├── .gitignore
├── .gitlab-ci.yml
├── LICENSE
├── README.md
├── ch_171744_maze
    ├── CMakeLists.txt
    ├── launch
    │   └── start_maze.launch
    ├── package.xml
    └── src
    │   ├── maze.py
    │   └── pid.py
├── maze_practice
    └── model.sdf
└── mod_turtlebot_description
    └── turtlebot_description.tar.gz


/.gitignore:
--------------------------------------------------------------------------------
1 | *.pyc
2 | 


--------------------------------------------------------------------------------
/.gitlab-ci.yml:
--------------------------------------------------------------------------------
 1 | image: 141.69.58.19:5000/iki/ros-kinetic-amr:latest
 2 | 
 3 | before_script:
 4 |   - source /root/catkin_ws/devel/setup.bash
 5 | 
 6 | stages:
 7 |     - catkin make
 8 | 
 9 | catkin make:
10 |     stage: catkin make
11 |     script:
12 |     - roscd; cd ..; catkin_make
13 | 


--------------------------------------------------------------------------------
/LICENSE:
--------------------------------------------------------------------------------
 1 | MIT License
 2 | 
 3 | Copyright (c) 2017 Christian Högerle
 4 | 
 5 | Permission is hereby granted, free of charge, to any person obtaining a copy
 6 | of this software and associated documentation files (the "Software"), to deal
 7 | in the Software without restriction, including without limitation the rights
 8 | to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
 9 | copies of the Software, and to permit persons to whom the Software is
10 | furnished to do so, subject to the following conditions:
11 | 
12 | The above copyright notice and this permission notice shall be included in all
13 | copies or substantial portions of the Software.
14 | 
15 | THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
16 | IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
17 | FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
18 | AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
19 | LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
20 | OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
21 | SOFTWARE.
22 | 


--------------------------------------------------------------------------------
/README.md:
--------------------------------------------------------------------------------
  1 | # Maze Solver (ROS)
  2 | This repository enables a robot to leave a maze. Basically it uses wall detection and wall follow algorithms. 
  3 | 
  4 | <img src="https://user-images.githubusercontent.com/7523395/35778687-047ef1e4-09c2-11e8-8766-cceff7a3e3f9.png" width="50%">
  5 | 
  6 | 
  7 | Video: https://www.youtube.com/watch?v=Sf2yfDI60GU
  8 | 
  9 | ## Installing / Getting started (Linux)
 10 | 
 11 | ### Install Ros and other Tools
 12 | 
 13 | **Warning! Please use Ubuntu 16.04 as this is the Long Term Support Version (LTS). If you are using Ubuntu 17.04 you have to use ROS Lunar release on your own risk!**
 14 | 
 15 | First goto http://wiki.ros.org/kinetic/Installation/Ubuntu and follow the instructions there. The installation can take some time depending on your internet connection.
 16 | 
 17 | After the ros setup is completed you should install these extra tools
 18 | 
 19 | ```
 20 | sudo apt-add-repository ppa:webupd8team/atom
 21 | sudo apt-get update
 22 | sudo apt-get install git gitg htop terminator atom
 23 | sudo apt-get install ros-kinetic-turtlebot-simulator ros-kinetic-turtlebot-teleop
 24 | ```
 25 | 
 26 | ### Create catkin workspace
 27 | 
 28 | All your ROS packages must be stored in a special folder called __catkin workspace__.
 29 | ROS uses the [catkin](http://docs.ros.org/api/catkin/html/) build system to manage your codebase.
 30 | We will not go deeper into exactly what this build system is, but for now, you need to create a catkin workspace before you create your first package.
 31 | 
 32 | __This is very important! All your ROS code must always be located somewhere under `<path to your catkin_ws>/src`!__
 33 | 
 34 | ```
 35 | mkdir -p ~/catkin_ws/src
 36 | cd ~/catkin_ws/src
 37 | catkin_init_workspace       #initiates the catkin workspace
 38 | cd ~/catkin_ws
 39 | catkin_make                 #compiles the catkin workspace
 40 | echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc
 41 | source ~/.bashrc
 42 | ```
 43 | 
 44 | ### Update your gazebo with the following commands
 45 | 
 46 | Add OSRF package repo
 47 | 
 48 |     sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'
 49 | 
 50 | setup keys
 51 | 
 52 |     wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -
 53 | 
 54 | update gazebo
 55 | 
 56 |     sudo apt-get update
 57 |     sudo apt-get install gazebo7
 58 | 
 59 | ### Mounting Hokuyo Laser Scanner onto the Turtlebot
 60 | 
 61 | We have modified the `turtlebot_description` package that has the simulated model of the turtlebot and put in some upgrades that should make your life easier. After following these
 62 | instructions, you should be able to visualise the laser ray projections in gazebo, and you will have a new stable topic that gets the laser data from the new scanner, which is `/laserscan`. We
 63 | have also enhanced the field of vision of the scan to 180 degrees and the maximum range to 30 m.
 64 | 
 65 | * Delete the existing `turtlebot_description` package using the following commands:
 66 | ```
 67 | cd /opt/ros/kinetic/share
 68 | sudo rm -r turtlebot_description
 69 | ```
 70 | 
 71 | * Take the modified `turtlebot_description` package from `mod_turtlebot_description` to your `Downloads`
 72 | folder. Extract the package from the compressed file.
 73 | 
 74 | * Move the extracted package from the `Downloads` folder to the location of the deleted package using the following commands:
 75 | ```
 76 | cd ~/Downloads
 77 | sudo mv turtlebot_description /opt/ros/kinetic/share
 78 | ```
 79 | If everything went alright, there should be a file named `hokuyo_urdf.xacro` at the location `/opt/ros/kinetic/share/turtlebot_description/urdf/sensors`
 80 | 
 81 | * Run the following commands to setup the new modified turtlebot as the default whenever you launch it in gazebo:
 82 | ```
 83 | echo "export TURTLEBOT_3D_SENSOR=hokuyo" >> ~/.bashrc
 84 | source ~/.bashrc
 85 | ```
 86 | Note that by doing this, the turtlebot will be launched with hokuyo laser scanner everytime you launch `turtlebot_gazebo`. If you want to go back to how everything was before you did all this, just delete
 87 | the `export TURTLEBOT_3D_SENSOR` line in the `.bashrc` file.
 88 | 
 89 | * Launch the `turtlebot_gazebo` package and hopefully, you should see your new turtlebot with enhanced superpowers like below and you should be able to see the scan data in the `/laserscan` topic. 
 90 |   
 91 |     To launch the simulation use: `roslaunch turtlebot_gazebo turtlebot_world.launch`
 92 | 
 93 | ![](https://user-images.githubusercontent.com/7523395/35778702-3cfa014e-09c2-11e8-9f1d-bc1b28de14bc.png)
 94 | 
 95 | ### Loading the Maze into the Simulation
 96 | 
 97 | All you have to do to load it is run the following command after launching the `turtlebot_gazebo package`:
 98 | 
 99 | `rosrun gazebo_ros spawn_model -file ~/catkin_ws/src/<repo name>/maze_practice/model.sdf -sdf -model -maze -x 16 -y 5`
100 | 
101 | Be sure to enter your repository name correctly in the above command. An example:
102 | 
103 | `rosrun gazebo_ros spawn_model -file ~/catkin_ws/src/ROS_maze_challenge/maze_practice/model.sdf -sdf -model -maze -x 16 -y 5`
104 | 
105 | Your gazebo simulation should now look like below:
106 | 
107 | <img src="https://user-images.githubusercontent.com/7523395/35778687-047ef1e4-09c2-11e8-8766-cceff7a3e3f9.png" width="35%">
108 | 
109 | ## How to use this ROS-Node (step-by-step)
110 | 
111 | 1. Follow the install instructions
112 | 2. Download the repository in your catkin workspace
113 | 3. Run the simulation by using: `roslaunch turtlebot_gazebo turtlebot_world.launch`
114 | 4. Load the maze in your simulation: `rosrun gazebo_ros spawn_model -file ~/catkin_ws/src/ROS_maze_challenge/maze_practice/model.sdf -sdf -model -maze -x 16 -y 5`
115 |     note: adopt the path to your system
116 | 5. Run the ROS-node to solve the maze by using: `roslaunch ch_171744_maze start_maze.launch`
117 | 
118 | 
119 | ## Description of the Solution
120 | 
121 | ### Algorithm (pseudo code)
122 | 
123 | ```
124 | save the actual x- and y-position (loop-detection)
125 | state = "WallDetection"
126 | 
127 | while not rospy.is_shutdown():
128 |    if(state == "WallDetection")
129 |         search for a wall to follow
130 |         adjust the angle to next wall
131 |         drive to the wall
132 |         while(not wall_arrived):
133 |             drive
134 |         save the actual x- and y-position (loop-detection)
135 |         make a turn 
136 |         state = "wallFollow"
137 | 
138 |     elif(state == "wallFollow")
139 |         if(loop_detected):
140 |             state = "wallDetection"
141 |         else:
142 |             if(obstacles_detected)
143 |                 do turn ~90 degree
144 |             else  
145 |                 follow wall using PID-controller
146 | ```
147 | 
148 | ### Wall Detection
149 | 
150 | * In the image below you can see an example how the wall detection algorithm works. In this case the algorithm detects two walls. 
151 |   Among these two walls, the wall with the biggest distance will be chosen. 
152 | 
153 |     ![wall1](https://user-images.githubusercontent.com/7523395/35778713-5676082a-09c2-11e8-834b-0c0dcef3948a.png)
154 |     
155 |     How does the wall detection work:
156 |     
157 |     There must be a predefined amount of points between the upper- and lower bound (see image below) . Another constraint is that the points must be next to each other. 
158 |     Otherwise it will not be detected as a wall.  
159 |     
160 |     ![wall2](https://user-images.githubusercontent.com/7523395/35778718-66f8d4fc-09c2-11e8-9feb-6f9d673e93cf.png)
161 | 
162 | * Turn and move to the detected wall.
163 | 
164 |     ![wall3](https://user-images.githubusercontent.com/7523395/35778724-7468a978-09c2-11e8-9985-ed7814b221cc.png)
165 | 
166 | * After the robot arrived in front of the detected wall, save the actual x- and y-position (depicted as green circle in the image below) and do a turn. After that use the wall follow algorithm.
167 | 
168 |     ![wall4](https://user-images.githubusercontent.com/7523395/35778735-a46a11de-09c2-11e8-9727-44476faa12e4.png)
169 | 
170 | ### Wall Follow
171 | 
172 | A PID-controller is used to adjust the direction of movement .
173 | 
174 | ![wallf](https://user-images.githubusercontent.com/7523395/35778747-cd64ba1c-09c2-11e8-98cb-1f8ff4fdfebf.gif)
175 | 
176 | 
177 | ### Loop Detection
178 | 
179 | When the wall follow algorithm starts, the robot saves it actual position into a list of positions. This position will be used for loop detection.
180 | If the robot hits any of these stored positions a loop is detected. In this case wall detection is used to reposition the robot.
181 | 
182 | ![loopdetection](https://user-images.githubusercontent.com/7523395/35778761-ff2a2d0c-09c2-11e8-9a20-1cbcd6ce016a.gif)
183 | 
184 | 
185 | ## Author
186 | Christian Högerle
187 | 
188 | ## Licensing
189 | The code in this project is licensed under MIT license.
190 | 


--------------------------------------------------------------------------------
/ch_171744_maze/CMakeLists.txt:
--------------------------------------------------------------------------------
  1 | cmake_minimum_required(VERSION 2.8.3)
  2 | project(ch_171744_maze)
  3 | 
  4 | ## Compile as C++11, supported in ROS Kinetic and newer
  5 | # add_compile_options(-std=c++11)
  6 | 
  7 | ## Find catkin macros and libraries
  8 | ## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
  9 | ## is used, also find other catkin packages
 10 | find_package(catkin REQUIRED COMPONENTS
 11 |   rospy
 12 | )
 13 | 
 14 | ## System dependencies are found with CMake's conventions
 15 | # find_package(Boost REQUIRED COMPONENTS system)
 16 | 
 17 | 
 18 | ## Uncomment this if the package has a setup.py. This macro ensures
 19 | ## modules and global scripts declared therein get installed
 20 | ## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
 21 | # catkin_python_setup()
 22 | 
 23 | ################################################
 24 | ## Declare ROS messages, services and actions ##
 25 | ################################################
 26 | 
 27 | ## To declare and build messages, services or actions from within this
 28 | ## package, follow these steps:
 29 | ## * Let MSG_DEP_SET be the set of packages whose message types you use in
 30 | ##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
 31 | ## * In the file package.xml:
 32 | ##   * add a build_depend tag for "message_generation"
 33 | ##   * add a build_depend and a run_depend tag for each package in MSG_DEP_SET
 34 | ##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
 35 | ##     but can be declared for certainty nonetheless:
 36 | ##     * add a run_depend tag for "message_runtime"
 37 | ## * In this file (CMakeLists.txt):
 38 | ##   * add "message_generation" and every package in MSG_DEP_SET to
 39 | ##     find_package(catkin REQUIRED COMPONENTS ...)
 40 | ##   * add "message_runtime" and every package in MSG_DEP_SET to
 41 | ##     catkin_package(CATKIN_DEPENDS ...)
 42 | ##   * uncomment the add_*_files sections below as needed
 43 | ##     and list every .msg/.srv/.action file to be processed
 44 | ##   * uncomment the generate_messages entry below
 45 | ##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
 46 | 
 47 | ## Generate messages in the 'msg' folder
 48 | # add_message_files(
 49 | #   FILES
 50 | #   Message1.msg
 51 | #   Message2.msg
 52 | # )
 53 | 
 54 | ## Generate services in the 'srv' folder
 55 | # add_service_files(
 56 | #   FILES
 57 | #   Service1.srv
 58 | #   Service2.srv
 59 | # )
 60 | 
 61 | ## Generate actions in the 'action' folder
 62 | # add_action_files(
 63 | #   FILES
 64 | #   Action1.action
 65 | #   Action2.action
 66 | # )
 67 | 
 68 | ## Generate added messages and services with any dependencies listed here
 69 | # generate_messages(
 70 | #   DEPENDENCIES
 71 | #   std_msgs  # Or other packages containing msgs
 72 | # )
 73 | 
 74 | ################################################
 75 | ## Declare ROS dynamic reconfigure parameters ##
 76 | ################################################
 77 | 
 78 | ## To declare and build dynamic reconfigure parameters within this
 79 | ## package, follow these steps:
 80 | ## * In the file package.xml:
 81 | ##   * add a build_depend and a run_depend tag for "dynamic_reconfigure"
 82 | ## * In this file (CMakeLists.txt):
 83 | ##   * add "dynamic_reconfigure" to
 84 | ##     find_package(catkin REQUIRED COMPONENTS ...)
 85 | ##   * uncomment the "generate_dynamic_reconfigure_options" section below
 86 | ##     and list every .cfg file to be processed
 87 | 
 88 | ## Generate dynamic reconfigure parameters in the 'cfg' folder
 89 | # generate_dynamic_reconfigure_options(
 90 | #   cfg/DynReconf1.cfg
 91 | #   cfg/DynReconf2.cfg
 92 | # )
 93 | 
 94 | ###################################
 95 | ## catkin specific configuration ##
 96 | ###################################
 97 | ## The catkin_package macro generates cmake config files for your package
 98 | ## Declare things to be passed to dependent projects
 99 | ## INCLUDE_DIRS: uncomment this if your package contains header files
100 | ## LIBRARIES: libraries you create in this project that dependent projects also need
101 | ## CATKIN_DEPENDS: catkin_packages dependent projects also need
102 | ## DEPENDS: system dependencies of this project that dependent projects also need
103 | catkin_package(
104 | #  INCLUDE_DIRS include
105 | #  LIBRARIES ch_171744_maze
106 | #  CATKIN_DEPENDS rospy
107 | #  DEPENDS system_lib
108 | )
109 | 
110 | ###########
111 | ## Build ##
112 | ###########
113 | 
114 | ## Specify additional locations of header files
115 | ## Your package locations should be listed before other locations
116 | include_directories(
117 | # include
118 |   ${catkin_INCLUDE_DIRS}
119 | )
120 | 
121 | ## Declare a C++ library
122 | # add_library(${PROJECT_NAME}
123 | #   src/${PROJECT_NAME}/ch_171744_maze.cpp
124 | # )
125 | 
126 | ## Add cmake target dependencies of the library
127 | ## as an example, code may need to be generated before libraries
128 | ## either from message generation or dynamic reconfigure
129 | # add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
130 | 
131 | ## Declare a C++ executable
132 | ## With catkin_make all packages are built within a single CMake context
133 | ## The recommended prefix ensures that target names across packages don't collide
134 | # add_executable(${PROJECT_NAME}_node src/ch_171744_maze_node.cpp)
135 | 
136 | ## Rename C++ executable without prefix
137 | ## The above recommended prefix causes long target names, the following renames the
138 | ## target back to the shorter version for ease of user use
139 | ## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
140 | # set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
141 | 
142 | ## Add cmake target dependencies of the executable
143 | ## same as for the library above
144 | # add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
145 | 
146 | ## Specify libraries to link a library or executable target against
147 | # target_link_libraries(${PROJECT_NAME}_node
148 | #   ${catkin_LIBRARIES}
149 | # )
150 | 
151 | #############
152 | ## Install ##
153 | #############
154 | 
155 | # all install targets should use catkin DESTINATION variables
156 | # See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
157 | 
158 | ## Mark executable scripts (Python etc.) for installation
159 | ## in contrast to setup.py, you can choose the destination
160 | # install(PROGRAMS
161 | #   scripts/my_python_script
162 | #   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
163 | # )
164 | 
165 | ## Mark executables and/or libraries for installation
166 | # install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_node
167 | #   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
168 | #   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
169 | #   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
170 | # )
171 | 
172 | ## Mark cpp header files for installation
173 | # install(DIRECTORY include/${PROJECT_NAME}/
174 | #   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
175 | #   FILES_MATCHING PATTERN "*.h"
176 | #   PATTERN ".svn" EXCLUDE
177 | # )
178 | 
179 | ## Mark other files for installation (e.g. launch and bag files, etc.)
180 | # install(FILES
181 | #   # myfile1
182 | #   # myfile2
183 | #   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
184 | # )
185 | 
186 | #############
187 | ## Testing ##
188 | #############
189 | 
190 | ## Add gtest based cpp test target and link libraries
191 | # catkin_add_gtest(${PROJECT_NAME}-test test/test_ch_171744_maze.cpp)
192 | # if(TARGET ${PROJECT_NAME}-test)
193 | #   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
194 | # endif()
195 | 
196 | ## Add folders to be run by python nosetests
197 | # catkin_add_nosetests(test)
198 | 


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/ch_171744_maze/launch/start_maze.launch:
--------------------------------------------------------------------------------
1 | <launch>
2 | <!-- My Package launch file -->
3 | <node pkg="ch_171744_maze" type="maze.py" name="MazeSolverNode" output="screen">
4 | </node>
5 | 
6 | 
7 | </launch>
8 | 


--------------------------------------------------------------------------------
/ch_171744_maze/package.xml:
--------------------------------------------------------------------------------
 1 | <?xml version="1.0"?>
 2 | <package format="2">
 3 |   <name>ch_171744_maze</name>
 4 |   <version>0.0.0</version>
 5 |   <description>The maze package</description>
 6 | 
 7 |   <!-- One maintainer tag required, multiple allowed, one person per tag -->
 8 |   <!-- Example:  -->
 9 |   <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
10 |   <maintainer email="ghost@todo.todo">ghost</maintainer>
11 | 
12 | 
13 |   <!-- One license tag required, multiple allowed, one license per tag -->
14 |   <!-- Commonly used license strings: -->
15 |   <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
16 |   <license>TODO</license>
17 | 
18 | 
19 |   <!-- Url tags are optional, but multiple are allowed, one per tag -->
20 |   <!-- Optional attribute type can be: website, bugtracker, or repository -->
21 |   <!-- Example: -->
22 |   <!-- <url type="website">http://wiki.ros.org/ch_171744_maze</url> -->
23 | 
24 | 
25 |   <!-- Author tags are optional, multiple are allowed, one per tag -->
26 |   <!-- Authors do not have to be maintainers, but could be -->
27 |   <!-- Example: -->
28 |   <!-- <author email="jane.doe@example.com">Jane Doe</author> -->
29 | 
30 | 
31 |   <!-- The *depend tags are used to specify dependencies -->
32 |   <!-- Dependencies can be catkin packages or system dependencies -->
33 |   <!-- Examples: -->
34 |   <!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
35 |   <!--   <depend>roscpp</depend> -->
36 |   <!--   Note that this is equivalent to the following: -->
37 |   <!--   <build_depend>roscpp</build_depend> -->
38 |   <!--   <exec_depend>roscpp</exec_depend> -->
39 |   <!-- Use build_depend for packages you need at compile time: -->
40 |   <!--   <build_depend>message_generation</build_depend> -->
41 |   <!-- Use build_export_depend for packages you need in order to build against this package: -->
42 |   <!--   <build_export_depend>message_generation</build_export_depend> -->
43 |   <!-- Use buildtool_depend for build tool packages: -->
44 |   <!--   <buildtool_depend>catkin</buildtool_depend> -->
45 |   <!-- Use exec_depend for packages you need at runtime: -->
46 |   <!--   <exec_depend>message_runtime</exec_depend> -->
47 |   <!-- Use test_depend for packages you need only for testing: -->
48 |   <!--   <test_depend>gtest</test_depend> -->
49 |   <!-- Use doc_depend for packages you need only for building documentation: -->
50 |   <!--   <doc_depend>doxygen</doc_depend> -->
51 |   <buildtool_depend>catkin</buildtool_depend>
52 |   <build_depend>rospy</build_depend>
53 |   <build_export_depend>rospy</build_export_depend>
54 |   <exec_depend>rospy</exec_depend>
55 | 
56 | 
57 |   <!-- The export tag contains other, unspecified, tags -->
58 |   <export>
59 |     <!-- Other tools can request additional information be placed here -->
60 | 
61 |   </export>
62 | </package>
63 | 


--------------------------------------------------------------------------------
/ch_171744_maze/src/maze.py:
--------------------------------------------------------------------------------
  1 | #! /usr/bin/env python
  2 | 
  3 | import rospy
  4 | 
  5 | from threading import Thread, Lock
  6 | import math
  7 | 
  8 | from nav_msgs.msg import Odometry
  9 | from geometry_msgs.msg import Twist
 10 | from sensor_msgs.msg import LaserScan
 11 | 
 12 | from pid import PID
 13 | 
 14 | class MazeSolver:
 15 | 
 16 |     def __init__(self):
 17 |         rospy.init_node('MazeSolverNode')
 18 |         self.rate = rospy.Rate(10)
 19 | 
 20 |         rospy.Subscriber('/laserscan', LaserScan, self.laserscan_callback)
 21 |         rospy.Subscriber('/odom', Odometry, self.odom_callback)
 22 | 
 23 |         self.velPub = rospy.Publisher('/mobile_base/commands/velocity', Twist, queue_size = 5)
 24 | 
 25 |         self.vel = Twist()
 26 |         self.laser = None
 27 |         self.odom = None
 28 | 
 29 |         # set up wall detection
 30 |         self.minLaserValues = 60            # amount of laserspoints that must be next to each other
 31 |         self.intervalEpsilon = 1.5          # upper- and lower-bound
 32 |         self.mutex2 = Lock()
 33 | 
 34 |         # set up loop detection
 35 |         self.knownPoints = []
 36 |         self.epsilonAroundPoints = 0.1     # circle around the saved points
 37 |         self.timeoutForDetection = 12       # delay in seconds
 38 | 
 39 |         # set up wall follower
 40 |         self.leftHand = True            # True, if the robot uses the left sensor for wall follow
 41 |         self.laserIndex = 359           # left laser index
 42 |         self.turnSpeed = -0.3
 43 |         self.distanceToWall = 0.4       # distance from the wall to the robot and min distance for obstacles detection
 44 |         self.angle = 1.57               # around 90 degree
 45 |         self.minLasersSide = [150,170]  # lasers used for basic obstacles detection
 46 |         self.mutex = Lock()
 47 | 
 48 |         # set up PID
 49 |         kp = 6
 50 |         ki = 2
 51 |         kd = 1.5
 52 |         outMin = -0.4
 53 |         outMax = 0.4
 54 |         iMin = -0.4
 55 |         iMax = 0.4
 56 |         self.pid = PID(kp, ki, kd, outMin, outMax, iMin, iMax)
 57 | 
 58 |         # actual drive state (initial: WallDetection)
 59 |         self.driveState = "WallDetection"
 60 | 
 61 |     def odom_callback(self, odom_msg):
 62 |         self.odom = odom_msg
 63 | 
 64 |     def laserscan_callback(self, laser_msg):
 65 |         self.laser = laser_msg
 66 | 
 67 |     def startSolver(self):
 68 |         rospy.loginfo("start Maze Solver Node")
 69 | 
 70 |         # if the robot uses the right sensor for wall follow
 71 |         if(not self.leftHand):
 72 |             self.laserIndex = 0
 73 |             self.minLasersSide = [190, 210]
 74 |             self.turnSpeed *= (-1)
 75 | 
 76 |         while not rospy.is_shutdown():
 77 |             if(self.laser and self.odom): # laser and odom data arrived from callback
 78 | 
 79 |                 # append the origin to the known points
 80 |                 if(len(self.knownPoints) == 0):
 81 |                     self.knownPoints.append([self.odom.pose.pose.position.x, self.odom.pose.pose.position.y, rospy.Time.now().to_sec()])
 82 | 
 83 |                 # take the min laser value in front of the robot (simple obstacles detection)
 84 |                 actMinLaserValue = min(min(self.laser.ranges[170:190], self.laser.ranges[self.minLasersSide[0] : self.minLasersSide[1]]))
 85 | 
 86 |                 if(self.driveState == "WallDetection"):
 87 |                     self.vel.linear.x = 0.0
 88 |                     self.vel.angular.z = 0.0
 89 |                     self.wallDetection(actMinLaserValue)
 90 |                 elif(self.driveState == "driveToWall"):
 91 |                     if(self.mutex.locked() == False):
 92 |                         # obstacle in front of the robot or wall arrived
 93 |                         if(actMinLaserValue <= self.distanceToWall):
 94 |                             # save the actual position used for loop detection
 95 |                             self.knownPoints.append([self.odom.pose.pose.position.x,self.odom.pose.pose.position.y, rospy.Time.now().to_sec()])
 96 | 
 97 |                             self.vel.linear.x = 0.0
 98 |                             self.vel.angular.z = 0.0
 99 |                             self.rotate_angle(self.angle, self.turnSpeed)
100 |                             self.driveState = "WallFollow"
101 |                         else:
102 |                             self.vel.linear.x = 0.3
103 |                             self.vel.angular.z = 0.0
104 |                 elif(self.driveState == "WallFollow"):
105 |                     if(self.mutex.locked() == False):
106 |                         # check known points (loop detection)
107 |                         for i in range(0, len(self.knownPoints)):
108 |                             if(self.odom.pose.pose.position.x - self.epsilonAroundPoints <= self.knownPoints[i][0] <= self.odom.pose.pose.position.x + self.epsilonAroundPoints and
109 |                             self.odom.pose.pose.position.y - self.epsilonAroundPoints <= self.knownPoints[i][1] <= self.odom.pose.pose.position.y + self.epsilonAroundPoints and
110 |                             self.knownPoints[i][2] + self.timeoutForDetection <  rospy.Time.now().to_sec()):
111 |                                 rospy.loginfo("Loop detected")
112 |                                 self.driveState = "WallDetection"
113 | 
114 |                         self.wallFollower(actMinLaserValue)
115 | 
116 |                 self.velPub.publish(self.vel)
117 | 
118 |             self.rate.sleep()
119 |         rospy.spin()
120 | 
121 |     def wallDetection(self, actMinLaserValue):
122 |         self.mutex2.acquire()
123 |         try:
124 |             if(actMinLaserValue < self.distanceToWall):
125 |                 self.rotate_angle(self.angle, self.turnSpeed)
126 |             else:
127 |                 # search for a wall to follow
128 |                 arrValues = []
129 |                 i = 0
130 |                 # do wall detection
131 |                 while(i < len(self.laser.ranges)):
132 |                     valCounter = 0
133 |                     for k in range(i+1, len(self.laser.ranges)):
134 |                         # check if actual value is in interval
135 |                         if(self.laser.ranges[i] - self.intervalEpsilon) <= self.laser.ranges[k] <= (self.laser.ranges[i] + self.intervalEpsilon):
136 |                             valCounter += 1
137 |                         else:
138 |                             if(valCounter > self.minLaserValues):
139 |                                 arrValues.append([self.laser.ranges[i], i, k])
140 |                             valCounter = 0
141 |                             i = k
142 |                         if(k == len(self.laser.ranges) - 1):
143 |                             i = len(self.laser.ranges)
144 | 
145 |                 # turn the robot to the wall (use the wall with the max distance to the robot)
146 |                 getLaserIndex = 180;
147 |                 if(arrValues):
148 |                     getLaserIndex = int(math.floor((max(arrValues)[1] + max(arrValues)[2]) / 2))
149 |                 if(getLaserIndex <= 175 or getLaserIndex >= 185):
150 |                     tmpAngle = self.laser.angle_min + (getLaserIndex * self.laser.angle_increment)
151 |                     if(getLaserIndex < 170): # rotation to the right
152 |                         self.rotate_angle(abs(tmpAngle), -0.3)
153 |                     else:   # rotation to the left
154 |                         self.rotate_angle(abs(tmpAngle), 0.3)
155 | 
156 |                 # wait until the robot has stopped the rotation
157 |                 rospy.sleep(1.5)
158 |                 self.driveState = "driveToWall"
159 |         finally:
160 |             self.mutex2.release()
161 | 
162 |     def wallFollower(self, actMinLaserValue):
163 |         pidValue = self.pid.pidExecute(self.distanceToWall, self.laser.ranges[self.laserIndex])
164 | 
165 |         if(self.leftHand):
166 |             pidValue = pidValue * (-1)
167 | 
168 |         # obstacle in front of the robot
169 |         if(actMinLaserValue < self.distanceToWall):
170 |             self.rotate_angle(self.angle, self.turnSpeed)
171 |         elif(pidValue == 0):
172 |             self.vel.linear.x = 0.3
173 |             self.vel.angular.z = 0.0
174 |         elif(pidValue != 0):
175 |             self.vel.linear.x = 0.15
176 |             self.vel.angular.z = pidValue
177 | 
178 |     # simple rotation function by the relativ angle in rad
179 |     def rotate_angle(self, angle, speed):
180 |         self.mutex.acquire()
181 |         try:
182 |             angular_speed = speed
183 |             relative_angle = angle
184 |             self.vel.linear.x = 0.0
185 |             self.vel.angular.z = angular_speed
186 | 
187 |             # setting the current time for distance calculus
188 |             t0 = rospy.Time.now().to_sec()
189 |             current_angle = 0
190 | 
191 |             while(current_angle < relative_angle):
192 |                 self.velPub.publish(self.vel)
193 |                 t1 = rospy.Time.now().to_sec()
194 |                 current_angle = abs(angular_speed)*(t1-t0)
195 | 
196 |             # forcing the robot to stop after rotation
197 |             self.vel.linear.x = 0.0
198 |             self.vel.angular.z = 0
199 |             self.velPub.publish(self.vel)
200 |             # fixes issue #6 (Weird Driving at Wall Following)
201 |             self.pid.resetValues()
202 |         finally:
203 |             self.mutex.release()
204 | 
205 | if __name__ == "__main__":
206 |         maze_solver = MazeSolver()
207 |         maze_solver.startSolver()
208 | 


--------------------------------------------------------------------------------
/ch_171744_maze/src/pid.py:
--------------------------------------------------------------------------------
 1 | import rospy
 2 | 
 3 | class PID:
 4 | 
 5 |     def __init__(self, kp, ki, kd, outMin, outMax, iMin, iMax):
 6 |         self.kp = kp
 7 |         self.ki = ki
 8 |         self.kd = kd
 9 |         self.outMin = outMin
10 |         self.outMax = outMax
11 |         self.intMin = iMin
12 |         self.intMax = iMax
13 | 
14 |         self.lastError = 0
15 |         self.sumError = 0
16 |         self.lastTime = 0
17 | 
18 |     def resetValues(self):
19 |         self.lastError = 0
20 |         self.sumError = 0
21 |         self.lastTime = 0
22 | 
23 |     def pidExecute(self, should, actValue):
24 |         now = rospy.Time.now().to_nsec()
25 |         timeChange = now - self.lastTime
26 |         error = should - actValue
27 |         newErrorSum = self.sumError + (error * timeChange)
28 | 
29 |         if((newErrorSum >= self.intMin) and (newErrorSum <= self.intMax)):
30 |             self.sumError = newErrorSum
31 |         dError = (error - self.lastError) / timeChange
32 |         output = (self.kp * error) + (self.ki * self.sumError) + (self.kd * dError)
33 |         self.lastError = error
34 |         self.last = now
35 |         if(output > self.outMax):
36 |             output = self.outMax
37 |         if(output < self.outMin):
38 |             output = self.outMin
39 |         return output
40 | 


--------------------------------------------------------------------------------
/maze_practice/model.sdf:
--------------------------------------------------------------------------------
   1 | <?xml version='1.0'?>
   2 | <sdf version='1.6'>
   3 |   <model name='Maze01'>
   4 |     <link name='link_10'>
   5 |       <pose frame=''>9.80009 2.02423 9e-06 0 -0 0</pose>
   6 |       <inertial>
   7 |         <mass>1</mass>
   8 |         <inertia>
   9 |           <ixx>0.166667</ixx>
  10 |           <ixy>0</ixy>
  11 |           <ixz>0</ixz>
  12 |           <iyy>0.166667</iyy>
  13 |           <iyz>0</iyz>
  14 |           <izz>0.166667</izz>
  15 |         </inertia>
  16 |       </inertial>
  17 |       <visual name='visual'>
  18 |         <pose frame=''>0 0 0 0 -0 0</pose>
  19 |         <geometry>
  20 |           <box>
  21 |             <size>1 1 1</size>
  22 |           </box>
  23 |         </geometry>
  24 |         <material>
  25 |           <lighting>1</lighting>
  26 |           <script>
  27 |             <uri>file://media/materials/scripts/gazebo.material</uri>
  28 |             <name>Gazebo/Grey</name>
  29 |           </script>
  30 |           <ambient>0.3 0.3 0.3 1</ambient>
  31 |           <diffuse>0.7 0.7 0.7 1</diffuse>
  32 |           <specular>0.01 0.01 0.01 1</specular>
  33 |           <emissive>0 0 0 1</emissive>
  34 |         </material>
  35 |         <transparency>0</transparency>
  36 |         <cast_shadows>1</cast_shadows>
  37 |       </visual>
  38 |       <collision name='collision'>
  39 |         <laser_retro>0</laser_retro>
  40 |         <max_contacts>10</max_contacts>
  41 |         <pose frame=''>0 0 0 0 -0 0</pose>
  42 |         <geometry>
  43 |           <box>
  44 |             <size>1 1 1</size>
  45 |           </box>
  46 |         </geometry>
  47 |         <surface>
  48 |           <friction>
  49 |             <ode>
  50 |               <mu>1</mu>
  51 |               <mu2>1</mu2>
  52 |               <fdir1>0 0 0</fdir1>
  53 |               <slip1>0</slip1>
  54 |               <slip2>0</slip2>
  55 |             </ode>
  56 |             <torsional>
  57 |               <coefficient>1</coefficient>
  58 |               <patch_radius>0</patch_radius>
  59 |               <surface_radius>0</surface_radius>
  60 |               <use_patch_radius>1</use_patch_radius>
  61 |               <ode>
  62 |                 <slip>0</slip>
  63 |               </ode>
  64 |             </torsional>
  65 |           </friction>
  66 |           <bounce>
  67 |             <restitution_coefficient>0</restitution_coefficient>
  68 |             <threshold>1e+06</threshold>
  69 |           </bounce>
  70 |           <contact>
  71 |             <collide_without_contact>0</collide_without_contact>
  72 |             <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
  73 |             <collide_bitmask>1</collide_bitmask>
  74 |             <ode>
  75 |               <soft_cfm>0</soft_cfm>
  76 |               <soft_erp>0.2</soft_erp>
  77 |               <kp>1e+13</kp>
  78 |               <kd>1</kd>
  79 |               <max_vel>0.01</max_vel>
  80 |               <min_depth>0</min_depth>
  81 |             </ode>
  82 |             <bullet>
  83 |               <split_impulse>1</split_impulse>
  84 |               <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
  85 |               <soft_cfm>0</soft_cfm>
  86 |               <soft_erp>0.2</soft_erp>
  87 |               <kp>1e+13</kp>
  88 |               <kd>1</kd>
  89 |             </bullet>
  90 |           </contact>
  91 |         </surface>
  92 |       </collision>
  93 |     </link>
  94 |     <link name='link_11'>
  95 |       <pose frame=''>6.31823 4.34711 9e-06 0 -0 0</pose>
  96 |       <inertial>
  97 |         <mass>1</mass>
  98 |         <inertia>
  99 |           <ixx>0.166667</ixx>
 100 |           <ixy>0</ixy>
 101 |           <ixz>0</ixz>
 102 |           <iyy>0.166667</iyy>
 103 |           <iyz>0</iyz>
 104 |           <izz>0.166667</izz>
 105 |         </inertia>
 106 |       </inertial>
 107 |       <visual name='visual'>
 108 |         <pose frame=''>0 0 0 0 -0 0</pose>
 109 |         <geometry>
 110 |           <box>
 111 |             <size>1 1 1</size>
 112 |           </box>
 113 |         </geometry>
 114 |         <material>
 115 |           <lighting>1</lighting>
 116 |           <script>
 117 |             <uri>file://media/materials/scripts/gazebo.material</uri>
 118 |             <name>Gazebo/Grey</name>
 119 |           </script>
 120 |           <ambient>0.3 0.3 0.3 1</ambient>
 121 |           <diffuse>0.7 0.7 0.7 1</diffuse>
 122 |           <specular>0.01 0.01 0.01 1</specular>
 123 |           <emissive>0 0 0 1</emissive>
 124 |         </material>
 125 |         <transparency>0</transparency>
 126 |         <cast_shadows>1</cast_shadows>
 127 |       </visual>
 128 |       <collision name='collision'>
 129 |         <laser_retro>0</laser_retro>
 130 |         <max_contacts>10</max_contacts>
 131 |         <pose frame=''>0 0 0 0 -0 0</pose>
 132 |         <geometry>
 133 |           <box>
 134 |             <size>1 1 1</size>
 135 |           </box>
 136 |         </geometry>
 137 |         <surface>
 138 |           <friction>
 139 |             <ode>
 140 |               <mu>1</mu>
 141 |               <mu2>1</mu2>
 142 |               <fdir1>0 0 0</fdir1>
 143 |               <slip1>0</slip1>
 144 |               <slip2>0</slip2>
 145 |             </ode>
 146 |             <torsional>
 147 |               <coefficient>1</coefficient>
 148 |               <patch_radius>0</patch_radius>
 149 |               <surface_radius>0</surface_radius>
 150 |               <use_patch_radius>1</use_patch_radius>
 151 |               <ode>
 152 |                 <slip>0</slip>
 153 |               </ode>
 154 |             </torsional>
 155 |           </friction>
 156 |           <bounce>
 157 |             <restitution_coefficient>0</restitution_coefficient>
 158 |             <threshold>1e+06</threshold>
 159 |           </bounce>
 160 |           <contact>
 161 |             <collide_without_contact>0</collide_without_contact>
 162 |             <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
 163 |             <collide_bitmask>1</collide_bitmask>
 164 |             <ode>
 165 |               <soft_cfm>0</soft_cfm>
 166 |               <soft_erp>0.2</soft_erp>
 167 |               <kp>1e+13</kp>
 168 |               <kd>1</kd>
 169 |               <max_vel>0.01</max_vel>
 170 |               <min_depth>0</min_depth>
 171 |             </ode>
 172 |             <bullet>
 173 |               <split_impulse>1</split_impulse>
 174 |               <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
 175 |               <soft_cfm>0</soft_cfm>
 176 |               <soft_erp>0.2</soft_erp>
 177 |               <kp>1e+13</kp>
 178 |               <kd>1</kd>
 179 |             </bullet>
 180 |           </contact>
 181 |         </surface>
 182 |       </collision>
 183 |     </link>
 184 |     <link name='link_12'>
 185 |       <pose frame=''>7.00494 5.00129 9e-06 0 -0 0</pose>
 186 |       <inertial>
 187 |         <mass>1</mass>
 188 |         <inertia>
 189 |           <ixx>0.166667</ixx>
 190 |           <ixy>0</ixy>
 191 |           <ixz>0</ixz>
 192 |           <iyy>0.166667</iyy>
 193 |           <iyz>0</iyz>
 194 |           <izz>0.166667</izz>
 195 |         </inertia>
 196 |       </inertial>
 197 |       <visual name='visual'>
 198 |         <pose frame=''>0 0 0 0 -0 0</pose>
 199 |         <geometry>
 200 |           <box>
 201 |             <size>1 1 1</size>
 202 |           </box>
 203 |         </geometry>
 204 |         <material>
 205 |           <lighting>1</lighting>
 206 |           <script>
 207 |             <uri>file://media/materials/scripts/gazebo.material</uri>
 208 |             <name>Gazebo/Grey</name>
 209 |           </script>
 210 |           <ambient>0.3 0.3 0.3 1</ambient>
 211 |           <diffuse>0.7 0.7 0.7 1</diffuse>
 212 |           <specular>0.01 0.01 0.01 1</specular>
 213 |           <emissive>0 0 0 1</emissive>
 214 |         </material>
 215 |         <transparency>0</transparency>
 216 |         <cast_shadows>1</cast_shadows>
 217 |       </visual>
 218 |       <collision name='collision'>
 219 |         <laser_retro>0</laser_retro>
 220 |         <max_contacts>10</max_contacts>
 221 |         <pose frame=''>0 0 0 0 -0 0</pose>
 222 |         <geometry>
 223 |           <box>
 224 |             <size>1 1 1</size>
 225 |           </box>
 226 |         </geometry>
 227 |         <surface>
 228 |           <friction>
 229 |             <ode>
 230 |               <mu>1</mu>
 231 |               <mu2>1</mu2>
 232 |               <fdir1>0 0 0</fdir1>
 233 |               <slip1>0</slip1>
 234 |               <slip2>0</slip2>
 235 |             </ode>
 236 |             <torsional>
 237 |               <coefficient>1</coefficient>
 238 |               <patch_radius>0</patch_radius>
 239 |               <surface_radius>0</surface_radius>
 240 |               <use_patch_radius>1</use_patch_radius>
 241 |               <ode>
 242 |                 <slip>0</slip>
 243 |               </ode>
 244 |             </torsional>
 245 |           </friction>
 246 |           <bounce>
 247 |             <restitution_coefficient>0</restitution_coefficient>
 248 |             <threshold>1e+06</threshold>
 249 |           </bounce>
 250 |           <contact>
 251 |             <collide_without_contact>0</collide_without_contact>
 252 |             <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
 253 |             <collide_bitmask>1</collide_bitmask>
 254 |             <ode>
 255 |               <soft_cfm>0</soft_cfm>
 256 |               <soft_erp>0.2</soft_erp>
 257 |               <kp>1e+13</kp>
 258 |               <kd>1</kd>
 259 |               <max_vel>0.01</max_vel>
 260 |               <min_depth>0</min_depth>
 261 |             </ode>
 262 |             <bullet>
 263 |               <split_impulse>1</split_impulse>
 264 |               <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
 265 |               <soft_cfm>0</soft_cfm>
 266 |               <soft_erp>0.2</soft_erp>
 267 |               <kp>1e+13</kp>
 268 |               <kd>1</kd>
 269 |             </bullet>
 270 |           </contact>
 271 |         </surface>
 272 |       </collision>
 273 |     </link>
 274 |     <link name='link_14'>
 275 |       <pose frame=''>10.7124 2.54643 9e-06 0 -0 0</pose>
 276 |       <inertial>
 277 |         <mass>1</mass>
 278 |         <inertia>
 279 |           <ixx>0.166667</ixx>
 280 |           <ixy>0</ixy>
 281 |           <ixz>0</ixz>
 282 |           <iyy>0.166667</iyy>
 283 |           <iyz>0</iyz>
 284 |           <izz>0.166667</izz>
 285 |         </inertia>
 286 |       </inertial>
 287 |       <visual name='visual'>
 288 |         <pose frame=''>0 0 0 0 -0 0</pose>
 289 |         <geometry>
 290 |           <box>
 291 |             <size>1 1 1</size>
 292 |           </box>
 293 |         </geometry>
 294 |         <material>
 295 |           <lighting>1</lighting>
 296 |           <script>
 297 |             <uri>file://media/materials/scripts/gazebo.material</uri>
 298 |             <name>Gazebo/Grey</name>
 299 |           </script>
 300 |           <ambient>0.3 0.3 0.3 1</ambient>
 301 |           <diffuse>0.7 0.7 0.7 1</diffuse>
 302 |           <specular>0.01 0.01 0.01 1</specular>
 303 |           <emissive>0 0 0 1</emissive>
 304 |         </material>
 305 |         <transparency>0</transparency>
 306 |         <cast_shadows>1</cast_shadows>
 307 |       </visual>
 308 |       <collision name='collision'>
 309 |         <laser_retro>0</laser_retro>
 310 |         <max_contacts>10</max_contacts>
 311 |         <pose frame=''>0 0 0 0 -0 0</pose>
 312 |         <geometry>
 313 |           <box>
 314 |             <size>1 1 1</size>
 315 |           </box>
 316 |         </geometry>
 317 |         <surface>
 318 |           <friction>
 319 |             <ode>
 320 |               <mu>1</mu>
 321 |               <mu2>1</mu2>
 322 |               <fdir1>0 0 0</fdir1>
 323 |               <slip1>0</slip1>
 324 |               <slip2>0</slip2>
 325 |             </ode>
 326 |             <torsional>
 327 |               <coefficient>1</coefficient>
 328 |               <patch_radius>0</patch_radius>
 329 |               <surface_radius>0</surface_radius>
 330 |               <use_patch_radius>1</use_patch_radius>
 331 |               <ode>
 332 |                 <slip>0</slip>
 333 |               </ode>
 334 |             </torsional>
 335 |           </friction>
 336 |           <bounce>
 337 |             <restitution_coefficient>0</restitution_coefficient>
 338 |             <threshold>1e+06</threshold>
 339 |           </bounce>
 340 |           <contact>
 341 |             <collide_without_contact>0</collide_without_contact>
 342 |             <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
 343 |             <collide_bitmask>1</collide_bitmask>
 344 |             <ode>
 345 |               <soft_cfm>0</soft_cfm>
 346 |               <soft_erp>0.2</soft_erp>
 347 |               <kp>1e+13</kp>
 348 |               <kd>1</kd>
 349 |               <max_vel>0.01</max_vel>
 350 |               <min_depth>0</min_depth>
 351 |             </ode>
 352 |             <bullet>
 353 |               <split_impulse>1</split_impulse>
 354 |               <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
 355 |               <soft_cfm>0</soft_cfm>
 356 |               <soft_erp>0.2</soft_erp>
 357 |               <kp>1e+13</kp>
 358 |               <kd>1</kd>
 359 |             </bullet>
 360 |           </contact>
 361 |         </surface>
 362 |       </collision>
 363 |     </link>
 364 |     <link name='link_4_clone_0'>
 365 |       <pose frame=''>-21.4897 -10.6297 9e-06 0 -0 0</pose>
 366 |       <inertial>
 367 |         <mass>4.30693</mass>
 368 |         <inertia>
 369 |           <ixx>0.46587</ixx>
 370 |           <ixy>0</ixy>
 371 |           <ixz>0</ixz>
 372 |           <iyy>22.6991</iyy>
 373 |           <iyz>0</iyz>
 374 |           <izz>22.4471</izz>
 375 |         </inertia>
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 377 |       </inertial>
 378 |       <visual name='visual'>
 379 |         <pose frame=''>0 0 0 0 -0 0</pose>
 380 |         <geometry>
 381 |           <box>
 382 |             <size>7.88951 0.545905 1</size>
 383 |           </box>
 384 |         </geometry>
 385 |         <material>
 386 |           <lighting>1</lighting>
 387 |           <script>
 388 |             <uri>file://media/materials/scripts/gazebo.material</uri>
 389 |             <name>Gazebo/Grey</name>
 390 |           </script>
 391 |           <ambient>0.3 0.3 0.3 1</ambient>
 392 |           <diffuse>0.7 0.7 0.7 1</diffuse>
 393 |           <specular>0.01 0.01 0.01 1</specular>
 394 |           <emissive>0 0 0 1</emissive>
 395 |           <shader type='pixel'/>
 396 |         </material>
 397 |         <transparency>0</transparency>
 398 |         <cast_shadows>1</cast_shadows>
 399 |       </visual>
 400 |       <collision name='collision'>
 401 |         <laser_retro>0</laser_retro>
 402 |         <max_contacts>10</max_contacts>
 403 |         <pose frame=''>0 0 0 0 -0 0</pose>
 404 |         <geometry>
 405 |           <box>
 406 |             <size>7.88951 0.545905 1</size>
 407 |           </box>
 408 |         </geometry>
 409 |         <surface>
 410 |           <friction>
 411 |             <ode>
 412 |               <mu>1</mu>
 413 |               <mu2>1</mu2>
 414 |               <fdir1>0 0 0</fdir1>
 415 |               <slip1>0</slip1>
 416 |               <slip2>0</slip2>
 417 |             </ode>
 418 |             <torsional>
 419 |               <coefficient>1</coefficient>
 420 |               <patch_radius>0</patch_radius>
 421 |               <surface_radius>0</surface_radius>
 422 |               <use_patch_radius>1</use_patch_radius>
 423 |               <ode>
 424 |                 <slip>0</slip>
 425 |               </ode>
 426 |             </torsional>
 427 |           </friction>
 428 |           <bounce>
 429 |             <restitution_coefficient>0</restitution_coefficient>
 430 |             <threshold>1e+06</threshold>
 431 |           </bounce>
 432 |           <contact>
 433 |             <collide_without_contact>0</collide_without_contact>
 434 |             <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
 435 |             <collide_bitmask>1</collide_bitmask>
 436 |             <ode>
 437 |               <soft_cfm>0</soft_cfm>
 438 |               <soft_erp>0.2</soft_erp>
 439 |               <kp>1e+13</kp>
 440 |               <kd>1</kd>
 441 |               <max_vel>0.01</max_vel>
 442 |               <min_depth>0</min_depth>
 443 |             </ode>
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 445 |               <split_impulse>1</split_impulse>
 446 |               <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
 447 |               <soft_cfm>0</soft_cfm>
 448 |               <soft_erp>0.2</soft_erp>
 449 |               <kp>1e+13</kp>
 450 |               <kd>1</kd>
 451 |             </bullet>
 452 |           </contact>
 453 |         </surface>
 454 |       </collision>
 455 |     </link>
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 458 |       <inertial>
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 460 |         <inertia>
 461 |           <ixx>0.46587</ixx>
 462 |           <ixy>0</ixy>
 463 |           <ixz>0</ixz>
 464 |           <iyy>22.6991</iyy>
 465 |           <iyz>0</iyz>
 466 |           <izz>22.4471</izz>
 467 |         </inertia>
 468 |         <pose frame=''>0 0 0 0 -0 0</pose>
 469 |       </inertial>
 470 |       <visual name='visual'>
 471 |         <pose frame=''>0 0 0 0 -0 0</pose>
 472 |         <geometry>
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 475 |           </box>
 476 |         </geometry>
 477 |         <material>
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 479 |           <script>
 480 |             <uri>file://media/materials/scripts/gazebo.material</uri>
 481 |             <name>Gazebo/Grey</name>
 482 |           </script>
 483 |           <ambient>0.3 0.3 0.3 1</ambient>
 484 |           <diffuse>0.7 0.7 0.7 1</diffuse>
 485 |           <specular>0.01 0.01 0.01 1</specular>
 486 |           <emissive>0 0 0 1</emissive>
 487 |           <shader type='pixel'/>
 488 |         </material>
 489 |         <transparency>0</transparency>
 490 |         <cast_shadows>1</cast_shadows>
 491 |       </visual>
 492 |       <collision name='collision'>
 493 |         <laser_retro>0</laser_retro>
 494 |         <max_contacts>10</max_contacts>
 495 |         <pose frame=''>0 0 0 0 -0 0</pose>
 496 |         <geometry>
 497 |           <box>
 498 |             <size>7.88951 0.545905 1</size>
 499 |           </box>
 500 |         </geometry>
 501 |         <surface>
 502 |           <friction>
 503 |             <ode>
 504 |               <mu>1</mu>
 505 |               <mu2>1</mu2>
 506 |               <fdir1>0 0 0</fdir1>
 507 |               <slip1>0</slip1>
 508 |               <slip2>0</slip2>
 509 |             </ode>
 510 |             <torsional>
 511 |               <coefficient>1</coefficient>
 512 |               <patch_radius>0</patch_radius>
 513 |               <surface_radius>0</surface_radius>
 514 |               <use_patch_radius>1</use_patch_radius>
 515 |               <ode>
 516 |                 <slip>0</slip>
 517 |               </ode>
 518 |             </torsional>
 519 |           </friction>
 520 |           <bounce>
 521 |             <restitution_coefficient>0</restitution_coefficient>
 522 |             <threshold>1e+06</threshold>
 523 |           </bounce>
 524 |           <contact>
 525 |             <collide_without_contact>0</collide_without_contact>
 526 |             <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
 527 |             <collide_bitmask>1</collide_bitmask>
 528 |             <ode>
 529 |               <soft_cfm>0</soft_cfm>
 530 |               <soft_erp>0.2</soft_erp>
 531 |               <kp>1e+13</kp>
 532 |               <kd>1</kd>
 533 |               <max_vel>0.01</max_vel>
 534 |               <min_depth>0</min_depth>
 535 |             </ode>
 536 |             <bullet>
 537 |               <split_impulse>1</split_impulse>
 538 |               <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
 539 |               <soft_cfm>0</soft_cfm>
 540 |               <soft_erp>0.2</soft_erp>
 541 |               <kp>1e+13</kp>
 542 |               <kd>1</kd>
 543 |             </bullet>
 544 |           </contact>
 545 |         </surface>
 546 |       </collision>
 547 |     </link>
 548 |     <link name='link_4_clone_0_clone_clone'>
 549 |       <pose frame=''>-21.5718 -0.350427 9e-06 0 -0 0</pose>
 550 |       <inertial>
 551 |         <mass>4.30693</mass>
 552 |         <inertia>
 553 |           <ixx>0.46587</ixx>
 554 |           <ixy>0</ixy>
 555 |           <ixz>0</ixz>
 556 |           <iyy>22.6991</iyy>
 557 |           <iyz>0</iyz>
 558 |           <izz>22.4471</izz>
 559 |         </inertia>
 560 |         <pose frame=''>0 0 0 0 -0 0</pose>
 561 |       </inertial>
 562 |       <visual name='visual'>
 563 |         <pose frame=''>0 0 0 0 -0 0</pose>
 564 |         <geometry>
 565 |           <box>
 566 |             <size>7.88951 0.545905 1</size>
 567 |           </box>
 568 |         </geometry>
 569 |         <material>
 570 |           <lighting>1</lighting>
 571 |           <script>
 572 |             <uri>file://media/materials/scripts/gazebo.material</uri>
 573 |             <name>Gazebo/Grey</name>
 574 |           </script>
 575 |           <ambient>0.3 0.3 0.3 1</ambient>
 576 |           <diffuse>0.7 0.7 0.7 1</diffuse>
 577 |           <specular>0.01 0.01 0.01 1</specular>
 578 |           <emissive>0 0 0 1</emissive>
 579 |           <shader type='pixel'/>
 580 |         </material>
 581 |         <transparency>0</transparency>
 582 |         <cast_shadows>1</cast_shadows>
 583 |       </visual>
 584 |       <collision name='collision'>
 585 |         <laser_retro>0</laser_retro>
 586 |         <max_contacts>10</max_contacts>
 587 |         <pose frame=''>0 0 0 0 -0 0</pose>
 588 |         <geometry>
 589 |           <box>
 590 |             <size>7.88951 0.545905 1</size>
 591 |           </box>
 592 |         </geometry>
 593 |         <surface>
 594 |           <friction>
 595 |             <ode>
 596 |               <mu>1</mu>
 597 |               <mu2>1</mu2>
 598 |               <fdir1>0 0 0</fdir1>
 599 |               <slip1>0</slip1>
 600 |               <slip2>0</slip2>
 601 |             </ode>
 602 |             <torsional>
 603 |               <coefficient>1</coefficient>
 604 |               <patch_radius>0</patch_radius>
 605 |               <surface_radius>0</surface_radius>
 606 |               <use_patch_radius>1</use_patch_radius>
 607 |               <ode>
 608 |                 <slip>0</slip>
 609 |               </ode>
 610 |             </torsional>
 611 |           </friction>
 612 |           <bounce>
 613 |             <restitution_coefficient>0</restitution_coefficient>
 614 |             <threshold>1e+06</threshold>
 615 |           </bounce>
 616 |           <contact>
 617 |             <collide_without_contact>0</collide_without_contact>
 618 |             <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
 619 |             <collide_bitmask>1</collide_bitmask>
 620 |             <ode>
 621 |               <soft_cfm>0</soft_cfm>
 622 |               <soft_erp>0.2</soft_erp>
 623 |               <kp>1e+13</kp>
 624 |               <kd>1</kd>
 625 |               <max_vel>0.01</max_vel>
 626 |               <min_depth>0</min_depth>
 627 |             </ode>
 628 |             <bullet>
 629 |               <split_impulse>1</split_impulse>
 630 |               <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
 631 |               <soft_cfm>0</soft_cfm>
 632 |               <soft_erp>0.2</soft_erp>
 633 |               <kp>1e+13</kp>
 634 |               <kd>1</kd>
 635 |             </bullet>
 636 |           </contact>
 637 |         </surface>
 638 |       </collision>
 639 |     </link>
 640 |     <link name='link_4_clone_0_clone_clone_0'>
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 642 |       <inertial>
 643 |         <mass>4.30693</mass>
 644 |         <inertia>
 645 |           <ixx>0.46587</ixx>
 646 |           <ixy>0</ixy>
 647 |           <ixz>0</ixz>
 648 |           <iyy>22.6991</iyy>
 649 |           <iyz>0</iyz>
 650 |           <izz>22.4471</izz>
 651 |         </inertia>
 652 |         <pose frame=''>0 0 0 0 -0 0</pose>
 653 |       </inertial>
 654 |       <visual name='visual'>
 655 |         <pose frame=''>0 0 0 0 -0 0</pose>
 656 |         <geometry>
 657 |           <box>
 658 |             <size>7.88951 0.545905 1</size>
 659 |           </box>
 660 |         </geometry>
 661 |         <material>
 662 |           <lighting>1</lighting>
 663 |           <script>
 664 |             <uri>file://media/materials/scripts/gazebo.material</uri>
 665 |             <name>Gazebo/Grey</name>
 666 |           </script>
 667 |           <ambient>0.3 0.3 0.3 1</ambient>
 668 |           <diffuse>0.7 0.7 0.7 1</diffuse>
 669 |           <specular>0.01 0.01 0.01 1</specular>
 670 |           <emissive>0 0 0 1</emissive>
 671 |           <shader type='pixel'/>
 672 |         </material>
 673 |         <transparency>0</transparency>
 674 |         <cast_shadows>1</cast_shadows>
 675 |       </visual>
 676 |       <collision name='collision'>
 677 |         <laser_retro>0</laser_retro>
 678 |         <max_contacts>10</max_contacts>
 679 |         <pose frame=''>0 0 0 0 -0 0</pose>
 680 |         <geometry>
 681 |           <box>
 682 |             <size>7.88951 0.545905 1</size>
 683 |           </box>
 684 |         </geometry>
 685 |         <surface>
 686 |           <friction>
 687 |             <ode>
 688 |               <mu>1</mu>
 689 |               <mu2>1</mu2>
 690 |               <fdir1>0 0 0</fdir1>
 691 |               <slip1>0</slip1>
 692 |               <slip2>0</slip2>
 693 |             </ode>
 694 |             <torsional>
 695 |               <coefficient>1</coefficient>
 696 |               <patch_radius>0</patch_radius>
 697 |               <surface_radius>0</surface_radius>
 698 |               <use_patch_radius>1</use_patch_radius>
 699 |               <ode>
 700 |                 <slip>0</slip>
 701 |               </ode>
 702 |             </torsional>
 703 |           </friction>
 704 |           <bounce>
 705 |             <restitution_coefficient>0</restitution_coefficient>
 706 |             <threshold>1e+06</threshold>
 707 |           </bounce>
 708 |           <contact>
 709 |             <collide_without_contact>0</collide_without_contact>
 710 |             <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
 711 |             <collide_bitmask>1</collide_bitmask>
 712 |             <ode>
 713 |               <soft_cfm>0</soft_cfm>
 714 |               <soft_erp>0.2</soft_erp>
 715 |               <kp>1e+13</kp>
 716 |               <kd>1</kd>
 717 |               <max_vel>0.01</max_vel>
 718 |               <min_depth>0</min_depth>
 719 |             </ode>
 720 |             <bullet>
 721 |               <split_impulse>1</split_impulse>
 722 |               <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
 723 |               <soft_cfm>0</soft_cfm>
 724 |               <soft_erp>0.2</soft_erp>
 725 |               <kp>1e+13</kp>
 726 |               <kd>1</kd>
 727 |             </bullet>
 728 |           </contact>
 729 |         </surface>
 730 |       </collision>
 731 |     </link>
 732 |     <link name='link_4_clone_0_clone_clone_1'>
 733 |       <pose frame=''>-10.6658 -10.6545 9e-06 0 -0 0</pose>
 734 |       <inertial>
 735 |         <mass>4.30693</mass>
 736 |         <inertia>
 737 |           <ixx>0.46587</ixx>
 738 |           <ixy>0</ixy>
 739 |           <ixz>0</ixz>
 740 |           <iyy>22.6991</iyy>
 741 |           <iyz>0</iyz>
 742 |           <izz>22.4471</izz>
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 744 |         <pose frame=''>0 0 0 0 -0 0</pose>
 745 |       </inertial>
 746 |       <visual name='visual'>
 747 |         <pose frame=''>0 0 0 0 -0 0</pose>
 748 |         <geometry>
 749 |           <box>
 750 |             <size>7.88951 0.545905 1</size>
 751 |           </box>
 752 |         </geometry>
 753 |         <material>
 754 |           <lighting>1</lighting>
 755 |           <script>
 756 |             <uri>file://media/materials/scripts/gazebo.material</uri>
 757 |             <name>Gazebo/Grey</name>
 758 |           </script>
 759 |           <ambient>0.3 0.3 0.3 1</ambient>
 760 |           <diffuse>0.7 0.7 0.7 1</diffuse>
 761 |           <specular>0.01 0.01 0.01 1</specular>
 762 |           <emissive>0 0 0 1</emissive>
 763 |           <shader type='pixel'/>
 764 |         </material>
 765 |         <transparency>0</transparency>
 766 |         <cast_shadows>1</cast_shadows>
 767 |       </visual>
 768 |       <collision name='collision'>
 769 |         <laser_retro>0</laser_retro>
 770 |         <max_contacts>10</max_contacts>
 771 |         <pose frame=''>0 0 0 0 -0 0</pose>
 772 |         <geometry>
 773 |           <box>
 774 |             <size>7.88951 0.545905 1</size>
 775 |           </box>
 776 |         </geometry>
 777 |         <surface>
 778 |           <friction>
 779 |             <ode>
 780 |               <mu>1</mu>
 781 |               <mu2>1</mu2>
 782 |               <fdir1>0 0 0</fdir1>
 783 |               <slip1>0</slip1>
 784 |               <slip2>0</slip2>
 785 |             </ode>
 786 |             <torsional>
 787 |               <coefficient>1</coefficient>
 788 |               <patch_radius>0</patch_radius>
 789 |               <surface_radius>0</surface_radius>
 790 |               <use_patch_radius>1</use_patch_radius>
 791 |               <ode>
 792 |                 <slip>0</slip>
 793 |               </ode>
 794 |             </torsional>
 795 |           </friction>
 796 |           <bounce>
 797 |             <restitution_coefficient>0</restitution_coefficient>
 798 |             <threshold>1e+06</threshold>
 799 |           </bounce>
 800 |           <contact>
 801 |             <collide_without_contact>0</collide_without_contact>
 802 |             <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
 803 |             <collide_bitmask>1</collide_bitmask>
 804 |             <ode>
 805 |               <soft_cfm>0</soft_cfm>
 806 |               <soft_erp>0.2</soft_erp>
 807 |               <kp>1e+13</kp>
 808 |               <kd>1</kd>
 809 |               <max_vel>0.01</max_vel>
 810 |               <min_depth>0</min_depth>
 811 |             </ode>
 812 |             <bullet>
 813 |               <split_impulse>1</split_impulse>
 814 |               <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
 815 |               <soft_cfm>0</soft_cfm>
 816 |               <soft_erp>0.2</soft_erp>
 817 |               <kp>1e+13</kp>
 818 |               <kd>1</kd>
 819 |             </bullet>
 820 |           </contact>
 821 |         </surface>
 822 |       </collision>
 823 |     </link>
 824 |     <link name='link_4_clone_0_clone_clone_1_clone'>
 825 |       <pose frame=''>-3.41756 3.78222 9e-06 0 -0 0</pose>
 826 |       <inertial>
 827 |         <mass>3.50538</mass>
 828 |         <inertia>
 829 |           <ixx>0.379168</ixx>
 830 |           <ixy>0</ixy>
 831 |           <ixz>0</ixz>
 832 |           <iyy>12.3366</iyy>
 833 |           <iyz>0</iyz>
 834 |           <izz>12.1315</izz>
 835 |         </inertia>
 836 |         <pose frame=''>0 0 0 0 -0 0</pose>
 837 |       </inertial>
 838 |       <visual name='visual'>
 839 |         <pose frame=''>0 0 0 0 -0 0</pose>
 840 |         <geometry>
 841 |           <box>
 842 |             <size>6.42122 0.545905 1</size>
 843 |           </box>
 844 |         </geometry>
 845 |         <material>
 846 |           <lighting>1</lighting>
 847 |           <script>
 848 |             <uri>file://media/materials/scripts/gazebo.material</uri>
 849 |             <name>Gazebo/Grey</name>
 850 |           </script>
 851 |           <ambient>0.3 0.3 0.3 1</ambient>
 852 |           <diffuse>0.7 0.7 0.7 1</diffuse>
 853 |           <specular>0.01 0.01 0.01 1</specular>
 854 |           <emissive>0 0 0 1</emissive>
 855 |           <shader type='pixel'/>
 856 |         </material>
 857 |         <transparency>0</transparency>
 858 |         <cast_shadows>1</cast_shadows>
 859 |       </visual>
 860 |       <collision name='collision'>
 861 |         <laser_retro>0</laser_retro>
 862 |         <max_contacts>10</max_contacts>
 863 |         <pose frame=''>0 0 0 0 -0 0</pose>
 864 |         <geometry>
 865 |           <box>
 866 |             <size>6.42122 0.545905 1</size>
 867 |           </box>
 868 |         </geometry>
 869 |         <surface>
 870 |           <friction>
 871 |             <ode>
 872 |               <mu>1</mu>
 873 |               <mu2>1</mu2>
 874 |               <fdir1>0 0 0</fdir1>
 875 |               <slip1>0</slip1>
 876 |               <slip2>0</slip2>
 877 |             </ode>
 878 |             <torsional>
 879 |               <coefficient>1</coefficient>
 880 |               <patch_radius>0</patch_radius>
 881 |               <surface_radius>0</surface_radius>
 882 |               <use_patch_radius>1</use_patch_radius>
 883 |               <ode>
 884 |                 <slip>0</slip>
 885 |               </ode>
 886 |             </torsional>
 887 |           </friction>
 888 |           <bounce>
 889 |             <restitution_coefficient>0</restitution_coefficient>
 890 |             <threshold>1e+06</threshold>
 891 |           </bounce>
 892 |           <contact>
 893 |             <collide_without_contact>0</collide_without_contact>
 894 |             <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
 895 |             <collide_bitmask>1</collide_bitmask>
 896 |             <ode>
 897 |               <soft_cfm>0</soft_cfm>
 898 |               <soft_erp>0.2</soft_erp>
 899 |               <kp>1e+13</kp>
 900 |               <kd>1</kd>
 901 |               <max_vel>0.01</max_vel>
 902 |               <min_depth>0</min_depth>
 903 |             </ode>
 904 |             <bullet>
 905 |               <split_impulse>1</split_impulse>
 906 |               <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
 907 |               <soft_cfm>0</soft_cfm>
 908 |               <soft_erp>0.2</soft_erp>
 909 |               <kp>1e+13</kp>
 910 |               <kd>1</kd>
 911 |             </bullet>
 912 |           </contact>
 913 |         </surface>
 914 |       </collision>
 915 |     </link>
 916 |     <link name='link_4_clone_0_clone_clone_1_clone_0'>
 917 |       <pose frame=''>-2.67814 -10.6624 9e-06 0 -0 0</pose>
 918 |       <inertial>
 919 |         <mass>4.30693</mass>
 920 |         <inertia>
 921 |           <ixx>0.46587</ixx>
 922 |           <ixy>0</ixy>
 923 |           <ixz>0</ixz>
 924 |           <iyy>22.6991</iyy>
 925 |           <iyz>0</iyz>
 926 |           <izz>22.4471</izz>
 927 |         </inertia>
 928 |         <pose frame=''>0 0 0 0 -0 0</pose>
 929 |       </inertial>
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 986 |             <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
 987 |             <collide_bitmask>1</collide_bitmask>
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 990 |               <soft_erp>0.2</soft_erp>
 991 |               <kp>1e+13</kp>
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1000 |               <soft_erp>0.2</soft_erp>
1001 |               <kp>1e+13</kp>
1002 |               <kd>1</kd>
1003 |             </bullet>
1004 |           </contact>
1005 |         </surface>
1006 |       </collision>
1007 |     </link>
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1010 |       <inertial>
1011 |         <mass>4.30693</mass>
1012 |         <inertia>
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1014 |           <ixy>0</ixy>
1015 |           <ixz>0</ixz>
1016 |           <iyy>22.6991</iyy>
1017 |           <iyz>0</iyz>
1018 |           <izz>22.4471</izz>
1019 |         </inertia>
1020 |         <pose frame=''>0 0 0 0 -0 0</pose>
1021 |       </inertial>
1022 |       <visual name='visual'>
1023 |         <pose frame=''>0 0 0 0 -0 0</pose>
1024 |         <geometry>
1025 |           <box>
1026 |             <size>7.88951 0.545905 1</size>
1027 |           </box>
1028 |         </geometry>
1029 |         <material>
1030 |           <lighting>1</lighting>
1031 |           <script>
1032 |             <uri>file://media/materials/scripts/gazebo.material</uri>
1033 |             <name>Gazebo/Grey</name>
1034 |           </script>
1035 |           <ambient>0.3 0.3 0.3 1</ambient>
1036 |           <diffuse>0.7 0.7 0.7 1</diffuse>
1037 |           <specular>0.01 0.01 0.01 1</specular>
1038 |           <emissive>0 0 0 1</emissive>
1039 |           <shader type='pixel'/>
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1041 |         <transparency>0</transparency>
1042 |         <cast_shadows>1</cast_shadows>
1043 |       </visual>
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1046 |         <max_contacts>10</max_contacts>
1047 |         <pose frame=''>0 0 0 0 -0 0</pose>
1048 |         <geometry>
1049 |           <box>
1050 |             <size>7.88951 0.545905 1</size>
1051 |           </box>
1052 |         </geometry>
1053 |         <surface>
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1057 |               <mu2>1</mu2>
1058 |               <fdir1>0 0 0</fdir1>
1059 |               <slip1>0</slip1>
1060 |               <slip2>0</slip2>
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1062 |             <torsional>
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1064 |               <patch_radius>0</patch_radius>
1065 |               <surface_radius>0</surface_radius>
1066 |               <use_patch_radius>1</use_patch_radius>
1067 |               <ode>
1068 |                 <slip>0</slip>
1069 |               </ode>
1070 |             </torsional>
1071 |           </friction>
1072 |           <bounce>
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1074 |             <threshold>1e+06</threshold>
1075 |           </bounce>
1076 |           <contact>
1077 |             <collide_without_contact>0</collide_without_contact>
1078 |             <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
1079 |             <collide_bitmask>1</collide_bitmask>
1080 |             <ode>
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1082 |               <soft_erp>0.2</soft_erp>
1083 |               <kp>1e+13</kp>
1084 |               <kd>1</kd>
1085 |               <max_vel>0.01</max_vel>
1086 |               <min_depth>0</min_depth>
1087 |             </ode>
1088 |             <bullet>
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1090 |               <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
1091 |               <soft_cfm>0</soft_cfm>
1092 |               <soft_erp>0.2</soft_erp>
1093 |               <kp>1e+13</kp>
1094 |               <kd>1</kd>
1095 |             </bullet>
1096 |           </contact>
1097 |         </surface>
1098 |       </collision>
1099 |     </link>
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1101 |       <pose frame=''>0.695253 11.0512 9e-06 0 -0 0</pose>
1102 |       <inertial>
1103 |         <mass>4.30693</mass>
1104 |         <inertia>
1105 |           <ixx>0.46587</ixx>
1106 |           <ixy>0</ixy>
1107 |           <ixz>0</ixz>
1108 |           <iyy>22.6991</iyy>
1109 |           <iyz>0</iyz>
1110 |           <izz>22.4471</izz>
1111 |         </inertia>
1112 |         <pose frame=''>0 0 0 0 -0 0</pose>
1113 |       </inertial>
1114 |       <visual name='visual'>
1115 |         <pose frame=''>0 0 0 0 -0 0</pose>
1116 |         <geometry>
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1120 |         </geometry>
1121 |         <material>
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1123 |           <script>
1124 |             <uri>file://media/materials/scripts/gazebo.material</uri>
1125 |             <name>Gazebo/Grey</name>
1126 |           </script>
1127 |           <ambient>0.3 0.3 0.3 1</ambient>
1128 |           <diffuse>0.7 0.7 0.7 1</diffuse>
1129 |           <specular>0.01 0.01 0.01 1</specular>
1130 |           <emissive>0 0 0 1</emissive>
1131 |           <shader type='pixel'/>
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1133 |         <transparency>0</transparency>
1134 |         <cast_shadows>1</cast_shadows>
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1138 |         <max_contacts>10</max_contacts>
1139 |         <pose frame=''>0 0 0 0 -0 0</pose>
1140 |         <geometry>
1141 |           <box>
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1144 |         </geometry>
1145 |         <surface>
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1149 |               <mu2>1</mu2>
1150 |               <fdir1>0 0 0</fdir1>
1151 |               <slip1>0</slip1>
1152 |               <slip2>0</slip2>
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1154 |             <torsional>
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1156 |               <patch_radius>0</patch_radius>
1157 |               <surface_radius>0</surface_radius>
1158 |               <use_patch_radius>1</use_patch_radius>
1159 |               <ode>
1160 |                 <slip>0</slip>
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1164 |           <bounce>
1165 |             <restitution_coefficient>0</restitution_coefficient>
1166 |             <threshold>1e+06</threshold>
1167 |           </bounce>
1168 |           <contact>
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1170 |             <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
1171 |             <collide_bitmask>1</collide_bitmask>
1172 |             <ode>
1173 |               <soft_cfm>0</soft_cfm>
1174 |               <soft_erp>0.2</soft_erp>
1175 |               <kp>1e+13</kp>
1176 |               <kd>1</kd>
1177 |               <max_vel>0.01</max_vel>
1178 |               <min_depth>0</min_depth>
1179 |             </ode>
1180 |             <bullet>
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1182 |               <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
1183 |               <soft_cfm>0</soft_cfm>
1184 |               <soft_erp>0.2</soft_erp>
1185 |               <kp>1e+13</kp>
1186 |               <kd>1</kd>
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1188 |           </contact>
1189 |         </surface>
1190 |       </collision>
1191 |     </link>
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1194 |       <inertial>
1195 |         <mass>4.30693</mass>
1196 |         <inertia>
1197 |           <ixx>0.46587</ixx>
1198 |           <ixy>0</ixy>
1199 |           <ixz>0</ixz>
1200 |           <iyy>22.6991</iyy>
1201 |           <iyz>0</iyz>
1202 |           <izz>22.4471</izz>
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1204 |         <pose frame=''>0 0 0 0 -0 0</pose>
1205 |       </inertial>
1206 |       <visual name='visual'>
1207 |         <pose frame=''>0 0 0 0 -0 0</pose>
1208 |         <geometry>
1209 |           <box>
1210 |             <size>7.88951 0.545905 1</size>
1211 |           </box>
1212 |         </geometry>
1213 |         <material>
1214 |           <lighting>1</lighting>
1215 |           <script>
1216 |             <uri>file://media/materials/scripts/gazebo.material</uri>
1217 |             <name>Gazebo/Grey</name>
1218 |           </script>
1219 |           <ambient>0.3 0.3 0.3 1</ambient>
1220 |           <diffuse>0.7 0.7 0.7 1</diffuse>
1221 |           <specular>0.01 0.01 0.01 1</specular>
1222 |           <emissive>0 0 0 1</emissive>
1223 |           <shader type='pixel'/>
1224 |         </material>
1225 |         <transparency>0</transparency>
1226 |         <cast_shadows>1</cast_shadows>
1227 |       </visual>
1228 |       <collision name='collision'>
1229 |         <laser_retro>0</laser_retro>
1230 |         <max_contacts>10</max_contacts>
1231 |         <pose frame=''>0 0 0 0 -0 0</pose>
1232 |         <geometry>
1233 |           <box>
1234 |             <size>7.88951 0.545905 1</size>
1235 |           </box>
1236 |         </geometry>
1237 |         <surface>
1238 |           <friction>
1239 |             <ode>
1240 |               <mu>1</mu>
1241 |               <mu2>1</mu2>
1242 |               <fdir1>0 0 0</fdir1>
1243 |               <slip1>0</slip1>
1244 |               <slip2>0</slip2>
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1246 |             <torsional>
1247 |               <coefficient>1</coefficient>
1248 |               <patch_radius>0</patch_radius>
1249 |               <surface_radius>0</surface_radius>
1250 |               <use_patch_radius>1</use_patch_radius>
1251 |               <ode>
1252 |                 <slip>0</slip>
1253 |               </ode>
1254 |             </torsional>
1255 |           </friction>
1256 |           <bounce>
1257 |             <restitution_coefficient>0</restitution_coefficient>
1258 |             <threshold>1e+06</threshold>
1259 |           </bounce>
1260 |           <contact>
1261 |             <collide_without_contact>0</collide_without_contact>
1262 |             <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
1263 |             <collide_bitmask>1</collide_bitmask>
1264 |             <ode>
1265 |               <soft_cfm>0</soft_cfm>
1266 |               <soft_erp>0.2</soft_erp>
1267 |               <kp>1e+13</kp>
1268 |               <kd>1</kd>
1269 |               <max_vel>0.01</max_vel>
1270 |               <min_depth>0</min_depth>
1271 |             </ode>
1272 |             <bullet>
1273 |               <split_impulse>1</split_impulse>
1274 |               <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
1275 |               <soft_cfm>0</soft_cfm>
1276 |               <soft_erp>0.2</soft_erp>
1277 |               <kp>1e+13</kp>
1278 |               <kd>1</kd>
1279 |             </bullet>
1280 |           </contact>
1281 |         </surface>
1282 |       </collision>
1283 |     </link>
1284 |     <link name='link_4_clone_0_clone_clone_1_clone_clone'>
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1286 |       <inertial>
1287 |         <mass>3.50538</mass>
1288 |         <inertia>
1289 |           <ixx>0.379168</ixx>
1290 |           <ixy>0</ixy>
1291 |           <ixz>0</ixz>
1292 |           <iyy>12.3366</iyy>
1293 |           <iyz>0</iyz>
1294 |           <izz>12.1315</izz>
1295 |         </inertia>
1296 |         <pose frame=''>0 0 0 0 -0 0</pose>
1297 |       </inertial>
1298 |       <visual name='visual'>
1299 |         <pose frame=''>0 0 0 0 -0 0</pose>
1300 |         <geometry>
1301 |           <box>
1302 |             <size>6.42122 0.545905 1</size>
1303 |           </box>
1304 |         </geometry>
1305 |         <material>
1306 |           <lighting>1</lighting>
1307 |           <script>
1308 |             <uri>file://media/materials/scripts/gazebo.material</uri>
1309 |             <name>Gazebo/Grey</name>
1310 |           </script>
1311 |           <ambient>0.3 0.3 0.3 1</ambient>
1312 |           <diffuse>0.7 0.7 0.7 1</diffuse>
1313 |           <specular>0.01 0.01 0.01 1</specular>
1314 |           <emissive>0 0 0 1</emissive>
1315 |           <shader type='pixel'/>
1316 |         </material>
1317 |         <transparency>0</transparency>
1318 |         <cast_shadows>1</cast_shadows>
1319 |       </visual>
1320 |       <collision name='collision'>
1321 |         <laser_retro>0</laser_retro>
1322 |         <max_contacts>10</max_contacts>
1323 |         <pose frame=''>0 0 0 0 -0 0</pose>
1324 |         <geometry>
1325 |           <box>
1326 |             <size>6.42122 0.545905 1</size>
1327 |           </box>
1328 |         </geometry>
1329 |         <surface>
1330 |           <friction>
1331 |             <ode>
1332 |               <mu>1</mu>
1333 |               <mu2>1</mu2>
1334 |               <fdir1>0 0 0</fdir1>
1335 |               <slip1>0</slip1>
1336 |               <slip2>0</slip2>
1337 |             </ode>
1338 |             <torsional>
1339 |               <coefficient>1</coefficient>
1340 |               <patch_radius>0</patch_radius>
1341 |               <surface_radius>0</surface_radius>
1342 |               <use_patch_radius>1</use_patch_radius>
1343 |               <ode>
1344 |                 <slip>0</slip>
1345 |               </ode>
1346 |             </torsional>
1347 |           </friction>
1348 |           <bounce>
1349 |             <restitution_coefficient>0</restitution_coefficient>
1350 |             <threshold>1e+06</threshold>
1351 |           </bounce>
1352 |           <contact>
1353 |             <collide_without_contact>0</collide_without_contact>
1354 |             <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
1355 |             <collide_bitmask>1</collide_bitmask>
1356 |             <ode>
1357 |               <soft_cfm>0</soft_cfm>
1358 |               <soft_erp>0.2</soft_erp>
1359 |               <kp>1e+13</kp>
1360 |               <kd>1</kd>
1361 |               <max_vel>0.01</max_vel>
1362 |               <min_depth>0</min_depth>
1363 |             </ode>
1364 |             <bullet>
1365 |               <split_impulse>1</split_impulse>
1366 |               <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
1367 |               <soft_cfm>0</soft_cfm>
1368 |               <soft_erp>0.2</soft_erp>
1369 |               <kp>1e+13</kp>
1370 |               <kd>1</kd>
1371 |             </bullet>
1372 |           </contact>
1373 |         </surface>
1374 |       </collision>
1375 |     </link>
1376 |     <link name='link_4_clone_0_clone_clone_1_clone_clone_0'>
1377 |       <pose frame=''>8.96944 -0.687018 9e-06 0 -0 0</pose>
1378 |       <inertial>
1379 |         <mass>3.50538</mass>
1380 |         <inertia>
1381 |           <ixx>0.379168</ixx>
1382 |           <ixy>0</ixy>
1383 |           <ixz>0</ixz>
1384 |           <iyy>12.3366</iyy>
1385 |           <iyz>0</iyz>
1386 |           <izz>12.1315</izz>
1387 |         </inertia>
1388 |         <pose frame=''>0 0 0 0 -0 0</pose>
1389 |       </inertial>
1390 |       <visual name='visual'>
1391 |         <pose frame=''>0 0 0 0 -0 0</pose>
1392 |         <geometry>
1393 |           <box>
1394 |             <size>6.42122 0.545905 1</size>
1395 |           </box>
1396 |         </geometry>
1397 |         <material>
1398 |           <lighting>1</lighting>
1399 |           <script>
1400 |             <uri>file://media/materials/scripts/gazebo.material</uri>
1401 |             <name>Gazebo/Grey</name>
1402 |           </script>
1403 |           <ambient>0.3 0.3 0.3 1</ambient>
1404 |           <diffuse>0.7 0.7 0.7 1</diffuse>
1405 |           <specular>0.01 0.01 0.01 1</specular>
1406 |           <emissive>0 0 0 1</emissive>
1407 |           <shader type='pixel'/>
1408 |         </material>
1409 |         <transparency>0</transparency>
1410 |         <cast_shadows>1</cast_shadows>
1411 |       </visual>
1412 |       <collision name='collision'>
1413 |         <laser_retro>0</laser_retro>
1414 |         <max_contacts>10</max_contacts>
1415 |         <pose frame=''>0 0 0 0 -0 0</pose>
1416 |         <geometry>
1417 |           <box>
1418 |             <size>6.42122 0.545905 1</size>
1419 |           </box>
1420 |         </geometry>
1421 |         <surface>
1422 |           <friction>
1423 |             <ode>
1424 |               <mu>1</mu>
1425 |               <mu2>1</mu2>
1426 |               <fdir1>0 0 0</fdir1>
1427 |               <slip1>0</slip1>
1428 |               <slip2>0</slip2>
1429 |             </ode>
1430 |             <torsional>
1431 |               <coefficient>1</coefficient>
1432 |               <patch_radius>0</patch_radius>
1433 |               <surface_radius>0</surface_radius>
1434 |               <use_patch_radius>1</use_patch_radius>
1435 |               <ode>
1436 |                 <slip>0</slip>
1437 |               </ode>
1438 |             </torsional>
1439 |           </friction>
1440 |           <bounce>
1441 |             <restitution_coefficient>0</restitution_coefficient>
1442 |             <threshold>1e+06</threshold>
1443 |           </bounce>
1444 |           <contact>
1445 |             <collide_without_contact>0</collide_without_contact>
1446 |             <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
1447 |             <collide_bitmask>1</collide_bitmask>
1448 |             <ode>
1449 |               <soft_cfm>0</soft_cfm>
1450 |               <soft_erp>0.2</soft_erp>
1451 |               <kp>1e+13</kp>
1452 |               <kd>1</kd>
1453 |               <max_vel>0.01</max_vel>
1454 |               <min_depth>0</min_depth>
1455 |             </ode>
1456 |             <bullet>
1457 |               <split_impulse>1</split_impulse>
1458 |               <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
1459 |               <soft_cfm>0</soft_cfm>
1460 |               <soft_erp>0.2</soft_erp>
1461 |               <kp>1e+13</kp>
1462 |               <kd>1</kd>
1463 |             </bullet>
1464 |           </contact>
1465 |         </surface>
1466 |       </collision>
1467 |     </link>
1468 |     <link name='link_4_clone_0_clone_clone_1_clone_clone_0_clone'>
1469 |       <pose frame=''>13.7042 5.43273 9e-06 0 -0 0</pose>
1470 |       <inertial>
1471 |         <mass>3.50538</mass>
1472 |         <inertia>
1473 |           <ixx>0.379168</ixx>
1474 |           <ixy>0</ixy>
1475 |           <ixz>0</ixz>
1476 |           <iyy>12.3366</iyy>
1477 |           <iyz>0</iyz>
1478 |           <izz>12.1315</izz>
1479 |         </inertia>
1480 |         <pose frame=''>0 0 0 0 -0 0</pose>
1481 |       </inertial>
1482 |       <visual name='visual'>
1483 |         <pose frame=''>0 0 0 0 -0 0</pose>
1484 |         <geometry>
1485 |           <box>
1486 |             <size>6.42122 0.545905 1</size>
1487 |           </box>
1488 |         </geometry>
1489 |         <material>
1490 |           <lighting>1</lighting>
1491 |           <script>
1492 |             <uri>file://media/materials/scripts/gazebo.material</uri>
1493 |             <name>Gazebo/Grey</name>
1494 |           </script>
1495 |           <ambient>0.3 0.3 0.3 1</ambient>
1496 |           <diffuse>0.7 0.7 0.7 1</diffuse>
1497 |           <specular>0.01 0.01 0.01 1</specular>
1498 |           <emissive>0 0 0 1</emissive>
1499 |           <shader type='pixel'/>
1500 |         </material>
1501 |         <transparency>0</transparency>
1502 |         <cast_shadows>1</cast_shadows>
1503 |       </visual>
1504 |       <collision name='collision'>
1505 |         <laser_retro>0</laser_retro>
1506 |         <max_contacts>10</max_contacts>
1507 |         <pose frame=''>0 0 0 0 -0 0</pose>
1508 |         <geometry>
1509 |           <box>
1510 |             <size>6.42122 0.545905 1</size>
1511 |           </box>
1512 |         </geometry>
1513 |         <surface>
1514 |           <friction>
1515 |             <ode>
1516 |               <mu>1</mu>
1517 |               <mu2>1</mu2>
1518 |               <fdir1>0 0 0</fdir1>
1519 |               <slip1>0</slip1>
1520 |               <slip2>0</slip2>
1521 |             </ode>
1522 |             <torsional>
1523 |               <coefficient>1</coefficient>
1524 |               <patch_radius>0</patch_radius>
1525 |               <surface_radius>0</surface_radius>
1526 |               <use_patch_radius>1</use_patch_radius>
1527 |               <ode>
1528 |                 <slip>0</slip>
1529 |               </ode>
1530 |             </torsional>
1531 |           </friction>
1532 |           <bounce>
1533 |             <restitution_coefficient>0</restitution_coefficient>
1534 |             <threshold>1e+06</threshold>
1535 |           </bounce>
1536 |           <contact>
1537 |             <collide_without_contact>0</collide_without_contact>
1538 |             <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
1539 |             <collide_bitmask>1</collide_bitmask>
1540 |             <ode>
1541 |               <soft_cfm>0</soft_cfm>
1542 |               <soft_erp>0.2</soft_erp>
1543 |               <kp>1e+13</kp>
1544 |               <kd>1</kd>
1545 |               <max_vel>0.01</max_vel>
1546 |               <min_depth>0</min_depth>
1547 |             </ode>
1548 |             <bullet>
1549 |               <split_impulse>1</split_impulse>
1550 |               <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
1551 |               <soft_cfm>0</soft_cfm>
1552 |               <soft_erp>0.2</soft_erp>
1553 |               <kp>1e+13</kp>
1554 |               <kd>1</kd>
1555 |             </bullet>
1556 |           </contact>
1557 |         </surface>
1558 |       </collision>
1559 |     </link>
1560 |     <link name='link_4_clone_0_clone_clone_1_clone_clone_0_clone_0'>
1561 |       <pose frame=''>16.5218 2.00661 9e-06 0 -0 0</pose>
1562 |       <inertial>
1563 |         <mass>3.50538</mass>
1564 |         <inertia>
1565 |           <ixx>0.379168</ixx>
1566 |           <ixy>0</ixy>
1567 |           <ixz>0</ixz>
1568 |           <iyy>12.3366</iyy>
1569 |           <iyz>0</iyz>
1570 |           <izz>12.1315</izz>
1571 |         </inertia>
1572 |         <pose frame=''>0 0 0 0 -0 0</pose>
1573 |       </inertial>
1574 |       <visual name='visual'>
1575 |         <pose frame=''>0 0 0 0 -0 0</pose>
1576 |         <geometry>
1577 |           <box>
1578 |             <size>6.42122 0.545905 1</size>
1579 |           </box>
1580 |         </geometry>
1581 |         <material>
1582 |           <lighting>1</lighting>
1583 |           <script>
1584 |             <uri>file://media/materials/scripts/gazebo.material</uri>
1585 |             <name>Gazebo/Grey</name>
1586 |           </script>
1587 |           <ambient>0.3 0.3 0.3 1</ambient>
1588 |           <diffuse>0.7 0.7 0.7 1</diffuse>
1589 |           <specular>0.01 0.01 0.01 1</specular>
1590 |           <emissive>0 0 0 1</emissive>
1591 |           <shader type='pixel'/>
1592 |         </material>
1593 |         <transparency>0</transparency>
1594 |         <cast_shadows>1</cast_shadows>
1595 |       </visual>
1596 |       <collision name='collision'>
1597 |         <laser_retro>0</laser_retro>
1598 |         <max_contacts>10</max_contacts>
1599 |         <pose frame=''>0 0 0 0 -0 0</pose>
1600 |         <geometry>
1601 |           <box>
1602 |             <size>6.42122 0.545905 1</size>
1603 |           </box>
1604 |         </geometry>
1605 |         <surface>
1606 |           <friction>
1607 |             <ode>
1608 |               <mu>1</mu>
1609 |               <mu2>1</mu2>
1610 |               <fdir1>0 0 0</fdir1>
1611 |               <slip1>0</slip1>
1612 |               <slip2>0</slip2>
1613 |             </ode>
1614 |             <torsional>
1615 |               <coefficient>1</coefficient>
1616 |               <patch_radius>0</patch_radius>
1617 |               <surface_radius>0</surface_radius>
1618 |               <use_patch_radius>1</use_patch_radius>
1619 |               <ode>
1620 |                 <slip>0</slip>
1621 |               </ode>
1622 |             </torsional>
1623 |           </friction>
1624 |           <bounce>
1625 |             <restitution_coefficient>0</restitution_coefficient>
1626 |             <threshold>1e+06</threshold>
1627 |           </bounce>
1628 |           <contact>
1629 |             <collide_without_contact>0</collide_without_contact>
1630 |             <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
1631 |             <collide_bitmask>1</collide_bitmask>
1632 |             <ode>
1633 |               <soft_cfm>0</soft_cfm>
1634 |               <soft_erp>0.2</soft_erp>
1635 |               <kp>1e+13</kp>
1636 |               <kd>1</kd>
1637 |               <max_vel>0.01</max_vel>
1638 |               <min_depth>0</min_depth>
1639 |             </ode>
1640 |             <bullet>
1641 |               <split_impulse>1</split_impulse>
1642 |               <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
1643 |               <soft_cfm>0</soft_cfm>
1644 |               <soft_erp>0.2</soft_erp>
1645 |               <kp>1e+13</kp>
1646 |               <kd>1</kd>
1647 |             </bullet>
1648 |           </contact>
1649 |         </surface>
1650 |       </collision>
1651 |     </link>
1652 |     <link name='link_4_clone_0_clone_clone_1_clone_clone_0_clone_1'>
1653 |       <pose frame=''>16.5551 5.42013 9e-06 0 -0 0</pose>
1654 |       <inertial>
1655 |         <mass>3.50538</mass>
1656 |         <inertia>
1657 |           <ixx>0.379168</ixx>
1658 |           <ixy>0</ixy>
1659 |           <ixz>0</ixz>
1660 |           <iyy>12.3366</iyy>
1661 |           <iyz>0</iyz>
1662 |           <izz>12.1315</izz>
1663 |         </inertia>
1664 |         <pose frame=''>0 0 0 0 -0 0</pose>
1665 |       </inertial>
1666 |       <visual name='visual'>
1667 |         <pose frame=''>0 0 0 0 -0 0</pose>
1668 |         <geometry>
1669 |           <box>
1670 |             <size>6.42122 0.545905 1</size>
1671 |           </box>
1672 |         </geometry>
1673 |         <material>
1674 |           <lighting>1</lighting>
1675 |           <script>
1676 |             <uri>file://media/materials/scripts/gazebo.material</uri>
1677 |             <name>Gazebo/Grey</name>
1678 |           </script>
1679 |           <ambient>0.3 0.3 0.3 1</ambient>
1680 |           <diffuse>0.7 0.7 0.7 1</diffuse>
1681 |           <specular>0.01 0.01 0.01 1</specular>
1682 |           <emissive>0 0 0 1</emissive>
1683 |           <shader type='pixel'/>
1684 |         </material>
1685 |         <transparency>0</transparency>
1686 |         <cast_shadows>1</cast_shadows>
1687 |       </visual>
1688 |       <collision name='collision'>
1689 |         <laser_retro>0</laser_retro>
1690 |         <max_contacts>10</max_contacts>
1691 |         <pose frame=''>0 0 0 0 -0 0</pose>
1692 |         <geometry>
1693 |           <box>
1694 |             <size>6.42122 0.545905 1</size>
1695 |           </box>
1696 |         </geometry>
1697 |         <surface>
1698 |           <friction>
1699 |             <ode>
1700 |               <mu>1</mu>
1701 |               <mu2>1</mu2>
1702 |               <fdir1>0 0 0</fdir1>
1703 |               <slip1>0</slip1>
1704 |               <slip2>0</slip2>
1705 |             </ode>
1706 |             <torsional>
1707 |               <coefficient>1</coefficient>
1708 |               <patch_radius>0</patch_radius>
1709 |               <surface_radius>0</surface_radius>
1710 |               <use_patch_radius>1</use_patch_radius>
1711 |               <ode>
1712 |                 <slip>0</slip>
1713 |               </ode>
1714 |             </torsional>
1715 |           </friction>
1716 |           <bounce>
1717 |             <restitution_coefficient>0</restitution_coefficient>
1718 |             <threshold>1e+06</threshold>
1719 |           </bounce>
1720 |           <contact>
1721 |             <collide_without_contact>0</collide_without_contact>
1722 |             <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
1723 |             <collide_bitmask>1</collide_bitmask>
1724 |             <ode>
1725 |               <soft_cfm>0</soft_cfm>
1726 |               <soft_erp>0.2</soft_erp>
1727 |               <kp>1e+13</kp>
1728 |               <kd>1</kd>
1729 |               <max_vel>0.01</max_vel>
1730 |               <min_depth>0</min_depth>
1731 |             </ode>
1732 |             <bullet>
1733 |               <split_impulse>1</split_impulse>
1734 |               <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
1735 |               <soft_cfm>0</soft_cfm>
1736 |               <soft_erp>0.2</soft_erp>
1737 |               <kp>1e+13</kp>
1738 |               <kd>1</kd>
1739 |             </bullet>
1740 |           </contact>
1741 |         </surface>
1742 |       </collision>
1743 |     </link>
1744 |     <link name='link_4_clone_0_clone_clone_1_clone_clone_1'>
1745 |       <pose frame=''>14.7931 -0.66198 9e-06 0 -0 0</pose>
1746 |       <inertial>
1747 |         <mass>3.50538</mass>
1748 |         <inertia>
1749 |           <ixx>0.379168</ixx>
1750 |           <ixy>0</ixy>
1751 |           <ixz>0</ixz>
1752 |           <iyy>12.3366</iyy>
1753 |           <iyz>0</iyz>
1754 |           <izz>12.1315</izz>
1755 |         </inertia>
1756 |         <pose frame=''>0 0 0 0 -0 0</pose>
1757 |       </inertial>
1758 |       <visual name='visual'>
1759 |         <pose frame=''>0 0 0 0 -0 0</pose>
1760 |         <geometry>
1761 |           <box>
1762 |             <size>6.42122 0.545905 1</size>
1763 |           </box>
1764 |         </geometry>
1765 |         <material>
1766 |           <lighting>1</lighting>
1767 |           <script>
1768 |             <uri>file://media/materials/scripts/gazebo.material</uri>
1769 |             <name>Gazebo/Grey</name>
1770 |           </script>
1771 |           <ambient>0.3 0.3 0.3 1</ambient>
1772 |           <diffuse>0.7 0.7 0.7 1</diffuse>
1773 |           <specular>0.01 0.01 0.01 1</specular>
1774 |           <emissive>0 0 0 1</emissive>
1775 |           <shader type='pixel'/>
1776 |         </material>
1777 |         <transparency>0</transparency>
1778 |         <cast_shadows>1</cast_shadows>
1779 |       </visual>
1780 |       <collision name='collision'>
1781 |         <laser_retro>0</laser_retro>
1782 |         <max_contacts>10</max_contacts>
1783 |         <pose frame=''>0 0 0 0 -0 0</pose>
1784 |         <geometry>
1785 |           <box>
1786 |             <size>6.42122 0.545905 1</size>
1787 |           </box>
1788 |         </geometry>
1789 |         <surface>
1790 |           <friction>
1791 |             <ode>
1792 |               <mu>1</mu>
1793 |               <mu2>1</mu2>
1794 |               <fdir1>0 0 0</fdir1>
1795 |               <slip1>0</slip1>
1796 |               <slip2>0</slip2>
1797 |             </ode>
1798 |             <torsional>
1799 |               <coefficient>1</coefficient>
1800 |               <patch_radius>0</patch_radius>
1801 |               <surface_radius>0</surface_radius>
1802 |               <use_patch_radius>1</use_patch_radius>
1803 |               <ode>
1804 |                 <slip>0</slip>
1805 |               </ode>
1806 |             </torsional>
1807 |           </friction>
1808 |           <bounce>
1809 |             <restitution_coefficient>0</restitution_coefficient>
1810 |             <threshold>1e+06</threshold>
1811 |           </bounce>
1812 |           <contact>
1813 |             <collide_without_contact>0</collide_without_contact>
1814 |             <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
1815 |             <collide_bitmask>1</collide_bitmask>
1816 |             <ode>
1817 |               <soft_cfm>0</soft_cfm>
1818 |               <soft_erp>0.2</soft_erp>
1819 |               <kp>1e+13</kp>
1820 |               <kd>1</kd>
1821 |               <max_vel>0.01</max_vel>
1822 |               <min_depth>0</min_depth>
1823 |             </ode>
1824 |             <bullet>
1825 |               <split_impulse>1</split_impulse>
1826 |               <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
1827 |               <soft_cfm>0</soft_cfm>
1828 |               <soft_erp>0.2</soft_erp>
1829 |               <kp>1e+13</kp>
1830 |               <kd>1</kd>
1831 |             </bullet>
1832 |           </contact>
1833 |         </surface>
1834 |       </collision>
1835 |     </link>
1836 |     <link name='link_4_clone_0_clone_clone_2'>
1837 |       <pose frame=''>-10.3733 -0.31076 9e-06 0 -0 0</pose>
1838 |       <inertial>
1839 |         <mass>4.30693</mass>
1840 |         <inertia>
1841 |           <ixx>0.46587</ixx>
1842 |           <ixy>0</ixy>
1843 |           <ixz>0</ixz>
1844 |           <iyy>22.6991</iyy>
1845 |           <iyz>0</iyz>
1846 |           <izz>22.4471</izz>
1847 |         </inertia>
1848 |         <pose frame=''>0 0 0 0 -0 0</pose>
1849 |       </inertial>
1850 |       <visual name='visual'>
1851 |         <pose frame=''>0 0 0 0 -0 0</pose>
1852 |         <geometry>
1853 |           <box>
1854 |             <size>7.88951 0.545905 1</size>
1855 |           </box>
1856 |         </geometry>
1857 |         <material>
1858 |           <lighting>1</lighting>
1859 |           <script>
1860 |             <uri>file://media/materials/scripts/gazebo.material</uri>
1861 |             <name>Gazebo/Grey</name>
1862 |           </script>
1863 |           <ambient>0.3 0.3 0.3 1</ambient>
1864 |           <diffuse>0.7 0.7 0.7 1</diffuse>
1865 |           <specular>0.01 0.01 0.01 1</specular>
1866 |           <emissive>0 0 0 1</emissive>
1867 |           <shader type='pixel'/>
1868 |         </material>
1869 |         <transparency>0</transparency>
1870 |         <cast_shadows>1</cast_shadows>
1871 |       </visual>
1872 |       <collision name='collision'>
1873 |         <laser_retro>0</laser_retro>
1874 |         <max_contacts>10</max_contacts>
1875 |         <pose frame=''>0 0 0 0 -0 0</pose>
1876 |         <geometry>
1877 |           <box>
1878 |             <size>7.88951 0.545905 1</size>
1879 |           </box>
1880 |         </geometry>
1881 |         <surface>
1882 |           <friction>
1883 |             <ode>
1884 |               <mu>1</mu>
1885 |               <mu2>1</mu2>
1886 |               <fdir1>0 0 0</fdir1>
1887 |               <slip1>0</slip1>
1888 |               <slip2>0</slip2>
1889 |             </ode>
1890 |             <torsional>
1891 |               <coefficient>1</coefficient>
1892 |               <patch_radius>0</patch_radius>
1893 |               <surface_radius>0</surface_radius>
1894 |               <use_patch_radius>1</use_patch_radius>
1895 |               <ode>
1896 |                 <slip>0</slip>
1897 |               </ode>
1898 |             </torsional>
1899 |           </friction>
1900 |           <bounce>
1901 |             <restitution_coefficient>0</restitution_coefficient>
1902 |             <threshold>1e+06</threshold>
1903 |           </bounce>
1904 |           <contact>
1905 |             <collide_without_contact>0</collide_without_contact>
1906 |             <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
1907 |             <collide_bitmask>1</collide_bitmask>
1908 |             <ode>
1909 |               <soft_cfm>0</soft_cfm>
1910 |               <soft_erp>0.2</soft_erp>
1911 |               <kp>1e+13</kp>
1912 |               <kd>1</kd>
1913 |               <max_vel>0.01</max_vel>
1914 |               <min_depth>0</min_depth>
1915 |             </ode>
1916 |             <bullet>
1917 |               <split_impulse>1</split_impulse>
1918 |               <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
1919 |               <soft_cfm>0</soft_cfm>
1920 |               <soft_erp>0.2</soft_erp>
1921 |               <kp>1e+13</kp>
1922 |               <kd>1</kd>
1923 |             </bullet>
1924 |           </contact>
1925 |         </surface>
1926 |       </collision>
1927 |     </link>
1928 |     <link name='link_4_clone_1'>
1929 |       <pose frame=''>-25.335 -7.00928 9e-06 0 0 -1.56693</pose>
1930 |       <inertial>
1931 |         <mass>4.30693</mass>
1932 |         <inertia>
1933 |           <ixx>0.46587</ixx>
1934 |           <ixy>0</ixy>
1935 |           <ixz>0</ixz>
1936 |           <iyy>22.6991</iyy>
1937 |           <iyz>0</iyz>
1938 |           <izz>22.4471</izz>
1939 |         </inertia>
1940 |         <pose frame=''>0 0 0 0 -0 0</pose>
1941 |       </inertial>
1942 |       <visual name='visual'>
1943 |         <pose frame=''>0 0 0 0 -0 0</pose>
1944 |         <geometry>
1945 |           <box>
1946 |             <size>7.88951 0.545905 1</size>
1947 |           </box>
1948 |         </geometry>
1949 |         <material>
1950 |           <lighting>1</lighting>
1951 |           <script>
1952 |             <uri>file://media/materials/scripts/gazebo.material</uri>
1953 |             <name>Gazebo/Grey</name>
1954 |           </script>
1955 |           <ambient>0.3 0.3 0.3 1</ambient>
1956 |           <diffuse>0.7 0.7 0.7 1</diffuse>
1957 |           <specular>0.01 0.01 0.01 1</specular>
1958 |           <emissive>0 0 0 1</emissive>
1959 |           <shader type='pixel'/>
1960 |         </material>
1961 |         <transparency>0</transparency>
1962 |         <cast_shadows>1</cast_shadows>
1963 |       </visual>
1964 |       <collision name='collision'>
1965 |         <laser_retro>0</laser_retro>
1966 |         <max_contacts>10</max_contacts>
1967 |         <pose frame=''>0 0 0 0 -0 0</pose>
1968 |         <geometry>
1969 |           <box>
1970 |             <size>7.88951 0.545905 1</size>
1971 |           </box>
1972 |         </geometry>
1973 |         <surface>
1974 |           <friction>
1975 |             <ode>
1976 |               <mu>1</mu>
1977 |               <mu2>1</mu2>
1978 |               <fdir1>0 0 0</fdir1>
1979 |               <slip1>0</slip1>
1980 |               <slip2>0</slip2>
1981 |             </ode>
1982 |             <torsional>
1983 |               <coefficient>1</coefficient>
1984 |               <patch_radius>0</patch_radius>
1985 |               <surface_radius>0</surface_radius>
1986 |               <use_patch_radius>1</use_patch_radius>
1987 |               <ode>
1988 |                 <slip>0</slip>
1989 |               </ode>
1990 |             </torsional>
1991 |           </friction>
1992 |           <bounce>
1993 |             <restitution_coefficient>0</restitution_coefficient>
1994 |             <threshold>1e+06</threshold>
1995 |           </bounce>
1996 |           <contact>
1997 |             <collide_without_contact>0</collide_without_contact>
1998 |             <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
1999 |             <collide_bitmask>1</collide_bitmask>
2000 |             <ode>
2001 |               <soft_cfm>0</soft_cfm>
2002 |               <soft_erp>0.2</soft_erp>
2003 |               <kp>1e+13</kp>
2004 |               <kd>1</kd>
2005 |               <max_vel>0.01</max_vel>
2006 |               <min_depth>0</min_depth>
2007 |             </ode>
2008 |             <bullet>
2009 |               <split_impulse>1</split_impulse>
2010 |               <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
2011 |               <soft_cfm>0</soft_cfm>
2012 |               <soft_erp>0.2</soft_erp>
2013 |               <kp>1e+13</kp>
2014 |               <kd>1</kd>
2015 |             </bullet>
2016 |           </contact>
2017 |         </surface>
2018 |       </collision>
2019 |     </link>
2020 |     <link name='link_4_clone_1_clone'>
2021 |       <pose frame=''>-25.3389 -4.07653 9e-06 0 0 -1.56693</pose>
2022 |       <inertial>
2023 |         <mass>4.30693</mass>
2024 |         <inertia>
2025 |           <ixx>0.46587</ixx>
2026 |           <ixy>0</ixy>
2027 |           <ixz>0</ixz>
2028 |           <iyy>22.6991</iyy>
2029 |           <iyz>0</iyz>
2030 |           <izz>22.4471</izz>
2031 |         </inertia>
2032 |         <pose frame=''>0 0 0 0 -0 0</pose>
2033 |       </inertial>
2034 |       <visual name='visual'>
2035 |         <pose frame=''>0 0 0 0 -0 0</pose>
2036 |         <geometry>
2037 |           <box>
2038 |             <size>7.88951 0.545905 1</size>
2039 |           </box>
2040 |         </geometry>
2041 |         <material>
2042 |           <lighting>1</lighting>
2043 |           <script>
2044 |             <uri>file://media/materials/scripts/gazebo.material</uri>
2045 |             <name>Gazebo/Grey</name>
2046 |           </script>
2047 |           <ambient>0.3 0.3 0.3 1</ambient>
2048 |           <diffuse>0.7 0.7 0.7 1</diffuse>
2049 |           <specular>0.01 0.01 0.01 1</specular>
2050 |           <emissive>0 0 0 1</emissive>
2051 |           <shader type='pixel'/>
2052 |         </material>
2053 |         <transparency>0</transparency>
2054 |         <cast_shadows>1</cast_shadows>
2055 |       </visual>
2056 |       <collision name='collision'>
2057 |         <laser_retro>0</laser_retro>
2058 |         <max_contacts>10</max_contacts>
2059 |         <pose frame=''>0 0 0 0 -0 0</pose>
2060 |         <geometry>
2061 |           <box>
2062 |             <size>7.88951 0.545905 1</size>
2063 |           </box>
2064 |         </geometry>
2065 |         <surface>
2066 |           <friction>
2067 |             <ode>
2068 |               <mu>1</mu>
2069 |               <mu2>1</mu2>
2070 |               <fdir1>0 0 0</fdir1>
2071 |               <slip1>0</slip1>
2072 |               <slip2>0</slip2>
2073 |             </ode>
2074 |             <torsional>
2075 |               <coefficient>1</coefficient>
2076 |               <patch_radius>0</patch_radius>
2077 |               <surface_radius>0</surface_radius>
2078 |               <use_patch_radius>1</use_patch_radius>
2079 |               <ode>
2080 |                 <slip>0</slip>
2081 |               </ode>
2082 |             </torsional>
2083 |           </friction>
2084 |           <bounce>
2085 |             <restitution_coefficient>0</restitution_coefficient>
2086 |             <threshold>1e+06</threshold>
2087 |           </bounce>
2088 |           <contact>
2089 |             <collide_without_contact>0</collide_without_contact>
2090 |             <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
2091 |             <collide_bitmask>1</collide_bitmask>
2092 |             <ode>
2093 |               <soft_cfm>0</soft_cfm>
2094 |               <soft_erp>0.2</soft_erp>
2095 |               <kp>1e+13</kp>
2096 |               <kd>1</kd>
2097 |               <max_vel>0.01</max_vel>
2098 |               <min_depth>0</min_depth>
2099 |             </ode>
2100 |             <bullet>
2101 |               <split_impulse>1</split_impulse>
2102 |               <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
2103 |               <soft_cfm>0</soft_cfm>
2104 |               <soft_erp>0.2</soft_erp>
2105 |               <kp>1e+13</kp>
2106 |               <kd>1</kd>
2107 |             </bullet>
2108 |           </contact>
2109 |         </surface>
2110 |       </collision>
2111 |     </link>
2112 |     <link name='link_4_clone_1_clone_0'>
2113 |       <pose frame=''>-9.31294 -6.93569 9e-06 0 0 -1.56693</pose>
2114 |       <inertial>
2115 |         <mass>4.30693</mass>
2116 |         <inertia>
2117 |           <ixx>0.46587</ixx>
2118 |           <ixy>0</ixy>
2119 |           <ixz>0</ixz>
2120 |           <iyy>22.6991</iyy>
2121 |           <iyz>0</iyz>
2122 |           <izz>22.4471</izz>
2123 |         </inertia>
2124 |         <pose frame=''>0 0 0 0 -0 0</pose>
2125 |       </inertial>
2126 |       <visual name='visual'>
2127 |         <pose frame=''>0 0 0 0 -0 0</pose>
2128 |         <geometry>
2129 |           <box>
2130 |             <size>7.88951 0.545905 1</size>
2131 |           </box>
2132 |         </geometry>
2133 |         <material>
2134 |           <lighting>1</lighting>
2135 |           <script>
2136 |             <uri>file://media/materials/scripts/gazebo.material</uri>
2137 |             <name>Gazebo/Grey</name>
2138 |           </script>
2139 |           <ambient>0.3 0.3 0.3 1</ambient>
2140 |           <diffuse>0.7 0.7 0.7 1</diffuse>
2141 |           <specular>0.01 0.01 0.01 1</specular>
2142 |           <emissive>0 0 0 1</emissive>
2143 |           <shader type='pixel'/>
2144 |         </material>
2145 |         <transparency>0</transparency>
2146 |         <cast_shadows>1</cast_shadows>
2147 |       </visual>
2148 |       <collision name='collision'>
2149 |         <laser_retro>0</laser_retro>
2150 |         <max_contacts>10</max_contacts>
2151 |         <pose frame=''>0 0 0 0 -0 0</pose>
2152 |         <geometry>
2153 |           <box>
2154 |             <size>7.88951 0.545905 1</size>
2155 |           </box>
2156 |         </geometry>
2157 |         <surface>
2158 |           <friction>
2159 |             <ode>
2160 |               <mu>1</mu>
2161 |               <mu2>1</mu2>
2162 |               <fdir1>0 0 0</fdir1>
2163 |               <slip1>0</slip1>
2164 |               <slip2>0</slip2>
2165 |             </ode>
2166 |             <torsional>
2167 |               <coefficient>1</coefficient>
2168 |               <patch_radius>0</patch_radius>
2169 |               <surface_radius>0</surface_radius>
2170 |               <use_patch_radius>1</use_patch_radius>
2171 |               <ode>
2172 |                 <slip>0</slip>
2173 |               </ode>
2174 |             </torsional>
2175 |           </friction>
2176 |           <bounce>
2177 |             <restitution_coefficient>0</restitution_coefficient>
2178 |             <threshold>1e+06</threshold>
2179 |           </bounce>
2180 |           <contact>
2181 |             <collide_without_contact>0</collide_without_contact>
2182 |             <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
2183 |             <collide_bitmask>1</collide_bitmask>
2184 |             <ode>
2185 |               <soft_cfm>0</soft_cfm>
2186 |               <soft_erp>0.2</soft_erp>
2187 |               <kp>1e+13</kp>
2188 |               <kd>1</kd>
2189 |               <max_vel>0.01</max_vel>
2190 |               <min_depth>0</min_depth>
2191 |             </ode>
2192 |             <bullet>
2193 |               <split_impulse>1</split_impulse>
2194 |               <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
2195 |               <soft_cfm>0</soft_cfm>
2196 |               <soft_erp>0.2</soft_erp>
2197 |               <kp>1e+13</kp>
2198 |               <kd>1</kd>
2199 |             </bullet>
2200 |           </contact>
2201 |         </surface>
2202 |       </collision>
2203 |     </link>
2204 |     <link name='link_4_clone_1_clone_1'>
2205 |       <pose frame=''>-6.43669 -6.98415 9e-06 0 0 -1.56693</pose>
2206 |       <inertial>
2207 |         <mass>4.30693</mass>
2208 |         <inertia>
2209 |           <ixx>0.46587</ixx>
2210 |           <ixy>0</ixy>
2211 |           <ixz>0</ixz>
2212 |           <iyy>22.6991</iyy>
2213 |           <iyz>0</iyz>
2214 |           <izz>22.4471</izz>
2215 |         </inertia>
2216 |         <pose frame=''>0 0 0 0 -0 0</pose>
2217 |       </inertial>
2218 |       <visual name='visual'>
2219 |         <pose frame=''>0 0 0 0 -0 0</pose>
2220 |         <geometry>
2221 |           <box>
2222 |             <size>7.88951 0.545905 1</size>
2223 |           </box>
2224 |         </geometry>
2225 |         <material>
2226 |           <lighting>1</lighting>
2227 |           <script>
2228 |             <uri>file://media/materials/scripts/gazebo.material</uri>
2229 |             <name>Gazebo/Grey</name>
2230 |           </script>
2231 |           <ambient>0.3 0.3 0.3 1</ambient>
2232 |           <diffuse>0.7 0.7 0.7 1</diffuse>
2233 |           <specular>0.01 0.01 0.01 1</specular>
2234 |           <emissive>0 0 0 1</emissive>
2235 |           <shader type='pixel'/>
2236 |         </material>
2237 |         <transparency>0</transparency>
2238 |         <cast_shadows>1</cast_shadows>
2239 |       </visual>
2240 |       <collision name='collision'>
2241 |         <laser_retro>0</laser_retro>
2242 |         <max_contacts>10</max_contacts>
2243 |         <pose frame=''>0 0 0 0 -0 0</pose>
2244 |         <geometry>
2245 |           <box>
2246 |             <size>7.88951 0.545905 1</size>
2247 |           </box>
2248 |         </geometry>
2249 |         <surface>
2250 |           <friction>
2251 |             <ode>
2252 |               <mu>1</mu>
2253 |               <mu2>1</mu2>
2254 |               <fdir1>0 0 0</fdir1>
2255 |               <slip1>0</slip1>
2256 |               <slip2>0</slip2>
2257 |             </ode>
2258 |             <torsional>
2259 |               <coefficient>1</coefficient>
2260 |               <patch_radius>0</patch_radius>
2261 |               <surface_radius>0</surface_radius>
2262 |               <use_patch_radius>1</use_patch_radius>
2263 |               <ode>
2264 |                 <slip>0</slip>
2265 |               </ode>
2266 |             </torsional>
2267 |           </friction>
2268 |           <bounce>
2269 |             <restitution_coefficient>0</restitution_coefficient>
2270 |             <threshold>1e+06</threshold>
2271 |           </bounce>
2272 |           <contact>
2273 |             <collide_without_contact>0</collide_without_contact>
2274 |             <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
2275 |             <collide_bitmask>1</collide_bitmask>
2276 |             <ode>
2277 |               <soft_cfm>0</soft_cfm>
2278 |               <soft_erp>0.2</soft_erp>
2279 |               <kp>1e+13</kp>
2280 |               <kd>1</kd>
2281 |               <max_vel>0.01</max_vel>
2282 |               <min_depth>0</min_depth>
2283 |             </ode>
2284 |             <bullet>
2285 |               <split_impulse>1</split_impulse>
2286 |               <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
2287 |               <soft_cfm>0</soft_cfm>
2288 |               <soft_erp>0.2</soft_erp>
2289 |               <kp>1e+13</kp>
2290 |               <kd>1</kd>
2291 |             </bullet>
2292 |           </contact>
2293 |         </surface>
2294 |       </collision>
2295 |     </link>
2296 |     <link name='link_4_clone_1_clone_1_clone'>
2297 |       <pose frame=''>-6.35585 1.56416 9e-06 0 0 -1.56693</pose>
2298 |       <inertial>
2299 |         <mass>2.3361</mass>
2300 |         <inertia>
2301 |           <ixx>0.25269</ixx>
2302 |           <ixy>0</ixy>
2303 |           <ixz>0</ixz>
2304 |           <iyy>3.75965</iyy>
2305 |           <iyz>0</iyz>
2306 |           <izz>3.62299</izz>
2307 |         </inertia>
2308 |         <pose frame=''>0 0 0 0 -0 0</pose>
2309 |       </inertial>
2310 |       <visual name='visual'>
2311 |         <pose frame=''>0 0 0 0 -0 0</pose>
2312 |         <geometry>
2313 |           <box>
2314 |             <size>4.27931 0.545905 1</size>
2315 |           </box>
2316 |         </geometry>
2317 |         <material>
2318 |           <lighting>1</lighting>
2319 |           <script>
2320 |             <uri>file://media/materials/scripts/gazebo.material</uri>
2321 |             <name>Gazebo/Grey</name>
2322 |           </script>
2323 |           <ambient>0.3 0.3 0.3 1</ambient>
2324 |           <diffuse>0.7 0.7 0.7 1</diffuse>
2325 |           <specular>0.01 0.01 0.01 1</specular>
2326 |           <emissive>0 0 0 1</emissive>
2327 |           <shader type='pixel'/>
2328 |         </material>
2329 |         <transparency>0</transparency>
2330 |         <cast_shadows>1</cast_shadows>
2331 |       </visual>
2332 |       <collision name='collision'>
2333 |         <laser_retro>0</laser_retro>
2334 |         <max_contacts>10</max_contacts>
2335 |         <pose frame=''>0 0 0 0 -0 0</pose>
2336 |         <geometry>
2337 |           <box>
2338 |             <size>4.27931 0.545905 1</size>
2339 |           </box>
2340 |         </geometry>
2341 |         <surface>
2342 |           <friction>
2343 |             <ode>
2344 |               <mu>1</mu>
2345 |               <mu2>1</mu2>
2346 |               <fdir1>0 0 0</fdir1>
2347 |               <slip1>0</slip1>
2348 |               <slip2>0</slip2>
2349 |             </ode>
2350 |             <torsional>
2351 |               <coefficient>1</coefficient>
2352 |               <patch_radius>0</patch_radius>
2353 |               <surface_radius>0</surface_radius>
2354 |               <use_patch_radius>1</use_patch_radius>
2355 |               <ode>
2356 |                 <slip>0</slip>
2357 |               </ode>
2358 |             </torsional>
2359 |           </friction>
2360 |           <bounce>
2361 |             <restitution_coefficient>0</restitution_coefficient>
2362 |             <threshold>1e+06</threshold>
2363 |           </bounce>
2364 |           <contact>
2365 |             <collide_without_contact>0</collide_without_contact>
2366 |             <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
2367 |             <collide_bitmask>1</collide_bitmask>
2368 |             <ode>
2369 |               <soft_cfm>0</soft_cfm>
2370 |               <soft_erp>0.2</soft_erp>
2371 |               <kp>1e+13</kp>
2372 |               <kd>1</kd>
2373 |               <max_vel>0.01</max_vel>
2374 |               <min_depth>0</min_depth>
2375 |             </ode>
2376 |             <bullet>
2377 |               <split_impulse>1</split_impulse>
2378 |               <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
2379 |               <soft_cfm>0</soft_cfm>
2380 |               <soft_erp>0.2</soft_erp>
2381 |               <kp>1e+13</kp>
2382 |               <kd>1</kd>
2383 |             </bullet>
2384 |           </contact>
2385 |         </surface>
2386 |       </collision>
2387 |     </link>
2388 |     <link name='link_4_clone_1_clone_1_clone_0'>
2389 |       <pose frame=''>-0.36051 -0.054697 9e-06 0 0 -1.56693</pose>
2390 |       <inertial>
2391 |         <mass>4.30693</mass>
2392 |         <inertia>
2393 |           <ixx>0.46587</ixx>
2394 |           <ixy>0</ixy>
2395 |           <ixz>0</ixz>
2396 |           <iyy>22.6991</iyy>
2397 |           <iyz>0</iyz>
2398 |           <izz>22.4471</izz>
2399 |         </inertia>
2400 |         <pose frame=''>0 0 0 0 -0 0</pose>
2401 |       </inertial>
2402 |       <visual name='visual'>
2403 |         <pose frame=''>0 0 0 0 -0 0</pose>
2404 |         <geometry>
2405 |           <box>
2406 |             <size>7.88951 0.545905 1</size>
2407 |           </box>
2408 |         </geometry>
2409 |         <material>
2410 |           <lighting>1</lighting>
2411 |           <script>
2412 |             <uri>file://media/materials/scripts/gazebo.material</uri>
2413 |             <name>Gazebo/Grey</name>
2414 |           </script>
2415 |           <ambient>0.3 0.3 0.3 1</ambient>
2416 |           <diffuse>0.7 0.7 0.7 1</diffuse>
2417 |           <specular>0.01 0.01 0.01 1</specular>
2418 |           <emissive>0 0 0 1</emissive>
2419 |           <shader type='pixel'/>
2420 |         </material>
2421 |         <transparency>0</transparency>
2422 |         <cast_shadows>1</cast_shadows>
2423 |       </visual>
2424 |       <collision name='collision'>
2425 |         <laser_retro>0</laser_retro>
2426 |         <max_contacts>10</max_contacts>
2427 |         <pose frame=''>0 0 0 0 -0 0</pose>
2428 |         <geometry>
2429 |           <box>
2430 |             <size>7.88951 0.545905 1</size>
2431 |           </box>
2432 |         </geometry>
2433 |         <surface>
2434 |           <friction>
2435 |             <ode>
2436 |               <mu>1</mu>
2437 |               <mu2>1</mu2>
2438 |               <fdir1>0 0 0</fdir1>
2439 |               <slip1>0</slip1>
2440 |               <slip2>0</slip2>
2441 |             </ode>
2442 |             <torsional>
2443 |               <coefficient>1</coefficient>
2444 |               <patch_radius>0</patch_radius>
2445 |               <surface_radius>0</surface_radius>
2446 |               <use_patch_radius>1</use_patch_radius>
2447 |               <ode>
2448 |                 <slip>0</slip>
2449 |               </ode>
2450 |             </torsional>
2451 |           </friction>
2452 |           <bounce>
2453 |             <restitution_coefficient>0</restitution_coefficient>
2454 |             <threshold>1e+06</threshold>
2455 |           </bounce>
2456 |           <contact>
2457 |             <collide_without_contact>0</collide_without_contact>
2458 |             <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
2459 |             <collide_bitmask>1</collide_bitmask>
2460 |             <ode>
2461 |               <soft_cfm>0</soft_cfm>
2462 |               <soft_erp>0.2</soft_erp>
2463 |               <kp>1e+13</kp>
2464 |               <kd>1</kd>
2465 |               <max_vel>0.01</max_vel>
2466 |               <min_depth>0</min_depth>
2467 |             </ode>
2468 |             <bullet>
2469 |               <split_impulse>1</split_impulse>
2470 |               <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
2471 |               <soft_cfm>0</soft_cfm>
2472 |               <soft_erp>0.2</soft_erp>
2473 |               <kp>1e+13</kp>
2474 |               <kd>1</kd>
2475 |             </bullet>
2476 |           </contact>
2477 |         </surface>
2478 |       </collision>
2479 |     </link>
2480 |     <link name='link_4_clone_1_clone_1_clone_0_clone'>
2481 |       <pose frame=''>5.88859 -2.1218 9e-06 0 0 -1.56693</pose>
2482 |       <inertial>
2483 |         <mass>4.30693</mass>
2484 |         <inertia>
2485 |           <ixx>0.46587</ixx>
2486 |           <ixy>0</ixy>
2487 |           <ixz>0</ixz>
2488 |           <iyy>22.6991</iyy>
2489 |           <iyz>0</iyz>
2490 |           <izz>22.4471</izz>
2491 |         </inertia>
2492 |         <pose frame=''>0 0 0 0 -0 0</pose>
2493 |       </inertial>
2494 |       <visual name='visual'>
2495 |         <pose frame=''>0 0 0 0 -0 0</pose>
2496 |         <geometry>
2497 |           <box>
2498 |             <size>7.88951 0.545905 1</size>
2499 |           </box>
2500 |         </geometry>
2501 |         <material>
2502 |           <lighting>1</lighting>
2503 |           <script>
2504 |             <uri>file://media/materials/scripts/gazebo.material</uri>
2505 |             <name>Gazebo/Grey</name>
2506 |           </script>
2507 |           <ambient>0.3 0.3 0.3 1</ambient>
2508 |           <diffuse>0.7 0.7 0.7 1</diffuse>
2509 |           <specular>0.01 0.01 0.01 1</specular>
2510 |           <emissive>0 0 0 1</emissive>
2511 |           <shader type='pixel'/>
2512 |         </material>
2513 |         <transparency>0</transparency>
2514 |         <cast_shadows>1</cast_shadows>
2515 |       </visual>
2516 |       <collision name='collision'>
2517 |         <laser_retro>0</laser_retro>
2518 |         <max_contacts>10</max_contacts>
2519 |         <pose frame=''>0 0 0 0 -0 0</pose>
2520 |         <geometry>
2521 |           <box>
2522 |             <size>7.88951 0.545905 1</size>
2523 |           </box>
2524 |         </geometry>
2525 |         <surface>
2526 |           <friction>
2527 |             <ode>
2528 |               <mu>1</mu>
2529 |               <mu2>1</mu2>
2530 |               <fdir1>0 0 0</fdir1>
2531 |               <slip1>0</slip1>
2532 |               <slip2>0</slip2>
2533 |             </ode>
2534 |             <torsional>
2535 |               <coefficient>1</coefficient>
2536 |               <patch_radius>0</patch_radius>
2537 |               <surface_radius>0</surface_radius>
2538 |               <use_patch_radius>1</use_patch_radius>
2539 |               <ode>
2540 |                 <slip>0</slip>
2541 |               </ode>
2542 |             </torsional>
2543 |           </friction>
2544 |           <bounce>
2545 |             <restitution_coefficient>0</restitution_coefficient>
2546 |             <threshold>1e+06</threshold>
2547 |           </bounce>
2548 |           <contact>
2549 |             <collide_without_contact>0</collide_without_contact>
2550 |             <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
2551 |             <collide_bitmask>1</collide_bitmask>
2552 |             <ode>
2553 |               <soft_cfm>0</soft_cfm>
2554 |               <soft_erp>0.2</soft_erp>
2555 |               <kp>1e+13</kp>
2556 |               <kd>1</kd>
2557 |               <max_vel>0.01</max_vel>
2558 |               <min_depth>0</min_depth>
2559 |             </ode>
2560 |             <bullet>
2561 |               <split_impulse>1</split_impulse>
2562 |               <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
2563 |               <soft_cfm>0</soft_cfm>
2564 |               <soft_erp>0.2</soft_erp>
2565 |               <kp>1e+13</kp>
2566 |               <kd>1</kd>
2567 |             </bullet>
2568 |           </contact>
2569 |         </surface>
2570 |       </collision>
2571 |     </link>
2572 |     <link name='link_4_clone_1_clone_1_clone_0_clone_clone'>
2573 |       <pose frame=''>10.4715 7.44804 9e-06 0 0 -1.56693</pose>
2574 |       <inertial>
2575 |         <mass>4.30693</mass>
2576 |         <inertia>
2577 |           <ixx>0.46587</ixx>
2578 |           <ixy>0</ixy>
2579 |           <ixz>0</ixz>
2580 |           <iyy>22.6991</iyy>
2581 |           <iyz>0</iyz>
2582 |           <izz>22.4471</izz>
2583 |         </inertia>
2584 |         <pose frame=''>0 0 0 0 -0 0</pose>
2585 |       </inertial>
2586 |       <visual name='visual'>
2587 |         <pose frame=''>0 0 0 0 -0 0</pose>
2588 |         <geometry>
2589 |           <box>
2590 |             <size>7.88951 0.545905 1</size>
2591 |           </box>
2592 |         </geometry>
2593 |         <material>
2594 |           <lighting>1</lighting>
2595 |           <script>
2596 |             <uri>file://media/materials/scripts/gazebo.material</uri>
2597 |             <name>Gazebo/Grey</name>
2598 |           </script>
2599 |           <ambient>0.3 0.3 0.3 1</ambient>
2600 |           <diffuse>0.7 0.7 0.7 1</diffuse>
2601 |           <specular>0.01 0.01 0.01 1</specular>
2602 |           <emissive>0 0 0 1</emissive>
2603 |           <shader type='pixel'/>
2604 |         </material>
2605 |         <transparency>0</transparency>
2606 |         <cast_shadows>1</cast_shadows>
2607 |       </visual>
2608 |       <collision name='collision'>
2609 |         <laser_retro>0</laser_retro>
2610 |         <max_contacts>10</max_contacts>
2611 |         <pose frame=''>0 0 0 0 -0 0</pose>
2612 |         <geometry>
2613 |           <box>
2614 |             <size>7.88951 0.545905 1</size>
2615 |           </box>
2616 |         </geometry>
2617 |         <surface>
2618 |           <friction>
2619 |             <ode>
2620 |               <mu>1</mu>
2621 |               <mu2>1</mu2>
2622 |               <fdir1>0 0 0</fdir1>
2623 |               <slip1>0</slip1>
2624 |               <slip2>0</slip2>
2625 |             </ode>
2626 |             <torsional>
2627 |               <coefficient>1</coefficient>
2628 |               <patch_radius>0</patch_radius>
2629 |               <surface_radius>0</surface_radius>
2630 |               <use_patch_radius>1</use_patch_radius>
2631 |               <ode>
2632 |                 <slip>0</slip>
2633 |               </ode>
2634 |             </torsional>
2635 |           </friction>
2636 |           <bounce>
2637 |             <restitution_coefficient>0</restitution_coefficient>
2638 |             <threshold>1e+06</threshold>
2639 |           </bounce>
2640 |           <contact>
2641 |             <collide_without_contact>0</collide_without_contact>
2642 |             <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
2643 |             <collide_bitmask>1</collide_bitmask>
2644 |             <ode>
2645 |               <soft_cfm>0</soft_cfm>
2646 |               <soft_erp>0.2</soft_erp>
2647 |               <kp>1e+13</kp>
2648 |               <kd>1</kd>
2649 |               <max_vel>0.01</max_vel>
2650 |               <min_depth>0</min_depth>
2651 |             </ode>
2652 |             <bullet>
2653 |               <split_impulse>1</split_impulse>
2654 |               <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
2655 |               <soft_cfm>0</soft_cfm>
2656 |               <soft_erp>0.2</soft_erp>
2657 |               <kp>1e+13</kp>
2658 |               <kd>1</kd>
2659 |             </bullet>
2660 |           </contact>
2661 |         </surface>
2662 |       </collision>
2663 |     </link>
2664 |     <link name='link_4_clone_1_clone_1_clone_1'>
2665 |       <pose frame=''>5.82858 4.32024 9e-06 0 0 -1.56693</pose>
2666 |       <inertial>
2667 |         <mass>4.30693</mass>
2668 |         <inertia>
2669 |           <ixx>0.46587</ixx>
2670 |           <ixy>0</ixy>
2671 |           <ixz>0</ixz>
2672 |           <iyy>22.6991</iyy>
2673 |           <iyz>0</iyz>
2674 |           <izz>22.4471</izz>
2675 |         </inertia>
2676 |         <pose frame=''>0 0 0 0 -0 0</pose>
2677 |       </inertial>
2678 |       <visual name='visual'>
2679 |         <pose frame=''>0 0 0 0 -0 0</pose>
2680 |         <geometry>
2681 |           <box>
2682 |             <size>7.88951 0.545905 1</size>
2683 |           </box>
2684 |         </geometry>
2685 |         <material>
2686 |           <lighting>1</lighting>
2687 |           <script>
2688 |             <uri>file://media/materials/scripts/gazebo.material</uri>
2689 |             <name>Gazebo/Grey</name>
2690 |           </script>
2691 |           <ambient>0.3 0.3 0.3 1</ambient>
2692 |           <diffuse>0.7 0.7 0.7 1</diffuse>
2693 |           <specular>0.01 0.01 0.01 1</specular>
2694 |           <emissive>0 0 0 1</emissive>
2695 |           <shader type='pixel'/>
2696 |         </material>
2697 |         <transparency>0</transparency>
2698 |         <cast_shadows>1</cast_shadows>
2699 |       </visual>
2700 |       <collision name='collision'>
2701 |         <laser_retro>0</laser_retro>
2702 |         <max_contacts>10</max_contacts>
2703 |         <pose frame=''>0 0 0 0 -0 0</pose>
2704 |         <geometry>
2705 |           <box>
2706 |             <size>7.88951 0.545905 1</size>
2707 |           </box>
2708 |         </geometry>
2709 |         <surface>
2710 |           <friction>
2711 |             <ode>
2712 |               <mu>1</mu>
2713 |               <mu2>1</mu2>
2714 |               <fdir1>0 0 0</fdir1>
2715 |               <slip1>0</slip1>
2716 |               <slip2>0</slip2>
2717 |             </ode>
2718 |             <torsional>
2719 |               <coefficient>1</coefficient>
2720 |               <patch_radius>0</patch_radius>
2721 |               <surface_radius>0</surface_radius>
2722 |               <use_patch_radius>1</use_patch_radius>
2723 |               <ode>
2724 |                 <slip>0</slip>
2725 |               </ode>
2726 |             </torsional>
2727 |           </friction>
2728 |           <bounce>
2729 |             <restitution_coefficient>0</restitution_coefficient>
2730 |             <threshold>1e+06</threshold>
2731 |           </bounce>
2732 |           <contact>
2733 |             <collide_without_contact>0</collide_without_contact>
2734 |             <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
2735 |             <collide_bitmask>1</collide_bitmask>
2736 |             <ode>
2737 |               <soft_cfm>0</soft_cfm>
2738 |               <soft_erp>0.2</soft_erp>
2739 |               <kp>1e+13</kp>
2740 |               <kd>1</kd>
2741 |               <max_vel>0.01</max_vel>
2742 |               <min_depth>0</min_depth>
2743 |             </ode>
2744 |             <bullet>
2745 |               <split_impulse>1</split_impulse>
2746 |               <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
2747 |               <soft_cfm>0</soft_cfm>
2748 |               <soft_erp>0.2</soft_erp>
2749 |               <kp>1e+13</kp>
2750 |               <kd>1</kd>
2751 |             </bullet>
2752 |           </contact>
2753 |         </surface>
2754 |       </collision>
2755 |     </link>
2756 |     <link name='link_4_clone_1_clone_1_clone_2'>
2757 |       <pose frame=''>-3.1358 7.42604 9e-06 0 0 -1.56693</pose>
2758 |       <inertial>
2759 |         <mass>4.30693</mass>
2760 |         <inertia>
2761 |           <ixx>0.46587</ixx>
2762 |           <ixy>0</ixy>
2763 |           <ixz>0</ixz>
2764 |           <iyy>22.6991</iyy>
2765 |           <iyz>0</iyz>
2766 |           <izz>22.4471</izz>
2767 |         </inertia>
2768 |         <pose frame=''>0 0 0 0 -0 0</pose>
2769 |       </inertial>
2770 |       <visual name='visual'>
2771 |         <pose frame=''>0 0 0 0 -0 0</pose>
2772 |         <geometry>
2773 |           <box>
2774 |             <size>7.88951 0.545905 1</size>
2775 |           </box>
2776 |         </geometry>
2777 |         <material>
2778 |           <lighting>1</lighting>
2779 |           <script>
2780 |             <uri>file://media/materials/scripts/gazebo.material</uri>
2781 |             <name>Gazebo/Grey</name>
2782 |           </script>
2783 |           <ambient>0.3 0.3 0.3 1</ambient>
2784 |           <diffuse>0.7 0.7 0.7 1</diffuse>
2785 |           <specular>0.01 0.01 0.01 1</specular>
2786 |           <emissive>0 0 0 1</emissive>
2787 |           <shader type='pixel'/>
2788 |         </material>
2789 |         <transparency>0</transparency>
2790 |         <cast_shadows>1</cast_shadows>
2791 |       </visual>
2792 |       <collision name='collision'>
2793 |         <laser_retro>0</laser_retro>
2794 |         <max_contacts>10</max_contacts>
2795 |         <pose frame=''>0 0 0 0 -0 0</pose>
2796 |         <geometry>
2797 |           <box>
2798 |             <size>7.88951 0.545905 1</size>
2799 |           </box>
2800 |         </geometry>
2801 |         <surface>
2802 |           <friction>
2803 |             <ode>
2804 |               <mu>1</mu>
2805 |               <mu2>1</mu2>
2806 |               <fdir1>0 0 0</fdir1>
2807 |               <slip1>0</slip1>
2808 |               <slip2>0</slip2>
2809 |             </ode>
2810 |             <torsional>
2811 |               <coefficient>1</coefficient>
2812 |               <patch_radius>0</patch_radius>
2813 |               <surface_radius>0</surface_radius>
2814 |               <use_patch_radius>1</use_patch_radius>
2815 |               <ode>
2816 |                 <slip>0</slip>
2817 |               </ode>
2818 |             </torsional>
2819 |           </friction>
2820 |           <bounce>
2821 |             <restitution_coefficient>0</restitution_coefficient>
2822 |             <threshold>1e+06</threshold>
2823 |           </bounce>
2824 |           <contact>
2825 |             <collide_without_contact>0</collide_without_contact>
2826 |             <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
2827 |             <collide_bitmask>1</collide_bitmask>
2828 |             <ode>
2829 |               <soft_cfm>0</soft_cfm>
2830 |               <soft_erp>0.2</soft_erp>
2831 |               <kp>1e+13</kp>
2832 |               <kd>1</kd>
2833 |               <max_vel>0.01</max_vel>
2834 |               <min_depth>0</min_depth>
2835 |             </ode>
2836 |             <bullet>
2837 |               <split_impulse>1</split_impulse>
2838 |               <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
2839 |               <soft_cfm>0</soft_cfm>
2840 |               <soft_erp>0.2</soft_erp>
2841 |               <kp>1e+13</kp>
2842 |               <kd>1</kd>
2843 |             </bullet>
2844 |           </contact>
2845 |         </surface>
2846 |       </collision>
2847 |     </link>
2848 |     <link name='link_4_clone_1_clone_1_clone_clone'>
2849 |       <pose frame=''>-3.01465 -0.148136 9e-06 0 0 -1.56693</pose>
2850 |       <inertial>
2851 |         <mass>1.50003</mass>
2852 |         <inertia>
2853 |           <ixx>0.162255</ixx>
2854 |           <ixy>0</ixy>
2855 |           <ixz>0</ixz>
2856 |           <iyy>1.06881</iyy>
2857 |           <iyz>0</iyz>
2858 |           <izz>0.981058</izz>
2859 |         </inertia>
2860 |         <pose frame=''>0 0 0 0 -0 0</pose>
2861 |       </inertial>
2862 |       <visual name='visual'>
2863 |         <pose frame=''>0 0 0 0 -0 0</pose>
2864 |         <geometry>
2865 |           <box>
2866 |             <size>2.74778 0.545905 1</size>
2867 |           </box>
2868 |         </geometry>
2869 |         <material>
2870 |           <lighting>1</lighting>
2871 |           <script>
2872 |             <uri>file://media/materials/scripts/gazebo.material</uri>
2873 |             <name>Gazebo/Grey</name>
2874 |           </script>
2875 |           <ambient>0.3 0.3 0.3 1</ambient>
2876 |           <diffuse>0.7 0.7 0.7 1</diffuse>
2877 |           <specular>0.01 0.01 0.01 1</specular>
2878 |           <emissive>0 0 0 1</emissive>
2879 |           <shader type='pixel'/>
2880 |         </material>
2881 |         <transparency>0</transparency>
2882 |         <cast_shadows>1</cast_shadows>
2883 |       </visual>
2884 |       <collision name='collision'>
2885 |         <laser_retro>0</laser_retro>
2886 |         <max_contacts>10</max_contacts>
2887 |         <pose frame=''>0 0 0 0 -0 0</pose>
2888 |         <geometry>
2889 |           <box>
2890 |             <size>2.74778 0.545905 1</size>
2891 |           </box>
2892 |         </geometry>
2893 |         <surface>
2894 |           <friction>
2895 |             <ode>
2896 |               <mu>1</mu>
2897 |               <mu2>1</mu2>
2898 |               <fdir1>0 0 0</fdir1>
2899 |               <slip1>0</slip1>
2900 |               <slip2>0</slip2>
2901 |             </ode>
2902 |             <torsional>
2903 |               <coefficient>1</coefficient>
2904 |               <patch_radius>0</patch_radius>
2905 |               <surface_radius>0</surface_radius>
2906 |               <use_patch_radius>1</use_patch_radius>
2907 |               <ode>
2908 |                 <slip>0</slip>
2909 |               </ode>
2910 |             </torsional>
2911 |           </friction>
2912 |           <bounce>
2913 |             <restitution_coefficient>0</restitution_coefficient>
2914 |             <threshold>1e+06</threshold>
2915 |           </bounce>
2916 |           <contact>
2917 |             <collide_without_contact>0</collide_without_contact>
2918 |             <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
2919 |             <collide_bitmask>1</collide_bitmask>
2920 |             <ode>
2921 |               <soft_cfm>0</soft_cfm>
2922 |               <soft_erp>0.2</soft_erp>
2923 |               <kp>1e+13</kp>
2924 |               <kd>1</kd>
2925 |               <max_vel>0.01</max_vel>
2926 |               <min_depth>0</min_depth>
2927 |             </ode>
2928 |             <bullet>
2929 |               <split_impulse>1</split_impulse>
2930 |               <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
2931 |               <soft_cfm>0</soft_cfm>
2932 |               <soft_erp>0.2</soft_erp>
2933 |               <kp>1e+13</kp>
2934 |               <kd>1</kd>
2935 |             </bullet>
2936 |           </contact>
2937 |         </surface>
2938 |       </collision>
2939 |     </link>
2940 |     <link name='link_4_clone_1_clone_1_clone_clone_0'>
2941 |       <pose frame=''>-2.95631 -3.9379 9e-06 0 0 -1.56693</pose>
2942 |       <inertial>
2943 |         <mass>2.3361</mass>
2944 |         <inertia>
2945 |           <ixx>0.25269</ixx>
2946 |           <ixy>0</ixy>
2947 |           <ixz>0</ixz>
2948 |           <iyy>3.75965</iyy>
2949 |           <iyz>0</iyz>
2950 |           <izz>3.62299</izz>
2951 |         </inertia>
2952 |         <pose frame=''>0 0 0 0 -0 0</pose>
2953 |       </inertial>
2954 |       <visual name='visual'>
2955 |         <pose frame=''>0 0 0 0 -0 0</pose>
2956 |         <geometry>
2957 |           <box>
2958 |             <size>4.27931 0.545905 1</size>
2959 |           </box>
2960 |         </geometry>
2961 |         <material>
2962 |           <lighting>1</lighting>
2963 |           <script>
2964 |             <uri>file://media/materials/scripts/gazebo.material</uri>
2965 |             <name>Gazebo/Grey</name>
2966 |           </script>
2967 |           <ambient>0.3 0.3 0.3 1</ambient>
2968 |           <diffuse>0.7 0.7 0.7 1</diffuse>
2969 |           <specular>0.01 0.01 0.01 1</specular>
2970 |           <emissive>0 0 0 1</emissive>
2971 |           <shader type='pixel'/>
2972 |         </material>
2973 |         <transparency>0</transparency>
2974 |         <cast_shadows>1</cast_shadows>
2975 |       </visual>
2976 |       <collision name='collision'>
2977 |         <laser_retro>0</laser_retro>
2978 |         <max_contacts>10</max_contacts>
2979 |         <pose frame=''>0 0 0 0 -0 0</pose>
2980 |         <geometry>
2981 |           <box>
2982 |             <size>4.27931 0.545905 1</size>
2983 |           </box>
2984 |         </geometry>
2985 |         <surface>
2986 |           <friction>
2987 |             <ode>
2988 |               <mu>1</mu>
2989 |               <mu2>1</mu2>
2990 |               <fdir1>0 0 0</fdir1>
2991 |               <slip1>0</slip1>
2992 |               <slip2>0</slip2>
2993 |             </ode>
2994 |             <torsional>
2995 |               <coefficient>1</coefficient>
2996 |               <patch_radius>0</patch_radius>
2997 |               <surface_radius>0</surface_radius>
2998 |               <use_patch_radius>1</use_patch_radius>
2999 |               <ode>
3000 |                 <slip>0</slip>
3001 |               </ode>
3002 |             </torsional>
3003 |           </friction>
3004 |           <bounce>
3005 |             <restitution_coefficient>0</restitution_coefficient>
3006 |             <threshold>1e+06</threshold>
3007 |           </bounce>
3008 |           <contact>
3009 |             <collide_without_contact>0</collide_without_contact>
3010 |             <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
3011 |             <collide_bitmask>1</collide_bitmask>
3012 |             <ode>
3013 |               <soft_cfm>0</soft_cfm>
3014 |               <soft_erp>0.2</soft_erp>
3015 |               <kp>1e+13</kp>
3016 |               <kd>1</kd>
3017 |               <max_vel>0.01</max_vel>
3018 |               <min_depth>0</min_depth>
3019 |             </ode>
3020 |             <bullet>
3021 |               <split_impulse>1</split_impulse>
3022 |               <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
3023 |               <soft_cfm>0</soft_cfm>
3024 |               <soft_erp>0.2</soft_erp>
3025 |               <kp>1e+13</kp>
3026 |               <kd>1</kd>
3027 |             </bullet>
3028 |           </contact>
3029 |         </surface>
3030 |       </collision>
3031 |     </link>
3032 |     <link name='link_4_clone_1_clone_1_clone_clone_0_clone'>
3033 |       <pose frame=''>4.03057 -6.47031 9e-06 0 -0 0.2833</pose>
3034 |       <inertial>
3035 |         <mass>2.3361</mass>
3036 |         <inertia>
3037 |           <ixx>0.25269</ixx>
3038 |           <ixy>0</ixy>
3039 |           <ixz>0</ixz>
3040 |           <iyy>3.75965</iyy>
3041 |           <iyz>0</iyz>
3042 |           <izz>3.62299</izz>
3043 |         </inertia>
3044 |         <pose frame=''>0 0 0 0 -0 0</pose>
3045 |       </inertial>
3046 |       <visual name='visual'>
3047 |         <pose frame=''>0 0 0 0 -0 0</pose>
3048 |         <geometry>
3049 |           <box>
3050 |             <size>4.27931 0.545905 1</size>
3051 |           </box>
3052 |         </geometry>
3053 |         <material>
3054 |           <lighting>1</lighting>
3055 |           <script>
3056 |             <uri>file://media/materials/scripts/gazebo.material</uri>
3057 |             <name>Gazebo/Grey</name>
3058 |           </script>
3059 |           <ambient>0.3 0.3 0.3 1</ambient>
3060 |           <diffuse>0.7 0.7 0.7 1</diffuse>
3061 |           <specular>0.01 0.01 0.01 1</specular>
3062 |           <emissive>0 0 0 1</emissive>
3063 |           <shader type='pixel'/>
3064 |         </material>
3065 |         <transparency>0</transparency>
3066 |         <cast_shadows>1</cast_shadows>
3067 |       </visual>
3068 |       <collision name='collision'>
3069 |         <laser_retro>0</laser_retro>
3070 |         <max_contacts>10</max_contacts>
3071 |         <pose frame=''>0 0 0 0 -0 0</pose>
3072 |         <geometry>
3073 |           <box>
3074 |             <size>4.27931 0.545905 1</size>
3075 |           </box>
3076 |         </geometry>
3077 |         <surface>
3078 |           <friction>
3079 |             <ode>
3080 |               <mu>1</mu>
3081 |               <mu2>1</mu2>
3082 |               <fdir1>0 0 0</fdir1>
3083 |               <slip1>0</slip1>
3084 |               <slip2>0</slip2>
3085 |             </ode>
3086 |             <torsional>
3087 |               <coefficient>1</coefficient>
3088 |               <patch_radius>0</patch_radius>
3089 |               <surface_radius>0</surface_radius>
3090 |               <use_patch_radius>1</use_patch_radius>
3091 |               <ode>
3092 |                 <slip>0</slip>
3093 |               </ode>
3094 |             </torsional>
3095 |           </friction>
3096 |           <bounce>
3097 |             <restitution_coefficient>0</restitution_coefficient>
3098 |             <threshold>1e+06</threshold>
3099 |           </bounce>
3100 |           <contact>
3101 |             <collide_without_contact>0</collide_without_contact>
3102 |             <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
3103 |             <collide_bitmask>1</collide_bitmask>
3104 |             <ode>
3105 |               <soft_cfm>0</soft_cfm>
3106 |               <soft_erp>0.2</soft_erp>
3107 |               <kp>1e+13</kp>
3108 |               <kd>1</kd>
3109 |               <max_vel>0.01</max_vel>
3110 |               <min_depth>0</min_depth>
3111 |             </ode>
3112 |             <bullet>
3113 |               <split_impulse>1</split_impulse>
3114 |               <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
3115 |               <soft_cfm>0</soft_cfm>
3116 |               <soft_erp>0.2</soft_erp>
3117 |               <kp>1e+13</kp>
3118 |               <kd>1</kd>
3119 |             </bullet>
3120 |           </contact>
3121 |         </surface>
3122 |       </collision>
3123 |     </link>
3124 |     <link name='link_4_clone_1_clone_1_clone_clone_0_clone_0'>
3125 |       <pose frame=''>-0.349699 -5.56946 9e-06 0 0 -1.56693</pose>
3126 |       <inertial>
3127 |         <mass>2.3361</mass>
3128 |         <inertia>
3129 |           <ixx>0.25269</ixx>
3130 |           <ixy>0</ixy>
3131 |           <ixz>0</ixz>
3132 |           <iyy>3.75965</iyy>
3133 |           <iyz>0</iyz>
3134 |           <izz>3.62299</izz>
3135 |         </inertia>
3136 |         <pose frame=''>0 0 0 0 -0 0</pose>
3137 |       </inertial>
3138 |       <visual name='visual'>
3139 |         <pose frame=''>0 0 0 0 -0 0</pose>
3140 |         <geometry>
3141 |           <box>
3142 |             <size>4.27931 0.545905 1</size>
3143 |           </box>
3144 |         </geometry>
3145 |         <material>
3146 |           <lighting>1</lighting>
3147 |           <script>
3148 |             <uri>file://media/materials/scripts/gazebo.material</uri>
3149 |             <name>Gazebo/Grey</name>
3150 |           </script>
3151 |           <ambient>0.3 0.3 0.3 1</ambient>
3152 |           <diffuse>0.7 0.7 0.7 1</diffuse>
3153 |           <specular>0.01 0.01 0.01 1</specular>
3154 |           <emissive>0 0 0 1</emissive>
3155 |           <shader type='pixel'/>
3156 |         </material>
3157 |         <transparency>0</transparency>
3158 |         <cast_shadows>1</cast_shadows>
3159 |       </visual>
3160 |       <collision name='collision'>
3161 |         <laser_retro>0</laser_retro>
3162 |         <max_contacts>10</max_contacts>
3163 |         <pose frame=''>0 0 0 0 -0 0</pose>
3164 |         <geometry>
3165 |           <box>
3166 |             <size>4.27931 0.545905 1</size>
3167 |           </box>
3168 |         </geometry>
3169 |         <surface>
3170 |           <friction>
3171 |             <ode>
3172 |               <mu>1</mu>
3173 |               <mu2>1</mu2>
3174 |               <fdir1>0 0 0</fdir1>
3175 |               <slip1>0</slip1>
3176 |               <slip2>0</slip2>
3177 |             </ode>
3178 |             <torsional>
3179 |               <coefficient>1</coefficient>
3180 |               <patch_radius>0</patch_radius>
3181 |               <surface_radius>0</surface_radius>
3182 |               <use_patch_radius>1</use_patch_radius>
3183 |               <ode>
3184 |                 <slip>0</slip>
3185 |               </ode>
3186 |             </torsional>
3187 |           </friction>
3188 |           <bounce>
3189 |             <restitution_coefficient>0</restitution_coefficient>
3190 |             <threshold>1e+06</threshold>
3191 |           </bounce>
3192 |           <contact>
3193 |             <collide_without_contact>0</collide_without_contact>
3194 |             <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
3195 |             <collide_bitmask>1</collide_bitmask>
3196 |             <ode>
3197 |               <soft_cfm>0</soft_cfm>
3198 |               <soft_erp>0.2</soft_erp>
3199 |               <kp>1e+13</kp>
3200 |               <kd>1</kd>
3201 |               <max_vel>0.01</max_vel>
3202 |               <min_depth>0</min_depth>
3203 |             </ode>
3204 |             <bullet>
3205 |               <split_impulse>1</split_impulse>
3206 |               <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
3207 |               <soft_cfm>0</soft_cfm>
3208 |               <soft_erp>0.2</soft_erp>
3209 |               <kp>1e+13</kp>
3210 |               <kd>1</kd>
3211 |             </bullet>
3212 |           </contact>
3213 |         </surface>
3214 |       </collision>
3215 |     </link>
3216 |     <link name='link_4_clone_1_clone_1_clone_clone_0_clone_1'>
3217 |       <pose frame=''>5.87005 -8.18932 9e-06 0 0 -1.56693</pose>
3218 |       <inertial>
3219 |         <mass>2.3361</mass>
3220 |         <inertia>
3221 |           <ixx>0.25269</ixx>
3222 |           <ixy>0</ixy>
3223 |           <ixz>0</ixz>
3224 |           <iyy>3.75965</iyy>
3225 |           <iyz>0</iyz>
3226 |           <izz>3.62299</izz>
3227 |         </inertia>
3228 |         <pose frame=''>0 0 0 0 -0 0</pose>
3229 |       </inertial>
3230 |       <visual name='visual'>
3231 |         <pose frame=''>0 0 0 0 -0 0</pose>
3232 |         <geometry>
3233 |           <box>
3234 |             <size>4.27931 0.545905 1</size>
3235 |           </box>
3236 |         </geometry>
3237 |         <material>
3238 |           <lighting>1</lighting>
3239 |           <script>
3240 |             <uri>file://media/materials/scripts/gazebo.material</uri>
3241 |             <name>Gazebo/Grey</name>
3242 |           </script>
3243 |           <ambient>0.3 0.3 0.3 1</ambient>
3244 |           <diffuse>0.7 0.7 0.7 1</diffuse>
3245 |           <specular>0.01 0.01 0.01 1</specular>
3246 |           <emissive>0 0 0 1</emissive>
3247 |           <shader type='pixel'/>
3248 |         </material>
3249 |         <transparency>0</transparency>
3250 |         <cast_shadows>1</cast_shadows>
3251 |       </visual>
3252 |       <collision name='collision'>
3253 |         <laser_retro>0</laser_retro>
3254 |         <max_contacts>10</max_contacts>
3255 |         <pose frame=''>0 0 0 0 -0 0</pose>
3256 |         <geometry>
3257 |           <box>
3258 |             <size>4.27931 0.545905 1</size>
3259 |           </box>
3260 |         </geometry>
3261 |         <surface>
3262 |           <friction>
3263 |             <ode>
3264 |               <mu>1</mu>
3265 |               <mu2>1</mu2>
3266 |               <fdir1>0 0 0</fdir1>
3267 |               <slip1>0</slip1>
3268 |               <slip2>0</slip2>
3269 |             </ode>
3270 |             <torsional>
3271 |               <coefficient>1</coefficient>
3272 |               <patch_radius>0</patch_radius>
3273 |               <surface_radius>0</surface_radius>
3274 |               <use_patch_radius>1</use_patch_radius>
3275 |               <ode>
3276 |                 <slip>0</slip>
3277 |               </ode>
3278 |             </torsional>
3279 |           </friction>
3280 |           <bounce>
3281 |             <restitution_coefficient>0</restitution_coefficient>
3282 |             <threshold>1e+06</threshold>
3283 |           </bounce>
3284 |           <contact>
3285 |             <collide_without_contact>0</collide_without_contact>
3286 |             <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
3287 |             <collide_bitmask>1</collide_bitmask>
3288 |             <ode>
3289 |               <soft_cfm>0</soft_cfm>
3290 |               <soft_erp>0.2</soft_erp>
3291 |               <kp>1e+13</kp>
3292 |               <kd>1</kd>
3293 |               <max_vel>0.01</max_vel>
3294 |               <min_depth>0</min_depth>
3295 |             </ode>
3296 |             <bullet>
3297 |               <split_impulse>1</split_impulse>
3298 |               <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
3299 |               <soft_cfm>0</soft_cfm>
3300 |               <soft_erp>0.2</soft_erp>
3301 |               <kp>1e+13</kp>
3302 |               <kd>1</kd>
3303 |             </bullet>
3304 |           </contact>
3305 |         </surface>
3306 |       </collision>
3307 |     </link>
3308 |     <link name='link_4_clone_1_clone_1_clone_clone_0_clone_clone'>
3309 |       <pose frame=''>1.7146 -4.01354 9e-06 0 -0 0.2833</pose>
3310 |       <inertial>
3311 |         <mass>2.3361</mass>
3312 |         <inertia>
3313 |           <ixx>0.25269</ixx>
3314 |           <ixy>0</ixy>
3315 |           <ixz>0</ixz>
3316 |           <iyy>3.75965</iyy>
3317 |           <iyz>0</iyz>
3318 |           <izz>3.62299</izz>
3319 |         </inertia>
3320 |         <pose frame=''>0 0 0 0 -0 0</pose>
3321 |       </inertial>
3322 |       <visual name='visual'>
3323 |         <pose frame=''>0 0 0 0 -0 0</pose>
3324 |         <geometry>
3325 |           <box>
3326 |             <size>4.27931 0.545905 1</size>
3327 |           </box>
3328 |         </geometry>
3329 |         <material>
3330 |           <lighting>1</lighting>
3331 |           <script>
3332 |             <uri>file://media/materials/scripts/gazebo.material</uri>
3333 |             <name>Gazebo/Grey</name>
3334 |           </script>
3335 |           <ambient>0.3 0.3 0.3 1</ambient>
3336 |           <diffuse>0.7 0.7 0.7 1</diffuse>
3337 |           <specular>0.01 0.01 0.01 1</specular>
3338 |           <emissive>0 0 0 1</emissive>
3339 |           <shader type='pixel'/>
3340 |         </material>
3341 |         <transparency>0</transparency>
3342 |         <cast_shadows>1</cast_shadows>
3343 |       </visual>
3344 |       <collision name='collision'>
3345 |         <laser_retro>0</laser_retro>
3346 |         <max_contacts>10</max_contacts>
3347 |         <pose frame=''>0 0 0 0 -0 0</pose>
3348 |         <geometry>
3349 |           <box>
3350 |             <size>4.27931 0.545905 1</size>
3351 |           </box>
3352 |         </geometry>
3353 |         <surface>
3354 |           <friction>
3355 |             <ode>
3356 |               <mu>1</mu>
3357 |               <mu2>1</mu2>
3358 |               <fdir1>0 0 0</fdir1>
3359 |               <slip1>0</slip1>
3360 |               <slip2>0</slip2>
3361 |             </ode>
3362 |             <torsional>
3363 |               <coefficient>1</coefficient>
3364 |               <patch_radius>0</patch_radius>
3365 |               <surface_radius>0</surface_radius>
3366 |               <use_patch_radius>1</use_patch_radius>
3367 |               <ode>
3368 |                 <slip>0</slip>
3369 |               </ode>
3370 |             </torsional>
3371 |           </friction>
3372 |           <bounce>
3373 |             <restitution_coefficient>0</restitution_coefficient>
3374 |             <threshold>1e+06</threshold>
3375 |           </bounce>
3376 |           <contact>
3377 |             <collide_without_contact>0</collide_without_contact>
3378 |             <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
3379 |             <collide_bitmask>1</collide_bitmask>
3380 |             <ode>
3381 |               <soft_cfm>0</soft_cfm>
3382 |               <soft_erp>0.2</soft_erp>
3383 |               <kp>1e+13</kp>
3384 |               <kd>1</kd>
3385 |               <max_vel>0.01</max_vel>
3386 |               <min_depth>0</min_depth>
3387 |             </ode>
3388 |             <bullet>
3389 |               <split_impulse>1</split_impulse>
3390 |               <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
3391 |               <soft_cfm>0</soft_cfm>
3392 |               <soft_erp>0.2</soft_erp>
3393 |               <kp>1e+13</kp>
3394 |               <kd>1</kd>
3395 |             </bullet>
3396 |           </contact>
3397 |         </surface>
3398 |       </collision>
3399 |     </link>
3400 |     <link name='link_4_clone_1_clone_1_clone_clone_0_clone_clone_clone'>
3401 |       <pose frame=''>15.5955 0.999523 -0.000417 0 0 -0.405308</pose>
3402 |       <inertial>
3403 |         <mass>2.91384</mass>
3404 |         <inertia>
3405 |           <ixx>0.315184</ixx>
3406 |           <ixy>0</ixy>
3407 |           <ixz>0</ixz>
3408 |           <iyy>7.16085</iyy>
3409 |           <iyz>0</iyz>
3410 |           <izz>6.99039</izz>
3411 |         </inertia>
3412 |         <pose frame=''>0 0 0 0 -0 0</pose>
3413 |       </inertial>
3414 |       <visual name='visual'>
3415 |         <pose frame=''>0 0 0 0 -0 0</pose>
3416 |         <geometry>
3417 |           <box>
3418 |             <size>5.33763 0.545905 1</size>
3419 |           </box>
3420 |         </geometry>
3421 |         <material>
3422 |           <lighting>1</lighting>
3423 |           <script>
3424 |             <uri>file://media/materials/scripts/gazebo.material</uri>
3425 |             <name>Gazebo/Grey</name>
3426 |           </script>
3427 |           <ambient>0.3 0.3 0.3 1</ambient>
3428 |           <diffuse>0.7 0.7 0.7 1</diffuse>
3429 |           <specular>0.01 0.01 0.01 1</specular>
3430 |           <emissive>0 0 0 1</emissive>
3431 |           <shader type='pixel'/>
3432 |         </material>
3433 |         <transparency>0</transparency>
3434 |         <cast_shadows>1</cast_shadows>
3435 |       </visual>
3436 |       <collision name='collision'>
3437 |         <laser_retro>0</laser_retro>
3438 |         <max_contacts>10</max_contacts>
3439 |         <pose frame=''>0 0 0 0 -0 0</pose>
3440 |         <geometry>
3441 |           <box>
3442 |             <size>5.33763 0.545905 1</size>
3443 |           </box>
3444 |         </geometry>
3445 |         <surface>
3446 |           <friction>
3447 |             <ode>
3448 |               <mu>1</mu>
3449 |               <mu2>1</mu2>
3450 |               <fdir1>0 0 0</fdir1>
3451 |               <slip1>0</slip1>
3452 |               <slip2>0</slip2>
3453 |             </ode>
3454 |             <torsional>
3455 |               <coefficient>1</coefficient>
3456 |               <patch_radius>0</patch_radius>
3457 |               <surface_radius>0</surface_radius>
3458 |               <use_patch_radius>1</use_patch_radius>
3459 |               <ode>
3460 |                 <slip>0</slip>
3461 |               </ode>
3462 |             </torsional>
3463 |           </friction>
3464 |           <bounce>
3465 |             <restitution_coefficient>0</restitution_coefficient>
3466 |             <threshold>1e+06</threshold>
3467 |           </bounce>
3468 |           <contact>
3469 |             <collide_without_contact>0</collide_without_contact>
3470 |             <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
3471 |             <collide_bitmask>1</collide_bitmask>
3472 |             <ode>
3473 |               <soft_cfm>0</soft_cfm>
3474 |               <soft_erp>0.2</soft_erp>
3475 |               <kp>1e+13</kp>
3476 |               <kd>1</kd>
3477 |               <max_vel>0.01</max_vel>
3478 |               <min_depth>0</min_depth>
3479 |             </ode>
3480 |             <bullet>
3481 |               <split_impulse>1</split_impulse>
3482 |               <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
3483 |               <soft_cfm>0</soft_cfm>
3484 |               <soft_erp>0.2</soft_erp>
3485 |               <kp>1e+13</kp>
3486 |               <kd>1</kd>
3487 |             </bullet>
3488 |           </contact>
3489 |         </surface>
3490 |       </collision>
3491 |     </link>
3492 |     <link name='link_6'>
3493 |       <pose frame=''>-12.4356 -7.69108 9e-06 0 0 -0.406538</pose>
3494 |       <inertial>
3495 |         <mass>1.94722</mass>
3496 |         <inertia>
3497 |           <ixx>0.463684</ixx>
3498 |           <ixy>0</ixy>
3499 |           <ixz>0</ixz>
3500 |           <iyy>0.4935</iyy>
3501 |           <iyz>0</iyz>
3502 |           <izz>0.632648</izz>
3503 |         </inertia>
3504 |         <pose frame=''>0 0 0 0 -0 0</pose>
3505 |       </inertial>
3506 |       <visual name='visual'>
3507 |         <pose frame=''>0 0 0 0 -0 0</pose>
3508 |         <geometry>
3509 |           <box>
3510 |             <size>1.42873 1.36291 1</size>
3511 |           </box>
3512 |         </geometry>
3513 |         <material>
3514 |           <lighting>1</lighting>
3515 |           <script>
3516 |             <uri>file://media/materials/scripts/gazebo.material</uri>
3517 |             <name>Gazebo/Grey</name>
3518 |           </script>
3519 |           <ambient>0.3 0.3 0.3 1</ambient>
3520 |           <diffuse>0.7 0.7 0.7 1</diffuse>
3521 |           <specular>0.01 0.01 0.01 1</specular>
3522 |           <emissive>0 0 0 1</emissive>
3523 |         </material>
3524 |         <transparency>0</transparency>
3525 |         <cast_shadows>1</cast_shadows>
3526 |       </visual>
3527 |       <collision name='collision'>
3528 |         <laser_retro>0</laser_retro>
3529 |         <max_contacts>10</max_contacts>
3530 |         <pose frame=''>0 0 0 0 -0 0</pose>
3531 |         <geometry>
3532 |           <box>
3533 |             <size>1.42873 1.36291 1</size>
3534 |           </box>
3535 |         </geometry>
3536 |         <surface>
3537 |           <friction>
3538 |             <ode>
3539 |               <mu>1</mu>
3540 |               <mu2>1</mu2>
3541 |               <fdir1>0 0 0</fdir1>
3542 |               <slip1>0</slip1>
3543 |               <slip2>0</slip2>
3544 |             </ode>
3545 |             <torsional>
3546 |               <coefficient>1</coefficient>
3547 |               <patch_radius>0</patch_radius>
3548 |               <surface_radius>0</surface_radius>
3549 |               <use_patch_radius>1</use_patch_radius>
3550 |               <ode>
3551 |                 <slip>0</slip>
3552 |               </ode>
3553 |             </torsional>
3554 |           </friction>
3555 |           <bounce>
3556 |             <restitution_coefficient>0</restitution_coefficient>
3557 |             <threshold>1e+06</threshold>
3558 |           </bounce>
3559 |           <contact>
3560 |             <collide_without_contact>0</collide_without_contact>
3561 |             <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
3562 |             <collide_bitmask>1</collide_bitmask>
3563 |             <ode>
3564 |               <soft_cfm>0</soft_cfm>
3565 |               <soft_erp>0.2</soft_erp>
3566 |               <kp>1e+13</kp>
3567 |               <kd>1</kd>
3568 |               <max_vel>0.01</max_vel>
3569 |               <min_depth>0</min_depth>
3570 |             </ode>
3571 |             <bullet>
3572 |               <split_impulse>1</split_impulse>
3573 |               <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
3574 |               <soft_cfm>0</soft_cfm>
3575 |               <soft_erp>0.2</soft_erp>
3576 |               <kp>1e+13</kp>
3577 |               <kd>1</kd>
3578 |             </bullet>
3579 |           </contact>
3580 |         </surface>
3581 |       </collision>
3582 |     </link>
3583 |     <link name='link_6_clone'>
3584 |       <pose frame=''>-12.1551 -2.20744 9e-06 0 0 -0.406538</pose>
3585 |       <inertial>
3586 |         <mass>1.94722</mass>
3587 |         <inertia>
3588 |           <ixx>0.463684</ixx>
3589 |           <ixy>0</ixy>
3590 |           <ixz>0</ixz>
3591 |           <iyy>0.4935</iyy>
3592 |           <iyz>0</iyz>
3593 |           <izz>0.632648</izz>
3594 |         </inertia>
3595 |         <pose frame=''>0 0 0 0 -0 0</pose>
3596 |       </inertial>
3597 |       <visual name='visual'>
3598 |         <pose frame=''>0 0 0 0 -0 0</pose>
3599 |         <geometry>
3600 |           <box>
3601 |             <size>1.42873 1.36291 1</size>
3602 |           </box>
3603 |         </geometry>
3604 |         <material>
3605 |           <lighting>1</lighting>
3606 |           <script>
3607 |             <uri>file://media/materials/scripts/gazebo.material</uri>
3608 |             <name>Gazebo/Grey</name>
3609 |           </script>
3610 |           <ambient>0.3 0.3 0.3 1</ambient>
3611 |           <diffuse>0.7 0.7 0.7 1</diffuse>
3612 |           <specular>0.01 0.01 0.01 1</specular>
3613 |           <emissive>0 0 0 1</emissive>
3614 |           <shader type='pixel'/>
3615 |         </material>
3616 |         <transparency>0</transparency>
3617 |         <cast_shadows>1</cast_shadows>
3618 |       </visual>
3619 |       <collision name='collision'>
3620 |         <laser_retro>0</laser_retro>
3621 |         <max_contacts>10</max_contacts>
3622 |         <pose frame=''>0 0 0 0 -0 0</pose>
3623 |         <geometry>
3624 |           <box>
3625 |             <size>1.42873 1.36291 1</size>
3626 |           </box>
3627 |         </geometry>
3628 |         <surface>
3629 |           <friction>
3630 |             <ode>
3631 |               <mu>1</mu>
3632 |               <mu2>1</mu2>
3633 |               <fdir1>0 0 0</fdir1>
3634 |               <slip1>0</slip1>
3635 |               <slip2>0</slip2>
3636 |             </ode>
3637 |             <torsional>
3638 |               <coefficient>1</coefficient>
3639 |               <patch_radius>0</patch_radius>
3640 |               <surface_radius>0</surface_radius>
3641 |               <use_patch_radius>1</use_patch_radius>
3642 |               <ode>
3643 |                 <slip>0</slip>
3644 |               </ode>
3645 |             </torsional>
3646 |           </friction>
3647 |           <bounce>
3648 |             <restitution_coefficient>0</restitution_coefficient>
3649 |             <threshold>1e+06</threshold>
3650 |           </bounce>
3651 |           <contact>
3652 |             <collide_without_contact>0</collide_without_contact>
3653 |             <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
3654 |             <collide_bitmask>1</collide_bitmask>
3655 |             <ode>
3656 |               <soft_cfm>0</soft_cfm>
3657 |               <soft_erp>0.2</soft_erp>
3658 |               <kp>1e+13</kp>
3659 |               <kd>1</kd>
3660 |               <max_vel>0.01</max_vel>
3661 |               <min_depth>0</min_depth>
3662 |             </ode>
3663 |             <bullet>
3664 |               <split_impulse>1</split_impulse>
3665 |               <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
3666 |               <soft_cfm>0</soft_cfm>
3667 |               <soft_erp>0.2</soft_erp>
3668 |               <kp>1e+13</kp>
3669 |               <kd>1</kd>
3670 |             </bullet>
3671 |           </contact>
3672 |         </surface>
3673 |       </collision>
3674 |     </link>
3675 |     <link name='link_6_clone_clone'>
3676 |       <pose frame=''>2.67865 2.83156 9e-06 0 0 -0.406538</pose>
3677 |       <inertial>
3678 |         <mass>1.94722</mass>
3679 |         <inertia>
3680 |           <ixx>0.463684</ixx>
3681 |           <ixy>0</ixy>
3682 |           <ixz>0</ixz>
3683 |           <iyy>0.4935</iyy>
3684 |           <iyz>0</iyz>
3685 |           <izz>0.632648</izz>
3686 |         </inertia>
3687 |         <pose frame=''>0 0 0 0 -0 0</pose>
3688 |       </inertial>
3689 |       <visual name='visual'>
3690 |         <pose frame=''>0 0 0 0 -0 0</pose>
3691 |         <geometry>
3692 |           <box>
3693 |             <size>1.42873 1.36291 1</size>
3694 |           </box>
3695 |         </geometry>
3696 |         <material>
3697 |           <lighting>1</lighting>
3698 |           <script>
3699 |             <uri>file://media/materials/scripts/gazebo.material</uri>
3700 |             <name>Gazebo/Grey</name>
3701 |           </script>
3702 |           <ambient>0.3 0.3 0.3 1</ambient>
3703 |           <diffuse>0.7 0.7 0.7 1</diffuse>
3704 |           <specular>0.01 0.01 0.01 1</specular>
3705 |           <emissive>0 0 0 1</emissive>
3706 |           <shader type='pixel'/>
3707 |         </material>
3708 |         <transparency>0</transparency>
3709 |         <cast_shadows>1</cast_shadows>
3710 |       </visual>
3711 |       <collision name='collision'>
3712 |         <laser_retro>0</laser_retro>
3713 |         <max_contacts>10</max_contacts>
3714 |         <pose frame=''>0 0 0 0 -0 0</pose>
3715 |         <geometry>
3716 |           <box>
3717 |             <size>1.42873 1.36291 1</size>
3718 |           </box>
3719 |         </geometry>
3720 |         <surface>
3721 |           <friction>
3722 |             <ode>
3723 |               <mu>1</mu>
3724 |               <mu2>1</mu2>
3725 |               <fdir1>0 0 0</fdir1>
3726 |               <slip1>0</slip1>
3727 |               <slip2>0</slip2>
3728 |             </ode>
3729 |             <torsional>
3730 |               <coefficient>1</coefficient>
3731 |               <patch_radius>0</patch_radius>
3732 |               <surface_radius>0</surface_radius>
3733 |               <use_patch_radius>1</use_patch_radius>
3734 |               <ode>
3735 |                 <slip>0</slip>
3736 |               </ode>
3737 |             </torsional>
3738 |           </friction>
3739 |           <bounce>
3740 |             <restitution_coefficient>0</restitution_coefficient>
3741 |             <threshold>1e+06</threshold>
3742 |           </bounce>
3743 |           <contact>
3744 |             <collide_without_contact>0</collide_without_contact>
3745 |             <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
3746 |             <collide_bitmask>1</collide_bitmask>
3747 |             <ode>
3748 |               <soft_cfm>0</soft_cfm>
3749 |               <soft_erp>0.2</soft_erp>
3750 |               <kp>1e+13</kp>
3751 |               <kd>1</kd>
3752 |               <max_vel>0.01</max_vel>
3753 |               <min_depth>0</min_depth>
3754 |             </ode>
3755 |             <bullet>
3756 |               <split_impulse>1</split_impulse>
3757 |               <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
3758 |               <soft_cfm>0</soft_cfm>
3759 |               <soft_erp>0.2</soft_erp>
3760 |               <kp>1e+13</kp>
3761 |               <kd>1</kd>
3762 |             </bullet>
3763 |           </contact>
3764 |         </surface>
3765 |       </collision>
3766 |     </link>
3767 |     <link name='link_6_clone_clone_0'>
3768 |       <pose frame=''>4.37408 3.90111 9e-06 0 0 -0.406538</pose>
3769 |       <inertial>
3770 |         <mass>1.94722</mass>
3771 |         <inertia>
3772 |           <ixx>0.463684</ixx>
3773 |           <ixy>0</ixy>
3774 |           <ixz>0</ixz>
3775 |           <iyy>0.4935</iyy>
3776 |           <iyz>0</iyz>
3777 |           <izz>0.632648</izz>
3778 |         </inertia>
3779 |         <pose frame=''>0 0 0 0 -0 0</pose>
3780 |       </inertial>
3781 |       <visual name='visual'>
3782 |         <pose frame=''>0 0 0 0 -0 0</pose>
3783 |         <geometry>
3784 |           <box>
3785 |             <size>1.42873 1.36291 1</size>
3786 |           </box>
3787 |         </geometry>
3788 |         <material>
3789 |           <lighting>1</lighting>
3790 |           <script>
3791 |             <uri>file://media/materials/scripts/gazebo.material</uri>
3792 |             <name>Gazebo/Grey</name>
3793 |           </script>
3794 |           <ambient>0.3 0.3 0.3 1</ambient>
3795 |           <diffuse>0.7 0.7 0.7 1</diffuse>
3796 |           <specular>0.01 0.01 0.01 1</specular>
3797 |           <emissive>0 0 0 1</emissive>
3798 |           <shader type='pixel'/>
3799 |         </material>
3800 |         <transparency>0</transparency>
3801 |         <cast_shadows>1</cast_shadows>
3802 |       </visual>
3803 |       <collision name='collision'>
3804 |         <laser_retro>0</laser_retro>
3805 |         <max_contacts>10</max_contacts>
3806 |         <pose frame=''>0 0 0 0 -0 0</pose>
3807 |         <geometry>
3808 |           <box>
3809 |             <size>1.42873 1.36291 1</size>
3810 |           </box>
3811 |         </geometry>
3812 |         <surface>
3813 |           <friction>
3814 |             <ode>
3815 |               <mu>1</mu>
3816 |               <mu2>1</mu2>
3817 |               <fdir1>0 0 0</fdir1>
3818 |               <slip1>0</slip1>
3819 |               <slip2>0</slip2>
3820 |             </ode>
3821 |             <torsional>
3822 |               <coefficient>1</coefficient>
3823 |               <patch_radius>0</patch_radius>
3824 |               <surface_radius>0</surface_radius>
3825 |               <use_patch_radius>1</use_patch_radius>
3826 |               <ode>
3827 |                 <slip>0</slip>
3828 |               </ode>
3829 |             </torsional>
3830 |           </friction>
3831 |           <bounce>
3832 |             <restitution_coefficient>0</restitution_coefficient>
3833 |             <threshold>1e+06</threshold>
3834 |           </bounce>
3835 |           <contact>
3836 |             <collide_without_contact>0</collide_without_contact>
3837 |             <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
3838 |             <collide_bitmask>1</collide_bitmask>
3839 |             <ode>
3840 |               <soft_cfm>0</soft_cfm>
3841 |               <soft_erp>0.2</soft_erp>
3842 |               <kp>1e+13</kp>
3843 |               <kd>1</kd>
3844 |               <max_vel>0.01</max_vel>
3845 |               <min_depth>0</min_depth>
3846 |             </ode>
3847 |             <bullet>
3848 |               <split_impulse>1</split_impulse>
3849 |               <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
3850 |               <soft_cfm>0</soft_cfm>
3851 |               <soft_erp>0.2</soft_erp>
3852 |               <kp>1e+13</kp>
3853 |               <kd>1</kd>
3854 |             </bullet>
3855 |           </contact>
3856 |         </surface>
3857 |       </collision>
3858 |     </link>
3859 |     <link name='link_6_clone_clone_0_clone'>
3860 |       <pose frame=''>0.353494 7.24728 9e-06 0 0 -0.406538</pose>
3861 |       <inertial>
3862 |         <mass>1.94722</mass>
3863 |         <inertia>
3864 |           <ixx>0.463684</ixx>
3865 |           <ixy>0</ixy>
3866 |           <ixz>0</ixz>
3867 |           <iyy>0.4935</iyy>
3868 |           <iyz>0</iyz>
3869 |           <izz>0.632648</izz>
3870 |         </inertia>
3871 |         <pose frame=''>0 0 0 0 -0 0</pose>
3872 |       </inertial>
3873 |       <visual name='visual'>
3874 |         <pose frame=''>0 0 0 0 -0 0</pose>
3875 |         <geometry>
3876 |           <box>
3877 |             <size>1.42873 1.36291 1</size>
3878 |           </box>
3879 |         </geometry>
3880 |         <material>
3881 |           <lighting>1</lighting>
3882 |           <script>
3883 |             <uri>file://media/materials/scripts/gazebo.material</uri>
3884 |             <name>Gazebo/Grey</name>
3885 |           </script>
3886 |           <ambient>0.3 0.3 0.3 1</ambient>
3887 |           <diffuse>0.7 0.7 0.7 1</diffuse>
3888 |           <specular>0.01 0.01 0.01 1</specular>
3889 |           <emissive>0 0 0 1</emissive>
3890 |           <shader type='pixel'/>
3891 |         </material>
3892 |         <transparency>0</transparency>
3893 |         <cast_shadows>1</cast_shadows>
3894 |       </visual>
3895 |       <collision name='collision'>
3896 |         <laser_retro>0</laser_retro>
3897 |         <max_contacts>10</max_contacts>
3898 |         <pose frame=''>0 0 0 0 -0 0</pose>
3899 |         <geometry>
3900 |           <box>
3901 |             <size>1.42873 1.36291 1</size>
3902 |           </box>
3903 |         </geometry>
3904 |         <surface>
3905 |           <friction>
3906 |             <ode>
3907 |               <mu>1</mu>
3908 |               <mu2>1</mu2>
3909 |               <fdir1>0 0 0</fdir1>
3910 |               <slip1>0</slip1>
3911 |               <slip2>0</slip2>
3912 |             </ode>
3913 |             <torsional>
3914 |               <coefficient>1</coefficient>
3915 |               <patch_radius>0</patch_radius>
3916 |               <surface_radius>0</surface_radius>
3917 |               <use_patch_radius>1</use_patch_radius>
3918 |               <ode>
3919 |                 <slip>0</slip>
3920 |               </ode>
3921 |             </torsional>
3922 |           </friction>
3923 |           <bounce>
3924 |             <restitution_coefficient>0</restitution_coefficient>
3925 |             <threshold>1e+06</threshold>
3926 |           </bounce>
3927 |           <contact>
3928 |             <collide_without_contact>0</collide_without_contact>
3929 |             <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
3930 |             <collide_bitmask>1</collide_bitmask>
3931 |             <ode>
3932 |               <soft_cfm>0</soft_cfm>
3933 |               <soft_erp>0.2</soft_erp>
3934 |               <kp>1e+13</kp>
3935 |               <kd>1</kd>
3936 |               <max_vel>0.01</max_vel>
3937 |               <min_depth>0</min_depth>
3938 |             </ode>
3939 |             <bullet>
3940 |               <split_impulse>1</split_impulse>
3941 |               <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
3942 |               <soft_cfm>0</soft_cfm>
3943 |               <soft_erp>0.2</soft_erp>
3944 |               <kp>1e+13</kp>
3945 |               <kd>1</kd>
3946 |             </bullet>
3947 |           </contact>
3948 |         </surface>
3949 |       </collision>
3950 |     </link>
3951 |     <link name='link_6_clone_clone_0_clone_clone'>
3952 |       <pose frame=''>6.7785 8.2182 9e-06 0 0 -0.406538</pose>
3953 |       <inertial>
3954 |         <mass>1.94722</mass>
3955 |         <inertia>
3956 |           <ixx>0.463684</ixx>
3957 |           <ixy>0</ixy>
3958 |           <ixz>0</ixz>
3959 |           <iyy>0.4935</iyy>
3960 |           <iyz>0</iyz>
3961 |           <izz>0.632648</izz>
3962 |         </inertia>
3963 |         <pose frame=''>0 0 0 0 -0 0</pose>
3964 |       </inertial>
3965 |       <visual name='visual'>
3966 |         <pose frame=''>0 0 0 0 -0 0</pose>
3967 |         <geometry>
3968 |           <box>
3969 |             <size>1.42873 1.36291 1</size>
3970 |           </box>
3971 |         </geometry>
3972 |         <material>
3973 |           <lighting>1</lighting>
3974 |           <script>
3975 |             <uri>file://media/materials/scripts/gazebo.material</uri>
3976 |             <name>Gazebo/Grey</name>
3977 |           </script>
3978 |           <ambient>0.3 0.3 0.3 1</ambient>
3979 |           <diffuse>0.7 0.7 0.7 1</diffuse>
3980 |           <specular>0.01 0.01 0.01 1</specular>
3981 |           <emissive>0 0 0 1</emissive>
3982 |           <shader type='pixel'/>
3983 |         </material>
3984 |         <transparency>0</transparency>
3985 |         <cast_shadows>1</cast_shadows>
3986 |       </visual>
3987 |       <collision name='collision'>
3988 |         <laser_retro>0</laser_retro>
3989 |         <max_contacts>10</max_contacts>
3990 |         <pose frame=''>0 0 0 0 -0 0</pose>
3991 |         <geometry>
3992 |           <box>
3993 |             <size>1.42873 1.36291 1</size>
3994 |           </box>
3995 |         </geometry>
3996 |         <surface>
3997 |           <friction>
3998 |             <ode>
3999 |               <mu>1</mu>
4000 |               <mu2>1</mu2>
4001 |               <fdir1>0 0 0</fdir1>
4002 |               <slip1>0</slip1>
4003 |               <slip2>0</slip2>
4004 |             </ode>
4005 |             <torsional>
4006 |               <coefficient>1</coefficient>
4007 |               <patch_radius>0</patch_radius>
4008 |               <surface_radius>0</surface_radius>
4009 |               <use_patch_radius>1</use_patch_radius>
4010 |               <ode>
4011 |                 <slip>0</slip>
4012 |               </ode>
4013 |             </torsional>
4014 |           </friction>
4015 |           <bounce>
4016 |             <restitution_coefficient>0</restitution_coefficient>
4017 |             <threshold>1e+06</threshold>
4018 |           </bounce>
4019 |           <contact>
4020 |             <collide_without_contact>0</collide_without_contact>
4021 |             <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
4022 |             <collide_bitmask>1</collide_bitmask>
4023 |             <ode>
4024 |               <soft_cfm>0</soft_cfm>
4025 |               <soft_erp>0.2</soft_erp>
4026 |               <kp>1e+13</kp>
4027 |               <kd>1</kd>
4028 |               <max_vel>0.01</max_vel>
4029 |               <min_depth>0</min_depth>
4030 |             </ode>
4031 |             <bullet>
4032 |               <split_impulse>1</split_impulse>
4033 |               <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
4034 |               <soft_cfm>0</soft_cfm>
4035 |               <soft_erp>0.2</soft_erp>
4036 |               <kp>1e+13</kp>
4037 |               <kd>1</kd>
4038 |             </bullet>
4039 |           </contact>
4040 |         </surface>
4041 |       </collision>
4042 |     </link>
4043 |     <link name='link_7'>
4044 |       <pose frame=''>9.80695 10.1149 9e-06 0 -0 0</pose>
4045 |       <inertial>
4046 |         <mass>1</mass>
4047 |         <inertia>
4048 |           <ixx>0.145833</ixx>
4049 |           <ixy>0</ixy>
4050 |           <ixz>0</ixz>
4051 |           <iyy>0.145833</iyy>
4052 |           <iyz>0</iyz>
4053 |           <izz>0.125</izz>
4054 |         </inertia>
4055 |       </inertial>
4056 |       <visual name='visual'>
4057 |         <pose frame=''>0 0 0 0 -0 0</pose>
4058 |         <geometry>
4059 |           <cylinder>
4060 |             <radius>0.5</radius>
4061 |             <length>1</length>
4062 |           </cylinder>
4063 |         </geometry>
4064 |         <material>
4065 |           <lighting>1</lighting>
4066 |           <script>
4067 |             <uri>file://media/materials/scripts/gazebo.material</uri>
4068 |             <name>Gazebo/Grey</name>
4069 |           </script>
4070 |           <ambient>0.3 0.3 0.3 1</ambient>
4071 |           <diffuse>0.7 0.7 0.7 1</diffuse>
4072 |           <specular>0.01 0.01 0.01 1</specular>
4073 |           <emissive>0 0 0 1</emissive>
4074 |         </material>
4075 |         <transparency>0</transparency>
4076 |         <cast_shadows>1</cast_shadows>
4077 |       </visual>
4078 |       <collision name='collision'>
4079 |         <laser_retro>0</laser_retro>
4080 |         <max_contacts>10</max_contacts>
4081 |         <pose frame=''>0 0 0 0 -0 0</pose>
4082 |         <geometry>
4083 |           <cylinder>
4084 |             <radius>0.5</radius>
4085 |             <length>1</length>
4086 |           </cylinder>
4087 |         </geometry>
4088 |         <surface>
4089 |           <friction>
4090 |             <ode>
4091 |               <mu>1</mu>
4092 |               <mu2>1</mu2>
4093 |               <fdir1>0 0 0</fdir1>
4094 |               <slip1>0</slip1>
4095 |               <slip2>0</slip2>
4096 |             </ode>
4097 |             <torsional>
4098 |               <coefficient>1</coefficient>
4099 |               <patch_radius>0</patch_radius>
4100 |               <surface_radius>0</surface_radius>
4101 |               <use_patch_radius>1</use_patch_radius>
4102 |               <ode>
4103 |                 <slip>0</slip>
4104 |               </ode>
4105 |             </torsional>
4106 |           </friction>
4107 |           <bounce>
4108 |             <restitution_coefficient>0</restitution_coefficient>
4109 |             <threshold>1e+06</threshold>
4110 |           </bounce>
4111 |           <contact>
4112 |             <collide_without_contact>0</collide_without_contact>
4113 |             <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
4114 |             <collide_bitmask>1</collide_bitmask>
4115 |             <ode>
4116 |               <soft_cfm>0</soft_cfm>
4117 |               <soft_erp>0.2</soft_erp>
4118 |               <kp>1e+13</kp>
4119 |               <kd>1</kd>
4120 |               <max_vel>0.01</max_vel>
4121 |               <min_depth>0</min_depth>
4122 |             </ode>
4123 |             <bullet>
4124 |               <split_impulse>1</split_impulse>
4125 |               <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
4126 |               <soft_cfm>0</soft_cfm>
4127 |               <soft_erp>0.2</soft_erp>
4128 |               <kp>1e+13</kp>
4129 |               <kd>1</kd>
4130 |             </bullet>
4131 |           </contact>
4132 |         </surface>
4133 |       </collision>
4134 |     </link>
4135 |     <link name='link_8'>
4136 |       <pose frame=''>9.90915 3.36462 9e-06 0 -0 0</pose>
4137 |       <inertial>
4138 |         <mass>1</mass>
4139 |         <inertia>
4140 |           <ixx>0.166667</ixx>
4141 |           <ixy>0</ixy>
4142 |           <ixz>0</ixz>
4143 |           <iyy>0.166667</iyy>
4144 |           <iyz>0</iyz>
4145 |           <izz>0.166667</izz>
4146 |         </inertia>
4147 |       </inertial>
4148 |       <visual name='visual'>
4149 |         <pose frame=''>0 0 0 0 -0 0</pose>
4150 |         <geometry>
4151 |           <box>
4152 |             <size>1 1 1</size>
4153 |           </box>
4154 |         </geometry>
4155 |         <material>
4156 |           <lighting>1</lighting>
4157 |           <script>
4158 |             <uri>file://media/materials/scripts/gazebo.material</uri>
4159 |             <name>Gazebo/Grey</name>
4160 |           </script>
4161 |           <ambient>0.3 0.3 0.3 1</ambient>
4162 |           <diffuse>0.7 0.7 0.7 1</diffuse>
4163 |           <specular>0.01 0.01 0.01 1</specular>
4164 |           <emissive>0 0 0 1</emissive>
4165 |         </material>
4166 |         <transparency>0</transparency>
4167 |         <cast_shadows>1</cast_shadows>
4168 |       </visual>
4169 |       <collision name='collision'>
4170 |         <laser_retro>0</laser_retro>
4171 |         <max_contacts>10</max_contacts>
4172 |         <pose frame=''>0 0 0 0 -0 0</pose>
4173 |         <geometry>
4174 |           <box>
4175 |             <size>1 1 1</size>
4176 |           </box>
4177 |         </geometry>
4178 |         <surface>
4179 |           <friction>
4180 |             <ode>
4181 |               <mu>1</mu>
4182 |               <mu2>1</mu2>
4183 |               <fdir1>0 0 0</fdir1>
4184 |               <slip1>0</slip1>
4185 |               <slip2>0</slip2>
4186 |             </ode>
4187 |             <torsional>
4188 |               <coefficient>1</coefficient>
4189 |               <patch_radius>0</patch_radius>
4190 |               <surface_radius>0</surface_radius>
4191 |               <use_patch_radius>1</use_patch_radius>
4192 |               <ode>
4193 |                 <slip>0</slip>
4194 |               </ode>
4195 |             </torsional>
4196 |           </friction>
4197 |           <bounce>
4198 |             <restitution_coefficient>0</restitution_coefficient>
4199 |             <threshold>1e+06</threshold>
4200 |           </bounce>
4201 |           <contact>
4202 |             <collide_without_contact>0</collide_without_contact>
4203 |             <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
4204 |             <collide_bitmask>1</collide_bitmask>
4205 |             <ode>
4206 |               <soft_cfm>0</soft_cfm>
4207 |               <soft_erp>0.2</soft_erp>
4208 |               <kp>1e+13</kp>
4209 |               <kd>1</kd>
4210 |               <max_vel>0.01</max_vel>
4211 |               <min_depth>0</min_depth>
4212 |             </ode>
4213 |             <bullet>
4214 |               <split_impulse>1</split_impulse>
4215 |               <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
4216 |               <soft_cfm>0</soft_cfm>
4217 |               <soft_erp>0.2</soft_erp>
4218 |               <kp>1e+13</kp>
4219 |               <kd>1</kd>
4220 |             </bullet>
4221 |           </contact>
4222 |         </surface>
4223 |       </collision>
4224 |     </link>
4225 |     <link name='link_9'>
4226 |       <pose frame=''>9.11198 2.92169 9e-06 0 -0 0</pose>
4227 |       <inertial>
4228 |         <mass>1</mass>
4229 |         <inertia>
4230 |           <ixx>0.166667</ixx>
4231 |           <ixy>0</ixy>
4232 |           <ixz>0</ixz>
4233 |           <iyy>0.166667</iyy>
4234 |           <iyz>0</iyz>
4235 |           <izz>0.166667</izz>
4236 |         </inertia>
4237 |       </inertial>
4238 |       <visual name='visual'>
4239 |         <pose frame=''>0 0 0 0 -0 0</pose>
4240 |         <geometry>
4241 |           <box>
4242 |             <size>1 1 1</size>
4243 |           </box>
4244 |         </geometry>
4245 |         <material>
4246 |           <lighting>1</lighting>
4247 |           <script>
4248 |             <uri>file://media/materials/scripts/gazebo.material</uri>
4249 |             <name>Gazebo/Grey</name>
4250 |           </script>
4251 |           <ambient>0.3 0.3 0.3 1</ambient>
4252 |           <diffuse>0.7 0.7 0.7 1</diffuse>
4253 |           <specular>0.01 0.01 0.01 1</specular>
4254 |           <emissive>0 0 0 1</emissive>
4255 |         </material>
4256 |         <transparency>0</transparency>
4257 |         <cast_shadows>1</cast_shadows>
4258 |       </visual>
4259 |       <collision name='collision'>
4260 |         <laser_retro>0</laser_retro>
4261 |         <max_contacts>10</max_contacts>
4262 |         <pose frame=''>0 0 0 0 -0 0</pose>
4263 |         <geometry>
4264 |           <box>
4265 |             <size>1 1 1</size>
4266 |           </box>
4267 |         </geometry>
4268 |         <surface>
4269 |           <friction>
4270 |             <ode>
4271 |               <mu>1</mu>
4272 |               <mu2>1</mu2>
4273 |               <fdir1>0 0 0</fdir1>
4274 |               <slip1>0</slip1>
4275 |               <slip2>0</slip2>
4276 |             </ode>
4277 |             <torsional>
4278 |               <coefficient>1</coefficient>
4279 |               <patch_radius>0</patch_radius>
4280 |               <surface_radius>0</surface_radius>
4281 |               <use_patch_radius>1</use_patch_radius>
4282 |               <ode>
4283 |                 <slip>0</slip>
4284 |               </ode>
4285 |             </torsional>
4286 |           </friction>
4287 |           <bounce>
4288 |             <restitution_coefficient>0</restitution_coefficient>
4289 |             <threshold>1e+06</threshold>
4290 |           </bounce>
4291 |           <contact>
4292 |             <collide_without_contact>0</collide_without_contact>
4293 |             <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
4294 |             <collide_bitmask>1</collide_bitmask>
4295 |             <ode>
4296 |               <soft_cfm>0</soft_cfm>
4297 |               <soft_erp>0.2</soft_erp>
4298 |               <kp>1e+13</kp>
4299 |               <kd>1</kd>
4300 |               <max_vel>0.01</max_vel>
4301 |               <min_depth>0</min_depth>
4302 |             </ode>
4303 |             <bullet>
4304 |               <split_impulse>1</split_impulse>
4305 |               <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
4306 |               <soft_cfm>0</soft_cfm>
4307 |               <soft_erp>0.2</soft_erp>
4308 |               <kp>1e+13</kp>
4309 |               <kd>1</kd>
4310 |             </bullet>
4311 |           </contact>
4312 |         </surface>
4313 |       </collision>
4314 |     </link>
4315 |     <static>0</static>
4316 |     <allow_auto_disable>1</allow_auto_disable>
4317 |   </model>
4318 | </sdf>
4319 | 


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/mod_turtlebot_description/turtlebot_description.tar.gz:
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https://raw.githubusercontent.com/g40st/ROS_maze_challenge/4bf749570c25071129727de7f5a913b6eff7fe0e/mod_turtlebot_description/turtlebot_description.tar.gz


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