I have found the Youbot.sdf but haven't found any plugin c++ code I could use to control it in Gazebo 3.0. I assume the dynamics in the SDF are setup correctly, but would welcome any pointers to code (not ROS) on how best to simulate movement of the robot.

Note: I did find this "kuka youbot out of box support" question and answer, but it seems to be about linking ROS to Gazebo.