<?xml verison="1.0"?>
<robot name="no_visual">
  <link name="link1">
    <inertial>
      <mass value="1"/>
      <inertia ixx="1" iyy="1" izz="1" ixy="0" ixz="0" iyz="0"/>
    </inertial>
    <collision>
      <geometry>
        <box size="1 1 1"/>
      </geometry>
    </collision>
  </link>
</robot>
