model.sdf

<?xml version='1.0'?>
<sdf version='1.4'>
<model name="my_robot">
  <link name='chassis'>
    <pose>0 0 .25 0 0 0</pose>

    <inertial>
      <mass>20.0</mass>
      <pose>-0.1 0 -0.1 0 0 0</pose>
      <inertia>
        <ixx>0.5</ixx>
        <iyy>1.0</iyy>
        <izz>0.1</izz>
      </inertia>
    </inertial>

    <collision name='collision'>
      <geometry>
        <box>
          <size>2 1 0.3</size>
        </box>
      </geometry>
    </collision>

    <visual name='visual'>
      <geometry>
        <box>
          <size>2 1 0.3</size>
        </box>
      </geometry>
    </visual>

    <collision name='caster_collision'>
      <pose>-0.8 0 -0.125 0 0 0</pose>
      <geometry>
        <sphere>
          <radius>.125</radius>
        </sphere>
      </geometry>

      <surface>
        <friction>
          <ode>
            <mu>0</mu>
            <mu2>0</mu2>
          </ode>
        </friction>
      </surface>
    </collision>

    <visual name='caster_visual'>
      <pose>-0.8 0 -0.125 0 0 0</pose>
      <geometry>
        <sphere>
          <radius>.125</radius>
        </sphere>
      </geometry>
    </visual>
  </link>
  <link name="left_wheel">
    <pose>0.8 0.6 0.125 0 1.5707 1.5707</pose>
    <collision name="collision">
      <geometry>
        <cylinder>
          <radius>.125</radius>
          <length>.05</length>
        </cylinder>
      </geometry>
    </collision>
    <visual name="visual">
      <geometry>
        <cylinder>
          <radius>.125</radius>
          <length>.05</length>
        </cylinder>
      </geometry>
    </visual>
  </link>

  <link name="right_wheel">
    <pose>0.8 -0.6 0.125 0 1.5707 1.5707</pose>
    <collision name="collision">
      <geometry>
        <cylinder>
          <radius>.125</radius>
          <length>.05</length>
        </cylinder>
      </geometry>
    </collision>
    <visual name="visual">
      <geometry>
        <cylinder>
          <radius>.125</radius>
          <length>.05</length>
        </cylinder>
      </geometry>
    </visual>
  </link>

  <joint type="revolute" name="left_wheel_hinge">
    <pose>0 0 -0.03 0 0 0</pose>
    <child>left_wheel</child>
    <parent>chassis</parent>
    <axis>
      <xyz>0 1 0</xyz>
    </axis>
  </joint>

  <joint type="revolute" name="right_wheel_hinge">
    <pose>0 0 0.03 0 0 0</pose>
    <child>right_wheel</child>
    <parent>chassis</parent>
    <axis>
      <xyz>0 1 0</xyz>
    </axis>
  </joint>

</model>
</sdf>