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<?xml version="1.0" ?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:macro name="bobble_chassis">
<link name="bobble_chassis_link">
<inertial>
<origin xyz="0.0 0.0 0.180" rpy="0.0 0.0 0.0"/>
<mass value="2.043"/>
<inertia ixx="0.03" ixy="0.0" ixz="0.0" iyy="0.03" iyz="0.0" izz="0.03"/>
</inertial>
<visual>
<origin xyz="0.0 0.0 0.130" rpy="0.0 0.0 0.0"/>
<geometry>
<mesh filename="package://bobble_description/meshes/chassis.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.130" rpy="0.0 0.0 0.0"/>
<geometry>
<box size="0.1 0.11 0.185" />
</geometry>
<contact_coefficients kd="1.0" kp="1000.0" mu="0"/>
</collision>
</link>
<gazebo reference="bobble_chassis_link">
<selfCollide>false</selfCollide>
</gazebo>
</xacro:macro>
</robot>
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