<robot name="lumping_test">
  <link name="base_link">
    <inertial>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <mass value="1.0" />
      <inertia ixx="0.001" ixy="0.000" ixz="0.000" iyy="0.001" iyz="0.000" izz="0.001" />
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <sphere radius="0.02" />
      </geometry>
      <material name="">
        <color rgba="0.1 0.1 0.1 1" />
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <sphere radius="0.02" />
      </geometry>
    </collision>
  </link>
  <link name="child_link_1">
    <inertial>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <mass value="1.0" />
      <inertia ixx="0.001" ixy="0.000" ixz="0.000" iyy="0.001" iyz="0.000" izz="0.001" />
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <sphere radius="0.03" />
      </geometry>
      <material name="">
        <color rgba="0.1 0.1 0.1 1" />
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <sphere radius="0.03" />
      </geometry>
    </collision>
  </link>
  <joint name="fixed_joint_1" type="fixed">
    <origin xyz="0 0 0" rpy="0 0 0" />
    <parent link="base_link" />
    <child link="child_link_1" />
  </joint>
  <link name="child_link_1a">
    <inertial>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <mass value="1.0" />
      <inertia ixx="0.001" ixy="0.000" ixz="0.000" iyy="0.001" iyz="0.000" izz="0.001" />
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <sphere radius="0.03" />
      </geometry>
      <material name="">
        <color rgba="0.1 0.1 0.1 1" />
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <sphere radius="0.03" />
      </geometry>
    </collision>
  </link>
  <joint name="fixed_joint_1a" type="fixed">
    <origin xyz="0 0 0" rpy="0 0 0" />
    <parent link="base_link" />
    <child link="child_link_1a" />
  </joint>
  <link name="child_link_2">
    <inertial>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <mass value="1.0" />
      <inertia ixx="0.001" ixy="0.000" ixz="0.000" iyy="0.001" iyz="0.000" izz="0.001" />
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <sphere radius="0.05" />
      </geometry>
      <material name="">
        <color rgba="0.1 0.1 0.1 1" />
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <sphere radius="0.05" />
      </geometry>
    </collision>
  </link>
  <joint name="fixed_joint_2" type="fixed">
    <origin xyz="0 0 0" rpy="0 0 0" />
    <parent link="child_link_1" />
    <child link="child_link_2" />
  </joint>
  <gazebo reference="child_link_1">
    <minDepth>0.007</minDepth>
    <mu1>0.7</mu1>
    <collision>
      <max_contacts>177</max_contacts>
      <surface>
        <contact>
          <ode/>
        </contact>
        <friction>
          <ode>
            <mu2>0.71</mu2>
          </ode>
        </friction>
      </surface>
    </collision>
    <visual>
      <material>
        <ambient>0 1 0 1</ambient>
      </material>
    </visual>
    <material>
      script_uri_71_name
    </material>
  </gazebo>
  <gazebo reference="child_link_1a">
    <mu1>0.6</mu1>
    <maxContacts>166</maxContacts>
    <collision>
      <surface>
        <contact>
          <ode/>
        </contact>
        <friction>
          <ode>
            <mu2>0.61</mu2>
          </ode>
        </friction>
      </surface>
    </collision>
  </gazebo>
  <gazebo reference="child_link_2">
    <mu1>0.5</mu1>
    <collision>
      <surface>
        <contact>
          <ode/>
        </contact>
        <friction>
          <ode>
            <mu2>0.51</mu2>
          </ode>
        </friction>
      </surface>
    </collision>
    <visual>
      <material>
        <script>
          <uri>script_uri_51</uri>
          <name>script_name_51</name>
        </script>
      </material>
    </visual>
  </gazebo>
</robot>

