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<?xml version="1.0" ?>
<robot name="fixed_joint_reduction_disabled_test_model">
<link name="world"/>
<joint name="jointw0" type="continuous">
<origin rpy="0 0 1.57079632679" xyz="0 0 1.0"/>
<axis xyz="1 0 0"/> <!-- in child (link1) frame -->
<parent link="world"/>
<child link="link0"/>
</joint>
<link name="link0">
<inertial>
<mass value="1000"/>
<origin rpy="0 0 0" xyz="0 0 -0.5"/>
<inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
</inertial>
<visual>
<geometry>
<box size="0.1 0.1 1.0"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 -0.5"/>
</visual>
</link>
<joint name="joint01" type="continuous">
<origin rpy="0 0 1.57079632679" xyz="0 0 -1"/>
<axis xyz="1 0 0"/> <!-- in child (link1) frame -->
<parent link="link0"/>
<child link="link1"/>
</joint>
<link name="link1">
<inertial>
<mass value="100"/>
<origin rpy="1 3 4" xyz="0 -1.5 0"/>
<inertia ixx="2" ixy="0" ixz="0" iyy="3" iyz="0" izz="4"/>
</inertial>
<visual>
<geometry>
<box size="0.2 3.0 0.2"/>
</geometry>
<origin rpy="0 0 0" xyz="0 -1.5 0"/>
</visual>
</link>
<joint name="joint12" type="revolute">
<origin rpy="-1.57079632679 0 -1.57079632679" xyz="0 -3.0 0.0"/>
<axis xyz="0 1 0"/> <!-- in child (link1) frame -->
<limit lower="0" upper="0" velocity="1000" effort="10000"/>
<parent link="link1"/>
<child link="link2"/>
</joint>
<link name="link2">
<inertial>
<mass value="200"/>
<origin rpy="2 -3 -1.57079632679" xyz="0.2 0.4 1.0"/>
<inertia ixx="5" ixy="0" ixz="0" iyy="6" iyz="0" izz="7"/>
</inertial>
<visual>
<geometry>
<box size="0.3 0.3 2.0"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 1.0"/>
</visual>
</link>
<joint name="joint23" type="revolute">
<origin rpy="-1.57079632679 0 -1.57079632679" xyz="-0.5 0.5 2.5"/>
<axis xyz="0 1 0"/> <!-- in child (link1) frame -->
<limit lower="0" upper="0" velocity="1000" effort="10000"/>
<parent link="link2"/>
<child link="link3"/>
</joint>
<link name="link3">
<inertial>
<mass value="400"/>
<origin rpy="2 3 4" xyz="0.1 0.2 0.3"/>
<inertia ixx="8" ixy="0" ixz="0" iyy="9" iyz="0" izz="10"/>
</inertial>
<visual>
<geometry>
<box size="0.3 0.4 0.5"/>
</geometry>
<origin rpy="2 3 4" xyz="0.1 0.2 0.3"/>
</visual>
</link>
<joint name="joint01a" type="continuous">
<origin rpy="0 0 1.57079632679" xyz="0 0 -1"/>
<axis xyz="1 0 0"/> <!-- in child (link1) frame -->
<parent link="link0"/>
<child link="link1a"/>
</joint>
<link name="link1a">
<inertial>
<mass value="100"/>
<origin rpy="1 3 4" xyz="0 -1.5 0"/>
<inertia ixx="2" ixy="0" ixz="0" iyy="3" iyz="0" izz="4"/>
</inertial>
<visual>
<geometry>
<box size="0.2 3.0 0.2"/>
</geometry>
<origin rpy="0 0 0" xyz="0 -1.5 0"/>
</visual>
</link>
<joint name="joint12a" type="fixed">
<origin rpy="-1.57079632679 0 -1.57079632679" xyz="0 -3.0 0.0"/>
<axis xyz="0 1 0"/> <!-- in child (link1) frame -->
<limit lower="0" upper="0" velocity="1000" effort="10000"/>
<parent link="link1a"/>
<child link="link2a"/>
</joint>
<gazebo reference="joint12a">
<disableFixedJointLumping>true</disableFixedJointLumping>
</gazebo>
<link name="link2a">
<inertial>
<mass value="200"/>
<origin rpy="2 -3 -1.57079632679" xyz="0.2 0.4 1.0"/>
<inertia ixx="5" ixy="0" ixz="0" iyy="6" iyz="0" izz="7"/>
</inertial>
<visual>
<geometry>
<box size="0.3 0.3 2.0"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 1.0"/>
</visual>
</link>
<joint name="joint23a" type="fixed">
<origin rpy="-1.57079632679 0 -1.57079632679" xyz="-0.5 0.5 2.5"/>
<axis xyz="0 1 0"/> <!-- in child (link1) frame -->
<limit lower="0" upper="0" velocity="1000" effort="10000"/>
<parent link="link2a"/>
<child link="link3a"/>
</joint>
<link name="link3a">
<inertial>
<mass value="400"/>
<origin rpy="2 3 4" xyz="0.1 0.2 0.3"/>
<inertia ixx="8" ixy="0" ixz="0" iyy="9" iyz="0" izz="10"/>
</inertial>
<visual>
<geometry>
<box size="0.3 0.4 0.5"/>
</geometry>
<origin rpy="2 3 4" xyz="0.1 0.2 0.3"/>
</visual>
</link>
</robot>
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