material</uri>
+ <name>Gazebo/Grey</name>
+ <cast_shadows>1</cast_shadows>
+ <collision name='collision'>
+ <pose frame=''>0 0 0 0 -0 0</pose>
+ <max_contacts>10</max_contacts>
+ <self_collide>0</self_collide>
+ <enable_wind>0</enable_wind>
+ <kinematic>0</kinematic>
+ <pose frame=''>0 0 1.45 .3 0 0</pose>
+ <collision name='collision'>
+ <pose frame=''>0 0 -0.55 0 -0 0</pose>
+ <max_contacts>10</max_contacts>
+ <pose frame=''>0 0 -0.55 0 -0 0</pose>
+ <uri>file://media/materials/scripts/gazebo.material</uri>
+ <name>Gazebo/WoodPallet</name>
+ <self_collide>0</self_collide>
+ <enable_wind>0</enable_wind>
+ <kinematic>0</kinematic>
+ <pose frame=''>0.5 0.55 -0.5 1.5708 -0 0</pose>
+ <collision name='collision'>
+ <min_depth>0.0001</min_depth>
+ <max_contacts>10</max_contacts>
+ <uri>file://media/materials/scripts/gazebo.material</uri>
+ <name>Gazebo/CoM</name>
+ <self_collide>0</self_collide>
+ <enable_wind>0</enable_wind>
+ <kinematic>0</kinematic>
+ <joint name='wheel_1_joint' type='revolute'>
+ <parent>chassis</parent>
+ <pose frame=''>0 0 0 0 -0 0</pose>
+ <use_parent_model_frame>1</use_parent_model_frame>
+ <spring_reference>0</spring_reference>
+ <spring_stiffness>0</spring_stiffness>
+ <pose frame=''>0.5 -0.55 -0.5 1.5708 -0 0</pose>
+ <collision name='collision'>
+ <min_depth>0.0001</min_depth>
+ <max_contacts>10</max_contacts>
+ <uri>file://media/materials/scripts/gazebo.material</uri>
+ <name>Gazebo/CoM</name>
+ <self_collide>0</self_collide>
+ <enable_wind>0</enable_wind>
+ <kinematic>0</kinematic>
+ <joint name='wheel_2_joint' type='revolute'>
+ <parent>chassis</parent>
+ <pose frame=''>0 0 0 0 -0 0</pose>
+ <use_parent_model_frame>1</use_parent_model_frame>
+ <spring_reference>0</spring_reference>
+ <spring_stiffness>0</spring_stiffness>
+ <pose frame=''>-0.5 0.55 -0.5 1.5708 -0 0</pose>
+ <collision name='collision'>
+ <min_depth>0.0001</min_depth>
+ <max_contacts>10</max_contacts>
+ <uri>file://media/materials/scripts/gazebo.material</uri>
+ <name>Gazebo/CoM</name>
+ <self_collide>0</self_collide>
+ <enable_wind>0</enable_wind>
+ <kinematic>0</kinematic>
+ <joint name='wheel_3_joint' type='revolute'>
+ <parent>chassis</parent>
+ <pose frame=''>0 0 0 0 -0 0</pose>
+ <spring_reference>0</spring_reference>
+ <spring_stiffness>0</spring_stiffness>
+ <use_parent_model_frame>1</use_parent_model_frame>
+ <pose frame=''>-0.5 -0.55 -0.5 1.5708 -0 0</pose>
+ <collision name='collision'>
+ <min_depth>0.0001</min_depth>
+ <max_contacts>10</max_contacts>
+ <uri>file://media/materials/scripts/gazebo.material</uri>
+ <name>Gazebo/CoM</name>
+ <self_collide>0</self_collide>
+ <enable_wind>0</enable_wind>
+ <kinematic>0</kinematic>
+ <joint name='wheel_4_joint' type='revolute'>
+ <parent>chassis</parent>
+ <pose frame=''>0 0 0 0 -0 0</pose>
+ <spring_reference>0</spring_reference>
+ <spring_stiffness>0</spring_stiffness>
+ <use_parent_model_frame>1</use_parent_model_frame>