  <link
    name="{part_name}">
    <inertial>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <mass
        value="{mass}" />
      <inertia
        ixx="0.0"
        ixy="0.0"
        ixz="0.0"
        iyy="0.0"
        iyz="0.0"
        izz="0.0" />
    </inertial>
    <visual>
      <geometry>
        <mesh
          filename="{visual_file}"
          scale="1.0 1.0 1.0" />
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh
          filename="{collision_file}"
          scale="1.0 1.0 1.0" />
      </geometry>
    </collision>
  </link>
