model_modified.sdf

<?xml version="1.0"?>
<sdf version="1.4">
  <model name="soccer_robot">
    <!-- <static>true</static> -->
    <!-- links -->
    <link name="chassis">
      <pose>-0.035 -0.03 0.008 0 0 0</pose>
      <inertial>
        <mass>0.71</mass>
        <inertia>
          <ixx>466.01e-0.6</ixx>
          <iyy>533.89e-0.6</iyy>
          <izz>463.80e-0.6</izz>
          <ixy>0</ixy>
          <ixz>1.38e-0.6</ixz>
          <iyz>0</iyz>
        </inertia>
      </inertial>
      <collision name="collision">
        <geometry>
          <mesh>
            <scale>0.001 0.001 0.001</scale>
            <uri>model://soccer_robot/meshes/chassis.dae</uri>
          </mesh>
        </geometry>
      </collision>
      <visual name="visual">
        <!-- <pose>0 0 0 0 0 0</pose> -->
        <geometry>
          <mesh>
            <scale>0.001 0.001 0.001</scale>
            <uri>model://soccer_robot/meshes/chassis.dae</uri>
          </mesh>
        </geometry>
      </visual>
    </link>

    <link name="wheel_hold_left">
      <pose>-0.035 -0.035 0.008 0 0 0</pose>
      <inertial>
        <mass>43.123694e-03</mass>
        <inertia>
          <ixx>13140.17e-09</ixx>
          <iyy>35972.56e-09</iyy>
          <izz>23090.51e-09</izz>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyz>99.01e-09</iyz>
        </inertia>
      </inertial>
      <collision name="collision">
        <geometry>
          <mesh>
            <scale>0.001 0.001 0.001</scale>
            <uri>model://soccer_robot/meshes/wheel_hold.dae</uri>
          </mesh>
        </geometry>
      </collision>
      <visual name="visual">
        <geometry>
          <mesh>
            <scale>0.001 0.001 0.001</scale>
            <uri>model://soccer_robot/meshes/wheel_hold.dae</uri>
          </mesh>
        </geometry>
      </visual>
    </link>

    <link name="wheel_hold_right">
      <pose>.035 0.035 0.008 0 0 3.14</pose>
      <inertial>
        <mass>43.123694e-03</mass>
        <inertia>
          <ixx>13140.17e-09</ixx>
          <iyy>35972.56e-09</iyy>
          <izz>23090.51e-09</izz>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyz>99.01e-09</iyz>
        </inertia>
      </inertial>
      <collision name="collision">
        <geometry>
          <mesh>
            <scale>0.001 0.001 0.001</scale>
            <uri>model://soccer_robot/meshes/wheel_hold.dae</uri>
          </mesh>
        </geometry>
      </collision>
      <visual name="visual">
        <pose>0 0 0 0 0 0</pose>
        <geometry>
          <mesh>
            <scale>0.001 0.001 0.001</scale>
            <uri>model://soccer_robot/meshes/wheel_hold.dae</uri>
          </mesh>
        </geometry>
      </visual>
    </link>

   <link name="caster_support_front">
      <pose>.021 -0.006 0.008 -1.57 0 0</pose>
      <inertial>
        <mass>1.43e-03</mass>
        <inertia>
          <ixx>16.59e-09</ixx>
          <iyy>30.24e-09</iyy>
          <izz>18.35e-09</izz>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyz>0</iyz>
        </inertia>
      </inertial>
      <collision name="collision">
        <geometry>
          <mesh>
            <scale>0.001 0.001 0.001</scale>
            <uri>model://soccer_robot/meshes/caster_support.dae</uri>
          </mesh>
        </geometry>
      </collision>
      <visual name="visual">
        <geometry>
          <mesh>
            <scale>0.001 0.001 0.001</scale>
            <uri>model://soccer_robot/meshes/caster_support.dae</uri>
          </mesh>
        </geometry>
      </visual>
    </link>

    <link name="caster_support_back">
      <pose>-.034 -0.006 0.008 -1.57 0 0</pose>
      <inertial>
        <mass>1.43e-03</mass>
        <inertia>
          <ixx>16.59e-09</ixx>
          <iyy>30.24e-09</iyy>
          <izz>18.35e-09</izz>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyz>0</iyz>
        </inertia>
      </inertial>
      <collision name="collision">
        <geometry>
          <mesh>
            <scale>0.001 0.001 0.001</scale>
            <uri>model://soccer_robot/meshes/caster_support.dae</uri>
          </mesh>
        </geometry>
      </collision>
      <visual name="visual">
        <geometry>
          <mesh>
            <scale>0.001 0.001 0.001</scale>
            <uri>model://soccer_robot/meshes/caster_support.dae</uri>
          </mesh>
        </geometry>
      </visual>
    </link>

    <link name="caster_hemisphere_front">
      <pose>0.024 -0.0035 0 0 0 0</pose>
      <inertial>
        <mass>0.70563e-03</mass>
        <inertia>
          <ixx>0.02242e-07</ixx>
          <iyy>0.02242e-07</iyy>
          <izz>0.03458e-07</izz>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyz>0</iyz>
        </inertia>
      </inertial>
      <collision name="collision">
        <geometry>
          <mesh>
            <scale>0.001 0.001 0.001</scale>
            <uri>model://soccer_robot/meshes/caster_hemisphere.dae</uri>
          </mesh>
        </geometry>
        <surface>
          <friction>
            <ode>
              <mu>0</mu>
              <mu2>0</mu2>
            </ode>
          </friction>
        </surface>
      </collision>
      <visual name="visual">
        <geometry>
          <mesh>
            <scale>0.001 0.001 0.001</scale>
            <uri>model://soccer_robot/meshes/caster_hemisphere.dae</uri>
          </mesh>
        </geometry>
      </visual>
    </link>

    <link name="caster_hemisphere_back">
      <pose>-0.0305 -0.0035 0 0 0 0</pose>
      <inertial>
        <mass>0.70563e-03</mass>
        <inertia>
          <ixx>0.02242e-07</ixx>
          <iyy>0.02242e-07</iyy>
          <izz>0.03458e-07</izz>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyz>0</iyz>
        </inertia>
      </inertial>
      <collision name="collision">
        <geometry>
          <mesh>
            <scale>0.001 0.001 0.001</scale>
            <uri>model://soccer_robot/meshes/caster_hemisphere.dae</uri>
          </mesh>
        </geometry>
        <surface>
          <friction>
            <ode>
              <mu>0</mu>
              <mu2>0</mu2>
            </ode>
          </friction>
        </surface>
      </collision>
      <visual name="visual">
        <geometry>
          <mesh>
            <scale>0.001 0.001 0.001</scale>
            <uri>model://soccer_robot/meshes/caster_hemisphere.dae</uri>
          </mesh>
        </geometry>
      </visual>
    </link>

    <link name="wheel_right">
      <pose>0.025 -0.029 0 0 0 3.14</pose>
      <inertial>
        <mass>11.29870e-03</mass>
        <inertia>
          <ixx>17.86820e-07</ixx>
          <iyy>35.26446e-07</iyy>
          <izz>17.86820e-07</izz>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyz>0</iyz>
        </inertia>
      </inertial>
      <collision name="collision">
        <geometry>
          <mesh>
            <scale>0.001 0.001 0.001</scale>
            <uri>model://soccer_robot/meshes/wheel.dae</uri>
          </mesh>
        </geometry>
      </collision>
      <visual name="visual">
        <geometry>
          <mesh>
            <scale>0.001 0.001 0.001</scale>
            <uri>model://soccer_robot/meshes/wheel.dae</uri>
          </mesh>
        </geometry>
      </visual>
    </link>

    <link name="wheel_left">
      <pose>-0.025 0.029 0 0 0 0</pose>
      <inertial>
        <mass>11.29870e-03</mass>
        <inertia>
          <ixx>17.86820e-07</ixx>
          <iyy>35.26446e-07</iyy>
          <izz>17.86820e-07</izz>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyz>0</iyz>
        </inertia>
      </inertial>
      <collision name="collision">
        <geometry>
          <mesh>
            <scale>0.001 0.001 0.001</scale>
            <uri>model://soccer_robot/meshes/wheel.dae</uri>
          </mesh>
        </geometry>
      </collision>
      <visual name="visual">
        <geometry>
          <mesh>
            <scale>0.001 0.001 0.001</scale>
            <uri>model://soccer_robot/meshes/wheel.dae</uri>
          </mesh>
        </geometry>
      </visual>
    </link>

    <!-- joints -->
    <joint type="revolute" name="left_wheel_hinge">
      <pose>0.025 0 0.025 0 0 0</pose>
      <child>wheel_left</child>
      <parent>chassis</parent>
      <axis>
        <xyz>0 1 0</xyz>
      </axis>
    </joint>

    <joint type="revolute" name="right_wheel_hinge">
      <pose>0.025 0 0.025 0 0 0</pose>
      <child>wheel_right</child>
      <parent>chassis</parent>
      <axis>
        <xyz>0 1 0</xyz>
      </axis>
    </joint>

    <joint type="fixed" name="wheel_hold_right_joint">
      <pose>0 0 0 0 0 0</pose>
      <child>wheel_hold_right</child>
      <parent>chassis</parent>
    </joint>

    <joint type="fixed" name="wheel_hold_left_joint">
      <pose>0 0 0 0 0 0</pose>
      <child>wheel_hold_left</child>
      <parent>chassis</parent>
    </joint>

    <joint type="fixed" name="caster_support_front_joint">
      <pose>0 0 0 0 0 0</pose>
      <child>caster_support_front</child>
      <parent>chassis</parent>
    </joint>

    <joint type="fixed" name="caster_support_back_joint">
      <pose>0 0 0 0 0 0</pose>
      <child>caster_support_back</child>
      <parent>chassis</parent>
    </joint>

    <joint type="fixed" name="caster_hemisphere_front_joint">
      <pose>0 0 0 0 0 0</pose>
      <child>caster_hemisphere_front</child>
      <parent>chassis</parent>
    </joint>

    <joint type="fixed" name="caster_hemisphere_back_joint">
      <pose>0 0 0 0 0 0</pose>
      <child>caster_hemisphere_back</child>
      <parent>chassis</parent>
    </joint>

    <plugin name="Diff" filename="/home/anand/Developments/Gazebo/Projects/Diffdrive/build/libDiff.so">
    <left_joint>left_wheel_hinge</left_joint>
    <right_joint>right_wheel_hinge</right_joint>
    <torque>5</torque>
  </plugin>

  </model>
</sdf>