my_world.world

<sdf version='1.6'>
  <world name='default'>
    <plugin name='hello' filename='libhello.so'/>
    <light name='sun' type='directional'>
      <cast_shadows>1</cast_shadows>
      <pose frame=''>0 0 10 0 -0 0</pose>
      <diffuse>0.8 0.8 0.8 1</diffuse>
      <specular>0.2 0.2 0.2 1</specular>
      <attenuation>
        <range>1000</range>
        <constant>0.9</constant>
        <linear>0.01</linear>
        <quadratic>0.001</quadratic>
      </attenuation>
      <direction>-0.5 0.1 -0.9</direction>
    </light>
    <model name='ground_plane'>
      <static>1</static>
      <link name='link'>
        <collision name='collision'>
          <geometry>
            <plane>
              <normal>0 0 1</normal>
              <size>100 100</size>
            </plane>
          </geometry>
          <surface>
            <contact>
              <collide_bitmask>65535</collide_bitmask>
              <ode/>
            </contact>
            <friction>
              <ode>
                <mu>100</mu>
                <mu2>50</mu2>
              </ode>
              <torsional>
                <ode/>
              </torsional>
            </friction>
            <bounce/>
          </surface>
          <max_contacts>10</max_contacts>
        </collision>
        <visual name='visual'>
          <cast_shadows>0</cast_shadows>
          <geometry>
            <plane>
              <normal>0 0 1</normal>
              <size>100 100</size>
            </plane>
          </geometry>
          <material>
            <script>
              <uri>file://media/materials/scripts/gazebo.material</uri>
              <name>Gazebo/Grey</name>
            </script>
          </material>
        </visual>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
      </link>
    </model>
    <gravity>0 0 -9.8</gravity>
    <magnetic_field>6e-06 2.3e-05 -4.2e-05</magnetic_field>
    <atmosphere type='adiabatic'/>
    <physics name='default_physics' default='0' type='ode'>
      <max_step_size>0.001</max_step_size>
      <real_time_factor>1</real_time_factor>
      <real_time_update_rate>1000</real_time_update_rate>
    </physics>
    <scene>
      <ambient>0.4 0.4 0.4 1</ambient>
      <background>0.7 0.7 0.7 1</background>
      <shadows>1</shadows>
    </scene>
    <spherical_coordinates>
      <surface_model>EARTH_WGS84</surface_model>
      <latitude_deg>0</latitude_deg>
      <longitude_deg>0</longitude_deg>
      <elevation>0</elevation>
      <heading_deg>0</heading_deg>
    </spherical_coordinates>
    <state world_name='default'>
      <sim_time>731 847000000</sim_time>
      <real_time>48 887426700</real_time>
      <wall_time>1577689791 565956423</wall_time>
      <iterations>42760</iterations>
      <model name='Mybuilding'>
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        <scale>1 1 1</scale>
        <link name='Wall_0'>
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      </model>
      <model name='bookshelf'>
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        <scale>1 1 1</scale>
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        <sensor name='base_laser_front' type='ray'>
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          <ray>
            <scan>
              <horizontal>
                <samples>640</samples>
                <resolution>1</resolution>
                <min_angle>-1.57</min_angle>
                <max_angle>1.57</max_angle>
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                <samples>1</samples>
                <min_angle>0</min_angle>
                <max_angle>0</max_angle>
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            <range>
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              <max>5.6</max>
              <resolution>0.36</resolution>
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          <always_on>0</always_on>
          <update_rate>10</update_rate>
          <visualize>0</visualize>
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        <gravity>1</gravity>
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          <pose frame=''>0 0 0 0 -0 0</pose>
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            <iyy>0.015218</iyy>
            <iyz>-4e-06</iyz>
            <izz>0.011764</izz>
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          <mass>0.1</mass>
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        <gravity>1</gravity>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
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      <link name='wheel_link_bl'>
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          <pose frame=''>0 0 0 0 -0 0</pose>
          <inertia>
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            <iyz>-4e-06</iyz>
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          <mass>0.4</mass>
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        <collision name='wheel_link_bl_geom'>
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          <geometry>
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          <surface>
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                <kp>1e+13</kp>
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                <max_vel>-1</max_vel>
                <min_depth>0</min_depth>
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            </contact>
            <friction>
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                <ode/>
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              <ode/>
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          <laser_retro>0</laser_retro>
          <max_contacts>10</max_contacts>
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        <visual name='wheel_link_bl_geom_visual'>
          <pose frame=''>0 0 0 0 -0 0</pose>
          <geometry>
            <mesh>
              <uri>model://youbot/meshes/base/back-left_wheel.dae</uri>
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          <material>
            <script>
              <uri>model://youbot/materials/scripts/youbot.material</uri>
              <name>youbot/Orange</name>
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        <gravity>1</gravity>
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          <inertia>
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            <iyz>-4e-06</iyz>
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        <gravity>1</gravity>
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                <kp>1e+13</kp>
                <kd>1e+11</kd>
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            <friction>
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                <ode/>
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              <ode/>
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          <laser_retro>0</laser_retro>
          <max_contacts>10</max_contacts>
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        <visual name='wheel_link_br_geom_visual'>
          <pose frame=''>0 0 0 0 -0 0</pose>
          <geometry>
            <mesh>
              <uri>model://youbot/meshes/base/back-right_wheel.dae</uri>
            </mesh>
          </geometry>
          <material>
            <script>
              <uri>model://youbot/materials/scripts/youbot.material</uri>
              <name>youbot/Orange</name>
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        <gravity>1</gravity>
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      <link name='caster_link_fl'>
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          <pose frame=''>0 0 0 0 -0 0</pose>
          <inertia>
            <ixx>0.012412</ixx>
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            <iyy>0.015218</iyy>
            <iyz>-4e-06</iyz>
            <izz>0.011764</izz>
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          <mass>0.1</mass>
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        <gravity>1</gravity>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
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      <link name='wheel_link_fl'>
        <pose frame=''>0.228 0.158 -0.034 0 -0 0</pose>
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          <pose frame=''>0 0 0 0 -0 0</pose>
          <inertia>
            <ixx>0.012412</ixx>
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            <iyy>0.015218</iyy>
            <iyz>-4e-06</iyz>
            <izz>0.011764</izz>
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        <collision name='wheel_link_fl_geom'>
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          <geometry>
            <cylinder>
              <radius>0.05</radius>
              <length>0.005</length>
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          <surface>
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              <threshold>0</threshold>
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                <soft_erp>0.2</soft_erp>
                <kp>1e+13</kp>
                <kd>1e+11</kd>
                <max_vel>-1</max_vel>
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            <friction>
              <torsional>
                <ode/>
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              <ode/>
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          </surface>
          <laser_retro>0</laser_retro>
          <max_contacts>10</max_contacts>
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        <visual name='wheel_link_fl_geom_visual'>
          <pose frame=''>0 0 0 0 -0 0</pose>
          <geometry>
            <mesh>
              <uri>model://youbot/meshes/base/front-left_wheel.dae</uri>
            </mesh>
          </geometry>
          <material>
            <script>
              <uri>model://youbot/materials/scripts/youbot.material</uri>
              <name>youbot/Orange</name>
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        </visual>
        <gravity>1</gravity>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
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      <link name='caster_link_fr'>
        <pose frame=''>0.228 -0.158 -0.034 0 -0 0</pose>
        <inertial>
          <pose frame=''>0 0 0 0 -0 0</pose>
          <inertia>
            <ixx>0.012412</ixx>
            <ixy>-0.000712</ixy>
            <ixz>0.000503</ixz>
            <iyy>0.015218</iyy>
            <iyz>-4e-06</iyz>
            <izz>0.011764</izz>
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          <mass>0.1</mass>
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        <gravity>1</gravity>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
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      <link name='wheel_link_fr'>
        <pose frame=''>0.228 -0.158 -0.034 0 -0 0</pose>
        <inertial>
          <pose frame=''>0 0 0 0 -0 0</pose>
          <inertia>
            <ixx>0.012412</ixx>
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            <ixz>0.000503</ixz>
            <iyy>0.015218</iyy>
            <iyz>-4e-06</iyz>
            <izz>0.011764</izz>
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          <mass>0.4</mass>
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        <collision name='wheel_link_fr_geom'>
          <pose frame=''>0 0 0 1.5708 -0 0</pose>
          <geometry>
            <cylinder>
              <radius>0.05</radius>
              <length>0.005</length>
            </cylinder>
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          <surface>
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              <restitution_coefficient>0</restitution_coefficient>
              <threshold>0</threshold>
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            <contact>
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                <soft_cfm>0</soft_cfm>
                <soft_erp>0.2</soft_erp>
                <kp>1e+13</kp>
                <kd>1e+11</kd>
                <max_vel>-1</max_vel>
                <min_depth>0</min_depth>
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            </contact>
            <friction>
              <torsional>
                <ode/>
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              <ode/>
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          <laser_retro>0</laser_retro>
          <max_contacts>10</max_contacts>
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        <visual name='wheel_link_fr_geom_visual'>
          <pose frame=''>0 0 0 0 -0 0</pose>
          <geometry>
            <mesh>
              <uri>model://youbot/meshes/base/front-right_wheel.dae</uri>
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          </geometry>
          <material>
            <script>
              <uri>model://youbot/materials/scripts/youbot.material</uri>
              <name>youbot/Orange</name>
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          </material>
        </visual>
        <gravity>1</gravity>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
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      <link name='plate_link'>
        <pose frame=''>-0.159 0 0.046 0 -0 0</pose>
        <inertial>
          <pose frame=''>0 0 0 0 -0 0</pose>
          <inertia>
            <ixx>0.01</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>0.01</iyy>
            <iyz>0</iyz>
            <izz>0.01</izz>
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          <mass>1</mass>
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        <collision name='plate_link_geom'>
          <pose frame=''>0 0 0 0 -0 0</pose>
          <geometry>
            <mesh>
              <uri>model://youbot/meshes/plate/plate_convex.stl</uri>
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          <surface>
            <bounce>
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              <threshold>0</threshold>
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            <contact>
              <ode>
                <soft_cfm>0</soft_cfm>
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                <kp>1e+13</kp>
                <kd>1e+11</kd>
                <max_vel>-1</max_vel>
                <min_depth>0</min_depth>
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            </contact>
            <friction>
              <torsional>
                <ode/>
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              <ode/>
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          </surface>
          <laser_retro>0</laser_retro>
          <max_contacts>10</max_contacts>
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        <visual name='plate_link_geom_visual'>
          <pose frame=''>0 0 0 0 -0 0</pose>
          <geometry>
            <mesh>
              <uri>model://youbot/meshes/plate/plate.dae</uri>
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        </visual>
        <gravity>1</gravity>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
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      <joint name='base_footprint_joint' type='revolute'>
        <pose frame=''>0 0 0 0 -0 0</pose>
        <parent>base_footprint</parent>
        <child>base_link</child>
        <axis>
          <dynamics>
            <damping>0</damping>
            <friction>0</friction>
            <spring_reference>0</spring_reference>
            <spring_stiffness>0</spring_stiffness>
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          <limit>
            <lower>0</lower>
            <upper>0</upper>
            <effort>0</effort>
            <velocity>0</velocity>
          </limit>
          <xyz>0 0 1</xyz>
          <use_parent_model_frame>1</use_parent_model_frame>
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      </joint>
      <joint name='arm_joint_0' type='revolute'>
        <pose frame=''>0 0 0 0 -0 0</pose>
        <parent>base_link</parent>
        <child>arm_link_0</child>
        <axis>
          <dynamics>
            <damping>0</damping>
            <friction>0</friction>
            <spring_reference>0</spring_reference>
            <spring_stiffness>0</spring_stiffness>
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          <limit>
            <lower>0</lower>
            <upper>0</upper>
            <effort>0</effort>
            <velocity>0</velocity>
          </limit>
          <xyz>0 0 1</xyz>
          <use_parent_model_frame>1</use_parent_model_frame>
        </axis>
      </joint>
      <joint name='arm_joint_1' type='revolute'>
        <pose frame=''>0 0 0 0 -0 0</pose>
        <parent>arm_link_0</parent>
        <child>arm_link_1</child>
        <axis>
          <dynamics>
            <damping>1</damping>
            <friction>0</friction>
            <spring_reference>0</spring_reference>
            <spring_stiffness>0</spring_stiffness>
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          <limit>
            <lower>0</lower>
            <upper>5.89921</upper>
            <effort>9.5</effort>
          </limit>
          <xyz>0 0 -1</xyz>
          <use_parent_model_frame>1</use_parent_model_frame>
        </axis>
      </joint>
      <joint name='arm_joint_2' type='revolute'>
        <pose frame=''>0 0 0 0 -0 0</pose>
        <parent>arm_link_1</parent>
        <child>arm_link_2</child>
        <axis>
          <dynamics>
            <damping>1</damping>
            <friction>0</friction>
            <spring_reference>0</spring_reference>
            <spring_stiffness>0</spring_stiffness>
          </dynamics>
          <limit>
            <lower>0</lower>
            <upper>2.70526</upper>
            <effort>9.5</effort>
            <velocity>-1</velocity>
          </limit>
          <xyz>-0.173648 -0.984808 0</xyz>
          <use_parent_model_frame>1</use_parent_model_frame>
        </axis>
      </joint>
      <joint name='arm_joint_3' type='revolute'>
        <pose frame=''>0 0 0 0 -0 0</pose>
        <parent>arm_link_2</parent>
        <child>arm_link_3</child>
        <axis>
          <dynamics>
            <damping>1</damping>
            <friction>0</friction>
            <spring_reference>0</spring_reference>
            <spring_stiffness>0</spring_stiffness>
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          <limit>
            <lower>-5.18363</lower>
            <upper>0</upper>
            <effort>6</effort>
            <velocity>-1</velocity>
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          <xyz>-0.173648 -0.984808 0</xyz>
          <use_parent_model_frame>1</use_parent_model_frame>
        </axis>
      </joint>
      <joint name='arm_joint_4' type='revolute'>
        <pose frame=''>0 0 0 0 -0 0</pose>
        <parent>arm_link_3</parent>
        <child>arm_link_4</child>
        <axis>
          <dynamics>
            <damping>1</damping>
            <friction>0</friction>
            <spring_reference>0</spring_reference>
            <spring_stiffness>0</spring_stiffness>
          </dynamics>
          <limit>
            <lower>0</lower>
            <upper>3.57793</upper>
            <effort>2</effort>
            <velocity>-1</velocity>
          </limit>
          <xyz>-0.173648 -0.984808 0</xyz>
          <use_parent_model_frame>1</use_parent_model_frame>
        </axis>
      </joint>
      <joint name='arm_joint_5' type='revolute'>
        <pose frame=''>0 0 0 0 -0 0</pose>
        <parent>arm_link_4</parent>
        <child>arm_link_5</child>
        <axis>
          <dynamics>
            <damping>1</damping>
            <friction>0</friction>
            <spring_reference>0</spring_reference>
            <spring_stiffness>0</spring_stiffness>
          </dynamics>
          <limit>
            <lower>0</lower>
            <upper>5.84685</upper>
            <effort>1</effort>
            <velocity>-1</velocity>
          </limit>
          <xyz>-0.360933 0.063642 -0.930418</xyz>
          <use_parent_model_frame>1</use_parent_model_frame>
        </axis>
      </joint>
      <joint name='gripper_palm_joint' type='revolute'>
        <pose frame=''>0 0 0 0 -0 0</pose>
        <parent>arm_link_5</parent>
        <child>gripper_palm_link</child>
        <axis>
          <dynamics>
            <damping>0</damping>
            <friction>0</friction>
            <spring_reference>0</spring_reference>
            <spring_stiffness>0</spring_stiffness>
          </dynamics>
          <limit>
            <lower>0</lower>
            <upper>0</upper>
            <effort>0</effort>
            <velocity>0</velocity>
          </limit>
          <xyz>0 0 1</xyz>
          <use_parent_model_frame>1</use_parent_model_frame>
        </axis>
      </joint>
      <joint name='gripper_finger_joint_l' type='prismatic'>
        <pose frame=''>0 0 0 0 -0 0</pose>
        <parent>gripper_palm_link</parent>
        <child>gripper_finger_link_l</child>
        <axis>
          <dynamics>
            <damping>1</damping>
            <friction>0</friction>
            <spring_reference>0</spring_reference>
            <spring_stiffness>0</spring_stiffness>
          </dynamics>
          <limit>
            <lower>0</lower>
            <upper>0.0115</upper>
            <effort>1</effort>
            <velocity>-1</velocity>
          </limit>
          <xyz>0.367852 0.926495 -0.079325</xyz>
          <use_parent_model_frame>1</use_parent_model_frame>
        </axis>
      </joint>
      <joint name='gripper_finger_joint_r' type='prismatic'>
        <pose frame=''>0 0 0 0 -0 0</pose>
        <parent>gripper_palm_link</parent>
        <child>gripper_finger_link_r</child>
        <axis>
          <dynamics>
            <damping>1</damping>
            <friction>0</friction>
            <spring_reference>0</spring_reference>
            <spring_stiffness>0</spring_stiffness>
          </dynamics>
          <limit>
            <lower>0</lower>
            <upper>0.0115</upper>
            <effort>1</effort>
            <velocity>-1</velocity>
          </limit>
          <xyz>-0.367852 -0.926495 0.079325</xyz>
          <use_parent_model_frame>1</use_parent_model_frame>
        </axis>
      </joint>
      <joint name='base_laser_front_hokuyo_urg04_laser_joint' type='revolute'>
        <pose frame=''>0 0 0 0 -0 0</pose>
        <parent>base_link</parent>
        <child>base_laser_front_link</child>
        <axis>
          <dynamics>
            <damping>0</damping>
            <friction>0</friction>
            <spring_reference>0</spring_reference>
            <spring_stiffness>0</spring_stiffness>
          </dynamics>
          <limit>
            <lower>0</lower>
            <upper>0</upper>
            <effort>0</effort>
            <velocity>0</velocity>
          </limit>
          <xyz>0 0 1</xyz>
          <use_parent_model_frame>1</use_parent_model_frame>
        </axis>
      </joint>
      <joint name='caster_joint_bl' type='revolute'>
        <pose frame=''>0 0 0 0 -0 0</pose>
        <parent>base_link</parent>
        <child>caster_link_bl</child>
        <axis>
          <dynamics>
            <damping>1</damping>
            <friction>0</friction>
            <spring_reference>0</spring_reference>
            <spring_stiffness>0</spring_stiffness>
          </dynamics>
          <limit>
            <effort>1</effort>
            <lower>-1e+16</lower>
            <upper>1e+16</upper>
          </limit>
          <xyz>0 0 1</xyz>
          <use_parent_model_frame>1</use_parent_model_frame>
        </axis>
      </joint>
      <joint name='wheel_joint_bl' type='revolute'>
        <pose frame=''>0 0 0 0 -0 0</pose>
        <parent>caster_link_bl</parent>
        <child>wheel_link_bl</child>
        <axis>
          <dynamics>
            <damping>1</damping>
            <friction>0</friction>
            <spring_reference>0</spring_reference>
            <spring_stiffness>0</spring_stiffness>
          </dynamics>
          <limit>
            <effort>1</effort>
            <lower>-1e+16</lower>
            <upper>1e+16</upper>
          </limit>
          <xyz>0 1 0</xyz>
          <use_parent_model_frame>1</use_parent_model_frame>
        </axis>
      </joint>
      <joint name='caster_joint_br' type='revolute'>
        <pose frame=''>0 0 0 0 -0 0</pose>
        <parent>base_link</parent>
        <child>caster_link_br</child>
        <axis>
          <dynamics>
            <damping>1</damping>
            <friction>0</friction>
            <spring_reference>0</spring_reference>
            <spring_stiffness>0</spring_stiffness>
          </dynamics>
          <limit>
            <effort>1</effort>
            <lower>-1e+16</lower>
            <upper>1e+16</upper>
          </limit>
          <xyz>0 0 1</xyz>
          <use_parent_model_frame>1</use_parent_model_frame>
        </axis>
      </joint>
      <joint name='wheel_joint_br' type='revolute'>
        <pose frame=''>0 0 0 0 -0 0</pose>
        <parent>caster_link_br</parent>
        <child>wheel_link_br</child>
        <axis>
          <dynamics>
            <damping>1</damping>
            <friction>0</friction>
            <spring_reference>0</spring_reference>
            <spring_stiffness>0</spring_stiffness>
          </dynamics>
          <limit>
            <effort>1</effort>
            <lower>-1e+16</lower>
            <upper>1e+16</upper>
          </limit>
          <xyz>0 1 0</xyz>
          <use_parent_model_frame>1</use_parent_model_frame>
        </axis>
      </joint>
      <joint name='caster_joint_fl' type='revolute'>
        <pose frame=''>0 0 0 0 -0 0</pose>
        <parent>base_link</parent>
        <child>caster_link_fl</child>
        <axis>
          <dynamics>
            <damping>1</damping>
            <friction>0</friction>
            <spring_reference>0</spring_reference>
            <spring_stiffness>0</spring_stiffness>
          </dynamics>
          <limit>
            <effort>1</effort>
            <lower>-1e+16</lower>
            <upper>1e+16</upper>
          </limit>
          <xyz>0 0 1</xyz>
          <use_parent_model_frame>1</use_parent_model_frame>
        </axis>
      </joint>
      <joint name='wheel_joint_fl' type='revolute'>
        <pose frame=''>0 0 0 0 -0 0</pose>
        <parent>caster_link_fl</parent>
        <child>wheel_link_fl</child>
        <axis>
          <dynamics>
            <damping>1</damping>
            <friction>0</friction>
            <spring_reference>0</spring_reference>
            <spring_stiffness>0</spring_stiffness>
          </dynamics>
          <limit>
            <effort>1</effort>
            <lower>-1e+16</lower>
            <upper>1e+16</upper>
          </limit>
          <xyz>0 1 0</xyz>
          <use_parent_model_frame>1</use_parent_model_frame>
        </axis>
      </joint>
      <joint name='caster_joint_fr' type='revolute'>
        <pose frame=''>0 0 0 0 -0 0</pose>
        <parent>base_link</parent>
        <child>caster_link_fr</child>
        <axis>
          <dynamics>
            <damping>1</damping>
            <friction>0</friction>
            <spring_reference>0</spring_reference>
            <spring_stiffness>0</spring_stiffness>
          </dynamics>
          <limit>
            <effort>1</effort>
            <lower>-1e+16</lower>
            <upper>1e+16</upper>
          </limit>
          <xyz>0 0 1</xyz>
          <use_parent_model_frame>1</use_parent_model_frame>
        </axis>
      </joint>
      <joint name='wheel_joint_fr' type='revolute'>
        <pose frame=''>0 0 0 0 -0 0</pose>
        <parent>caster_link_fr</parent>
        <child>wheel_link_fr</child>
        <axis>
          <dynamics>
            <damping>1</damping>
            <friction>0</friction>
            <spring_reference>0</spring_reference>
            <spring_stiffness>0</spring_stiffness>
          </dynamics>
          <limit>
            <effort>1</effort>
            <lower>-1e+16</lower>
            <upper>1e+16</upper>
          </limit>
          <xyz>0 1 0</xyz>
          <use_parent_model_frame>1</use_parent_model_frame>
        </axis>
      </joint>
      <joint name='plate_joint' type='revolute'>
        <parent>base_link</parent>
        <child>plate_link</child>
        <axis>
          <dynamics>
            <damping>0</damping>
            <friction>0</friction>
            <spring_reference>0</spring_reference>
            <spring_stiffness>0</spring_stiffness>
          </dynamics>
          <limit>
            <lower>0</lower>
            <upper>0</upper>
            <effort>0</effort>
            <velocity>0</velocity>
          </limit>
          <xyz>0 0 1</xyz>
          <use_parent_model_frame>1</use_parent_model_frame>
        </axis>
      </joint>
      <static>0</static>
    </model>
    <model name='bookshelf'>
      <link name='link_0'>
        <pose frame=''>0 0.41 0.005 0 -0 0</pose>
        <inertial>
          <mass>1</mass>
          <inertia>
            <ixx>0.166667</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>0.166667</iyy>
            <iyz>0</iyz>
            <izz>0.166667</izz>
          </inertia>
          <pose frame=''>0 0 0 0 -0 0</pose>
        </inertial>
        <gravity>1</gravity>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
        <visual name='visual'>
          <pose frame=''>0 0 0 0 -0 0</pose>
          <geometry>
            <box>
              <size>0.5 0.02 2</size>
            </box>
          </geometry>
          <material>
            <lighting>1</lighting>
            <script>
              <uri>file://media/materials/scripts/gazebo.material</uri>
              <name>Gazebo/Grey</name>
            </script>
            <shader type='pixel'>
              <normal_map>__default__</normal_map>
            </shader>
            <ambient>0.3 0.3 0.3 1</ambient>
            <diffuse>0.7 0.7 0.7 1</diffuse>
            <specular>0.01 0.01 0.01 1</specular>
            <emissive>0 0 0 1</emissive>
          </material>
          <transparency>0</transparency>
          <cast_shadows>1</cast_shadows>
        </visual>
        <collision name='collision'>
          <laser_retro>0</laser_retro>
          <max_contacts>10</max_contacts>
          <pose frame=''>0 0 0 0 -0 0</pose>
          <geometry>
            <box>
              <size>0.5 0.02 2</size>
            </box>
          </geometry>
          <surface>
            <friction>
              <ode>
                <mu>1</mu>
                <mu2>1</mu2>
                <fdir1>0 0 0</fdir1>
                <slip1>0</slip1>
                <slip2>0</slip2>
              </ode>
              <torsional>
                <coefficient>1</coefficient>
                <patch_radius>0</patch_radius>
                <surface_radius>0</surface_radius>
                <use_patch_radius>1</use_patch_radius>
                <ode>
                  <slip>0</slip>
                </ode>
              </torsional>
            </friction>
            <bounce>
              <restitution_coefficient>0</restitution_coefficient>
              <threshold>1e+06</threshold>
            </bounce>
            <contact>
              <collide_without_contact>0</collide_without_contact>
              <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
              <collide_bitmask>1</collide_bitmask>
              <ode>
                <soft_cfm>0</soft_cfm>
                <soft_erp>0.2</soft_erp>
                <kp>1e+13</kp>
                <kd>1</kd>
                <max_vel>0.01</max_vel>
                <min_depth>0</min_depth>
              </ode>
              <bullet>
                <split_impulse>1</split_impulse>
                <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
                <soft_cfm>0</soft_cfm>
                <soft_erp>0.2</soft_erp>
                <kp>1e+13</kp>
                <kd>1</kd>
              </bullet>
            </contact>
          </surface>
        </collision>
      </link>
      <link name='link_0_clone'>
        <pose frame=''>0 -0.41 0.005 0 -0 0</pose>
        <inertial>
          <mass>1</mass>
          <inertia>
            <ixx>0.166667</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>0.166667</iyy>
            <iyz>0</iyz>
            <izz>0.166667</izz>
          </inertia>
          <pose frame=''>0 0 0 0 -0 0</pose>
        </inertial>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
        <gravity>1</gravity>
        <visual name='visual'>
          <pose frame=''>0 0 0 0 -0 0</pose>
          <geometry>
            <box>
              <size>0.5 0.02 2</size>
            </box>
          </geometry>
          <material>
            <lighting>1</lighting>
            <script>
              <uri>file://media/materials/scripts/gazebo.material</uri>
              <name>Gazebo/Grey</name>
            </script>
            <shader type='pixel'>
              <normal_map>__default__</normal_map>
            </shader>
            <ambient>0.3 0.3 0.3 1</ambient>
            <diffuse>0.7 0.7 0.7 1</diffuse>
            <specular>0.01 0.01 0.01 1</specular>
            <emissive>0 0 0 1</emissive>
          </material>
          <transparency>0</transparency>
          <cast_shadows>1</cast_shadows>
        </visual>
        <collision name='collision'>
          <laser_retro>0</laser_retro>
          <max_contacts>10</max_contacts>
          <pose frame=''>0 0 0 0 -0 0</pose>
          <geometry>
            <box>
              <size>0.5 0.02 2</size>
            </box>
          </geometry>
          <surface>
            <friction>
              <ode>
                <mu>1</mu>
                <mu2>1</mu2>
                <fdir1>0 0 0</fdir1>
                <slip1>0</slip1>
                <slip2>0</slip2>
              </ode>
              <torsional>
                <coefficient>1</coefficient>
                <patch_radius>0</patch_radius>
                <surface_radius>0</surface_radius>
                <use_patch_radius>1</use_patch_radius>
                <ode>
                  <slip>0</slip>
                </ode>
              </torsional>
            </friction>
            <bounce>
              <restitution_coefficient>0</restitution_coefficient>
              <threshold>1e+06</threshold>
            </bounce>
            <contact>
              <collide_without_contact>0</collide_without_contact>
              <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
              <collide_bitmask>1</collide_bitmask>
              <ode>
                <soft_cfm>0</soft_cfm>
                <soft_erp>0.2</soft_erp>
                <kp>1e+13</kp>
                <kd>1</kd>
                <max_vel>0.01</max_vel>
                <min_depth>0</min_depth>
              </ode>
              <bullet>
                <split_impulse>1</split_impulse>
                <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
                <soft_cfm>0</soft_cfm>
                <soft_erp>0.2</soft_erp>
                <kp>1e+13</kp>
                <kd>1</kd>
              </bullet>
            </contact>
          </surface>
        </collision>
      </link>
      <link name='link_1'>
        <pose frame=''>0 0 -0.985 0 -0 0</pose>
        <inertial>
          <mass>1</mass>
          <inertia>
            <ixx>0.166667</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>0.166667</iyy>
            <iyz>0</iyz>
            <izz>0.166667</izz>
          </inertia>
          <pose frame=''>0 0 0.01 0 -0 0</pose>
        </inertial>
        <gravity>1</gravity>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
        <visual name='visual'>
          <pose frame=''>0 0 0 0 -0 0</pose>
          <geometry>
            <box>
              <size>0.5 0.8 0.02</size>
            </box>
          </geometry>
          <material>
            <lighting>1</lighting>
            <script>
              <uri>file://media/materials/scripts/gazebo.material</uri>
              <name>Gazebo/Grey</name>
            </script>
            <shader type='pixel'>
              <normal_map>__default__</normal_map>
            </shader>
            <ambient>0.3 0.3 0.3 1</ambient>
            <diffuse>0.7 0.7 0.7 1</diffuse>
            <specular>0.01 0.01 0.01 1</specular>
            <emissive>0 0 0 1</emissive>
          </material>
          <transparency>0</transparency>
          <cast_shadows>1</cast_shadows>
        </visual>
        <collision name='collision'>
          <laser_retro>0</laser_retro>
          <max_contacts>10</max_contacts>
          <pose frame=''>0 0 0 0 -0 0</pose>
          <geometry>
            <box>
              <size>0.5 0.8 0.02</size>
            </box>
          </geometry>
          <surface>
            <friction>
              <ode>
                <mu>1</mu>
                <mu2>1</mu2>
                <fdir1>0 0 0</fdir1>
                <slip1>0</slip1>
                <slip2>0</slip2>
              </ode>
              <torsional>
                <coefficient>1</coefficient>
                <patch_radius>0</patch_radius>
                <surface_radius>0</surface_radius>
                <use_patch_radius>1</use_patch_radius>
                <ode>
                  <slip>0</slip>
                </ode>
              </torsional>
            </friction>
            <bounce>
              <restitution_coefficient>0</restitution_coefficient>
              <threshold>1e+06</threshold>
            </bounce>
            <contact>
              <collide_without_contact>0</collide_without_contact>
              <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
              <collide_bitmask>1</collide_bitmask>
              <ode>
                <soft_cfm>0</soft_cfm>
                <soft_erp>0.2</soft_erp>
                <kp>1e+13</kp>
                <kd>1</kd>
                <max_vel>0.01</max_vel>
                <min_depth>0</min_depth>
              </ode>
              <bullet>
                <split_impulse>1</split_impulse>
                <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
                <soft_cfm>0</soft_cfm>
                <soft_erp>0.2</soft_erp>
                <kp>1e+13</kp>
                <kd>1</kd>
              </bullet>
            </contact>
          </surface>
        </collision>
      </link>
      <link name='link_1_clone'>
        <pose frame=''>0 0 0.195 0 -0 0</pose>
        <inertial>
          <mass>1</mass>
          <inertia>
            <ixx>0.166667</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>0.166667</iyy>
            <iyz>0</iyz>
            <izz>0.166667</izz>
          </inertia>
          <pose frame=''>0 0 0.01 0 -0 0</pose>
        </inertial>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
        <visual name='visual'>
          <pose frame=''>0 0 0 0 -0 0</pose>
          <geometry>
            <box>
              <size>0.5 0.8 0.02</size>
            </box>
          </geometry>
          <material>
            <lighting>1</lighting>
            <script>
              <uri>file://media/materials/scripts/gazebo.material</uri>
              <name>Gazebo/Grey</name>
            </script>
            <shader type='pixel'>
              <normal_map>__default__</normal_map>
            </shader>
            <ambient>0.3 0.3 0.3 1</ambient>
            <diffuse>0.7 0.7 0.7 1</diffuse>
            <specular>0.01 0.01 0.01 1</specular>
            <emissive>0 0 0 1</emissive>
          </material>
          <transparency>0</transparency>
          <cast_shadows>1</cast_shadows>
        </visual>
        <collision name='collision'>
          <laser_retro>0</laser_retro>
          <max_contacts>10</max_contacts>
          <pose frame=''>0 0 0 0 -0 0</pose>
          <geometry>
            <box>
              <size>0.5 0.8 0.02</size>
            </box>
          </geometry>
          <surface>
            <friction>
              <ode>
                <mu>1</mu>
                <mu2>1</mu2>
                <fdir1>0 0 0</fdir1>
                <slip1>0</slip1>
                <slip2>0</slip2>
              </ode>
              <torsional>
                <coefficient>1</coefficient>
                <patch_radius>0</patch_radius>
                <surface_radius>0</surface_radius>
                <use_patch_radius>1</use_patch_radius>
                <ode>
                  <slip>0</slip>
                </ode>
              </torsional>
            </friction>
            <bounce>
              <restitution_coefficient>0</restitution_coefficient>
              <threshold>1e+06</threshold>
            </bounce>
            <contact>
              <collide_without_contact>0</collide_without_contact>
              <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
              <collide_bitmask>1</collide_bitmask>
              <ode>
                <soft_cfm>0</soft_cfm>
                <soft_erp>0.2</soft_erp>
                <kp>1e+13</kp>
                <kd>1</kd>
                <max_vel>0.01</max_vel>
                <min_depth>0</min_depth>
              </ode>
              <bullet>
                <split_impulse>1</split_impulse>
                <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
                <soft_cfm>0</soft_cfm>
                <soft_erp>0.2</soft_erp>
                <kp>1e+13</kp>
                <kd>1</kd>
              </bullet>
            </contact>
          </surface>
        </collision>
      </link>
      <link name='link_1_clone_0'>
        <pose frame=''>0 0 -0.205 0 -0 0</pose>
        <inertial>
          <mass>1</mass>
          <inertia>
            <ixx>0.166667</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>0.166667</iyy>
            <iyz>0</iyz>
            <izz>0.166667</izz>
          </inertia>
          <pose frame=''>0 0 0.01 0 -0 0</pose>
        </inertial>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
        <visual name='visual'>
          <pose frame=''>0 0 0 0 -0 0</pose>
          <geometry>
            <box>
              <size>0.5 0.8 0.02</size>
            </box>
          </geometry>
          <material>
            <lighting>1</lighting>
            <script>
              <uri>file://media/materials/scripts/gazebo.material</uri>
              <name>Gazebo/Grey</name>
            </script>
            <shader type='pixel'>
              <normal_map>__default__</normal_map>
            </shader>
            <ambient>0.3 0.3 0.3 1</ambient>
            <diffuse>0.7 0.7 0.7 1</diffuse>
            <specular>0.01 0.01 0.01 1</specular>
            <emissive>0 0 0 1</emissive>
          </material>
          <transparency>0</transparency>
          <cast_shadows>1</cast_shadows>
        </visual>
        <collision name='collision'>
          <laser_retro>0</laser_retro>
          <max_contacts>10</max_contacts>
          <pose frame=''>0 0 0 0 -0 0</pose>
          <geometry>
            <box>
              <size>0.5 0.8 0.02</size>
            </box>
          </geometry>
          <surface>
            <friction>
              <ode>
                <mu>1</mu>
                <mu2>1</mu2>
                <fdir1>0 0 0</fdir1>
                <slip1>0</slip1>
                <slip2>0</slip2>
              </ode>
              <torsional>
                <coefficient>1</coefficient>
                <patch_radius>0</patch_radius>
                <surface_radius>0</surface_radius>
                <use_patch_radius>1</use_patch_radius>
                <ode>
                  <slip>0</slip>
                </ode>
              </torsional>
            </friction>
            <bounce>
              <restitution_coefficient>0</restitution_coefficient>
              <threshold>1e+06</threshold>
            </bounce>
            <contact>
              <collide_without_contact>0</collide_without_contact>
              <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
              <collide_bitmask>1</collide_bitmask>
              <ode>
                <soft_cfm>0</soft_cfm>
                <soft_erp>0.2</soft_erp>
                <kp>1e+13</kp>
                <kd>1</kd>
                <max_vel>0.01</max_vel>
                <min_depth>0</min_depth>
              </ode>
              <bullet>
                <split_impulse>1</split_impulse>
                <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
                <soft_cfm>0</soft_cfm>
                <soft_erp>0.2</soft_erp>
                <kp>1e+13</kp>
                <kd>1</kd>
              </bullet>
            </contact>
          </surface>
        </collision>
      </link>
      <link name='link_1_clone_1'>
        <pose frame=''>0 0 -0.605 0 -0 0</pose>
        <inertial>
          <mass>1</mass>
          <inertia>
            <ixx>0.166667</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>0.166667</iyy>
            <iyz>0</iyz>
            <izz>0.166667</izz>
          </inertia>
          <pose frame=''>0 0 0.01 0 -0 0</pose>
        </inertial>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
        <gravity>1</gravity>
        <visual name='visual'>
          <pose frame=''>0 0 0 0 -0 0</pose>
          <geometry>
            <box>
              <size>0.5 0.8 0.02</size>
            </box>
          </geometry>
          <material>
            <lighting>1</lighting>
            <script>
              <uri>file://media/materials/scripts/gazebo.material</uri>
              <name>Gazebo/Grey</name>
            </script>
            <shader type='pixel'>
              <normal_map>__default__</normal_map>
            </shader>
            <ambient>0.3 0.3 0.3 1</ambient>
            <diffuse>0.7 0.7 0.7 1</diffuse>
            <specular>0.01 0.01 0.01 1</specular>
            <emissive>0 0 0 1</emissive>
          </material>
          <transparency>0</transparency>
          <cast_shadows>1</cast_shadows>
        </visual>
        <collision name='collision'>
          <laser_retro>0</laser_retro>
          <max_contacts>10</max_contacts>
          <pose frame=''>0 0 0 0 -0 0</pose>
          <geometry>
            <box>
              <size>0.5 0.8 0.02</size>
            </box>
          </geometry>
          <surface>
            <friction>
              <ode>
                <mu>1</mu>
                <mu2>1</mu2>
                <fdir1>0 0 0</fdir1>
                <slip1>0</slip1>
                <slip2>0</slip2>
              </ode>
              <torsional>
                <coefficient>1</coefficient>
                <patch_radius>0</patch_radius>
                <surface_radius>0</surface_radius>
                <use_patch_radius>1</use_patch_radius>
                <ode>
                  <slip>0</slip>
                </ode>
              </torsional>
            </friction>
            <bounce>
              <restitution_coefficient>0</restitution_coefficient>
              <threshold>1e+06</threshold>
            </bounce>
            <contact>
              <collide_without_contact>0</collide_without_contact>
              <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
              <collide_bitmask>1</collide_bitmask>
              <ode>
                <soft_cfm>0</soft_cfm>
                <soft_erp>0.2</soft_erp>
                <kp>1e+13</kp>
                <kd>1</kd>
                <max_vel>0.01</max_vel>
                <min_depth>0</min_depth>
              </ode>
              <bullet>
                <split_impulse>1</split_impulse>
                <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
                <soft_cfm>0</soft_cfm>
                <soft_erp>0.2</soft_erp>
                <kp>1e+13</kp>
                <kd>1</kd>
              </bullet>
            </contact>
          </surface>
        </collision>
      </link>
      <link name='link_1_clone_2'>
        <pose frame=''>0 0 0.595 0 -0 0</pose>
        <inertial>
          <mass>1</mass>
          <inertia>
            <ixx>0.166667</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>0.166667</iyy>
            <iyz>0</iyz>
            <izz>0.166667</izz>
          </inertia>
          <pose frame=''>0 0 0.01 0 -0 0</pose>
        </inertial>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
        <visual name='visual'>
          <pose frame=''>0 0 0 0 -0 0</pose>
          <geometry>
            <box>
              <size>0.5 0.8 0.02</size>
            </box>
          </geometry>
          <material>
            <lighting>1</lighting>
            <script>
              <uri>file://media/materials/scripts/gazebo.material</uri>
              <name>Gazebo/Grey</name>
            </script>
            <shader type='pixel'>
              <normal_map>__default__</normal_map>
            </shader>
            <ambient>0.3 0.3 0.3 1</ambient>
            <diffuse>0.7 0.7 0.7 1</diffuse>
            <specular>0.01 0.01 0.01 1</specular>
            <emissive>0 0 0 1</emissive>
          </material>
          <transparency>0</transparency>
          <cast_shadows>1</cast_shadows>
        </visual>
        <collision name='collision'>
          <laser_retro>0</laser_retro>
          <max_contacts>10</max_contacts>
          <pose frame=''>0 0 0 0 -0 0</pose>
          <geometry>
            <box>
              <size>0.5 0.8 0.02</size>
            </box>
          </geometry>
          <surface>
            <friction>
              <ode>
                <mu>1</mu>
                <mu2>1</mu2>
                <fdir1>0 0 0</fdir1>
                <slip1>0</slip1>
                <slip2>0</slip2>
              </ode>
              <torsional>
                <coefficient>1</coefficient>
                <patch_radius>0</patch_radius>
                <surface_radius>0</surface_radius>
                <use_patch_radius>1</use_patch_radius>
                <ode>
                  <slip>0</slip>
                </ode>
              </torsional>
            </friction>
            <bounce>
              <restitution_coefficient>0</restitution_coefficient>
              <threshold>1e+06</threshold>
            </bounce>
            <contact>
              <collide_without_contact>0</collide_without_contact>
              <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
              <collide_bitmask>1</collide_bitmask>
              <ode>
                <soft_cfm>0</soft_cfm>
                <soft_erp>0.2</soft_erp>
                <kp>1e+13</kp>
                <kd>1</kd>
                <max_vel>0.01</max_vel>
                <min_depth>0</min_depth>
              </ode>
              <bullet>
                <split_impulse>1</split_impulse>
                <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
                <soft_cfm>0</soft_cfm>
                <soft_erp>0.2</soft_erp>
                <kp>1e+13</kp>
                <kd>1</kd>
              </bullet>
            </contact>
          </surface>
        </collision>
      </link>
      <link name='link_1_clone_3'>
        <pose frame=''>0 0 0.995 0 -0 0</pose>
        <inertial>
          <mass>1</mass>
          <inertia>
            <ixx>0.166667</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>0.166667</iyy>
            <iyz>0</iyz>
            <izz>0.166667</izz>
          </inertia>
          <pose frame=''>0 0 0.01 0 -0 0</pose>
        </inertial>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
        <gravity>1</gravity>
        <visual name='visual'>
          <pose frame=''>0 0 0 0 -0 0</pose>
          <geometry>
            <box>
              <size>0.5 0.8 0.02</size>
            </box>
          </geometry>
          <material>
            <lighting>1</lighting>
            <script>
              <uri>file://media/materials/scripts/gazebo.material</uri>
              <name>Gazebo/Grey</name>
            </script>
            <shader type='pixel'>
              <normal_map>__default__</normal_map>
            </shader>
            <ambient>0.3 0.3 0.3 1</ambient>
            <diffuse>0.7 0.7 0.7 1</diffuse>
            <specular>0.01 0.01 0.01 1</specular>
            <emissive>0 0 0 1</emissive>
          </material>
          <transparency>0</transparency>
          <cast_shadows>1</cast_shadows>
        </visual>
        <collision name='collision'>
          <laser_retro>0</laser_retro>
          <max_contacts>10</max_contacts>
          <pose frame=''>0 0 0 0 -0 0</pose>
          <geometry>
            <box>
              <size>0.5 0.8 0.02</size>
            </box>
          </geometry>
          <surface>
            <friction>
              <ode>
                <mu>1</mu>
                <mu2>1</mu2>
                <fdir1>0 0 0</fdir1>
                <slip1>0</slip1>
                <slip2>0</slip2>
              </ode>
              <torsional>
                <coefficient>1</coefficient>
                <patch_radius>0</patch_radius>
                <surface_radius>0</surface_radius>
                <use_patch_radius>1</use_patch_radius>
                <ode>
                  <slip>0</slip>
                </ode>
              </torsional>
            </friction>
            <bounce>
              <restitution_coefficient>0</restitution_coefficient>
              <threshold>1e+06</threshold>
            </bounce>
            <contact>
              <collide_without_contact>0</collide_without_contact>
              <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
              <collide_bitmask>1</collide_bitmask>
              <ode>
                <soft_cfm>0</soft_cfm>
                <soft_erp>0.2</soft_erp>
                <kp>1e+13</kp>
                <kd>1</kd>
                <max_vel>0.01</max_vel>
                <min_depth>0</min_depth>
              </ode>
              <bullet>
                <split_impulse>1</split_impulse>
                <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
                <soft_cfm>0</soft_cfm>
                <soft_erp>0.2</soft_erp>
                <kp>1e+13</kp>
                <kd>1</kd>
              </bullet>
            </contact>
          </surface>
        </collision>
      </link>
      <joint name='link_0_JOINT_10' type='fixed'>
        <parent>link_0</parent>
        <child>link_1_clone_2</child>
        <pose frame=''>0 0 0 0 -0 0</pose>
        <physics>
          <ode>
            <limit>
              <cfm>0</cfm>
              <erp>0.2</erp>
            </limit>
            <suspension>
              <cfm>0</cfm>
              <erp>0.2</erp>
            </suspension>
          </ode>
        </physics>
      </joint>
      <joint name='link_0_JOINT_12' type='fixed'>
        <parent>link_0</parent>
        <child>link_1_clone_3</child>
        <pose frame=''>0 0 0 0 -0 0</pose>
        <physics>
          <ode>
            <limit>
              <cfm>0</cfm>
              <erp>0.2</erp>
            </limit>
            <suspension>
              <cfm>0</cfm>
              <erp>0.2</erp>
            </suspension>
          </ode>
        </physics>
      </joint>
      <joint name='link_0_JOINT_4' type='fixed'>
        <parent>link_0</parent>
        <child>link_1_clone_1</child>
        <pose frame=''>0 0 0 -0.07 0 0</pose>
        <physics>
          <ode>
            <limit>
              <cfm>0</cfm>
              <erp>0.2</erp>
            </limit>
            <suspension>
              <cfm>0</cfm>
              <erp>0.2</erp>
            </suspension>
          </ode>
        </physics>
      </joint>
      <joint name='link_0_JOINT_6' type='fixed'>
        <parent>link_0</parent>
        <child>link_1_clone_0</child>
        <pose frame=''>0 0 0 0 -0 0</pose>
        <physics>
          <ode>
            <limit>
              <cfm>0</cfm>
              <erp>0.2</erp>
            </limit>
            <suspension>
              <cfm>0</cfm>
              <erp>0.2</erp>
            </suspension>
          </ode>
        </physics>
      </joint>
      <joint name='link_0_JOINT_8' type='fixed'>
        <parent>link_0</parent>
        <child>link_1_clone</child>
        <pose frame=''>0 0 0 0 -0 0</pose>
        <physics>
          <ode>
            <limit>
              <cfm>0</cfm>
              <erp>0.2</erp>
            </limit>
            <suspension>
              <cfm>0</cfm>
              <erp>0.2</erp>
            </suspension>
          </ode>
        </physics>
      </joint>
      <joint name='link_0_clone_JOINT_11' type='fixed'>
        <parent>link_0_clone</parent>
        <child>link_1_clone_3</child>
        <pose frame=''>0 0 0 0 -0 0</pose>
        <physics>
          <ode>
            <limit>
              <cfm>0</cfm>
              <erp>0.2</erp>
            </limit>
            <suspension>
              <cfm>0</cfm>
              <erp>0.2</erp>
            </suspension>
          </ode>
        </physics>
      </joint>
      <joint name='link_0_clone_JOINT_3' type='fixed'>
        <parent>link_0_clone</parent>
        <child>link_1_clone_1</child>
        <pose frame=''>0 0 0 0 -0 0</pose>
        <physics>
          <ode>
            <limit>
              <cfm>0</cfm>
              <erp>0.2</erp>
            </limit>
            <suspension>
              <cfm>0</cfm>
              <erp>0.2</erp>
            </suspension>
          </ode>
        </physics>
      </joint>
      <joint name='link_0_clone_JOINT_5' type='revolute'>
        <parent>link_0_clone</parent>
        <child>link_1_clone_0</child>
        <pose frame=''>0 0 0 0 -0 0</pose>
        <axis>
          <xyz>1 0 0</xyz>
          <use_parent_model_frame>0</use_parent_model_frame>
          <limit>
            <lower>-1.79769e+308</lower>
            <upper>1.79769e+308</upper>
            <effort>-1</effort>
            <velocity>-1</velocity>
          </limit>
          <dynamics>
            <spring_reference>0</spring_reference>
            <spring_stiffness>0</spring_stiffness>
            <damping>0</damping>
          </dynamics>
        </axis>
        <physics>
          <ode>
            <limit>
              <cfm>0</cfm>
              <erp>0.2</erp>
            </limit>
            <suspension>
              <cfm>0</cfm>
              <erp>0.2</erp>
            </suspension>
          </ode>
        </physics>
      </joint>
      <joint name='link_0_clone_JOINT_7' type='fixed'>
        <parent>link_0_clone</parent>
        <child>link_1_clone</child>
        <pose frame=''>0 0 0 0 -0 0</pose>
        <physics>
          <ode>
            <limit>
              <cfm>0</cfm>
              <erp>0.2</erp>
            </limit>
            <suspension>
              <cfm>0</cfm>
              <erp>0.2</erp>
            </suspension>
          </ode>
        </physics>
      </joint>
      <joint name='link_0_clone_JOINT_9' type='fixed'>
        <parent>link_0_clone</parent>
        <child>link_1_clone_2</child>
        <pose frame=''>0 0 0 0 -0 0</pose>
        <physics>
          <ode>
            <limit>
              <cfm>0</cfm>
              <erp>0.2</erp>
            </limit>
            <suspension>
              <cfm>0</cfm>
              <erp>0.2</erp>
            </suspension>
          </ode>
        </physics>
      </joint>
      <joint name='link_1_JOINT_0' type='fixed'>
        <parent>link_1</parent>
        <child>link_0</child>
        <pose frame=''>0 0 0 0 -0 0</pose>
        <physics>
          <ode>
            <limit>
              <cfm>0</cfm>
              <erp>0.2</erp>
            </limit>
            <suspension>
              <cfm>0</cfm>
              <erp>0.2</erp>
            </suspension>
          </ode>
        </physics>
      </joint>
      <joint name='link_1_JOINT_1' type='fixed'>
        <parent>link_1</parent>
        <child>link_0_clone</child>
        <pose frame=''>0 0 0 0 -0.01 0</pose>
        <physics>
          <ode>
            <limit>
              <cfm>0</cfm>
              <erp>0.2</erp>
            </limit>
            <suspension>
              <cfm>0</cfm>
              <erp>0.2</erp>
            </suspension>
          </ode>
        </physics>
      </joint>
      <static>0</static>
      <allow_auto_disable>1</allow_auto_disable>
      <pose frame=''>1.78037 -0.94441 0 0 -0 0</pose>
    </model>
    <model name='bookshelf_0'>
      <link name='link_0'>
        <pose frame=''>0 0.41 0.005 0 -0 0</pose>
        <inertial>
          <mass>1</mass>
          <inertia>
            <ixx>0.166667</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>0.166667</iyy>
            <iyz>0</iyz>
            <izz>0.166667</izz>
          </inertia>
          <pose frame=''>0 0 0 0 -0 0</pose>
        </inertial>
        <gravity>1</gravity>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
        <visual name='visual'>
          <pose frame=''>0 0 0 0 -0 0</pose>
          <geometry>
            <box>
              <size>0.5 0.02 2</size>
            </box>
          </geometry>
          <material>
            <lighting>1</lighting>
            <script>
              <uri>file://media/materials/scripts/gazebo.material</uri>
              <name>Gazebo/Grey</name>
            </script>
            <shader type='pixel'>
              <normal_map>__default__</normal_map>
            </shader>
            <ambient>0.3 0.3 0.3 1</ambient>
            <diffuse>0.7 0.7 0.7 1</diffuse>
            <specular>0.01 0.01 0.01 1</specular>
            <emissive>0 0 0 1</emissive>
          </material>
          <transparency>0</transparency>
          <cast_shadows>1</cast_shadows>
        </visual>
        <collision name='collision'>
          <laser_retro>0</laser_retro>
          <max_contacts>10</max_contacts>
          <pose frame=''>0 0 0 0 -0 0</pose>
          <geometry>
            <box>
              <size>0.5 0.02 2</size>
            </box>
          </geometry>
          <surface>
            <friction>
              <ode>
                <mu>1</mu>
                <mu2>1</mu2>
                <fdir1>0 0 0</fdir1>
                <slip1>0</slip1>
                <slip2>0</slip2>
              </ode>
              <torsional>
                <coefficient>1</coefficient>
                <patch_radius>0</patch_radius>
                <surface_radius>0</surface_radius>
                <use_patch_radius>1</use_patch_radius>
                <ode>
                  <slip>0</slip>
                </ode>
              </torsional>
            </friction>
            <bounce>
              <restitution_coefficient>0</restitution_coefficient>
              <threshold>1e+06</threshold>
            </bounce>
            <contact>
              <collide_without_contact>0</collide_without_contact>
              <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
              <collide_bitmask>1</collide_bitmask>
              <ode>
                <soft_cfm>0</soft_cfm>
                <soft_erp>0.2</soft_erp>
                <kp>1e+13</kp>
                <kd>1</kd>
                <max_vel>0.01</max_vel>
                <min_depth>0</min_depth>
              </ode>
              <bullet>
                <split_impulse>1</split_impulse>
                <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
                <soft_cfm>0</soft_cfm>
                <soft_erp>0.2</soft_erp>
                <kp>1e+13</kp>
                <kd>1</kd>
              </bullet>
            </contact>
          </surface>
        </collision>
      </link>
      <link name='link_0_clone'>
        <pose frame=''>0 -0.41 0.005 0 -0 0</pose>
        <inertial>
          <mass>1</mass>
          <inertia>
            <ixx>0.166667</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>0.166667</iyy>
            <iyz>0</iyz>
            <izz>0.166667</izz>
          </inertia>
          <pose frame=''>0 0 0 0 -0 0</pose>
        </inertial>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
        <gravity>1</gravity>
        <visual name='visual'>
          <pose frame=''>0 0 0 0 -0 0</pose>
          <geometry>
            <box>
              <size>0.5 0.02 2</size>
            </box>
          </geometry>
          <material>
            <lighting>1</lighting>
            <script>
              <uri>file://media/materials/scripts/gazebo.material</uri>
              <name>Gazebo/Grey</name>
            </script>
            <shader type='pixel'>
              <normal_map>__default__</normal_map>
            </shader>
            <ambient>0.3 0.3 0.3 1</ambient>
            <diffuse>0.7 0.7 0.7 1</diffuse>
            <specular>0.01 0.01 0.01 1</specular>
            <emissive>0 0 0 1</emissive>
          </material>
          <transparency>0</transparency>
          <cast_shadows>1</cast_shadows>
        </visual>
        <collision name='collision'>
          <laser_retro>0</laser_retro>
          <max_contacts>10</max_contacts>
          <pose frame=''>0 0 0 0 -0 0</pose>
          <geometry>
            <box>
              <size>0.5 0.02 2</size>
            </box>
          </geometry>
          <surface>
            <friction>
              <ode>
                <mu>1</mu>
                <mu2>1</mu2>
                <fdir1>0 0 0</fdir1>
                <slip1>0</slip1>
                <slip2>0</slip2>
              </ode>
              <torsional>
                <coefficient>1</coefficient>
                <patch_radius>0</patch_radius>
                <surface_radius>0</surface_radius>
                <use_patch_radius>1</use_patch_radius>
                <ode>
                  <slip>0</slip>
                </ode>
              </torsional>
            </friction>
            <bounce>
              <restitution_coefficient>0</restitution_coefficient>
              <threshold>1e+06</threshold>
            </bounce>
            <contact>
              <collide_without_contact>0</collide_without_contact>
              <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
              <collide_bitmask>1</collide_bitmask>
              <ode>
                <soft_cfm>0</soft_cfm>
                <soft_erp>0.2</soft_erp>
                <kp>1e+13</kp>
                <kd>1</kd>
                <max_vel>0.01</max_vel>
                <min_depth>0</min_depth>
              </ode>
              <bullet>
                <split_impulse>1</split_impulse>
                <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
                <soft_cfm>0</soft_cfm>
                <soft_erp>0.2</soft_erp>
                <kp>1e+13</kp>
                <kd>1</kd>
              </bullet>
            </contact>
          </surface>
        </collision>
      </link>
      <link name='link_1'>
        <pose frame=''>0 0 -0.985 0 -0 0</pose>
        <inertial>
          <mass>1</mass>
          <inertia>
            <ixx>0.166667</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>0.166667</iyy>
            <iyz>0</iyz>
            <izz>0.166667</izz>
          </inertia>
          <pose frame=''>0 0 0.01 0 -0 0</pose>
        </inertial>
        <gravity>1</gravity>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
        <visual name='visual'>
          <pose frame=''>0 0 0 0 -0 0</pose>
          <geometry>
            <box>
              <size>0.5 0.8 0.02</size>
            </box>
          </geometry>
          <material>
            <lighting>1</lighting>
            <script>
              <uri>file://media/materials/scripts/gazebo.material</uri>
              <name>Gazebo/Grey</name>
            </script>
            <shader type='pixel'>
              <normal_map>__default__</normal_map>
            </shader>
            <ambient>0.3 0.3 0.3 1</ambient>
            <diffuse>0.7 0.7 0.7 1</diffuse>
            <specular>0.01 0.01 0.01 1</specular>
            <emissive>0 0 0 1</emissive>
          </material>
          <transparency>0</transparency>
          <cast_shadows>1</cast_shadows>
        </visual>
        <collision name='collision'>
          <laser_retro>0</laser_retro>
          <max_contacts>10</max_contacts>
          <pose frame=''>0 0 0 0 -0 0</pose>
          <geometry>
            <box>
              <size>0.5 0.8 0.02</size>
            </box>
          </geometry>
          <surface>
            <friction>
              <ode>
                <mu>1</mu>
                <mu2>1</mu2>
                <fdir1>0 0 0</fdir1>
                <slip1>0</slip1>
                <slip2>0</slip2>
              </ode>
              <torsional>
                <coefficient>1</coefficient>
                <patch_radius>0</patch_radius>
                <surface_radius>0</surface_radius>
                <use_patch_radius>1</use_patch_radius>
                <ode>
                  <slip>0</slip>
                </ode>
              </torsional>
            </friction>
            <bounce>
              <restitution_coefficient>0</restitution_coefficient>
              <threshold>1e+06</threshold>
            </bounce>
            <contact>
              <collide_without_contact>0</collide_without_contact>
              <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
              <collide_bitmask>1</collide_bitmask>
              <ode>
                <soft_cfm>0</soft_cfm>
                <soft_erp>0.2</soft_erp>
                <kp>1e+13</kp>
                <kd>1</kd>
                <max_vel>0.01</max_vel>
                <min_depth>0</min_depth>
              </ode>
              <bullet>
                <split_impulse>1</split_impulse>
                <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
                <soft_cfm>0</soft_cfm>
                <soft_erp>0.2</soft_erp>
                <kp>1e+13</kp>
                <kd>1</kd>
              </bullet>
            </contact>
          </surface>
        </collision>
      </link>
      <link name='link_1_clone'>
        <pose frame=''>0 0 0.195 0 -0 0</pose>
        <inertial>
          <mass>1</mass>
          <inertia>
            <ixx>0.166667</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>0.166667</iyy>
            <iyz>0</iyz>
            <izz>0.166667</izz>
          </inertia>
          <pose frame=''>0 0 0.01 0 -0 0</pose>
        </inertial>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
        <visual name='visual'>
          <pose frame=''>0 0 0 0 -0 0</pose>
          <geometry>
            <box>
              <size>0.5 0.8 0.02</size>
            </box>
          </geometry>
          <material>
            <lighting>1</lighting>
            <script>
              <uri>file://media/materials/scripts/gazebo.material</uri>
              <name>Gazebo/Grey</name>
            </script>
            <shader type='pixel'>
              <normal_map>__default__</normal_map>
            </shader>
            <ambient>0.3 0.3 0.3 1</ambient>
            <diffuse>0.7 0.7 0.7 1</diffuse>
            <specular>0.01 0.01 0.01 1</specular>
            <emissive>0 0 0 1</emissive>
          </material>
          <transparency>0</transparency>
          <cast_shadows>1</cast_shadows>
        </visual>
        <collision name='collision'>
          <laser_retro>0</laser_retro>
          <max_contacts>10</max_contacts>
          <pose frame=''>0 0 0 0 -0 0</pose>
          <geometry>
            <box>
              <size>0.5 0.8 0.02</size>
            </box>
          </geometry>
          <surface>
            <friction>
              <ode>
                <mu>1</mu>
                <mu2>1</mu2>
                <fdir1>0 0 0</fdir1>
                <slip1>0</slip1>
                <slip2>0</slip2>
              </ode>
              <torsional>
                <coefficient>1</coefficient>
                <patch_radius>0</patch_radius>
                <surface_radius>0</surface_radius>
                <use_patch_radius>1</use_patch_radius>
                <ode>
                  <slip>0</slip>
                </ode>
              </torsional>
            </friction>
            <bounce>
              <restitution_coefficient>0</restitution_coefficient>
              <threshold>1e+06</threshold>
            </bounce>
            <contact>
              <collide_without_contact>0</collide_without_contact>
              <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
              <collide_bitmask>1</collide_bitmask>
              <ode>
                <soft_cfm>0</soft_cfm>
                <soft_erp>0.2</soft_erp>
                <kp>1e+13</kp>
                <kd>1</kd>
                <max_vel>0.01</max_vel>
                <min_depth>0</min_depth>
              </ode>
              <bullet>
                <split_impulse>1</split_impulse>
                <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
                <soft_cfm>0</soft_cfm>
                <soft_erp>0.2</soft_erp>
                <kp>1e+13</kp>
                <kd>1</kd>
              </bullet>
            </contact>
          </surface>
        </collision>
      </link>
      <link name='link_1_clone_0'>
        <pose frame=''>0 0 -0.205 0 -0 0</pose>
        <inertial>
          <mass>1</mass>
          <inertia>
            <ixx>0.166667</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>0.166667</iyy>
            <iyz>0</iyz>
            <izz>0.166667</izz>
          </inertia>
          <pose frame=''>0 0 0.01 0 -0 0</pose>
        </inertial>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
        <visual name='visual'>
          <pose frame=''>0 0 0 0 -0 0</pose>
          <geometry>
            <box>
              <size>0.5 0.8 0.02</size>
            </box>
          </geometry>
          <material>
            <lighting>1</lighting>
            <script>
              <uri>file://media/materials/scripts/gazebo.material</uri>
              <name>Gazebo/Grey</name>
            </script>
            <shader type='pixel'>
              <normal_map>__default__</normal_map>
            </shader>
            <ambient>0.3 0.3 0.3 1</ambient>
            <diffuse>0.7 0.7 0.7 1</diffuse>
            <specular>0.01 0.01 0.01 1</specular>
            <emissive>0 0 0 1</emissive>
          </material>
          <transparency>0</transparency>
          <cast_shadows>1</cast_shadows>
        </visual>
        <collision name='collision'>
          <laser_retro>0</laser_retro>
          <max_contacts>10</max_contacts>
          <pose frame=''>0 0 0 0 -0 0</pose>
          <geometry>
            <box>
              <size>0.5 0.8 0.02</size>
            </box>
          </geometry>
          <surface>
            <friction>
              <ode>
                <mu>1</mu>
                <mu2>1</mu2>
                <fdir1>0 0 0</fdir1>
                <slip1>0</slip1>
                <slip2>0</slip2>
              </ode>
              <torsional>
                <coefficient>1</coefficient>
                <patch_radius>0</patch_radius>
                <surface_radius>0</surface_radius>
                <use_patch_radius>1</use_patch_radius>
                <ode>
                  <slip>0</slip>
                </ode>
              </torsional>
            </friction>
            <bounce>
              <restitution_coefficient>0</restitution_coefficient>
              <threshold>1e+06</threshold>
            </bounce>
            <contact>
              <collide_without_contact>0</collide_without_contact>
              <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
              <collide_bitmask>1</collide_bitmask>
              <ode>
                <soft_cfm>0</soft_cfm>
                <soft_erp>0.2</soft_erp>
                <kp>1e+13</kp>
                <kd>1</kd>
                <max_vel>0.01</max_vel>
                <min_depth>0</min_depth>
              </ode>
              <bullet>
                <split_impulse>1</split_impulse>
                <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
                <soft_cfm>0</soft_cfm>
                <soft_erp>0.2</soft_erp>
                <kp>1e+13</kp>
                <kd>1</kd>
              </bullet>
            </contact>
          </surface>
        </collision>
      </link>
      <link name='link_1_clone_1'>
        <pose frame=''>0 0 -0.605 0 -0 0</pose>
        <inertial>
          <mass>1</mass>
          <inertia>
            <ixx>0.166667</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>0.166667</iyy>
            <iyz>0</iyz>
            <izz>0.166667</izz>
          </inertia>
          <pose frame=''>0 0 0.01 0 -0 0</pose>
        </inertial>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
        <gravity>1</gravity>
        <visual name='visual'>
          <pose frame=''>0 0 0 0 -0 0</pose>
          <geometry>
            <box>
              <size>0.5 0.8 0.02</size>
            </box>
          </geometry>
          <material>
            <lighting>1</lighting>
            <script>
              <uri>file://media/materials/scripts/gazebo.material</uri>
              <name>Gazebo/Grey</name>
            </script>
            <shader type='pixel'>
              <normal_map>__default__</normal_map>
            </shader>
            <ambient>0.3 0.3 0.3 1</ambient>
            <diffuse>0.7 0.7 0.7 1</diffuse>
            <specular>0.01 0.01 0.01 1</specular>
            <emissive>0 0 0 1</emissive>
          </material>
          <transparency>0</transparency>
          <cast_shadows>1</cast_shadows>
        </visual>
        <collision name='collision'>
          <laser_retro>0</laser_retro>
          <max_contacts>10</max_contacts>
          <pose frame=''>0 0 0 0 -0 0</pose>
          <geometry>
            <box>
              <size>0.5 0.8 0.02</size>
            </box>
          </geometry>
          <surface>
            <friction>
              <ode>
                <mu>1</mu>
                <mu2>1</mu2>
                <fdir1>0 0 0</fdir1>
                <slip1>0</slip1>
                <slip2>0</slip2>
              </ode>
              <torsional>
                <coefficient>1</coefficient>
                <patch_radius>0</patch_radius>
                <surface_radius>0</surface_radius>
                <use_patch_radius>1</use_patch_radius>
                <ode>
                  <slip>0</slip>
                </ode>
              </torsional>
            </friction>
            <bounce>
              <restitution_coefficient>0</restitution_coefficient>
              <threshold>1e+06</threshold>
            </bounce>
            <contact>
              <collide_without_contact>0</collide_without_contact>
              <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
              <collide_bitmask>1</collide_bitmask>
              <ode>
                <soft_cfm>0</soft_cfm>
                <soft_erp>0.2</soft_erp>
                <kp>1e+13</kp>
                <kd>1</kd>
                <max_vel>0.01</max_vel>
                <min_depth>0</min_depth>
              </ode>
              <bullet>
                <split_impulse>1</split_impulse>
                <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
                <soft_cfm>0</soft_cfm>
                <soft_erp>0.2</soft_erp>
                <kp>1e+13</kp>
                <kd>1</kd>
              </bullet>
            </contact>
          </surface>
        </collision>
      </link>
      <link name='link_1_clone_2'>
        <pose frame=''>0 0 0.595 0 -0 0</pose>
        <inertial>
          <mass>1</mass>
          <inertia>
            <ixx>0.166667</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>0.166667</iyy>
            <iyz>0</iyz>
            <izz>0.166667</izz>
          </inertia>
          <pose frame=''>0 0 0.01 0 -0 0</pose>
        </inertial>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
        <visual name='visual'>
          <pose frame=''>0 0 0 0 -0 0</pose>
          <geometry>
            <box>
              <size>0.5 0.8 0.02</size>
            </box>
          </geometry>
          <material>
            <lighting>1</lighting>
            <script>
              <uri>file://media/materials/scripts/gazebo.material</uri>
              <name>Gazebo/Grey</name>
            </script>
            <shader type='pixel'>
              <normal_map>__default__</normal_map>
            </shader>
            <ambient>0.3 0.3 0.3 1</ambient>
            <diffuse>0.7 0.7 0.7 1</diffuse>
            <specular>0.01 0.01 0.01 1</specular>
            <emissive>0 0 0 1</emissive>
          </material>
          <transparency>0</transparency>
          <cast_shadows>1</cast_shadows>
        </visual>
        <collision name='collision'>
          <laser_retro>0</laser_retro>
          <max_contacts>10</max_contacts>
          <pose frame=''>0 0 0 0 -0 0</pose>
          <geometry>
            <box>
              <size>0.5 0.8 0.02</size>
            </box>
          </geometry>
          <surface>
            <friction>
              <ode>
                <mu>1</mu>
                <mu2>1</mu2>
                <fdir1>0 0 0</fdir1>
                <slip1>0</slip1>
                <slip2>0</slip2>
              </ode>
              <torsional>
                <coefficient>1</coefficient>
                <patch_radius>0</patch_radius>
                <surface_radius>0</surface_radius>
                <use_patch_radius>1</use_patch_radius>
                <ode>
                  <slip>0</slip>
                </ode>
              </torsional>
            </friction>
            <bounce>
              <restitution_coefficient>0</restitution_coefficient>
              <threshold>1e+06</threshold>
            </bounce>
            <contact>
              <collide_without_contact>0</collide_without_contact>
              <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
              <collide_bitmask>1</collide_bitmask>
              <ode>
                <soft_cfm>0</soft_cfm>
                <soft_erp>0.2</soft_erp>
                <kp>1e+13</kp>
                <kd>1</kd>
                <max_vel>0.01</max_vel>
                <min_depth>0</min_depth>
              </ode>
              <bullet>
                <split_impulse>1</split_impulse>
                <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
                <soft_cfm>0</soft_cfm>
                <soft_erp>0.2</soft_erp>
                <kp>1e+13</kp>
                <kd>1</kd>
              </bullet>
            </contact>
          </surface>
        </collision>
      </link>
      <link name='link_1_clone_3'>
        <pose frame=''>0 0 0.995 0 -0 0</pose>
        <inertial>
          <mass>1</mass>
          <inertia>
            <ixx>0.166667</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>0.166667</iyy>
            <iyz>0</iyz>
            <izz>0.166667</izz>
          </inertia>
          <pose frame=''>0 0 0.01 0 -0 0</pose>
        </inertial>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
        <gravity>1</gravity>
        <visual name='visual'>
          <pose frame=''>0 0 0 0 -0 0</pose>
          <geometry>
            <box>
              <size>0.5 0.8 0.02</size>
            </box>
          </geometry>
          <material>
            <lighting>1</lighting>
            <script>
              <uri>file://media/materials/scripts/gazebo.material</uri>
              <name>Gazebo/Grey</name>
            </script>
            <shader type='pixel'>
              <normal_map>__default__</normal_map>
            </shader>
            <ambient>0.3 0.3 0.3 1</ambient>
            <diffuse>0.7 0.7 0.7 1</diffuse>
            <specular>0.01 0.01 0.01 1</specular>
            <emissive>0 0 0 1</emissive>
          </material>
          <transparency>0</transparency>
          <cast_shadows>1</cast_shadows>
        </visual>
        <collision name='collision'>
          <laser_retro>0</laser_retro>
          <max_contacts>10</max_contacts>
          <pose frame=''>0 0 0 0 -0 0</pose>
          <geometry>
            <box>
              <size>0.5 0.8 0.02</size>
            </box>
          </geometry>
          <surface>
            <friction>
              <ode>
                <mu>1</mu>
                <mu2>1</mu2>
                <fdir1>0 0 0</fdir1>
                <slip1>0</slip1>
                <slip2>0</slip2>
              </ode>
              <torsional>
                <coefficient>1</coefficient>
                <patch_radius>0</patch_radius>
                <surface_radius>0</surface_radius>
                <use_patch_radius>1</use_patch_radius>
                <ode>
                  <slip>0</slip>
                </ode>
              </torsional>
            </friction>
            <bounce>
              <restitution_coefficient>0</restitution_coefficient>
              <threshold>1e+06</threshold>
            </bounce>
            <contact>
              <collide_without_contact>0</collide_without_contact>
              <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
              <collide_bitmask>1</collide_bitmask>
              <ode>
                <soft_cfm>0</soft_cfm>
                <soft_erp>0.2</soft_erp>
                <kp>1e+13</kp>
                <kd>1</kd>
                <max_vel>0.01</max_vel>
                <min_depth>0</min_depth>
              </ode>
              <bullet>
                <split_impulse>1</split_impulse>
                <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
                <soft_cfm>0</soft_cfm>
                <soft_erp>0.2</soft_erp>
                <kp>1e+13</kp>
                <kd>1</kd>
              </bullet>
            </contact>
          </surface>
        </collision>
      </link>
      <joint name='link_0_JOINT_10' type='fixed'>
        <parent>link_0</parent>
        <child>link_1_clone_2</child>
        <pose frame=''>0 0 0 0 -0 0</pose>
        <physics>
          <ode>
            <limit>
              <cfm>0</cfm>
              <erp>0.2</erp>
            </limit>
            <suspension>
              <cfm>0</cfm>
              <erp>0.2</erp>
            </suspension>
          </ode>
        </physics>
      </joint>
      <joint name='link_0_JOINT_12' type='fixed'>
        <parent>link_0</parent>
        <child>link_1_clone_3</child>
        <pose frame=''>0 0 0 0 -0 0</pose>
        <physics>
          <ode>
            <limit>
              <cfm>0</cfm>
              <erp>0.2</erp>
            </limit>
            <suspension>
              <cfm>0</cfm>
              <erp>0.2</erp>
            </suspension>
          </ode>
        </physics>
      </joint>
      <joint name='link_0_JOINT_4' type='fixed'>
        <parent>link_0</parent>
        <child>link_1_clone_1</child>
        <pose frame=''>0 0 0 -0.07 0 0</pose>
        <physics>
          <ode>
            <limit>
              <cfm>0</cfm>
              <erp>0.2</erp>
            </limit>
            <suspension>
              <cfm>0</cfm>
              <erp>0.2</erp>
            </suspension>
          </ode>
        </physics>
      </joint>
      <joint name='link_0_JOINT_6' type='fixed'>
        <parent>link_0</parent>
        <child>link_1_clone_0</child>
        <pose frame=''>0 0 0 0 -0 0</pose>
        <physics>
          <ode>
            <limit>
              <cfm>0</cfm>
              <erp>0.2</erp>
            </limit>
            <suspension>
              <cfm>0</cfm>
              <erp>0.2</erp>
            </suspension>
          </ode>
        </physics>
      </joint>
      <joint name='link_0_JOINT_8' type='fixed'>
        <parent>link_0</parent>
        <child>link_1_clone</child>
        <pose frame=''>0 0 0 0 -0 0</pose>
        <physics>
          <ode>
            <limit>
              <cfm>0</cfm>
              <erp>0.2</erp>
            </limit>
            <suspension>
              <cfm>0</cfm>
              <erp>0.2</erp>
            </suspension>
          </ode>
        </physics>
      </joint>
      <joint name='link_0_clone_JOINT_11' type='fixed'>
        <parent>link_0_clone</parent>
        <child>link_1_clone_3</child>
        <pose frame=''>0 0 0 0 -0 0</pose>
        <physics>
          <ode>
            <limit>
              <cfm>0</cfm>
              <erp>0.2</erp>
            </limit>
            <suspension>
              <cfm>0</cfm>
              <erp>0.2</erp>
            </suspension>
          </ode>
        </physics>
      </joint>
      <joint name='link_0_clone_JOINT_3' type='fixed'>
        <parent>link_0_clone</parent>
        <child>link_1_clone_1</child>
        <pose frame=''>0 0 0 0 -0 0</pose>
        <physics>
          <ode>
            <limit>
              <cfm>0</cfm>
              <erp>0.2</erp>
            </limit>
            <suspension>
              <cfm>0</cfm>
              <erp>0.2</erp>
            </suspension>
          </ode>
        </physics>
      </joint>
      <joint name='link_0_clone_JOINT_5' type='revolute'>
        <parent>link_0_clone</parent>
        <child>link_1_clone_0</child>
        <pose frame=''>0 0 0 0 -0 0</pose>
        <axis>
          <xyz>1 0 0</xyz>
          <use_parent_model_frame>0</use_parent_model_frame>
          <limit>
            <lower>-1.79769e+308</lower>
            <upper>1.79769e+308</upper>
            <effort>-1</effort>
            <velocity>-1</velocity>
          </limit>
          <dynamics>
            <spring_reference>0</spring_reference>
            <spring_stiffness>0</spring_stiffness>
            <damping>0</damping>
          </dynamics>
        </axis>
        <physics>
          <ode>
            <limit>
              <cfm>0</cfm>
              <erp>0.2</erp>
            </limit>
            <suspension>
              <cfm>0</cfm>
              <erp>0.2</erp>
            </suspension>
          </ode>
        </physics>
      </joint>
      <joint name='link_0_clone_JOINT_7' type='fixed'>
        <parent>link_0_clone</parent>
        <child>link_1_clone</child>
        <pose frame=''>0 0 0 0 -0 0</pose>
        <physics>
          <ode>
            <limit>
              <cfm>0</cfm>
              <erp>0.2</erp>
            </limit>
            <suspension>
              <cfm>0</cfm>
              <erp>0.2</erp>
            </suspension>
          </ode>
        </physics>
      </joint>
      <joint name='link_0_clone_JOINT_9' type='fixed'>
        <parent>link_0_clone</parent>
        <child>link_1_clone_2</child>
        <pose frame=''>0 0 0 0 -0 0</pose>
        <physics>
          <ode>
            <limit>
              <cfm>0</cfm>
              <erp>0.2</erp>
            </limit>
            <suspension>
              <cfm>0</cfm>
              <erp>0.2</erp>
            </suspension>
          </ode>
        </physics>
      </joint>
      <joint name='link_1_JOINT_0' type='fixed'>
        <parent>link_1</parent>
        <child>link_0</child>
        <pose frame=''>0 0 0 0 -0 0</pose>
        <physics>
          <ode>
            <limit>
              <cfm>0</cfm>
              <erp>0.2</erp>
            </limit>
            <suspension>
              <cfm>0</cfm>
              <erp>0.2</erp>
            </suspension>
          </ode>
        </physics>
      </joint>
      <joint name='link_1_JOINT_1' type='fixed'>
        <parent>link_1</parent>
        <child>link_0_clone</child>
        <pose frame=''>0 0 0 0 -0.01 0</pose>
        <physics>
          <ode>
            <limit>
              <cfm>0</cfm>
              <erp>0.2</erp>
            </limit>
            <suspension>
              <cfm>0</cfm>
              <erp>0.2</erp>
            </suspension>
          </ode>
        </physics>
      </joint>
      <static>0</static>
      <allow_auto_disable>1</allow_auto_disable>
      <pose frame=''>1.8332 -2.04713 0 0 -0 0</pose>
    </model>
    <model name='my_ball_0'>
      <link name='link_0'>
        <pose frame=''>-0 -0 0 0 -0 0</pose>
        <inertial>
          <mass>1</mass>
          <inertia>
            <ixx>0.1</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>0.1</iyy>
            <iyz>0</iyz>
            <izz>0.1</izz>
          </inertia>
          <pose frame=''>0 0 0 0 -0 0</pose>
        </inertial>
        <gravity>1</gravity>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
        <visual name='visual'>
          <pose frame=''>0 0 0 0 -0 0</pose>
          <geometry>
            <sphere>
              <radius>0.1</radius>
            </sphere>
          </geometry>
          <material>
            <lighting>1</lighting>
            <script>
              <uri>file://media/materials/scripts/gazebo.material</uri>
              <name>Gazebo/Grey</name>
            </script>
            <shader type='pixel'>
              <normal_map>__default__</normal_map>
            </shader>
            <ambient>1 1 1 1</ambient>
            <diffuse>1 1 1 1</diffuse>
            <specular>1 1 1 1</specular>
            <emissive>1 1 1 1</emissive>
          </material>
          <transparency>0</transparency>
          <cast_shadows>1</cast_shadows>
        </visual>
        <collision name='collision'>
          <laser_retro>0</laser_retro>
          <max_contacts>10</max_contacts>
          <pose frame=''>0 0 0 0 -0 0</pose>
          <geometry>
            <sphere>
              <radius>0.1</radius>
            </sphere>
          </geometry>
          <surface>
            <friction>
              <ode>
                <mu>1</mu>
                <mu2>1</mu2>
                <fdir1>0 0 0</fdir1>
                <slip1>0</slip1>
                <slip2>0</slip2>
              </ode>
              <torsional>
                <coefficient>1</coefficient>
                <patch_radius>0</patch_radius>
                <surface_radius>0</surface_radius>
                <use_patch_radius>1</use_patch_radius>
                <ode>
                  <slip>0</slip>
                </ode>
              </torsional>
            </friction>
            <bounce>
              <restitution_coefficient>0</restitution_coefficient>
              <threshold>1e+06</threshold>
            </bounce>
            <contact>
              <collide_without_contact>0</collide_without_contact>
              <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
              <collide_bitmask>1</collide_bitmask>
              <ode>
                <soft_cfm>0</soft_cfm>
                <soft_erp>0.2</soft_erp>
                <kp>1e+13</kp>
                <kd>1</kd>
                <max_vel>0.01</max_vel>
                <min_depth>0</min_depth>
              </ode>
              <bullet>
                <split_impulse>1</split_impulse>
                <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
                <soft_cfm>0</soft_cfm>
                <soft_erp>0.2</soft_erp>
                <kp>1e+13</kp>
                <kd>1</kd>
              </bullet>
            </contact>
          </surface>
        </collision>
      </link>
      <static>0</static>
      <allow_auto_disable>1</allow_auto_disable>
      <pose frame=''>1.97908 -5.93962 0 0 -0 0</pose>
    </model>
  </world>
</sdf>