RoboBuggy

<?xml version='1.0'?>

<sdf version='1.4'>

  <model name="buggytry1">

    <static>true</static>

    <link name='chassis'>

      <pose>0 0 .1 0 0 0</pose>

      <collision name='collision'>

        <geometry>

          <box>

            <size>.4 .2 .1</size>

          </box>

        </geometry>

      </collision>

      <visual name='visual'>

        <geometry>

          <box>

            <size>.4 .2 .1</size>

          </box>

        </geometry>

      </visual>

      <collision name='caster_collision'>

        <pose>-0.15 0 -0.05 0 0 0</pose>

        <geometry>

          <sphere>

            <radius>.05</radius>

          </sphere>

        </geometry>

        <surface>

          <friction>

            <ode>

              <mu>0</mu>

              <mu2>0</mu2>

              <slip1>1.0</slip1>

              <slip2>1.0</slip2>

            </ode>

          </friction>

        </surface>

      </collision>

      <visual name='caster_visual'>

        <pose>-0.15 0 -0.05 0 0 0</pose>

        <geometry>

          <sphere>

            <radius>.05</radius>

          </sphere>

        </geometry>

      </visual>

    </link>     

    <link name="left_wheel">

      <pose>0.1 0.13 0.1 0 1.5707 1.5707</pose>

      <collision name="collision">

        <geometry>

          <cylinder>

            <radius>.1</radius>

            <length>.05</length>

          </cylinder>

        </geometry>

      </collision>

      <visual name="visual">

        <geometry>

          <cylinder>

            <radius>.1</radius>

            <length>.05</length>

          </cylinder>

        </geometry>

      </visual>

    </link>

    <link name="right_wheel">

      <pose>0.1 -0.13 0.1 0 1.5707 1.5707</pose>

      <collision name="collision">

        <geometry>

          <cylinder>

            <radius>.1</radius>

            <length>.05</length>

          </cylinder>

        </geometry>

      </collision>

      <visual name="visual">

        <geometry>

          <cylinder>

            <radius>.1</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>