RoboBuggy

<?xml version="1.0"?>

<robot name="robobuggy">

   <!-- Main Body -->

   <link name='base_link'>

      <collision name='collision'>

        <origin xyz="0 0 .1" rpy="0 0 0"/>

        <geometry>

          <box  size=".4 .2 .1"/>

        </geometry>

      </collision>

      <visual name='visual'>

        <origin xyz="0 0 .1 " rpy="0 0 0"/>

        <geometry>

          <box  size=".4 .2 .1"/>

        </geometry>

      </visual>

     <inertial>

        <mass value="1e-5" />

        <origin xyz="0 0 .1 " rpy="0 0 0"/>

        <inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6" />

     </inertial>

  </link> 

  <!-- Left Wheel -->

  <link name="left_wheel">

    <collision name="collision">

      <origin xyz="0.2 0.13 0.1" rpy="0 1.5707 1.5707"/>

      <geometry>

         <cylinder  length="0.05" radius="0.1"/>

      </geometry>

    </collision>

    <visual name="visual">

      <origin xyz="0.2 0.13 0.1" rpy="0 1.5707 1.5707"/>

      <geometry>

        <cylinder  length="0.05" radius="0.1"/>

      </geometry>

    </visual>

    <inertial>

      <mass value="1e-5" />

      <origin xyz="0.2 0.13 0.1"/>

      <inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6" />

    </inertial>

  </link>

  <joint type="revolute" name="joint1">

    <!-- origin taken from generated pose for joint , form the file that was created by gzsdf print -->

    <origin xyz="0.2 0.13 0.1" rpy="-1.56451e-13 1.5707 1.5707"/>

    <child link="left_wheel">left_wheel</child>

    <parent link="base_link">base_link</parent>

    <axis xyz="0 1 0"/>

    <limit effort="30" velocity="1.0"  lower="-100" upper="100" />

  </joint>

</robot>