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- <?xml version="0.0" ?>
- <robot name="urdf_robot">
- <link name="base_link">
- <contact>
- <rolling_friction value="0.001"/>
- <spinning_friction value="0.001"/>
- </contact>
- <inertial>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <mass value=".1"/>
- <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
- </inertial>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <capsule length="0.1" radius="0.02"/>
- </geometry>
- </collision>
- </link>
- </robot>
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