213 lines
6.2 KiB
Plaintext
213 lines
6.2 KiB
Plaintext
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<?xml version="1.0" ?>
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<robot name="fixed_joint_reduction_test_model">
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<link name="world"/>
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<!-- trivial fixed joint reduction, coincident cg's
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expect mass=300, origin = zeros
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ixx = 7, iyy = 9, izz = 11 -->
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<joint name="joint01" type="continuous">
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<axis xyz="1 0 0"/> <!-- in child (link1) frame -->
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<parent link="world"/>
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<child link="link1"/>
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</joint>
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<link name="link1">
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<inertial>
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<mass value="100"/>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<inertia ixx="2" ixy="0" ixz="0" iyy="3" iyz="0" izz="4"/>
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</inertial>
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</link>
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<joint name="joint12" type="fixed">
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<axis xyz="0 1 0"/> <!-- in child (link1) frame -->
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<limit lower="0" upper="0" velocity="1000" effort="10000"/>
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<parent link="link1"/>
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<child link="link2"/>
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</joint>
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<link name="link2">
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<inertial>
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<mass value="200"/>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<inertia ixx="5" ixy="0" ixz="0" iyy="6" iyz="0" izz="7"/>
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</inertial>
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</link>
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<!-- trivial fixed joint reduction, coincident cg's
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cancelling offsets in joint12a and link2a
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expect mass=300, origin = zeros
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ixx = 7, iyy = 9, izz = 11 -->
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<joint name="joint01a" type="continuous">
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<axis xyz="1 0 0"/> <!-- in child (link1) frame -->
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<parent link="world"/>
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<child link="link1a"/>
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</joint>
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<link name="link1a">
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<inertial>
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<mass value="100"/>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<inertia ixx="2" ixy="0" ixz="0" iyy="3" iyz="0" izz="4"/>
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</inertial>
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</link>
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<joint name="joint12a" type="fixed">
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<origin rpy="0 0 0" xyz="1 2 3"/>
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<axis xyz="0 1 0"/> <!-- in child (link1) frame -->
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<limit lower="0" upper="0" velocity="1000" effort="10000"/>
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<parent link="link1a"/>
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<child link="link2a"/>
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</joint>
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<link name="link2a">
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<inertial>
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<mass value="200"/>
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<origin rpy="0 0 0" xyz="-1 -2 -3"/>
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<inertia ixx="5" ixy="0" ixz="0" iyy="6" iyz="0" izz="7"/>
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</inertial>
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</link>
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<!-- trivial fixed joint reduction, coincident cg's
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cancelling rotations in joint12a and link2a
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expect mass=300, origin = zeros
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ixx = 7, iyy = 9, izz = 11 -->
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<joint name="joint01b" type="continuous">
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<axis xyz="1 0 0"/> <!-- in child (link1) frame -->
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<parent link="world"/>
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<child link="link1b"/>
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</joint>
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<link name="link1b">
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<inertial>
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<mass value="100"/>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<inertia ixx="2" ixy="0" ixz="0" iyy="3" iyz="0" izz="4"/>
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</inertial>
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</link>
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<joint name="joint12b" type="fixed">
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<origin rpy="0.1 0 0" xyz="0 0 0"/>
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<axis xyz="0 1 0"/> <!-- in child (link1) frame -->
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<limit lower="0" upper="0" velocity="1000" effort="10000"/>
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<parent link="link1b"/>
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<child link="link2b"/>
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</joint>
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<link name="link2b">
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<inertial>
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<mass value="200"/>
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<origin rpy="-0.1 0 0" xyz="0 0 0"/>
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<inertia ixx="5" ixy="0" ixz="0" iyy="6" iyz="0" izz="7"/>
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</inertial>
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</link>
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<!-- fixed joint reduction, 2nd c.g. translate 0.3 in x
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expect mass=300, origin = 0.2, 0, 0
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ixx = 7, iyy = 15, izz = 17 -->
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<joint name="joint01c" type="continuous">
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<axis xyz="1 0 0"/> <!-- in child (link1) frame -->
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<parent link="world"/>
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<child link="link1c"/>
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</joint>
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<link name="link1c">
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<inertial>
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<mass value="100"/>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<inertia ixx="2" ixy="0" ixz="0" iyy="3" iyz="0" izz="4"/>
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</inertial>
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</link>
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<joint name="joint12c" type="fixed">
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<axis xyz="0 1 0"/> <!-- in child (link1) frame -->
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<limit lower="0" upper="0" velocity="1000" effort="10000"/>
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<parent link="link1c"/>
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<child link="link2c"/>
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</joint>
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<link name="link2c">
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<inertial>
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<mass value="200"/>
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<origin rpy="0 0 0" xyz="0.3 0 0"/>
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<inertia ixx="5" ixy="0" ixz="0" iyy="6" iyz="0" izz="7"/>
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</inertial>
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</link>
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<!-- fixed joint reduction, 2nd c.g. translate 0.3 in x
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expect mass=300, origin = 0.2, 0, 0
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ixx = 7, iyy = 15, izz = 17 -->
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<joint name="joint01d" type="continuous">
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<axis xyz="1 0 0"/> <!-- in child (link1) frame -->
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<parent link="world"/>
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<child link="link1d"/>
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</joint>
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<link name="link1d">
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<inertial>
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<mass value="100"/>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<inertia ixx="2" ixy="0" ixz="0" iyy="3" iyz="0" izz="4"/>
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</inertial>
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</link>
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<joint name="joint12d" type="fixed">
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<origin rpy="0 0 0" xyz="0.3 0 0"/>
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<axis xyz="0 1 0"/> <!-- in child (link1) frame -->
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<limit lower="0" upper="0" velocity="1000" effort="10000"/>
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<parent link="link1d"/>
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<child link="link2d"/>
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</joint>
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<link name="link2d">
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<inertial>
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<mass value="200"/>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<inertia ixx="5" ixy="0" ixz="0" iyy="6" iyz="0" izz="7"/>
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</inertial>
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</link>
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<!-- fixed joint reduction, 2nd c.g. translate 0.3 in x
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expect mass=300, origin = 0.2, 0, 0
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ixx = 7, iyy = 15, izz = 17 -->
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<joint name="joint01e" type="continuous">
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<axis xyz="1 0 0"/> <!-- in child (link1) frame -->
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<parent link="world"/>
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<child link="link1e"/>
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</joint>
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<link name="link1e">
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<inertial>
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<mass value="100"/>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<inertia ixx="2" ixy="0" ixz="0" iyy="3" iyz="0" izz="4"/>
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</inertial>
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</link>
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<joint name="joint12e" type="fixed">
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<origin rpy="0 0 1.57079632679" xyz="0 0 0"/>
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<axis xyz="0 1 0"/> <!-- in child (link1) frame -->
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<limit lower="0" upper="0" velocity="1000" effort="10000"/>
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<parent link="link1e"/>
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<child link="link2e"/>
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</joint>
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<link name="link2e">
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<inertial>
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<mass value="200"/>
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<origin rpy="0 0 -1.57079632679" xyz="0 -0.3 0"/>
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<inertia ixx="5" ixy="0" ixz="0" iyy="6" iyz="0" izz="7"/>
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</inertial>
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</link>
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</robot>
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