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<?xml version="0.0" ?>
<robot name="urdf_robot">
<link name="baseLink">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="0.0"/>
<inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="sphere_smooth.obj" scale="0.5 0.5 0.5"/>
</geometry>
<material name="red">
<color rgba="1 0.2 0.2 1"/>
<specular rgb="1 1 1"/>
</material>
</visual>
</link>
</robot>
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