<?xml version='1.0'?>
<sdf version="1.4">
<model name="fire_hose_long">
<pose>0 0 10 0.708 0 0</pose>
<joint name="joint_01_world" type="revolute">
<child>nozzle</child>
<parent>world</parent>
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</dynamics>
</axis>
</joint>
<link name="nozzle">
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</inertial>
<collision name="nozzle_collision">
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<geometry>
<mesh>
<scale>0.002540 0.002540 0.002540</scale>
<uri>model://fire_hose_long/meshes/nozzle.stl</uri>
</mesh>
</geometry>
</collision>
<visual name="nozzle_vis">
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<geometry>
<mesh>
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<uri>model://fire_hose_long/meshes/nozzle.stl</uri>
</mesh>
</geometry>
</visual>
<velocity_decay />
</link>
<link name="sphere_01">
<gravity>false</gravity>
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<collision name="sphere_01_collision">
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<geometry>
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</sphere>
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<visual name="sphere_01_vis">
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<geometry>
<sphere>
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</sphere>
</geometry>
</visual>
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</link>
<joint name="joint_01_1" type="revolute">
<child>sphere_01</child>
<parent>nozzle</parent>
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<limit>
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<dynamics>
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<friction>0.000000</friction>
</dynamics>
</axis>
</joint>
<link name="link_01">
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<collision name="link_01_collision">
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<geometry>
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</cylinder>
</geometry>
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<visual name="link_01_vis">
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</cylinder>
</geometry>
</visual>
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<joint name="joint_01_2" type="revolute">
<child>link_01</child>
<parent>sphere_01</parent>
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<link name="sphere_02">
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<collision name="sphere_02_collision">
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<geometry>
<sphere>
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</sphere>
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<visual name="sphere_02_vis">
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</visual>
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<joint name="joint_02_1" type="revolute">
<child>sphere_02</child>
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</joint>
<link name="link_02">
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<collision name="link_02_collision">
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<visual name="link_02_vis">
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</cylinder>
</geometry>
</visual>
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<joint name="joint_02_2" type="revolute">
<child>link_02</child>
<parent>sphere_02</parent>
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<dynamics>
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</dynamics>
</axis>
</joint>
<link name="sphere_03">
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<iyz>0.000000</iyz>
<izz>0.010000</izz>
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</inertial>
<collision name="sphere_03_collision">
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<geometry>
<sphere>
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</sphere>
</geometry>
</collision>
<visual name="sphere_03_vis">
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<geometry>
<sphere>
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</sphere>
</geometry>
</visual>
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</link>
<joint name="joint_03_1" type="revolute">
<child>sphere_03</child>
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<limit>
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</limit>
<dynamics>
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</dynamics>
</axis>
</joint>
<link name="link_03">
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<collision name="link_03_collision">
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<geometry>
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<visual name="link_03_vis">
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<joint name="joint_03_2" type="revolute">
<child>link_03</child>
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<link name="sphere_04">
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<joint name="joint_04_1" type="revolute">
<child>sphere_04</child>
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</joint>
<link name="link_04">
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<joint name="joint_04_2" type="revolute">
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<link name="link_05">
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