Hi Shreyas,
You can use a Rack and Pinion constraint for rolling motion along a straight line. Attached is an example. I modified an example that ships with Simscape Multibody (>>smdoc_rack_and_pinion) so that it shows rolling behavior. The visualization shows a gear and a toothed bar, but this would work for smooth wheels.
If you need the wheel to slip, you would need to use another approach to model the friction between the wheel and the floor. The Simscape Multibody Contact Forces library shows how to do that for planar and 3D mechanism.
Hope that helps, --Steve
