<?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>