<?xml version="1.0" ?> <sdf version="1.5"> <model name="breakable_test"> <pose>0 0 1 0 0 0</pose> <link name="link_0_0"> <pose>0.0 0 0.0 0 0 0</pose> <inertial> <mass>0.3375</mass> <inertia> <ixx>0.00014062500000000004</ixx> <iyy>0.00014062500000000004</iyy> <izz>0.00014062500000000004</izz> <ixy>0.0</ixy> <ixz>0.0</ixz> <iyz>0.0</iyz> </inertia> </inertial> <collision name="collision"> <geometry> <box> <size>0.05 0.05 0.05</size> </box> </geometry> </collision> <visual name="visual"> <geometry> <box> <size>0.05 0.05 0.05</size> </box> </geometry> </visual> </link> <joint name="joint_0_0" type="revolute"> <parent>world</parent> <child>link_0_0</child> <axis> <xyz>0 0 1</xyz> <limit> <lower>0.0</lower> <upper>0.0</upper> </limit> <use_parent_model_frame>true</use_parent_model_frame> </axis> <physics> <ode> <erp>1</erp> <cfm>1</cfm> </ode> </physics> <sensor name="force_torque" type="force_torque"> <always_on>true</always_on> <update_rate>1000</update_rate> <plugin name="breakable_0_0" filename="libBreakableJointPlugin.so"> <breaking_force_N>50</breaking_force_N> </plugin> </sensor> </joint> <link name="link_0_1"> <pose>0.0 0 0.05 0 0 0</pose> <inertial> <mass>0.3375</mass> <inertia> <ixx>0.00014062500000000004</ixx> <iyy>0.00014062500000000004</iyy> <izz>0.00014062500000000004</izz> <ixy>0.0</ixy> <ixz>0.0</ixz> <iyz>0.0</iyz> </inertia> </inertial> <collision name="collision"> <geometry> <box> <size>0.05 0.05 0.05</size> </box> </geometry> </collision> <visual name="visual"> <geometry> <box> <size>0.05 0.05 0.05</size> </box> </geometry> </visual> </link> <joint name="joint_0_1" type="revolute"> <parent>world</parent> <child>link_0_1</child> <axis> <xyz>0 0 1</xyz> <limit> <lower>0.0</lower> <upper>0.0</upper> </limit> <use_parent_model_frame>true</use_parent_model_frame> </axis> <physics> <ode> <erp>1</erp> <cfm>1</cfm> </ode> </physics> <sensor name="force_torque" type="force_torque"> <always_on>true</always_on> <update_rate>1000</update_rate> <plugin name="breakable_0_1" filename="libBreakableJointPlugin.so"> <breaking_force_N>50</breaking_force_N> </plugin> </sensor> </joint> <link name="link_0_2"> <pose>0.0 0 0.1 0 0 0</pose> <inertial> <mass>0.3375</mass> <inertia> <ixx>0.00014062500000000004</ixx> <iyy>0.00014062500000000004</iyy> <izz>0.00014062500000000004</izz> <ixy>0.0</ixy> <ixz>0.0</ixz> <iyz>0.0</iyz> </inertia> </inertial> <collision name="collision"> <geometry> <box> <size>0.05 0.05 0.05</size> </box> </geometry> </collision> <visual name="visual"> <geometry> <box> <size>0.05 0.05 0.05</size> </box> </geometry> </visual> </link> <joint name="joint_0_2" type="revolute"> <parent>world</parent> <child>link_0_2</child> <axis> <xyz>0 0 1</xyz> <limit> <lower>0.0</lower> <upper>0.0</upper> </limit> <use_parent_model_frame>true</use_parent_model_frame> </axis> <physics> <ode> <erp>1</erp> <cfm>1</cfm> </ode> </physics> <sensor name="force_torque" type="force_torque"> <always_on>true</always_on> <update_rate>1000</update_rate> <plugin name="breakable_0_2" filename="libBreakableJointPlugin.so"> <breaking_force_N>50</breaking_force_N> </plugin> </sensor> </joint> <link name="link_0_3"> <pose>0.0 0 0.15000000000000002 0 0 0</pose> <inertial> <mass>0.3375</mass> <inertia> <ixx>0.00014062500000000004</ixx> <iyy>0.00014062500000000004</iyy> <izz>0.00014062500000000004</izz> <ixy>0.0</ixy> <ixz>0.0</ixz> <iyz>0.0</iyz> </inertia> </inertial> <collision name="collision"> <geometry> <box> <size>0.05 0.05 0.05</size> </box> </geometry> </collision> <visual name="visual"> <geometry> <box> <size>0.05 0.05 0.05</size> </box> </geometry> </visual> </link> <joint name="joint_0_3" type="revolute"> <parent>world</parent> <child>link_0_3</child> <axis> <xyz>0 0 1</xyz> <limit> <lower>0.0</lower> <upper>0.0</upper> </limit> <use_parent_model_frame>true</use_parent_model_frame> </axis> <physics> <ode> <erp>1</erp> <cfm>1</cfm> </ode> </physics> <sensor name="force_torque" type="force_torque"> <always_on>true</always_on> <update_rate>1000</update_rate> <plugin name="breakable_0_3" filename="libBreakableJointPlugin.so"> <breaking_force_N>50</breaking_force_N> </plugin> </sensor> </joint> <link name="link_0_4"> <pose>0.0 0 0.2 0 0 0</pose> <inertial> <mass>0.3375</mass> <inertia> <ixx>0.00014062500000000004</ixx> <iyy>0.00014062500000000004</iyy> <izz>0.00014062500000000004</izz> <ixy>0.0</ixy> <ixz>0.0</ixz> <iyz>0.0</iyz> </inertia> </inertial> <collision name="collision"> <geometry> <box> <size>0.05 0.05 0.05</size> </box> </geometry> </collision> <visual name="visual"> <geometry> <box> <size>0.05 0.05 0.05</size> </box> </geometry> </visual> </link> <joint name="joint_0_4" type="revolute"> <parent>world</parent> <child>link_0_4</child> <axis> <xyz>0 0 1</xyz> <limit> <lower>0.0</lower> <upper>0.0</upper> </limit> <use_parent_model_frame>true</use_parent_model_frame> </axis> <physics> <ode> <erp>1</erp> <cfm>1</cfm> </ode> </physics> <sensor name="force_torque" type="force_torque"> <always_on>true</always_on> <update_rate>1000</update_rate> <plugin name="breakable_0_4" filename="libBreakableJointPlugin.so"> <breaking_force_N>50</breaking_force_N> </plugin> </sensor> </joint> <link name="link_0_5"> <pose>0.0 0 0.25 0 0 0</pose> <inertial> <mass>0.3375</mass> <inertia> <ixx>0.00014062500000000004</ixx> <iyy>0.00014062500000000004</iyy> <izz>0.00014062500000000004</izz> <ixy>0.0</ixy> <ixz>0.0</ixz> <iyz>0.0</iyz> </inertia> </inertial> <collision name="collision"> <geometry> <box> <size>0.05 0.05 0.05</size> </box> </geometry> </collision> <visual name="visual"> <geometry> <box> <size>0.05 0.05 0.05</size> </box> </geometry> </visual> </link> <joint name="joint_0_5" type="revolute"> <parent>world</parent> <child>link_0_5</child> <axis> <xyz>0 0 1</xyz> <limit> <lower>0.0</lower> <upper>0.0</upper> </limit> <use_parent_model_frame>true</use_parent_model_frame> </axis> <physics> <ode> <erp>1</erp> <cfm>1</cfm> </ode> </physics> <sensor name="force_torque" type="force_torque"> <always_on>true</always_on> <update_rate>1000</update_rate> <plugin name="breakable_0_5" filename="libBreakableJointPlugin.so"> <breaking_force_N>50</breaking_force_N> </plugin> </sensor> </joint> <link name="link_0_6"> <pose>0.0 0 0.30000000000000004 0 0 0</pose> <inertial> <mass>0.3375</mass> <inertia> <ixx>0.00014062500000000004</ixx> <iyy>0.00014062500000000004</iyy> <izz>0.00014062500000000004</izz> <ixy>0.0</ixy> <ixz>0.0</ixz> <iyz>0.0</iyz> </inertia> </inertial> <collision name="collision"> <geometry> <box> <size>0.05 0.05 0.05</size> </box> </geometry> </collision> <visual name="visual"> <geometry> <box> <size>0.05 0.05 0.05</size> </box> </geometry> </visual> </link> <joint name="joint_0_6" type="revolute"> <parent>world</parent> <child>link_0_6</child> <axis> <xyz>0 0 1</xyz> <limit> <lower>0.0</lower> <upper>0.0</upper> </limit> <use_parent_model_frame>true</use_parent_model_frame> </axis> <physics> <ode> <erp>1</erp> <cfm>1</cfm> </ode> </physics> <sensor name="force_torque" type="force_torque"> <always_on>true</always_on> <update_rate>1000</update_rate> <plugin name="breakable_0_6" filename="libBreakableJointPlugin.so"> <breaking_force_N>50</breaking_force_N> </plugin> </sensor> </joint> <link name="link_0_7"> <pose>0.0 0 0.35000000000000003 0 0 0</pose> <inertial> <mass>0.3375</mass> <inertia> <ixx>0.00014062500000000004</ixx> <iyy>0.00014062500000000004</iyy> <izz>0.00014062500000000004</izz> <ixy>0.0</ixy> <ixz>0.0</ixz> <iyz>0.0</iyz> </inertia> </inertial> <collision name="collision"> <geometry> <box> <size>0.05 0.05 0.05</size> </box> </geometry> </collision> <visual name="visual"> <geometry> <box> <size>0.05 0.05 0.05</size> </box> </geometry> </visual> </link> <joint name="joint_0_7" type="revolute"> <parent>world</parent> <child>link_0_7</child> <axis> <xyz>0 0 1</xyz> <limit> <lower>0.0</lower> <upper>0.0</upper> </limit> <use_parent_model_frame>true</use_parent_model_frame> </axis> <physics> <ode> <erp>1</erp> <cfm>1</cfm> </ode> </physics> <sensor name="force_torque" type="force_torque"> <always_on>true</always_on> <update_rate>1000</update_rate> <plugin name="breakable_0_7" filename="libBreakableJointPlugin.so"> <breaking_force_N>50</breaking_force_N> </plugin> </sensor> </joint> <link name="link_0_8"> <pose>0.0 0 0.4 0 0 0</pose> <inertial> <mass>0.3375</mass> <inertia> <ixx>0.00014062500000000004</ixx> <iyy>0.00014062500000000004</iyy> <izz>0.00014062500000000004</izz> <ixy>0.0</ixy> <ixz>0.0</ixz> <iyz>0.0</iyz> </inertia> </inertial> <collision name="collision"> <geometry> <box> <size>0.05 0.05 0.05</size> </box> </geometry> </collision> <visual name="visual"> <geometry> <box> <size>0.05 0.05 0.05</size> </box> </geometry> </visual> </link> <joint name="joint_0_8" type="revolute"> <parent>world</parent> <child>link_0_8</child> <axis> <xyz>0 0 1</xyz> <limit> <lower>0.0</lower> <upper>0.0</upper> </limit> <use_parent_model_frame>true</use_parent_model_frame> </axis> <physics> <ode> <erp>1</erp> <cfm>1</cfm> </ode> </physics> <sensor name="force_torque" type="force_torque"> <always_on>true</always_on> <update_rate>1000</update_rate> <plugin name="breakable_0_8" filename="libBreakableJointPlugin.so"> <breaking_force_N>50</breaking_force_N> </plugin> </sensor> </joint> <link name="link_0_9"> <pose>0.0 0 0.45 0 0 0</pose> <inertial> <mass>0.3375</mass> <inertia> <ixx>0.00014062500000000004</ixx> <iyy>0.00014062500000000004</iyy> <izz>0.00014062500000000004</izz> <ixy>0.0</ixy> <ixz>0.0</ixz> <iyz>0.0</iyz> </inertia> </inertial> <collision name="collision"> <geometry> <box> <size>0.05 0.05 0.05</size> </box> </geometry> </collision> <visual name="visual"> <geometry> <box> <size>0.05 0.05 0.05</size> </box> </geometry> </visual> </link> <joint name="joint_0_9" type="revolute"> <parent>world</parent> <child>link_0_9</child> <axis> <xyz>0 0 1</xyz> <limit> <lower>0.0</lower> <upper>0.0</upper> </limit> <use_parent_model_frame>true</use_parent_model_frame> </axis> <physics> <ode> <erp>1</erp> <cfm>1</cfm> </ode> </physics> <sensor name="force_torque" type="force_torque"> <always_on>true</always_on> <update_rate>1000</update_rate> <plugin name="breakable_0_9" filename="libBreakableJointPlugin.so"> <breaking_force_N>50</breaking_force_N> </plugin> </sensor> </joint> <link name="link_1_0"> <pose>0.05 0 0.0 0 0 0</pose> <inertial> <mass>0.3375</mass> <inertia> <ixx>0.00014062500000000004</ixx> <iyy>0.00014062500000000004</iyy> <izz>0.00014062500000000004</izz> <ixy>0.0</ixy> <ixz>0.0</ixz> <iyz>0.0</iyz> </inertia> </inertial> <collision name="collision"> <geometry> <box> <size>0.05 0.05 0.05</size> </box> </geometry> </collision> <visual name="visual"> <geometry> <box> <size>0.05 0.05 0.05</size> </box> </geometry> </visual> </link> <joint name="joint_1_0" type="revolute"> <parent>world</parent> <child>link_1_0</child> <axis> <xyz>0 0 1</xyz> <limit> <lower>0.0</lower> <upper>0.0</upper> </limit> <use_parent_model_frame>true</use_parent_model_frame> </axis> <physics> <ode> <erp>1</erp> <cfm>1</cfm> </ode> </physics> <sensor name="force_torque" type="force_torque"> <always_on>true</always_on> <update_rate>1000</update_rate> <plugin name="breakable_1_0" filename="libBreakableJointPlugin.so"> <breaking_force_N>50</breaking_force_N> </plugin> </sensor> </joint> <link name="link_1_1"> <pose>0.05 0 0.05 0 0 0</pose> <inertial> <mass>0.3375</mass> <inertia> <ixx>0.00014062500000000004</ixx> <iyy>0.00014062500000000004</iyy> <izz>0.00014062500000000004</izz> <ixy>0.0</ixy> <ixz>0.0</ixz> <iyz>0.0</iyz> </inertia> </inertial> <collision name="collision"> <geometry> <box> <size>0.05 0.05 0.05</size> </box> </geometry> </collision> <visual name="visual"> <geometry> <box> <size>0.05 0.05 0.05</size> </box> </geometry> </visual> </link> <joint name="joint_1_1" type="revolute"> <parent>world</parent> <child>link_1_1</child> <axis> <xyz>0 0 1</xyz> <limit> <lower>0.0</lower> <upper>0.0</upper> </limit> <use_parent_model_frame>true</use_parent_model_frame> </axis> <physics> <ode> <erp>1</erp> <cfm>1</cfm> </ode> </physics> <sensor name="force_torque" type="force_torque"> <always_on>true</always_on> <update_rate>1000</update_rate> <plugin name="breakable_1_1" filename="libBreakableJointPlugin.so"> <breaking_force_N>50</breaking_force_N> </plugin> </sensor> </joint> <link name="link_1_2"> <pose>0.05 0 0.1 0 0 0</pose> <inertial> <mass>0.3375</mass> <inertia> <ixx>0.00014062500000000004</ixx> <iyy>0.00014062500000000004</iyy> <izz>0.00014062500000000004</izz> <ixy>0.0</ixy> <ixz>0.0</ixz> <iyz>0.0</iyz> </inertia> </inertial> <collision name="collision"> <geometry> <box> <size>0.05 0.05 0.05</size> </box> </geometry> </collision> <visual name="visual"> <geometry> <box> <size>0.05 0.05 0.05</size> </box> </geometry> </visual> </link> <joint name="joint_1_2" type="revolute"> <parent>world</parent> <child>link_1_2</child> <axis> <xyz>0 0 1</xyz> <limit> <lower>0.0</lower> <upper>0.0</upper> </limit> <use_parent_model_frame>true</use_parent_model_frame> </axis> <physics> <ode> <erp>1</erp> <cfm>1</cfm> </ode> </physics> <sensor name="force_torque" type="force_torque"> <always_on>true</always_on> <update_rate>1000</update_rate> <plugin name="breakable_1_2" filename="libBreakableJointPlugin.so"> <breaking_force_N>50</breaking_force_N> </plugin> </sensor> </joint> <link name="link_1_3"> <pose>0.05 0 0.15000000000000002 0 0 0</pose> <inertial> <mass>0.3375</mass> <inertia> <ixx>0.00014062500000000004</ixx> <iyy>0.00014062500000000004</iyy> <izz>0.00014062500000000004</izz> <ixy>0.0</ixy> <ixz>0.0</ixz> <iyz>0.0</iyz> </inertia> </inertial> <collision name="collision"> <geometry> <box> <size>0.05 0.05 0.05</size> </box> </geometry> </collision> <visual name="visual"> <geometry> <box> <size>0.05 0.05 0.05</size> </box> </geometry> </visual> </link> <joint name="joint_1_3" type="revolute"> <parent>world</parent> <child>link_1_3</child> <axis> <xyz>0 0 1</xyz> <limit> <lower>0.0</lower> <upper>0.0</upper> </limit> <use_parent_model_frame>true</use_parent_model_frame> </axis> <physics> <ode> <erp>1</erp> <cfm>1</cfm> </ode> </physics> <sensor name="force_torque" type="force_torque"> <always_on>true</always_on> <update_rate>1000</update_rate> <plugin name="breakable_1_3" filename="libBreakableJointPlugin.so"> <breaking_force_N>50</breaking_force_N> </plugin> </sensor> </joint> <link name="link_1_4"> <pose>0.05 0 0.2 0 0 0</pose> <inertial> <mass>0.3375</mass> <inertia> <ixx>0.00014062500000000004</ixx> <iyy>0.00014062500000000004</iyy> <izz>0.00014062500000000004</izz> <ixy>0.0</ixy> <ixz>0.0</ixz> <iyz>0.0</iyz> </inertia> </inertial> <collision name="collision"> <geometry> <box> <size>0.05 0.05 0.05</size> </box> </geometry> </collision> <visual name="visual"> <geometry> <box> <size>0.05 0.05 0.05</size> </box> </geometry> </visual> </link> <joint name="joint_1_4" type="revolute"> <parent>world</parent> <child>link_1_4</child> <axis> <xyz>0 0 1</xyz> <limit> <lower>0.0</lower> <upper>0.0</upper> </limit> <use_parent_model_frame>true</use_parent_model_frame> </axis> <physics> <ode> <erp>1</erp> <cfm>1</cfm> </ode> </physics> <sensor name="force_torque" type="force_torque"> <always_on>true</always_on> <update_rate>1000</update_rate> <plugin name="breakable_1_4" filename="libBreakableJointPlugin.so"> <breaking_force_N>50</breaking_force_N> </plugin> </sensor> </joint> <link name="link_1_5"> <pose>0.05 0 0.25 0 0 0</pose> <inertial> <mass>0.3375</mass> <inertia> <ixx>0.00014062500000000004</ixx> <iyy>0.00014062500000000004</iyy> <izz>0.00014062500000000004</izz> <ixy>0.0</ixy> <ixz>0.0</ixz> <iyz>0.0</iyz> </inertia> </inertial> <collision name="collision"> <geometry> <box> <size>0.05 0.05 0.05</size> </box> </geometry> </collision> <visual name="visual"> <geometry> <box> <size>0.05 0.05 0.05</size> </box> </geometry> </visual> </link> <joint name="joint_1_5" type="revolute"> <parent>world</parent> <child>link_1_5</child> <axis> <xyz>0 0 1</xyz> <limit> <lower>0.0</lower> <upper>0.0</upper> </limit> <use_parent_model_frame>true</use_parent_model_frame> </axis> <physics> <ode> <erp>1</erp> <cfm>1</cfm> </ode> </physics> <sensor name="force_torque" type="force_torque"> <always_on>true</always_on> <update_rate>1000</update_rate> <plugin name="breakable_1_5" filename="libBreakableJointPlugin.so"> <breaking_force_N>50</breaking_force_N> </plugin> </sensor> </joint> <link name="link_1_6"> <pose>0.05 0 0.30000000000000004 0 0 0</pose> <inertial> <mass>0.3375</mass> <inertia> <ixx>0.00014062500000000004</ixx> <iyy>0.00014062500000000004</iyy> <izz>0.00014062500000000004</izz> <ixy>0.0</ixy> <ixz>0.0</ixz> <iyz>0.0</iyz> </inertia> </inertial> <collision name="collision"> <geometry> <box> <size>0.05 0.05 0.05</size> </box> </geometry> </collision> <visual name="visual"> <geometry> <box> <size>0.05 0.05 0.05</size> </box> </geometry> </visual> </link> <joint name="joint_1_6" type="revolute"> <parent>world</parent> <child>link_1_6</child> <axis> <xyz>0 0 1</xyz> <limit> <lower>0.0</lower> <upper>0.0</upper> </limit> <use_parent_model_frame>true</use_parent_model_frame> </axis> <physics> <ode> <erp>1</erp> <cfm>1</cfm> </ode> </physics> <sensor name="force_torque" type="force_torque"> <always_on>true</always_on> <update_rate>1000</update_rate> <plugin name="breakable_1_6" filename="libBreakableJointPlugin.so"> <breaking_force_N>50</breaking_force_N> </plugin> </sensor> </joint> <link name="link_1_7"> <pose>0.05 0 0.35000000000000003 0 0 0</pose> <inertial> <mass>0.3375</mass> <inertia> <ixx>0.00014062500000000004</ixx> <iyy>0.00014062500000000004</iyy> <izz>0.00014062500000000004</izz> <ixy>0.0</ixy> <ixz>0.0</ixz> <iyz>0.0</iyz> </inertia> </inertial> <collision name="collision"> <geometry> <box> <size>0.05 0.05 0.05</size> </box> </geometry> </collision> <visual name="visual"> <geometry> <box> <size>0.05 0.05 0.05</size> </box> </geometry> </visual> </link> <joint name="joint_1_7" type="revolute"> <parent>world</parent> <child>link_1_7</child> <axis> <xyz>0 0 1</xyz> <limit> <lower>0.0</lower> <upper>0.0</upper> </limit> <use_parent_model_frame>true</use_parent_model_frame> </axis> <physics> <ode> <erp>1</erp> <cfm>1</cfm> </ode> </physics> <sensor name="force_torque" type="force_torque"> <always_on>true</always_on> <update_rate>1000</update_rate> <plugin name="breakable_1_7" filename="libBreakableJointPlugin.so"> <breaking_force_N>50</breaking_force_N> </plugin> </sensor> </joint> <link name="link_1_8"> <pose>0.05 0 0.4 0 0 0</pose> <inertial> <mass>0.3375</mass> <inertia> <ixx>0.00014062500000000004</ixx> <iyy>0.00014062500000000004</iyy> <izz>0.00014062500000000004</izz> <ixy>0.0</ixy> <ixz>0.0</ixz> <iyz>0.0</iyz> </inertia> </inertial> <collision name="collision"> <geometry> <box> <size>0.05 0.05 0.05</size> </box> </geometry> </collision> <visual name="visual"> <geometry> <box> <size>0.05 0.05 0.05</size> </box> </geometry> </visual> </link> <joint name="joint_1_8" type="revolute"> <parent>world</parent> <child>link_1_8</child> <axis> <xyz>0 0 1</xyz> <limit> <lower>0.0</lower> <upper>0.0</upper> </limit> <use_parent_model_frame>true</use_parent_model_frame> </axis> <physics> <ode> <erp>1</erp> <cfm>1</cfm> </ode> </physics> <sensor name="force_torque" type="force_torque"> <always_on>true</always_on> <update_rate>1000</update_rate> <plugin name="breakable_1_8" filename="libBreakableJointPlugin.so"> <breaking_force_N>50</breaking_force_N> </plugin> </sensor> </joint> <link name="link_1_9"> <pose>0.05 0 0.45 0 0 0</pose> <inertial> <mass>0.3375</mass> <inertia> <ixx>0.00014062500000000004</ixx> <iyy>0.00014062500000000004</iyy> <izz>0.00014062500000000004</izz> <ixy>0.0</ixy> <ixz>0.0</ixz> <iyz>0.0</iyz> </inertia> </inertial> <collision name="collision"> <geometry> <box> <size>0.05 0.05 0.05</size> </box> </geometry> </collision> <visual name="visual"> <geometry> <box> <size>0.05 0.05 0.05</size> </box> </geometry> </visual> </link> <joint name="joint_1_9" type="revolute"> <parent>world</parent> <child>link_1_9</child> <axis> <xyz>0 0 1</xyz> <limit> <lower>0.0</lower> <upper>0.0</upper> </limit> <use_parent_model_frame>true</use_parent_model_frame> </axis> <physics> <ode> <erp>1</erp> <cfm>1</cfm> </ode> </physics> <sensor name="force_torque" type="force_torque"> <always_on>true</always_on> <update_rate>1000</update_rate> <plugin name="breakable_1_9" filename="libBreakableJointPlugin.so"> <breaking_force_N>50</breaking_force_N> </plugin> </sensor> </joint> <link name="link_2_0"> <pose>0.1 0 0.0 0 0 0</pose> <inertial> <mass>0.3375</mass> <inertia> <ixx>0.00014062500000000004</ixx> <iyy>0.00014062500000000004</iyy> <izz>0.00014062500000000004</izz> <ixy>0.0</ixy> <ixz>0.0</ixz> <iyz>0.0</iyz> </inertia> </inertial> <collision name="collision"> <geometry> <box> <size>0.05 0.05 0.05</size> </box> </geometry> </collision> <visual name="visual"> <geometry> <box> <size>0.05 0.05 0.05</size> </box> </geometry> </visual> </link> <joint name="joint_2_0" type="revolute"> <parent>world</parent> <child>link_2_0</child> <axis> <xyz>0 0 1</xyz> <limit> <lower>0.0</lower> <upper>0.0</upper> </limit> <use_parent_model_frame>true</use_parent_model_frame> </axis> <physics> <ode> <erp>1</erp> <cfm>1</cfm> </ode> </physics> <sensor name="force_torque" type="force_torque"> <always_on>true</always_on> <update_rate>1000</update_rate> <plugin name="breakable_2_0" filename="libBreakableJointPlugin.so"> <breaking_force_N>50</breaking_force_N> </plugin> </sensor> </joint> <link name="link_2_1"> <pose>0.1 0 0.05 0 0 0</pose> <inertial> <mass>0.3375</mass> <inertia> <ixx>0.00014062500000000004</ixx> <iyy>0.00014062500000000004</iyy> <izz>0.00014062500000000004</izz> <ixy>0.0</ixy> <ixz>0.0</ixz> <iyz>0.0</iyz> </inertia> </inertial> <collision name="collision"> <geometry> <box> <size>0.05 0.05 0.05</size> </box> </geometry> </collision> <visual name="visual"> <geometry> <box> <size>0.05 0.05 0.05</size> </box> </geometry> </visual> </link> <joint name="joint_2_1" type="revolute"> <parent>world</parent> <child>link_2_1</child> <axis> <xyz>0 0 1</xyz> <limit> <lower>0.0</lower> <upper>0.0</upper> </limit> <use_parent_model_frame>true</use_parent_model_frame> </axis> <physics> <ode> <erp>1</erp> <cfm>1</cfm> </ode> </physics> <sensor name="force_torque" type="force_torque"> <always_on>true</always_on> <update_rate>1000</update_rate> <plugin name="breakable_2_1" filename="libBreakableJointPlugin.so"> <breaking_force_N>50</breaking_force_N> </plugin> </sensor> </joint> <link name="link_2_2"> <pose>0.1 0 0.1 0 0 0</pose> <inertial> <mass>0.3375</mass> <inertia> <ixx>0.00014062500000000004</ixx> <iyy>0.00014062500000000004</iyy> <izz>0.00014062500000000004</izz> <ixy>0.0</ixy> <ixz>0.0</ixz> <iyz>0.0</iyz> </inertia> </inertial> <collision name="collision"> <geometry> <box> <size>0.05 0.05 0.05</size> </box> </geometry> </collision> <visual name="visual"> <geometry> <box> <size>0.05 0.05 0.05</size> </box> </geometry> </visual> </link> <joint name="joint_2_2" type="revolute"> <parent>world</parent> <child>link_2_2</child> <axis> <xyz>0 0 1</xyz> <limit> <lower>0.0</lower> <upper>0.0</upper> </limit> <use_parent_model_frame>true</use_parent_model_frame> </axis> <physics> <ode> <erp>1</erp> <cfm>1</cfm> </ode> </physics> <sensor name="force_torque" type="force_torque"> <always_on>true</always_on> <update_rate>1000</update_rate> <plugin name="breakable_2_2" filename="libBreakableJointPlugin.so"> <breaking_force_N>50</breaking_force_N> </plugin> </sensor> </joint> <link name="link_2_3"> <pose>0.1 0 0.15000000000000002 0 0 0</pose> <inertial> <mass>0.3375</mass> <inertia> <ixx>0.00014062500000000004</ixx> <iyy>0.00014062500000000004</iyy> <izz>0.00014062500000000004</izz> <ixy>0.0</ixy> <ixz>0.0</ixz> <iyz>0.0</iyz> </inertia> </inertial> <collision name="collision"> <geometry> <box> <size>0.05 0.05 0.05</size> </box> </geometry> </collision> <visual name="visual"> <geometry> <box> <size>0.05 0.05 0.05</size> </box> </geometry> </visual> </link> <joint name="joint_2_3" type="revolute"> <parent>world</parent> <child>link_2_3</child> <axis> <xyz>0 0 1</xyz> <limit> <lower>0.0</lower> <upper>0.0</upper> </limit> <use_parent_model_frame>true</use_parent_model_frame> </axis> <physics> <ode> <erp>1</erp> <cfm>1</cfm> </ode> </physics> <sensor name="force_torque" type="force_torque"> <always_on>true</always_on> <update_rate>1000</update_rate> <plugin name="breakable_2_3" filename="libBreakableJointPlugin.so"> <breaking_force_N>50</breaking_force_N> </plugin> </sensor> </joint> <link name="link_2_4"> <pose>0.1 0 0.2 0 0 0</pose> <inertial> <mass>0.3375</mass> <inertia> <ixx>0.00014062500000000004</ixx> <iyy>0.00014062500000000004</iyy> <izz>0.00014062500000000004</izz> <ixy>0.0</ixy> <ixz>0.0</ixz> <iyz>0.0</iyz> </inertia> </inertial> <collision name="collision"> <geometry> <box> <size>0.05 0.05 0.05</size> </box> </geometry> </collision> <visual name="visual"> <geometry> <box> <size>0.05 0.05 0.05</size> </box> </geometry> </visual> </link> <joint name="joint_2_4" type="revolute"> <parent>world</parent> <child>link_2_4</child> <axis> <xyz>0 0 1</xyz> <limit> <lower>0.0</lower> <upper>0.0</upper> </limit> <use_parent_model_frame>true</use_parent_model_frame> </axis> <physics> <ode> <erp>1</erp> <cfm>1</cfm> </ode> </physics> <sensor name="force_torque" type="force_torque"> <always_on>true</always_on> <update_rate>1000</update_rate> <plugin name="breakable_2_4" filename="libBreakableJointPlugin.so"> <breaking_force_N>50</breaking_force_N> </plugin> </sensor> </joint> <link name="link_2_5"> <pose>0.1 0 0.25 0 0 0</pose> <inertial> <mass>0.3375</mass> <inertia> <ixx>0.00014062500000000004</ixx> <iyy>0.00014062500000000004</iyy> <izz>0.00014062500000000004</izz> <ixy>0.0</ixy> <ixz>0.0</ixz> <iyz>0.0</iyz> </inertia> </inertial> <collision name="collision"> <geometry> <box> <size>0.05 0.05 0.05</size> </box> </geometry> </collision> <visual name="visual"> <geometry> <box> <size>0.05 0.05 0.05</size> </box> </geometry> </visual> </link> <joint name="joint_2_5" type="revolute"> <parent>world</parent> <child>link_2_5</child> <axis> <xyz>0 0 1</xyz> <limit> <lower>0.0</lower> <upper>0.0</upper> </limit> <use_parent_model_frame>true</use_parent_model_frame> </axis> <physics> <ode> <erp>1</erp> <cfm>1</cfm> </ode> </physics> <sensor name="force_torque" type="force_torque"> <always_on>true</always_on> <update_rate>1000</update_rate> <plugin name="breakable_2_5" filename="libBreakableJointPlugin.so"> <breaking_force_N>50</breaking_force_N> </plugin> </sensor> </joint> <link name="link_2_6"> <pose>0.1 0 0.30000000000000004 0 0 0</pose> <inertial> <mass>0.3375</mass> <inertia> <ixx>0.00014062500000000004</ixx> <iyy>0.00014062500000000004</iyy> <izz>0.00014062500000000004</izz> <ixy>0.0</ixy> <ixz>0.0</ixz> <iyz>0.0</iyz> </inertia> </inertial> <collision name="collision"> <geometry> <box> <size>0.05 0.05 0.05</size> </box> </geometry> </collision> <visual name="visual"> <geometry> <box> <size>0.05 0.05 0.05</size> </box> </geometry> </visual> </link> <joint name="joint_2_6" type="revolute"> <parent>world</parent> <child>link_2_6</child> <axis> <xyz>0 0 1</xyz> <limit> <lower>0.0</lower> <upper>0.0</upper> </limit> <use_parent_model_frame>true</use_parent_model_frame> </axis> <physics> <ode> <erp>1</erp> <cfm>1</cfm> </ode> </physics> <sensor name="force_torque" type="force_torque"> <always_on>true</always_on> <update_rate>1000</update_rate> <plugin name="breakable_2_6" filename="libBreakableJointPlugin.so"> <breaking_force_N>50</breaking_force_N> </plugin> </sensor> </joint> <link name="link_2_7"> <pose>0.1 0 0.35000000000000003 0 0 0</pose> <inertial> <mass>0.3375</mass> <inertia> <ixx>0.00014062500000000004</ixx> <iyy>0.00014062500000000004</iyy> <izz>0.00014062500000000004</izz> <ixy>0.0</ixy> <ixz>0.0</ixz> <iyz>0.0</iyz> </inertia> </inertial> <collision name="collision"> <geometry> <box> <size>0.05 0.05 0.05</size> </box> </geometry> </collision> <visual name="visual"> <geometry> <box> <size>0.05 0.05 0.05</size> </box> </geometry> </visual> </link> <joint name="joint_2_7" type="revolute"> <parent>world</parent> <child>link_2_7</child> <axis> <xyz>0 0 1</xyz> <limit> <lower>0.0</lower> <upper>0.0</upper> </limit> <use_parent_model_frame>true</use_parent_model_frame> </axis> <physics> <ode> <erp>1</erp> <cfm>1</cfm> </ode> </physics> <sensor name="force_torque" type="force_torque"> <always_on>true</always_on> <update_rate>1000</update_rate> <plugin name="breakable_2_7" filename="libBreakableJointPlugin.so"> <breaking_force_N>50</breaking_force_N> </plugin> </sensor> </joint> <link name="link_2_8"> <pose>0.1 0 0.4 0 0 0</pose> <inertial> <mass>0.3375</mass> <inertia> <ixx>0.00014062500000000004</ixx> <iyy>0.00014062500000000004</iyy> <izz>0.00014062500000000004</izz> <ixy>0.0</ixy> <ixz>0.0</ixz> <iyz>0.0</iyz> </inertia> </inertial> <collision name="collision"> <geometry> <box> <size>0.05 0.05 0.05</size> </box> </geometry> </collision> <visual name="visual"> <geometry> <box> <size>0.05 0.05 0.05</size> </box> </geometry> </visual> </link> <joint name="joint_2_8" type="revolute"> <parent>world</parent> <child>link_2_8</child> <axis> <xyz>0 0 1</xyz> <limit> <lower>0.0</lower> <upper>0.0</upper> </limit> <use_parent_model_frame>true</use_parent_model_frame> </axis> <physics> <ode> <erp>1</erp> <cfm>1</cfm> </ode> </physics> <sensor name="force_torque" type="force_torque"> <always_on>true</always_on> <update_rate>1000</update_rate> <plugin name="breakable_2_8" filename="libBreakableJointPlugin.so"> <breaking_force_N>50</breaking_force_N> </plugin> </sensor> </joint> <link name="link_2_9"> <pose>0.1 0 0.45 0 0 0</pose> <inertial> <mass>0.3375</mass> <inertia> <ixx>0.00014062500000000004</ixx> <iyy>0.00014062500000000004</iyy> <izz>0.00014062500000000004</izz> <ixy>0.0</ixy> <ixz>0.0</ixz> <iyz>0.0</iyz> </inertia> </inertial> <collision name="collision"> <geometry> <box> <size>0.05 0.05 0.05</size> </box> </geometry> </collision> <visual name="visual"> <geometry> <box> <size>0.05 0.05 0.05</size> </box> </geometry> </visual> </link> <joint name="joint_2_9" type="revolute"> <parent>world</parent> <child>link_2_9</child> <axis> <xyz>0 0 1</xyz> <limit> <lower>0.0</lower> <upper>0.0</upper> </limit> <use_parent_model_frame>true</use_parent_model_frame> </axis> <physics> <ode> <erp>1</erp> <cfm>1</cfm> </ode> </physics> <sensor name="force_torque" type="force_torque"> <always_on>true</always_on> <update_rate>1000</update_rate> <plugin name="breakable_2_9" filename="libBreakableJointPlugin.so"> <breaking_force_N>50</breaking_force_N> </plugin> </sensor> </joint> <link name="link_3_0"> <pose>0.15000000000000002 0 0.0 0 0 0</pose> <inertial> <mass>0.3375</mass> <inertia> <ixx>0.00014062500000000004</ixx> <iyy>0.00014062500000000004</iyy> <izz>0.00014062500000000004</izz> <ixy>0.0</ixy> <ixz>0.0</ixz> <iyz>0.0</iyz> </inertia> </inertial> <collision name="collision"> <geometry> <box> <size>0.05 0.05 0.05</size> </box> </geometry> </collision> <visual name="visual"> <geometry> <box> <size>0.05 0.05 0.05</size> </box> </geometry> </visual> </link> <joint name="joint_3_0" type="revolute"> <parent>world</parent> <child>link_3_0</child> <axis> <xyz>0 0 1</xyz> <limit> <lower>0.0</lower> <upper>0.0</upper> </limit> <use_parent_model_frame>true</use_parent_model_frame> </axis> <physics> <ode> <erp>1</erp> <cfm>1</cfm> </ode> </physics> <sensor name="force_torque" type="force_torque"> <always_on>true</always_on> <update_rate>1000</update_rate> <plugin name="breakable_3_0" filename="libBreakableJointPlugin.so"> <breaking_force_N>50</breaking_force_N> </plugin> </sensor> </joint> <link name="link_3_1"> <pose>0.15000000000000002 0 0.05 0 0 0</pose> <inertial> <mass>0.3375</mass> <inertia> <ixx>0.00014062500000000004</ixx> <iyy>0.00014062500000000004</iyy> <izz>0.00014062500000000004</izz> <ixy>0.0</ixy> <ixz>0.0</ixz> <iyz>0.0</iyz> </inertia> </inertial> <collision name="collision"> <geometry> <box> <size>0.05 0.05 0.05</size> </box> </geometry> </collision> <visual name="visual"> <geometry> <box> <size>0.05 0.05 0.05</size> </box> </geometry> </visual> </link> <joint name="joint_3_1" type="revolute"> <parent>world</parent> <child>link_3_1</child> <axis> <xyz>0 0 1</xyz> <limit> <lower>0.0</lower> <upper>0.0</upper> </limit> <use_parent_model_frame>true</use_parent_model_frame> </axis> <physics> <ode> <erp>1</erp> <cfm>1</cfm> </ode> </physics> <sensor name="force_torque" type="force_torque"> <always_on>true</always_on> <update_rate>1000</update_rate> <plugin name="breakable_3_1" filename="libBreakableJointPlugin.so"> <breaking_force_N>50</breaking_force_N> </plugin> </sensor> </joint> <link name="link_3_2"> <pose>0.15000000000000002 0 0.1 0 0 0</pose> <inertial> <mass>0.3375</mass> <inertia> <ixx>0.00014062500000000004</ixx> <iyy>0.00014062500000000004</iyy> <izz>0.00014062500000000004</izz> <ixy>0.0</ixy> <ixz>0.0</ixz> <iyz>0.0</iyz> </inertia> </inertial> <collision name="collision"> <geometry> <box> <size>0.05 0.05 0.05</size> </box> </geometry> </collision> <visual name="visual"> <geometry> <box> <size>0.05 0.05 0.05</size> </box> </geometry> </visual> </link> <joint name="joint_3_2" type="revolute"> <parent>world</parent> <child>link_3_2</child> <axis> <xyz>0 0 1</xyz> <limit> <lower>0.0</lower> <upper>0.0</upper> </limit> <use_parent_model_frame>true</use_parent_model_frame> </axis> <physics> <ode> <erp>1</erp> <cfm>1</cfm> </ode> </physics> <sensor name="force_torque" type="force_torque"> <always_on>true</always_on> <update_rate>1000</update_rate> <plugin name="breakable_3_2" filename="libBreakableJointPlugin.so"> <breaking_force_N>50</breaking_force_N> </plugin> </sensor> </joint> <link name="link_3_3"> <pose>0.15000000000000002 0 0.15000000000000002 0 0 0</pose> <inertial> <mass>0.3375</mass> <inertia> <ixx>0.00014062500000000004</ixx> <iyy>0.00014062500000000004</iyy> <izz>0.00014062500000000004</izz> <ixy>0.0</ixy> <ixz>0.0</ixz> <iyz>0.0</iyz> </inertia> </inertial> <collision name="collision"> <geometry> <box> <size>0.05 0.05 0.05</size> </box> </geometry> </collision> <visual name="visual"> <geometry> <box> <size>0.05 0.05 0.05</size> </box> </geometry> </visual> </link> <joint name="joint_3_3" type="revolute"> <parent>world</parent> <child>link_3_3</child> <axis> <xyz>0 0 1</xyz> <limit> <lower>0.0</lower> <upper>0.0</upper> </limit> <use_parent_model_frame>true</use_parent_model_frame> </axis> <physics> <ode> <erp>1</erp> <cfm>1</cfm> </ode> </physics> <sensor name="force_torque" type="force_torque"> <always_on>true</always_on> <update_rate>1000</update_rate> <plugin name="breakable_3_3" filename="libBreakableJointPlugin.so"> <breaking_force_N>50</breaking_force_N> </plugin> </sensor> </joint> <link name="link_3_4"> <pose>0.15000000000000002 0 0.2 0 0 0</pose> <inertial> <mass>0.3375</mass> <inertia> <ixx>0.00014062500000000004</ixx> <iyy>0.00014062500000000004</iyy> <izz>0.00014062500000000004</izz> <ixy>0.0</ixy> <ixz>0.0</ixz> <iyz>0.0</iyz> </inertia> </inertial> <collision name="collision"> <geometry> <box> <size>0.05 0.05 0.05</size> </box> </geometry> </collision> <visual name="visual"> <geometry> <box> <size>0.05 0.05 0.05</size> </box> </geometry> </visual> </link> <joint name="joint_3_4" type="revolute"> <parent>world</parent> <child>link_3_4</child> <axis> <xyz>0 0 1</xyz> <limit> <lower>0.0</lower> <upper>0.0</upper> </limit> <use_parent_model_frame>true</use_parent_model_frame> </axis> <physics> <ode> <erp>1</erp> <cfm>1</cfm> </ode> </physics> <sensor name="force_torque" type="force_torque"> <always_on>true</always_on> <update_rate>1000</update_rate> <plugin name="breakable_3_4" filename="libBreakableJointPlugin.so"> <breaking_force_N>50</breaking_force_N> </plugin> </sensor> </joint> <link name="link_3_5"> <pose>0.15000000000000002 0 0.25 0 0 0</pose> <inertial> <mass>0.3375</mass> <inertia> <ixx>0.00014062500000000004</ixx> <iyy>0.00014062500000000004</iyy> <izz>0.00014062500000000004</izz> <ixy>0.0</ixy> <ixz>0.0</ixz> <iyz>0.0</iyz> </inertia> </inertial> <collision name="collision"> <geometry> <box> <size>0.05 0.05 0.05</size> </box> </geometry> </collision> <visual name="visual"> <geometry> <box> <size>0.05 0.05 0.05</size> </box> </geometry> </visual> </link> <joint name="joint_3_5" type="revolute"> <parent>world</parent> <child>link_3_5</child> <axis> <xyz>0 0 1</xyz> <limit> <lower>0.0</lower> <upper>0.0</upper> </limit> <use_parent_model_frame>true</use_parent_model_frame> </axis> <physics> <ode> <erp>1</erp> <cfm>1</cfm> </ode> </physics> <sensor name="force_torque" type="force_torque"> <always_on>true</always_on> <update_rate>1000</update_rate> <plugin name="breakable_3_5" filename="libBreakableJointPlugin.so"> <breaking_force_N>50</breaking_force_N> </plugin> </sensor> </joint> <link name="link_3_6"> <pose>0.15000000000000002 0 0.30000000000000004 0 0 0</pose> <inertial> <mass>0.3375</mass> <inertia> <ixx>0.00014062500000000004</ixx> <iyy>0.00014062500000000004</iyy> <izz>0.00014062500000000004</izz> <ixy>0.0</ixy> <ixz>0.0</ixz> <iyz>0.0</iyz> </inertia> </inertial> <collision name="collision"> <geometry> <box> <size>0.05 0.05 0.05</size> </box> </geometry> </collision> <visual name="visual"> <geometry> <box> <size>0.05 0.05 0.05</size> </box> </geometry> </visual> </link> <joint name="joint_3_6" type="revolute"> <parent>world</parent> <child>link_3_6</child> <axis> <xyz>0 0 1</xyz> <limit> <lower>0.0</lower> <upper>0.0</upper> </limit> <use_parent_model_frame>true</use_parent_model_frame> </axis> <physics> <ode> <erp>1</erp> <cfm>1</cfm> </ode> </physics> <sensor name="force_torque" type="force_torque"> <always_on>true</always_on> <update_rate>1000</update_rate> <plugin name="breakable_3_6" filename="libBreakableJointPlugin.so"> <breaking_force_N>50</breaking_force_N> </plugin> </sensor> </joint> <link name="link_3_7"> <pose>0.15000000000000002 0 0.35000000000000003 0 0 0</pose> <inertial> <mass>0.3375</mass> <inertia> <ixx>0.00014062500000000004</ixx> <iyy>0.00014062500000000004</iyy> <izz>0.00014062500000000004</izz> <ixy>0.0</ixy> <ixz>0.0</ixz> <iyz>0.0</iyz> </inertia> </inertial> <collision name="collision"> <geometry> <box> <size>0.05 0.05 0.05</size> </box> </geometry> </collision> <visual name="visual"> <geometry> <box> <size>0.05 0.05 0.05</size> </box> </geometry> </visual> </link> <joint name="joint_3_7" type="revolute"> <parent>world</parent> <child>link_3_7</child> <axis> <xyz>0 0 1</xyz> <limit> <lower>0.0</lower> <upper>0.0</upper> </limit> <use_parent_model_frame>true</use_parent_model_frame> </axis> <physics> <ode> <erp>1</erp> <cfm>1</cfm> </ode> </physics> <sensor name="force_torque" type="force_torque"> <always_on>true</always_on> <update_rate>1000</update_rate> <plugin name="breakable_3_7" filename="libBreakableJointPlugin.so"> <breaking_force_N>50</breaking_force_N> </plugin> </sensor> </joint> <link name="link_3_8"> <pose>0.15000000000000002 0 0.4 0 0 0</pose> <inertial> <mass>0.3375</mass> <inertia> <ixx>0.00014062500000000004</ixx> <iyy>0.00014062500000000004</iyy> <izz>0.00014062500000000004</izz> <ixy>0.0</ixy> <ixz>0.0</ixz> <iyz>0.0</iyz> </inertia> </inertial> <collision name="collision"> <geometry> <box> <size>0.05 0.05 0.05</size> </box> </geometry> </collision> <visual name="visual"> <geometry> <box> <size>0.05 0.05 0.05</size> </box> </geometry> </visual> </link> <joint name="joint_3_8" type="revolute"> <parent>world</parent> <child>link_3_8</child> <axis> <xyz>0 0 1</xyz> <limit> <lower>0.0</lower> <upper>0.0</upper> </limit> <use_parent_model_frame>true</use_parent_model_frame> </axis> <physics> <ode> <erp>1</erp> <cfm>1</cfm> </ode> </physics> <sensor name="force_torque" type="force_torque"> <always_on>true</always_on> <update_rate>1000</update_rate> <plugin name="breakable_3_8" filename="libBreakableJointPlugin.so"> <breaking_force_N>50</breaking_force_N> </plugin> </sensor> </joint> <link name="link_3_9"> <pose>0.15000000000000002 0 0.45 0 0 0</pose> <inertial> <mass>0.3375</mass> <inertia> <ixx>0.00014062500000000004</ixx> <iyy>0.00014062500000000004</iyy> <izz>0.00014062500000000004</izz> <ixy>0.0</ixy> <ixz>0.0</ixz> <iyz>0.0</iyz> </inertia> </inertial> <collision name="collision"> <geometry> <box> <size>0.05 0.05 0.05</size> </box> </geometry> </collision> <visual name="visual"> <geometry> <box> <size>0.05 0.05 0.05</size> </box> </geometry> </visual> </link> <joint name="joint_3_9" type="revolute"> <parent>world</parent> <child>link_3_9</child> <axis> <xyz>0 0 1</xyz> <limit> <lower>0.0</lower> <upper>0.0</upper> </limit> <use_parent_model_frame>true</use_parent_model_frame> </axis> <physics> <ode> <erp>1</erp> <cfm>1</cfm> </ode> </physics> <sensor name="force_torque" type="force_torque"> <always_on>true</always_on> <update_rate>1000</update_rate> <plugin name="breakable_3_9" filename="libBreakableJointPlugin.so"> <breaking_force_N>50</breaking_force_N> </plugin> </sensor> </joint> <link name="link_4_0"> <pose>0.2 0 0.0 0 0 0</pose> <inertial> <mass>0.3375</mass> <inertia> <ixx>0.00014062500000000004</ixx> <iyy>0.00014062500000000004</iyy> <izz>0.00014062500000000004</izz> <ixy>0.0</ixy> <ixz>0.0</ixz> <iyz>0.0</iyz> </inertia> </inertial> <collision name="collision"> <geometry> <box> <size>0.05 0.05 0.05</size> </box> </geometry> </collision> <visual name="visual"> <geometry> <box> <size>0.05 0.05 0.05</size> </box> </geometry> </visual> </link> <joint name="joint_4_0" type="revolute"> <parent>world</parent> <child>link_4_0</child> <axis> <xyz>0 0 1</xyz> <limit> <lower>0.0</lower> <upper>0.0</upper> </limit> <use_parent_model_frame>true</use_parent_model_frame> </axis> <physics> <ode> <erp>1</erp> <cfm>1</cfm> </ode> </physics> <sensor name="force_torque" type="force_torque"> <always_on>true</always_on> <update_rate>1000</update_rate> <plugin name="breakable_4_0" filename="libBreakableJointPlugin.so"> <breaking_force_N>50</breaking_force_N> </plugin> </sensor> </joint> <link name="link_4_1"> <pose>0.2 0 0.05 0 0 0</pose> <inertial> <mass>0.3375</mass> <inertia> <ixx>0.00014062500000000004</ixx> <iyy>0.00014062500000000004</iyy> <izz>0.00014062500000000004</izz> <ixy>0.0</ixy> <ixz>0.0</ixz> <iyz>0.0</iyz> </inertia> </inertial> <collision name="collision"> <geometry> <box> <size>0.05 0.05 0.05</size> </box> </geometry> </collision> <visual name="visual"> <geometry> <box> <size>0.05 0.05 0.05</size> </box> </geometry> </visual> </link> <joint name="joint_4_1" type="revolute"> <parent>world</parent> <child>link_4_1</child> <axis> <xyz>0 0 1</xyz> <limit> <lower>0.0</lower> <upper>0.0</upper> </limit> <use_parent_model_frame>true</use_parent_model_frame> </axis> <physics> <ode> <erp>1</erp> <cfm>1</cfm> </ode> </physics> <sensor name="force_torque" type="force_torque"> <always_on>true</always_on> <update_rate>1000</update_rate> <plugin name="breakable_4_1" filename="libBreakableJointPlugin.so"> <breaking_force_N>50</breaking_force_N> </plugin> </sensor> </joint> <link name="link_4_2"> <pose>0.2 0 0.1 0 0 0</pose> <inertial> <mass>0.3375</mass> <inertia> <ixx>0.00014062500000000004</ixx> <iyy>0.00014062500000000004</iyy> <izz>0.00014062500000000004</izz> <ixy>0.0</ixy> <ixz>0.0</ixz> <iyz>0.0</iyz> </inertia> </inertial> <collision name="collision"> <geometry> <box> <size>0.05 0.05 0.05</size> </box> </geometry> </collision> <visual name="visual"> <geometry> <box> <size>0.05 0.05 0.05</size> </box> </geometry> </visual> </link> <joint name="joint_4_2" type="revolute"> <parent>world</parent> <child>link_4_2</child> <axis> <xyz>0 0 1</xyz> <limit> <lower>0.0</lower> <upper>0.0</upper> </limit> <use_parent_model_frame>true</use_parent_model_frame> </axis> <physics> <ode> <erp>1</erp> <cfm>1</cfm> </ode> </physics> <sensor name="force_torque" type="force_torque"> <always_on>true</always_on> <update_rate>1000</update_rate> <plugin name="breakable_4_2" filename="libBreakableJointPlugin.so"> <breaking_force_N>50</breaking_force_N> </plugin> </sensor> </joint> <link name="link_4_3"> <pose>0.2 0 0.15000000000000002 0 0 0</pose> <inertial> <mass>0.3375</mass> <inertia> <ixx>0.00014062500000000004</ixx> <iyy>0.00014062500000000004</iyy> <izz>0.00014062500000000004</izz> <ixy>0.0</ixy> <ixz>0.0</ixz> <iyz>0.0</iyz> </inertia> </inertial> <collision name="collision"> <geometry> <box> <size>0.05 0.05 0.05</size> </box> </geometry> </collision> <visual name="visual"> <geometry> <box> <size>0.05 0.05 0.05</size> </box> </geometry> </visual> </link> <joint name="joint_4_3" type="revolute"> <parent>world</parent> <child>link_4_3</child> <axis> <xyz>0 0 1</xyz> <limit> <lower>0.0</lower> <upper>0.0</upper> </limit> <use_parent_model_frame>true</use_parent_model_frame> </axis> <physics> <ode> <erp>1</erp> <cfm>1</cfm> </ode> </physics> <sensor name="force_torque" type="force_torque"> <always_on>true</always_on> <update_rate>1000</update_rate> <plugin name="breakable_4_3" filename="libBreakableJointPlugin.so"> <breaking_force_N>50</breaking_force_N> </plugin> </sensor> </joint> <link name="link_4_4"> <pose>0.2 0 0.2 0 0 0</pose> <inertial> <mass>0.3375</mass> <inertia> <ixx>0.00014062500000000004</ixx> <iyy>0.00014062500000000004</iyy> <izz>0.00014062500000000004</izz> <ixy>0.0</ixy> <ixz>0.0</ixz> <iyz>0.0</iyz> </inertia> </inertial> <collision name="collision"> <geometry> <box> <size>0.05 0.05 0.05</size> </box> </geometry> </collision> <visual name="visual"> <geometry> <box> <size>0.05 0.05 0.05</size> </box> </geometry> </visual> </link> <joint name="joint_4_4" type="revolute"> <parent>world</parent> <child>link_4_4</child> <axis> <xyz>0 0 1</xyz> <limit> <lower>0.0</lower> <upper>0.0</upper> </limit> <use_parent_model_frame>true</use_parent_model_frame> </axis> <physics> <ode> <erp>1</erp> <cfm>1</cfm> </ode> </physics> <sensor name="force_torque" type="force_torque"> <always_on>true</always_on> <update_rate>1000</update_rate> <plugin name="breakable_4_4" filename="libBreakableJointPlugin.so"> <breaking_force_N>50</breaking_force_N> </plugin> </sensor> </joint> <link name="link_4_5"> <pose>0.2 0 0.25 0 0 0</pose> <inertial> <mass>0.3375</mass> <inertia> <ixx>0.00014062500000000004</ixx> <iyy>0.00014062500000000004</iyy> <izz>0.00014062500000000004</izz> <ixy>0.0</ixy> <ixz>0.0</ixz> <iyz>0.0</iyz> </inertia> </inertial> <collision name="collision"> <geometry> <box> <size>0.05 0.05 0.05</size> </box> </geometry> </collision> <visual name="visual"> <geometry> <box> <size>0.05 0.05 0.05</size> </box> </geometry> </visual> </link> <joint name="joint_4_5" type="revolute"> <parent>world</parent> <child>link_4_5</child> <axis> <xyz>0 0 1</xyz> <limit> <lower>0.0</lower> <upper>0.0</upper> </limit> <use_parent_model_frame>true</use_parent_model_frame> </axis> <physics> <ode> <erp>1</erp> <cfm>1</cfm> </ode> </physics> <sensor name="force_torque" type="force_torque"> <always_on>true</always_on> <update_rate>1000</update_rate> <plugin name="breakable_4_5" filename="libBreakableJointPlugin.so"> <breaking_force_N>50</breaking_force_N> </plugin> </sensor> </joint> <link name="link_4_6"> <pose>0.2 0 0.30000000000000004 0 0 0</pose> <inertial> <mass>0.3375</mass> <inertia> <ixx>0.00014062500000000004</ixx> <iyy>0.00014062500000000004</iyy> <izz>0.00014062500000000004</izz> <ixy>0.0</ixy> <ixz>0.0</ixz> <iyz>0.0</iyz> </inertia> </inertial> <collision name="collision"> <geometry> <box> <size>0.05 0.05 0.05</size> </box> </geometry> </collision> <visual name="visual"> <geometry> <box> <size>0.05 0.05 0.05</size> </box> </geometry> </visual> </link> <joint name="joint_4_6" type="revolute"> <parent>world</parent> <child>link_4_6</child> <axis> <xyz>0 0 1</xyz> <limit> <lower>0.0</lower> <upper>0.0</upper> </limit> <use_parent_model_frame>true</use_parent_model_frame> </axis> <physics> <ode> <erp>1</erp> <cfm>1</cfm> </ode> </physics> <sensor name="force_torque" type="force_torque"> <always_on>true</always_on> <update_rate>1000</update_rate> <plugin name="breakable_4_6" filename="libBreakableJointPlugin.so"> <breaking_force_N>50</breaking_force_N> </plugin> </sensor> </joint> <link name="link_4_7"> <pose>0.2 0 0.35000000000000003 0 0 0</pose> <inertial> <mass>0.3375</mass> <inertia> <ixx>0.00014062500000000004</ixx> <iyy>0.00014062500000000004</iyy> <izz>0.00014062500000000004</izz> <ixy>0.0</ixy> <ixz>0.0</ixz> <iyz>0.0</iyz> </inertia> </inertial> <collision name="collision"> <geometry> <box> <size>0.05 0.05 0.05</size> </box> </geometry> </collision> <visual name="visual"> <geometry> <box> <size>0.05 0.05 0.05</size> </box> </geometry> </visual> </link> <joint name="joint_4_7" type="revolute"> <parent>world</parent> <child>link_4_7</child> <axis> <xyz>0 0 1</xyz> <limit> <lower>0.0</lower> <upper>0.0</upper> </limit> <use_parent_model_frame>true</use_parent_model_frame> </axis> <physics> <ode> <erp>1</erp> <cfm>1</cfm> </ode> </physics> <sensor name="force_torque" type="force_torque"> <always_on>true</always_on> <update_rate>1000</update_rate> <plugin name="breakable_4_7" filename="libBreakableJointPlugin.so"> <breaking_force_N>50</breaking_force_N> </plugin> </sensor> </joint> <link name="link_4_8"> <pose>0.2 0 0.4 0 0 0</pose> <inertial> <mass>0.3375</mass> <inertia> <ixx>0.00014062500000000004</ixx> <iyy>0.00014062500000000004</iyy> <izz>0.00014062500000000004</izz> <ixy>0.0</ixy> <ixz>0.0</ixz> <iyz>0.0</iyz> </inertia> </inertial> <collision name="collision"> <geometry> <box> <size>0.05 0.05 0.05</size> </box> </geometry> </collision> <visual name="visual"> <geometry> <box> <size>0.05 0.05 0.05</size> </box> </geometry> </visual> </link> <joint name="joint_4_8" type="revolute"> <parent>world</parent> <child>link_4_8</child> <axis> <xyz>0 0 1</xyz> <limit> <lower>0.0</lower> <upper>0.0</upper> </limit> <use_parent_model_frame>true</use_parent_model_frame> </axis> <physics> <ode> <erp>1</erp> <cfm>1</cfm> </ode> </physics> <sensor name="force_torque" type="force_torque"> <always_on>true</always_on> <update_rate>1000</update_rate> <plugin name="breakable_4_8" filename="libBreakableJointPlugin.so"> <breaking_force_N>50</breaking_force_N> </plugin> </sensor> </joint> <link name="link_4_9"> <pose>0.2 0 0.45 0 0 0</pose> <inertial> <mass>0.3375</mass> <inertia> <ixx>0.00014062500000000004</ixx> <iyy>0.00014062500000000004</iyy> <izz>0.00014062500000000004</izz> <ixy>0.0</ixy> <ixz>0.0</ixz> <iyz>0.0</iyz> </inertia> </inertial> <collision name="collision"> <geometry> <box> <size>0.05 0.05 0.05</size> </box> </geometry> </collision> <visual name="visual"> <geometry> <box> <size>0.05 0.05 0.05</size> </box> </geometry> </visual> </link> <joint name="joint_4_9" type="revolute"> <parent>world</parent> <child>link_4_9</child> <axis> <xyz>0 0 1</xyz> <limit> <lower>0.0</lower> <upper>0.0</upper> </limit> <use_parent_model_frame>true</use_parent_model_frame> </axis> <physics> <ode> <erp>1</erp> <cfm>1</cfm> </ode> </physics> <sensor name="force_torque" type="force_torque"> <always_on>true</always_on> <update_rate>1000</update_rate> <plugin name="breakable_4_9" filename="libBreakableJointPlugin.so"> <breaking_force_N>50</breaking_force_N> </plugin> </sensor> </joint> <link name="link_5_0"> <pose>0.25 0 0.0 0 0 0</pose> <inertial> <mass>0.3375</mass> <inertia> <ixx>0.00014062500000000004</ixx> <iyy>0.00014062500000000004</iyy> <izz>0.00014062500000000004</izz> <ixy>0.0</ixy> <ixz>0.0</ixz> <iyz>0.0</iyz> </inertia> </inertial> <collision name="collision"> <geometry> <box> <size>0.05 0.05 0.05</size> </box> </geometry> </collision> <visual name="visual"> <geometry> <box> <size>0.05 0.05 0.05</size> </box> </geometry> </visual> </link> <joint name="joint_5_0" type="revolute"> <parent>world</parent> <child>link_5_0</child> <axis> <xyz>0 0 1</xyz> <limit> <lower>0.0</lower> <upper>0.0</upper> </limit> <use_parent_model_frame>true</use_parent_model_frame> </axis> <physics> <ode> <erp>1</erp> <cfm>1</cfm> </ode> </physics> <sensor name="force_torque" type="force_torque"> <always_on>true</always_on> <update_rate>1000</update_rate> <plugin name="breakable_5_0" filename="libBreakableJointPlugin.so"> <breaking_force_N>50</breaking_force_N> </plugin> </sensor> </joint> <link name="link_5_1"> <pose>0.25 0 0.05 0 0 0</pose> <inertial> <mass>0.3375</mass> <inertia> <ixx>0.00014062500000000004</ixx> <iyy>0.00014062500000000004</iyy> <izz>0.00014062500000000004</izz> <ixy>0.0</ixy> <ixz>0.0</ixz> <iyz>0.0</iyz> </inertia> </inertial> <collision name="collision"> <geometry> <box> <size>0.05 0.05 0.05</size> </box> </geometry> </collision> <visual name="visual"> <geometry> <box> <size>0.05 0.05 0.05</size> </box> </geometry> </visual> </link> <joint name="joint_5_1" type="revolute"> <parent>world</parent> <child>link_5_1</child> <axis> <xyz>0 0 1</xyz> <limit> <lower>0.0</lower> <upper>0.0</upper> </limit> <use_parent_model_frame>true</use_parent_model_frame> </axis> <physics> <ode> <erp>1</erp> <cfm>1</cfm> </ode> </physics> <sensor name="force_torque" type="force_torque"> <always_on>true</always_on> <update_rate>1000</update_rate> <plugin name="breakable_5_1" filename="libBreakableJointPlugin.so"> <breaking_force_N>50</breaking_force_N> </plugin> </sensor> </joint> <link name="link_5_2"> <pose>0.25 0 0.1 0 0 0</pose> <inertial> <mass>0.3375</mass> <inertia> <ixx>0.00014062500000000004</ixx> <iyy>0.00014062500000000004</iyy> <izz>0.00014062500000000004</izz> <ixy>0.0</ixy> <ixz>0.0</ixz> <iyz>0.0</iyz> </inertia> </inertial> <collision name="collision"> <geometry> <box> <size>0.05 0.05 0.05</size> </box> </geometry> </collision> <visual name="visual"> <geometry> <box> <size>0.05 0.05 0.05</size> </box> </geometry> </visual> </link> <joint name="joint_5_2" type="revolute"> <parent>world</parent> <child>link_5_2</child> <axis> <xyz>0 0 1</xyz> <limit> <lower>0.0</lower> <upper>0.0</upper> </limit> <use_parent_model_frame>true</use_parent_model_frame> </axis> <physics> <ode> <erp>1</erp> <cfm>1</cfm> </ode> </physics> <sensor name="force_torque" type="force_torque"> <always_on>true</always_on> <update_rate>1000</update_rate> <plugin name="breakable_5_2" filename="libBreakableJointPlugin.so"> <breaking_force_N>50</breaking_force_N> </plugin> </sensor> </joint> <link name="link_5_3"> <pose>0.25 0 0.15000000000000002 0 0 0</pose> <inertial> <mass>0.3375</mass> <inertia> <ixx>0.00014062500000000004</ixx> <iyy>0.00014062500000000004</iyy> <izz>0.00014062500000000004</izz> <ixy>0.0</ixy> <ixz>0.0</ixz> <iyz>0.0</iyz> </inertia> </inertial> <collision name="collision"> <geometry> <box> <size>0.05 0.05 0.05</size> </box> </geometry> </collision> <visual name="visual"> <geometry> <box> <size>0.05 0.05 0.05</size> </box> </geometry> </visual> </link> <joint name="joint_5_3" type="revolute"> <parent>world</parent> <child>link_5_3</child> <axis> <xyz>0 0 1</xyz> <limit> <lower>0.0</lower> <upper>0.0</upper> </limit> <use_parent_model_frame>true</use_parent_model_frame> </axis> <physics> <ode> <erp>1</erp> <cfm>1</cfm> </ode> </physics> <sensor name="force_torque" type="force_torque"> <always_on>true</always_on> <update_rate>1000</update_rate> <plugin name="breakable_5_3" filename="libBreakableJointPlugin.so"> <breaking_force_N>50</breaking_force_N> </plugin> </sensor> </joint> <link name="link_5_4"> <pose>0.25 0 0.2 0 0 0</pose> <inertial> <mass>0.3375</mass> <inertia> <ixx>0.00014062500000000004</ixx> <iyy>0.00014062500000000004</iyy> <izz>0.00014062500000000004</izz> <ixy>0.0</ixy> <ixz>0.0</ixz> <iyz>0.0</iyz> </inertia> </inertial> <collision name="collision"> <geometry> <box> <size>0.05 0.05 0.05</size> </box> </geometry> </collision> <visual name="visual"> <geometry> <box> <size>0.05 0.05 0.05</size> </box> </geometry> </visual> </link> <joint name="joint_5_4" type="revolute"> <parent>world</parent> <child>link_5_4</child> <axis> <xyz>0 0 1</xyz> <limit> <lower>0.0</lower> <upper>0.0</upper> </limit> <use_parent_model_frame>true</use_parent_model_frame> </axis> <physics> <ode> <erp>1</erp> <cfm>1</cfm> </ode> </physics> <sensor name="force_torque" type="force_torque"> <always_on>true</always_on> <update_rate>1000</update_rate> <plugin name="breakable_5_4" filename="libBreakableJointPlugin.so"> <breaking_force_N>50</breaking_force_N> </plugin> </sensor> </joint> <link name="link_5_5"> <pose>0.25 0 0.25 0 0 0</pose> <inertial> <mass>0.3375</mass> <inertia> <ixx>0.00014062500000000004</ixx> <iyy>0.00014062500000000004</iyy> <izz>0.00014062500000000004</izz> <ixy>0.0</ixy> <ixz>0.0</ixz> <iyz>0.0</iyz> </inertia> </inertial> <collision name="collision"> <geometry> <box> <size>0.05 0.05 0.05</size> </box> </geometry> </collision> <visual name="visual"> <geometry> <box> <size>0.05 0.05 0.05</size> </box> </geometry> </visual> </link> <joint name="joint_5_5" type="revolute"> <parent>world</parent> <child>link_5_5</child> <axis> <xyz>0 0 1</xyz> <limit> <lower>0.0</lower> <upper>0.0</upper> </limit> <use_parent_model_frame>true</use_parent_model_frame> </axis> <physics> <ode> <erp>1</erp> <cfm>1</cfm> </ode> </physics> <sensor name="force_torque" type="force_torque"> <always_on>true</always_on> <update_rate>1000</update_rate> <plugin name="breakable_5_5" filename="libBreakableJointPlugin.so"> <breaking_force_N>50</breaking_force_N> </plugin> </sensor> </joint> <link name="link_5_6"> <pose>0.25 0 0.30000000000000004 0 0 0</pose> <inertial> <mass>0.3375</mass> <inertia> <ixx>0.00014062500000000004</ixx> <iyy>0.00014062500000000004</iyy> <izz>0.00014062500000000004</izz> <ixy>0.0</ixy> <ixz>0.0</ixz> <iyz>0.0</iyz> </inertia> </inertial> <collision name="collision"> <geometry> <box> <size>0.05 0.05 0.05</size> </box> </geometry> </collision> <visual name="visual"> <geometry> <box> <size>0.05 0.05 0.05</size> </box> </geometry> </visual> </link> <joint name="joint_5_6" type="revolute"> <parent>world</parent> <child>link_5_6</child> <axis> <xyz>0 0 1</xyz> <limit> <lower>0.0</lower> <upper>0.0</upper> </limit> <use_parent_model_frame>true</use_parent_model_frame> </axis> <physics> <ode> <erp>1</erp> <cfm>1</cfm> </ode> </physics> <sensor name="force_torque" type="force_torque"> <always_on>true</always_on> <update_rate>1000</update_rate> <plugin name="breakable_5_6" filename="libBreakableJointPlugin.so"> <breaking_force_N>50</breaking_force_N> </plugin> </sensor> </joint> <link name="link_5_7"> <pose>0.25 0 0.35000000000000003 0 0 0</pose> <inertial> <mass>0.3375</mass> <inertia> <ixx>0.00014062500000000004</ixx> <iyy>0.00014062500000000004</iyy> <izz>0.00014062500000000004</izz> <ixy>0.0</ixy> <ixz>0.0</ixz> <iyz>0.0</iyz> </inertia> </inertial> <collision name="collision"> <geometry> <box> <size>0.05 0.05 0.05</size> </box> </geometry> </collision> <visual name="visual"> <geometry> <box> <size>0.05 0.05 0.05</size> </box> </geometry> </visual> </link> <joint name="joint_5_7" type="revolute"> <parent>world</parent> <child>link_5_7</child> <axis> <xyz>0 0 1</xyz> <limit> <lower>0.0</lower> <upper>0.0</upper> </limit> <use_parent_model_frame>true</use_parent_model_frame> </axis> <physics> <ode> <erp>1</erp> <cfm>1</cfm> </ode> </physics> <sensor name="force_torque" type="force_torque"> <always_on>true</always_on> <update_rate>1000</update_rate> <plugin name="breakable_5_7" filename="libBreakableJointPlugin.so"> <breaking_force_N>50</breaking_force_N> </plugin> </sensor> </joint> <link name="link_5_8"> <pose>0.25 0 0.4 0 0 0</pose> <inertial> <mass>0.3375</mass> <inertia> <ixx>0.00014062500000000004</ixx> <iyy>0.00014062500000000004</iyy> <izz>0.00014062500000000004</izz> <ixy>0.0</ixy> <ixz>0.0</ixz> <iyz>0.0</iyz> </inertia> </inertial> <collision name="collision"> <geometry> <box> <size>0.05 0.05 0.05</size> </box> </geometry> </collision> <visual name="visual"> <geometry> <box> <size>0.05 0.05 0.05</size> </box> </geometry> </visual> </link> <joint name="joint_5_8" type="revolute"> <parent>world</parent> <child>link_5_8</child> <axis> <xyz>0 0 1</xyz> <limit> <lower>0.0</lower> <upper>0.0</upper> </limit> <use_parent_model_frame>true</use_parent_model_frame> </axis> <physics> <ode> <erp>1</erp> <cfm>1</cfm> </ode> </physics> <sensor name="force_torque" type="force_torque"> <always_on>true</always_on> <update_rate>1000</update_rate> <plugin name="breakable_5_8" filename="libBreakableJointPlugin.so"> <breaking_force_N>50</breaking_force_N> </plugin> </sensor> </joint> <link name="link_5_9"> <pose>0.25 0 0.45 0 0 0</pose> <inertial> <mass>0.3375</mass> <inertia> <ixx>0.00014062500000000004</ixx> <iyy>0.00014062500000000004</iyy> <izz>0.00014062500000000004</izz> <ixy>0.0</ixy> <ixz>0.0</ixz> <iyz>0.0</iyz> </inertia> </inertial> <collision name="collision"> <geometry> <box> <size>0.05 0.05 0.05</size> </box> </geometry> </collision> <visual name="visual"> <geometry> <box> <size>0.05 0.05 0.05</size> </box> </geometry> </visual> </link> <joint name="joint_5_9" type="revolute"> <parent>world</parent> <child>link_5_9</child> <axis> <xyz>0 0 1</xyz> <limit> <lower>0.0</lower> <upper>0.0</upper> </limit> <use_parent_model_frame>true</use_parent_model_frame> </axis> <physics> <ode> <erp>1</erp> <cfm>1</cfm> </ode> </physics> <sensor name="force_torque" type="force_torque"> <always_on>true</always_on> <update_rate>1000</update_rate> <plugin name="breakable_5_9" filename="libBreakableJointPlugin.so"> <breaking_force_N>50</breaking_force_N> </plugin> </sensor> </joint> <link name="link_6_0"> <pose>0.30000000000000004 0 0.0 0 0 0</pose> <inertial> <mass>0.3375</mass> <inertia> <ixx>0.00014062500000000004</ixx> <iyy>0.00014062500000000004</iyy> <izz>0.00014062500000000004</izz> <ixy>0.0</ixy> <ixz>0.0</ixz> <iyz>0.0</iyz> </inertia> </inertial> <collision name="collision"> <geometry> <box> <size>0.05 0.05 0.05</size> </box> </geometry> </collision> <visual name="visual"> <geometry> <box> <size>0.05 0.05 0.05</size> </box> </geometry> </visual> </link> <joint name="joint_6_0" type="revolute"> <parent>world</parent> <child>link_6_0</child> <axis> <xyz>0 0 1</xyz> <limit> <lower>0.0</lower> <upper>0.0</upper> </limit> <use_parent_model_frame>true</use_parent_model_frame> </axis> <physics> <ode> <erp>1</erp> <cfm>1</cfm> </ode> </physics> <sensor name="force_torque" type="force_torque"> <always_on>true</always_on> <update_rate>1000</update_rate> <plugin name="breakable_6_0" filename="libBreakableJointPlugin.so"> <breaking_force_N>50</breaking_force_N> </plugin> </sensor> </joint> <link name="link_6_1"> <pose>0.30000000000000004 0 0.05 0 0 0</pose> <inertial> <mass>0.3375</mass> <inertia> <ixx>0.00014062500000000004</ixx> <iyy>0.00014062500000000004</iyy> <izz>0.00014062500000000004</izz> <ixy>0.0</ixy> <ixz>0.0</ixz> <iyz>0.0</iyz> </inertia> </inertial> <collision name="collision"> <geometry> <box> <size>0.05 0.05 0.05</size> </box> </geometry> </collision> <visual name="visual"> <geometry> <box> <size>0.05 0.05 0.05</size> </box> </geometry> </visual> </link> <joint name="joint_6_1" type="revolute"> <parent>world</parent> <child>link_6_1</child> <axis> <xyz>0 0 1</xyz> <limit> <lower>0.0</lower> <upper>0.0</upper> </limit> <use_parent_model_frame>true</use_parent_model_frame> </axis> <physics> <ode> <erp>1</erp> <cfm>1</cfm> </ode> </physics> <sensor name="force_torque" type="force_torque"> <always_on>true</always_on> <update_rate>1000</update_rate> <plugin name="breakable_6_1" filename="libBreakableJointPlugin.so"> <breaking_force_N>50</breaking_force_N> </plugin> </sensor> </joint> <link name="link_6_2"> <pose>0.30000000000000004 0 0.1 0 0 0</pose> <inertial> <mass>0.3375</mass> <inertia> <ixx>0.00014062500000000004</ixx> <iyy>0.00014062500000000004</iyy> <izz>0.00014062500000000004</izz> <ixy>0.0</ixy> <ixz>0.0</ixz> <iyz>0.0</iyz> </inertia> </inertial> <collision name="collision"> <geometry> <box> <size>0.05 0.05 0.05</size> </box> </geometry> </collision> <visual name="visual"> <geometry> <box> <size>0.05 0.05 0.05</size> </box> </geometry> </visual> </link> <joint name="joint_6_2" type="revolute"> <parent>world</parent> <child>link_6_2</child> <axis> <xyz>0 0 1</xyz> <limit> <lower>0.0</lower> <upper>0.0</upper> </limit> <use_parent_model_frame>true</use_parent_model_frame> </axis> <physics> <ode> <erp>1</erp> <cfm>1</cfm> </ode> </physics> <sensor name="force_torque" type="force_torque"> <always_on>true</always_on> <update_rate>1000</update_rate> <plugin name="breakable_6_2" filename="libBreakableJointPlugin.so"> <breaking_force_N>50</breaking_force_N> </plugin> </sensor> </joint> <link name="link_6_3"> <pose>0.30000000000000004 0 0.15000000000000002 0 0 0</pose> <inertial> <mass>0.3375</mass> <inertia> <ixx>0.00014062500000000004</ixx> <iyy>0.00014062500000000004</iyy> <izz>0.00014062500000000004</izz> <ixy>0.0</ixy> <ixz>0.0</ixz> <iyz>0.0</iyz> </inertia> </inertial> <collision name="collision"> <geometry> <box> <size>0.05 0.05 0.05</size> </box> </geometry> </collision> <visual name="visual"> <geometry> <box> <size>0.05 0.05 0.05</size> </box> </geometry> </visual> </link> <joint name="joint_6_3" type="revolute"> <parent>world</parent> <child>link_6_3</child> <axis> <xyz>0 0 1</xyz> <limit> <lower>0.0</lower> <upper>0.0</upper> </limit> <use_parent_model_frame>true</use_parent_model_frame> </axis> <physics> <ode> <erp>1</erp> <cfm>1</cfm> </ode> </physics> <sensor name="force_torque" type="force_torque"> <always_on>true</always_on> <update_rate>1000</update_rate> <plugin name="breakable_6_3" filename="libBreakableJointPlugin.so"> <breaking_force_N>50</breaking_force_N> </plugin> </sensor> </joint> <link name="link_6_4"> <pose>0.30000000000000004 0 0.2 0 0 0</pose> <inertial> <mass>0.3375</mass> <inertia> <ixx>0.00014062500000000004</ixx> <iyy>0.00014062500000000004</iyy> <izz>0.00014062500000000004</izz> <ixy>0.0</ixy> <ixz>0.0</ixz> <iyz>0.0</iyz> </inertia> </inertial> <collision name="collision"> <geometry> <box> <size>0.05 0.05 0.05</size> </box> </geometry> </collision> <visual name="visual"> <geometry> <box> <size>0.05 0.05 0.05</size> </box> </geometry> </visual> </link> <joint name="joint_6_4" type="revolute"> <parent>world</parent> <child>link_6_4</child> <axis> <xyz>0 0 1</xyz> <limit> <lower>0.0</lower> <upper>0.0</upper> </limit> <use_parent_model_frame>true</use_parent_model_frame> </axis> <physics> <ode> <erp>1</erp> <cfm>1</cfm> </ode> </physics> <sensor name="force_torque" type="force_torque"> <always_on>true</always_on> <update_rate>1000</update_rate> <plugin name="breakable_6_4" filename="libBreakableJointPlugin.so"> <breaking_force_N>50</breaking_force_N> </plugin> </sensor> </joint> <link name="link_6_5"> <pose>0.30000000000000004 0 0.25 0 0 0</pose> <inertial> <mass>0.3375</mass> <inertia> <ixx>0.00014062500000000004</ixx> <iyy>0.00014062500000000004</iyy> <izz>0.00014062500000000004</izz> <ixy>0.0</ixy> <ixz>0.0</ixz> <iyz>0.0</iyz> </inertia> </inertial> <collision name="collision"> <geometry> <box> <size>0.05 0.05 0.05</size> </box> </geometry> </collision> <visual name="visual"> <geometry> <box> <size>0.05 0.05 0.05</size> </box> </geometry> </visual> </link> <joint name="joint_6_5" type="revolute"> <parent>world</parent> <child>link_6_5</child> <axis> <xyz>0 0 1</xyz> <limit> <lower>0.0</lower> <upper>0.0</upper> </limit> <use_parent_model_frame>true</use_parent_model_frame> </axis> <physics> <ode> <erp>1</erp> <cfm>1</cfm> </ode> </physics> <sensor name="force_torque" type="force_torque"> <always_on>true</always_on> <update_rate>1000</update_rate> <plugin name="breakable_6_5" filename="libBreakableJointPlugin.so"> <breaking_force_N>50</breaking_force_N> </plugin> </sensor> </joint> <link name="link_6_6"> <pose>0.30000000000000004 0 0.30000000000000004 0 0 0</pose> <inertial> <mass>0.3375</mass> <inertia> <ixx>0.00014062500000000004</ixx> <iyy>0.00014062500000000004</iyy> <izz>0.00014062500000000004</izz> <ixy>0.0</ixy> <ixz>0.0</ixz> <iyz>0.0</iyz> </inertia> </inertial> <collision name="collision"> <geometry> <box> <size>0.05 0.05 0.05</size> </box> </geometry> </collision> <visual name="visual"> <geometry> <box> <size>0.05 0.05 0.05</size> </box> </geometry> </visual> </link> <joint name="joint_6_6" type="revolute"> <parent>world</parent> <child>link_6_6</child> <axis> <xyz>0 0 1</xyz> <limit> <lower>0.0</lower> <upper>0.0</upper> </limit> <use_parent_model_frame>true</use_parent_model_frame> </axis> <physics> <ode> <erp>1</erp> <cfm>1</cfm> </ode> </physics> <sensor name="force_torque" type="force_torque"> <always_on>true</always_on> <update_rate>1000</update_rate> <plugin name="breakable_6_6" filename="libBreakableJointPlugin.so"> <breaking_force_N>50</breaking_force_N> </plugin> </sensor> </joint> <link name="link_6_7"> <pose>0.30000000000000004 0 0.35000000000000003 0 0 0</pose> <inertial> <mass>0.3375</mass> <inertia> <ixx>0.00014062500000000004</ixx> <iyy>0.00014062500000000004</iyy> <izz>0.00014062500000000004</izz> <ixy>0.0</ixy> <ixz>0.0</ixz> <iyz>0.0</iyz> </inertia> </inertial> <collision name="collision"> <geometry> <box> <size>0.05 0.05 0.05</size> </box> </geometry> </collision> <visual name="visual"> <geometry> <box> <size>0.05 0.05 0.05</size> </box> </geometry> </visual> </link> <joint name="joint_6_7" type="revolute"> <parent>world</parent> <child>link_6_7</child> <axis> <xyz>0 0 1</xyz> <limit> <lower>0.0</lower> <upper>0.0</upper> </limit> <use_parent_model_frame>true</use_parent_model_frame> </axis> <physics> <ode> <erp>1</erp> <cfm>1</cfm> </ode> </physics> <sensor name="force_torque" type="force_torque"> <always_on>true</always_on> <update_rate>1000</update_rate> <plugin name="breakable_6_7" filename="libBreakableJointPlugin.so"> <breaking_force_N>50</breaking_force_N> </plugin> </sensor> </joint> <link name="link_6_8"> <pose>0.30000000000000004 0 0.4 0 0 0</pose> <inertial> <mass>0.3375</mass> <inertia> <ixx>0.00014062500000000004</ixx> <iyy>0.00014062500000000004</iyy> <izz>0.00014062500000000004</izz> <ixy>0.0</ixy> <ixz>0.0</ixz> <iyz>0.0</iyz> </inertia> </inertial> <collision name="collision"> <geometry> <box> <size>0.05 0.05 0.05</size> </box> </geometry> </collision> <visual name="visual"> <geometry> <box> <size>0.05 0.05 0.05</size> </box> </geometry> </visual> </link> <joint name="joint_6_8" type="revolute"> <parent>world</parent> <child>link_6_8</child> <axis> <xyz>0 0 1</xyz> <limit> <lower>0.0</lower> <upper>0.0</upper> </limit> <use_parent_model_frame>true</use_parent_model_frame> </axis> <physics> <ode> <erp>1</erp> <cfm>1</cfm> </ode> </physics> <sensor name="force_torque" type="force_torque"> <always_on>true</always_on> <update_rate>1000</update_rate> <plugin name="breakable_6_8" filename="libBreakableJointPlugin.so"> <breaking_force_N>50</breaking_force_N> </plugin> </sensor> </joint> <link name="link_6_9"> <pose>0.30000000000000004 0 0.45 0 0 0</pose> <inertial> <mass>0.3375</mass> <inertia> <ixx>0.00014062500000000004</ixx> <iyy>0.00014062500000000004</iyy> <izz>0.00014062500000000004</izz> <ixy>0.0</ixy> <ixz>0.0</ixz> <iyz>0.0</iyz> </inertia> </inertial> <collision name="collision"> <geometry> <box> <size>0.05 0.05 0.05</size> </box> </geometry> </collision> <visual name="visual"> <geometry> <box> <size>0.05 0.05 0.05</size> </box> </geometry> </visual> </link> <joint name="joint_6_9" type="revolute"> <parent>world</parent> <child>link_6_9</child> <axis> <xyz>0 0 1</xyz> <limit> <lower>0.0</lower> <upper>0.0</upper> </limit> <use_parent_model_frame>true</use_parent_model_frame> </axis> <physics> <ode> <erp>1</erp> <cfm>1</cfm> </ode> </physics> <sensor name="force_torque" type="force_torque"> <always_on>true</always_on> <update_rate>1000</update_rate> <plugin name="breakable_6_9" filename="libBreakableJointPlugin.so"> <breaking_force_N>50</breaking_force_N> </plugin> </sensor> </joint> <link name="link_7_0"> <pose>0.35000000000000003 0 0.0 0 0 0</pose> <inertial> <mass>0.3375</mass> <inertia> <ixx>0.00014062500000000004</ixx> <iyy>0.00014062500000000004</iyy> <izz>0.00014062500000000004</izz> <ixy>0.0</ixy> <ixz>0.0</ixz> <iyz>0.0</iyz> </inertia> </inertial> <collision name="collision"> <geometry> <box> <size>0.05 0.05 0.05</size> </box> </geometry> </collision> <visual name="visual"> <geometry> <box> <size>0.05 0.05 0.05</size> </box> </geometry> </visual> </link> <joint name="joint_7_0" type="revolute"> <parent>world</parent> <child>link_7_0</child> <axis> <xyz>0 0 1</xyz> <limit> <lower>0.0</lower> <upper>0.0</upper> </limit> <use_parent_model_frame>true</use_parent_model_frame> </axis> <physics> <ode> <erp>1</erp> <cfm>1</cfm> </ode> </physics> <sensor name="force_torque" type="force_torque"> <always_on>true</always_on> <update_rate>1000</update_rate> <plugin name="breakable_7_0" filename="libBreakableJointPlugin.so"> <breaking_force_N>50</breaking_force_N> </plugin> </sensor> </joint> <link name="link_7_1"> <pose>0.35000000000000003 0 0.05 0 0 0</pose> <inertial> <mass>0.3375</mass> <inertia> <ixx>0.00014062500000000004</ixx> <iyy>0.00014062500000000004</iyy> <izz>0.00014062500000000004</izz> <ixy>0.0</ixy> <ixz>0.0</ixz> <iyz>0.0</iyz> </inertia> </inertial> <collision name="collision"> <geometry> <box> <size>0.05 0.05 0.05</size> </box> </geometry> </collision> <visual name="visual"> <geometry> <box> <size>0.05 0.05 0.05</size> </box> </geometry> </visual> </link> <joint name="joint_7_1" type="revolute"> <parent>world</parent> <child>link_7_1</child> <axis> <xyz>0 0 1</xyz> <limit> <lower>0.0</lower> <upper>0.0</upper> </limit> <use_parent_model_frame>true</use_parent_model_frame> </axis> <physics> <ode> <erp>1</erp> <cfm>1</cfm> </ode> </physics> <sensor name="force_torque" type="force_torque"> <always_on>true</always_on> <update_rate>1000</update_rate> <plugin name="breakable_7_1" filename="libBreakableJointPlugin.so"> <breaking_force_N>50</breaking_force_N> </plugin> </sensor> </joint> <link name="link_7_2"> <pose>0.35000000000000003 0 0.1 0 0 0</pose> <inertial> <mass>0.3375</mass> <inertia> <ixx>0.00014062500000000004</ixx> <iyy>0.00014062500000000004</iyy> <izz>0.00014062500000000004</izz> <ixy>0.0</ixy> <ixz>0.0</ixz> <iyz>0.0</iyz> </inertia> </inertial> <collision name="collision"> <geometry> <box> <size>0.05 0.05 0.05</size> </box> </geometry> </collision> <visual name="visual"> <geometry> <box> <size>0.05 0.05 0.05</size> </box> </geometry> </visual> </link> <joint name="joint_7_2" type="revolute"> <parent>world</parent> <child>link_7_2</child> <axis> <xyz>0 0 1</xyz> <limit> <lower>0.0</lower> <upper>0.0</upper> </limit> <use_parent_model_frame>true</use_parent_model_frame> </axis> <physics> <ode> <erp>1</erp> <cfm>1</cfm> </ode> </physics> <sensor name="force_torque" type="force_torque"> <always_on>true</always_on> <update_rate>1000</update_rate> <plugin name="breakable_7_2" filename="libBreakableJointPlugin.so"> <breaking_force_N>50</breaking_force_N> </plugin> </sensor> </joint> <link name="link_7_3"> <pose>0.35000000000000003 0 0.15000000000000002 0 0 0</pose> <inertial> <mass>0.3375</mass> <inertia> <ixx>0.00014062500000000004</ixx> <iyy>0.00014062500000000004</iyy> <izz>0.00014062500000000004</izz> <ixy>0.0</ixy> <ixz>0.0</ixz> <iyz>0.0</iyz> </inertia> </inertial> <collision name="collision"> <geometry> <box> <size>0.05 0.05 0.05</size> </box> </geometry> </collision> <visual name="visual"> <geometry> <box> <size>0.05 0.05 0.05</size> </box> </geometry> </visual> </link> <joint name="joint_7_3" type="revolute"> <parent>world</parent> <child>link_7_3</child> <axis> <xyz>0 0 1</xyz> <limit> <lower>0.0</lower> <upper>0.0</upper> </limit> <use_parent_model_frame>true</use_parent_model_frame> </axis> <physics> <ode> <erp>1</erp> <cfm>1</cfm> </ode> </physics> <sensor name="force_torque" type="force_torque"> <always_on>true</always_on> <update_rate>1000</update_rate> <plugin name="breakable_7_3" filename="libBreakableJointPlugin.so"> <breaking_force_N>50</breaking_force_N> </plugin> </sensor> </joint> <link name="link_7_4"> <pose>0.35000000000000003 0 0.2 0 0 0</pose> <inertial> <mass>0.3375</mass> <inertia> <ixx>0.00014062500000000004</ixx> <iyy>0.00014062500000000004</iyy> <izz>0.00014062500000000004</izz> <ixy>0.0</ixy> <ixz>0.0</ixz> <iyz>0.0</iyz> </inertia> </inertial> <collision name="collision"> <geometry> <box> <size>0.05 0.05 0.05</size> </box> </geometry> </collision> <visual name="visual"> <geometry> <box> <size>0.05 0.05 0.05</size> </box> </geometry> </visual> </link> <joint name="joint_7_4" type="revolute"> <parent>world</parent> <child>link_7_4</child> <axis> <xyz>0 0 1</xyz> <limit> <lower>0.0</lower> <upper>0.0</upper> </limit> <use_parent_model_frame>true</use_parent_model_frame> </axis> <physics> <ode> <erp>1</erp> <cfm>1</cfm> </ode> </physics> <sensor name="force_torque" type="force_torque"> <always_on>true</always_on> <update_rate>1000</update_rate> <plugin name="breakable_7_4" filename="libBreakableJointPlugin.so"> <breaking_force_N>50</breaking_force_N> </plugin> </sensor> </joint> <link name="link_7_5"> <pose>0.35000000000000003 0 0.25 0 0 0</pose> <inertial> <mass>0.3375</mass> <inertia> <ixx>0.00014062500000000004</ixx> <iyy>0.00014062500000000004</iyy> <izz>0.00014062500000000004</izz> <ixy>0.0</ixy> <ixz>0.0</ixz> <iyz>0.0</iyz> </inertia> </inertial> <collision name="collision"> <geometry> <box> <size>0.05 0.05 0.05</size> </box> </geometry> </collision> <visual name="visual"> <geometry> <box> <size>0.05 0.05 0.05</size> </box> </geometry> </visual> </link> <joint name="joint_7_5" type="revolute"> <parent>world</parent> <child>link_7_5</child> <axis> <xyz>0 0 1</xyz> <limit> <lower>0.0</lower> <upper>0.0</upper> </limit> <use_parent_model_frame>true</use_parent_model_frame> </axis> <physics> <ode> <erp>1</erp> <cfm>1</cfm> </ode> </physics> <sensor name="force_torque" type="force_torque"> <always_on>true</always_on> <update_rate>1000</update_rate> <plugin name="breakable_7_5" filename="libBreakableJointPlugin.so"> <breaking_force_N>50</breaking_force_N> </plugin> </sensor> </joint> <link name="link_7_6"> <pose>0.35000000000000003 0 0.30000000000000004 0 0 0</pose> <inertial> <mass>0.3375</mass> <inertia> <ixx>0.00014062500000000004</ixx> <iyy>0.00014062500000000004</iyy> <izz>0.00014062500000000004</izz> <ixy>0.0</ixy> <ixz>0.0</ixz> <iyz>0.0</iyz> </inertia> </inertial> <collision name="collision"> <geometry> <box> <size>0.05 0.05 0.05</size> </box> </geometry> </collision> <visual name="visual"> <geometry> <box> <size>0.05 0.05 0.05</size> </box> </geometry> </visual> </link> <joint name="joint_7_6" type="revolute"> <parent>world</parent> <child>link_7_6</child> <axis> <xyz>0 0 1</xyz> <limit> <lower>0.0</lower> <upper>0.0</upper> </limit> <use_parent_model_frame>true</use_parent_model_frame> </axis> <physics> <ode> <erp>1</erp> <cfm>1</cfm> </ode> </physics> <sensor name="force_torque" type="force_torque"> <always_on>true</always_on> <update_rate>1000</update_rate> <plugin name="breakable_7_6" filename="libBreakableJointPlugin.so"> <breaking_force_N>50</breaking_force_N> </plugin> </sensor> </joint> <link name="link_7_7"> <pose>0.35000000000000003 0 0.35000000000000003 0 0 0</pose> <inertial> <mass>0.3375</mass> <inertia> <ixx>0.00014062500000000004</ixx> <iyy>0.00014062500000000004</iyy> <izz>0.00014062500000000004</izz> <ixy>0.0</ixy> <ixz>0.0</ixz> <iyz>0.0</iyz> </inertia> </inertial> <collision name="collision"> <geometry> <box> <size>0.05 0.05 0.05</size> </box> </geometry> </collision> <visual name="visual"> <geometry> <box> <size>0.05 0.05 0.05</size> </box> </geometry> </visual> </link> <joint name="joint_7_7" type="revolute"> <parent>world</parent> <child>link_7_7</child> <axis> <xyz>0 0 1</xyz> <limit> <lower>0.0</lower> <upper>0.0</upper> </limit> <use_parent_model_frame>true</use_parent_model_frame> </axis> <physics> <ode> <erp>1</erp> <cfm>1</cfm> </ode> </physics> <sensor name="force_torque" type="force_torque"> <always_on>true</always_on> <update_rate>1000</update_rate> <plugin name="breakable_7_7" filename="libBreakableJointPlugin.so"> <breaking_force_N>50</breaking_force_N> </plugin> </sensor> </joint> <link name="link_7_8"> <pose>0.35000000000000003 0 0.4 0 0 0</pose> <inertial> <mass>0.3375</mass> <inertia> <ixx>0.00014062500000000004</ixx> <iyy>0.00014062500000000004</iyy> <izz>0.00014062500000000004</izz> <ixy>0.0</ixy> <ixz>0.0</ixz> <iyz>0.0</iyz> </inertia> </inertial> <collision name="collision"> <geometry> <box> <size>0.05 0.05 0.05</size> </box> </geometry> </collision> <visual name="visual"> <geometry> <box> <size>0.05 0.05 0.05</size> </box> </geometry> </visual> </link> <joint name="joint_7_8" type="revolute"> <parent>world</parent> <child>link_7_8</child> <axis> <xyz>0 0 1</xyz> <limit> <lower>0.0</lower> <upper>0.0</upper> </limit> <use_parent_model_frame>true</use_parent_model_frame> </axis> <physics> <ode> <erp>1</erp> <cfm>1</cfm> </ode> </physics> <sensor name="force_torque" type="force_torque"> <always_on>true</always_on> <update_rate>1000</update_rate> <plugin name="breakable_7_8" filename="libBreakableJointPlugin.so"> <breaking_force_N>50</breaking_force_N> </plugin> </sensor> </joint> <link name="link_7_9"> <pose>0.35000000000000003 0 0.45 0 0 0</pose> <inertial> <mass>0.3375</mass> <inertia> <ixx>0.00014062500000000004</ixx> <iyy>0.00014062500000000004</iyy> <izz>0.00014062500000000004</izz> <ixy>0.0</ixy> <ixz>0.0</ixz> <iyz>0.0</iyz> </inertia> </inertial> <collision name="collision"> <geometry> <box> <size>0.05 0.05 0.05</size> </box> </geometry> </collision> <visual name="visual"> <geometry> <box> <size>0.05 0.05 0.05</size> </box> </geometry> </visual> </link> <joint name="joint_7_9" type="revolute"> <parent>world</parent> <child>link_7_9</child> <axis> <xyz>0 0 1</xyz> <limit> <lower>0.0</lower> <upper>0.0</upper> </limit> <use_parent_model_frame>true</use_parent_model_frame> </axis> <physics> <ode> <erp>1</erp> <cfm>1</cfm> </ode> </physics> <sensor name="force_torque" type="force_torque"> <always_on>true</always_on> <update_rate>1000</update_rate> <plugin name="breakable_7_9" filename="libBreakableJointPlugin.so"> <breaking_force_N>50</breaking_force_N> </plugin> </sensor> </joint> <link name="link_8_0"> <pose>0.4 0 0.0 0 0 0</pose> <inertial> <mass>0.3375</mass> <inertia> <ixx>0.00014062500000000004</ixx> <iyy>0.00014062500000000004</iyy> <izz>0.00014062500000000004</izz> <ixy>0.0</ixy> <ixz>0.0</ixz> <iyz>0.0</iyz> </inertia> </inertial> <collision name="collision"> <geometry> <box> <size>0.05 0.05 0.05</size> </box> </geometry> </collision> <visual name="visual"> <geometry> <box> <size>0.05 0.05 0.05</size> </box> </geometry> </visual> </link> <joint name="joint_8_0" type="revolute"> <parent>world</parent> <child>link_8_0</child> <axis> <xyz>0 0 1</xyz> <limit> <lower>0.0</lower> <upper>0.0</upper> </limit> <use_parent_model_frame>true</use_parent_model_frame> </axis> <physics> <ode> <erp>1</erp> <cfm>1</cfm> </ode> </physics> <sensor name="force_torque" type="force_torque"> <always_on>true</always_on> <update_rate>1000</update_rate> <plugin name="breakable_8_0" filename="libBreakableJointPlugin.so"> <breaking_force_N>50</breaking_force_N> </plugin> </sensor> </joint> <link name="link_8_1"> <pose>0.4 0 0.05 0 0 0</pose> <inertial> <mass>0.3375</mass> <inertia> <ixx>0.00014062500000000004</ixx> <iyy>0.00014062500000000004</iyy> <izz>0.00014062500000000004</izz> <ixy>0.0</ixy> <ixz>0.0</ixz> <iyz>0.0</iyz> </inertia> </inertial> <collision name="collision"> <geometry> <box> <size>0.05 0.05 0.05</size> </box> </geometry> </collision> <visual name="visual"> <geometry> <box> <size>0.05 0.05 0.05</size> </box> </geometry> </visual> </link> <joint name="joint_8_1" type="revolute"> <parent>world</parent> <child>link_8_1</child> <axis> <xyz>0 0 1</xyz> <limit> <lower>0.0</lower> <upper>0.0</upper> </limit> <use_parent_model_frame>true</use_parent_model_frame> </axis> <physics> <ode> <erp>1</erp> <cfm>1</cfm> </ode> </physics> <sensor name="force_torque" type="force_torque"> <always_on>true</always_on> <update_rate>1000</update_rate> <plugin name="breakable_8_1" filename="libBreakableJointPlugin.so"> <breaking_force_N>50</breaking_force_N> </plugin> </sensor> </joint> <link name="link_8_2"> <pose>0.4 0 0.1 0 0 0</pose> <inertial> <mass>0.3375</mass> <inertia> <ixx>0.00014062500000000004</ixx> <iyy>0.00014062500000000004</iyy> <izz>0.00014062500000000004</izz> <ixy>0.0</ixy> <ixz>0.0</ixz> <iyz>0.0</iyz> </inertia> </inertial> <collision name="collision"> <geometry> <box> <size>0.05 0.05 0.05</size> </box> </geometry> </collision> <visual name="visual"> <geometry> <box> <size>0.05 0.05 0.05</size> </box> </geometry> </visual> </link> <joint name="joint_8_2" type="revolute"> <parent>world</parent> <child>link_8_2</child> <axis> <xyz>0 0 1</xyz> <limit> <lower>0.0</lower> <upper>0.0</upper> </limit> <use_parent_model_frame>true</use_parent_model_frame> </axis> <physics> <ode> <erp>1</erp> <cfm>1</cfm> </ode> </physics> <sensor name="force_torque" type="force_torque"> <always_on>true</always_on> <update_rate>1000</update_rate> <plugin name="breakable_8_2" filename="libBreakableJointPlugin.so"> <breaking_force_N>50</breaking_force_N> </plugin> </sensor> </joint> <link name="link_8_3"> <pose>0.4 0 0.15000000000000002 0 0 0</pose> <inertial> <mass>0.3375</mass> <inertia> <ixx>0.00014062500000000004</ixx> <iyy>0.00014062500000000004</iyy> <izz>0.00014062500000000004</izz> <ixy>0.0</ixy> <ixz>0.0</ixz> <iyz>0.0</iyz> </inertia> </inertial> <collision name="collision"> <geometry> <box> <size>0.05 0.05 0.05</size> </box> </geometry> </collision> <visual name="visual"> <geometry> <box> <size>0.05 0.05 0.05</size> </box> </geometry> </visual> </link> <joint name="joint_8_3" type="revolute"> <parent>world</parent> <child>link_8_3</child> <axis> <xyz>0 0 1</xyz> <limit> <lower>0.0</lower> <upper>0.0</upper> </limit> <use_parent_model_frame>true</use_parent_model_frame> </axis> <physics> <ode> <erp>1</erp> <cfm>1</cfm> </ode> </physics> <sensor name="force_torque" type="force_torque"> <always_on>true</always_on> <update_rate>1000</update_rate> <plugin name="breakable_8_3" filename="libBreakableJointPlugin.so"> <breaking_force_N>50</breaking_force_N> </plugin> </sensor> </joint> <link name="link_8_4"> <pose>0.4 0 0.2 0 0 0</pose> <inertial> <mass>0.3375</mass> <inertia> <ixx>0.00014062500000000004</ixx> <iyy>0.00014062500000000004</iyy> <izz>0.00014062500000000004</izz> <ixy>0.0</ixy> <ixz>0.0</ixz> <iyz>0.0</iyz> </inertia> </inertial> <collision name="collision"> <geometry> <box> <size>0.05 0.05 0.05</size> </box> </geometry> </collision> <visual name="visual"> <geometry> <box> <size>0.05 0.05 0.05</size> </box> </geometry> </visual> </link> <joint name="joint_8_4" type="revolute"> <parent>world</parent> <child>link_8_4</child> <axis> <xyz>0 0 1</xyz> <limit> <lower>0.0</lower> <upper>0.0</upper> </limit> <use_parent_model_frame>true</use_parent_model_frame> </axis> <physics> <ode> <erp>1</erp> <cfm>1</cfm> </ode> </physics> <sensor name="force_torque" type="force_torque"> <always_on>true</always_on> <update_rate>1000</update_rate> <plugin name="breakable_8_4" filename="libBreakableJointPlugin.so"> <breaking_force_N>50</breaking_force_N> </plugin> </sensor> </joint> <link name="link_8_5"> <pose>0.4 0 0.25 0 0 0</pose> <inertial> <mass>0.3375</mass> <inertia> <ixx>0.00014062500000000004</ixx> <iyy>0.00014062500000000004</iyy> <izz>0.00014062500000000004</izz> <ixy>0.0</ixy> <ixz>0.0</ixz> <iyz>0.0</iyz> </inertia> </inertial> <collision name="collision"> <geometry> <box> <size>0.05 0.05 0.05</size> </box> </geometry> </collision> <visual name="visual"> <geometry> <box> <size>0.05 0.05 0.05</size> </box> </geometry> </visual> </link> <joint name="joint_8_5" type="revolute"> <parent>world</parent> <child>link_8_5</child> <axis> <xyz>0 0 1</xyz> <limit> <lower>0.0</lower> <upper>0.0</upper> </limit> <use_parent_model_frame>true</use_parent_model_frame> </axis> <physics> <ode> <erp>1</erp> <cfm>1</cfm> </ode> </physics> <sensor name="force_torque" type="force_torque"> <always_on>true</always_on> <update_rate>1000</update_rate> <plugin name="breakable_8_5" filename="libBreakableJointPlugin.so"> <breaking_force_N>50</breaking_force_N> </plugin> </sensor> </joint> <link name="link_8_6"> <pose>0.4 0 0.30000000000000004 0 0 0</pose> <inertial> <mass>0.3375</mass> <inertia> <ixx>0.00014062500000000004</ixx> <iyy>0.00014062500000000004</iyy> <izz>0.00014062500000000004</izz> <ixy>0.0</ixy> <ixz>0.0</ixz> <iyz>0.0</iyz> </inertia> </inertial> <collision name="collision"> <geometry> <box> <size>0.05 0.05 0.05</size> </box> </geometry> </collision> <visual name="visual"> <geometry> <box> <size>0.05 0.05 0.05</size> </box> </geometry> </visual> </link> <joint name="joint_8_6" type="revolute"> <parent>world</parent> <child>link_8_6</child> <axis> <xyz>0 0 1</xyz> <limit> <lower>0.0</lower> <upper>0.0</upper> </limit> <use_parent_model_frame>true</use_parent_model_frame> </axis> <physics> <ode> <erp>1</erp> <cfm>1</cfm> </ode> </physics> <sensor name="force_torque" type="force_torque"> <always_on>true</always_on> <update_rate>1000</update_rate> <plugin name="breakable_8_6" filename="libBreakableJointPlugin.so"> <breaking_force_N>50</breaking_force_N> </plugin> </sensor> </joint> <link name="link_8_7"> <pose>0.4 0 0.35000000000000003 0 0 0</pose> <inertial> <mass>0.3375</mass> <inertia> <ixx>0.00014062500000000004</ixx> <iyy>0.00014062500000000004</iyy> <izz>0.00014062500000000004</izz> <ixy>0.0</ixy> <ixz>0.0</ixz> <iyz>0.0</iyz> </inertia> </inertial> <collision name="collision"> <geometry> <box> <size>0.05 0.05 0.05</size> </box> </geometry> </collision> <visual name="visual"> <geometry> <box> <size>0.05 0.05 0.05</size> </box> </geometry> </visual> </link> <joint name="joint_8_7" type="revolute"> <parent>world</parent> <child>link_8_7</child> <axis> <xyz>0 0 1</xyz> <limit> <lower>0.0</lower> <upper>0.0</upper> </limit> <use_parent_model_frame>true</use_parent_model_frame> </axis> <physics> <ode> <erp>1</erp> <cfm>1</cfm> </ode> </physics> <sensor name="force_torque" type="force_torque"> <always_on>true</always_on> <update_rate>1000</update_rate> <plugin name="breakable_8_7" filename="libBreakableJointPlugin.so"> <breaking_force_N>50</breaking_force_N> </plugin> </sensor> </joint> <link name="link_8_8"> <pose>0.4 0 0.4 0 0 0</pose> <inertial> <mass>0.3375</mass> <inertia> <ixx>0.00014062500000000004</ixx> <iyy>0.00014062500000000004</iyy> <izz>0.00014062500000000004</izz> <ixy>0.0</ixy> <ixz>0.0</ixz> <iyz>0.0</iyz> </inertia> </inertial> <collision name="collision"> <geometry> <box> <size>0.05 0.05 0.05</size> </box> </geometry> </collision> <visual name="visual"> <geometry> <box> <size>0.05 0.05 0.05</size> </box> </geometry> </visual> </link> <joint name="joint_8_8" type="revolute"> <parent>world</parent> <child>link_8_8</child> <axis> <xyz>0 0 1</xyz> <limit> <lower>0.0</lower> <upper>0.0</upper> </limit> <use_parent_model_frame>true</use_parent_model_frame> </axis> <physics> <ode> <erp>1</erp> <cfm>1</cfm> </ode> </physics> <sensor name="force_torque" type="force_torque"> <always_on>true</always_on> <update_rate>1000</update_rate> <plugin name="breakable_8_8" filename="libBreakableJointPlugin.so"> <breaking_force_N>50</breaking_force_N> </plugin> </sensor> </joint> <link name="link_8_9"> <pose>0.4 0 0.45 0 0 0</pose> <inertial> <mass>0.3375</mass> <inertia> <ixx>0.00014062500000000004</ixx> <iyy>0.00014062500000000004</iyy> <izz>0.00014062500000000004</izz> <ixy>0.0</ixy> <ixz>0.0</ixz> <iyz>0.0</iyz> </inertia> </inertial> <collision name="collision"> <geometry> <box> <size>0.05 0.05 0.05</size> </box> </geometry> </collision> <visual name="visual"> <geometry> <box> <size>0.05 0.05 0.05</size> </box> </geometry> </visual> </link> <joint name="joint_8_9" type="revolute"> <parent>world</parent> <child>link_8_9</child> <axis> <xyz>0 0 1</xyz> <limit> <lower>0.0</lower> <upper>0.0</upper> </limit> <use_parent_model_frame>true</use_parent_model_frame> </axis> <physics> <ode> <erp>1</erp> <cfm>1</cfm> </ode> </physics> <sensor name="force_torque" type="force_torque"> <always_on>true</always_on> <update_rate>1000</update_rate> <plugin name="breakable_8_9" filename="libBreakableJointPlugin.so"> <breaking_force_N>50</breaking_force_N> </plugin> </sensor> </joint> <link name="link_9_0"> <pose>0.45 0 0.0 0 0 0</pose> <inertial> <mass>0.3375</mass> <inertia> <ixx>0.00014062500000000004</ixx> <iyy>0.00014062500000000004</iyy> <izz>0.00014062500000000004</izz> <ixy>0.0</ixy> <ixz>0.0</ixz> <iyz>0.0</iyz> </inertia> </inertial> <collision name="collision"> <geometry> <box> <size>0.05 0.05 0.05</size> </box> </geometry> </collision> <visual name="visual"> <geometry> <box> <size>0.05 0.05 0.05</size> </box> </geometry> </visual> </link> <joint name="joint_9_0" type="revolute"> <parent>world</parent> <child>link_9_0</child> <axis> <xyz>0 0 1</xyz> <limit> <lower>0.0</lower> <upper>0.0</upper> </limit> <use_parent_model_frame>true</use_parent_model_frame> </axis> <physics> <ode> <erp>1</erp> <cfm>1</cfm> </ode> </physics> <sensor name="force_torque" type="force_torque"> <always_on>true</always_on> <update_rate>1000</update_rate> <plugin name="breakable_9_0" filename="libBreakableJointPlugin.so"> <breaking_force_N>50</breaking_force_N> </plugin> </sensor> </joint> <link name="link_9_1"> <pose>0.45 0 0.05 0 0 0</pose> <inertial> <mass>0.3375</mass> <inertia> <ixx>0.00014062500000000004</ixx> <iyy>0.00014062500000000004</iyy> <izz>0.00014062500000000004</izz> <ixy>0.0</ixy> <ixz>0.0</ixz> <iyz>0.0</iyz> </inertia> </inertial> <collision name="collision"> <geometry> <box> <size>0.05 0.05 0.05</size> </box> </geometry> </collision> <visual name="visual"> <geometry> <box> <size>0.05 0.05 0.05</size> </box> </geometry> </visual> </link> <joint name="joint_9_1" type="revolute"> <parent>world</parent> <child>link_9_1</child> <axis> <xyz>0 0 1</xyz> <limit> <lower>0.0</lower> <upper>0.0</upper> </limit> <use_parent_model_frame>true</use_parent_model_frame> </axis> <physics> <ode> <erp>1</erp> <cfm>1</cfm> </ode> </physics> <sensor name="force_torque" type="force_torque"> <always_on>true</always_on> <update_rate>1000</update_rate> <plugin name="breakable_9_1" filename="libBreakableJointPlugin.so"> <breaking_force_N>50</breaking_force_N> </plugin> </sensor> </joint> <link name="link_9_2"> <pose>0.45 0 0.1 0 0 0</pose> <inertial> <mass>0.3375</mass> <inertia> <ixx>0.00014062500000000004</ixx> <iyy>0.00014062500000000004</iyy> <izz>0.00014062500000000004</izz> <ixy>0.0</ixy> <ixz>0.0</ixz> <iyz>0.0</iyz> </inertia> </inertial> <collision name="collision"> <geometry> <box> <size>0.05 0.05 0.05</size> </box> </geometry> </collision> <visual name="visual"> <geometry> <box> <size>0.05 0.05 0.05</size> </box> </geometry> </visual> </link> <joint name="joint_9_2" type="revolute"> <parent>world</parent> <child>link_9_2</child> <axis> <xyz>0 0 1</xyz> <limit> <lower>0.0</lower> <upper>0.0</upper> </limit> <use_parent_model_frame>true</use_parent_model_frame> </axis> <physics> <ode> <erp>1</erp> <cfm>1</cfm> </ode> </physics> <sensor name="force_torque" type="force_torque"> <always_on>true</always_on> <update_rate>1000</update_rate> <plugin name="breakable_9_2" filename="libBreakableJointPlugin.so"> <breaking_force_N>50</breaking_force_N> </plugin> </sensor> </joint> <link name="link_9_3"> <pose>0.45 0 0.15000000000000002 0 0 0</pose> <inertial> <mass>0.3375</mass> <inertia> <ixx>0.00014062500000000004</ixx> <iyy>0.00014062500000000004</iyy> <izz>0.00014062500000000004</izz> <ixy>0.0</ixy> <ixz>0.0</ixz> <iyz>0.0</iyz> </inertia> </inertial> <collision name="collision"> <geometry> <box> <size>0.05 0.05 0.05</size> </box> </geometry> </collision> <visual name="visual"> <geometry> <box> <size>0.05 0.05 0.05</size> </box> </geometry> </visual> </link> <joint name="joint_9_3" type="revolute"> <parent>world</parent> <child>link_9_3</child> <axis> <xyz>0 0 1</xyz> <limit> <lower>0.0</lower> <upper>0.0</upper> </limit> <use_parent_model_frame>true</use_parent_model_frame> </axis> <physics> <ode> <erp>1</erp> <cfm>1</cfm> </ode> </physics> <sensor name="force_torque" type="force_torque"> <always_on>true</always_on> <update_rate>1000</update_rate> <plugin name="breakable_9_3" filename="libBreakableJointPlugin.so"> <breaking_force_N>50</breaking_force_N> </plugin> </sensor> </joint> <link name="link_9_4"> <pose>0.45 0 0.2 0 0 0</pose> <inertial> <mass>0.3375</mass> <inertia> <ixx>0.00014062500000000004</ixx> <iyy>0.00014062500000000004</iyy> <izz>0.00014062500000000004</izz> <ixy>0.0</ixy> <ixz>0.0</ixz> <iyz>0.0</iyz> </inertia> </inertial> <collision name="collision"> <geometry> <box> <size>0.05 0.05 0.05</size> </box> </geometry> </collision> <visual name="visual"> <geometry> <box> <size>0.05 0.05 0.05</size> </box> </geometry> </visual> </link> <joint name="joint_9_4" type="revolute"> <parent>world</parent> <child>link_9_4</child> <axis> <xyz>0 0 1</xyz> <limit> <lower>0.0</lower> <upper>0.0</upper> </limit> <use_parent_model_frame>true</use_parent_model_frame> </axis> <physics> <ode> <erp>1</erp> <cfm>1</cfm> </ode> </physics> <sensor name="force_torque" type="force_torque"> <always_on>true</always_on> <update_rate>1000</update_rate> <plugin name="breakable_9_4" filename="libBreakableJointPlugin.so"> <breaking_force_N>50</breaking_force_N> </plugin> </sensor> </joint> <link name="link_9_5"> <pose>0.45 0 0.25 0 0 0</pose> <inertial> <mass>0.3375</mass> <inertia> <ixx>0.00014062500000000004</ixx> <iyy>0.00014062500000000004</iyy> <izz>0.00014062500000000004</izz> <ixy>0.0</ixy> <ixz>0.0</ixz> <iyz>0.0</iyz> </inertia> </inertial> <collision name="collision"> <geometry> <box> <size>0.05 0.05 0.05</size> </box> </geometry> </collision> <visual name="visual"> <geometry> <box> <size>0.05 0.05 0.05</size> </box> </geometry> </visual> </link> <joint name="joint_9_5" type="revolute"> <parent>world</parent> <child>link_9_5</child> <axis> <xyz>0 0 1</xyz> <limit> <lower>0.0</lower> <upper>0.0</upper> </limit> <use_parent_model_frame>true</use_parent_model_frame> </axis> <physics> <ode> <erp>1</erp> <cfm>1</cfm> </ode> </physics> <sensor name="force_torque" type="force_torque"> <always_on>true</always_on> <update_rate>1000</update_rate> <plugin name="breakable_9_5" filename="libBreakableJointPlugin.so"> <breaking_force_N>50</breaking_force_N> </plugin> </sensor> </joint> <link name="link_9_6"> <pose>0.45 0 0.30000000000000004 0 0 0</pose> <inertial> <mass>0.3375</mass> <inertia> <ixx>0.00014062500000000004</ixx> <iyy>0.00014062500000000004</iyy> <izz>0.00014062500000000004</izz> <ixy>0.0</ixy> <ixz>0.0</ixz> <iyz>0.0</iyz> </inertia> </inertial> <collision name="collision"> <geometry> <box> <size>0.05 0.05 0.05</size> </box> </geometry> </collision> <visual name="visual"> <geometry> <box> <size>0.05 0.05 0.05</size> </box> </geometry> </visual> </link> <joint name="joint_9_6" type="revolute"> <parent>world</parent> <child>link_9_6</child> <axis> <xyz>0 0 1</xyz> <limit> <lower>0.0</lower> <upper>0.0</upper> </limit> <use_parent_model_frame>true</use_parent_model_frame> </axis> <physics> <ode> <erp>1</erp> <cfm>1</cfm> </ode> </physics> <sensor name="force_torque" type="force_torque"> <always_on>true</always_on> <update_rate>1000</update_rate> <plugin name="breakable_9_6" filename="libBreakableJointPlugin.so"> <breaking_force_N>50</breaking_force_N> </plugin> </sensor> </joint> <link name="link_9_7"> <pose>0.45 0 0.35000000000000003 0 0 0</pose> <inertial> <mass>0.3375</mass> <inertia> <ixx>0.00014062500000000004</ixx> <iyy>0.00014062500000000004</iyy> <izz>0.00014062500000000004</izz> <ixy>0.0</ixy> <ixz>0.0</ixz> <iyz>0.0</iyz> </inertia> </inertial> <collision name="collision"> <geometry> <box> <size>0.05 0.05 0.05</size> </box> </geometry> </collision> <visual name="visual"> <geometry> <box> <size>0.05 0.05 0.05</size> </box> </geometry> </visual> </link> <joint name="joint_9_7" type="revolute"> <parent>world</parent> <child>link_9_7</child> <axis> <xyz>0 0 1</xyz> <limit> <lower>0.0</lower> <upper>0.0</upper> </limit> <use_parent_model_frame>true</use_parent_model_frame> </axis> <physics> <ode> <erp>1</erp> <cfm>1</cfm> </ode> </physics> <sensor name="force_torque" type="force_torque"> <always_on>true</always_on> <update_rate>1000</update_rate> <plugin name="breakable_9_7" filename="libBreakableJointPlugin.so"> <breaking_force_N>50</breaking_force_N> </plugin> </sensor> </joint> <link name="link_9_8"> <pose>0.45 0 0.4 0 0 0</pose> <inertial> <mass>0.3375</mass> <inertia> <ixx>0.00014062500000000004</ixx> <iyy>0.00014062500000000004</iyy> <izz>0.00014062500000000004</izz> <ixy>0.0</ixy> <ixz>0.0</ixz> <iyz>0.0</iyz> </inertia> </inertial> <collision name="collision"> <geometry> <box> <size>0.05 0.05 0.05</size> </box> </geometry> </collision> <visual name="visual"> <geometry> <box> <size>0.05 0.05 0.05</size> </box> </geometry> </visual> </link> <joint name="joint_9_8" type="revolute"> <parent>world</parent> <child>link_9_8</child> <axis> <xyz>0 0 1</xyz> <limit> <lower>0.0</lower> <upper>0.0</upper> </limit> <use_parent_model_frame>true</use_parent_model_frame> </axis> <physics> <ode> <erp>1</erp> <cfm>1</cfm> </ode> </physics> <sensor name="force_torque" type="force_torque"> <always_on>true</always_on> <update_rate>1000</update_rate> <plugin name="breakable_9_8" filename="libBreakableJointPlugin.so"> <breaking_force_N>50</breaking_force_N> </plugin> </sensor> </joint> <link name="link_9_9"> <pose>0.45 0 0.45 0 0 0</pose> <inertial> <mass>0.3375</mass> <inertia> <ixx>0.00014062500000000004</ixx> <iyy>0.00014062500000000004</iyy> <izz>0.00014062500000000004</izz> <ixy>0.0</ixy> <ixz>0.0</ixz> <iyz>0.0</iyz> </inertia> </inertial> <collision name="collision"> <geometry> <box> <size>0.05 0.05 0.05</size> </box> </geometry> </collision> <visual name="visual"> <geometry> <box> <size>0.05 0.05 0.05</size> </box> </geometry> </visual> </link> <joint name="joint_9_9" type="revolute"> <parent>world</parent> <child>link_9_9</child> <axis> <xyz>0 0 1</xyz> <limit> <lower>0.0</lower> <upper>0.0</upper> </limit> <use_parent_model_frame>true</use_parent_model_frame> </axis> <physics> <ode> <erp>1</erp> <cfm>1</cfm> </ode> </physics> <sensor name="force_torque" type="force_torque"> <always_on>true</always_on> <update_rate>1000</update_rate> <plugin name="breakable_9_9" filename="libBreakableJointPlugin.so"> <breaking_force_N>50</breaking_force_N> </plugin> </sensor> </joint> </model> </sdf>