<?xml version='1.0'?> <sdf version='1.4'> <model name="beer"> <link name='link'> <pose>0 0 0.115 0 0 0</pose> <inertial> <mass>0.390</mass> <inertia> <ixx>0.00058</ixx> <ixy>0</ixy> <ixz>0</ixz> <iyy>0.00058</iyy> <iyz>0</iyz> <izz>0.00019</izz> </inertia> </inertial> <collision name='collision'> <geometry> <cylinder> <radius>0.055000</radius> <length>0.230000</length> </cylinder> </geometry> </collision> <visual name='visual'> <geometry> <cylinder> <radius>0.055000</radius> <length>0.230000</length> </cylinder> </geometry> <material> <script> <uri>model://beer/materials/scripts</uri> <uri>model://beer/materials/textures</uri> <name>Beer/Diffuse</name> </script> </material> </visual> </link> </model> </sdf>