<robot name="sphere">
  <link name="base_link">
    <inertial>
      <origin xyz="0.0 0.0 0.0" rpy="0 0 0" />
      <mass value="0.6"/>
      <inertia ixx="0.001" ixy="0.0" ixz="0.0"
	       iyy="0.001" iyz="0.0"
	       izz="0.001" />
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
	<sphere radius="0.02"/>
      </geometry>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
	<sphere radius="0.02"/>
      </geometry>
    </collision>
  </link>
</robot>
