Convert sdf file to urdf.xacro

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Hey there I actually have a sdf file given and would like to convert it to an urdf.xacro file. As I have not found any converter for that I would like to do that by hand. Now what I currently have is e.g a sdf file which has a content like this:

    <joint name='body_link_JOINT_0' type='revolute'>
  <parent>body_link</parent>
  <child>wheel1_link</child>
  <pose frame=''>0 0 0 0 -0 0</pose>
  <axis>
    <xyz>0 1 0</xyz>
    <use_parent_model_frame>0</use_parent_model_frame>
    <limit>
      <lower>-1.79769e+308</lower>
      <upper>1.79769e+308</upper>
      <effort>-1</effort>
      <velocity>-1</velocity>
    </limit>
    <dynamics>
      <spring_reference>0</spring_reference>
      <spring_stiffness>0</spring_stiffness>
      <damping>0</damping>
      <friction>0</friction>
    </dynamics>
  </axis>
  <physics>
    <ode>
      <limit>
        <cfm>0</cfm>
        <erp>0.2</erp>
      </limit>
      <suspension>
        <cfm>0</cfm>
        <erp>0.2</erp>
      </suspension>
    </ode>
  </physics>
</joint>

My current urdf.xacro file looks like this:

    <joint name="wheel1_joint" type="revolute">
  <parent link="base_link" />
  <child link="wheel1_link" />
  <origin xyz="-0.1315 -0.0759 0.2817" rpy="0.9804 -0.3972 -1.5708" />
  <axis xyz="0 1 0" />
  <limit lower="-1.79769e+308" upper="1.79769e+308" effort="-1" velocity="-1" />
  <dynamics friction="0" />
</joint>

Unfortunately I do not know how to deal with the physics tag.