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<?xml version="1.0" ?>
<sdf version="1.7">
<model name="wheel">
<link name='wheel_link'>
<pose>0 0 0 0 0 0</pose>
<inertial>
<mass>2</mass>
<inertia>
<ixx>0.145833</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.145833</iyy>
<iyz>0</iyz>
<izz>0.125</izz>
</inertia>
</inertial>
<visual name='visual'>
<geometry>
<sphere>
<radius>0.3</radius>
</sphere>
</geometry>
<material>
<ambient>0.2 0.2 0.2 1</ambient>
<diffuse>0.2 0.2 0.2 1</diffuse>
<specular>0.2 0.2 0.2 1</specular>
</material>
</visual>
<collision name='collision'>
<geometry>
<sphere>
<radius>0.3</radius>
</sphere>
</geometry>
</collision>
</link>
</model>
</sdf>
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