<?xml version="1.0"?>
<robot name="zero_dof_robot">
  <link name="link1">
    <inertial>
      <mass value="1"/>
      <inertia ixx="0.0325" ixy="0.0" ixz="0.0" iyy="0.0325" iyz="0.0" izz="0.005"/>
      <origin xyz="0 0 0.3"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0.3" rpy="0 0 0"/>
      <geometry>
        <cylinder length="0.6" radius="0.1"/>
      </geometry>
      <material name="Cyan">
        <color rgba="0 1.0 1.0 1.0"/>
      </material>
    </visual>
    <collision>
      <geometry>
        <cylinder length="0.6" radius="0.1"/>
      </geometry>
      <origin xyz="0 0 0.3" rpy="0 0 0"/>
    </collision>
  </link>
</robot>
