diff --git a/examples/worlds/mecanum_drive.sdf b/examples/worlds/mecanum_drive.sdf
index 6109eafc48..6d39c77ce1 100644
--- a/examples/worlds/mecanum_drive.sdf
+++ b/examples/worlds/mecanum_drive.sdf
@@ -128,15 +128,13 @@
           </inertia>
         </inertial>
         <visual name='visual'>
+          <pose>0 0 0 1.5707 0 0</pose>
           <geometry>
-            <sphere>
-              <radius>0.3</radius>
-            </sphere>
-            <!--box><size>0.6 0.6 0.6</size></box-->
-            <!--mesh>
-              <uri>https://raw.githubusercontent.com/robomaster-oss/rmoss_ign_resources/main/models/rmua19_standard_robot/meshes/wheel_left.dae</uri>
-              <scale>2.4 2.4 2.4</scale>
-            </mesh-->
+            <!-- scale mesh to radius == 0.3 -->
+            <mesh>
+              <uri>https://fuel.gazebosim.org/1.0/OpenRobotics/models/Mecanum lift/tip/files/meshes/mecanum_wheel_left.STL</uri>
+              <scale>0.006 0.006 0.006</scale>
+            </mesh>
           </geometry>
           <material>
             <ambient>0.2 0.2 0.2 1</ambient>
@@ -176,11 +174,13 @@
           </inertia>
         </inertial>
         <visual name='visual'>
+          <pose>0 0 0 1.5707 0 0</pose>
           <geometry>
-            <sphere>
-              <radius>0.3</radius>
-            </sphere>
-            <!--box><size>0.6 0.6 0.6</size></box-->
+            <!-- scale mesh to radius == 0.3 -->
+            <mesh>
+              <uri>https://fuel.gazebosim.org/1.0/OpenRobotics/models/Mecanum lift/tip/files/meshes/mecanum_wheel_right.STL</uri>
+              <scale>0.006 0.006 0.006</scale>
+            </mesh>
           </geometry>
           <material>
             <ambient>0.2 0.2 0.2 1</ambient>
@@ -220,11 +220,13 @@
           </inertia>
         </inertial>
         <visual name='visual'>
+          <pose>0 0 0 1.5707 0 0</pose>
           <geometry>
-            <sphere>
-              <radius>0.3</radius>
-            </sphere>
-            <!--box><size>0.6 0.6 0.6</size></box-->
+            <!-- scale mesh to radius == 0.3 -->
+            <mesh>
+              <uri>https://fuel.gazebosim.org/1.0/OpenRobotics/models/Mecanum lift/tip/files/meshes/mecanum_wheel_right.STL</uri>
+              <scale>0.006 0.006 0.006</scale>
+            </mesh>
           </geometry>
           <material>
             <ambient>0.2 0.2 0.2 1</ambient>
@@ -264,11 +266,13 @@
           </inertia>
         </inertial>
         <visual name='visual'>
+          <pose>0 0 0 1.5707 0 0</pose>
           <geometry>
-            <sphere>
-              <radius>0.3</radius>
-            </sphere>
-            <!--box><size>0.6 0.6 0.6</size></box-->
+            <!-- scale mesh to radius == 0.3 -->
+            <mesh>
+              <uri>https://fuel.gazebosim.org/1.0/OpenRobotics/models/Mecanum lift/tip/files/meshes/mecanum_wheel_left.STL</uri>
+              <scale>0.006 0.006 0.006</scale>
+            </mesh>
           </geometry>
           <material>
             <ambient>0.2 0.2 0.2 1</ambient>