<sdf version='1.5'>
  <model name='lumping_test'>
    <link name='base_link'>
      <pose>0 0 0 0 -0 0</pose>
      <inertial>
        <pose>0 0 0 0 -0 0</pose>
        <mass>1</mass>
        <inertia>
          <ixx>0.001</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>0.001</iyy>
          <iyz>0</iyz>
          <izz>0.001</izz>
        </inertia>
      </inertial>
      <collision name='base_link_fixed_joint_lump__child_link_1_collision'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <sphere>
            <radius>0.03</radius>
          </sphere>
        </geometry>
        <max_contacts>177</max_contacts>
        <surface>
          <contact>
            <ode>
              <min_depth>0.007</min_depth>
            </ode>
          </contact>
          <friction>
            <ode>
              <mu2>0.71</mu2>
              <mu>0.7</mu>
            </ode>
          </friction>
        </surface>
      </collision>
      <visual name='base_link_fixed_joint_lump__child_link_1_visual'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <sphere>
            <radius>0.03</radius>
          </sphere>
        </geometry>
        <material>
          <ambient>0 1 0 1</ambient>
          <script>
            <name>script_uri_71_name</name>
            <uri>file://media/materials/scripts/gazebo.material</uri>
          </script>
        </material>
      </visual>
      <gravity>1</gravity>
      <velocity_decay/>
      <self_collide>0</self_collide>
    </link>
  </model>
</sdf>
