<?xml version="1.0"?>
<robot name="uniformSolidCylinderNoForceTorque">
  <material name="darkGreen">
    <color rgba="0.0 0.8 0.0 1.0"/>
  </material>
  <material name="darkRed">
    <color rgba="0.8 0.0 0.0 1.0"/>
  </material>
  <material name="darkBlue">
    <color rgba="0.0 0.0 0.8 1.0"/>
  </material>
  <link name="uniformSolidCylinder">
    <visual>
      <geometry>
        <cylinder length="0.6" radius="0.2"/>
      </geometry>
      <material name="darkRed"/>
    </visual>
    <inertial>
      <origin xyz="0 0 0"/>
      <mass value="1.0"/>
      <!-- B's moments of inertia about Bcm (solid uniform-density cylinder),
           Ixx = Iyy = 1/12*m*(3*r^2 + h^2),   Izz = 1/2*m*r^2  -->
      <inertia ixx="0.04" ixy="0" ixz="0" iyy="0.04" iyz="0" izz="0.02"/>
    </inertial>
  </link>
</robot>
