<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro"  name="cone">

  <xacro:include filename="inertial_macros.xacro"/>

    <gazebo>
      <!-- make static-->
      <static>true</static>
    </gazebo>

    <link name="cone">
      <visual>
        <geometry>
          <!-- <cylinder radius="0.112" length="0.3"/>  -->
          <mesh filename="file://$(find dcaiti_control)/description/assets/blue_cone.dae"/>
        </geometry>
      </visual>
      <xacro:solid_cylinder_inertial 
          rpy="0 0 0" xyz="0 0 0"
          mass="0.5"
          radius="0.112" length="0.3" />
    </link>

</robot>