<?xml version="1.0"?>
<robot name="robot1">     
    <link name="base_link">
           <visual>
                 <geometry>
                       <box size="0.2 .3 .1"/>
                 </geometry>
            <origin rpy="0 0 0" xyz="0 0 0.05"/>
            <material name="white">
                <color rgba="1 1 1 1"/>
            </material>
           </visual>
        <collision>
            <geometry>
                       <box size="0.2 .3 0.1"/>
            </geometry>
        </collision>
        <inertial>
            <mass value="100"/>
             <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
        </inertial>        
     </link>
     <link name="wheel_1">
           <visual>
                 <geometry>
                       <cylinder length="0.05" radius="0.05"/>
                 </geometry>
            <origin rpy="0 1.5 0" xyz="0.1 0.1 0"/>
               <material name="black">
                <color rgba="0 0 0 1"/>
            </material>
        </visual>
        <collision>
            <geometry>
                       <cylinder length="0.05" radius="0.05"/>
            </geometry>
        </collision>
        <inertial>
            <mass value="10"/>
             <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
        </inertial>
     </link>

     <link name="wheel_2">
           <visual>
                 <geometry>
                       <cylinder length="0.05" radius="0.05"/>
                 </geometry>
            <origin rpy="0 1.5 0" xyz="-0.1 0.1 0"/>
               <material name="black"/>
           </visual>
        <collision>
            <geometry>
                       <cylinder length="0.05" radius="0.05"/>
            </geometry>
        </collision>
        <inertial>
            <mass value="10"/>
             <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
        </inertial>
     </link>
     <link name="wheel_3">
           <visual>
                 <geometry>
                       <cylinder length="0.05" radius="0.05"/>
                 </geometry>
            <origin rpy="0 1.5 0" xyz="0.1 -0.1 0"/>
               <material name="black"/>
           </visual>
        <collision>
            <geometry>
                       <cylinder length="0.05" radius="0.05"/>
            </geometry>
        </collision>
        <inertial>
            <mass value="10"/>
             <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
        </inertial>
     </link>
     <link name="wheel_4">
           <visual>
                 <geometry>
                       <cylinder length="0.05" radius="0.05"/>
                 </geometry>
            <origin rpy="0 1.5 0" xyz="-0.1 -0.1 0"/>
               <material name="black"/>
           </visual>
        <collision>
            <geometry>
               <cylinder length="0.05" radius="0.05"/>
            </geometry>
        </collision>
        <inertial>
            <mass value="10"/>
             <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
        </inertial>
     </link>
     <joint name="base_to_wheel1" type="fixed">
           <parent link="base_link"/>
           <child link="wheel_1"/>
           <origin xyz="0 0 0"/>
     </joint>
     <joint name="base_to_wheel2" type="fixed">
           <parent link="base_link"/>
           <child link="wheel_2"/>
           <origin xyz="0 0 0"/>
     </joint>
     <joint name="base_to_wheel3" type="fixed">
           <parent link="base_link"/>
           <child link="wheel_3"/>
           <origin xyz="0 0 0"/>
     </joint>
     <joint name="base_to_wheel4" type="fixed">
           <parent link="base_link"/>
           <child link="wheel_4"/>
           <origin xyz="0 0 0"/>
     </joint>
</robot>
