balancebot_simple.xml

<?xml version="1.0"?>
<robot name="balance">

  <material name="white">
    <color rgba="1 1 1 1"/>
  </material>

  <material name="black">
    <color rgba="0.2 0.2 0.2 1"/>
  </material>

  <link name="torso">
    <visual>
      <geometry>
        <box size="0.2 0.05 0.4"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0.0 0.3"/>
      <material name="white"/>
    </visual>
    <collision>
      <geometry>
        <box size="0.2 0.05 0.4"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0.0 0.3"/>
    </collision>
    <inertial>
      <mass value="0.8"/>
      <inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001"/>
      <origin rpy="0 0 0" xyz="0 0.0 0.3"/>
    </inertial>
  </link>

  <link name="l_wheel">
    <visual>
      <geometry>
        <cylinder length="0.02" radius="0.1"/>
      </geometry>
      <origin rpy="0 1.5707963 0" xyz="0 0 0"/>
      <material name="black"/>
    </visual>
    <collision>
      <geometry>
        <cylinder length="0.02" radius="0.1"/>
      </geometry>
      <origin rpy="0 1.5707963 0" xyz="0 0 0"/>
      <contact_coefficients mu="0.8" />
    </collision>
    <inertial>
      <mass value="0.1"/>
      <inertia ixx="0.0001" ixy="0.0" ixz="0.0" iyy="0.0001" iyz="0.0" izz="0.0001"/>
      <origin rpy="0 0 0" xyz="0 0 0"/>
    </inertial>
  </link>

  <link name="r_wheel">
    <visual>
      <geometry>
        <cylinder length="0.02" radius="0.1"/>
      </geometry>
      <origin rpy="0 1.5707963 0" xyz="0 0 0"/>
      <material name="black"/>
    </visual>
    <collision>
      <geometry>
        <cylinder length="0.02" radius="0.1"/>
      </geometry>
      <origin rpy="0 1.5707963 0" xyz="0 0 0"/>
      <contact_coefficients mu="0.8" />
    </collision>
    <inertial>
      <mass value="0.1"/>
      <inertia ixx="0.0001" ixy="0.0" ixz="0.0" iyy="0.0001" iyz="0.0" izz="0.0001"/>
      <origin rpy="0 0 0" xyz="0 0 0"/>
    </inertial>
  </link>

  <joint name="torso_l_wheel" type="continuous">
    <parent link="torso"/>
    <child link="l_wheel"/>
    <axis xyz="-1 0 0"/>
    <limit effort="1000.0" lower="0.0" upper="0.548" velocity="0.0"/>
    <origin rpy="0 0 0" xyz="-0.12 0.0 0.1"/>
  </joint>

  <joint name="torso_r_wheel" type="continuous">
    <parent link="torso"/>
    <child link="r_wheel"/>
    <axis xyz="1 0 0"/>
   <limit effort="1000.0" lower="0.0" upper="0.548" velocity="0.0"/>
   <origin rpy="0 0 0" xyz="0.12 0.0 0.1"/>
  </joint>

</robot>