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<sdf version='1.5'>
<model name='lumping_test'>
<link name='base_link'>
<pose>0 0 0 0 -0 0</pose>
<inertial>
<pose>0 0 0 0 -0 0</pose>
<mass>4</mass>
<inertia>
<ixx>0.004</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.004</iyy>
<iyz>0</iyz>
<izz>0.004</izz>
</inertia>
</inertial>
<collision name='base_link_collision'>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<sphere>
<radius>0.02</radius>
</sphere>
</geometry>
</collision>
<collision name='base_link_fixed_joint_lump__child_link_1_collision_1'>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<sphere>
<radius>0.03</radius>
</sphere>
</geometry>
<max_contacts>177</max_contacts>
<surface>
<contact>
<ode>
<min_depth>0.007</min_depth>
</ode>
</contact>
<friction>
<ode>
<mu2>0.71</mu2>
<mu>0.7</mu>
</ode>
</friction>
</surface>
</collision>
<collision name='base_link_fixed_joint_lump__child_link_2_collision_2'>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<sphere>
<radius>0.05</radius>
</sphere>
</geometry>
<surface>
<contact>
<ode/>
</contact>
<friction>
<ode>
<mu2>0.51</mu2>
<mu>0.5</mu>
</ode>
</friction>
</surface>
</collision>
<collision name='base_link_fixed_joint_lump__child_link_1a_collision_3'>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<sphere>
<radius>0.03</radius>
</sphere>
</geometry>
<surface>
<contact>
<ode/>
</contact>
<friction>
<ode>
<mu2>0.61</mu2>
<mu>0.6</mu>
</ode>
</friction>
</surface>
<max_contacts>166</max_contacts>
</collision>
<visual name='base_link_visual'>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<sphere>
<radius>0.02</radius>
</sphere>
</geometry>
</visual>
<visual name='base_link_fixed_joint_lump__child_link_1_visual_1'>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<sphere>
<radius>0.03</radius>
</sphere>
</geometry>
<material>
<ambient>0 1 0 1</ambient>
<script>
<name>script_uri_71_name</name>
<uri>file://media/materials/scripts/gazebo.material</uri>
</script>
</material>
</visual>
<visual name='base_link_fixed_joint_lump__child_link_2_visual_2'>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<sphere>
<radius>0.05</radius>
</sphere>
</geometry>
<material>
<script>
<uri>script_uri_51</uri>
<name>script_name_51</name>
</script>
</material>
</visual>
<visual name='base_link_fixed_joint_lump__child_link_1a_visual_3'>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<sphere>
<radius>0.03</radius>
</sphere>
</geometry>
<material>
<script>
<uri>__default__</uri>
<name>__default__</name>
</script>
</material>
</visual>
<velocity_decay/>
<velocity_decay/>
<gravity>1</gravity>
<velocity_decay/>
</link>
</model>
</sdf>
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